Merge branch 'ArduPilot:master' into master

.github/workflows/test_chibios.yml

@@ -158,6 +158,7 @@ jobs:
             signing,
             CubeOrange-PPP,
             CubeOrange-SOHW,
+            Pixhawk6X-PPPGW,
         ]
         toolchain: [
             chibios,

ArduPlane/ArduPlane.cpp

@@ -916,8 +916,8 @@ void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
         return;
     }
 #endif
-    pitch = ahrs.pitch;
-    roll = ahrs.roll;
+    pitch = ahrs.get_pitch();
+    roll = ahrs.get_roll();
     if (!(flight_option_enabled(FlightOptions::OSD_REMOVE_TRIM_PITCH_CD))) {  // correct for TRIM_PITCH_CD
         pitch -= g.pitch_trim_cd * 0.01 * DEG_TO_RAD;
     }

ArduPlane/GCS_Mavlink.cpp

@@ -129,9 +129,9 @@ void GCS_MAVLINK_Plane::send_attitude() const
 {
     const AP_AHRS &ahrs = AP::ahrs();
 
-    float r = ahrs.roll;
-    float p = ahrs.pitch;
-    float y = ahrs.yaw;
+    float r = ahrs.get_roll();
+    float p = ahrs.get_pitch();
+    float y = ahrs.get_yaw();
 
     if (!(plane.flight_option_enabled(FlightOptions::GCS_REMOVE_TRIM_PITCH_CD))) {
         p -= radians(plane.g.pitch_trim_cd * 0.01f);

ArduPlane/commands_logic.cpp

@@ -1090,7 +1090,7 @@ bool Plane::verify_landing_vtol_approach(const AP_Mission::Mission_Command &cmd)
                 const float breakout_direction_rad = radians(vtol_approach_s.approach_direction_deg + (direction > 0 ? 270 : 90));
 
                 // breakout when within 5 degrees of the opposite direction
-                if (fabsF(wrap_PI(ahrs.yaw - breakout_direction_rad)) < radians(5.0f)) {
+                if (fabsF(wrap_PI(ahrs.get_yaw() - breakout_direction_rad)) < radians(5.0f)) {
                     gcs().send_text(MAV_SEVERITY_INFO, "Starting VTOL land approach path");
                     vtol_approach_s.approach_stage = APPROACH_LINE;
                     set_next_WP(cmd.content.location);

ArduPlane/mode_cruise.cpp

@@ -61,7 +61,7 @@ void ModeCruise::navigate()
 
     // check if we are moving in the direction of the front of the vehicle
     const int32_t ground_course_cd = plane.gps.ground_course_cd();
-    const bool moving_forwards = fabsf(wrap_PI(radians(ground_course_cd * 0.01) - plane.ahrs.yaw)) < M_PI_2;
+    const bool moving_forwards = fabsf(wrap_PI(radians(ground_course_cd * 0.01) - plane.ahrs.get_yaw())) < M_PI_2;
 
     if (!locked_heading &&
         plane.channel_roll->get_control_in() == 0 &&

ArduPlane/mode_guided.cpp

@@ -52,7 +52,7 @@ void ModeGuided::update()
 
         float error = 0.0f;
         if (plane.guided_state.target_heading_type == GUIDED_HEADING_HEADING) {
-            error = wrap_PI(plane.guided_state.target_heading - AP::ahrs().yaw);
+            error = wrap_PI(plane.guided_state.target_heading - AP::ahrs().get_yaw());
         } else {
             Vector2f groundspeed = AP::ahrs().groundspeed_vector();
             error = wrap_PI(plane.guided_state.target_heading - atan2f(-groundspeed.y, -groundspeed.x) + M_PI);

ArduPlane/mode_takeoff.cpp

@@ -81,7 +81,7 @@ void ModeTakeoff::update()
     const float dist = target_dist;
     if (!takeoff_started) {
         const uint16_t altitude = plane.relative_ground_altitude(false,true);
-        const float direction = degrees(ahrs.yaw);
+        const float direction = degrees(ahrs.get_yaw());
         // see if we will skip takeoff as already flying
         if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && ahrs.groundspeed() > 3) {
             if (altitude >= alt) {

ArduPlane/quadplane.cpp

@@ -2636,7 +2636,7 @@ void QuadPlane::vtol_position_controller(void)
             target_speed_xy_cms = diff_wp_norm * target_speed * 100;
             target_accel_cms = diff_wp_norm * (-target_accel*100);
             target_yaw_deg = degrees(diff_wp_norm.angle());
-            const float yaw_err_deg = wrap_180(target_yaw_deg - degrees(plane.ahrs.yaw));
+            const float yaw_err_deg = wrap_180(target_yaw_deg - degrees(plane.ahrs.get_yaw()));
             bool overshoot = (closing_groundspeed < 0 || fabsf(yaw_err_deg) > 60);
             if (overshoot && !poscontrol.overshoot) {
                 gcs().send_text(MAV_SEVERITY_INFO,"VTOL Overshoot d=%.1f cs=%.1f yerr=%.1f",
@@ -3046,7 +3046,7 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
 */
 float QuadPlane::get_scaled_wp_speed(float target_bearing_deg) const
 {
-    const float yaw_difference = fabsf(wrap_180(degrees(plane.ahrs.yaw) - target_bearing_deg));
+    const float yaw_difference = fabsf(wrap_180(degrees(plane.ahrs.get_yaw()) - target_bearing_deg));
     const float wp_speed = wp_nav->get_default_speed_xy() * 0.01;
     if (yaw_difference > 20) {
         // this gives a factor of 2x reduction in max speed when

ArduSub/turn_counter.cpp

@@ -8,11 +8,11 @@ void Sub::update_turn_counter()
     // Determine state
     // 0: 0-90 deg, 1: 90-180 deg, 2: -180--90 deg, 3: -90--0 deg
     uint8_t turn_state;
-    if (ahrs.yaw >= 0.0f && ahrs.yaw < radians(90)) {
+    if (ahrs.get_yaw() >= 0.0f && ahrs.get_yaw() < radians(90)) {
         turn_state = 0;
-    } else if (ahrs.yaw > radians(90)) {
+    } else if (ahrs.get_yaw() > radians(90)) {
         turn_state = 1;
-    } else if (ahrs.yaw < -radians(90)) {
+    } else if (ahrs.get_yaw() < -radians(90)) {
         turn_state = 2;
     } else {
         turn_state = 3;

Blimp/AP_Arming.cpp

@@ -29,8 +29,10 @@ bool AP_Arming_Blimp::run_pre_arm_checks(bool display_failure)
         return mandatory_checks(display_failure);
     }
 
-    return fence_checks(display_failure)
-           & parameter_checks(display_failure)
+    return parameter_checks(display_failure)
+#if AP_FENCE_ENABLED
+           & fence_checks(display_failure)
+#endif
            & motor_checks(display_failure)
            & gcs_failsafe_check(display_failure)
            & alt_checks(display_failure)

Rover/crash_check.cpp

@@ -20,7 +20,7 @@ void Rover::crash_check()
     }
 
     // Crashed if pitch/roll > crash_angle
-    if ((g2.crash_angle != 0) && ((fabsf(ahrs.pitch) > radians(g2.crash_angle)) || (fabsf(ahrs.roll) > radians(g2.crash_angle)))) {
+    if ((g2.crash_angle != 0) && ((fabsf(ahrs.get_pitch()) > radians(g2.crash_angle)) || (fabsf(ahrs.get_roll()) > radians(g2.crash_angle)))) {
         crashed = true;
     }
 

Rover/mode.cpp

@@ -290,7 +290,7 @@ void Mode::calc_throttle(float target_speed, bool avoidance_enabled)
 
     // apply object avoidance to desired speed using half vehicle's maximum deceleration
     if (avoidance_enabled) {
-        g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_decel_max(), ahrs.yaw, target_speed, rover.G_Dt);
+        g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_decel_max(), ahrs.get_yaw(), target_speed, rover.G_Dt);
         if (g2.sailboat.tack_enabled() && g2.avoid.limits_active()) {
             // we are a sailboat trying to avoid fence, try a tack
             if (rover.control_mode != &rover.mode_acro) {

Rover/mode_circle.cpp

@@ -116,7 +116,7 @@ void ModeCircle::init_target_yaw_rad()
     // if no position estimate use vehicle yaw
     Vector2f curr_pos_NE;
     if (!AP::ahrs().get_relative_position_NE_origin(curr_pos_NE)) {
-        target.yaw_rad = AP::ahrs().yaw;
+        target.yaw_rad = AP::ahrs().get_yaw();
         return;
     }
 
@@ -126,7 +126,7 @@ void ModeCircle::init_target_yaw_rad()
 
     // if current position is exactly at the center of the circle return vehicle yaw
     if (is_zero(dist_m)) {
-        target.yaw_rad = AP::ahrs().yaw;
+        target.yaw_rad = AP::ahrs().get_yaw();
     } else {
         target.yaw_rad = center_to_veh.angle();
     }

Rover/sailboat.cpp

@@ -329,7 +329,7 @@ float Sailboat::get_VMG() const
         return speed;
     }
 
-    return (speed * cosf(wrap_PI(radians(rover.g2.wp_nav.wp_bearing_cd() * 0.01f) - rover.ahrs.yaw)));
+    return (speed * cosf(wrap_PI(radians(rover.g2.wp_nav.wp_bearing_cd() * 0.01f) - rover.ahrs.get_yaw())));
 }
 
 // handle user initiated tack while in acro mode
@@ -340,15 +340,15 @@ void Sailboat::handle_tack_request_acro()
     }
     // set tacking heading target to the current angle relative to the true wind but on the new tack
     currently_tacking = true;
-    tack_heading_rad = wrap_2PI(rover.ahrs.yaw + 2.0f * wrap_PI((rover.g2.windvane.get_true_wind_direction_rad() - rover.ahrs.yaw)));
+    tack_heading_rad = wrap_2PI(rover.ahrs.get_yaw() + 2.0f * wrap_PI((rover.g2.windvane.get_true_wind_direction_rad() - rover.ahrs.get_yaw())));
 
     tack_request_ms = AP_HAL::millis();
 }
 
 // return target heading in radians when tacking (only used in acro)
 float Sailboat::get_tack_heading_rad()
 {
-    if (fabsf(wrap_PI(tack_heading_rad - rover.ahrs.yaw)) < radians(SAILBOAT_TACKING_ACCURACY_DEG) ||
+    if (fabsf(wrap_PI(tack_heading_rad - rover.ahrs.get_yaw())) < radians(SAILBOAT_TACKING_ACCURACY_DEG) ||
        ((AP_HAL::millis() - tack_request_ms) > SAILBOAT_AUTO_TACKING_TIMEOUT_MS)) {
         clear_tack();
     }
@@ -494,7 +494,7 @@ float Sailboat::calc_heading(float desired_heading_cd)
     // if we are tacking we maintain the target heading until the tack completes or times out
     if (currently_tacking) {
         // check if we have reached target
-        if (fabsf(wrap_PI(tack_heading_rad - rover.ahrs.yaw)) <= radians(SAILBOAT_TACKING_ACCURACY_DEG)) {
+        if (fabsf(wrap_PI(tack_heading_rad - rover.ahrs.get_yaw())) <= radians(SAILBOAT_TACKING_ACCURACY_DEG)) {
             clear_tack();
         } else if ((now - auto_tack_start_ms) > SAILBOAT_AUTO_TACKING_TIMEOUT_MS) {
             // tack has taken too long

Tools/AP_Bootloader/AP_Bootloader.cpp

@@ -109,13 +109,15 @@ int main(void)
         try_boot = false;
         timeout = 0;
     }
+#if AP_CHECK_FIRMWARE_ENABLED
     const auto ok = check_good_firmware();
     if (ok != check_fw_result_t::CHECK_FW_OK) {
         // bad firmware CRC, don't try and boot
         timeout = 0;
         try_boot = false;
         led_set(LED_BAD_FW);
     }
+#endif  // AP_CHECK_FIRMWARE_ENABLED
 #ifndef BOOTLOADER_DEV_LIST
     else if (timeout != 0) {
         // fast boot for good firmware

Tools/AP_Bootloader/board_types.txt

@@ -272,6 +272,9 @@ AP_HW_VIMDRONES_MOSAIC_X5            1405
 AP_HW_VIMDRONES_MOSAIC_H             1406
 AP_HW_VIMDRONES_PERIPH               1407
 
+AP_HW_PIXHAWK6X_PERIPH               1408
+
+
 # IDs 5000-5099 reserved for Carbonix
 # IDs 5100-5199 reserved for SYPAQ Systems
 # IDs 5200-5209 reserved for Airvolute
@@ -281,6 +284,17 @@ AP_HW_AIRVOLUTE_DCS2                 5200
 AP_HW_AOCODA-RC-H743DUAL             5210
 AP_HW_AOCODA-RC-F405V3               5211
 
+#IDs 5301-5399 reserved for Sierra Aerospace
+AP_HW_Sierra-TrueNavPro-G4           5301
+AP_HW_Sierra-TrueNavIC               5302
+AP_HW_Sierra-TrueNorth-G4            5303
+AP_HW_Sierra-TrueSpeed-G4            5304
+AP_HW_Sierra-PrecisionPoint-G4       5305
+AP_HW_Sierra-AeroNex                 5306
+AP_HW_Sierra-TrueFlow                5307
+AP_HW_Sierra-TrueNavIC-Pro           5308
+AP_HW_Sierra-F1-Pro                  5309
+
 # IDs 6000-6099 reserved for SpektreWorks
 
 # OpenDroneID enabled boards. Use 10000 + the base board ID

Tools/AP_Bootloader/support.cpp

@@ -22,6 +22,10 @@
 // optional uprintf() code for debug
 // #define BOOTLOADER_DEBUG SD1
 
+#ifndef AP_BOOTLOADER_ALWAYS_ERASE
+#define AP_BOOTLOADER_ALWAYS_ERASE 0
+#endif
+
 #if defined(BOOTLOADER_DEV_LIST)
 static BaseChannel *uarts[] = { BOOTLOADER_DEV_LIST };
 #if HAL_USE_SERIAL == TRUE
@@ -34,10 +38,6 @@ static uint8_t last_uart;
 #define BOOTLOADER_BAUDRATE 115200
 #endif
 
-#ifndef AP_BOOTLOADER_ALWAYS_ERASE
-#define AP_BOOTLOADER_ALWAYS_ERASE 0
-#endif
-
 // #pragma GCC optimize("O0")
 
 static bool cin_data(uint8_t *data, uint8_t len, unsigned timeout_ms)

Tools/AP_Periph/AP_Periph.cpp

@@ -100,16 +100,16 @@ void AP_Periph_FW::init()
 
     can_start();
 
-#ifdef HAL_PERIPH_ENABLE_NETWORKING
-    networking_periph.init();
-#endif
-
 #if HAL_GCS_ENABLED
     stm32_watchdog_pat();
     gcs().init();
 #endif
     serial_manager.init();
 
+#ifdef HAL_PERIPH_ENABLE_NETWORKING
+    networking_periph.init();
+#endif
+
 #if HAL_GCS_ENABLED
     gcs().setup_console();
     gcs().setup_uarts();

Tools/AP_Periph/AP_Periph.h

@@ -32,6 +32,9 @@
 #if HAL_WITH_ESC_TELEM
 #include <AP_ESC_Telem/AP_ESC_Telem.h>
 #endif
+#ifdef HAL_PERIPH_ENABLE_RTC
+#include <AP_RTC/AP_RTC.h>
+#endif
 #include <AP_RCProtocol/AP_RCProtocol_config.h>
 #include "rc_in.h"
 #include "batt_balance.h"
@@ -40,6 +43,7 @@
 #if AP_SIM_ENABLED
 #include <SITL/SITL.h>
 #endif
+#include <AP_AHRS/AP_AHRS.h>
 
 #ifdef HAL_PERIPH_ENABLE_RELAY
 #ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT

Tools/AP_Periph/networking.cpp

@@ -137,12 +137,32 @@ const AP_Param::GroupInfo Networking_Periph::var_info[] {
     AP_SUBGROUPINFO(passthru[8], "PASS9_", 19, Networking_Periph, Passthru),
 #endif
 
+#if AP_NETWORKING_BACKEND_PPP
+    // @Param: PPP_PORT
+    // @DisplayName: PPP serial port
+    // @Description: PPP serial port
+    // @Range: -1 10
+    AP_GROUPINFO("PPP_PORT", 20, Networking_Periph, ppp_port, AP_PERIPH_NET_PPP_PORT_DEFAULT),
+
+    // @Param: PPP_BAUD
+    // @DisplayName: PPP serial baudrate
+    // @Description: PPP serial baudrate
+    // @CopyFieldsFrom: SERIAL1_BAUD
+    AP_GROUPINFO("PPP_BAUD", 21, Networking_Periph, ppp_baud, AP_PERIPH_NET_PPP_BAUD_DEFAULT),
+#endif
+
     AP_GROUPEND
 };
 
 
 void Networking_Periph::init(void)
 {
+#if AP_NETWORKING_BACKEND_PPP
+    if (ppp_port >= 0) {
+        AP::serialmanager().set_protocol_and_baud(ppp_port, AP_SerialManager::SerialProtocol_PPP, ppp_baud.get());
+    }
+#endif
+
     networking_lib.init();
 
 #if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0

Tools/AP_Periph/networking.h

@@ -10,6 +10,14 @@
 #define HAL_PERIPH_NETWORK_NUM_PASSTHRU 2
 #endif
 
+#ifndef AP_PERIPH_NET_PPP_PORT_DEFAULT
+#define AP_PERIPH_NET_PPP_PORT_DEFAULT -1
+#endif
+
+#ifndef AP_PERIPH_NET_PPP_BAUD_DEFAULT
+#define AP_PERIPH_NET_PPP_BAUD_DEFAULT 12500000
+#endif
+
 class Networking_Periph {
 public:
     Networking_Periph() {
@@ -54,7 +62,11 @@ class Networking_Periph {
 #endif // HAL_PERIPH_NETWORK_NUM_PASSTHRU
 
     AP_Networking networking_lib;
-};
 
-#endif // HAL_PERIPH_ENABLE_BATTERY_BALANCE
+#if AP_NETWORKING_BACKEND_PPP
+    AP_Int8 ppp_port;
+    AP_Int32 ppp_baud;
+#endif
+};
 
+#endif // HAL_PERIPH_ENABLE_NETWORKING

Tools/AP_Periph/version.cpp

@@ -1,4 +1,3 @@
 #define FORCE_VERSION_H_INCLUDE
 #include "version.h"
-#include <AP_Common/AP_FWVersionDefine.h>
-#undef FORCE_VERSION_H_INCLUDE
+#undef FORCE_VERSION_H_INCLUDE

Tools/AP_Periph/version.h

@@ -1,9 +1,19 @@
 #pragma once
 
-#include <GCS_MAVLink/GCS_MAVLink.h>
+#ifndef FORCE_VERSION_H_INCLUDE
+#error version.h should never be included directly. You probably want to include AP_Common/AP_FWVersion.h
+#endif
+
+#include "ap_version.h"
 
 #define THISFIRMWARE "AP_Periph V1.7.0-dev"
 
+// defines needed due to lack of GCS includes
+#define FIRMWARE_VERSION_TYPE_DEV 0
+#define FIRMWARE_VERSION_TYPE_BETA 255
+#define FIRMWARE_VERSION_TYPE_OFFICIAL 255
+
+
 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 1,7,0,FIRMWARE_VERSION_TYPE_DEV
 
@@ -12,7 +22,4 @@
 #define FW_PATCH 0
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
-
-
-
-
+#include <AP_Common/AP_FWVersionDefine.h>