Merge pull request #31 from tony2157/Copter-4.0

Small fixes before official release CASSv1.6.2-Copter-4.0.7

ArduCopter/Copter.cpp

@@ -216,9 +216,6 @@ void Copter::setup()
  // Load the default values of variables listed in var_info[]s
  AP_Param::setup_sketch_defaults();
 
- // setup storage layout for copter
- StorageManager::set_layout_copter();
-
  init_ardupilot();
 
  // initialise the main loop scheduler

ArduCopter/ReleaseNotes.txt

@@ -1,5 +1,18 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.0.7 22-Feb-2021
+Changes from 4.0.7-rc1
+1) fixed build on Durandal board
+2) multiple fixes for mRo boards: ControlZero*, PixracerPro
+------------------------------------------------------------------
+Copter 4.0.7rc1 6-Feb-2021
+Changes from 4.0.6
+1) added automatic backup/restore of parameters in case of FRAM corruption for F7/H7 boards with 32k FRAM parameter storage
+2) fixed a bug in EKF2/EKF3 that could cause memory corruption if external naviagtion sources (such as vision based position and velocity data) is supplied before the EKF has initialised
+3) fixed a problem with low accuracy data from UAVCAN GPS modules when GPS blending is enabled
+4) fixed an arming check failure with u-blox M9 based GPS modules
+5) fixed a race condition in SmartRTL which could cause a LAND mode to be triggered
+------------------------------------------------------------------
 Copter 4.0.6 25-Jan-2021 / 4.0.6-rc2 16-Jan-2021
 Changes from 4.0.6-rc1
 1) Add support for keeping a backup of storage for last 100 boots

ArduCopter/mode.h

@@ -1107,6 +1107,10 @@ class ModeSmartRTL : public ModeRTL {
  void land();
  SmartRTLState smart_rtl_state = SmartRTL_PathFollow;
 
+ // keep track of how long we have failed to get another return
+ // point while following our path home. If we take too long we
+ // may choose to land the vehicle.
+ uint32_t path_follow_last_pop_fail_ms;
 };
 
 

ArduCopter/mode_smart_rtl.cpp

@@ -69,6 +69,7 @@ void ModeSmartRTL::wait_cleanup_run()
 
  // check if return path is computed and if yes, begin journey home
  if (g2.smart_rtl.request_thorough_cleanup()) {
+ path_follow_last_pop_fail_ms = 0;
  smart_rtl_state = SmartRTL_PathFollow;
  }
 }
@@ -87,7 +88,10 @@ void ModeSmartRTL::path_follow_run()
  // if we are close to current target point, switch the next point to be our target.
  if (wp_nav->reached_wp_destination()) {
  Vector3f next_point;
+ // this pop_point can fail if the IO task currently has the
+ // path semaphore.
  if (g2.smart_rtl.pop_point(next_point)) {
+ path_follow_last_pop_fail_ms = 0;
  bool fast_waypoint = true;
  if (g2.smart_rtl.get_num_points() == 0) {
  // this is the very last point, add 2m to the target alt and move to pre-land state
@@ -98,8 +102,18 @@ void ModeSmartRTL::path_follow_run()
  // send target to waypoint controller
  wp_nav->set_wp_destination_NED(next_point);
  wp_nav->set_fast_waypoint(fast_waypoint);
- } else {
- // this can only happen if we fail to get the semaphore which should never happen but just in case, land
+ } else if (g2.smart_rtl.get_num_points() == 0) {
+ // We should never get here; should always have at least
+ // two points and the "zero points left" is handled above.
+ INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
+ smart_rtl_state = SmartRTL_PreLandPosition;
+ } else if (path_follow_last_pop_fail_ms == 0) {
+ // first time we've failed to pop off (ever, or after a success)
+ path_follow_last_pop_fail_ms = AP_HAL::millis();
+ } else if (AP_HAL::millis() - path_follow_last_pop_fail_ms > 10000) {
+ // we failed to pop a point off for 10 seconds. This is
+ // almost certainly a bug.
+ INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
  smart_rtl_state = SmartRTL_PreLandPosition;
  }
  }

ArduCopter/version.h

@@ -6,12 +6,13 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.0.6"
+#define THISFIRMWARE "ArduCopter V4.0.7"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,0,6,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,0,7,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 0
-#define FW_PATCH 6
+#define FW_PATCH 7
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+