Merge branch 'BetaPilot' into bp-merge

# Conflicts: # ArduCopter/GCS_Mavlink.cpp # ArduPlane/GCS_Mavlink.cpp # ArduPlane/servos.cpp # libraries/AP_Mount/AP_Mount.cpp # libraries/AP_RCProtocol/AP_RCProtocol.cpp # libraries/AP_RCProtocol/AP_RCProtocol.h # libraries/AP_RCProtocol/AP_RCProtocol_config.h
olliw42 · Jan 25, 2024 · e57c9b1 · e57c9b1
2 parents a2707b4 + 70cf18f
commit e57c9b1
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Showing 61 changed files with 14,553 additions and 27 deletions.
diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -8,6 +8,12 @@
 
 #define THISFIRMWARE "ArduCopter V4.5.0-dev"
 
+//OW
+#undef THISFIRMWARE
+#include "../libraries/bp_version.h"
+#define THISFIRMWARE "BetaCopter V4.5.0-dev " BETAPILOTVERSION " " DATEOFBASEBRANCH
+//OWEND
+
 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 4,5,0,FIRMWARE_VERSION_TYPE_DEV
 

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
@@ -736,6 +736,10 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     ASCALAR(crash_detection_enable,         "CRASH_DETECT",   0),
 
+//OW THR_SUPP
+    GSCALAR(takeoff_throttle_suppress, "TKOFF_THR_SUPP", 0),
+//OWEND
+
     // @Group: BARO
     // @Path: ../libraries/AP_Baro/AP_Baro.cpp
     GOBJECT(barometer, "BARO", AP_Baro),

diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
@@ -357,6 +357,9 @@ class Parameters {
         k_param_acro_yaw_rate,
         k_param_takeoff_throttle_max_t,
         k_param_autotune_options,
+//OW THR_SUPP
+        k_param_takeoff_throttle_suppress,
+//OWEND
     };
 
     AP_Int16 format_version;
@@ -467,6 +470,9 @@ class Parameters {
     AP_Int8 override_channel;
 #endif
     AP_Int16 gcs_pid_mask;
+//OW THR_SUPP
+    AP_Int8 takeoff_throttle_suppress;
+//OWEND
 };
 
 /*

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
@@ -563,6 +563,13 @@ void Plane::set_throttle(void)
     }
 
     if (suppress_throttle()) {
+//OW THR_SUPP
+        if (control_mode == &mode_takeoff && g.takeoff_throttle_suppress) {
+            // in takeoff mode set throttle to specified value
+            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_float(g.takeoff_throttle_suppress, 0.0f, 100.0f));
+
+        } else
+//OWEND
         if (g.throttle_suppress_manual) {
             // manual pass through of throttle while throttle is suppressed
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
@@ -8,6 +8,12 @@
 
 #define THISFIRMWARE "ArduPlane V4.5.0-dev"
 
+//OW
+#undef THISFIRMWARE
+#include "../libraries/bp_version.h"
+#define THISFIRMWARE "BetaPlane V4.5.0-dev " BETAPILOTVERSION " " DATEOFBASEBRANCH
+//OWEND
+
 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 4,5,0,FIRMWARE_VERSION_TYPE_DEV
 

diff --git a/bp_mavlink/ASLUAV.xml b/bp_mavlink/ASLUAV.xml
diff --git a/bp_mavlink/AVSSUAS.xml b/bp_mavlink/AVSSUAS.xml
@@ -0,0 +1,198 @@
+<?xml version="1.0"?>
+<!-- AVSS is a Canadian aerospace company commercializing safety technologies for Urban Air Mobility. -->
+<!-- AVSS is first commercially available products are parachute recovery systems for commercial drones. -->
+<!-- AVSS contact info: -->
+<!-- company URL: https://www.avss.co -->
+<!-- email contact: [email protected] [email protected] [email protected]-->
+<!-- mavlink messenger ID range: 60050 - 60099,  mavlink command ID range: 60050 - 60099-->
+<mavlink>
+  <include>common.xml</include>
+  <version>2</version>
+  <dialect>1</dialect>
+  <enums>
+    <enum name="MAV_CMD">
+      <!-- AVSS specific MAV_CMD_PRS* commands -->
+      <entry name="MAV_CMD_PRS_SET_ARM" value="60050" isDestination="false" hasLocation="false">
+        <description>AVSS defined command. Set PRS arm statuses.</description>
+        <param index="1" label="ARM status">PRS arm statuses</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry name="MAV_CMD_PRS_GET_ARM" value="60051" isDestination="false" hasLocation="false">
+        <description>AVSS defined command. Gets PRS arm statuses</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry name="MAV_CMD_PRS_GET_BATTERY" value="60052" isDestination="false" hasLocation="false">
+        <description>AVSS defined command.  Get the PRS battery voltage in millivolts</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry name="MAV_CMD_PRS_GET_ERR" value="60053" isDestination="false" hasLocation="false">
+        <description>AVSS defined command. Get the PRS error statuses.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry name="MAV_CMD_PRS_SET_ARM_ALTI" value="60070" isDestination="false" hasLocation="false">
+        <description>AVSS defined command. Set the ATS arming altitude in meters.</description>
+        <param index="1" label="Altitude" units="m">ATS arming altitude</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry name="MAV_CMD_PRS_GET_ARM_ALTI" value="60071" isDestination="false" hasLocation="false">
+        <description>AVSS defined command. Get the ATS arming altitude in meters.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+      <entry name="MAV_CMD_PRS_SHUTDOWN" value="60072" isDestination="false" hasLocation="false">
+        <description>AVSS defined command. Shuts down the PRS system.</description>
+        <param index="1">User defined</param>
+        <param index="2">User defined</param>
+        <param index="3">User defined</param>
+        <param index="4">User defined</param>
+        <param index="5">User defined</param>
+        <param index="6">User defined</param>
+        <param index="7">User defined</param>
+      </entry>
+    </enum>
+    <enum name="MAV_AVSS_COMMAND_FAILURE_REASON">
+      <entry name="PRS_NOT_STEADY" value="1">
+        <description>AVSS defined command failure reason. PRS not steady.</description>
+      </entry>
+      <entry name="PRS_DTM_NOT_ARMED" value="2">
+        <description>AVSS defined command failure reason. PRS DTM not armed.</description>
+      </entry>
+      <entry name="PRS_OTM_NOT_ARMED" value="3">
+        <description>AVSS defined command failure reason. PRS OTM not armed.</description>
+      </entry>
+    </enum>
+    <enum name="AVSS_M300_OPERATION_MODE">
+      <entry name="MODE_M300_MANUAL_CTRL" value="0">
+        <description>In manual control mode</description>
+      </entry>
+      <entry name="MODE_M300_ATTITUDE" value="1">
+        <description>In attitude mode </description>
+      </entry>
+      <entry name="MODE_M300_P_GPS" value="6">
+        <description>In GPS mode</description>
+      </entry>
+      <entry name="MODE_M300_HOTPOINT_MODE" value="9">
+        <description>In hotpoint mode </description>
+      </entry>
+      <entry name="MODE_M300_ASSISTED_TAKEOFF" value="10">
+        <description>In assisted takeoff mode</description>
+      </entry>
+      <entry name="MODE_M300_AUTO_TAKEOFF" value="11">
+        <description>In auto takeoff mode</description>
+      </entry>
+      <entry name="MODE_M300_AUTO_LANDING" value="12">
+        <description>In auto landing mode</description>
+      </entry>
+      <entry name="MODE_M300_NAVI_GO_HOME" value="15">
+        <description>In go home mode</description>
+      </entry>
+      <entry name="MODE_M300_NAVI_SDK_CTRL" value="17">
+        <description>In sdk control mode</description>
+      </entry>
+      <entry name="MODE_M300_S_SPORT" value="31">
+        <description>In sport mode</description>
+      </entry>
+      <entry name="MODE_M300_FORCE_AUTO_LANDING" value="33">
+        <description>In force auto landing mode</description>
+      </entry>
+      <entry name="MODE_M300_T_TRIPOD" value="38">
+        <description>In tripod mode</description>
+      </entry>
+      <entry name="MODE_M300_SEARCH_MODE" value="40">
+        <description>In search mode</description>
+      </entry>
+      <entry name="MODE_M300_ENGINE_START" value="41">
+        <description>In engine mode</description>
+      </entry>
+    </enum>
+    <enum name="AVSS_HORSEFLY_OPERATION_MODE">
+      <entry name="MODE_HORSEFLY_MANUAL_CTRL" value="0">
+        <description>In manual control mode</description>
+      </entry>
+      <entry name="MODE_HORSEFLY_AUTO_TAKEOFF" value="1">
+        <description>In auto takeoff mode</description>
+      </entry>
+      <entry name="MODE_HORSEFLY_AUTO_LANDING" value="2">
+        <description>In auto landing mode</description>
+      </entry>
+      <entry name="MODE_HORSEFLY_NAVI_GO_HOME" value="3">
+        <description>In go home mode</description>
+      </entry>
+      <entry name="MODE_HORSEFLY_DROP" value="4">
+        <description>In drop mode</description>
+      </entry>
+    </enum>
+  </enums>
+  <messages>
+    <message name="AVSS_PRS_SYS_STATUS" id="60050">
+      <description> AVSS PRS system status.</description>
+      <field name="time_boot_ms" units="ms" type="uint32_t">Timestamp (time since PRS boot).</field>
+      <field name="error_status" type="uint32_t">PRS error statuses</field>
+      <field name="battery_status" type="uint32_t">Estimated battery run-time without a remote connection and PRS battery voltage</field>
+      <field name="arm_status" type="uint8_t">PRS arm statuses</field>
+      <field name="charge_status" type="uint8_t">PRS battery charge statuses</field>
+    </message>
+    <message name="AVSS_DRONE_POSITION" id="60051">
+      <description> Drone position.</description>
+      <field name="time_boot_ms" units="ms" type="uint32_t">Timestamp (time since FC boot).</field>
+      <field name="lat" units="degE7" type="int32_t">Latitude, expressed</field>
+      <field name="lon" units="degE7" type="int32_t">Longitude, expressed</field>
+      <field name="alt" units="mm" type="int32_t">Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.</field>
+      <field name="ground_alt" units="m" type="float">Altitude above ground, This altitude is measured by a ultrasound, Laser rangefinder or millimeter-wave radar</field>
+      <field name="barometer_alt" units="m" type="float">This altitude is measured by a barometer</field>
+    </message>
+    <message name="AVSS_DRONE_IMU" id="60052">
+      <description> Drone IMU data. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).</description>
+      <field name="time_boot_ms" units="ms" type="uint32_t">Timestamp (time since FC boot).</field>
+      <field name="q1" type="float">Quaternion component 1, w (1 in null-rotation)</field>
+      <field name="q2" type="float">Quaternion component 2, x (0 in null-rotation)</field>
+      <field name="q3" type="float">Quaternion component 3, y (0 in null-rotation)</field>
+      <field name="q4" type="float">Quaternion component 4, z (0 in null-rotation)</field>
+      <field name="xacc" units="m/s/s" type="float">X acceleration</field>
+      <field name="yacc" units="m/s/s" type="float">Y acceleration</field>
+      <field name="zacc" units="m/s/s" type="float">Z acceleration</field>
+      <field name="xgyro" units="rad/s" type="float">Angular speed around X axis</field>
+      <field name="ygyro" units="rad/s" type="float">Angular speed around Y axis</field>
+      <field name="zgyro" units="rad/s" type="float">Angular speed around Z axis</field>
+    </message>
+    <message name="AVSS_DRONE_OPERATION_MODE" id="60053">
+      <description> Drone operation mode.</description>
+      <field name="time_boot_ms" units="ms" type="uint32_t">Timestamp (time since FC boot).</field>
+      <field name="M300_operation_mode" type="uint8_t">DJI M300 operation mode</field>
+      <field name="horsefly_operation_mode" type="uint8_t">horsefly operation mode</field>
+    </message>
+  </messages>
+</mavlink>
diff --git a/bp_mavlink/all.xml b/bp_mavlink/all.xml
@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<mavlink>
+  <include>ardupilotmega.xml</include>
+  <!-- ASLUAV.xml range of IDs:
+    messages: 8000 - 8999
+    commands: 40001 - 41999
+  -->
+  <include>ASLUAV.xml</include>
+  <include>common.xml</include>
+  <include>development.xml</include>
+  <include>icarous.xml</include>
+  <!-- matrixpilot.xml: ERROR: Duplicate message id 150 for FLEXIFUNCTION_SET (matrixpilot.xml:50) also used by SENSOR_OFFSETS (ardupilotmega.xml:1101) -->
+  <!-- <include>matrixpilot.xml</include> -->
+  <include>minimal.xml</include>
+  <!-- paparazzi.xml: : ERROR: Duplicate message id 180 for SCRIPT_ITEM (paparazzi.xml:9) also used by CAMERA_FEEDBACK (ardupilotmega.xml:1370) -->
+  <!-- <include>paparazzi.xml</include> -->
+  <include>python_array_test.xml</include>
+  <include>standard.xml</include>
+  <include>test.xml</include>
+  <include>ualberta.xml</include>
+  <include>uAvionix.xml</include>
+  <!-- loweheiser.xml range of IDs:
+       messages: 10150 - 10199
+       commands: 10150 - 10199
+  -->
+  <include>loweheiser.xml</include>
+  <!-- storm32.xml range of IDs:
+    messages: 60000 - 60049
+    commands: 60000 - 60049
+  -->
+  <include>storm32.xml</include>
+  <!-- AVSSUAS.xml range of IDs:
+    messages: 60050 - 60099 
+    commands: 60050 - 60099
+  -->
+  <include>AVSSUAS.xml</include>
+  <!-- Herelink.xml range of IDs:
+    messages: 50000 - 50099
+    commands: 50000 - 50099
+  -->
+  <include>cubepilot.xml</include>
+  <include>csAirLink.xml</include>
+  <!-- csAirLink.xml range of IDs:
+    messages: 52000 - 52099
+    commands: 52000 - 52099
+  -->
+  <!--Next range to allocate range of IDs:
+    messages: 52100 - ? < 60000
+    commands: 52100 - ? < 60000
+  -->
+  <messages/>
+</mavlink>