Merge branch 'master' into drivers/SPA06_baro

ArduCopter/mode_auto.cpp

@@ -2330,7 +2330,7 @@ bool ModeAuto::resume()
 
 bool ModeAuto::paused() const
 {
-    return wp_nav->paused();
+    return (wp_nav != nullptr) && wp_nav->paused();
 }
 
 #endif

ArduPlane/Attitude.cpp

@@ -204,9 +204,9 @@ float Plane::stabilize_pitch_get_pitch_out()
 #endif
     // if LANDING_FLARE RCx_OPTION switch is set and in FW mode, manual throttle,throttle idle then set pitch to LAND_PITCH_DEG if flight option FORCE_FLARE_ATTITUDE is set
 #if HAL_QUADPLANE_ENABLED
-    const bool quadplane_in_transition = quadplane.in_transition();
+    const bool quadplane_in_frwd_transition = quadplane.in_frwd_transition();
 #else
-    const bool quadplane_in_transition = false;
+    const bool quadplane_in_frwd_transition = false;
 #endif
 
     int32_t demanded_pitch = nav_pitch_cd + int32_t(g.pitch_trim * 100.0) + SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * g.kff_throttle_to_pitch;
@@ -219,7 +219,7 @@ float Plane::stabilize_pitch_get_pitch_out()
        - throttle stick at zero thrust
        - in fixed wing non auto-throttle mode
     */
-    if (!quadplane_in_transition &&
+    if (!quadplane_in_frwd_transition &&
         !control_mode->is_vtol_mode() &&
         !control_mode->does_auto_throttle() &&
         flare_mode == FlareMode::ENABLED_PITCH_TARGET &&

ArduPlane/Parameters.cpp

@@ -156,7 +156,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @Range: 0 100
     // @Increment: 1
     // @User: Standard
-    ASCALAR(takeoff_throttle_min,       "TKOFF_THR_MIN",    60),
+    ASCALAR(takeoff_throttle_min,       "TKOFF_THR_MIN",    0),
 
     // @Param: TKOFF_OPTIONS
     // @DisplayName: Takeoff options

ArduPlane/RC_Channel.cpp

@@ -169,6 +169,9 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
     case AUX_FUNC::FW_AUTOTUNE:
     case AUX_FUNC::VFWD_THR_OVERRIDE:
     case AUX_FUNC::PRECISION_LOITER:
+#if AP_ICENGINE_ENABLED
+    case AUX_FUNC::ICE_START_STOP:
+#endif
 #if QAUTOTUNE_ENABLED
     case AUX_FUNC::AUTOTUNE_TEST_GAINS:
 #endif
@@ -287,6 +290,9 @@ bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
     case AUX_FUNC::FLAP:
     case AUX_FUNC::FBWA_TAILDRAGGER:
     case AUX_FUNC::AIRBRAKE:
+#if AP_ICENGINE_ENABLED
+    case AUX_FUNC::ICE_START_STOP:
+#endif
         break; // input labels, nothing to do
 
 #if HAL_QUADPLANE_ENABLED

ArduPlane/quadplane.cpp

@@ -813,6 +813,10 @@ bool QuadPlane::setup(void)
     pilot_speed_z_max_dn.convert_centi_parameter(AP_PARAM_INT16);
     pilot_accel_z.convert_centi_parameter(AP_PARAM_INT16);
 
+    // Provisionally assign the SLT thrust type.
+    // It will be overwritten by tailsitter or tiltorotor setups.
+    thrust_type = ThrustType::SLT;
+
     tailsitter.setup();
 
     tiltrotor.setup();
@@ -3970,9 +3974,9 @@ bool QuadPlane::is_vtol_land(uint16_t id) const
 /*
   return true if we are in a transition to fwd flight from hover
  */
-bool QuadPlane::in_transition(void) const
+bool QuadPlane::in_frwd_transition(void) const
 {
-    return available() && transition->active();
+    return available() && transition->active_frwd();
 }
 
 /*
@@ -4351,7 +4355,7 @@ bool SLT_Transition::allow_update_throttle_mix() const
     return !(quadplane.assisted_flight && (transition_state == TRANSITION_AIRSPEED_WAIT || transition_state == TRANSITION_TIMER));
 }
 
-bool SLT_Transition::active() const
+bool SLT_Transition::active_frwd() const
 {
     return quadplane.assisted_flight && ((transition_state == TRANSITION_AIRSPEED_WAIT) || (transition_state == TRANSITION_TIMER));
 }

ArduPlane/quadplane.h

@@ -76,6 +76,13 @@ class QuadPlane
     void control_auto(void);
     bool setup(void);
 
+    enum class ThrustType : uint8_t {
+        SLT=0, // Traditional quadplane, with a pusher motor and independent multicopter lift.
+        TAILSITTER,
+        TILTROTOR,
+    };
+    ThrustType get_thrust_type(void) {return thrust_type;}
+
     void vtol_position_controller(void);
     void setup_target_position(void);
     void takeoff_controller(void);
@@ -103,10 +110,7 @@ class QuadPlane
     // abort landing, only valid when in a VTOL landing descent
     bool abort_landing(void);
 
-    /*
-      return true if we are in a transition to fwd flight from hover
-    */
-    bool in_transition(void) const;
+    bool in_frwd_transition(void) const;
 
     bool handle_do_vtol_transition(enum MAV_VTOL_STATE state) const;
 
@@ -198,6 +202,9 @@ class QuadPlane
     AP_Enum<AP_Motors::motor_frame_class> frame_class;
     AP_Enum<AP_Motors::motor_frame_type> frame_type;
 
+    // Types of different "quadplane" configurations.
+    ThrustType thrust_type;
+
     // Initialise motors to allow passing it to tailsitter in its constructor
     AP_MotorsMulticopter *motors = nullptr;
     const struct AP_Param::GroupInfo *motors_var_info;

ArduPlane/servos.cpp

@@ -51,7 +51,7 @@ void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
         slewrate = g.takeoff_throttle_slewrate;
     }
 #if HAL_QUADPLANE_ENABLED
-    if (g.takeoff_throttle_slewrate != 0 && quadplane.in_transition()) {
+    if (g.takeoff_throttle_slewrate != 0 && quadplane.in_frwd_transition()) {
         slewrate = g.takeoff_throttle_slewrate;
     }
 #endif
@@ -555,10 +555,22 @@ float Plane::apply_throttle_limits(float throttle_in)
 
     // Handle throttle limits for transition conditions.
 #if HAL_QUADPLANE_ENABLED
-    if (quadplane.in_transition()) {
+    if (quadplane.in_frwd_transition()) {
         if (aparm.takeoff_throttle_max != 0) {
             max_throttle = aparm.takeoff_throttle_max.get();
         }
+
+        // Apply minimum throttle limits only for SLT thrust types.
+        // The other types don't support it well.
+        if (quadplane.get_thrust_type() == QuadPlane::ThrustType::SLT
+            && control_mode->does_auto_throttle()
+        ) {
+            if (aparm.takeoff_throttle_min.get() != 0) {
+                min_throttle = MAX(min_throttle, aparm.takeoff_throttle_min.get());
+            } else {
+                min_throttle = MAX(min_throttle, aparm.throttle_cruise.get());
+            }
+        }
     }
 #endif
 
@@ -793,7 +805,7 @@ void Plane::servos_twin_engine_mix(void)
 void Plane::force_flare(void)
 {
 #if HAL_QUADPLANE_ENABLED
-    if (quadplane.in_transition() && plane.arming.is_armed()) { //allows for ground checking of flare tilts
+    if (quadplane.in_frwd_transition() && plane.arming.is_armed()) { //allows for ground checking of flare tilts
         return;
     }
     if (control_mode->is_vtol_mode()) {

ArduPlane/system.cpp

@@ -164,6 +164,11 @@ void Plane::init_ardupilot()
 #if AC_PRECLAND_ENABLED
     g2.precland.init(scheduler.get_loop_rate_hz());
 #endif
+
+#if AP_ICENGINE_ENABLED
+    g2.ice_control.init();
+#endif
+
 }
 
 #if AP_FENCE_ENABLED

ArduPlane/tailsitter.cpp

@@ -208,6 +208,8 @@ void Tailsitter::setup()
         return;
     }
 
+    quadplane.thrust_type = QuadPlane::ThrustType::TAILSITTER;
+
     // Set tailsitter transition rate to match old calculation
     if (!transition_rate_fw.configured()) {
         transition_rate_fw.set_and_save(transition_angle_fw / (quadplane.transition_time_ms/2000.0f));

ArduPlane/tailsitter.h

@@ -175,7 +175,7 @@ friend class Tailsitter;
 
     uint8_t get_log_transition_state() const override { return static_cast<uint8_t>(transition_state); }
 
-    bool active() const override { return transition_state != TRANSITION_DONE; }
+    bool active_frwd() const override { return transition_state == TRANSITION_ANGLE_WAIT_FW; }
 
     bool show_vtol_view() const override;
 

ArduPlane/tiltrotor.cpp

@@ -106,6 +106,8 @@ void Tiltrotor::setup()
         return;
     }
 
+    quadplane.thrust_type = QuadPlane::ThrustType::TILTROTOR;
+
     _is_vectored = tilt_mask != 0 && type == TILT_TYPE_VECTORED_YAW;
 
     // true if a fixed forward motor is configured, either throttle, throttle left  or throttle right.

ArduPlane/transition.h

@@ -36,7 +36,7 @@ class Transition
 
     virtual uint8_t get_log_transition_state() const = 0;
 
-    virtual bool active() const = 0;
+    virtual bool active_frwd() const = 0;
 
     virtual bool show_vtol_view() const = 0;
 
@@ -85,7 +85,7 @@ class SLT_Transition : public Transition
 
     uint8_t get_log_transition_state() const override { return static_cast<uint8_t>(transition_state); }
 
-    bool active() const override;
+    bool active_frwd() const override;
 
     bool show_vtol_view() const override;
 

Tools/AP_Bootloader/board_types.txt

@@ -321,6 +321,8 @@ AP_HW_MountainEagleH743              1444
 AP_HW_StellarF4                      1500
 AP_HW_GEPRCF745BTHD                  1501
 
+AP_HW_HGLRCF405V4                    1524
+
 AP_HW_MFT-SEMA100                    2000
 
 AP_HW_SakuraRC-H743                  2714
@@ -374,6 +376,10 @@ AP_HW_ZeroOne_X6                     5600
 AP_HW_ZeroOne_PMU                    5601
 AP_HW_ZeroOne_GNSS                   5602
 
+#IDs 5700-5710 reserved for DroneBuild  
+AP_HW_DroneBuild_G1                  5700
+AP_HW_DroneBuild_G2                  5701
+
 # IDs 6000-6099 reserved for SpektreWorks
 
 # IDs 6600-6699 reserved for Eagle Eye Drones

Tools/AP_Bootloader/network.cpp

@@ -484,10 +484,14 @@ void BL_Network::handle_request(SocketAPM *sock)
     sock->send(header, strlen(header));
 
     if (strncmp(headers, "POST / ", 7) == 0) {
-        const char *clen = "\r\nContent-Length:";
-        const char *p = strstr(headers, clen);
+        const char *clen1 = "\r\nContent-Length:";
+        const char *clen2 = "\r\ncontent-length:";
+        const char *p = strstr(headers, clen1);
+        if (p == nullptr) {
+            p = strstr(headers, clen2);
+        }
         if (p != nullptr) {
-            p += strlen(clen);
+            p += strlen(clen1);
             const uint32_t content_length = atoi(p);
             handle_post(sock, content_length);
             delete headers;

Tools/ardupilotwaf/ardupilotwaf.py

@@ -6,6 +6,7 @@
 from waflib.Scripting import run_command
 from waflib.TaskGen import before_method, after_method, feature
 import os.path, os
+from pathlib import Path
 from collections import OrderedDict
 import subprocess
 
@@ -261,6 +262,30 @@ def ap_common_vehicle_libraries(bld):
 
 _grouped_programs = {}
 
+
+class upload_fw_blueos(Task.Task):
+    def run(self):
+        # this is rarely used, so we import requests here to avoid the overhead
+        import requests
+        binary_path = self.inputs[0].abspath()
+        # check if .apj file exists for chibios builds
+        if Path(binary_path + ".apj").exists():
+            binary_path = binary_path + ".apj"
+        bld = self.generator.bld
+        board = bld.bldnode.name.capitalize()
+        print(f"Uploading {binary_path} to BlueOS at {bld.options.upload_blueos} for board {board}")
+        url = f'{bld.options.upload_blueos}/ardupilot-manager/v1.0/install_firmware_from_file?board_name={board}'
+        files = {
+          'binary': open(binary_path, 'rb')
+        }
+        response = requests.post(url, files=files, verify=False)
+        if response.status_code != 200:
+            raise Errors.WafError(f"Failed to upload firmware to BlueOS: {response.status_code}: {response.text}")
+        print("Upload complete")
+
+    def keyword(self):
+          return "Uploading to BlueOS"
+
 class check_elf_symbols(Task.Task):
     color='CYAN'
     always_run = True
@@ -309,7 +334,10 @@ def post_link(self):
 
     check_elf_task = self.create_task('check_elf_symbols', src=link_output)
     check_elf_task.set_run_after(self.link_task)
-
+    if self.bld.options.upload_blueos and self.env["BOARD_CLASS"] == "LINUX":
+        _upload_task = self.create_task('upload_fw_blueos', src=link_output)
+        _upload_task.set_run_after(self.link_task)
+
 @conf
 def ap_program(bld,
                program_groups='bin',
@@ -641,6 +669,13 @@ def options(opt):
         help='''Specify the port to be used with the --upload option. For example a port of /dev/ttyS10 indicates that serial port 10 shuld be used.
 ''')
 
+    g.add_option('--upload-blueos',
+        action='store',
+        dest='upload_blueos',
+        default=None,
+        help='''Automatically upload to a BlueOS device. The argument is the url for the device. http://blueos.local for example.
+''')
+
     g.add_option('--upload-force',
         action='store_true',
         help='''Override board type check and continue loading. Same as using uploader.py --force.

Tools/ardupilotwaf/chibios.py

@@ -452,6 +452,10 @@ def chibios_firmware(self):
         _upload_task = self.create_task('upload_fw', src=apj_target)
         _upload_task.set_run_after(generate_apj_task)
 
+    if self.bld.options.upload_blueos:
+        _upload_task = self.create_task('upload_fw_blueos', src=link_output)
+        _upload_task.set_run_after(generate_apj_task)
+
 def setup_canmgr_build(cfg):
     '''enable CANManager build. By doing this here we can auto-enable CAN in
     the build based on the presence of CAN pins in hwdef.dat except for AP_Periph builds'''