AP_Scripting: fixed float register save/restore in setjmp/longjmp

the register save must happen before the setjmp() call, which means
outside of the LUAI_TRY() macro. We also should be saving all 32
floating point registers

.github/workflows/cygwin_build.yml

@@ -55,7 +55,7 @@ jobs:
         shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
         run: >-
           ln -sf /usr/bin/python3.7 /usr/bin/python && ln -sf /usr/bin/pip3.7 /usr/bin/pip &&
-          python -m pip install --progress-bar off empy pexpect &&
+          python -m pip install --progress-bar off empy==3.3.4 pexpect &&
           python -m pip install --progress-bar off dronecan --upgrade &&
           cp /usr/bin/ccache /usr/local/bin/ &&
           cd /usr/local/bin && ln -s ccache /usr/local/bin/gcc &&

.github/workflows/esp32_build.yml

@@ -62,7 +62,7 @@ jobs:
           ./install.sh
           source ./export.sh
           cd ../..
-          python -m pip install --progress-bar off future lxml pymavlink MAVProxy pexpect flake8 geocoder empy dronecan
+          python -m pip install --progress-bar off future lxml pymavlink MAVProxy pexpect flake8 geocoder empy==3.3.4 dronecan
           which cmake
           ./waf configure --board ${{matrix.config}}
           ./waf plane

.github/workflows/test_size.yml

@@ -251,42 +251,3 @@ jobs:
         shell: bash
         run: |
           diff -r $GITHUB_WORKSPACE/base_branch_bin_no_versions $GITHUB_WORKSPACE/pr_bin_no_versions --exclude=*.elf --exclude=*.apj || true
-
-      - name: elf_diff compare with ${{ github.event.pull_request.base.ref }}
-        shell: bash
-        run: |
-          # we don't use weasyprint so manually pull the elf_diff deps reduce install size and time
-          python3 -m pip install -U --no-deps elf_diff GitPython Jinja2 MarkupSafe PyYAML anytree dict2xml gitdb progressbar2 python-utils setuptools-git smmap
-          mkdir elf_diff
-          BIN_PREFIX="arm-none-eabi-"
-          if [ "${{ matrix.toolchain }}" = "armhf" ]; then
-             BIN_PREFIX="arm-linux-gnueabihf-"
-          fi
-          BOOTLOADER=0
-          AP_PERIPH=0
-          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
-             [ "${{matrix.config}}" = "f103-GPS" ]; then
-            AP_PERIPH=1
-          elif [ "${{matrix.config}}" = "MatekF405-CAN" ]; then
-            BOOTLOADER=1
-          fi
-
-          if [ $AP_PERIPH -eq 1 ]; then
-             TO_CHECK="AP_Periph"
-          elif [ $BOOTLOADER -eq 1 ]; then
-             TO_CHECK="AP_Bootloader"
-          else
-             TO_CHECK="arduplane arducopter"
-          fi
-          for CHECK in $TO_CHECK; do
-             python3 -m elf_diff --bin_prefix="$BIN_PREFIX" --html_dir=elf_diff/AP_Periph $GITHUB_WORKSPACE/base_branch_bin/$CHECK $GITHUB_WORKSPACE/pr_bin/$CHECK
-          done
-
-          zip -r elf_diff.zip elf_diff
-
-      - name: Archive elf_diff output
-        uses: actions/upload-artifact@v3
-        with:
-           name: ELF_DIFF_${{matrix.config}}
-           path: elf_diff.zip
-           retention-days: 14

AntennaTracker/GCS_Mavlink.h

@@ -9,6 +9,8 @@ public:
 
     using GCS_MAVLINK::GCS_MAVLINK;
 
+    uint8_t sysid_my_gcs() const override;
+
 protected:
 
     // telem_delay is not used by Tracker but is pure virtual, thus
@@ -16,7 +18,6 @@ protected:
     // as currently Tracker may brick XBees
     uint32_t telem_delay() const override { return 0; }
 
-    uint8_t sysid_my_gcs() const override;
 
     MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_long_t &packet) override;
     MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg) override;

ArduCopter/GCS_Copter.h

@@ -28,9 +28,10 @@ public:
     bool simple_input_active() const override;
     bool supersimple_input_active() const override;
 
+    uint8_t sysid_this_mav() const override;
+
 protected:
 
-    uint8_t sysid_this_mav() const override;
 
     // minimum amount of time (in microseconds) that must remain in
     // the main scheduler loop before we are allowed to send any

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,382 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.4.4 19-Dec-2023 / 4.4.4-beta1 05-Dec-2023
+Changes from 4.4.3
+1) Autopilot related enhancement and fixes
+    - CubeOrange Sim-on-hardware compilation fix
+    - RADIX2HD supports external I2C compasses
+    - SpeedyBeeF405v4 support
+2) Bug fixes
+    - DroneCAN battery monitor with cell monitor SoC reporting fix
+    - NTF_LED_TYPES parameter description fixed (was missing IS31FL3195)
+    - ProfiLED output fixed in both Notify and Scripting
+    - Scripting bug that could cause crash if parameters were added in flight
+    - STAT_BOOTCNT param fix (was not updating in some cases)
+    - Takeoff RPM check fixed where motors are attached to AUX channels
+    - don't query hobbywing DroneCAN ESC IDs while armed
+------------------------------------------------------------------
+Copter 4.4.3 14-Nov-2023
+Changes from 4.4.3-beta1
+1) AP_GPS: correct uBlox M10 configuration on low flash boards
+------------------------------------------------------------------
+Copter 4.4.3-beta1 07-Nov-2023
+Changes from 4.4.2
+1) Autopilot related enhancements and fixes
+    - BETAFTP-F405 board configuration fixes
+    - CubeOrangePlus-BG edition ICM45486 IMU setup fixed
+    - YJUAV_A6SE_H743 support
+2) Minor enhancements
+    - GPS_DRV_OPTION allows using ellipsoid height in more GPS drivers
+    - Lua script support for fully populating ESC telemetry data
+3) Bug fixes
+   - AK09916 compass being non-responsive fixed
+   - IxM42xxx IMUs "stuck" gyros fixed
+   - MAVLink response fixed when no airspeed sensor during preflight calibration
+   - Notch filtering protection when using uninitialised RPM source in ESC telemetry
+   - SIYI gimbal driver parsing bug fixed (was causing lost packets)
+------------------------------------------------------------------
+Copter 4.4.2 22-Oct-2023 / Copter 4.4.2-beta1 13-Oct-2023
+Changes from 4.4.1
+1) Autopilot related enhancements and fixes
+    - BETAFPV-F405 support
+    - MambaF405v2 battery and serial setup corrected
+    - mRo Control Zero OEM H7 bdshot support
+    - SpeedyBee-F405-Wing gets VTX power control
+    - SpeedyBee-F405-Mini support
+    - T-Motor H743 Mini support
+2) EKF3 supports baroless boards
+3) GPS-for-yaw allows base GPS to update at only 3Hz
+4) INA battery monitor supports config of shunt resistor used (see BATTx_SHUNT)
+5) Log VER message includes vehicle type
+6) OpenDroneId option to auto-store IDs in persistent flash
+7) RC SBUS protection against invalid data in first 4 channels
+8) Bug fixes
+    - BMI088 IMU error value handling fixed to avoid occasional negative spike
+    - Dev environment CI autotest stability improvements
+    - OSD correct DisplayPort BF MSP symbols
+    - OSD option to correct direction arrows for BF font set
+    - Sensor status reporting to GCS fixed for baroless boards
+------------------------------------------------------------------
+Copter 4.4.1 26-Sep-2023 / 4.4.1-beta2 14-Sep-2023
+Changes from 4.4.1-beta1
+1) Autopilot related enhancements
+    - H750 external flash optimisations for to lower CPU load
+    - MambaF405Mini fixes to match manufacturer's recommended wiring
+    - RADIX2 HD support
+    - YJUAV_A6SE support
+2) Bug fixes
+    - Airbotf4 features minimised to build for 4.4
+    - ChibiOS clock fix for 480Mhz H7 boards (affected FDCAN)
+    - RPI hardware version check fix
+------------------------------------------------------------------
+Copter 4.4.1-beta1 05-Sep-2023
+Changes from 4.4.0
+1) Autopilot related fixes and enhancements
+    - KakuteH7-wing get 8 bit directional dshot channel support
+    - Luminousbee5 boards defaults updated
+    - Navigator autopilot GPIOs fix (PWM output was broken)
+    - Pixhawk6C Serial RTS lines pulled low on startup
+    - QiotekZealotF427 and QiotekZealotH743 battery monitor default fixed
+    - SDMODELH7V1 support
+2) Driver enhancements
+    - DroneCAN battery monitors allow reset of battery SoC
+    - Himark DroneCAN servo support
+    - Hobbywing DroneCAN ESC support
+3) EKF3 high vibration handling improved with EK3_GLITCH_RADIUS option
+4) Custom build server gets mission storage on SDCard selection
+5) SITL default parameter handling bug fix
+------------------------------------------------------------------
+Copter 4.4.0 18-Aug-2023 / 4.4.0-beta5 12-Aug-2023
+Changes from 4.4.0-beta4
+1) Autopilots specific changes
+    - SIYI N7 support
+2) Bug fixes
+    - DroneCAN airspeed sensor fix to handle missing packets
+    - DroneCAN GPS RTK injection fix
+    - Notch filter gyro glitch caused by race condition fixed
+------------------------------------------------------------------
+Copter 4.4.0-beta4 27-July-2023
+Changes from 4.4.0-beta3
+1) Autopilots specific changes
+    - Diatone-Mamba-MK4-H743v2 uses SPL06 baro (was DPS280)
+    - DMA for I2C disabled on F7 and H7 boards
+    - Foxeer H743v1 default serial protocol config fixes
+    - HeeWing-F405 and F405v2 support
+    - iFlight BlitzF7 support
+2) Scripts may take action based on VTOL motor loss
+3) Bug fixes
+    - BLHeli returns battery status requested via MSP (avoids hang when using esc-configurator)
+    - CRSFv3 rescans at baudrates to avoid RX loss
+    - EK3_ABIAS_P_NSE param range fix
+    - Scripting restart memory corruption bug fixed
+    - Siyi A8/ZR10 driver fix to avoid crash if serial port not configured
+------------------------------------------------------------------
+Copter 4.4.0-beta3 03-July-2023
+Changes from 4.4.0-beta2
+1) Autopilots specific changes
+    - Holybro KakuteH7-Wing support
+    - JFB100 external watchdog GPIO support added
+    - Pixhawk1-bdshot support
+    - Pixhawk6X-bdshot support
+    - SpeedyBeeF4 loses bdshot support
+2) Device drivers
+    - added LP5562 I2C LED driver
+    - added IS31FL3195 LED driver
+3) TradHeli gets minor fix to RSC servo output range
+4) Camera and Gimbal related changes
+    - DO_SET_ROI_NONE command support added
+5) Applet changes
+    - added QUIK_MAX_REDUCE parameter to VTOL quicktune lua applet
+6) Bug fixes
+    - ADSB sensor loss of transceiver message less spammy 
+    - AutoTune Yaw rate max fixed
+    - EKF vertical velocity reset fixed on loss of GPS
+    - GPS pre-arm failure message clarified
+    - SERVOx_PROTOCOL "SToRM32 Gimbal Serial" value renamed to "Gimbal" because also used by Siyi
+    - SERIALx_OPTION "Swap" renamed to "SwapTXRX" for clarity
+    - SBF GPS ellipsoid height fixed
+    - Ublox M10S GPS auto configuration fixed
+    - ZigZag mode user takeoff fixed (users could not takeoff in ZigZag mode previously)
+------------------------------------------------------------------
+Copter 4.4.0-beta2 05-Jun-2023
+Changes from 4.4.0-beta1
+1) Autopilots specific changes
+    - FlywooF745 update to motor pin output mapping and baro
+    - FoxeerH743 support
+    - JFB100 support
+    - Mamba-F405v2 supports ICM42688
+    - Matek-F405-TE/VTOL support
+    - Matek-H743 IMU SPI slowed to 1Mhz to avoid init issues
+    - SpeedyBee-405-Wing support
+2) Copter specfic fixes and enhancements
+    - RTL speed fix so changes to WPNAV_SPEED have no effect if RTL_SPEED is non-zero
+    - RTL mode accepts do-change-speed commands from GCS
+3) AHRS/EKF related fixes and Enhancements
+    - EKF allocation failure handled to avoid watchdog
+    - EKF3 accel bias calculation fix and tuning for greater robustness
+    - Airspeed sensor remains enabled during dead-reckoning (few copters have airspeed sensors)
+    - Wind speed estimates updates reduced while dead-reckoning
+4) Other Enhancements
+    - Attitude control slew limits always calculated (helps tuning reporting and analysis)
+    - INA228 and INA238 I2C battery monitor support
+    - LOG_DISARMED=3 logs while disarmed but discards log if never eventually armed
+    - LOG_DARM_RATEMAX reduces logging while disarmed
+    - Serial LEDs threading enhancement to support longer lengths without dshot interference
+4) Bug fixes
+    - Analog battery monitor2 current parameter default fixed
+    - AutoTune fix for loading Yaw Rate D gains
+    - BRD_SAFETYOPTION parameter documentation fix (ActiveForSafetyEnable and Disable were reversed)
+    - Compassmot fix to protect against bad gyro biases from GSF yaw
+    - ICE engine fix for starting after reaching a specified altitude
+    - LED thread locking fix to avoid watchdog
+    - Logging rotation on disarm disabled if Replay logging active (avoids gaps in logs)
+    - RC input on IOMCU bug fix (RC might not be regained if lost)
+    - Serial passthrough fixed
+5) Custom build server fix to which features are included/excluded
+------------------------------------------------------------------
+Copter 4.4.0-beta1 19-Apr-2023
+Changes from 4.3.6
+1) New autopilots supported
+    - ESP32
+    - Flywoo Goku F405S AIO
+    - Foxeer H743v1
+    - MambaF405-2022B
+    - PixPilot-V3
+    - PixSurveyA2
+    - rFCU H743
+    - ThePeach K1/R1
+2) Autopilot specific changes
+    - Bi-Directional DShot support for CubeOrangePlus-bdshot, CUAVNora+, MatekF405TE/VTOL-bdshot, MatekL431, Pixhawk6C-bdshot, QioTekZealotH743-bdshot
+    - Bi-Directional DShot up to 8 channels on MatekH743
+    - BlueRobotics Navigator supports baro on I2C bus 6
+    - BMP280 baro only for BeastF7, KakuteF4, KakuteF7Mini, MambaF405, MatekF405, Omnibusf4 to reduce code size (aka "flash")
+    - CSRF and Hott telemetry disabled by default on some low power boards (aka "minimised boards")
+    - Foxeer Reaper F745 supports external compasses
+    - OmnibusF4 support for BMI270 IMU
+    - OmnibusF7V2-bdshot support removed
+    - KakuteF7 regains displayport, frees up DMA from unused serial port
+    - KakuteH7v2 gets second battery sensor
+    - MambaH743v4 supports VTX
+    - MatekF405-Wing supports InvensenseV3 IMUs
+    - PixPilot-V6 heater enabled
+    - Raspberry 64OS startup crash fixed
+    - ReaperF745AIO serial protocol defaults fixed
+    - SkystarsH7HD (non-bdshot) removed as users should always use -bdshot version
+    - Skyviper loses many unnecessary features to save flash
+    - UBlox GPS only for AtomRCF405NAVI, BeastF7, MatekF405, Omnibusf4 to reduce code size (aka "flash")
+    - VRBrain-v52 and VRCore-v10 features reduced to save flash
+3) Driver enhancements
+    - ARK RTK GPS support
+    - BMI088 IMU filtering and timing improved, ignores bad data
+    - CRSF OSD may display disarmed state after flight mode (enabled using RC_OPTIONS)
+    - Daiwa winch baud rate obeys SERIALx_BAUD parameter
+    - EFI supports fuel pressure and ignition voltage reporting and battery failsafe
+    - ICM45686 IMU support
+    - ICM20602 uses fast reset instead of full reset on bad temperature sample (avoids occasional very high offset)
+    - ICM45686 supports fast sampling
+    - MAX31865 temp sensor support
+    - MB85RS256TY-32k, PB85RS128C and PB85RS2MC FRAM support
+    - MMC3416 compass orientation fix
+    - MPPT battery monitor reliability improvements, enable/disable aux function and less spammy
+    - Multiple USD-D1-CAN radar support
+    - NMEA output rate configurable (see NMEA_RATE_MS) 
+    - NMEA output supports PASHR message (see NMEA_MSG_EN)
+    - OSD supports average resting cell voltage (see OSD_ACRVOLT_xxx params)
+    - Rockblock satellite modem support
+    - Serial baud support for 2Mbps (only some hardware supports this speed)
+    - SF45b lidar filtering reduced (allows detecting smaller obstacles
+    - SmartAudio 2.0 learns all VTX power levels)
+    - UAVCAN ESCs report error count using ESC Telemetry
+    - Unicore GPS (e.g. UM982) support
+    - VectorNav 100 external AHRS support
+    - 5 IMUs supported
+4) EKF related enhancements
+    - Baro compensation using wind estimates works when climbing or descending (see BAROx_WCF_UP/DN)
+    - External AHRS support for enabling only some sensors (e.g. IMU, Baro, Compass) see EAHRS_SENSORS
+    - Magnetic field tables updated
+    - Non-compass initial yaw alignment uses GPS course over GSF (mostly affects Planes and Rover)
+5) Control and navigation enhancements
+    - AutoTune of attitude control yaw D gain (set AUTOTUNE_AXES=8)
+    - Circle moode and Loiter Turns command supports counter-clockwise rotation (set CIRCLE_RATE to negative number)
+    - DO_SET_ROI_NONE command turns off ROI
+    - JUMP_TAG mission item support
+    - Missions can be stored on SD card (see BRD_SD_MISSION)
+    - NAV_SCRIPT_TIME command accepts floating point arguments
+    - Pause/Resume returns success if mission is already paused or resumed
+    - Payload Place enhancements
+        - Descent speed is configurable (see PLDP_SPEED_DN)
+        - Manual release supported (detects pilot release of gripper)
+        - Post release delay is configurable (see PLDP_DELAY)
+        - Range finder range used to protect against premature release (see PLDP_RNG_MIN)
+        - Touchdown detection threshold is configurable (see PLDP_THRESH)
+    - Position controller angle max adjusted inflight with CH6 Tuning knob (set TUNE=59)
+    - Surface tracking time constant allows tuning response (see SURFTRAK_TC)
+    - Throttle-Gain boost increases attitude control gains when throttle high (see ATC_THR_G_BOOST)
+    - Waypoint navigation cornering acceleration is configurable (see WPNAV_ACCEL_C)
+    - WeatherVane into the wind in Auto and Guided modes (see WVANE_ENABLE)
+6) TradHeli specific enhancements
+    - Manual autorotation support
+    - Improved collect to yaw compensation
+7) Filtering enhancements
+    - FFT notch can be run based on filtered data
+    - Warn of motor noise at RPM frequency using FFT
+    - In-flight FFT can better track low frequency noise
+    - In-flight FFT logging improved
+    - IMU data can be read and replayed for FFT analysis
+8) Camera and gimbal enhancements
+    - BMMCC support included in Servo driver
+    - DJI RS2/RS3-Pro gimbal support
+    - Dual camera support (see CAM2_TYPE)
+    - Gimbal/Mount2 can be moved to retracted or neutral position
+    - Gremsy ZIO support
+    - IMAGE_START_CAPTURE, SET_CAMERA_ZOOM/FOCUS, VIDEO_START/STOP_CAPTURE command support
+    - Paramters renamed and rescaled
+        - CAM_TRIGG_TYPE renamed to CAM1_TYPE and options have changed
+        - CAM_DURATION renamed to CAM1_DURATION and scaled in seconds
+        - CAM_FEEDBACK_PIN/POL renamed to CAM1_FEEBAK_PIN/POL
+        - CAM_MIN_INTERVAL renamed to CAM1_INTRVAL_MIN and scaled in seconds
+        - CAM_TRIGG_DIST renamed to CAMx_TRIGG_DIST and accepts fractional values
+    - RunCam2 4k support
+    - ViewPro camera gimbal support
+9) Logging changes
+    - BARD msg includes 3-axis dynamic pressure useful for baro compensation of wind estimate
+    - MCU log msg includes main CPU temp and voltage (was part of POWR message)
+    - RCOut banner message always included in Logs
+    - SCR message includes memory usage of all running scripts
+    - CANS message includes CAN bus tx/rx statistics
+    - OFCA (optical flow calibration log message) units added
+    - Home location not logged to CMD message
+    - MOTB message includes throttle output
+10) Scripting enhancements
+    - Copter deadreckoning upgraded to applet
+    - EFI Skypower driver gets improved telem messages and bug fixes
+    - Generator throttle control example added
+    - Heap max increased by allowing heap to be split across multiple underlying OS heaps
+    - Hexsoon LEDs applet
+    - Logging from scripts supports more formats
+    - Parameters can be removed or reordered
+    - Parameter description support (scripts must be in AP's applet or driver directory)
+    - Rangefinder driver support
+    - Runcam_on_arm applet starts recording when vehicle is armed
+    - Safety switch, E-Stop and motor interlock support
+    - Scripts can restart all scripts
+    - Script_Controller applet supports inflight switching of active scripts
+11) Custom build server enhancements
+    - AIS support for displaying nearby boats can be included
+    - Battery, Camera and Compass drivers can be included/excluded
+    - EKF3 wind estimation can be included/excluded
+    - PCA9685, ToshibaLED, PLAY_TUNE notify drivers can be included/excluded
+    - Preclanding can be included/excluded
+    - RichenPower generator can be included/excluded
+    - RC SRXL protocol can be excluded
+    - SIRF GPSs can be included/excluded
+12) Safety related enhancements and fixes
+    - Arming check for high throttle skipped when arming in Auto mode
+    - Arming check for servo outputs skipped when SERVOx_FUNCTION is scripting
+    - Arming check fix if both "All" and other bitmasks are selected (previously only ran the other checks)
+    - "EK3 sources require RangeFinder" pre-arm check fix when user only sets up 2nd rangefinder (e.g. 1st is disabled)
+    - Pre-arm check that low and critical battery failsafe thresholds are different
+    - Pre-arm message fixed if 2nd EKF core unhealthy
+    - Pre-arm check if reboot required to enabled IMU batch sampling (used for vibe analysis)
+    - RC failsafe (aka throttle failsafe) option to change to Brake mode
+    - RC failsafe timeout configurable (see RC_FS_TIMEOUT)
+    - Takeoff check of motor RPM (see TKOFF_RPM_MIN)
+    - Turtle mode warns user to raise throttle to arm
+13) Minor enhancements
+    - Boot time reduced by improving parameter conversion efficiency
+    - BRD_SAFETYENABLE parameter renamed to BRD_SAFETY_DEFLT
+    - Compass calibration auxiliary switch function (set RCx_OPTION=171)
+    - Disable IMU3 auxiliary switch function (set RCx_OPTION=110)
+    - Frame type sent to GCS defaults to multicopter to ease first time setup
+    - Rangefinder and FS_OPTIONS param conversion code reduced (affects when upgrading from 3.6 or earlier)
+    - MAVFTP supports file renaming
+    - MAVLink in-progress reply to some requests for calibration from GCS
+14) Bug fixes:
+    - ADSB telemetry and callsign fixes
+    - Battery pct reported to GCS limited to 0% to 100% range
+    - Bi-directional DShot fix on H7 boards after system time wrap (more complete fix than in 4.3.6)
+    - DisplayPort OSD screen reliability improvement on heavily loaded OSDs especially F4 boards
+    - DisplayPort OSD artificial horizon better matches actual horizon
+    - EFI Serial MS bug fix to avoid possible infinite loop
+    - EKF3 Replay fix when COMPASS_LEARN=3
+    - ESC Telemetry external temp reporting fix
+    - Fence upload works even if Auto mode is excluded from firmware
+    - FMT messages logged even when Fence is exncluded from firmware (e.g. unselected when using custom build server)
+    - Guided mode slow yaw fix
+    - Hardfault avoided if user changes INS_LOG_BAT_CNT while batch sampling running
+    - ICM20649 temp sensor tolerate increased to avoid unnecessary FIFO reset
+    - IMU detection bug fix to avoid duplicates
+    - IMU temp cal fix when using auxiliary IMU
+    - Message Interval fix for restoring default rate https://github.com/ArduPilot/ardupilot/pull/21947
+    - RADIO_STATUS messages slow-down feature never completely stops messages from being sent
+    - SERVOx_TRIM value output momentarily if SERVOx_FUNCTION is changed from Disabled to RCPassThru, RCIN1, etc.  Avoids momentary divide-by-zero
+    - Scripting file system open fix
+    - Scripting PWM source deletion crash fix
+    - MAVFTP fix for low baudrates (4800 baud and lower)
+    - ModalAI VOXL reset handling fix
+    - MPU6500 IMU fast sampling rate to 4k (was 1K)
+    - NMEA GPGGA output fixed for GPS quality, num sats and hdop
+    - Position control reset avoided even with very uneven main loop rate due to high CPU load
+    - SingleCopter and CoaxCopter fix to fin centering when using DShot
+    - SystemID mode fix to write PID log messages
+    - Terrain offset increased from 15m to 30m (see TERRAIN_OFS_MAX)to reduce chance of "clamping"
+    - Throttle notch FFT tuning param fix
+    - VTX protects against pitmode changes when not enabled or vehicle disarmed
+15) Developer specific items
+    - DroneCAN replaces UAVCAN
+    - FlighAxis simulator rangefinder fixed
+    - Scripts in applet and drivers directory checked using linter
+    - Simulator supports main loop timing jitter (see SIM_TIME_JITTER)
+    - Simulink model and init scripts
+    - SITL on hardware support (useful to demo servos moving in response to simulated flight)
+    - SITL parameter definitions added (some, not all)
+    - Webots 2023a simulator support
+    - XPlane support for wider range of aircraft
+------------------------------------------------------------------
+Copter 4.3.6 05-Apr-2023 / 4.3.6-beta1, 4.3.6--beta2 27-Mar-2023
+Changes from 4.3.5
+1) Bi-directional DShot fix for possible motor stop approx 72min after startup 
+------------------------------------------------------------------
 Copter Copter 4.3.5 14-Mar-2023 / 4.3.5-rc1 01-Mar-2023
 Changes from 4.3.4
 1) Bug fixes

ArduCopter/mode.h

@@ -1319,6 +1319,10 @@ public:
 
     bool use_pilot_yaw() const override;
 
+    bool set_speed_xy(float speed_xy_cms) override;
+    bool set_speed_up(float speed_up_cms) override;
+    bool set_speed_down(float speed_down_cms) override;
+
     // RTL states
     enum class SubMode : uint8_t {
         STARTING,
@@ -1782,6 +1786,7 @@ public:
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return true; }
     bool is_autopilot() const override { return true; }
+    bool has_user_takeoff(bool must_navigate) const override { return true; }
 
     // save current position as A or B.  If both A and B have been saved move to the one specified
     void save_or_move_to_destination(Destination ab_dest);

ArduCopter/mode_rtl.cpp

@@ -554,4 +554,22 @@ bool ModeRTL::use_pilot_yaw(void) const
     return allow_yaw_option || land_repositioning || final_landing;
 }
 
+bool ModeRTL::set_speed_xy(float speed_xy_cms)
+{
+    copter.wp_nav->set_speed_xy(speed_xy_cms);
+    return true;
+}
+
+bool ModeRTL::set_speed_up(float speed_up_cms)
+{
+    copter.wp_nav->set_speed_up(speed_up_cms);
+    return true;
+}
+
+bool ModeRTL::set_speed_down(float speed_down_cms)
+{
+    copter.wp_nav->set_speed_down(speed_down_cms);
+    return true;
+}
+
 #endif

ArduCopter/takeoff_check.cpp

@@ -29,6 +29,12 @@ void Copter::takeoff_check()
 
     // check ESCs are sending RPM at expected level
     uint32_t motor_mask = motors->get_motor_mask();
+#if HAL_WITH_IO_MCU
+    if (AP_BoardConfig::io_enabled()) {
+        // In 4.4 and earlier ESC telemetry is always indexed from 1 for servo channels 9+
+        motor_mask >>= 8;
+    }
+#endif
     const bool telem_active = AP::esc_telem().is_telemetry_active(motor_mask);
     const bool rpm_adequate = AP::esc_telem().are_motors_running(motor_mask, g2.takeoff_rpm_min);
 

ArduCopter/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.4.0-dev"
+#define THISFIRMWARE "ArduCopter V4.4.4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,4,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 4,4,4,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 4
-#define FW_PATCH 0
-#define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
+#define FW_PATCH 4
+#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>

ArduPlane/ArduPlane.cpp

@@ -203,7 +203,13 @@ void Plane::ahrs_update()
  */
 void Plane::update_speed_height(void)
 {
-    if (control_mode->does_auto_throttle()) {
+    bool should_run_tecs = control_mode->does_auto_throttle();
+#if HAL_QUADPLANE_ENABLED
+    if (quadplane.should_disable_TECS()) {
+        should_run_tecs = false;
+    }
+#endif
+    if (should_run_tecs) {
 	    // Call TECS 50Hz update. Note that we call this regardless of
 	    // throttle suppressed, as this needs to be running for
 	    // takeoff detection
@@ -543,7 +549,14 @@ void Plane::update_alt()
     }
 #endif
 
-    if (control_mode->does_auto_throttle() && !throttle_suppressed) {
+    bool should_run_tecs = control_mode->does_auto_throttle();
+#if HAL_QUADPLANE_ENABLED
+    if (quadplane.should_disable_TECS()) {
+        should_run_tecs = false;
+    }
+#endif
+    
+    if (should_run_tecs && !throttle_suppressed) {
 
         float distance_beyond_land_wp = 0;
         if (flight_stage == AP_FixedWing::FlightStage::LAND &&

ArduPlane/Attitude.cpp

@@ -259,7 +259,7 @@ void Plane::stabilize_stick_mixing_fbw()
     // non-linear and ends up as 2x the maximum, to ensure that
     // the user can direct the plane in any direction with stick
     // mixing.
-    float roll_input = channel_roll->norm_input();
+    float roll_input = channel_roll->norm_input_dz();
     if (roll_input > 0.5f) {
         roll_input = (3*roll_input - 1);
     } else if (roll_input < -0.5f) {
@@ -273,7 +273,7 @@ void Plane::stabilize_stick_mixing_fbw()
         return;
     }
 
-    float pitch_input = channel_pitch->norm_input();
+    float pitch_input = channel_pitch->norm_input_dz();
     if (pitch_input > 0.5f) {
         pitch_input = (3*pitch_input - 1);
     } else if (pitch_input < -0.5f) {

ArduPlane/GCS_Mavlink.h

@@ -11,13 +11,14 @@ public:
 
     using GCS_MAVLINK::GCS_MAVLINK;
 
+    uint8_t sysid_my_gcs() const override;
+
 protected:
 
     uint32_t telem_delay() const override;
 
     void handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg) override;
 
-    uint8_t sysid_my_gcs() const override;
     bool sysid_enforce() const override;
 
     MAV_RESULT handle_command_preflight_calibration(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override;

ArduPlane/Plane.h

@@ -680,6 +680,9 @@ private:
 
         // The amount of time we should stay in a loiter for the Loiter Time command.  Milliseconds.
         uint32_t time_max_ms;
+
+        // current value of loiter radius in metres used by the controller
+        float radius;
     } loiter;
 
     // Conditional command
@@ -720,6 +723,9 @@ private:
         // are we trying to follow terrain?
         bool terrain_following;
 
+        // are we waiting to load terrain data to init terrain following
+        bool terrain_following_pending;
+
         // target altitude above terrain in cm, valid if terrain_following
         // is set
         int32_t terrain_alt_cm;
@@ -833,7 +839,7 @@ private:
     void reset_offset_altitude(void);
     void set_offset_altitude_location(const Location &start_loc, const Location &destination_loc);
     bool above_location_current(const Location &loc);
-    void setup_terrain_target_alt(Location &loc) const;
+    void setup_terrain_target_alt(Location &loc);
     int32_t adjusted_altitude_cm(void);
     int32_t adjusted_relative_altitude_cm(void);
     float mission_alt_offset(void);

ArduPlane/ReleaseNotes.txt

@@ -1,3 +1,430 @@
+Release 4.4.4 19th December 2023
+--------------------------------
+
+Changes from 4.4.3:
+
+- CubeOrange Sim-on-hardware compilation fix
+- RADIX2HD supports external I2C compasses
+- SpeedyBeeF405v4 support
+- DroneCAN battery monitor with cell monitor SoC reporting fix
+- ProfiLED output fixed in both Notify and Scripting
+- NTF_LED_TYPES parameter description fixed (was missing IS31FL3195)
+- Scripting bug that could cause crash if parameters were added in flight
+- STAT_BOOTCNT param fix (was not updating in some cases)
+- don't query hobbywing DroneCAN ESC IDs while armed
+- clamp empy version to prevent build errors
+
+Release 4.4.3 14th November 2023
+--------------------------------
+
+Changes from 4.4.2:
+
+ - fixed setup of ICM45486 IMU on CubeOrangePlus-BG edition
+ - disable AFSR on IxM42xxx IMUs to prevent gyro bias for "stuck" gyros
+ - fixed AK09916 compass being non-responsive
+ - implement GPS_DRV_OPTION for using ellipsoid height in more GPS drivers
+ - fixed SIYI AP_Mount parsing bug
+ - configuration fixes for BETAFTP-F405 boards
+ - fixed origin versus home relative bug in quadplane landing and guided takeoff
+ - correct mavlink response for no airspeed sensor on preflight calibration
+ - protect against notch filtering with uninitialised RPM source in ESC telemetry
+ - allow lua scripts to populate full ESC telemetry data
+ - added YJUAV_A6SE_H743 support
+ - fixed uBlox M10 GPS support on boards with 1M flash
+
+Release 4.4.2 23th October 2023
+-------------------------------
+
+Changes from 4.4.1
+
+- BETAFPV-F405 support
+- MambaF405v2 battery and serial setup corrected
+- mRo Control Zero OEM H7 bdshot support
+- SpeedyBee-F405-Wing gets VTX power control
+- SpeedyBee-F405-Mini support
+- T-Motor H743 Mini support
+- EKF3 supports baroless boards
+- INA battery monitor supports config of shunt resistor used (see BATTx_SHUNT)
+- BMI088 IMU error value handling fixed to avoid occasional negative spike
+- Dev environment CI autotest stability improvements
+- OSD correct DisplayPort BF MSP symbols
+- OSD option to correct direction arrows for BF font set
+- Sensor status reporting to GCS fixed for baroless boards
+- added opendroneid option to auto-store IDs in persistent flash
+- fixed TECS bug that could cause inability to climb or descend
+- fixed race condition when starting TECS controlled mode
+- fixed RTL with rally point and terrain follow
+- protect against invalid data in SBUS for first 4 channels
+- added build type to VER message
+- allow moving baseline rover at 3Hz
+- use RC deadzones in stick mixing
+
+
+Release 4.4.1 26th September 2023
+---------------------------------
+
+No changes from beta2
+
+Release 4.4.1-beta2 12th September 2023
+--------------------------------------
+
+Changes from 4.4.1-beta1
+
+- Airbotf4 features minimised to build for 4.4
+- ChibiOS clock fix for 480Mhz H7 boards (affected FDCAN)
+- H750 external flash optimisations for to lower CPU load
+- MambaF405Mini fixes to match manufacturer's recommended wiring
+- RADIX2 HD support
+- RPI hardware version check fix
+- YJUAV_A6SE support
+
+Release 4.4.1-beta1 5th September 2023
+--------------------------------------
+
+Changes from 4.4.1
+
+- support Himark DroneCAN servos
+- support Hobbywing DroneCAN ESCs
+- fixed control surface deflection on quadplanes in VTOL takeoff wait
+- fixed bug in parameter default handling in SITL
+- allow selection of mission sdcard storage on custom.ardupilot.org
+- added support for SDMODELH7V1
+- fixed battery monitor default for QiotekZealotF427 and QiotekZealotH743
+- support 8 bit directional dshot channels on KakuteH7-wing
+- improved handling of high vibration in EKF3 with new EK3_GLITCH_RADIUS options
+- allow reset of battery SoC for DroneCAN battery monitors
+- update GPIOs for Navigator board in HAL_Linux
+- pull RTS lines low on Pixhawk6C on startup
+- added log_file_content in scripting for aerobatics
+- added asymmetry factor for skid steering on rovers
+- updated defaults for luminousbee5 boards
+
+Happy flying!
+
+Release 4.4.0 18th August 2023
+------------------------------
+
+No changes from beta5
+
+Release 4.4.0-beta5 11th August 2023
+------------------------------------
+
+Changes from 4.4.0-beta4
+
+- fixed handling of missing DroneCAN airspeed packet
+- fixed reset of target altitude in plane GUIDED mode
+- added SIYI N7 flight controller
+- fixed auto-enable of fence with forced arm
+- fixed race condition that caused notch filter gyro glitches
+- fixed bug with RTK injection for DroneCAN
+
+Release 4.4.0 beta4
+-------------------
+
+Changes from 4.4.0-beta3
+
+1) flight controller specific changes
+    - Diatone-Mamba-MK4-H743v2 uses SPL06 baro (was DPS280)
+    - DMA for I2C disabled on F7 and H7 boards
+    - Foxeer H743v1 default serial protocol config fixes
+    - HeeWing-F405 and F405v2 support
+    - iFlight BlitzF7 support
+2) Scripts may take action based on VTOL motor loss
+3) Bug fixes
+    - BLHeli returns battery status requested via MSP (avoids hang when using esc-configurator)
+    - CRSFv3 rescans at baudrates to avoid RX loss
+    - EK3_ABIAS_P_NSE param range fix
+    - Scripting restart memory corruption bug fixed
+    - Siyi A8/ZR10 driver fix to avoid crash if serial port not configured
+
+Release 4.4.0 beta3
+-------------------
+
+This is the third beta of plane 4.4.0. This includes some important
+fixes since beta2
+
+1) flight controller specific changes
+ - Holybro KakuteH7-Wing support
+ - JFB100 external watchdog GPIO support added
+ - Pixhawk1-bdshot support
+ - Pixhawk6X-bdshot support
+ - SpeedyBeeF4 loses bdshot support
+
+3) Camera and Gimbal related changes
+ - DO_SET_ROI_NONE command support added
+
+4) Bug fixes
+ - ADSB sensor loss of transceiver message less spammy
+ - AutoTune Yaw rate max fixed
+ - EKF vertical velocity reset fixed on loss of GPS
+ - GPS pre-arm failure message clarified
+ - SERVOx_PROTOCOL "SToRM32 Gimbal Serial" value renamed to "Gimbal" because also used by Siyi
+ - SERIALx_OPTION "Swap" renamed to "SwapTXRX" for clarity
+ - SBF GPS ellipsoid height fixed
+ - Ublox M10S GPS auto configuration fixed
+ - ZigZag mode user takeoff fixed (users could not takeoff in ZigZag mode previously)
+ - fixed memory corruption bug with scripting restart
+
+5) Device drivers
+ - added LP5562 I2C LED driver
+ - added IS31FL3195 LED driver
+
+6) Applet changes
+ - added QUIK_MAX_REDUCE parameter to VTOL quicktune lua applet
+
+7) Plane specific changes
+ - fixed takeoff mode to ensure climb to takeoff alt before turning
+ - fixed error in quadplane wait for rudder neutral
+ - improved handling of forward throttle during VTOL landing
+ - fixed TECS state reset in VTOL auto modes
+ - fixed early exit from loiter to alt
+ - fixed display of started airspeed wait on forward transition
+
+
+Release 4.4.0 beta2
+-------------------
+
+This is the second beta of plane 4.4.0. This includes some important
+fixes since beta1.
+
+The full list of changes is:
+
+ - added SpeedyBeeF405WING, JSB100 and FoxeerH743
+ - added LOG_DISARMED=3 support and LOG_DARM_RATEMAX
+ - fixed error handling for being out of memory in EKF initialisation
+ - fixed a bug in RC input handling on the IOMCU
+ - fixed a bug handling ICE engine start after altitude reached
+ - adjust EKF3 accel bias process noise for greater robustness
+ - fixed an EKF3 bug in accel bias calculations
+ - cope with compassmot impacting GSF yaw numerical stability
+ - fixed an AUTOTUNE/QAUTOTUNE bug in yaw tuning
+ - support INA228 and INA238 I2C battery monitors
+ - always log rate PID slew limiters even when slew limit is zero
+ - added MambaF4050v2 for new IMU, bdshot and DMA on UART1
+ - update for FoxeerH743v1 GA release
+ - reduced IMU init speed on MatekH743
+ - move LED serial processing to its own thread
+ - fixed parameter documentation for BRD_SAFETYOPTION
+ - don't reject airspeed using EKF innovation if dead-reckoning
+ - fixed USB pass-thru on 2nd USB endpoint
+
+
+Release 4.4.0 beta1
+-------------------
+
+This is the first beta of plane 4.4.0. It is a big release with lots
+of changes. Many thanks to all the people who have contributed!
+
+1) New autopilots supported
+    - ESP32
+    - Flywoo Goku F405S AIO
+    - Foxeer H743v1
+    - MambaF405-2022B
+    - PixPilot-V3
+    - PixSurveyA2
+    - rFCU H743
+    - ThePeach K1/R1
+
+2) Autopilot specific changes
+    - Bi-Directional DShot support for CubeOrangePlus-bdshot, CUAVNora+, MatekF405TE/VTOL-bdshot, MatekL431, Pixhawk6C-bdshot, QioTekZealotH743-bdshot
+    - Bi-Directional DShot up to 8 channels on MatekH743
+    - BlueRobotics Navigator supports baro on I2C bus 6
+    - BMP280 baro only for BeastF7, KakuteF4, KakuteF7Mini, MambaF405, MatekF405, Omnibusf4 to reduce code size (aka "flash")
+    - CSRF and Hott telemetry disabled by default on some low power boards (aka "minimised boards")
+    - Foxeer Reaper F745 supports external compasses
+    - OmnibusF4 support for BMI270 IMU
+    - OmnibusF7V2-bdshot support removed
+    - KakuteF7 regains displayport, frees up DMA from unused serial port
+    - KakuteH7v2 gets second battery sensor
+    - MambaH743v4 supports VTX
+    - MatekF405-Wing supports InvensenseV3 IMUs
+    - PixPilot-V6 heater enabled
+    - Raspberry 64OS startup crash fixed
+    - ReaperF745AIO serial protocol defaults fixed
+    - SkystarsH7HD (non-bdshot) removed as users should always use -bdshot version
+    - Skyviper loses many unnecessary features to save flash
+    - UBlox GPS only for AtomRCF405NAVI, BeastF7, MatekF405, Omnibusf4 to reduce code size (aka "flash")
+    - VRBrain-v52 and VRCore-v10 features reduced to save flash
+
+3) Driver enhancements
+    - ARK RTK GPS support
+    - BMI088 IMU filtering and timing improved, ignores bad data
+    - CRSF OSD may display disarmed state after flight mode (enabled using RC_OPTIONS)
+    - Daiwa winch baud rate obeys SERIALx_BAUD parameter
+    - EFI supports fuel pressure and ignition voltage reporting and battery failsafe
+    - ICM45686 IMU support
+    - ICM20602 uses fast reset instead of full reset on bad temperature sample (avoids occasional very high offset)
+    - ICM45686 supports fast sampling
+    - MAX31865 temp sensor support
+    - MB85RS256TY-32k, PB85RS128C and PB85RS2MC FRAM support
+    - MMC3416 compass orientation fix
+    - MPPT battery monitor reliability improvements, enable/disable aux function and less spammy
+    - Multiple USD-D1-CAN radar support
+    - NMEA output rate configurable (see NMEA_RATE_MS)
+    - NMEA output supports PASHR message (see NMEA_MSG_EN)
+    - OSD supports average resting cell voltage (see OSD_ACRVOLT_xxx params)
+    - Rockblock satellite modem support
+    - Serial baud support for 2Mbps (only some hardware supports this speed)
+    - SF45b lidar filtering reduced (allows detecting smaller obstacles
+    - SmartAudio 2.0 learns all VTX power levels)
+    - UAVCAN ESCs report error count using ESC Telemetry
+    - Unicore GPS (e.g. UM982) support
+    - VectorNav 100 external AHRS support
+    - 5 IMUs supported
+
+4) EKF related enhancements
+    - Baro compensation using wind estimates works when climbing or descending (see BAROx_WCF_UP/DN)
+    - External AHRS support for enabling only some sensors (e.g. IMU, Baro, Compass) see EAHRS_SENSORS
+    - Magnetic field tables updated
+    - Non-compass initial yaw alignment uses GPS course over GSF (mostly affects Planes and Rover)
+    
+5) Control and navigation enhancements 
+    - AutoTune of attitude control yaw D gain (set AUTOTUNE_AXES=8)
+    - DO_SET_ROI_NONE command turns off ROI
+    - JUMP_TAG mission item support
+    - Missions can be stored on SD card (see BRD_SD_MISSION)
+    - NAV_SCRIPT_TIME command accepts floating point arguments
+    - Pause/Resume returns success if mission is already paused or resumed
+    - Payload Place support via lua script in quadplanes
+
+7) Filtering enhancements
+    - FFT notch can be run based on filtered data
+    - Warn of motor noise at RPM frequency using FFT
+    - In-flight FFT can better track low frequency noise
+    - In-flight FFT logging improved
+    - IMU data can be read and replayed for FFT analysis
+
+8) Camera and gimbal enhancements
+    - BMMCC support included in Servo driver
+    - DJI RS2/RS3-Pro gimbal support
+    - Dual camera support (see CAM2_TYPE)
+    - Gimbal/Mount2 can be moved to retracted or neutral position
+    - Gremsy ZIO support
+    - IMAGE_START_CAPTURE, SET_CAMERA_ZOOM/FOCUS, VIDEO_START/STOP_CAPTURE command support
+    - Paramters renamed and rescaled
+        i) CAM_TRIGG_TYPE renamed to CAM1_TYPE and options have changed
+        ii) CAM_DURATION renamed to CAM1_DURATION and scaled in seconds
+        iii) CAM_FEEDBACK_PIN/POL renamed to CAM1_FEEBAK_PIN/POL
+        iv) CAM_MIN_INTERVAL renamed to CAM1_INTRVAL_MIN and scaled in seconds
+        v) CAM_TRIGG_DIST renamed to CAMx_TRIGG_DIST and accepts fractional values
+    - RunCam2 4k support
+    - ViewPro camera gimbal support
+
+9) Logging changes
+    - BARO msg includes 3-axis dynamic pressure useful for baro compensation of wind estimate
+    - MCU log msg includes main CPU temp and voltage (was part of POWR message)
+    - RCOut banner message always included in Logs
+    - SCR message includes memory usage of all running scripts
+    - CANS message includes CAN bus tx/rx statistics
+    - OFCA (optical flow calibration log message) units added
+    - Home location not logged to CMD message
+    - MOTB message includes throttle output
+
+10) Scripting enhancements
+    - Generator throttle control example added
+    - Heap max increased by allowing heap to be split across multiple underlying OS heaps
+    - Hexsoon LEDs applet
+    - Logging from scripts supports more formats
+    - Parameters can be removed or reordered
+    - Parameter description support (scripts must be in AP's applet or driver directory)
+    - Rangefinder driver support
+    - Runcam_on_arm applet starts recording when vehicle is armed
+    - Safety switch, E-Stop and motor interlock support
+    - Scripts can restart all scripts
+    - Script_Controller applet supports inflight switching of active scripts
+
+11) Custom build server enhancements
+    - AIS support for displaying nearby boats can be included
+    - Battery, Camera and Compass drivers can be included/excluded
+    - EKF3 wind estimation can be included/excluded
+    - PCA9685, ToshibaLED, PLAY_TUNE notify drivers can be included/excluded
+    - RichenPower generator can be included/excluded
+    - RC SRXL protocol can be excluded
+    - SIRF GPSs can be included/excluded
+
+12) Safety related enhancements and fixes
+    - "EK3 sources require RangeFinder" pre-arm check fix when user only sets up 2nd rangefinder (e.g. 1st is disabled)
+    - Pre-arm check that low and critical battery failsafe thresholds are different
+    - Pre-arm message fixed if 2nd EKF core unhealthy
+    - Pre-arm check if reboot required to enabled IMU batch sampling (used for vibe analysis)
+
+13) Minor enhancements
+    - Boot time reduced by improving parameter conversion efficiency
+    - BRD_SAFETYENABLE parameter renamed to BRD_SAFETY_DEFLT
+    - Compass calibration auxiliary switch function (set RCx_OPTION=171)
+    - Disable IMU3 auxiliary switch function (set RCx_OPTION=110)
+    - MAVFTP supports file renaming
+    - MAVLink in-progress reply to some requests for calibration from GCS
+
+14) Bug fixes:
+    - ADSB telemetry and callsign fixes
+    - Battery pct reported to GCS limited to 0% to 100% range
+    - Bi-directional DShot fix on H7 boards after system time wrap (more complete fix than in 4.3.6)
+    - DisplayPort OSD screen reliability improvement on heavily loaded OSDs especially F4 boards
+    - DisplayPort OSD artificial horizon better matches actual horizon
+    - EFI Serial MS bug fix to avoid possible infinite loop
+    - EKF3 Replay fix when COMPASS_LEARN=3
+    - ESC Telemetry external temp reporting fix
+    - Fence upload works even if Auto mode is excluded from firmware
+    - FMT messages logged even when Fence is exncluded from firmware (e.g. unselected when using custom build server)
+    - Hardfault avoided if user changes INS_LOG_BAT_CNT while batch sampling running
+    - ICM20649 temp sensor tolerate increased to avoid unnecessary FIFO reset
+    - IMU detection bug fix to avoid duplicates
+    - IMU temp cal fix when using auxiliary IMU
+    - Message Interval fix for restoring default rate https://github.com/ArduPilot/ardupilot/pull/21947
+    - RADIO_STATUS messages slow-down feature never completely stops messages from being sent
+    - SERVOx_TRIM value output momentarily if SERVOx_FUNCTION is changed from Disabled to RCPassThru, RCIN1, etc.  Avoids momentary divide-by-zero
+    - Scripting file system open fix
+    - Scripting PWM source deletion crash fix
+    - MAVFTP fix for low baudrates (4800 baud and lower)
+    - ModalAI VOXL reset handling fix
+    - MPU6500 IMU fast sampling rate to 4k (was 1K)
+    - NMEA GPGGA output fixed for GPS quality, num sats and hdop
+    - Position control reset avoided even with very uneven main loop rate due to high CPU load
+    - Terrain offset increased from 15m to 30m (see TERRAIN_OFS_MAX) to reduce chance of "clamping"
+    - Throttle notch FFT tuning param fix
+
+15) Developer specific items
+    - DroneCAN replaces UAVCAN
+    - FlighAxis simulator rangefinder fixed
+    - Scripts in applet and drivers directory checked using linter
+    - Simulator supports main loop timing jitter (see SIM_TIME_JITTER)
+    - Simulink model and init scripts
+    - SITL on hardware support (useful to demo servos moving in response to simulated flight)
+    - SITL parameter definitions added (some, not all)
+    - Webots 2023a simulator support
+    - XPlane support for wider range of aircraft
+
+16) Plane specific changes
+    - new aerobatics scripting system with flexible schedules
+    - added plane-3d SITL model
+    - added quadlane landing abort AUX switch
+    - added TKOFF_GND_PITCH for taildragger takeoff
+    - new ACRO_LOCKING=2 mode for quaternion locking with yaw rate controller
+    - allow yaw rate autotune in modes other than AUTOTUNE
+    - use a cone for QRTL climb close to home
+    - added Y4 VTOL config for quadplanes
+    - added throttle scaling for vectored yaw
+    - added turn corrdination to yaw AUTOTUNE
+    - added Q_OPTION for motor tilt when disarmed in fixed wing modes
+
+
+Release 4.3.5 26th March  2023
+------------------------------
+
+- fixed 32 bit microsecond wrap in BDShot code
+
+This release has a single bug fix for a critical bug for anyone using
+bi-directional DShot on their vehicle. If using bi-directional DShot
+and the vehicle is running its motors when 32 bit microsecond time
+wraps at 71 minutes (or multiples of 71 minutes) then the bug that is
+fixed in this release has an approximately 1 in 3 chance of causing
+the motor to stop.
+
+Note that the time is the time since boot, not the time since arming,
+so even vehicles flying for a short time could be vulnerable if they
+sit for a long time on the ground before takeoff.
+
 Release 4.3.4 1st March  2023
 -----------------------------
 

ArduPlane/altitude.cpp

@@ -191,6 +191,12 @@ void Plane::set_target_altitude_location(const Location &loc)
         target_altitude.amsl_cm += home.alt;
     }
 #if AP_TERRAIN_AVAILABLE
+    if (target_altitude.terrain_following_pending) {
+        /* we didn't get terrain data to init when we started on this
+           target, retry
+        */
+        setup_terrain_target_alt(next_WP_loc);
+    }
     /*
       if this location has the terrain_alt flag set and we know the
       terrain altitude of our current location then treat it as a
@@ -448,12 +454,16 @@ bool Plane::above_location_current(const Location &loc)
   modify a destination to be setup for terrain following if
   TERRAIN_FOLLOW is enabled
  */
-void Plane::setup_terrain_target_alt(Location &loc) const
+void Plane::setup_terrain_target_alt(Location &loc)
 {
 #if AP_TERRAIN_AVAILABLE
     if (terrain_enabled_in_current_mode()) {
-        loc.change_alt_frame(Location::AltFrame::ABOVE_TERRAIN);
+        if (!loc.change_alt_frame(Location::AltFrame::ABOVE_TERRAIN)) {
+            target_altitude.terrain_following_pending = true;
+            return;
+        }
     }
+    target_altitude.terrain_following_pending = false;
 #endif
 }
 

ArduPlane/commands_logic.cpp

@@ -8,7 +8,11 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
     // default to non-VTOL loiter
     auto_state.vtol_loiter = false;
 
-        // log when new commands start
+#if AP_TERRAIN_AVAILABLE
+    plane.target_altitude.terrain_following_pending = false;
+#endif
+
+    // log when new commands start
     if (should_log(MASK_LOG_CMD)) {
         logger.Write_Mission_Cmd(mission, cmd);
     }

ArduPlane/mode.cpp

@@ -56,6 +56,7 @@ bool Mode::enter()
     plane.guided_state.target_heading_type = GUIDED_HEADING_NONE;
     plane.guided_state.target_airspeed_cm = -1; // same as above, although an airspeed of -1 is rare on plane.
     plane.guided_state.target_alt = -1; // same as above, although a target alt of -1 is rare on plane.
+    plane.guided_state.target_alt_time_ms = 0;
     plane.guided_state.last_target_alt = 0;
 #endif
 
@@ -90,6 +91,10 @@ bool Mode::enter()
     quadplane.mode_enter();
 #endif
 
+#if AP_TERRAIN_AVAILABLE
+    plane.target_altitude.terrain_following_pending = false;
+#endif
+
     bool enter_result = _enter();
 
     if (enter_result) {

ArduPlane/mode_loiter.cpp

@@ -42,8 +42,7 @@ bool ModeLoiter::isHeadingLinedUp(const Location loiterCenterLoc, const Location
     // Return true if current heading is aligned to vector to targetLoc.
     // Tolerance is initially 10 degrees and grows at 10 degrees for each loiter circle completed.
 
-    const uint16_t loiterRadius = abs(plane.aparm.loiter_radius);
-    if (loiterCenterLoc.get_distance(targetLoc) < loiterRadius + loiterRadius*0.05) {
+    if (loiterCenterLoc.get_distance(targetLoc) < 1.05f * fabsf(plane.loiter.radius)) {
         /* Whenever next waypoint is within the loiter radius plus 5%,
            maintaining loiter would prevent us from ever pointing toward the next waypoint.
            Hence break out of loiter immediately

ArduPlane/mode_takeoff.cpp

@@ -40,7 +40,7 @@ const AP_Param::GroupInfo ModeTakeoff::var_info[] = {
     // @Units: m
     // @User: Standard
     AP_GROUPINFO("DIST", 4, ModeTakeoff, target_dist, 200),
-    
+
     // @Param: GND_PITCH
     // @DisplayName: Takeoff run pitch demand
     // @Description: Degrees of pitch angle demanded during the takeoff run before speed reaches TKOFF_ROTATE_SPD. For taildraggers set to 3-point ground pitch angle and use TKOFF_TDRAG_ELEV to prevent nose tipover. For nose-wheel steer aircraft set to the ground pitch angle and if a reduction in nose-wheel load is required as speed rises, use a positive offset in TKOFF_GND_PITCH of up to 5 degrees above the angle on ground, starting at the mesured pitch angle and incrementing in 1 degree steps whilst checking for premature rotation and takeoff with each increment. To increase nose-wheel load, use a negative TKOFF_TDRAG_ELEV and refer to notes on TKOFF_TDRAG_ELEV before making adjustments.
@@ -68,61 +68,75 @@ bool ModeTakeoff::_enter()
 
 void ModeTakeoff::update()
 {
-    if (!takeoff_started) {
-        // see if we will skip takeoff as already flying
-        if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && ahrs.groundspeed() > 3) {
-            gcs().send_text(MAV_SEVERITY_INFO, "Takeoff skipped - circling");
-            plane.prev_WP_loc = plane.current_loc;
-            plane.next_WP_loc = plane.current_loc;
-            takeoff_started = true;
-            plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
-        }
+    // don't setup waypoints if we dont have a valid position and home!
+    if (!(plane.current_loc.initialised() && AP::ahrs().home_is_set())) {
+        plane.calc_nav_roll();
+        plane.calc_nav_pitch();
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
+        return;
     }
 
+    const float alt = target_alt;
+    const float dist = target_dist;
     if (!takeoff_started) {
-        // setup target location 1.5 times loiter radius from the
-        // takeoff point, at a height of TKOFF_ALT
-        const float dist = target_dist;
-        const float alt = target_alt;
+        const uint16_t altitude = plane.relative_ground_altitude(false,true);
         const float direction = degrees(ahrs.yaw);
+        // see if we will skip takeoff as already flying
+        if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && ahrs.groundspeed() > 3) {
+            if (altitude >= alt) {
+                gcs().send_text(MAV_SEVERITY_INFO, "Above TKOFF alt - loitering");
+                plane.next_WP_loc = plane.current_loc;
+                takeoff_started = true;
+                plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
+            } else {
+                gcs().send_text(MAV_SEVERITY_INFO, "Climbing to TKOFF alt then loitering");
+                plane.next_WP_loc = plane.current_loc;
+                plane.next_WP_loc.alt += ((alt - altitude) *100);
+                plane.next_WP_loc.offset_bearing(direction, dist);
+                takeoff_started = true;
+                plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
+            }
+            // not flying so do a full takeoff sequence
+        } else {
+            // setup target waypoint and alt for loiter at dist and alt from start
 
-        start_loc = plane.current_loc;
-        plane.prev_WP_loc = plane.current_loc;
-        plane.next_WP_loc = plane.current_loc;
-        plane.next_WP_loc.alt += alt*100.0;
-        plane.next_WP_loc.offset_bearing(direction, dist);
+            start_loc = plane.current_loc;
+            plane.prev_WP_loc = plane.current_loc;
+            plane.next_WP_loc = plane.current_loc;
+            plane.next_WP_loc.alt += alt*100.0;
+            plane.next_WP_loc.offset_bearing(direction, dist);
 
-        plane.crash_state.is_crashed = false;
+            plane.crash_state.is_crashed = false;
 
-        plane.auto_state.takeoff_pitch_cd = level_pitch * 100;
+            plane.auto_state.takeoff_pitch_cd = level_pitch * 100;
 
-        plane.set_flight_stage(AP_FixedWing::FlightStage::TAKEOFF);
+            plane.set_flight_stage(AP_FixedWing::FlightStage::TAKEOFF);
 
-        if (!plane.throttle_suppressed) {
-            gcs().send_text(MAV_SEVERITY_INFO, "Takeoff to %.0fm at %.1fm to %.1f deg",
-                            alt, dist, direction);
-            takeoff_started = true;
+            if (!plane.throttle_suppressed) {
+                gcs().send_text(MAV_SEVERITY_INFO, "Takeoff to %.0fm for %.1fm heading %.1f deg",
+                                alt, dist, direction);
+                takeoff_started = true;
+            }
         }
     }
 
     // we finish the initial level takeoff if we climb past
     // TKOFF_LVL_ALT or we pass the target location. The check for
     // target location prevents us flying forever if we can't climb
+    // reset the loiter waypoint target to be correct bearing and dist
+    // from starting location in case original yaw used to set it was off due to EKF
+    // reset or compass interference from max throttle
     if (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF &&
         (plane.current_loc.alt - start_loc.alt >= level_alt*100 ||
-         start_loc.get_distance(plane.current_loc) >= target_dist)) {
-        // reached level alt, re-calculate bearing to cope with systems with no compass
-        // or with poor initial compass
-        float direction = start_loc.get_bearing_to(plane.current_loc) * 0.01;
-        float dist_done = start_loc.get_distance(plane.current_loc);
-        const float dist = target_dist;
-
-        plane.next_WP_loc = plane.current_loc;
-        plane.next_WP_loc.offset_bearing(direction, MAX(dist-dist_done, 0));
-        plane.next_WP_loc.alt = start_loc.alt + target_alt*100.0;
+         start_loc.get_distance(plane.current_loc) >= dist)) {
+        // reset the target loiter waypoint using current yaw which should be close to correct starting heading
+        const float direction = start_loc.get_bearing_to(plane.current_loc) * 0.01;
+        plane.next_WP_loc = start_loc;
+        plane.next_WP_loc.offset_bearing(direction, dist);
+        plane.next_WP_loc.alt += alt*100.0;
 
         plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
-        
+
 #if AP_FENCE_ENABLED
         plane.fence.auto_enable_fence_after_takeoff();
 #endif

ArduPlane/navigation.cpp

@@ -344,6 +344,9 @@ void Plane::update_loiter(uint16_t radius)
         }
     }
 
+    // the radius actually being used by the controller is required by other functions
+    loiter.radius = (float)radius;
+
     update_loiter_update_nav(radius);
 
     if (loiter.start_time_ms == 0) {

ArduPlane/quadplane.cpp

@@ -1546,7 +1546,8 @@ void SLT_Transition::update()
         quadplane.assisted_flight = true;
         // update transition state for vehicles using airspeed wait
         if (!in_forced_transition) {
-            if (transition_state != TRANSITION_AIRSPEED_WAIT) {
+            const bool show_message = transition_state != TRANSITION_AIRSPEED_WAIT || transition_start_ms == 0;
+            if (show_message) {
                 gcs().send_text(MAV_SEVERITY_INFO, "Transition started airspeed %.1f", (double)aspeed);
             }
             transition_state = TRANSITION_AIRSPEED_WAIT;
@@ -2406,7 +2407,7 @@ void QuadPlane::vtol_position_controller(void)
         const float aspeed_threshold = MAX(plane.aparm.airspeed_min-2, assist_speed);
 
         // run fixed wing navigation
-        plane.nav_controller->update_waypoint(plane.current_loc, loc);
+        plane.nav_controller->update_waypoint(plane.auto_state.crosstrack ? plane.prev_WP_loc : plane.current_loc, loc);
 
         // use TECS for throttle
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.TECS_controller.get_throttle_demand());
@@ -2473,10 +2474,11 @@ void QuadPlane::vtol_position_controller(void)
         const uint32_t min_airbrake_ms = 1000;
         if (poscontrol.get_state() == QPOS_AIRBRAKE &&
             poscontrol.time_since_state_start_ms() > min_airbrake_ms &&
-            (aspeed < aspeed_threshold ||
-             fabsf(degrees(closing_vel.angle(desired_closing_vel))) > 60 ||
-             closing_speed > MAX(desired_closing_speed*1.2, desired_closing_speed+2) ||
-             labs(plane.ahrs.roll_sensor - plane.nav_roll_cd) > attitude_error_threshold_cd ||
+            (aspeed < aspeed_threshold || // too low airspeed
+             fabsf(degrees(closing_vel.angle(desired_closing_vel))) > 60 || // wrong direction
+             closing_speed > MAX(desired_closing_speed*1.2, desired_closing_speed+2) || // too fast
+             closing_speed < desired_closing_speed*0.5 || // too slow ground speed
+             labs(plane.ahrs.roll_sensor - plane.nav_roll_cd) > attitude_error_threshold_cd || // bad attitude
              labs(plane.ahrs.pitch_sensor - plane.nav_pitch_cd) > attitude_error_threshold_cd)) {
             gcs().send_text(MAV_SEVERITY_INFO,"VTOL position1 v=%.1f d=%.1f h=%.1f dc=%.1f",
                             (double)groundspeed,
@@ -2488,6 +2490,18 @@ void QuadPlane::vtol_position_controller(void)
 
             // switch to vfwd for throttle control
             vel_forward.integrator = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
+
+            // adjust the initial forward throttle based on our desired and actual closing speed
+            // this allows for significant initial forward throttle
+            // when we have a strong headwind, but low throttle in the usual case where
+            // we want to slow down ready for POSITION2
+            vel_forward.integrator = linear_interpolate(0, vel_forward.integrator,
+                                                        closing_speed,
+                                                        1.2*desired_closing_speed, 0.5*desired_closing_speed);
+
+            // limit our initial forward throttle in POSITION1 to be 0.5 of cruise throttle
+            vel_forward.integrator = constrain_float(vel_forward.integrator, 0, plane.aparm.throttle_cruise*0.5);
+            
             vel_forward.last_ms = now_ms;
         }
 
@@ -2807,7 +2821,7 @@ void QuadPlane::vtol_position_controller(void)
         if (plane.control_mode == &plane.mode_guided || vtol_loiter_auto) {
             plane.ahrs.get_location(plane.current_loc);
             int32_t target_altitude_cm;
-            if (!plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME,target_altitude_cm)) {
+            if (!plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_ORIGIN,target_altitude_cm)) {
                 break;
             }
             if (poscontrol.slow_descent &&
@@ -2815,7 +2829,7 @@ void QuadPlane::vtol_position_controller(void)
                 // gradually descend as we approach target
                 plane.auto_state.wp_proportion = plane.current_loc.line_path_proportion(plane.prev_WP_loc, plane.next_WP_loc);
                 int32_t prev_alt;
-                if (plane.prev_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME,prev_alt)) {
+                if (plane.prev_WP_loc.get_alt_cm(Location::AltFrame::ABOVE_ORIGIN,prev_alt)) {
                     target_altitude_cm = linear_interpolate(prev_alt,
                                                          target_altitude_cm,
                                                          plane.auto_state.wp_proportion,
@@ -2932,6 +2946,10 @@ void QuadPlane::setup_target_position(void)
  */
 void QuadPlane::takeoff_controller(void)
 {
+    // reset fixed wing controller to neutral as base output
+    plane.nav_roll_cd = 0;
+    plane.nav_pitch_cd = 0;
+
     if (!plane.arming.is_armed_and_safety_off()) {
         return;
     }
@@ -2949,7 +2967,7 @@ void QuadPlane::takeoff_controller(void)
     // don't takeoff up until rudder is re-centered after rudder arming
     if (plane.arming.last_arm_method() == AP_Arming::Method::RUDDER &&
         (takeoff_last_run_ms == 0 ||
-         now - takeoff_last_run_ms < 1000) &&
+         now - takeoff_last_run_ms > 1000) &&
         !plane.seen_neutral_rudder &&
         spool_state <= AP_Motors::DesiredSpoolState::GROUND_IDLE) {
         // start motor spinning if not spinning already so user sees it is armed
@@ -2993,8 +3011,6 @@ void QuadPlane::takeoff_controller(void)
     takeoff_last_run_ms = now;
 
     if (no_navigation) {
-        plane.nav_roll_cd = 0;
-        plane.nav_pitch_cd = 0;
         pos_control->relax_velocity_controller_xy();
     } else {
         pos_control->set_accel_desired_xy_cmss(zero);
@@ -3227,7 +3243,8 @@ bool QuadPlane::do_vtol_land(const AP_Mission::Mission_Command& cmd)
     plane.crash_state.is_crashed = false;
     
     // also update nav_controller for status output
-    plane.nav_controller->update_waypoint(plane.current_loc, plane.next_WP_loc);
+    plane.nav_controller->update_waypoint(plane.auto_state.crosstrack ? plane.prev_WP_loc : plane.current_loc,
+                                          plane.next_WP_loc);
 
     poscontrol_init_approach();
     return true;
@@ -4098,6 +4115,10 @@ Vector2f QuadPlane::landing_desired_closing_velocity()
     float tecs_land_airspeed = plane.TECS_controller.get_land_airspeed();
     if (is_positive(tecs_land_airspeed)) {
         land_speed = tecs_land_airspeed;
+    } else {
+        // use half way between min airspeed and cruise if
+        // TECS_LAND_AIRSPEED not set
+        land_speed = 0.5*(land_speed+plane.aparm.airspeed_min);
     }
     target_speed = MIN(target_speed, eas2tas * land_speed);
 
@@ -4139,12 +4160,16 @@ float QuadPlane::get_land_airspeed(void)
         return approach_speed;
     }
 
+    if (qstate == QPOS_AIRBRAKE) {
+        // during airbraking ask TECS to slow us to stall speed
+        return plane.aparm.airspeed_min;
+    }
+    
     // calculate speed based on landing desired velocity
     Vector2f vel = landing_desired_closing_velocity();
-    const Vector3f wind = plane.ahrs.wind_estimate();
+    const Vector2f wind = plane.ahrs.wind_estimate().xy();
     const float eas2tas = plane.ahrs.get_EAS2TAS();
-    vel.x -= wind.x;
-    vel.y -= wind.y;
+    vel -= wind;
     vel /= eas2tas;
     return vel.length();
 }
@@ -4529,4 +4554,20 @@ bool QuadPlane::abort_landing(void)
     return true;
 }
 
+/*
+  return true if we should disable TECS in the current flight state
+  this ensures that TECS resets when we change height in a VTOL mode
+ */
+bool QuadPlane::should_disable_TECS() const
+{
+    if (in_vtol_land_descent()) {
+        return true;
+    }
+    if (plane.control_mode == &plane.mode_guided &&
+        plane.auto_state.vtol_loiter) {
+        return true;
+    }
+    return false;
+}
+
 #endif  // HAL_QUADPLANE_ENABLED

ArduPlane/quadplane.h

@@ -180,6 +180,12 @@ public:
      */
     bool in_vtol_land_descent(void) const;
 
+    /*
+      should we disable the TECS controller?
+      only called when in an auto-throttle mode
+     */
+    bool should_disable_TECS() const;
+
 private:
     AP_AHRS &ahrs;
 

ArduPlane/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.4.0-dev"
+#define THISFIRMWARE "ArduPlane V4.4.4"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,4,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 4,4,4,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 4
-#define FW_PATCH 0
-#define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
+#define FW_PATCH 4
+#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>

ArduSub/GCS_Mavlink.h

@@ -8,6 +8,7 @@ public:
 
     using GCS_MAVLINK::GCS_MAVLINK;
 
+    uint8_t sysid_my_gcs() const override;
 protected:
 
     uint32_t telem_delay() const override {
@@ -16,8 +17,6 @@ protected:
 
     MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet) override;
 
-    uint8_t sysid_my_gcs() const override;
-
     MAV_RESULT handle_command_do_set_roi(const Location &roi_loc) override;
     MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg) override;
     MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override;

Blimp/GCS_Blimp.h

@@ -25,10 +25,10 @@ public:
 
     bool vehicle_initialised() const override;
 
-protected:
-
     uint8_t sysid_this_mav() const override;
 
+protected:
+
     // minimum amount of time (in microseconds) that must remain in
     // the main scheduler loop before we are allowed to send any
     // mavlink messages.  We want to prioritise the main flight

Rover/Parameters.cpp

@@ -27,7 +27,7 @@ const AP_Param::Info Rover::var_info[] = {
     // @Param: INITIAL_MODE
     // @DisplayName: Initial driving mode
     // @Description: This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.
-    // @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,6:Follow,7:Simple,10:Auto,11:RTL,12:SmartRTL,15:Guided
+    // @CopyValuesFrom: MODE1
     // @User: Advanced
     GSCALAR(initial_mode,        "INITIAL_MODE",     Mode::Number::MANUAL),
 
@@ -171,7 +171,7 @@ const AP_Param::Info Rover::var_info[] = {
 
     // @Param: MODE1
     // @DisplayName: Mode1
-    // @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,6:Follow,7:Simple,10:Auto,11:RTL,12:SmartRTL,15:Guided
+    // @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,6:Follow,7:Simple,8:Dock,9:Circle,10:Auto,11:RTL,12:SmartRTL,15:Guided
     // @User: Standard
     // @Description: Driving mode for switch position 1 (910 to 1230 and above 2049)
     GSCALAR(mode1,           "MODE1",         Mode::Number::MANUAL),
@@ -692,6 +692,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("FS_GCS_TIMEOUT", 56, ParametersG2, fs_gcs_timeout, 5),
 
+    // @Group: CIRC
+    // @Path: mode_circle.cpp
+    AP_SUBGROUPINFO(mode_circle, "CIRC", 57, ParametersG2, ModeCircle),
+
     AP_GROUPEND
 };
 

Rover/Parameters.h

@@ -436,6 +436,8 @@ public:
 
     // FS GCS timeout trigger time
     AP_Float fs_gcs_timeout;
+
+    class ModeCircle mode_circle;
 };
 
 extern const AP_Param::Info var_info[];

Rover/Rover.cpp

@@ -204,6 +204,14 @@ bool Rover::set_steering_and_throttle(float steering, float throttle)
     return true;
 }
 
+// get steering and throttle (-1 to +1) (for use by scripting)
+bool Rover::get_steering_and_throttle(float& steering, float& throttle)
+{
+    steering = g2.motors.get_steering() / 4500.0;
+    throttle = g2.motors.get_throttle() * 0.01;
+    return true;
+}
+
 // set desired turn rate (degrees/sec) and speed (m/s). Used for scripting
 bool Rover::set_desired_turn_rate_and_speed(float turn_rate, float speed)
 {

Rover/Rover.h

@@ -82,6 +82,7 @@ public:
     friend class Mode;
     friend class ModeAcro;
     friend class ModeAuto;
+    friend class ModeCircle;
     friend class ModeGuided;
     friend class ModeHold;
     friend class ModeLoiter;
@@ -256,6 +257,7 @@ private:
     bool set_target_location(const Location& target_loc) override;
     bool set_target_velocity_NED(const Vector3f& vel_ned) override;
     bool set_steering_and_throttle(float steering, float throttle) override;
+    bool get_steering_and_throttle(float& steering, float& throttle) override;
     // set desired turn rate (degrees/sec) and speed (m/s). Used for scripting
     bool set_desired_turn_rate_and_speed(float turn_rate, float speed) override;
     bool set_desired_speed(float speed) override;

Rover/mode.cpp

@@ -537,6 +537,9 @@ Mode *Rover::mode_from_mode_num(const enum Mode::Number num)
     case Mode::Number::SIMPLE:
         ret = &mode_simple;
         break;
+    case Mode::Number::CIRCLE:
+        ret = &g2.mode_circle;
+        break;
     case Mode::Number::AUTO:
         ret = &mode_auto;
         break;

Rover/mode.h

@@ -22,6 +22,7 @@ public:
 #if MODE_DOCK_ENABLED == ENABLED
         DOCK         = 8,
 #endif
+        CIRCLE       = 9,
         AUTO         = 10,
         RTL          = 11,
         SMART_RTL    = 12,
@@ -252,6 +253,12 @@ public:
     // return if external control is allowed in this mode (Guided or Guided-within-Auto)
     bool in_guided_mode() const override { return _submode == Auto_Guided || _submode == Auto_NavScriptTime; }
 
+    // return heading (in degrees) and cross track error (in meters) for reporting to ground station (NAV_CONTROLLER_OUTPUT message)
+    float wp_bearing() const override;
+    float nav_bearing() const override;
+    float crosstrack_error() const override;
+    float get_desired_lat_accel() const override;
+
     // return distance (in meters) to destination
     float get_distance_to_destination() const override;
 
@@ -295,6 +302,7 @@ protected:
         Auto_Guided,            // handover control to external navigation system from within auto mode
         Auto_Stop,              // stop the vehicle as quickly as possible
         Auto_NavScriptTime,     // accept targets from lua scripts while NAV_SCRIPT_TIME commands are executing
+        Auto_Circle,            // circle a given location
     } _submode;
 
 private:
@@ -322,6 +330,8 @@ private:
     bool verify_loiter_time(const AP_Mission::Mission_Command& cmd);
     bool verify_nav_guided_enable(const AP_Mission::Mission_Command& cmd);
     bool verify_nav_set_yaw_speed();
+    bool do_circle(const AP_Mission::Mission_Command& cmd);
+    bool verify_circle(const AP_Mission::Mission_Command& cmd);
     void do_wait_delay(const AP_Mission::Mission_Command& cmd);
     void do_within_distance(const AP_Mission::Mission_Command& cmd);
     bool verify_wait_delay();
@@ -385,6 +395,95 @@ private:
     AP_Mission_ChangeDetector mis_change_detector;
 };
 
+class ModeCircle : public Mode
+{
+public:
+
+    // need a constructor for parameters
+    ModeCircle();
+
+    // Does not allow copies
+    CLASS_NO_COPY(ModeCircle);
+
+    uint32_t mode_number() const override { return CIRCLE; }
+    const char *name4() const override { return "CIRC"; }
+
+    // initialise with specific center location, radius (in meters) and direction
+    // replaces use of _enter when initialised from within Auto mode
+    bool set_center(const Location& center_loc, float radius_m, bool dir_ccw);
+
+    // methods that affect movement of the vehicle in this mode
+    void update() override;
+
+    bool is_autopilot_mode() const override { return true; }
+
+    // return desired heading (in degrees) and cross track error (in meters) for reporting to ground station (NAV_CONTROLLER_OUTPUT message)
+    float wp_bearing() const override;
+    float nav_bearing() const override;
+    float crosstrack_error() const override { return dist_to_edge_m; }
+    float get_desired_lat_accel() const override;
+
+    // set desired speed in m/s
+    bool set_desired_speed(float speed_ms) override;
+
+    // return distance (in meters) to destination
+    float get_distance_to_destination() const override { return _distance_to_destination; }
+
+    // get or set desired location
+    bool get_desired_location(Location& destination) const override WARN_IF_UNUSED;
+
+    // return total angle in radians that vehicle has circled
+    // fabsf is used so that full rotations in either direction are counted
+    float get_angle_total_rad() const { return fabsf(angle_total_rad); }
+
+    static const struct AP_Param::GroupInfo var_info[];
+
+protected:
+
+    AP_Float radius;        // circle radius in meters
+    AP_Float speed;         // vehicle speed in m/s.  If zero uses WP_SPEED
+    AP_Int8 direction;      // direction 0:clockwise, 1:counter-clockwise
+
+    // initialise mode
+    bool _enter() override;
+
+    // initialise target_yaw_rad using the vehicle's position and yaw
+    // if there is no current position estimate target_yaw_rad is set to vehicle yaw
+    void init_target_yaw_rad();
+
+    // limit config speed so that lateral acceleration is within limits
+    // outputs warning to user if speed is reduced
+    void check_config_speed();
+
+    // ensure config radius is no smaller then vehicle's TURN_RADIUS
+    // radius is increased if necessary and warning is output to the user
+    void check_config_radius();
+
+    // enum for Direction parameter
+    enum class Direction {
+        CW = 0,
+        CCW = 1
+    };
+
+    // local members
+    struct {
+        Location center_loc;    // circle center as a Location
+        Vector2f center_pos;    // circle center as an offset (in meters) from the EKF origin
+        float radius;   // circle radius
+        float speed;    // desired speed around circle in m/s
+        Direction dir;  // direction, 0:clockwise, 1:counter-clockwise
+    } config;
+    struct {
+        float speed;    // vehicle's target speed around circle in m/s
+        float yaw_rad;  // earth-frame angle of tarrget point on the circle
+        Vector2p pos;   // latest position target sent to position controller
+        Vector2f vel;   // latest velocity target sent to position controller
+        Vector2f accel; // latest accel target sent to position controller
+    } target;
+    float angle_total_rad;  // total angle in radians that vehicle has circled
+    bool reached_edge;      // true once vehicle has reached edge of circle
+    float dist_to_edge_m;   // distance to edge of circle in meters (equivalent to crosstrack error)
+};
 
 class ModeGuided : public Mode
 {

Rover/mode_auto.cpp

@@ -76,21 +76,15 @@ void ModeAuto::update()
     switch (_submode) {
         case Auto_WP:
         {
-            // check if we've reached the destination
-            if (!g2.wp_nav.reached_destination() || g2.wp_nav.is_fast_waypoint()) {
-                // update navigation controller
+            // boats loiter once the waypoint is reached
+            bool keep_navigating = true;
+            if (rover.is_boat() && g2.wp_nav.reached_destination() && !g2.wp_nav.is_fast_waypoint()) {
+                keep_navigating = !start_loiter();
+            }
+
+            // update navigation controller
+            if (keep_navigating) {
                 navigate_to_waypoint();
-            } else {
-                // we have reached the destination so stay here
-                if (rover.is_boat()) {
-                    if (!start_loiter()) {
-                        start_stop();
-                    }
-                } else {
-                    start_stop();
-                }
-                // update distance to destination
-                _distance_to_destination = rover.current_loc.get_distance(g2.wp_nav.get_destination());
             }
             break;
         }
@@ -139,6 +133,10 @@ void ModeAuto::update()
         case Auto_NavScriptTime:
             rover.mode_guided.update();
             break;
+
+        case Auto_Circle:
+            rover.g2.mode_circle.update();
+            break;
     }
 }
 
@@ -152,6 +150,102 @@ void ModeAuto::calc_throttle(float target_speed, bool avoidance_enabled)
     Mode::calc_throttle(target_speed, avoidance_enabled);
 }
 
+// return heading (in degrees) to target destination (aka waypoint)
+float ModeAuto::wp_bearing() const
+{
+    switch (_submode) {
+    case Auto_WP:
+        return g2.wp_nav.wp_bearing_cd() * 0.01f;
+    case Auto_HeadingAndSpeed:
+    case Auto_Stop:
+        return 0.0f;
+    case Auto_RTL:
+        return rover.mode_rtl.wp_bearing();
+    case Auto_Loiter:
+        return rover.mode_loiter.wp_bearing();
+    case Auto_Guided:
+    case Auto_NavScriptTime:
+        return rover.mode_guided.wp_bearing();
+    case Auto_Circle:
+        return rover.g2.mode_circle.wp_bearing();
+    }
+
+    // this line should never be reached
+    return 0.0f;
+}
+
+// return short-term target heading in degrees (i.e. target heading back to line between waypoints)
+float ModeAuto::nav_bearing() const
+{
+    switch (_submode) {
+    case Auto_WP:
+        return g2.wp_nav.nav_bearing_cd() * 0.01f;
+    case Auto_HeadingAndSpeed:
+    case Auto_Stop:
+        return 0.0f;
+    case Auto_RTL:
+        return rover.mode_rtl.nav_bearing();
+    case Auto_Loiter:
+        return rover.mode_loiter.nav_bearing();
+    case Auto_Guided:
+    case Auto_NavScriptTime:
+        return rover.mode_guided.nav_bearing();
+    case Auto_Circle:
+        return rover.g2.mode_circle.nav_bearing();
+    }
+
+    // this line should never be reached
+    return 0.0f;
+}
+
+// return cross track error (i.e. vehicle's distance from the line between waypoints)
+float ModeAuto::crosstrack_error() const
+{
+    switch (_submode) {
+    case Auto_WP:
+        return g2.wp_nav.crosstrack_error();
+    case Auto_HeadingAndSpeed:
+    case Auto_Stop:
+        return 0.0f;
+    case Auto_RTL:
+        return rover.mode_rtl.crosstrack_error();
+    case Auto_Loiter:
+        return rover.mode_loiter.crosstrack_error();
+    case Auto_Guided:
+    case Auto_NavScriptTime:
+        return rover.mode_guided.crosstrack_error();
+    case Auto_Circle:
+        return rover.g2.mode_circle.crosstrack_error();
+    }
+
+    // this line should never be reached
+    return 0.0f;
+}
+
+// return desired lateral acceleration
+float ModeAuto::get_desired_lat_accel() const
+{
+    switch (_submode) {
+    case Auto_WP:
+        return g2.wp_nav.get_lat_accel();
+    case Auto_HeadingAndSpeed:
+    case Auto_Stop:
+        return 0.0f;
+    case Auto_RTL:
+        return rover.mode_rtl.get_desired_lat_accel();
+    case Auto_Loiter:
+        return rover.mode_loiter.get_desired_lat_accel();
+    case Auto_Guided:
+    case Auto_NavScriptTime:
+        return rover.mode_guided.get_desired_lat_accel();
+    case Auto_Circle:
+        return rover.g2.mode_circle.get_desired_lat_accel();
+    }
+
+    // this line should never be reached
+    return 0.0f;
+}
+
 // return distance (in meters) to destination
 float ModeAuto::get_distance_to_destination() const
 {
@@ -169,6 +263,8 @@ float ModeAuto::get_distance_to_destination() const
     case Auto_Guided:
     case Auto_NavScriptTime:
         return rover.mode_guided.get_distance_to_destination();
+    case Auto_Circle:
+        return rover.g2.mode_circle.get_distance_to_destination();
     }
 
     // this line should never be reached
@@ -195,7 +291,9 @@ bool ModeAuto::get_desired_location(Location& destination) const
         return rover.mode_loiter.get_desired_location(destination);
     case Auto_Guided:
     case Auto_NavScriptTime:
-        return rover.mode_guided.get_desired_location(destination);\
+        return rover.mode_guided.get_desired_location(destination);
+    case Auto_Circle:
+        return rover.g2.mode_circle.get_desired_location(destination);
     }
 
     // we should never reach here but just in case
@@ -236,7 +334,8 @@ bool ModeAuto::reached_destination() const
     case Auto_Guided:
     case Auto_NavScriptTime:
         return rover.mode_guided.reached_destination();
-        break;
+    case Auto_Circle:
+        return rover.g2.mode_circle.reached_destination();
     }
 
     // we should never reach here but just in case, return true to allow missions to continue
@@ -260,6 +359,8 @@ bool ModeAuto::set_desired_speed(float speed)
     case Auto_Guided:
     case Auto_NavScriptTime:
         return rover.mode_guided.set_desired_speed(speed);
+    case Auto_Circle:
+        return rover.g2.mode_circle.set_desired_speed(speed);
     }
     return false;
 }
@@ -422,6 +523,9 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
     case MAV_CMD_NAV_LOITER_TIME:   // Loiter for specified time
         return do_nav_wp(cmd, true);
 
+    case MAV_CMD_NAV_LOITER_TURNS:
+        return do_circle(cmd);
+
     case MAV_CMD_NAV_GUIDED_ENABLE: // accept navigation commands from external nav computer
         do_nav_guided_enable(cmd);
         break;
@@ -564,6 +668,9 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
     case MAV_CMD_NAV_LOITER_UNLIM:
         return verify_loiter_unlimited(cmd);
 
+    case MAV_CMD_NAV_LOITER_TURNS:
+        return verify_circle(cmd);
+
     case MAV_CMD_NAV_LOITER_TIME:
         return verify_loiter_time(cmd);
 
@@ -802,6 +909,34 @@ bool ModeAuto::verify_nav_set_yaw_speed()
     return true;
 }
 
+bool ModeAuto::do_circle(const AP_Mission::Mission_Command& cmd)
+{
+    // retrieve and sanitize target location
+    Location circle_center = cmd.content.location;
+    circle_center.sanitize(rover.current_loc);
+
+    // calculate radius
+    uint16_t circle_radius_m = HIGHBYTE(cmd.p1); // circle radius held in high byte of p1
+    if (cmd.id == MAV_CMD_NAV_LOITER_TURNS &&
+        cmd.type_specific_bits & (1U << 0)) {
+        // special storage handling allows for larger radii
+        circle_radius_m *= 10;
+    }
+
+    // initialise circle mode
+    if (g2.mode_circle.set_center(circle_center, circle_radius_m, cmd.content.location.loiter_ccw)) {
+        _submode = Auto_Circle;
+        return true;
+    }
+    return false;
+}
+
+bool ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd)
+{
+    // check if we have completed circling
+    return ((g2.mode_circle.get_angle_total_rad() / M_2PI) >= LOWBYTE(cmd.p1));
+}
+
 /********************************************************************************/
 //  Condition (May) commands
 /********************************************************************************/

Rover/mode_circle.cpp

@@ -0,0 +1,273 @@
+#include "Rover.h"
+
+#define AR_CIRCLE_ACCEL_DEFAULT         1.0 // default acceleration in m/s/s if not specified by user
+#define AR_CIRCLE_RADIUS_MIN            0.5 // minimum radius in meters
+#define AR_CIRCLE_REACHED_EDGE_DIST     0.2 // vehicle has reached edge if within 0.2m
+
+const AP_Param::GroupInfo ModeCircle::var_info[] = {
+
+    // @Param: _RADIUS
+    // @DisplayName: Circle Radius
+    // @Description: Vehicle will circle the center at this distance
+    // @Units: m
+    // @Range: 0 100
+    // @Increment: 1
+    // @User: Standard
+    AP_GROUPINFO("_RADIUS", 1, ModeCircle, radius, 20),
+
+    // @Param: _SPEED
+    // @DisplayName: Circle Speed
+    // @Description: Vehicle will move at this speed around the circle.  If set to zero WP_SPEED will be used
+    // @Units: m/s
+    // @Range: 0 10
+    // @Increment: 0.1
+    // @User: Standard
+    AP_GROUPINFO("_SPEED", 2, ModeCircle, speed, 0),
+
+    // @Param: _DIR
+    // @DisplayName: Circle Direction
+    // @Description: Circle Direction
+    // @Values: 0:Clockwise, 1:Counter-Clockwise
+    // @User: Standard
+    AP_GROUPINFO("_DIR", 3, ModeCircle, direction, 0),
+
+    AP_GROUPEND
+};
+
+ModeCircle::ModeCircle() : Mode()
+{
+    AP_Param::setup_object_defaults(this, var_info);
+}
+
+// initialise with specific center location, radius (in meters) and direction
+// replaces use of _enter when initialised from within Auto mode
+bool ModeCircle::set_center(const Location& center_loc, float radius_m, bool dir_ccw)
+{
+    Vector2f center_pos_cm;
+    if (!center_loc.get_vector_xy_from_origin_NE(center_pos_cm)) {
+        return false;
+    }
+    if (!_enter()) {
+        return false;
+    }
+
+    // convert center position from cm to m
+    config.center_pos = center_pos_cm * 0.01;
+
+    // set radius
+    config.radius = MAX(fabsf(radius_m), AR_CIRCLE_RADIUS_MIN);
+    check_config_radius();
+
+    // set direction
+    config.dir = dir_ccw ? Direction::CCW : Direction::CW;
+
+    // set target yaw rad (target point on circle)
+    init_target_yaw_rad();
+
+    // record center as location (only used for reporting)
+    config.center_loc = center_loc;
+
+    return true;
+}
+
+// initialize dock mode
+bool ModeCircle::_enter()
+{
+    // capture starting point and yaw
+    if (!AP::ahrs().get_relative_position_NE_origin(config.center_pos)) {
+        return false;
+    }
+    config.radius = MAX(fabsf(radius), AR_CIRCLE_RADIUS_MIN);
+    check_config_radius();
+
+    config.dir = (direction == 1) ? Direction::CCW : Direction::CW;
+    config.speed = is_positive(speed) ? speed : g2.wp_nav.get_default_speed();
+    target.yaw_rad = AP::ahrs().get_yaw();
+    target.speed = 0;
+
+    // check speed around circle does not lead to excessive lateral acceleration
+    check_config_speed();
+
+    // calculate speed, accel and jerk limits
+    // otherwise the vehicle uses wp_nav default speed limit
+    float atc_accel_max = MIN(g2.attitude_control.get_accel_max(), g2.attitude_control.get_decel_max());
+    if (!is_positive(atc_accel_max)) {
+        atc_accel_max = AR_CIRCLE_ACCEL_DEFAULT;
+    }
+    const float accel_max = is_positive(g2.wp_nav.get_default_accel()) ? MIN(g2.wp_nav.get_default_accel(), atc_accel_max) : atc_accel_max;
+    const float jerk_max = is_positive(g2.wp_nav.get_default_jerk()) ? g2.wp_nav.get_default_jerk() : accel_max;
+
+    // initialise position controller
+    g2.pos_control.set_limits(config.speed, accel_max, g2.attitude_control.get_turn_lat_accel_max(), jerk_max);
+    g2.pos_control.init();
+
+    // initialise angles covered and reached_edge state
+    angle_total_rad = 0;
+    reached_edge = false;
+    dist_to_edge_m = 0;
+
+    return true;
+}
+
+// initialise target_yaw_rad using the vehicle's position and yaw
+// if there is no current position estimate target_yaw_rad is set to 0
+void ModeCircle::init_target_yaw_rad()
+{
+    // if no position estimate use vehicle yaw
+    Vector2f curr_pos_NE;
+    if (!AP::ahrs().get_relative_position_NE_origin(curr_pos_NE)) {
+        target.yaw_rad = AP::ahrs().yaw;
+        return;
+    }
+
+    // calc vector from circle center to vehicle
+    Vector2f center_to_veh = (curr_pos_NE - config.center_pos);
+    float dist_m = center_to_veh.length();
+
+    // if current position is exactly at the center of the circle return vehicle yaw
+    if (is_zero(dist_m)) {
+        target.yaw_rad = AP::ahrs().yaw;
+    } else {
+        target.yaw_rad = center_to_veh.angle();
+    }
+}
+
+void ModeCircle::update()
+{
+    // get current position
+    Vector2f curr_pos;
+    const bool position_ok = AP::ahrs().get_relative_position_NE_origin(curr_pos);
+
+    // if no position estimate stop vehicle
+    if (!position_ok) {
+        stop_vehicle();
+        return;
+    }
+
+    // check if vehicle has reached edge of circle
+    const Vector2f center_to_veh = curr_pos - config.center_pos;
+    _distance_to_destination = center_to_veh.length();
+    dist_to_edge_m = fabsf(_distance_to_destination - config.radius);
+    if (!reached_edge) {
+        const float dist_thresh_m = MAX(rover.g2.turn_radius, AR_CIRCLE_REACHED_EDGE_DIST);
+        reached_edge = dist_to_edge_m <= dist_thresh_m;
+    }
+
+    // accelerate speed up to desired speed
+    const float speed_max = reached_edge ? config.speed : 0.0;
+    const float speed_change_max = (g2.pos_control.get_accel_max() * 0.5 * rover.G_Dt);
+    const float accel_fb = constrain_float(speed_max - target.speed, -speed_change_max, speed_change_max);
+    target.speed += accel_fb;
+
+    // calculate angular rate and update target angle
+    const float circumference = 2.0 * M_PI * config.radius;
+    const float angular_rate_rad = (target.speed / circumference) * M_2PI * (config.dir == Direction::CW ? 1.0 : -1.0);
+    const float angle_dt = angular_rate_rad * rover.G_Dt;
+    target.yaw_rad = wrap_PI(target.yaw_rad + angle_dt);
+    angle_total_rad += angle_dt;
+
+    // calculate target point's position, velocity and acceleration
+    target.pos = config.center_pos.topostype();
+    target.pos.offset_bearing(degrees(target.yaw_rad), config.radius);
+
+    // velocity is perpendicular to angle from the circle's center to the target point on the edge of the circle
+    target.vel = Vector2f(target.speed, 0);
+    target.vel.rotate(target.yaw_rad + radians(90));
+
+    // acceleration is towards center of circle and is speed^2 / radius
+    target.accel = Vector2f(-sq(target.speed) / config.radius, accel_fb / rover.G_Dt);
+    target.accel.rotate(target.yaw_rad);
+
+    g2.pos_control.set_pos_vel_accel_target(target.pos, target.vel, target.accel);
+    g2.pos_control.update(rover.G_Dt);
+
+    // get desired speed and turn rate from pos_control
+    const float desired_speed = g2.pos_control.get_desired_speed();
+    const float desired_turn_rate = g2.pos_control.get_desired_turn_rate_rads();
+
+    // run steering and throttle controllers
+    calc_steering_from_turn_rate(desired_turn_rate);
+    calc_throttle(desired_speed, true);
+}
+
+// return desired heading (in degrees) and cross track error (in meters) for reporting to ground station (NAV_CONTROLLER_OUTPUT message)
+float ModeCircle::wp_bearing() const
+{
+    Vector2f curr_pos_NE;
+    if (!AP::ahrs().get_relative_position_NE_origin(curr_pos_NE)) {
+        return 0;
+    }
+    // calc vector from circle center to vehicle
+    Vector2f veh_to_center = (config.center_pos - curr_pos_NE);
+    if (veh_to_center.is_zero()) {
+        return 0;
+    }
+    return degrees(veh_to_center.angle());
+}
+
+float ModeCircle::nav_bearing() const
+{
+    // get position error as a vector from the current position to the target position
+    const Vector2p pos_error = g2.pos_control.get_pos_error();
+    if (pos_error.is_zero()) {
+        return 0;
+    }
+    return degrees(pos_error.angle());
+}
+
+float ModeCircle::get_desired_lat_accel() const
+{
+    return g2.pos_control.get_desired_lat_accel();
+}
+
+// set desired speed in m/s
+bool ModeCircle::set_desired_speed(float speed_ms)
+{
+    if (is_positive(speed_ms)) {
+        config.speed = speed_ms;
+
+        // check desired speed does not lead to excessive lateral acceleration
+        check_config_speed();
+
+        // update position controller limits if required
+        if (config.speed > g2.pos_control.get_speed_max()) {
+            g2.pos_control.set_limits(config.speed, g2.pos_control.get_accel_max(), g2.pos_control.get_lat_accel_max(), g2.pos_control.get_jerk_max());
+        }
+        return true;
+    }
+ 
+    return false;
+}
+
+// return desired location
+bool ModeCircle::get_desired_location(Location& destination) const
+{
+    destination = config.center_loc;
+    return true;
+}
+
+// limit config speed so that lateral acceleration is within limits
+// assumes that config.radius and attitude controller lat accel max have been set
+// outputs warning to user if speed is reduced
+void ModeCircle::check_config_speed()
+{
+    // calculate maximum speed based on radius and max lateral acceleration max
+    const float speed_max = MAX(safe_sqrt(g2.attitude_control.get_turn_lat_accel_max() * config.radius), 0);
+
+    if (config.speed > speed_max) {
+        config.speed = speed_max;
+        gcs().send_text(MAV_SEVERITY_WARNING, "Circle: max speed is %4.1f", (double)config.speed);
+    }
+}
+
+// ensure config radius is no smaller then vehicle's TURN_RADIUS
+// assumes that config.radius has been set
+// radius is increased if necessary and warning is output to the user
+void ModeCircle::check_config_radius()
+{
+    // ensure radius is at least as large as vehicle's turn radius
+    if (config.radius < rover.g2.turn_radius) {
+        config.radius = rover.g2.turn_radius;
+        gcs().send_text(MAV_SEVERITY_WARNING, "Circle: radius increased to TURN_RADIUS (%4.1f)", (double)rover.g2.turn_radius);
+    }
+}

Rover/release-notes.txt

@@ -1,5 +1,352 @@
 Rover Release Notes:
 ------------------------------------------------------------------
+Rover 4.4.0 19-Dec-2023 / Rover 4.4.0-beta11 05-Dec-2023
+Changes from 4.4.0-beta10
+1) Autopilot related enhancement and fixes
+    - CubeOrange Sim-on-hardware compilation fix
+    - RADIX2HD supports external I2C compasses
+    - SpeedyBeeF405v4 support
+2) Bug fixes
+    - DroneCAN battery monitor with cell monitor SoC reporting fix
+    - NTF_LED_TYPES parameter description fixed (was missing IS31FL3195)
+    - ProfiLED output fixed in both Notify and Scripting
+    - Scripting bug that could cause crash if parameters were added in flight
+    - STAT_BOOTCNT param fix (was not updating in some cases)
+    - don't query hobbywing DroneCAN ESC IDs while armed
+3) Rover specific changes
+    - Auto mode keeps navigating while paused at waypoints (reduces overshoot)
+    - QuikTune script simplification (only tunes rate and speed controllers)
+    - Torqeedo battery nearly empty reporting fix
+------------------------------------------------------------------
+Rover 4.4.0-beta10 14-Nov-2023
+Changes from 4.4.0-beta9
+1) AP_GPS: correct uBlox M10 configuration on low flash boards
+------------------------------------------------------------------
+Rover 4.4.0-beta9 07-Nov-2023
+Changes from 4.4.0-beta8
+1) Autopilot related enhancements and fixes
+    - BETAFTP-F405 board configuration fixes
+    - CubeOrangePlus-BG edition ICM45486 IMU setup fixed
+    - YJUAV_A6SE_H743 support
+2) Minor enhancements
+    - GPS_DRV_OPTION allows using ellipsoid height in more GPS drivers
+    - Lua script support for fully populating ESC telemetry data
+3) Bug fixes
+   - AK09916 compass being non-responsive fixed
+   - IxM42xxx IMUs "stuck" gyros fixed
+   - Notch filtering protection when using uninitialised RPM source in ESC telemetry
+   - SIYI gimbal driver parsing bug fixed (was causing lost packets)
+------------------------------------------------------------------
+Rover 4.4.0-beta8 13-Oct-2023
+Changes from 4.4.0-beta7
+1) Autopilot related enhancements and fixes
+    - BETAFPV-F405 support
+    - MambaF405v2 battery and serial setup corrected
+    - mRo Control Zero OEM H7 bdshot support
+    - SpeedyBee-F405-Wing gets VTX power control
+    - SpeedyBee-F405-Mini support
+    - T-Motor H743 Mini support
+2) EKF3 supports baroless boards
+3) GPS-for-yaw allows base GPS to update at only 3Hz
+4) INA battery monitor supports config of shunt resistor used (see BATTx_SHUNT)
+5) Log VER message includes vehicle type
+6) OpenDroneId option to auto-store IDs in persistent flash
+7) RC SBUS protection against invalid data in first 4 channels
+8) Bug fixes
+    - BMI088 IMU error value handling fixed to avoid occasional negative spike
+    - Dev environment CI autotest stability improvements
+    - OSD correct DisplayPort BF MSP symbols
+    - OSD option to correct direction arrows for BF font set
+    - Sensor status reporting to GCS fixed for baroless boards
+------------------------------------------------------------------
+Rover 4.4.0-beta7 14-Sep-2023
+Changes from 4.4.0-beta6
+1) Autopilot related enhancements
+    - H750 external flash optimisations for to lower CPU load
+    - MambaF405Mini fixes to match manufacturer's recommended wiring
+    - RADIX2 HD support
+    - YJUAV_A6SE support
+2) Bug fixes
+    - Airbotf4 features minimised to build for 4.4
+    - ChibiOS clock fix for 480Mhz H7 boards (affected FDCAN)
+    - RPI hardware version check fix
+------------------------------------------------------------------
+Rover 4.4.0-beta6 05-Sep-2023
+Changes from 4.4.0-beta5
+1) Autopilot related fixes and enhancements
+    - KakuteH7-wing get 8 bit directional dshot channel support
+    - Luminousbee5 boards defaults updated
+    - Navigator autopilot GPIOs fix (PWM output was broken)
+    - Pixhawk6C Serial RTS lines pulled low on startup
+    - QiotekZealotF427 and QiotekZealotH743 battery monitor default fixed
+    - SDMODELH7V1 supporta
+2) Driver enhancements
+    - DroneCAN battery monitors allow reset of battery SoC
+    - Himark DroneCAN servo support
+    - Hobbywing DroneCAN ESC support
+3) Asymmetrical thrust support for skid steering rovers (see MOT_THST_ASYM)
+4) EKF3 high vibration handling improved with EK3_GLITCH_RADIUS option
+5) Custom build server gets mission storage on SDCard selection
+6) SITL default parameter handling bug fix
+------------------------------------------------------------------
+Rover 4.4.0-beta5 12-Aug-2023
+Changes from 4.4.0-beta4
+1) Autopilots specific changes
+    - SIYI N7 support
+2) Bug fixes
+    - DroneCAN airspeed sensor fix to handle missing packets
+    - DroneCAN GPS RTK injection fix
+    - Notch filter gyro glitch caused by race condition fixed
+------------------------------------------------------------------
+Rover 4.4.0-beta4 27-July-2023
+Changes from 4.4.0-beta3
+1) Autopilots specific changes
+    - Diatone-Mamba-MK4-H743v2 uses SPL06 baro (was DPS280)
+    - DMA for I2C disabled on F7 and H7 boards
+    - Foxeer H743v1 default serial protocol config fixes
+    - HeeWing-F405 and F405v2 support
+    - iFlight BlitzF7 support
+2) Rover specific enhancements
+    - QuikTune Lua script
+    - Circle mode safety improvements including handling when CIRC_SPEED set too high
+    - Velocity controller I-term build-up avoided when steering reaches limits
+3) Bug fixes
+    - BLHeli returns battery status requested via MSP (avoids hang when using esc-configurator)
+    - CRSFv3 rescans at baudrates to avoid RX loss
+    - EK3_ABIAS_P_NSE param range fix
+    - Scripting restart memory corruption bug fixed
+    - Siyi A8/ZR10 driver fix to avoid crash if serial port not configured
+------------------------------------------------------------------
+Rover 4.4.0-beta3 03-July-2023
+Changes from 4.4.0-beta2
+1) Autopilots specific changes
+    - Holybro KakuteH7-Wing support
+    - JFB100 external watchdog GPIO support added
+    - Pixhawk1-bdshot support
+    - Pixhawk6X-bdshot support
+    - SpeedyBeeF4 loses bdshot support
+2) Device drivers
+    - added LP5562 I2C LED driver
+    - added IS31FL3195 LED driver
+3) Circle mode accuracy improvement
+4) Camera and Gimbal related changes
+    - DO_SET_ROI_NONE command support added
+5) Bug fixes
+    - ADSB sensor loss of transceiver message less spammy 
+    - EKF vertical velocity reset fixed on loss of GPS
+    - GPS pre-arm failure message clarified
+    - SERVOx_PROTOCOL "SToRM32 Gimbal Serial" value renamed to "Gimbal" because also used by Siyi
+    - SERIALx_OPTION "Swap" renamed to "SwapTXRX" for clarity
+    - SBF GPS ellipsoid height fixed
+    - Ublox M10S GPS auto configuration fixed
+------------------------------------------------------------------
+Rover 4.4.0-beta2 05-Jun-2023
+Changes from 4.4.0-beta1
+1) Autopilots specific changes
+    - FlywooF745 update to motor pin output mapping and baro
+    - FoxeerH743 support
+    - JFB100 support
+    - Mamba-F405v2 supports ICM42688
+    - Matek-F405-TE/VTOL support
+    - Matek-H743 IMU SPI slowed to 1Mhz to avoid init issues
+    - SpeedyBee-405-Wing support
+2) Rover specific changes
+    - Circle mode and Auto mode LOITER_TURNS support
+    - Dock mode added to INITIAL_MODE and MODE1 parameter list
+3) AHRS/EKF related fixes and Enhancements
+    - EKF allocation failure handled to avoid watchdog
+    - EKF3 accel bias calculation fix and tuning for greater robustness
+    - Airspeed sensor remains enabled during dead-reckoning (few copters have airspeed sensors)
+    - Wind speed estimates updates reduced while dead-reckoning
+4) Other Enhancements
+    - Attitude control slew limits always calculated (helps tuning reporting and analysis)
+    - INA228 and INA238 I2C battery monitor support
+    - LOG_DISARMED=3 logs while disarmed but discards log if never eventually armed
+    - LOG_DARM_RATEMAX reduces logging while disarmed
+    - Serial LEDs threading enhancement to support longer lengths without dshot interference
+4) Bug fixes
+    - Analog battery monitor2 current parameter default fixed
+    - AutoTune fix for loading Yaw Rate D gains
+    - BRD_SAFETYOPTION parameter documentation fix (ActiveForSafetyEnable and Disable were reversed)
+    - Compassmot fix to protect against bad gyro biases from GSF yaw
+    - ICE engine fix for starting after reaching a specified altitude
+    - LED thread locking fix to avoid watchdog
+    - Logging rotation on disarm disabled if Replay logging active (avoids gaps in logs)
+    - RC input on IOMCU bug fix (RC might not be regained if lost)
+    - Serial passthrough fixed
+5) Custom build server fix to which features are included/excluded
+------------------------------------------------------------------
+Rover 4.4.0-beta1 19-Apr-2023
+Changes from 4.3.0-beta12
+1) New autopilots supported
+    - ESP32
+    - Flywoo Goku F405S AIO
+    - Foxeer H743v1
+    - MambaF405-2022B
+    - PixPilot-V3
+    - PixSurveyA2
+    - rFCU H743
+    - ThePeach K1/R1
+2) Autopilot specific changes
+    - Bi-Directional DShot support for CubeOrangePlus-bdshot, CUAVNora+, MatekF405TE/VTOL-bdshot, MatekL431, Pixhawk6C-bdshot, QioTekZealotH743-bdshot
+    - Bi-Directional DShot up to 8 channels on MatekH743
+    - BlueRobotics Navigator supports baro on I2C bus 6
+    - BMP280 baro only for BeastF7, KakuteF4, KakuteF7Mini, MambaF405, MatekF405, Omnibusf4 to reduce code size (aka "flash")
+    - CSRF and Hott telemetry disabled by default on some low power boards (aka "minimised boards")
+    - Foxeer Reaper F745 supports external compasses
+    - OmnibusF4 support for BMI270 IMU
+    - OmnibusF7V2-bdshot support removed
+    - KakuteF7 regains displayport, frees up DMA from unused serial port
+    - KakuteH7v2 gets second battery sensor
+    - MambaH743v4 supports VTX
+    - MatekF405-Wing supports InvensenseV3 IMUs
+    - PixPilot-V6 heater enabled
+    - Raspberry 64OS startup crash fixed
+    - ReaperF745AIO serial protocol defaults fixed
+    - SkystarsH7HD (non-bdshot) removed as users should always use -bdshot version
+    - Skyviper loses many unnecessary features to save flash
+    - UBlox GPS only for AtomRCF405NAVI, BeastF7, MatekF405, Omnibusf4 to reduce code size (aka "flash")
+    - VRBrain-v52 and VRCore-v10 features reduced to save flash
+3) Driver enhancements
+    - ARK RTK GPS support
+    - BMI088 IMU filtering and timing improved, ignores bad data
+    - CRSF OSD may display disarmed state after flight mode (enabled using RC_OPTIONS)
+    - Daiwa winch baud rate obeys SERIALx_BAUD parameter
+    - EFI supports fuel pressure and ignition voltage reporting and battery failsafe
+    - ICM45686 IMU support
+    - ICM20602 uses fast reset instead of full reset on bad temperature sample (avoids occasional very high offset)
+    - ICM45686 supports fast sampling
+    - MAX31865 temp sensor support
+    - MB85RS256TY-32k, PB85RS128C and PB85RS2MC FRAM support
+    - MMC3416 compass orientation fix
+    - MPPT battery monitor reliability improvements, enable/disable aux function and less spammy
+    - Multiple USD-D1-CAN radar support
+    - NMEA output rate configurable (see NMEA_RATE_MS) 
+    - NMEA output supports PASHR message (see NMEA_MSG_EN)
+    - OSD supports average resting cell voltage (see OSD_ACRVOLT_xxx params)
+    - Rockblock satellite modem support
+    - Serial baud support for 2Mbps (only some hardware supports this speed)
+    - SF45b lidar filtering reduced (allows detecting smaller obstacles
+    - SmartAudio 2.0 learns all VTX power levels)
+    - UAVCAN ESCs report error count using ESC Telemetry
+    - Unicore GPS (e.g. UM982) support
+    - VectorNav 100 external AHRS support
+    - 5 IMUs supported
+4) EKF related enhancements
+    - Baro compensation using wind estimates works when climbing or descending (see BAROx_WCF_UP/DN)
+    - External AHRS support for enabling only some sensors (e.g. IMU, Baro, Compass) see EAHRS_SENSORS
+    - Magnetic field tables updated
+    - Non-compass initial yaw alignment uses GPS course over GSF (mostly affects Planes and Rover)
+5) Control and navigation enhancements
+    - DO_SET_ROI_NONE command turns off ROI
+    - JUMP_TAG mission item support
+    - Manual mode steering expo configurable (see MANUAL_STR_EXPO)
+    - Missions can be stored on SD card (see BRD_SD_MISSION)
+    - NAV_SCRIPT_TIME command accepts floating point arguments
+    - Pause/Resume returns success if mission is already paused or resumed
+8) Camera and gimbal enhancements
+    - BMMCC support included in Servo driver
+    - DJI RS2/RS3-Pro gimbal support
+    - Dual camera support (see CAM2_TYPE)
+    - Gimbal/Mount2 can be moved to retracted or neutral position
+    - Gremsy ZIO support
+    - IMAGE_START_CAPTURE, SET_CAMERA_ZOOM/FOCUS, VIDEO_START/STOP_CAPTURE command support
+    - Paramters renamed and rescaled
+        - CAM_TRIGG_TYPE renamed to CAM1_TYPE and options have changed
+        - CAM_DURATION renamed to CAM1_DURATION and scaled in seconds
+        - CAM_FEEDBACK_PIN/POL renamed to CAM1_FEEBAK_PIN/POL
+        - CAM_MIN_INTERVAL renamed to CAM1_INTRVAL_MIN and scaled in seconds
+        - CAM_TRIGG_DIST renamed to CAMx_TRIGG_DIST and accepts fractional values
+    - RunCam2 4k support
+    - ViewPro camera gimbal support
+8) Logging changes
+    - BARD msg includes 3-axis dynamic pressure useful for baro compensation of wind estimate
+    - MCU log msg includes main CPU temp and voltage (was part of POWR message)
+    - RCOut banner message always included in Logs
+    - SCR message includes memory usage of all running scripts
+    - CANS message includes CAN bus tx/rx statistics
+    - Home location not logged to CMD message
+    - MOTB message includes throttle output
+9) Scripting enhancements
+    - EFI Skypower driver gets improved telem messages and bug fixes
+    - Generator throttle control example added
+    - Heap max increased by allowing heap to be split across multiple underlying OS heaps
+    - Hexsoon LEDs applet
+    - Logging from scripts supports more formats
+    - Parameters can be removed or reordered
+    - Parameter description support (scripts must be in AP's applet or driver directory)
+    - Rangefinder driver support
+    - Runcam_on_arm applet starts recording when vehicle is armed
+    - Safety switch, E-Stop and motor interlock support
+    - Scripts can restart all scripts
+    - Script_Controller applet supports inflight switching of active scripts
+10) Custom build server enhancements
+    - AIS support for displaying nearby boats can be included
+    - Battery, Camera and Compass drivers can be included/excluded
+    - EKF3 wind estimation can be included/excluded
+    - PCA9685, ToshibaLED, PLAY_TUNE notify drivers can be included/excluded
+    - RichenPower generator can be included/excluded
+    - RC SRXL protocol can be excluded
+    - SIRF GPSs can be included/excluded
+11) Safety related enhancements and fixes
+    - Arming check for servo outputs skipped when SERVOx_FUNCTION is scripting
+    - Arming check fix if both "All" and other bitmasks are selected (previously only ran the other checks)
+    - GCS failsafe timeout is configurable (see FS_GCS_TIMEOUT)
+    - "EK3 sources require RangeFinder" pre-arm check fix when user only sets up 2nd rangefinder (e.g. 1st is disabled)
+    - Pre-arm check that low and critical battery failsafe thresholds are different
+    - Pre-arm message fixed if 2nd EKF core unhealthy
+    - Pre-arm check if reboot required to enabled IMU batch sampling (used for vibe analysis)
+    - RC failsafe timeout configurable (see RC_FS_TIMEOUT)
+12) Minor enhancements
+    - Boot time reduced by improving parameter conversion efficiency
+    - BRD_SAFETYENABLE parameter renamed to BRD_SAFETY_DEFLT
+    - Compass calibration auxiliary switch function (set RCx_OPTION=171)
+    - Disable IMU3 auxiliary switch function (set RCx_OPTION=110)
+    - Rangefinder and FS_OPTIONS param conversion code reduced (affects when upgrading from 3.6 or earlier)
+    - MAVFTP supports file renaming
+    - MAVLink in-progress reply to some requests for calibration from GCS
+13) Bug fixes:
+    - ADSB telemetry and callsign fixes
+    - Battery pct reported to GCS limited to 0% to 100% range
+    - Bi-directional DShot fix on H7 boards after system time wrap (more complete fix than in 4.3.6)
+    - DisplayPort OSD screen reliability improvement on heavily loaded OSDs especially F4 boards
+    - DisplayPort OSD artificial horizon better matches actual horizon
+    - EFI Serial MS bug fix to avoid possible infinite loop
+    - EKF3 Replay fix when COMPASS_LEARN=3
+    - ESC Telemetry external temp reporting fix
+    - Fence upload works even if Auto mode is excluded from firmware
+    - FMT messages logged even when Fence is exncluded from firmware (e.g. unselected when using custom build server)
+    - Hardfault avoided if user changes INS_LOG_BAT_CNT while batch sampling running
+    - ICM20649 temp sensor tolerate increased to avoid unnecessary FIFO reset
+    - IMU detection bug fix to avoid duplicates
+    - IMU temp cal fix when using auxiliary IMU
+    - Message Interval fix for restoring default rate https://github.com/ArduPilot/ardupilot/pull/21947
+    - RADIO_STATUS messages slow-down feature never completely stops messages from being sent
+    - SERVOx_TRIM value output momentarily if SERVOx_FUNCTION is changed from Disabled to RCPassThru, RCIN1, etc.  Avoids momentary divide-by-zero
+    - Scripting file system open fix
+    - Scripting PWM source deletion crash fix
+    - MAVFTP fix for low baudrates (4800 baud and lower)
+    - ModalAI VOXL reset handling fix
+    - MPU6500 IMU fast sampling rate to 4k (was 1K)
+    - NMEA GPGGA output fixed for GPS quality, num sats and hdop
+    - Position control reset avoided even with very uneven main loop rate due to high CPU load
+    - Throttle notch FFT tuning param fix
+    - VTX protects against pitmode changes when not enabled or vehicle disarmed
+14) Developer specific items
+    - DroneCAN replaces UAVCAN
+    - FlighAxis simulator rangefinder fixed
+    - Scripts in applet and drivers directory checked using linter
+    - Simulator supports main loop timing jitter (see SIM_TIME_JITTER)
+    - Simulink model and init scripts
+    - SITL on hardware support (useful to demo servos moving in response to simulated flight)
+    - SITL parameter definitions added (some, not all)
+    - Webots 2023a simulator support
+    - XPlane support for wider range of aircraft
+------------------------------------------------------------------
+Rover 4.3.0-beta11/beta12 27-Mar-2023
+Changes from 4.3.0-beta10
+1) Bi-directional DShot fix for possible motor stop approx 72min after startup 
+------------------------------------------------------------------
 Rover 4.3.0-beta10 01-Mar-2023
 Changes from 4.3.0-beta9
 1) Bug fixes

Rover/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.4.0-dev"
+#define THISFIRMWARE "ArduRover V4.4.0"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,4,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 4,4,0,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 4
 #define FW_PATCH 0
-#define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
+#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>

Tools/AP_Bootloader/board_types.txt

@@ -216,6 +216,20 @@ AP_HW_rFCU                           1102
 AP_HW_rGNSS                          1103
 AP_HW_AEROFOX_AIRSPEED_DLVR          1104
 AP_HW_KakuteH7-Wing                  1105
+AP_HW_SpeedyBeeF405WING              1106
+AP_HW_PixSurveyA-IND                 1107
+AP_HW_SPRACINGH7RF                   1108
+AP_HW_AEROFOX_GNSS_F9P               1109
+AP_HW_JFB110                         1110
+AP_HW_SDMODELH7V1                    1111
+AP_HW_FlyingMoonH743                 1112
+AP_HW_YJUAV_A6                       1113
+AP_HW_YJUAV_A6Nano                   1114
+AP_HW_ACNS_CM4PILOT                  1115
+AP_HW_ACNS_F405AIO                   1116
+AP_HW_BLITZF7                        1117
+AP_HW_YJUAV_A6SE                     1127
+AP_HW_YJUAV_A6SE_H743                1141
 
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206

Tools/AP_Periph/GCS_MAVLink.h

@@ -32,11 +32,10 @@ private:
     void handleMessage(const mavlink_message_t &msg) override { handle_common_message(msg); }
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return true; }
     MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet, const mavlink_message_t &msg) override;
+    uint8_t sysid_my_gcs() const override;
 
 protected:
 
-    uint8_t sysid_my_gcs() const override;
-
     // Periph information:
     MAV_MODE base_mode() const override { return (MAV_MODE)MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; }
     MAV_STATE vehicle_system_status() const override { return MAV_STATE_CALIBRATING; }

Tools/AP_Periph/wscript

@@ -7,7 +7,7 @@ import sys
 try:
     import em
 except ImportError:
-    print("you need to install empy with 'python -m pip install empy'")
+    print("you need to install empy with 'python -m pip install empy==3.3.4'")
     sys.exit(1)
 
 try:

Tools/Replay/check_replay.py

@@ -40,7 +40,7 @@ def check_log(logfile, progress=print, ekf2_only=False, ekf3_only=False, verbose
         if not hasattr(m,'C'):
             continue
         mtype = m.get_type()
-        if not mtype in counts:
+        if mtype not in counts:
             counts[mtype] = 0
             base_counts[mtype] = 0
         core = m.C

Tools/ardupilotwaf/boards.py

@@ -261,6 +261,10 @@ class Board:
             env.DEFINES.update(
                 HAL_DEBUG_BUILD = 1,
             )
+        elif cfg.options.g:
+            env.CFLAGS += [
+                '-g',
+            ]
         if cfg.env.COVERAGE:
             env.CFLAGS += [
                 '-fprofile-arcs',

Tools/ardupilotwaf/chibios.py

@@ -112,7 +112,7 @@ class upload_fw(Task.Task):
         and make sure to add it to your path during the installation. Once installed, run this
         command in Powershell or Command Prompt to install some packages:
         
-        pip.exe install empy pyserial
+        pip.exe install empy==3.3.4 pyserial
         ****************************************
         ****************************************
         """ % error_msg)
@@ -231,7 +231,7 @@ def sign_firmware(image, private_keyfile):
     try:
         import monocypher
     except ImportError:
-        Logs.error("Please install monocypher with: python3 -m pip install pymonocypher")
+        Logs.error("Please install monocypher with: python3 -m pip install pymonocypher==3.1.3.2")
         return None
     try:
         key = open(private_keyfile, 'r').read()
@@ -496,6 +496,8 @@ def load_env_vars(env):
         env.CHIBIOS_BUILD_FLAGS += ' ENABLE_STATS=yes'
     if env.ENABLE_DFU_BOOT and env.BOOTLOADER:
         env.CHIBIOS_BUILD_FLAGS += ' USE_ASXOPT=-DCRT0_ENTRY_HOOK=TRUE'
+    if env.AP_BOARD_START_TIME:
+        env.CHIBIOS_BUILD_FLAGS += ' AP_BOARD_START_TIME=0x%x' % env.AP_BOARD_START_TIME
 
 
 def setup_optimization(env):
@@ -697,6 +699,7 @@ def build(bld):
                 'fopen', 'fflush', 'fwrite', 'fread', 'fputs', 'fgets',
                 'clearerr', 'fseek', 'ferror', 'fclose', 'tmpfile', 'getc', 'ungetc', 'feof',
                 'ftell', 'freopen', 'remove', 'vfprintf', 'fscanf',
-                '_gettimeofday', '_times', '_times_r', '_gettimeofday_r', 'time', 'clock' ]
+                '_gettimeofday', '_times', '_times_r', '_gettimeofday_r', 'time', 'clock',
+                '_sbrk_r', '_malloc_r', '_calloc_r', '_free_r']
     for w in wraplist:
         bld.env.LINKFLAGS += ['-Wl,--wrap,%s' % w]

Tools/autotest/arducopter.py

@@ -11,7 +11,6 @@ import os
 import shutil
 import time
 import numpy
-import operator
 
 from pymavlink import quaternion
 from pymavlink import mavutil
@@ -135,7 +134,7 @@ class AutoTestCopter(AutoTest):
                      0, # param6
                      alt_min # param7
                      )
-        self.wait_for_alt(alt_min, timeout=timeout, max_err=max_err)
+        self.wait_altitude(alt_min-1, alt_min+max_err, relative=True, timeout=timeout)
 
     def takeoff(self,
                 alt_min=30,
@@ -155,17 +154,10 @@ class AutoTestCopter(AutoTest):
             self.user_takeoff(alt_min=alt_min, timeout=timeout, max_err=max_err)
         else:
             self.set_rc(3, takeoff_throttle)
-        self.wait_for_alt(alt_min=alt_min, timeout=timeout, max_err=max_err)
+        self.wait_altitude(alt_min-1, alt_min+max_err, relative=True, timeout=timeout)
         self.hover()
         self.progress("TAKEOFF COMPLETE")
 
-    def wait_for_alt(self, alt_min=30, timeout=30, max_err=5):
-        """Wait for minimum altitude to be reached."""
-        self.wait_altitude(alt_min - 1,
-                           (alt_min + max_err),
-                           relative=True,
-                           timeout=timeout)
-
     def land_and_disarm(self, timeout=60):
         """Land the quad."""
         self.progress("STARTING LANDING")
@@ -177,7 +169,7 @@ class AutoTestCopter(AutoTest):
         m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
         alt = m.relative_alt / 1000.0 # mm -> m
         if alt > min_alt:
-            self.wait_for_alt(min_alt, timeout=timeout)
+            self.wait_altitude(min_alt-1, min_alt+5, relative=True, timeout=timeout)
 #        self.wait_statustext("SIM Hit ground", timeout=timeout)
         self.wait_disarmed()
 
@@ -1119,7 +1111,7 @@ class AutoTestCopter(AutoTest):
         self.change_mode("LAND")
 
         # check vehicle descends to 2m or less within 40 seconds
-        self.wait_altitude(-5, 2, timeout=40, relative=True)
+        self.wait_altitude(-5, 2, timeout=50, relative=True)
 
         # force disarm of vehicle (it will likely not automatically disarm)
         self.disarm_vehicle(force=True)
@@ -2087,7 +2079,7 @@ class AutoTestCopter(AutoTest):
 
             self.progress("Regaining altitude")
             self.change_mode('ALT_HOLD')
-            self.wait_for_alt(20, max_err=40)
+            self.wait_altitude(19, 60, relative=True)
 
             self.progress("Flipping in pitch")
             self.set_rc(2, 1700)
@@ -2427,7 +2419,7 @@ class AutoTestCopter(AutoTest):
                     raise NotAchievedException("AUTOTUNE gains not present in pilot testing")
                 # land without changing mode
                 self.set_rc(3, 1000)
-                self.wait_for_alt(0)
+                self.wait_altitude(-1, 5, relative=True)
                 self.wait_disarmed()
                 # Check gains are still there after disarm
                 if (rlld == self.get_parameter("ATC_RAT_RLL_D") or
@@ -2678,7 +2670,7 @@ class AutoTestCopter(AutoTest):
                      0,
                      timeout=10,
                      want_result=mavutil.mavlink.MAV_RESULT_FAILED)
-        self.wait_statustext("Node {} unhealthy".format(gps1_nodeid), check_context=True)
+        self.wait_statustext(".*Node .* unhealthy", check_context=True, regex=True)
         self.stop_sup_program(instance=0)
         self.start_sup_program(instance=0)
         self.context_stop_collecting('STATUSTEXT')
@@ -3851,7 +3843,7 @@ class AutoTestCopter(AutoTest):
                 new_pos = self.mav.location()
                 delta = self.get_distance(target, new_pos)
                 self.progress("Landed %f metres from target position" % delta)
-                max_delta = 1
+                max_delta = 1.5
                 if delta > max_delta:
                     raise NotAchievedException("Did not land close enough to target position (%fm > %fm" % (delta, max_delta))
 
@@ -4568,7 +4560,7 @@ class AutoTestCopter(AutoTest):
             # determine if we've successfully navigated to close to
             # where we should be:
             dist = math.sqrt(delta_ef.x * delta_ef.x + delta_ef.y * delta_ef.y)
-            dist_max = 0.15
+            dist_max = 1
             self.progress("dist=%f want <%f" % (dist, dist_max))
             if dist < dist_max:
                 # success!  We've gotten within our target distance
@@ -4646,6 +4638,7 @@ class AutoTestCopter(AutoTest):
 
         except Exception as e:
             self.print_exception_caught(e)
+            self.disarm_vehicle(force=True)
             ex = e
 
         self.context_pop()
@@ -6826,6 +6819,7 @@ class AutoTestCopter(AutoTest):
             failed = False
             wants = []
             gots = []
+            epsilon = 20
             while True:
                 if self.get_sim_time_cached() - tstart > 30:
                     raise AutoTestTimeoutException("Failed to get distances")
@@ -6838,7 +6832,7 @@ class AutoTestCopter(AutoTest):
                 want = expected_distances_copy[m.orientation]
                 wants.append(want)
                 gots.append(got)
-                if abs(want - got) > 5:
+                if abs(want - got) > epsilon:
                     failed = True
                 del expected_distances_copy[m.orientation]
             if failed:
@@ -6857,9 +6851,11 @@ class AutoTestCopter(AutoTest):
             })
             self.set_analog_rangefinder_parameters()
             self.reboot_sitl()
-            tstart = self.get_sim_time()
+
             self.change_mode('LOITER')
             self.wait_ekf_happy()
+
+            tstart = self.get_sim_time()
             while True:
                 if self.armed():
                     break
@@ -6910,7 +6906,7 @@ class AutoTestCopter(AutoTest):
                 if self.get_sim_time_cached() - tstart > 10:
                     break
                 vel = self.get_body_frame_velocity()
-                if vel.length() > 0.3:
+                if vel.length() > 0.5:
                     raise NotAchievedException("Moved too much (%s)" %
                                                (str(vel),))
                 shove(None, None)
@@ -8338,7 +8334,7 @@ class AutoTestCopter(AutoTest):
             def verify_yaw(mav, m):
                 if m.get_type() != 'ATTITUDE':
                     return
-                yawspeed_thresh_rads = math.radians(10)
+                yawspeed_thresh_rads = math.radians(20)
                 if m.yawspeed > yawspeed_thresh_rads:
                     raise NotAchievedException("Excessive yaw on takeoff: %f deg/s > %f deg/s (frame=%s)" %
                                                (math.degrees(m.yawspeed), math.degrees(yawspeed_thresh_rads), frame))
@@ -8810,10 +8806,10 @@ class AutoTestCopter(AutoTest):
         '''Refind the GPS and attempt to RTL rather than continue to land'''
         # https://github.com/ArduPilot/ardupilot/issues/14236
         self.progress("arm the vehicle and takeoff in Guided")
-        self.takeoff(20, mode='GUIDED')
+        self.takeoff(50, mode='GUIDED')
         self.progress("fly 50m North (or whatever)")
         old_pos = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
-        self.fly_guided_move_global_relative_alt(50, 0, 20)
+        self.fly_guided_move_global_relative_alt(50, 0, 50)
         self.set_parameter('GPS_TYPE', 0)
         self.drain_mav()
         tstart = self.get_sim_time()
@@ -9467,111 +9463,118 @@ class AutoTestCopter(AutoTest):
     def Sprayer(self):
         """Test sprayer functionality."""
         self.context_push()
-        ex = None
-        try:
-            rc_ch = 9
-            pump_ch = 5
-            spinner_ch = 6
-            pump_ch_min = 1050
-            pump_ch_trim = 1520
-            pump_ch_max = 1950
-            spinner_ch_min = 975
-            spinner_ch_trim = 1510
-            spinner_ch_max = 1975
 
-            self.set_parameters({
-                "SPRAY_ENABLE": 1,
+        rc_ch = 9
+        pump_ch = 5
+        spinner_ch = 6
+        pump_ch_min = 1050
+        pump_ch_trim = 1520
+        pump_ch_max = 1950
+        spinner_ch_min = 975
+        spinner_ch_trim = 1510
+        spinner_ch_max = 1975
 
-                "SERVO%u_FUNCTION" % pump_ch: 22,
-                "SERVO%u_MIN" % pump_ch: pump_ch_min,
-                "SERVO%u_TRIM" % pump_ch: pump_ch_trim,
-                "SERVO%u_MAX" % pump_ch: pump_ch_max,
+        self.set_parameters({
+            "SPRAY_ENABLE": 1,
 
-                "SERVO%u_FUNCTION" % spinner_ch: 23,
-                "SERVO%u_MIN" % spinner_ch: spinner_ch_min,
-                "SERVO%u_TRIM" % spinner_ch: spinner_ch_trim,
-                "SERVO%u_MAX" % spinner_ch: spinner_ch_max,
+            "SERVO%u_FUNCTION" % pump_ch: 22,
+            "SERVO%u_MIN" % pump_ch: pump_ch_min,
+            "SERVO%u_TRIM" % pump_ch: pump_ch_trim,
+            "SERVO%u_MAX" % pump_ch: pump_ch_max,
 
-                "SIM_SPR_ENABLE": 1,
-                "SIM_SPR_PUMP": pump_ch,
-                "SIM_SPR_SPIN": spinner_ch,
+            "SERVO%u_FUNCTION" % spinner_ch: 23,
+            "SERVO%u_MIN" % spinner_ch: spinner_ch_min,
+            "SERVO%u_TRIM" % spinner_ch: spinner_ch_trim,
+            "SERVO%u_MAX" % spinner_ch: spinner_ch_max,
 
-                "RC%u_OPTION" % rc_ch: 15,
-                "LOG_DISARMED": 1,
-            })
+            "SIM_SPR_ENABLE": 1,
+            "SIM_SPR_PUMP": pump_ch,
+            "SIM_SPR_SPIN": spinner_ch,
 
-            self.reboot_sitl()
+            "RC%u_OPTION" % rc_ch: 15,
+            "LOG_DISARMED": 1,
+        })
 
-            self.wait_ready_to_arm()
-            self.arm_vehicle()
+        self.reboot_sitl()
 
-            self.progress("test bootup state - it's zero-output!")
-            self.wait_servo_channel_value(spinner_ch, 0)
-            self.wait_servo_channel_value(pump_ch, 0)
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
 
-            self.progress("Enable sprayer")
-            self.set_rc(rc_ch, 2000)
+        self.progress("test bootup state - it's zero-output!")
+        self.wait_servo_channel_value(spinner_ch, 0)
+        self.wait_servo_channel_value(pump_ch, 0)
 
-            self.progress("Testing zero-speed state")
-            self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
-            self.wait_servo_channel_value(pump_ch, pump_ch_min)
+        self.progress("Enable sprayer")
+        self.set_rc(rc_ch, 2000)
 
-            self.progress("Testing turning it off")
-            self.set_rc(rc_ch, 1000)
-            self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
-            self.wait_servo_channel_value(pump_ch, pump_ch_min)
+        self.progress("Testing zero-speed state")
+        self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
+        self.wait_servo_channel_value(pump_ch, pump_ch_min)
 
-            self.progress("Testing turning it back on")
-            self.set_rc(rc_ch, 2000)
-            self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
-            self.wait_servo_channel_value(pump_ch, pump_ch_min)
+        self.progress("Testing turning it off")
+        self.set_rc(rc_ch, 1000)
+        self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
+        self.wait_servo_channel_value(pump_ch, pump_ch_min)
 
-            self.takeoff(30, mode='LOITER')
+        self.progress("Testing turning it back on")
+        self.set_rc(rc_ch, 2000)
+        self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
+        self.wait_servo_channel_value(pump_ch, pump_ch_min)
 
-            self.progress("Testing speed-ramping")
-            self.set_rc(1, 1700) # start driving forward
+        self.takeoff(30, mode='LOITER')
 
-            # this is somewhat empirical...
-            self.wait_servo_channel_value(pump_ch, 1458, timeout=60)
+        self.progress("Testing speed-ramping")
+        self.set_rc(1, 1700) # start driving forward
 
-            self.progress("Turning it off again")
-            self.set_rc(rc_ch, 1000)
-            self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
-            self.wait_servo_channel_value(pump_ch, pump_ch_min)
+        # this is somewhat empirical...
+        self.wait_servo_channel_value(
+            pump_ch,
+            1458,
+            timeout=60,
+            comparator=lambda x, y : abs(x-y) < 5
+        )
 
-            self.start_subtest("Checking mavlink commands")
-            self.progress("Starting Sprayer")
-            self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER,
-                         1,  # p1
-                         0,  # p2
-                         0,  # p3
-                         0,  # p4
-                         0,  # p5
-                         0,  # p6
-                         0)  # p7
+        self.progress("Turning it off again")
+        self.set_rc(rc_ch, 1000)
+        self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
+        self.wait_servo_channel_value(pump_ch, pump_ch_min)
 
-            self.progress("Testing speed-ramping")
-            self.wait_servo_channel_value(pump_ch, 1458, timeout=60, comparator=operator.gt)
-            self.start_subtest("Stopping Sprayer")
-            self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER,
-                         0,  # p1
-                         0,  # p2
-                         0,  # p3
-                         0,  # p4
-                         0,  # p5
-                         0,  # p6
-                         0)  # p7
-            self.wait_servo_channel_value(pump_ch, pump_ch_min)
+        self.start_subtest("Checking mavlink commands")
+        self.progress("Starting Sprayer")
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER,
+                     1,  # p1
+                     0,  # p2
+                     0,  # p3
+                     0,  # p4
+                     0,  # p5
+                     0,  # p6
+                     0)  # p7
+
+        self.progress("Testing speed-ramping")
+        self.wait_servo_channel_value(
+            pump_ch,
+            1458,
+            timeout=60,
+            comparator=lambda x, y : abs(x-y) < 5
+        )
+
+        self.start_subtest("Stopping Sprayer")
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SPRAYER,
+                     0,  # p1
+                     0,  # p2
+                     0,  # p3
+                     0,  # p4
+                     0,  # p5
+                     0,  # p6
+                     0)  # p7
+        self.wait_servo_channel_value(pump_ch, pump_ch_min)
 
-            self.progress("Sprayer OK")
-        except Exception as e:
-            self.print_exception_caught(e)
-            ex = e
         self.context_pop()
+
         self.disarm_vehicle(force=True)
         self.reboot_sitl()
-        if ex:
-            raise ex
+
+        self.progress("Sprayer OK")
 
     def tests1a(self):
         '''return list of all tests'''
@@ -9749,7 +9752,7 @@ class AutoTestCopter(AutoTest):
         self.reboot_sitl()
         self.wait_ready_to_arm()
         self.takeoff(alt_min=20, mode='LOITER')
-        self.land_and_disarm()
+        self.do_RTL()
         self.context_pop()
         self.reboot_sitl()
 

Tools/autotest/arduplane.py

@@ -20,6 +20,8 @@ from common import AutoTestTimeoutException
 from common import NotAchievedException
 from common import PreconditionFailedException
 from common import WaitModeTimeout
+from common import Test
+
 from pymavlink.rotmat import Vector3
 from pysim import vehicleinfo
 
@@ -625,18 +627,18 @@ class AutoTestPlane(AutoTest):
         self.change_mode("AUTO")
         self.wait_ready_to_arm()
         self.arm_vehicle()
-        self.progress("Waiting for deepstall messages")
-
-        # note that the following two don't necessarily happen in this
-        # order, but at very high speedups we may miss the elevator
-        # PWM if we first look for the text (due to the get_sim_time()
-        # in wait_servo_channel_value)
-        self.context_collect('STATUSTEXT')
+        self.wait_current_waypoint(4)
 
         # assume elevator is on channel 2:
         self.wait_servo_channel_value(2, deepstall_elevator_pwm, timeout=240)
 
-        self.wait_text("Deepstall: Entry: ", check_context=True)
+        self.progress("Waiting for stage DEEPSTALL_STAGE_LAND")
+        self.assert_receive_message(
+            'DEEPSTALL',
+            condition='DEEPSTALL.stage==6',
+            timeout=240,
+        )
+        self.progress("Reached stage DEEPSTALL_STAGE_LAND")
 
         self.disarm_wait(timeout=120)
         self.set_current_waypoint(0, check_afterwards=False)
@@ -780,6 +782,7 @@ class AutoTestPlane(AutoTest):
             0,
             0)
         self.wait_airspeed(new_target_airspeed-0.5, new_target_airspeed+0.5)
+        self.context_push()
         self.progress("Adding some wind, hoping groundspeed increases/decreases")
         self.set_parameters({
             "SIM_WIND_SPD": 7,
@@ -797,6 +800,7 @@ class AutoTestPlane(AutoTest):
             self.progress("groundspeed and airspeed should be different (have=%f want=%f)" % (delta, want_delta))
             if delta > want_delta:
                 break
+        self.context_pop()
         self.fly_home_land_and_disarm(timeout=240)
 
     def fly_home_land_and_disarm(self, timeout=120):
@@ -994,7 +998,7 @@ class AutoTestPlane(AutoTest):
         self.context_collect("HEARTBEAT")
         self.set_parameter("SIM_RC_FAIL", 2) # throttle-to-950
         self.wait_mode('RTL') # long failsafe
-        if (not self.get_mode_from_mode_mapping("CIRCLE") in
+        if (self.get_mode_from_mode_mapping("CIRCLE") not in
                 [x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]):
             raise NotAchievedException("Did not go via circle mode")
         self.progress("Ensure we've had our throttle squashed to 950")
@@ -1032,7 +1036,7 @@ class AutoTestPlane(AutoTest):
         self.context_collect("HEARTBEAT")
         self.set_parameter("SIM_RC_FAIL", 1) # no-pulses
         self.wait_mode('RTL') # long failsafe
-        if (not self.get_mode_from_mode_mapping("CIRCLE") in
+        if (self.get_mode_from_mode_mapping("CIRCLE") not in
                 [x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]):
             raise NotAchievedException("Did not go via circle mode")
         self.do_timesync_roundtrip()
@@ -1169,29 +1173,28 @@ class AutoTestPlane(AutoTest):
         '''Ensure Long-Failsafe works on GCS loss'''
         self.start_subtest("Test Failsafe: RTL")
         self.load_sample_mission()
-        self.set_parameter("RTL_AUTOLAND", 1)
-        self.change_mode("AUTO")
-        self.takeoff()
         self.set_parameters({
             "FS_GCS_ENABL": 1,
             "FS_LONG_ACTN": 1,
+            "RTL_AUTOLAND": 1,
+            "SYSID_MYGCS": self.mav.source_system,
         })
+        self.takeoff()
+        self.change_mode('LOITER')
         self.progress("Disconnecting GCS")
         self.set_heartbeat_rate(0)
-        self.wait_mode("RTL", timeout=5)
+        self.wait_mode("RTL", timeout=10)
         self.set_heartbeat_rate(self.speedup)
         self.end_subtest("Completed RTL Failsafe test")
 
         self.start_subtest("Test Failsafe: FBWA Glide")
         self.set_parameters({
-            "RTL_AUTOLAND": 1,
             "FS_LONG_ACTN": 2,
         })
-        self.change_mode("AUTO")
-        self.takeoff()
+        self.change_mode('AUTO')
         self.progress("Disconnecting GCS")
         self.set_heartbeat_rate(0)
-        self.wait_mode("FBWA", timeout=5)
+        self.wait_mode("FBWA", timeout=10)
         self.set_heartbeat_rate(self.speedup)
         self.end_subtest("Completed FBWA Failsafe test")
 
@@ -1844,6 +1847,7 @@ class AutoTestPlane(AutoTest):
         self.fly_home_land_and_disarm()
 
     def deadreckoning_main(self, disable_airspeed_sensor=False):
+        self.reboot_sitl()
         self.wait_ready_to_arm()
         self.gpi = None
         self.simstate = None
@@ -2414,11 +2418,6 @@ class AutoTestPlane(AutoTest):
 
         self.load_mission('CMAC-soar.txt', strict=False)
 
-        self.set_current_waypoint(1)
-        self.change_mode('AUTO')
-        self.wait_ready_to_arm()
-        self.arm_vehicle()
-
         # Enable thermalling RC
         rc_chan = 0
         for i in range(8):
@@ -2432,15 +2431,22 @@ class AutoTestPlane(AutoTest):
 
         self.set_rc_from_map({
             rc_chan: 1900,
-            3: 1500, # Use trim airspeed.
         })
 
+        self.set_parameters({
+            "SOAR_VSPEED": 0.55,
+            "SOAR_MIN_THML_S": 25,
+        })
+
+        self.set_current_waypoint(1)
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
         # Wait to detect thermal
         self.progress("Waiting for thermal")
         self.wait_mode('THERMAL', timeout=600)
 
-        self.set_parameter("SOAR_VSPEED", 0.6)
-
         # Wait to climb to SOAR_ALT_MAX
         self.progress("Waiting for climb to max altitude")
         alt_max = self.get_parameter('SOAR_ALT_MAX')
@@ -2913,7 +2919,7 @@ class AutoTestPlane(AutoTest):
             self.wait_and_maintain_wind_estimate(
                 5, 45,
                 speed_tolerance=1,
-                timeout=20
+                timeout=30
             )
         self.fly_home_land_and_disarm()
 
@@ -4569,7 +4575,7 @@ class AutoTestPlane(AutoTest):
             self.AltResetBadGPS,
             self.AirspeedCal,
             self.MissionJumpTags,
-            self.GCSFailsafe,
+            Test(self.GCSFailsafe, speedup=8),
             self.SDCardWPTest,
         ])
         return ret

Tools/autotest/autotest.py

@@ -33,7 +33,6 @@ import helicopter
 
 import examples
 from pysim import util
-from pymavlink import mavutil
 from pymavlink.generator import mavtemplate
 
 from common import Test
@@ -58,47 +57,6 @@ def buildlogs_path(path):
     return os.path.join(*bits)
 
 
-def get_default_params(atype, binary):
-    """Get default parameters."""
-    # use rover simulator so SITL is not starved of input
-    HOME = mavutil.location(40.071374969556928,
-                            -105.22978898137808,
-                            1583.702759,
-                            246)
-    if "plane" in binary or "rover" in binary:
-        frame = "rover"
-    else:
-        frame = "+"
-
-    home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
-    mavproxy_master = 'tcp:127.0.0.1:5760'
-    sitl = util.start_SITL(binary,
-                           wipe=True,
-                           model=frame,
-                           home=home,
-                           speedup=10,
-                           unhide_parameters=True)
-    mavproxy = util.start_MAVProxy_SITL(atype,
-                                        master=mavproxy_master)
-    print("Dumping defaults")
-    idx = mavproxy.expect([r'Saved [0-9]+ parameters to (\S+)'])
-    if idx == 0:
-        # we need to restart it after eeprom erase
-        util.pexpect_close(mavproxy)
-        util.pexpect_close(sitl)
-        sitl = util.start_SITL(binary, model=frame, home=home, speedup=10)
-        mavproxy = util.start_MAVProxy_SITL(atype,
-                                            master=mavproxy_master)
-        mavproxy.expect(r'Saved [0-9]+ parameters to (\S+)')
-    parmfile = mavproxy.match.group(1)
-    dest = buildlogs_path('%s-defaults.parm' % atype)
-    shutil.copy(parmfile, dest)
-    util.pexpect_close(mavproxy)
-    util.pexpect_close(sitl)
-    print("Saved defaults for %s to %s" % (atype, dest))
-    return True
-
-
 def build_all_filepath():
     """Get build_all.sh path."""
     return util.reltopdir('Tools/scripts/build_all.sh')
@@ -484,6 +442,11 @@ def run_step(step):
         return util.build_replay(board='SITL')
 
     if vehicle_binary is not None:
+        try:
+            binary = binary_path(step, debug=opts.debug)
+            os.unlink(binary)
+        except (FileNotFoundError, ValueError):
+            pass
         if len(vehicle_binary.split(".")) == 1:
             return util.build_SITL(vehicle_binary, **build_opts)
         else:
@@ -495,9 +458,6 @@ def run_step(step):
 
     binary = binary_path(step, debug=opts.debug)
 
-    if step.startswith("defaults"):
-        vehicle = step[9:]
-        return get_default_params(vehicle, binary)
     supplementary_binaries = []
     if step in suplementary_test_binary_map:
         for supplementary_test_binary in suplementary_test_binary_map[step]:
@@ -690,9 +650,10 @@ def write_fullresults():
     results.addglob("GPX track", '*.gpx')
 
     # results common to all vehicles:
-    vehicle_files = [('{vehicle} defaults', '{vehicle}-defaults.parm'),
-                     ('{vehicle} core', '{vehicle}.core'),
-                     ('{vehicle} ELF', '{vehicle}.elf'), ]
+    vehicle_files = [
+        ('{vehicle} core', '{vehicle}.core'),
+        ('{vehicle} ELF', '{vehicle}.elf'),
+    ]
     vehicle_globs = [('{vehicle} log', '{vehicle}-*.BIN'), ]
     for vehicle in all_vehicles():
         subs = {'vehicle': vehicle}
@@ -1082,33 +1043,28 @@ if __name__ == "__main__":
         'run.examples',
 
         'build.Plane',
-        'defaults.Plane',
         'test.Plane',
         'test.QuadPlane',
 
         'build.Rover',
-        'defaults.Rover',
         'test.Rover',
         'test.BalanceBot',
         'test.Sailboat',
 
         'build.Copter',
-        'defaults.Copter',
         'test.Copter',
 
         'build.Helicopter',
         'test.Helicopter',
 
         'build.Tracker',
-        'defaults.Tracker',
         'test.Tracker',
 
         'build.Sub',
-        'defaults.Sub',
         'test.Sub',
 
         'build.Blimp',
-        'defaults.Blimp',
+        'test.Blimp',
 
         'build.SITLPeriphGPS',
         'test.CAN',
@@ -1149,11 +1105,6 @@ if __name__ == "__main__":
         "drive.balancebot": "test.BalanceBot",
         "fly.CopterAVC": "test.Helicopter",
         "test.AntennaTracker": "test.Tracker",
-        "defaults.ArduCopter": "defaults.Copter",
-        "defaults.ArduPlane": "defaults.Plane",
-        "defaults.ArduSub": "defaults.Sub",
-        "defaults.APMrover2": "defaults.Rover",
-        "defaults.AntennaTracker": "defaults.Tracker",
         "fly.ArduCopterTests1a": "test.CopterTests1a",
         "fly.ArduCopterTests1b": "test.CopterTests1b",
         "fly.ArduCopterTests1c": "test.CopterTests1c",

Tools/autotest/common.py

@@ -1984,7 +1984,8 @@ class AutoTest(ABC):
         self.progress("Rebooting SITL")
         self.reboot_sitl_mav(required_bootcount=required_bootcount, force=force)
         self.do_heartbeats(force=True)
-        self.assert_simstate_location_is_at_startup_location()
+        if self.frame != 'sailboat':  # sailboats drift with wind!
+            self.assert_simstate_location_is_at_startup_location()
 
     def reboot_sitl_mavproxy(self, required_bootcount=None):
         """Reboot SITL instance using MAVProxy and wait for it to reconnect."""
@@ -2038,6 +2039,7 @@ class AutoTest(ABC):
 
     def set_streamrate(self, streamrate, timeout=20, stream=mavutil.mavlink.MAV_DATA_STREAM_ALL):
         '''set MAV_DATA_STREAM_ALL; timeout is wallclock time'''
+        self.do_timesync_roundtrip(timeout_in_wallclock=True)
         tstart = time.time()
         while True:
             if time.time() - tstart > timeout:
@@ -3363,17 +3365,19 @@ class AutoTest(ABC):
                 self.progress("Received: %s" % str(m))
             if m is None:
                 continue
-            if m.tc1 == 0:
-                self.progress("this is a timesync request, which we don't answer")
-                continue
             if m.ts1 % 1000 != self.mav.source_system:
                 self.progress("this isn't a response to our timesync (%s)" % (m.ts1 % 1000))
                 continue
+            if m.tc1 == 0:
+                # this should also not happen:
+                self.progress("this is a timesync request, which we don't answer")
+                continue
             if int(m.ts1 / 1000) != self.timesync_number:
                 self.progress("this isn't the one we just sent")
                 continue
             if m.get_srcSystem() != self.mav.target_system:
-                self.progress("response from system other than our target")
+                self.progress("response from system other than our target (want=%u got=%u" %
+                              (self.mav.target_system, m.get_srcSystem()))
                 continue
             # no component check ATM because we send broadcast...
 #            if m.get_srcComponent() != self.mav.target_component:
@@ -4473,13 +4477,14 @@ class AutoTest(ABC):
                 raise ValueError("count %u not handled" % count)
         self.progress("Rally content same")
 
-    def load_rally(self, filename):
+    def load_rally_using_mavproxy(self, filename):
         """Load rally points from a file to flight controller."""
         self.progress("Loading rally points (%s)" % filename)
         path = os.path.join(testdir, self.current_test_name_directory, filename)
         mavproxy = self.start_mavproxy()
         mavproxy.send('rally load %s\n' % path)
         mavproxy.expect("Loaded")
+        self.delay_sim_time(10)  # allow transfer to complete
         self.stop_mavproxy(mavproxy)
 
     def load_sample_mission(self):
@@ -6379,10 +6384,13 @@ class AutoTest(ABC):
             **kwargs
         )
 
-    def wait_altitude(self, altitude_min, altitude_max, relative=False, timeout=30, **kwargs):
+    def wait_altitude(self, altitude_min, altitude_max, relative=False, timeout=None, **kwargs):
         """Wait for a given altitude range."""
         assert altitude_min <= altitude_max, "Minimum altitude should be less than maximum altitude."
 
+        if timeout is None:
+            timeout = 30
+
         def validator(value2, target2=None):
             if altitude_min <= value2 <= altitude_max:
                 return True
@@ -6767,11 +6775,12 @@ class AutoTest(ABC):
         return Vector3(msg.vx, msg.vy, msg.vz)
 
     """Wait for a given speed vector."""
-    def wait_speed_vector(self, speed_vector, accuracy=0.2, timeout=30, **kwargs):
+    def wait_speed_vector(self, speed_vector, accuracy=0.3, timeout=30, **kwargs):
         def validator(value2, target2):
-            return (math.fabs(value2.x - target2.x) <= accuracy and
-                    math.fabs(value2.y - target2.y) <= accuracy and
-                    math.fabs(value2.z - target2.z) <= accuracy)
+            for (want, got) in (target2.x, value2.x), (target2.y, value2.y), (target2.z, value2.z):
+                if want != float("nan") and (math.fabs(got - want) > accuracy):
+                    return False
+            return True
 
         self.wait_and_maintain(
             value_name="SpeedVector",
@@ -7205,7 +7214,7 @@ class AutoTest(ABC):
 
     def wait_gps_sys_status_not_present_or_enabled_and_healthy(self, timeout=30):
         self.progress("Waiting for GPS health")
-        tstart = self.get_sim_time_cached()
+        tstart = self.get_sim_time()
         while True:
             now = self.get_sim_time_cached()
             if now - tstart > timeout:
@@ -7646,6 +7655,10 @@ Also, ignores heartbeats not from our target system'''
         self.mav.mav.set_send_callback(self.send_message_hook, self)
         self.mav.idle_hooks.append(self.idle_hook)
 
+        # we need to wait for a heartbeat here.  If we don't then
+        # self.mav.target_system will be zero because it hasn't
+        # "locked on" to a target system yet.
+        self.wait_heartbeat()
         self.set_streamrate(self.sitl_streamrate())
 
     def show_test_timings_key_sorter(self, t):
@@ -7855,6 +7868,9 @@ Also, ignores heartbeats not from our target system'''
             passed = False
             reset_needed = True
 
+        # if we haven't already reset ArduPilot because it's dead,
+        # then ensure the vehicle was disarmed at the end of the test.
+        # If it wasn't then the test is considered failed:
         if ardupilot_alive and self.armed() and not self.is_tracker():
             if ex is None:
                 ex = ArmedAtEndOfTestException("Still armed at end of test")
@@ -7871,6 +7887,9 @@ Also, ignores heartbeats not from our target system'''
                 self.progress("Force-rebooting SITL")
                 self.reboot_sitl() # that'll learn it
             passed = False
+        elif not passed:  # implicit reboot after a failed test:
+            self.progress("Test failed but ArduPilot process alive; rebooting")
+            self.reboot_sitl() # that'll learn it
 
         if self._mavproxy is not None:
             self.progress("Stopping auto-started mavproxy")
@@ -8014,6 +8033,11 @@ Also, ignores heartbeats not from our target system'''
             self.sup_prog.append(sup_prog_link)
             self.expect_list_add(sup_prog_link)
 
+        # mavlink will have disconnected here.  Explicitly reconnect,
+        # or the first packet we send will be lost:
+        if self.mav is not None:
+            self.mav.reconnect()
+
     def get_suplementary_programs(self):
         return self.sup_prog
 
@@ -8374,11 +8398,11 @@ Also, ignores heartbeats not from our target system'''
         start_loc = self.sitl_start_location()
         self.progress("SITL start loc: %s" % str(start_loc))
         delta = abs(orig_home.latitude * 1.0e-7 - start_loc.lat)
-        if delta > 0.000001:
+        if delta > 0.000006:
             raise ValueError("homes differ in lat got=%f vs want=%f delta=%f" %
                              (orig_home.latitude * 1.0e-7, start_loc.lat, delta))
         delta = abs(orig_home.longitude * 1.0e-7 - start_loc.lng)
-        if delta > 0.000001:
+        if delta > 0.000006:
             raise ValueError("homes differ in lon  got=%f vs want=%f delta=%f" %
                              (orig_home.longitude * 1.0e-7, start_loc.lng, delta))
         if self.is_rover():
@@ -9569,6 +9593,8 @@ Also, ignores heartbeats not from our target system'''
                 self.set_rc(interlock_channel, 1000)
 
         self.start_subtest("Test all mode arming")
+        self.wait_ready_to_arm()
+
         if self.arming_test_mission() is not None:
             self.load_mission(self.arming_test_mission())
 
@@ -12980,6 +13006,7 @@ switch value'''
                                            (msg, m.alt, gpi_alt))
         introduced_error = 10  # in metres
         self.set_parameter("SIM_GPS2_ALT_OFS", introduced_error)
+        self.do_timesync_roundtrip()
         m = self.assert_receive_message("GPS2_RAW")
         if abs((m.alt-introduced_error*1000) - gpi_alt) > 100:
             raise NotAchievedException("skewed Alt (%s) discrepancy; %d+%d vs %d" %
@@ -12998,9 +13025,11 @@ switch value'''
         if abs(new_gpi_alt2 - m.alt) > 100:
             raise NotAchievedException("Failover not detected")
 
-    def fetch_file_via_ftp(self, path):
+    def fetch_file_via_ftp(self, path, timeout=20):
         '''returns the content of the FTP'able file at path'''
+        self.progress("Retrieving (%s) using MAVProxy" % path)
         mavproxy = self.start_mavproxy()
+        mavproxy.expect("Saved .* parameters to")
         ex = None
         tmpfile = tempfile.NamedTemporaryFile(mode='r', delete=False)
         try:
@@ -13009,9 +13038,18 @@ switch value'''
             mavproxy.send("ftp set debug 1\n")  # so we get the "Terminated session" message
             mavproxy.send("ftp get %s %s\n" % (path, tmpfile.name))
             mavproxy.expect("Getting")
-            self.delay_sim_time(2)
-            mavproxy.send("ftp status\n")
-            mavproxy.expect("No transfer in progress")
+            tstart = self.get_sim_time()
+            while True:
+                now = self.get_sim_time()
+                if now - tstart > timeout:
+                    raise NotAchievedException("expected complete transfer")
+                self.progress("Polling status")
+                mavproxy.send("ftp status\n")
+                try:
+                    mavproxy.expect("No transfer in progress", timeout=1)
+                    break
+                except Exception:
+                    continue
             # terminate the connection, or it may still be in progress the next time an FTP is attempted:
             mavproxy.send("ftp cancel\n")
             mavproxy.expect("Terminated session")

Tools/autotest/default_params/quadplane-ice.parm

@@ -1 +1,2 @@
 Q_OPTIONS 64
+ICE_RPM_THRESH 50  # idles at 70 (1% thrust)

Tools/autotest/helicopter.py

@@ -161,7 +161,7 @@ class AutoTestHelicopter(AutoTestCopter):
             self.user_takeoff(alt_min=alt_min)
         else:
             self.set_rc(3, takeoff_throttle)
-        self.wait_for_alt(alt_min=alt_min, timeout=timeout)
+        self.wait_altitude(alt_min-1, alt_min+5, relative=True, timeout=timeout)
         self.hover()
         self.progress("TAKEOFF COMPLETE")
 

Tools/autotest/param_metadata/param.py

@@ -124,6 +124,8 @@ known_units = {
              'RPM'     : 'Revolutions Per Minute',
              'kg/m/m'  : 'kilograms per square meter', # metre is the SI unit name, meter is the american spelling of it
              'kg/m/m/m': 'kilograms per cubic meter',
+             'litres'  : 'litres',
+             'Ohm'     : 'Ohm',
              }
 
 required_param_fields = [

Tools/autotest/pysim/util.py

@@ -393,6 +393,31 @@ class FakeMacOSXSpawn(object):
         return True
 
 
+class PSpawnStdPrettyPrinter(object):
+    '''a fake filehandle-like object which prefixes a string to all lines
+    before printing to stdout/stderr.  To be used to pass to
+    pexpect.spawn's logfile argument
+    '''
+    def __init__(self, output=sys.stdout, prefix="stdout"):
+        self.output = output
+        self.prefix = prefix
+        self.buffer = ""
+
+    def close(self):
+        self.print_prefixed_line(self.buffer)
+
+    def write(self, data):
+        self.buffer += data
+        for line in self.buffer.split("\n"):
+            self.print_prefixed_line(line)
+
+    def print_prefixed_line(self, line):
+        print("%s: %s" % (self.prefix, line), file=self.output)
+
+    def flush(self):
+        pass
+
+
 def start_SITL(binary,
                valgrind=False,
                callgrind=False,
@@ -411,7 +436,8 @@ def start_SITL(binary,
                customisations=[],
                lldb=False,
                enable_fgview_output=False,
-               supplementary=False):
+               supplementary=False,
+               stdout_prefix=None):
 
     if model is None and not supplementary:
         raise ValueError("model must not be None")
@@ -513,6 +539,11 @@ def start_SITL(binary,
 
     cmd.extend(customisations)
 
+    pexpect_logfile_prefix = stdout_prefix
+    if pexpect_logfile_prefix is None:
+        pexpect_logfile_prefix = os.path.basename(binary)
+    pexpect_logfile = PSpawnStdPrettyPrinter(prefix=pexpect_logfile_prefix)
+
     if (gdb or lldb) and sys.platform == "darwin" and os.getenv('DISPLAY'):
         global windowID
         # on MacOS record the window IDs so we can close them later
@@ -550,7 +581,7 @@ def start_SITL(binary,
         # AP gets a redirect-stdout-to-filehandle option.  So, in the
         # meantime, return a dummy:
         return pexpect.spawn("true", ["true"],
-                             logfile=sys.stdout,
+                             logfile=pexpect_logfile,
                              encoding=ENCODING,
                              timeout=5)
     else:
@@ -558,7 +589,7 @@ def start_SITL(binary,
 
         first = cmd[0]
         rest = cmd[1:]
-        child = pexpect.spawn(first, rest, logfile=sys.stdout, encoding=ENCODING, timeout=5)
+        child = pexpect.spawn(first, rest, logfile=pexpect_logfile, encoding=ENCODING, timeout=5)
         pexpect_autoclose(child)
     # give time for parameters to properly setup
     time.sleep(3)

Tools/autotest/quadplane.py

@@ -946,7 +946,7 @@ class AutoTestQuadPlane(AutoTest):
         self.wait_rpm(1, 6500, 7500, minimum_duration=30, timeout=40)
         self.progress("Setting min-throttle")
         self.set_rc(3, 1000)
-        self.wait_rpm(1, 300, 400, minimum_duration=1)
+        self.wait_rpm(1, 65, 75, minimum_duration=1)
         self.progress("Setting engine-start RC switch to LOW")
         self.set_rc(rc_engine_start_chan, 1000)
         self.wait_rpm(1, 0, 0, minimum_duration=1)

Tools/autotest/rover.py

@@ -1290,22 +1290,27 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
 
     def Rally(self):
         '''Test Rally Points'''
-        self.load_rally("rover-test-rally.txt")
+        self.load_rally_using_mavproxy("rover-test-rally.txt")
+        self.assert_parameter_value('RALLY_TOTAL', 2)
 
         self.wait_ready_to_arm()
         self.arm_vehicle()
 
+        # calculate early to avoid round-trips while vehicle is moving:
+        accuracy = self.get_parameter("WP_RADIUS")
+
         self.reach_heading_manual(10)
         self.reach_distance_manual(50)
 
         self.change_mode("RTL")
+
         # location copied in from rover-test-rally.txt:
         loc = mavutil.location(40.071553,
                                -105.229401,
                                0,
                                0)
-        accuracy = self.get_parameter("WP_RADIUS")
-        self.wait_location(loc, accuracy=accuracy, minimum_duration=10)
+
+        self.wait_location(loc, accuracy=accuracy, minimum_duration=10, timeout=45)
         self.disarm_vehicle()
 
     def fence_with_bad_frame(self, target_system=1, target_component=1):
@@ -6289,7 +6294,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             self.DriveRTL,
             self.SmartRTL,
             self.DriveSquare,
-            self.DriveMaxRCIN,
             self.DriveMission,
             # self.DriveBrake,  # disabled due to frequent failures
             self.GetBanner,

Tools/environment_install/install-prereqs-arch.sh

@@ -26,7 +26,7 @@ BASE_PKGS="base-devel ccache git gsfonts tk wget gcc"
 SITL_PKGS="python-pip python-setuptools python-wheel python-wxpython opencv python-numpy python-scipy"
 PX4_PKGS="lib32-glibc zip zlib ncurses"
 
-PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect argparse matplotlib pyparsing geocoder pyserial empy dronecan"
+PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect argparse matplotlib pyparsing geocoder pyserial empy==3.3.4 dronecan"
 
 # GNU Tools for ARM Embedded Processors
 # (see https://launchpad.net/gcc-arm-embedded/)

Tools/environment_install/install-prereqs-mac.sh

@@ -159,7 +159,7 @@ if [[ $DO_AP_STM_ENV -eq 1 ]]; then
     install_arm_none_eabi_toolchain
 fi
 
-PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect geocoder flake8 empy dronecan"
+PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect geocoder flake8 empy==3.3.4 dronecan"
 # add some Python packages required for commonly-used MAVProxy modules and hex file generation:
 if [[ $SKIP_AP_EXT_ENV -ne 1 ]]; then
     PYTHON_PKGS="$PYTHON_PKGS intelhex gnureadline"

Tools/environment_install/install-prereqs-ubuntu.sh

@@ -144,9 +144,9 @@ fi
 BASE_PKGS="build-essential ccache g++ gawk git make wget"
 if [ ${RELEASE_CODENAME} == 'bionic' ]; then
     # use fixed version for package that drop python2 support
-    PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect flake8==3.7.9 requests==2.27.1 monotonic==1.6 geocoder empy configparser==4.0.2 click==7.1.2 decorator==4.4.2 dronecan"
+    PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect flake8==3.7.9 requests==2.27.1 monotonic==1.6 geocoder empy==3.3.4 configparser==4.0.2 click==7.1.2 decorator==4.4.2 dronecan"
 else
-    PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect flake8 geocoder empy dronecan"
+    PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect flake8 geocoder empy==3.3.4 dronecan"
 fi
 
 # add some Python packages required for commonly-used MAVProxy modules and hex file generation:

Tools/environment_install/install-prereqs-windows-andAPMSource.ps1

@@ -19,7 +19,7 @@ Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -
 Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'ln -sf /usr/bin/pip3.7 /usr/bin/pip'"
 
 Write-Output "Downloading extra Python packages (5/8)"
-Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'pip install empy pyserial pymavlink intelhex dronecan pexpect'"
+Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'pip install empy==3.3.4 pyserial pymavlink intelhex dronecan pexpect'"
 
 Write-Output "Downloading APM source (6/8)"
 Copy-Item "APM_install.sh" -Destination "C:\cygwin64\home"

Tools/environment_install/install-prereqs-windows.ps1

@@ -19,7 +19,7 @@ Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -
 Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'ln -sf /usr/bin/pip3.7 /usr/bin/pip'"
 
 Write-Output "Downloading extra Python packages (5/7)"
-Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'pip install empy pyserial pymavlink intelhex dronecan pexpect'"
+Start-Process -wait -FilePath "C:\cygwin64\bin\bash" -ArgumentList "--login -i -c 'pip install empy==3.3.4 pyserial pymavlink intelhex dronecan pexpect'"
 
 Write-Output "Installing ARM GCC Compiler 10-2020-Q4-Major (6/7)"
 & $PSScriptRoot\gcc-arm-none-eabi-10-2020-q4-major-win32.exe /S /P /R

Tools/scripts/build_binaries.py

@@ -35,16 +35,27 @@ else:
     running_python3 = True
 
 
+def topdir():
+    '''return path to ardupilot checkout directory.  This is to cope with
+    running on developer's machines (where autotest is typically
+    invoked from the root directory), and on the autotest server where
+    it is invoked in the checkout's parent directory.
+    '''
+    for path in [
+            os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", ".."),
+            "",
+            ]:
+        if os.path.exists(os.path.join(path, "libraries", "AP_HAL_ChibiOS")):
+            return path
+    raise Exception("Unable to find ardupilot checkout dir")
+
+
 def is_chibios_build(board):
     '''see if a board is using HAL_ChibiOS'''
     # cope with both running from Tools/scripts or running from cwd
-    hwdef_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "..", "libraries", "AP_HAL_ChibiOS", "hwdef")
-    if os.path.exists(os.path.join(hwdef_dir, board, "hwdef.dat")):
-        return True
-    hwdef_dir = os.path.join("libraries", "AP_HAL_ChibiOS", "hwdef")
-    if os.path.exists(os.path.join(hwdef_dir, board, "hwdef.dat")):
-        return True
-    return False
+    hwdef_dir = os.path.join(topdir(), "libraries", "AP_HAL_ChibiOS", "hwdef")
+
+    return os.path.exists(os.path.join(hwdef_dir, board, "hwdef.dat"))
 
 
 def get_required_compiler(vehicle, tag, board):
@@ -491,6 +502,20 @@ is bob we will attempt to checkout bob-AVR'''
                         files_to_copy.append((filepath, os.path.basename(filepath)))
                 if not os.path.exists(bare_path):
                     raise Exception("No elf file?!")
+
+                # attempt to run an extract_features.py to create features.txt:
+                features_text = None
+                ef_path = os.path.join(topdir(), "Tools", "scripts", "extract_features.py")
+                if os.path.exists(ef_path):
+                    try:
+                        features_text = self.run_program("EF", [ef_path, bare_path], show_output=False)
+                    except Exception as e:
+                        self.print_exception_caught(e)
+                        self.progress("Failed to extract features")
+                        pass
+                else:
+                    self.progress("Not extracting features as (%s) does not exist" % (ef_path,))
+
                 # only rename the elf if we have have other files to
                 # copy.  So linux gets "arducopter" and stm32 gets
                 # "arducopter.elf"
@@ -512,6 +537,9 @@ is bob we will attempt to checkout bob-AVR'''
                             if not os.path.exists(ddir):
                                 self.mkpath(ddir)
                             self.addfwversion(ddir, vehicle)
+                            features_filepath = os.path.join(ddir, "features.txt",)
+                            self.progress("Writing (%s)" % features_filepath)
+                            self.write_string_to_filepath(features_text, features_filepath)
                             self.progress("Copying %s to %s" % (path, ddir,))
                             shutil.copy(path, os.path.join(ddir, target_filename))
                         # the most recent build of every tag is kept around:
@@ -521,10 +549,13 @@ is bob we will attempt to checkout bob-AVR'''
                         # must addfwversion even if path already
                         # exists as we re-use the "beta" directories
                         self.addfwversion(tdir, vehicle)
+                        features_filepath = os.path.join(tdir, "features.txt")
+                        self.progress("Writing (%s)" % features_filepath)
+                        self.write_string_to_filepath(features_text, features_filepath)
                         shutil.copy(path, os.path.join(tdir, target_filename))
                     except Exception as e:
                         self.print_exception_caught(e)
-                        self.progress("Failed to copy %s to %s: %s" % (path, ddir, str(e)))
+                        self.progress("Failed to copy %s to %s: %s" % (path, tdir, str(e)))
                 # why is touching this important? -pb20170816
                 self.touch_filepath(os.path.join(self.binaries,
                                                  vehicle_binaries_subdir, tag))

Tools/scripts/build_ci.sh

@@ -366,7 +366,7 @@ for t in $CI_BUILD_TARGET; do
         echo "Building signed firmwares"
         sudo apt-get update
         sudo apt-get install -y python3-dev
-        python3 -m pip install pymonocypher
+        python3 -m pip install pymonocypher==3.1.3.2
         ./Tools/scripts/signing/generate_keys.py testkey
         $waf configure --board CubeOrange-ODID --signed-fw --private-key testkey_private_key.dat
         $waf copter