Merge Plane-4.5.3 into ArgenTech

AntennaTracker/ReleaseNotes.txt

@@ -1,4 +1,68 @@
 Antenna Tracker Release Notes:
+------------------------------
+Release 4.5.3 28th May 2024
+
+No changes from 4.5.3-beta1
+------------------------------------------------------------------
+Release 4.5.3-beta1 16th May 2024
+
+Changes from 4.5.2
+
+1) Board specific enhancements and bug fixes
+
+- correct default GPS port on MambaH743v4
+- added SDMODELV2
+- added iFlight Blitz H7 Pro
+- added BLITZ Wing H743
+- added highres IMU sampling on Pixhawk6X
+
+2) System level minor enhancements and bug fixes
+
+- fixed rare crash bug in lua scripting on script fault handling
+- fixed Neopixel pulse proportions to work with more LED variants
+- fixed timeout in lua rangefinder drivers
+- workaround hardware issue in IST8310 compass
+- allow FIFO rate logging for highres IMU sampling
+
+------------------------------------------------------------------
+Release 4.5.2 14th May 2024
+
+No changes from 4.5.2-beta1
+------------------------------------------------------------------
+Release 4.5.2-beta1 29th April 2024
+
+Changes from 4.5.1
+
+1) Board specific enhancements and bug fixes
+
+- FoxeerF405v2 support
+- iFlight BLITZ Mini F745 support
+- Pixhawk5X, Pixhawk6C, Pixhawk6X, Durandal power peripherals immediately at startup
+
+2) System level minor enhancements and bug fixes
+
+- Camera lens (e.g. RGB, IR) can be selected from GCS or during missions using set-camera-source
+- Crashdump pre-arm check added
+- Gimbal gets improved yaw lock reporting to GCS
+- Gimbal default mode fixed (MNTx_DEFLT_MODE was being overriden by RC input)
+- RM3100 compass SPI bus speed reduced to 1Mhz
+- SBUS output fix for channels 1 to 8 also applying to 9 to 16
+- ViewPro gimbal supports enable/disable rangefinder from RC aux switch
+- Visual Odometry delay fixed (was always using 1ms delay, see VISO_DELAY_MS)
+- fixed serial passthrough to avoid data loss at high data rates
+
+3) AHRS / EKF fixes
+
+- Compass learning disabled when using GPS-for-yaw
+- GSF reset minimum speed reduced to 1m/s (except Plane which remains 5m/s)
+- MicroStrain7 External AHRS position quantization bug fix
+- MicroStrain7 init failure warning added
+- MicroStrain5 and 7 position and velocity variance reporting fix
+
+4) Other minor enhancements and bug fixes
+
+- DDS_UDP_PORT parameter renamed (was DDS_PORT)
+- Harmonic Notch bitmask parameter conversion fix (see INS_HNTCH_HMNCS)
 
 ------------------------------------------------------------------
 Release 4.5.1 8th April 2024
@@ -11,25 +75,9 @@ be affected by the bug, so this was just a precaution.
 There are no other changes in this release.
 
 ------------------------------------------------------------------
-Release 4.5.0-beta4 22nd March 2024
-
-Changes from 4.5.0-beta3
-
-1) system changes
-
-- fixed a cache corruption issue with microSD card data on H7 based boards
-- rename parameter NET_ENABLED to NET_ENABLE
-- fixed FDCAN labels for adding new H7 boards
-- avoid logging dma.txt to save CPU
-- fixed roll/pitch in viewpro driver
-- added band X in VideoTX
-- fixed quaternion attitude reporting for Microstrain external AHRS
-- add RPLidarC1 proximity support
-
-2) new boards
-- added MicoAir405v2
-- add Orqa F405 Pro
+Release 4.5.0 2nd April 2024
 
+No changes from 4.5.0-beta4
 ------------------------------------------------------------------
 Release 4.5.0 2nd April 2024
 

AntennaTracker/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.5.1"
+#define THISFIRMWARE "AntennaTracker V4.5.3"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,1,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,3,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 1
+#define FW_PATCH 3
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,80 @@
 ArduPilot Copter Release Notes:
 -------------------------------
+Release 4.5.3 28th May 2024
+
+No changes from 4.5.3-beta1
+------------------------------------------------------------------
+Release 4.5.3-beta1 16th May 2024
+
+Changes from 4.5.2
+
+1) Board specific enhancements and bug fixes
+
+- correct default GPS port on MambaH743v4
+- added SDMODELV2
+- added iFlight Blitz H7 Pro
+- added BLITZ Wing H743
+- added highres IMU sampling on Pixhawk6X
+
+2) System level minor enhancements and bug fixes
+
+- fixed rare crash bug in lua scripting on script fault handling
+- fixed Neopixel pulse proportions to work with more LED variants
+- fixed timeout in lua rangefinder drivers
+- workaround hardware issue in IST8310 compass
+- allow FIFO rate logging for highres IMU sampling
+
+3) Copter specific changes
+
+- fixed speed constraint during avoidance backoff
+- zero D_FF during autotune twitch
+
+------------------------------------------------------------------
+Release 4.5.2 14th May 2024
+
+No changes from 4.5.2-beta1
+------------------------------------------------------------------
+Release 4.5.2-beta1 29th April 2024
+
+Changes from 4.5.1
+
+1) Board specific enhancements and bug fixes
+
+- FoxeerF405v2 support
+- iFlight BLITZ Mini F745 support
+- Pixhawk5X, Pixhawk6C, Pixhawk6X, Durandal power peripherals immediately at startup
+
+2) System level minor enhancements and bug fixes
+
+- Camera lens (e.g. RGB, IR) can be selected from GCS or during missions using set-camera-source
+- Crashdump pre-arm check added
+- Gimbal gets improved yaw lock reporting to GCS
+- Gimbal default mode fixed (MNTx_DEFLT_MODE was being overriden by RC input)
+- RM3100 compass SPI bus speed reduced to 1Mhz
+- SBUS output fix for channels 1 to 8 also applying to 9 to 16
+- ViewPro gimbal supports enable/disable rangefinder from RC aux switch
+- Visual Odometry delay fixed (was always using 1ms delay, see VISO_DELAY_MS)
+- fixed serial passthrough to avoid data loss at high data rates
+
+3) AHRS / EKF fixes
+
+- Compass learning disabled when using GPS-for-yaw
+- GSF reset minimum speed reduced to 1m/s (except Plane which remains 5m/s)
+- MicroStrain7 External AHRS position quantization bug fix
+- MicroStrain7 init failure warning added
+- MicroStrain5 and 7 position and velocity variance reporting fix
+
+4) Copter specific changes
+
+- Auto mode condition yaw fix to avoid pointing at out-of-date target
+- Guided mode angle control yaw target initialisation fix (was always turning North)
+
+5) Other minor enhancements and bug fixes
+
+- DDS_UDP_PORT parameter renamed (was DDS_PORT)
+- Harmonic Notch bitmask parameter conversion fix (see INS_HNTCH_HMNCS)
+
+------------------------------------------------------------------
 
 Release 4.5.1 8th April 2024
 

ArduCopter/mode_guided.cpp

@@ -313,14 +313,11 @@ void ModeGuided::angle_control_start()
 
     // initialise targets
     guided_angle_state.update_time_ms = millis();
-    guided_angle_state.attitude_quat.initialise();
+    guided_angle_state.attitude_quat.from_euler(Vector3f(0.0, 0.0, attitude_control->get_att_target_euler_rad().z));
     guided_angle_state.ang_vel.zero();
     guided_angle_state.climb_rate_cms = 0.0f;
     guided_angle_state.yaw_rate_cds = 0.0f;
     guided_angle_state.use_yaw_rate = false;
-
-    // pilot always controls yaw
-    auto_yaw.set_mode(AutoYaw::Mode::HOLD);
 }
 
 // set_destination - sets guided mode's target destination
@@ -939,7 +936,7 @@ void ModeGuided::angle_control_run()
     // check for timeout - set lean angles and climb rate to zero if no updates received for 3 seconds
     uint32_t tnow = millis();
     if (tnow - guided_angle_state.update_time_ms > get_timeout_ms()) {
-        guided_angle_state.attitude_quat.initialise();
+        guided_angle_state.attitude_quat.from_euler(Vector3f(0.0, 0.0, attitude_control->get_att_target_euler_rad().z));
         guided_angle_state.ang_vel.zero();
         climb_rate_cms = 0.0f;
         if (guided_angle_state.use_thrust) {

ArduCopter/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.5.1"
+#define THISFIRMWARE "ArduCopter V4.5.3"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,1,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,3,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 1
+#define FW_PATCH 3
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>

ArduPlane/Parameters.cpp

@@ -533,7 +533,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @Param: PTCH_LIM_MIN_DEG
     // @DisplayName: Minimum Pitch Angle
     // @Description: Maximum pitch down angle commanded in modes with stabilized limits
-    // @Units: cdeg
+    // @Units: deg
     // @Range: -90 0
     // @Increment: 10
     // @User: Standard

ArduPlane/ReleaseNotes.txt

@@ -1,6 +1,6 @@
-Release 4.5.1.1 8th April 2024
+Release 4.5.3.1 8th April 2024
 -------------------------------------
-Changes from stock 4.5.1:
+Changes from stock 4.5.3:
 
 1) Safety patches
   - Failsafe during auto takeoff switches to QLand #26260
@@ -14,6 +14,82 @@ Changes from stock 4.5.1:
 3) Scripts (no impact on firmware)
   - Created Engine-Out automatic failsafe script and associated tests
 
+ArduPilot Plane Release Notes:
+------------------------------
+Release 4.5.3 28th May 2024
+
+No changes from 4.5.3-beta1
+------------------------------------------------------------------
+Release 4.5.3-beta1 16th May 2024
+
+Changes from 4.5.2
+
+1) Board specific enhancements and bug fixes
+
+- correct default GPS port on MambaH743v4
+- added SDMODELV2
+- added iFlight Blitz H7 Pro
+- added BLITZ Wing H743
+- added highres IMU sampling on Pixhawk6X
+
+2) System level minor enhancements and bug fixes
+
+- fixed rare crash bug in lua scripting on script fault handling
+- fixed Neopixel pulse proportions to work with more LED variants
+- fixed timeout in lua rangefinder drivers
+- workaround hardware issue in IST8310 compass
+- allow FIFO rate logging for highres IMU sampling
+
+3) Plane specific changes
+
+- fixed cancelling of FWD_GAIN setting for tiltrotors
+
+------------------------------------------------------------------
+Release 4.5.2 14th May 2024
+
+No changes from 4.5.2-beta1
+------------------------------------------------------------------
+Release 4.5.2-beta1 29th April 2024
+
+Changes from 4.5.1
+
+1) Board specific enhancements and bug fixes
+
+- FoxeerF405v2 support
+- iFlight BLITZ Mini F745 support
+- Pixhawk5X, Pixhawk6C, Pixhawk6X, Durandal power peripherals immediately at startup
+
+2) System level minor enhancements and bug fixes
+
+- Camera lens (e.g. RGB, IR) can be selected from GCS or during missions using set-camera-source
+- Crashdump pre-arm check added
+- Gimbal gets improved yaw lock reporting to GCS
+- Gimbal default mode fixed (MNTx_DEFLT_MODE was being overriden by RC input)
+- RM3100 compass SPI bus speed reduced to 1Mhz
+- SBUS output fix for channels 1 to 8 also applying to 9 to 16
+- ViewPro gimbal supports enable/disable rangefinder from RC aux switch
+- Visual Odometry delay fixed (was always using 1ms delay, see VISO_DELAY_MS)
+- fixed serial passthrough to avoid data loss at high data rates
+
+3) AHRS / EKF fixes
+
+- Compass learning disabled when using GPS-for-yaw
+- GSF reset minimum speed reduced to 1m/s (except Plane which remains 5m/s)
+- MicroStrain7 External AHRS position quantization bug fix
+- MicroStrain7 init failure warning added
+- MicroStrain5 and 7 position and velocity variance reporting fix
+
+4) Plane specific changes
+
+- Drop min Q_TRANSITION_MS to 500ms
+- FBWB/CRUISE missing zero crossing of elevator input fix
+- PTCH_LIM_MIN_DEG param units fixed to be deg
+
+5) Other minor enhancements and bug fixes
+
+- DDS_UDP_PORT parameter renamed (was DDS_PORT)
+- Harmonic Notch bitmask parameter conversion fix (see INS_HNTCH_HMNCS)
+
 Release 4.5.1 8th April 2024
 ----------------------------
 

ArduPlane/mode_rtl.cpp

@@ -95,6 +95,13 @@ void ModeRTL::navigate()
     }
 #endif
 
+    uint16_t radius = abs(plane.g.rtl_radius);
+    if (radius > 0) {
+        plane.loiter.direction = (plane.g.rtl_radius < 0) ? -1 : 1;
+    }
+
+    plane.update_loiter(radius);
+
     if (!plane.auto_state.checked_for_autoland) {
         if ((plane.g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START) ||
             (plane.g.rtl_autoland == RtlAutoland::RTL_THEN_DO_LAND_START &&
@@ -116,13 +123,6 @@ void ModeRTL::navigate()
                 plane.auto_state.checked_for_autoland = true;
             }
     }
-
-    uint16_t radius = abs(plane.g.rtl_radius);
-    if (radius > 0) {
-        plane.loiter.direction = (plane.g.rtl_radius < 0) ? -1 : 1;
-    }
-
-    plane.update_loiter(radius);
 }
 
 #if HAL_QUADPLANE_ENABLED

ArduPlane/navigation.cpp

@@ -394,15 +394,16 @@ void Plane::update_fbwb_speed_height(void)
             elevator_input = -elevator_input;
         }
 
-        int32_t alt_change_cm = g.flybywire_climb_rate * elevator_input * dt * 100;
-        change_target_altitude(alt_change_cm);
-
-        if (is_zero(elevator_input) && !is_zero(target_altitude.last_elevator_input)) {
-            // the user has just released the elevator, lock in
-            // the current altitude
+        bool input_stop_climb = !is_positive(elevator_input) && is_positive(target_altitude.last_elevator_input);
+        bool input_stop_descent = !is_negative(elevator_input) && is_negative(target_altitude.last_elevator_input);
+        if (input_stop_climb || input_stop_descent) {
+            // user elevator input reached or passed zero, lock in the current altitude
             set_target_altitude_current();
         }
 
+        int32_t alt_change_cm = g.flybywire_climb_rate * elevator_input * dt * 100;
+        change_target_altitude(alt_change_cm);
+
 #if HAL_SOARING_ENABLED
         if (g2.soaring_controller.is_active()) {
             if (g2.soaring_controller.get_throttle_suppressed()) {