Add CAN termination to Holybro CAN product

.github/workflows/esp32_build.yml

@@ -175,7 +175,7 @@ jobs:
         shell: bash
         run: |
           sudo apt-get update
-          sudo apt-get install git wget libncurses-dev flex bison gperf python3 python3-pip python3-venv python3-setuptools python3-serial python3-gevent python3-cryptography python3-future python3-pyparsing python3-pyelftools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0
+          sudo apt-get install git wget libncurses-dev flex bison gperf python3 python3-pip python3-venv python3-setuptools python3-serial python3-gevent python3-cryptography python3-future python3-pyparsing python3-pyelftools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0 cmake
           sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 10
           update-alternatives --query python
           python3 --version
@@ -194,17 +194,6 @@ jobs:
           sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.11 11
           update-alternatives --query python
 
-          rm -rf /usr/local/bin/cmake
-          sudo apt-get remove --purge --auto-remove cmake
-          sudo apt-get update && \
-          sudo apt-get install -y software-properties-common lsb-release && \
-          sudo apt-get clean all
-          wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
-          sudo apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main"
-          sudo apt-get update
-          sudo apt-get install cmake
-
-
           git submodule update --init --recursive --depth=1
           ./Tools/scripts/esp32_get_idf.sh
 

.gitignore

@@ -171,7 +171,3 @@ ENV/
 env.bak/
 venv.bak/
 autotest_result_*_junit.xml
-
-# Ignore ESP-IDF SDK defines
-/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig
-/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig

AntennaTracker/ReleaseNotes.txt

@@ -1,6 +1,53 @@
 Antenna Tracker Release Notes:
 ------------------------------------------------------------------
-Release 4.6.0-beta 13 Nov 2024
+Release 4.6.0-beta2 11 Dec 2024
+
+Changes from 4.6.0-beta1
+
+1) Board specfic changes
+
+- FoxeerF405v2 supports BMP280 baro
+- KakuteH7, H7-Mini, H7-Wing, F4 support SPA06 baro
+- MUPilot support
+- SkySakura H743 support
+- TBS Lucid H7 support
+- VUAV-V7pro README documentation fixed
+- X-MAV AP-H743v2 CAN pin definition fixed
+
+2) Copter specific enhancements and bug fixes
+
+- AutoTune fix for calc of maximum angular acceleration
+- Advanced Failsafe customer build server option
+
+3) Plane related enhancements and bug fixes
+
+- QuadPlane fix for QLand getting stuck in pilot repositioning
+- QuikTune C++ conversion (allow running quiktun on F4 and f7 boards)
+- Takeoff direction fixed when no yaw source
+- TECS correctly handles home altitude changes
+
+4) Bug Fixes and minor enhancements
+
+- AIRSPEED_AUTOCAL mavlink message only sent when required and fixed for 2nd sensor
+- CAN frame logging added to ease support
+- CRSF reconnection after failsafe fixed
+- EKF3 position and velocity resets default to user defined source
+- Ethernet IP address default 192.168.144.x
+- Fence autoenable fix when both RCn_OPTION=11/Fence and FENCE_AUTOENABLE = 3 (AutoEnableOnlyWhenArmed)
+- Fence pre-arm check that vehicle is within polygon fence
+- Fence handling of more than 256 items fixed
+- FFT protection against divide-by-zero in Jain estimator
+- Frsky telemetry apparent wind speed fixed
+- Inertial sensors stop sensor converging if motors arm
+- Inertial sensors check for changes to notch filters fixed
+- Real Time Clock allowed to shift forward when disarmed
+- ROS2/DDS get/set parameter service added
+- Scripting gets memory handling improvements
+- Scripting promote video-stream-information to applet
+- Topotek gimbal driver uses GIA message to retrieve current angle
+- Tramp VTX OSD power indicator fixed
+------------------------------------------------------------------
+Release 4.6.0-beta1 13 Nov 2024
 
 Changes from 4.5.7
 

ArduCopter/Attitude.cpp

@@ -4,18 +4,21 @@
  *  Attitude Rate controllers and timing
  ****************************************************************/
 
-// update rate controllers and output to roll, pitch and yaw actuators
-//  called at 400hz by default
-void Copter::run_rate_controller()
+/*
+  update rate controller when run from main thread (normal operation)
+*/
+void Copter::run_rate_controller_main()
 {
     // set attitude and position controller loop time
     const float last_loop_time_s = AP::scheduler().get_last_loop_time_s();
-    motors->set_dt(last_loop_time_s);
-    attitude_control->set_dt(last_loop_time_s);
     pos_control->set_dt(last_loop_time_s);
+    attitude_control->set_dt(last_loop_time_s);
 
-    // run low level rate controllers that only require IMU data
-    attitude_control->rate_controller_run();
+    if (!using_rate_thread) {
+        motors->set_dt(last_loop_time_s);
+        // only run the rate controller if we are not using the rate thread
+        attitude_control->rate_controller_run();
+    }
     // reset sysid and other temporary inputs
     attitude_control->rate_controller_target_reset();
 }

ArduCopter/Copter.cpp

@@ -75,6 +75,7 @@
  */
 
 #include "Copter.h"
+#include <AP_InertialSensor/AP_InertialSensor_rate_config.h>
 
 #define FORCE_VERSION_H_INCLUDE
 #include "version.h"
@@ -113,15 +114,15 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     // update INS immediately to get current gyro data populated
     FAST_TASK_CLASS(AP_InertialSensor, &copter.ins, update),
     // run low level rate controllers that only require IMU data
-    FAST_TASK(run_rate_controller),
+    FAST_TASK(run_rate_controller_main),
 #if AC_CUSTOMCONTROL_MULTI_ENABLED
     FAST_TASK(run_custom_controller),
 #endif
 #if FRAME_CONFIG == HELI_FRAME
     FAST_TASK(heli_update_autorotation),
 #endif //HELI_FRAME
     // send outputs to the motors library immediately
-    FAST_TASK(motors_output),
+    FAST_TASK(motors_output_main),
      // run EKF state estimator (expensive)
     FAST_TASK(read_AHRS),
 #if FRAME_CONFIG == HELI_FRAME
@@ -259,6 +260,10 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button,            &copter.button,              update,           5, 100, 168),
 #endif
+#if AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
+    // don't delete this, there is an equivalent (virtual) in AP_Vehicle for the non-rate loop case
+    SCHED_TASK(update_dynamic_notch_at_specified_rate_main,                       LOOP_RATE, 200, 215),
+#endif
 };
 
 void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
@@ -618,12 +623,15 @@ void Copter::update_batt_compass(void)
 // should be run at loop rate
 void Copter::loop_rate_logging()
 {
-    if (should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) {
+   if (should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) {
         Log_Write_Attitude();
-        Log_Write_PIDS(); // only logs if PIDS bitmask is set
+        if (!using_rate_thread) {
+            Log_Write_Rate();
+            Log_Write_PIDS(); // only logs if PIDS bitmask is set
+        }
     }
 #if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
-    if (should_log(MASK_LOG_FTN_FAST)) {
+    if (should_log(MASK_LOG_FTN_FAST) && !using_rate_thread) {
         AP::ins().write_notch_log_messages();
     }
 #endif
@@ -641,10 +649,15 @@ void Copter::ten_hz_logging_loop()
     // log attitude controller data if we're not already logging at the higher rate
     if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) {
         Log_Write_Attitude();
+        if (!using_rate_thread) {
+            Log_Write_Rate();
+        }
     }
     if (!should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) {
     // log at 10Hz if PIDS bitmask is selected, even if no ATT bitmask is selected; logs at looprate if ATT_FAST and PIDS bitmask set
-        Log_Write_PIDS();
+        if (!using_rate_thread) {
+            Log_Write_PIDS();
+        }
     }
     // log EKF attitude data always at 10Hz unless ATTITUDE_FAST, then do it in the 25Hz loop
     if (!should_log(MASK_LOG_ATTITUDE_FAST)) {
@@ -789,11 +802,26 @@ void Copter::one_hz_loop()
     AP_Notify::flags.flying = !ap.land_complete;
 
     // slowly update the PID notches with the average loop rate
-    attitude_control->set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
+    if (!using_rate_thread) {
+        attitude_control->set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
+    }
     pos_control->get_accel_z_pid().set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
 #if AC_CUSTOMCONTROL_MULTI_ENABLED
     custom_control.set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
 #endif
+
+#if AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
+    // see if we should have a separate rate thread
+    if (!started_rate_thread && get_fast_rate_type() != FastRateType::FAST_RATE_DISABLED) {
+        if (hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&Copter::rate_controller_thread, void),
+                                         "rate",
+                                         1536, AP_HAL::Scheduler::PRIORITY_RCOUT, 1)) {
+            started_rate_thread = true;
+        } else {
+            AP_BoardConfig::allocation_error("rate thread");
+        }
+    }
+#endif
 }
 
 void Copter::init_simple_bearing()

ArduCopter/Copter.h

@@ -631,6 +631,17 @@ class Copter : public AP_Vehicle {
         RELEASE_GRIPPER_ON_THRUST_LOSS = (1<<2),  // 4
         REQUIRE_POSITION_FOR_ARMING =   (1<<3),   // 8
     };
+
+    // type of fast rate attitude controller in operation
+    enum class FastRateType : uint8_t {
+        FAST_RATE_DISABLED            = 0,
+        FAST_RATE_DYNAMIC             = 1,
+        FAST_RATE_FIXED_ARMED         = 2,
+        FAST_RATE_FIXED               = 3,
+    };
+
+    FastRateType get_fast_rate_type() const { return FastRateType(g2.att_enable.get()); }
+
     // returns true if option is enabled for this vehicle
     bool option_is_enabled(FlightOption option) const {
         return (g2.flight_options & uint32_t(option)) != 0;
@@ -728,7 +739,25 @@ class Copter : public AP_Vehicle {
     void set_accel_throttle_I_from_pilot_throttle();
     void rotate_body_frame_to_NE(float &x, float &y);
     uint16_t get_pilot_speed_dn() const;
-    void run_rate_controller();
+    void run_rate_controller_main();
+
+    // if AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
+    struct RateControllerRates {
+        uint8_t fast_logging_rate;
+        uint8_t medium_logging_rate;
+        uint8_t filter_rate;
+        uint8_t main_loop_rate;
+    };
+
+    uint8_t calc_gyro_decimation(uint8_t gyro_decimation, uint16_t rate_hz);
+    void rate_controller_thread();
+    void rate_controller_filter_update();
+    void rate_controller_log_update();
+    void rate_controller_set_rates(uint8_t rate_decimation, RateControllerRates& rates, bool warn_cpu_high);
+    void enable_fast_rate_loop(uint8_t rate_decimation, RateControllerRates& rates);
+    void disable_fast_rate_loop(RateControllerRates& rates);
+    void update_dynamic_notch_at_specified_rate_main();
+    // endif AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
 
 #if AC_CUSTOMCONTROL_MULTI_ENABLED
     void run_custom_controller() { custom_control.update(); }
@@ -878,6 +907,7 @@ class Copter : public AP_Vehicle {
     // Log.cpp
     void Log_Write_Control_Tuning();
     void Log_Write_Attitude();
+    void Log_Write_Rate();
     void Log_Write_EKF_POS();
     void Log_Write_PIDS();
     void Log_Write_Data(LogDataID id, int32_t value);
@@ -892,6 +922,7 @@ class Copter : public AP_Vehicle {
     void Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out);
     void Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z);
     void Log_Write_Vehicle_Startup_Messages();
+    void Log_Write_Rate_Thread_Dt(float dt, float dtAvg, float dtMax, float dtMin);
 #endif  // HAL_LOGGING_ENABLED
 
     // mode.cpp
@@ -921,7 +952,8 @@ class Copter : public AP_Vehicle {
     // motors.cpp
     void arm_motors_check();
     void auto_disarm_check();
-    void motors_output();
+    void motors_output(bool full_push = true);
+    void motors_output_main();
     void lost_vehicle_check();
 
     // navigation.cpp
@@ -1086,6 +1118,9 @@ class Copter : public AP_Vehicle {
     Mode *mode_from_mode_num(const Mode::Number mode);
     void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode);
 
+    bool started_rate_thread;
+    bool using_rate_thread;
+
 public:
     void failsafe_check();      // failsafe.cpp
 };

ArduCopter/Log.cpp

@@ -1,4 +1,5 @@
 #include "Copter.h"
+#include <AP_InertialSensor/AP_InertialSensor_rate_config.h>
 
 #if HAL_LOGGING_ENABLED
 
@@ -76,6 +77,10 @@ void Copter::Log_Write_Control_Tuning()
 void Copter::Log_Write_Attitude()
 {
     attitude_control->Write_ANG();
+}
+
+void Copter::Log_Write_Rate()
+{
     attitude_control->Write_Rate(*pos_control);
 }
 
@@ -339,6 +344,16 @@ struct PACKED log_Guided_Attitude_Target {
     float climb_rate;
 };
 
+// rate thread dt stats
+struct PACKED log_Rate_Thread_Dt {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    float dt;
+    float dtAvg;
+    float dtMax;
+    float dtMin;
+};
+
 // Write a Guided mode position target
 // pos_target is lat, lon, alt OR offset from ekf origin in cm
 // terrain should be 0 if pos_target.z is alt-above-ekf-origin, 1 if alt-above-terrain
@@ -386,6 +401,21 @@ void Copter::Log_Write_Guided_Attitude_Target(ModeGuided::SubMode target_type, f
     logger.WriteBlock(&pkt, sizeof(pkt));
 }
 
+void Copter::Log_Write_Rate_Thread_Dt(float dt, float dtAvg, float dtMax, float dtMin)
+{
+#if AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
+    const log_Rate_Thread_Dt pkt {
+        LOG_PACKET_HEADER_INIT(LOG_RATE_THREAD_DT_MSG),
+        time_us         : AP_HAL::micros64(),
+        dt              : dt,
+        dtAvg           : dtAvg,
+        dtMax           : dtMax,
+        dtMin           : dtMin
+    };
+    logger.WriteBlock(&pkt, sizeof(pkt));
+#endif
+}
+
 // type and unit information can be found in
 // libraries/AP_Logger/Logstructure.h; search for "log_Units" for
 // units and "Format characters" for field type information
@@ -527,6 +557,18 @@ const struct LogStructure Copter::log_structure[] = {
 
     { LOG_GUIDED_ATTITUDE_TARGET_MSG, sizeof(log_Guided_Attitude_Target),
       "GUIA",  "QBffffffff",    "TimeUS,Type,Roll,Pitch,Yaw,RollRt,PitchRt,YawRt,Thrust,ClimbRt", "s-dddkkk-n", "F-000000-0" , true },
+
+// @LoggerMessage: RTDT
+// @Description: Attitude controller time deltas
+// @Field: TimeUS: Time since system startup
+// @Field: dt: current time delta
+// @Field: dtAvg: current time delta average
+// @Field: dtMax: Max time delta since last log output
+// @Field: dtMin: Min time delta since last log output
+
+    { LOG_RATE_THREAD_DT_MSG, sizeof(log_Rate_Thread_Dt),
+      "RTDT", "Qffff", "TimeUS,dt,dtAvg,dtMax,dtMin", "sssss", "F----" , true },
+
 };
 
 uint8_t Copter::get_num_log_structures() const