Rockblock4

.github/workflows/cygwin_build.yml

@@ -9,6 +9,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -74,6 +75,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/qurt_build.yml

@@ -9,6 +9,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -74,6 +75,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_replay.yml

@@ -13,6 +13,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -81,6 +82,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_sitl_blimp.yml

@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -88,6 +89,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_sitl_copter.yml

@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -87,6 +88,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_sitl_periph.yml

@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/bootloaders/**'
       - 'Tools/CHDK-Script/**'
@@ -86,6 +87,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/bootloaders/**'
       - 'Tools/CHDK-Script/**'

.github/workflows/test_sitl_plane.yml

@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -87,6 +88,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_sitl_rover.yml

@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -87,6 +88,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_sitl_sub.yml

@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -88,6 +89,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_sitl_tracker.yml

@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -88,6 +89,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_unit_tests.yml

@@ -43,6 +43,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # Remove change on other workflows
       - '.github/workflows/test_environment.yml'
   pull_request:
@@ -88,6 +89,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # Remove change on other workflows
       - '.github/workflows/test_environment.yml'
   workflow_dispatch:

.gitignore

@@ -172,3 +172,4 @@ ENV/
 env.bak/
 venv.bak/
 autotest_result_*_junit.xml
+.python-version

ArduCopter/AP_Arming_Copter.cpp

@@ -460,7 +460,7 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
     fence_requires_gps = (copter.fence.get_enabled_fences() & (AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON)) > 0;
 #endif
 
-    if (mode_requires_gps || copter.option_is_enabled(Copter::FlightOption::REQUIRE_POSITION_FOR_ARMING)) {
+    if (mode_requires_gps || require_location == RequireLocation::YES) {
         if (!copter.position_ok()) {
             // vehicle level position estimate checks
             check_failed(display_failure, "Need Position Estimate");

ArduCopter/Copter.cpp

@@ -451,6 +451,8 @@ AP_Vehicle::custom_mode_state* Copter::register_custom_mode(const uint8_t num, c
             }
             if (mode_guided_custom[i] == nullptr) {
                 // Allocation failure
+                free((void*)full_name_copy);
+                free((void*)short_name_copy);
                 return nullptr;
             }
 

ArduCopter/Copter.h

@@ -632,7 +632,6 @@ class Copter : public AP_Vehicle {
         DISABLE_THRUST_LOSS_CHECK     = (1<<0),   // 1
         DISABLE_YAW_IMBALANCE_WARNING = (1<<1),   // 2
         RELEASE_GRIPPER_ON_THRUST_LOSS = (1<<2),  // 4
-        REQUIRE_POSITION_FOR_ARMING =   (1<<3),   // 8
     };
 
     // type of fast rate attitude controller in operation

ArduCopter/Parameters.cpp

@@ -1003,7 +1003,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Param: FLIGHT_OPTIONS
     // @DisplayName: Flight mode options
     // @Description: Flight mode specific options
-    // @Bitmask: 0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss, 3:Require position for arming
+    // @Bitmask: 0:Disable thrust loss check, 1:Disable yaw imbalance warning, 2:Release gripper on thrust loss
     // @User: Advanced
     AP_GROUPINFO("FLIGHT_OPTIONS", 44, ParametersG2, flight_options, 0),
 

ArduCopter/mode_systemid.cpp

@@ -161,7 +161,8 @@ void ModeSystemId::exit()
 // should be called at 100hz or more
 void ModeSystemId::run()
 {
-    float target_roll, target_pitch;
+    float target_roll = 0.0f;
+    float target_pitch = 0.0f;
     float target_yaw_rate = 0.0f;
     float pilot_throttle_scaled = 0.0f;
     float target_climb_rate = 0.0f;

ArduPlane/Log.cpp

@@ -102,13 +102,19 @@ void Plane::Log_Write_Control_Tuning()
         synthetic_airspeed = logger.quiet_nan();
     }
 
+    int16_t pitch = ahrs.pitch_sensor - g.pitch_trim * 100;
+#if HAL_QUADPLANE_ENABLED
+    if (quadplane.show_vtol_view()) {
+        pitch = quadplane.ahrs_view->pitch_sensor;
+    }
+#endif      
     struct log_Control_Tuning pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
         time_us         : AP_HAL::micros64(),
         nav_roll_cd     : (int16_t)nav_roll_cd,
         roll            : (int16_t)ahrs.roll_sensor,
         nav_pitch_cd    : (int16_t)nav_pitch_cd,
-        pitch           : (int16_t)ahrs.pitch_sensor,
+        pitch           : pitch,
         throttle_out    : SRV_Channels::get_output_scaled(SRV_Channel::k_throttle),
         rudder_out      : SRV_Channels::get_output_scaled(SRV_Channel::k_rudder),
         throttle_dem    : TECS_controller.get_throttle_demand(),
@@ -312,8 +318,8 @@ const struct LogStructure Plane::log_structure[] = {
 // @Field: TimeUS: Time since system startup
 // @Field: NavRoll: desired roll
 // @Field: Roll: achieved roll
-// @Field: NavPitch: desired pitch
-// @Field: Pitch: achieved pitch
+// @Field: NavPitch: desired pitch assuming pitch trims are already applied
+// @Field: Pitch: achieved pitch assuming pitch trims are already applied,ie "0deg" is level flight trimmed pitch attitude as shown on artifical horizon level line.
 // @Field: ThO: scaled output throttle
 // @Field: RdO: scaled output rudder
 // @Field: ThD: demanded speed-height-controller throttle

ArduPlane/Plane.h

@@ -347,10 +347,6 @@ class Plane : public AP_Vehicle {
     // time of last mode change
     uint32_t last_mode_change_ms;
 
-    // Used to maintain the state of the previous control switch position
-    // This is set to 254 when we need to re-read the switch
-    uint8_t oldSwitchPosition = 254;
-
     // This is used to enable the inverted flight feature
     bool inverted_flight;
 
@@ -758,8 +754,6 @@ class Plane : public AP_Vehicle {
     // A starting value used to check the status of a conditional command.
     // For example in a delay command the condition_start records that start time for the delay
     uint32_t condition_start;
-    // A value used in condition commands.  For example the rate at which to change altitude.
-    int16_t condition_rate;
 
     // 3D Location vectors
     // Location structure defined in AP_Common
@@ -808,8 +802,6 @@ class Plane : public AP_Vehicle {
 
     float relative_altitude;
 
-    // loop performance monitoring:
-    AP::PerfInfo perf_info;
     struct {
         uint32_t last_trim_check;
         uint32_t last_trim_save;
@@ -904,7 +896,6 @@ class Plane : public AP_Vehicle {
     float relative_ground_altitude(bool use_rangefinder_if_available);
     float relative_ground_altitude(bool use_rangefinder_if_available, bool use_terrain_if_available);
     void set_target_altitude_current(void);
-    void set_target_altitude_current_adjusted(void);
     void set_target_altitude_location(const Location &loc);
     int32_t relative_target_altitude_cm(void);
     void change_target_altitude(int32_t change_cm);
@@ -1042,13 +1033,10 @@ class Plane : public AP_Vehicle {
     bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED;
 
     // control_modes.cpp
-    void read_control_switch();
-    uint8_t readSwitch(void) const;
     void autotune_start(void);
     void autotune_restore(void);
     void autotune_enable(bool enable);
     bool fly_inverted(void);
-    bool mode_allows_autotuning(void);
     uint8_t get_mode() const override { return (uint8_t)control_mode->mode_number(); }
     Mode *mode_from_mode_num(const enum Mode::Number num);
     bool current_mode_requires_mission() const override {
@@ -1077,7 +1065,6 @@ class Plane : public AP_Vehicle {
     bool trigger_land_abort(const float climb_to_alt_m);
     void get_osd_roll_pitch_rad(float &roll, float &pitch) const override;
     float tecs_hgt_afe(void);
-    void efi_update(void);
     void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
                              uint8_t &task_count,
                              uint32_t &log_bit) override;
@@ -1113,7 +1100,6 @@ class Plane : public AP_Vehicle {
     void calc_gndspeed_undershoot();
     void update_loiter(uint16_t radius);
     void update_loiter_update_nav(uint16_t radius);
-    void update_cruise();
     void update_fbwb_speed_height(void);
     void setup_turn_angle(void);
     bool reached_loiter_target(void);
@@ -1168,7 +1154,6 @@ class Plane : public AP_Vehicle {
     float apply_throttle_limits(float throttle_in);
     void set_throttle(void);
     void set_takeoff_expected(void);
-    void set_servos_old_elevons(void);
     void set_servos_flaps(void);
     void set_landing_gear(void);
     void dspoiler_update(void);
@@ -1196,7 +1181,6 @@ class Plane : public AP_Vehicle {
     // parachute.cpp
     void parachute_check();
 #if HAL_PARACHUTE_ENABLED
-    void do_parachute(const AP_Mission::Mission_Command& cmd);
     void parachute_release();
     bool parachute_manual_release();
 #endif

ArduPlane/altitude.cpp

@@ -208,17 +208,6 @@ void Plane::set_target_altitude_current(void)
 #endif
 }
 
-/*
-  set the target altitude to the current altitude, with ALT_OFFSET adjustment
- */
-void Plane::set_target_altitude_current_adjusted(void)
-{
-    set_target_altitude_current();
-
-    // use adjusted_altitude_cm() to take account of ALTITUDE_OFFSET
-    target_altitude.amsl_cm = adjusted_altitude_cm();
-}
-
 /*
   set target altitude based on a location structure
  */

ArduPlane/quadplane.cpp

@@ -4257,19 +4257,15 @@ float QuadPlane::get_land_airspeed(void)
     if (qstate == QPOS_APPROACH ||
         plane.control_mode == &plane.mode_rtl) {
         const float cruise_speed = plane.aparm.airspeed_cruise;
+        // assume cruise speed, but try to do better:
         float approach_speed = cruise_speed;
         float tecs_land_airspeed = plane.TECS_controller.get_land_airspeed();
         if (is_positive(tecs_land_airspeed)) {
             approach_speed = tecs_land_airspeed;
-        } else {
-            if (qstate == QPOS_APPROACH) {
-                // default to half way between min airspeed and cruise
-                // airspeed when on the approach
-                approach_speed = 0.5*(cruise_speed+plane.aparm.airspeed_min);
-            } else {
-                // otherwise cruise
-                approach_speed = cruise_speed;
-            }
+        } else if (qstate == QPOS_APPROACH) {
+            // default to half way between min airspeed and cruise
+            // airspeed when on the approach
+            approach_speed = 0.5*(cruise_speed+plane.aparm.airspeed_min);
         }
         const float time_to_pos1 = (plane.auto_state.wp_distance - stopping_distance(sq(approach_speed))) / MAX(approach_speed, 5);
         /*

ArduPlane/takeoff.cpp

@@ -285,7 +285,7 @@ void Plane::takeoff_calc_throttle() {
     const float current_baro_alt = barometer.get_altitude();
     const bool below_lvl_alt = current_baro_alt < auto_state.baro_takeoff_alt + mode_takeoff.level_alt;
     // Set the minimum throttle limit.
-    const bool use_throttle_range = (aparm.takeoff_options & (uint32_t)AP_FixedWing::TakeoffOption::THROTTLE_RANGE);
+    const bool use_throttle_range = tkoff_option_is_set(AP_FixedWing::TakeoffOption::THROTTLE_RANGE);
     if (!use_throttle_range // We don't want to employ a throttle range.
         || !ahrs.using_airspeed_sensor() // We don't have an airspeed sensor.
         || below_lvl_alt // We are below TKOFF_LVL_ALT.