update bp_mavlink, incoude two CAN PRs

bp_mavlink/ardupilotmega.xml

@@ -314,7 +314,7 @@
         <description>Change target altitude at a given rate. This slews the vehicle at a controllable rate between it's previous altitude and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)</description>
         <param index="1">Empty</param>
         <param index="2">Empty</param>
-        <param index="3" label="alt rate-of-change" units="m/s/s" minValue="0">Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt.</param>
+        <param index="3" label="alt rate-of-change" units="m/s" minValue="0">Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt.</param>
         <param index="4">Empty</param>
         <param index="5">Empty</param>
         <param index="6">Empty</param>
@@ -998,6 +998,9 @@
       <entry value="512" name="EKF_PRED_POS_HORIZ_ABS">
         <description>Set if EKF's predicted horizontal position (absolute) estimate is good.</description>
       </entry>
+      <entry value="32768" name="EKF_GPS_GLITCHING">
+        <description>Set if EKF believes the GPS input data is faulty.</description>
+      </entry>
       <entry value="1024" name="EKF_UNINITIALIZED">
         <description>Set if EKF has never been healthy.</description>
       </entry>

bp_mavlink/common.xml

@@ -3310,6 +3310,9 @@
       <entry value="2048" name="CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS">
         <description>Camera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).</description>
       </entry>
+      <entry value="4096" name="CAMERA_CAP_FLAGS_HAS_THERMAL_RANGE">
+        <description>Camera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE) (WIP).</description>
+      </entry>
     </enum>
     <enum name="VIDEO_STREAM_STATUS_FLAGS" bitmask="true">
       <description>Stream status flags (Bitmap)</description>
@@ -3319,6 +3322,9 @@
       <entry value="2" name="VIDEO_STREAM_STATUS_FLAGS_THERMAL">
         <description>Stream is thermal imaging</description>
       </entry>
+      <entry value="4" name="VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED">
+        <description>Stream can report absolute thermal range (see CAMERA_THERMAL_RANGE). (WIP).</description>
+      </entry>
     </enum>
     <enum name="VIDEO_STREAM_TYPE">
       <description>Video stream types</description>
@@ -6105,6 +6111,20 @@
       <field type="float" name="hdg" units="rad" invalid="NaN">Heading in radians, in NED. NAN if unknown</field>
       <field type="float" name="hdg_acc" units="rad" invalid="NaN">Accuracy of heading, in NED. NAN if unknown</field>
     </message>
+    <message id="277" name="CAMERA_THERMAL_RANGE">
+      <wip/>
+      <!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+      <description>Camera absolute thermal range. This can be streamed when the associated `VIDEO_STREAM_STATUS.flag` bit `VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED` is set, but a GCS may choose to only request it for the current active stream. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras).</description>
+      <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
+      <field type="uint8_t" name="stream_id" minValue="1" instance="true">Video Stream ID (1 for first, 2 for second, etc.)</field>
+      <field type="uint8_t" name="camera_device_id" default="0" minValue="0" maxValue="6">Camera id of a non-MAVLink camera attached to an autopilot (1-6).  0 if the component is a MAVLink camera (with its own component id).</field>
+      <field type="float" name="max" units="degC">Temperature max.</field>
+      <field type="float" name="max_point_x" invalid="NaN">Temperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.</field>
+      <field type="float" name="max_point_y" invalid="NaN">Temperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.</field>
+      <field type="float" name="min" units="degC">Temperature min.</field>
+      <field type="float" name="min_point_x" invalid="NaN">Temperature min point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.</field>
+      <field type="float" name="min_point_y" invalid="NaN">Temperature min point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.</field>
+    </message>
     <message id="280" name="GIMBAL_MANAGER_INFORMATION">
       <description>Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.</description>
       <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>

libraries/AP_CANManager/AP_CANManager.cpp

@@ -430,6 +430,8 @@ bool AP_CANManager::handle_can_forward(mavlink_channel_t chan, const mavlink_com
         for (auto can_iface : hal.can) {
             if (can_iface && can_forward.callback_id != 0) {
                 can_iface->unregister_frame_callback(can_forward.callback_id);
+//OW https://github.com/ArduPilot/ardupilot/pull/28182
+                can_forward.callback_id = 0;
             }
         }
         return true;
@@ -451,6 +453,8 @@ bool AP_CANManager::handle_can_forward(mavlink_channel_t chan, const mavlink_com
     for (uint8_t i=0; i<HAL_NUM_CAN_IFACES; i++) {
         if (i != bus && hal.can[i] != nullptr && can_forward.callback_id != 0) {
             hal.can[i]->unregister_frame_callback(can_forward.callback_id);
+//OW https://github.com/ArduPilot/ardupilot/pull/28182
+            can_forward.callback_id = 0;
         }
     }
 
@@ -647,6 +651,8 @@ void AP_CANManager::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &fram
         if (can_forward.callback_id != 0 &&
             AP_HAL::millis() - can_forward.last_callback_enable_ms > 5000) {
             hal.can[bus]->unregister_frame_callback(can_forward.callback_id);
+//OW https://github.com/ArduPilot/ardupilot/pull/28182
+            can_forward.callback_id = 0;
             return;
         }
         can_forward.frame_counter = 0;

libraries/AP_DroneCAN/AP_DroneCAN.h

@@ -235,10 +235,16 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
 
     uint32_t *mem_pool;
 
-    AP_DroneCAN_DNA_Server _dna_server;
+//OW https://github.com/ArduPilot/ardupilot/pull/28157
+//    AP_DroneCAN_DNA_Server _dna_server;
 
     uint8_t _driver_index;
 
+//OW https://github.com/ArduPilot/ardupilot/pull/28157
+    CanardInterface canard_iface;
+
+    AP_DroneCAN_DNA_Server _dna_server;
+
     char _thread_name[13];
     bool _initialized;
     ///// SRV output /////
@@ -292,7 +298,8 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
     } _relay;
 #endif
 
-    CanardInterface canard_iface;
+//OW https://github.com/ArduPilot/ardupilot/pull/28157
+//    CanardInterface canard_iface;
 
 #if AP_DRONECAN_SERIAL_ENABLED
     AP_DroneCAN_Serial serial;

libraries/bp_version.h

@@ -1,7 +1,7 @@
 #pragma once
 
-#define BETAPILOTVERSION "v060i"
-#define DATEOFBASEBRANCH "20240903"
+#define BETAPILOTVERSION "v060j"
+#define DATEOFBASEBRANCH "20240921"
 
 /*
 search for //OW to find all changes  THR_MINSPD THR_SLEW SUPP_MAN waiting for rudder release
@@ -11,6 +11,11 @@ on-top features:
 - RC_Channel, AUX_FUNC: CAMERA_SET_MODE, CAMERA_TRIG_MODE (eq CAM_MODE_TOGGLE) (OW CAMERA)
 - Plane THR (OW THR_SUPP)
 
+includes
+- https://github.com/ArduPilot/ardupilot/pull/28182
+- https://github.com/ArduPilot/ardupilot/pull/28157
+
+
  remove zflags, not used, could use now options
  remove GCS_serial_control: SERIAL_CONTROL 8E1
 2024.09.03: v060