From d25f210a4af41c89d188e2ebfc40e30b95b60e50 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 26 Apr 2024 08:59:52 +1000 Subject: [PATCH 01/17] waf: update to 2.0.27 this fixes python 3.12 support --- modules/waf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/waf b/modules/waf index 1b1625b8e7da6..b25b5c7d98c50 160000 --- a/modules/waf +++ b/modules/waf @@ -1 +1 @@ -Subproject commit 1b1625b8e7da6e1307d73335cb995fa8813d5950 +Subproject commit b25b5c7d98c502b07976740b0a65b9f39948c292 From 8574ec79b5212564254437b9e45fbd311a52b85e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 26 Apr 2024 10:18:55 +1000 Subject: [PATCH 02/17] mavlink: support python 3.12 --- modules/mavlink | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/mavlink b/modules/mavlink index 1e04d8b8634da..2825252d6d13e 160000 --- a/modules/mavlink +++ b/modules/mavlink @@ -1 +1 @@ -Subproject commit 1e04d8b8634dafc8c9a2496c6922e0749e00c009 +Subproject commit 2825252d6d13eb347520f028b3c580ab29bd78e5 From a5b95454374c10a6a7a208ce85c793d237c152ce Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 26 Apr 2024 10:52:30 +1000 Subject: [PATCH 03/17] waf: cope with CI python oddity --- Tools/ardupilotwaf/ap_library.py | 2 ++ Tools/ardupilotwaf/chibios.py | 6 +++++- Tools/ardupilotwaf/git_submodule.py | 4 ++-- wscript | 1 - 4 files changed, 9 insertions(+), 4 deletions(-) diff --git a/Tools/ardupilotwaf/ap_library.py b/Tools/ardupilotwaf/ap_library.py index b49010ae06001..188fe6146d391 100644 --- a/Tools/ardupilotwaf/ap_library.py +++ b/Tools/ardupilotwaf/ap_library.py @@ -206,6 +206,8 @@ def scan(self): # force dependency scan, if necessary self.compiled_task.signature() + if not self.compiled_task.uid() in self.generator.bld.node_deps: + return r, [] for n in self.generator.bld.node_deps[self.compiled_task.uid()]: # using common Node methods doesn't work here p = n.abspath() diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py index e238e3b24a39d..a39b5cb5664d3 100644 --- a/Tools/ardupilotwaf/chibios.py +++ b/Tools/ardupilotwaf/chibios.py @@ -18,7 +18,11 @@ _dynamic_env_data = {} def _load_dynamic_env_data(bld): bldnode = bld.bldnode.make_node('modules/ChibiOS') - tmp_str = bldnode.find_node('include_dirs').read() + include_dirs_node = bldnode.find_node('include_dirs') + if include_dirs_node is None: + _dynamic_env_data['include_dirs'] = [] + return + tmp_str = include_dirs_node.read() tmp_str = tmp_str.replace(';\n','') tmp_str = tmp_str.replace('-I','') #remove existing -I flags # split, coping with separator diff --git a/Tools/ardupilotwaf/git_submodule.py b/Tools/ardupilotwaf/git_submodule.py index be28216e9c114..e2c727e05bb97 100644 --- a/Tools/ardupilotwaf/git_submodule.py +++ b/Tools/ardupilotwaf/git_submodule.py @@ -91,7 +91,7 @@ def runnable_status(self): else: r = Task.RUN_ME - if self.non_fast_forward: + if getattr(self,'non_fast_forward',[]): r = Task.SKIP_ME return r @@ -148,7 +148,7 @@ def git_submodule(bld, git_submodule, **kw): def _post_fun(bld): Logs.info('') for name, t in _submodules_tasks.items(): - if not t.non_fast_forward: + if not getattr(t,'non_fast_forward',[]): continue Logs.warn("Submodule %s not updated: non-fastforward" % name) diff --git a/wscript b/wscript index 61fffcb8beb58..cb4194af2084b 100644 --- a/wscript +++ b/wscript @@ -528,7 +528,6 @@ def configure(cfg): cfg.msg('Setting board to', cfg.options.board) cfg.get_board().configure(cfg) - cfg.load('clang_compilation_database') cfg.load('waf_unit_test') cfg.load('mavgen') cfg.load('dronecangen') From e1609a3df41edc83b2efbacffd9357cc3aee4211 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 21 Sep 2024 17:22:23 +1000 Subject: [PATCH 04/17] Plane: correct the ability to disable the takeoff atititude checks --- ArduPlane/takeoff.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp index 5d8a428d348bd..b856505aee38a 100644 --- a/ArduPlane/takeoff.cpp +++ b/ArduPlane/takeoff.cpp @@ -57,7 +57,7 @@ bool Plane::auto_takeoff_check(void) bool do_takeoff_attitude_check = !(flight_option_enabled(FlightOptions::DISABLE_TOFF_ATTITUDE_CHK)); #if HAL_QUADPLANE_ENABLED // disable attitude check on tailsitters - do_takeoff_attitude_check = !quadplane.tailsitter.enabled(); + do_takeoff_attitude_check &= !quadplane.tailsitter.enabled(); #endif if (!takeoff_state.launchTimerStarted && !is_zero(g.takeoff_throttle_min_accel)) { From 9f4b17afdff21b73c326cb98c2fc1523e0581eb3 Mon Sep 17 00:00:00 2001 From: Ferruccio Vicari Date: Sun, 1 Sep 2024 03:37:53 +0000 Subject: [PATCH 05/17] AP_Motors: fix DDVP tail servo initialization --- libraries/AP_Motors/AP_MotorsHeli_Single.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp index 1c73e10f5082a..2d8da8acc0b39 100644 --- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp +++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp @@ -220,6 +220,8 @@ void AP_MotorsHeli_Single::init_outputs() case TAIL_TYPE::DIRECTDRIVE_VARPITCH: case TAIL_TYPE::DIRECTDRIVE_VARPIT_EXT_GOV: _tail_rotor.init_servo(); + // yaw servo is an angle from -4500 to 4500 + SRV_Channels::set_angle(SRV_Channel::k_motor4, YAW_SERVO_MAX_ANGLE); break; case TAIL_TYPE::SERVO_EXTGYRO: From e2de99ae2d04f12b22e1e41cd13b6089a8a11ade Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Tue, 6 Aug 2024 13:36:00 +0100 Subject: [PATCH 06/17] AP_HAL_ChibiOS: correctly uninvert RX/TX on F4 with inverter support --- libraries/AP_HAL_ChibiOS/UARTDriver.cpp | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp index 23a7390c649f2..6e22d62ed45d0 100644 --- a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp +++ b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp @@ -1623,22 +1623,38 @@ bool UARTDriver::set_options(uint16_t options) cr2 &= ~USART_CR2_SWAP; _cr2_options &= ~USART_CR2_SWAP; } -#else // STM32F4 +#elif defined(STM32F4) // STM32F4 // F4 can do inversion by GPIO if enabled in hwdef.dat, using // TXINV and RXINV options if (options & OPTION_RXINV) { if (sdef.rxinv_gpio >= 0) { hal.gpio->write(sdef.rxinv_gpio, sdef.rxinv_polarity); + if (arx_line != 0) { + palLineSetPushPull(arx_line, PAL_PUSHPULL_PULLDOWN); + } } else { ret = false; } + } else if (sdef.rxinv_gpio >= 0) { + hal.gpio->write(sdef.rxinv_gpio, !sdef.rxinv_polarity); + if (arx_line != 0) { + palLineSetPushPull(arx_line, PAL_PUSHPULL_PULLUP); + } } if (options & OPTION_TXINV) { if (sdef.txinv_gpio >= 0) { hal.gpio->write(sdef.txinv_gpio, sdef.txinv_polarity); + if (atx_line != 0) { + palLineSetPushPull(atx_line, PAL_PUSHPULL_PULLDOWN); + } } else { ret = false; } + } else if (sdef.txinv_gpio >= 0) { + hal.gpio->write(sdef.txinv_gpio, !sdef.txinv_polarity); + if (atx_line != 0) { + palLineSetPushPull(atx_line, PAL_PUSHPULL_PULLUP); + } } if (options & OPTION_SWAP) { ret = false; From 6d0c27454a0a480c59ff96e5d045ed2268ba62e4 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Wed, 11 Sep 2024 18:51:39 +0100 Subject: [PATCH 07/17] AP_RCProtocol: only update rc value for GHST on rc frames --- libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp index 9004355d8c417..66493ed88dda8 100644 --- a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp +++ b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp @@ -280,6 +280,7 @@ bool AP_RCProtocol_GHST::decode_ghost_packet() const RadioFrame* radio_frame = (const RadioFrame*)(&_frame.payload); const Channels12Bit_4Chan* channels = &(radio_frame->channels); const uint8_t* lowres_channels = radio_frame->lowres_channels; + bool rc_frame = false; // Scaling from Betaflight // Scaling 12bit channels (8bit channels in brackets) @@ -328,6 +329,7 @@ bool AP_RCProtocol_GHST::decode_ghost_packet() _channels[offset++] = CHANNEL_LR_SCALE_LEGACY(lowres_channels[1]); _channels[offset++] = CHANNEL_LR_SCALE_LEGACY(lowres_channels[2]); _channels[offset++] = CHANNEL_LR_SCALE_LEGACY(lowres_channels[3]); + rc_frame = true; break; } case GHST_UL_RC_CHANS_HS4_12_5TO8: @@ -338,6 +340,7 @@ bool AP_RCProtocol_GHST::decode_ghost_packet() _channels[offset++] = CHANNEL_LR_SCALE(lowres_channels[1]); _channels[offset++] = CHANNEL_LR_SCALE(lowres_channels[2]); _channels[offset++] = CHANNEL_LR_SCALE(lowres_channels[3]); + rc_frame = true; break; } case GHST_UL_RC_CHANS_RSSI: @@ -355,7 +358,7 @@ bool AP_RCProtocol_GHST::decode_ghost_packet() } #endif - return true; + return rc_frame; } // send out telemetry From 2a8ba6380fbd1c8ef26ae0d6aac4f6c6ba2ad61a Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Fri, 20 Sep 2024 15:39:22 +1000 Subject: [PATCH 08/17] AP_DroneCAN: Fix constructor initialization order bad ordering was leading to dronecan dna server getting initialised before canard interface is initialised leading --- libraries/AP_DroneCAN/AP_DroneCAN.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.h b/libraries/AP_DroneCAN/AP_DroneCAN.h index 8b37c2528b89b..ea54c83399dba 100644 --- a/libraries/AP_DroneCAN/AP_DroneCAN.h +++ b/libraries/AP_DroneCAN/AP_DroneCAN.h @@ -231,10 +231,12 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend { uint32_t *mem_pool; - AP_DroneCAN_DNA_Server _dna_server; - uint8_t _driver_index; + CanardInterface canard_iface; + + AP_DroneCAN_DNA_Server _dna_server; + char _thread_name[13]; bool _initialized; ///// SRV output ///// @@ -288,8 +290,6 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend { } _relay; #endif - CanardInterface canard_iface; - #if AP_DRONECAN_SERIAL_ENABLED AP_DroneCAN_Serial serial; #endif From 9af72eafbaa1f1d7491879a00eef3f22efecd71a Mon Sep 17 00:00:00 2001 From: rishabsingh3003 Date: Fri, 21 Jun 2024 23:17:30 -0400 Subject: [PATCH 09/17] AP_Proximity: Include database push in MR72 driver --- libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp index 9d9618286c5b5..d371346bf4ffe 100644 --- a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp +++ b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp @@ -117,6 +117,7 @@ bool AP_Proximity_MR72_CAN::parse_distance_message(AP_HAL::CANFrame &frame) const AP_Proximity_Boundary_3D::Face face = frontend.boundary.get_face(yaw); _temp_boundary.add_distance(face, yaw, objects_dist); + database_push(yaw, objects_dist); return true; } From 45e69d0762e18f558c751c8771371230461e4254 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 25 Sep 2024 19:58:05 +0900 Subject: [PATCH 10/17] Tracker: 4.5.7-beta1 release notes --- AntennaTracker/ReleaseNotes.txt | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt index 0e1539333d179..f4a39893ee402 100644 --- a/AntennaTracker/ReleaseNotes.txt +++ b/AntennaTracker/ReleaseNotes.txt @@ -1,5 +1,28 @@ Antenna Tracker Release Notes: ------------------------------------------------------------------ +Release 4.5.7-beta1 26 Sep 2024 + +Changes from 4.5.6 + +1) Bug fixes and minor enhancements + +- VUAV-V7pro support +- CUAV-7-Nano correction for LEDs and battery volt and current scaling +- DroneCAN deadlock and saturation of CAN bus fixed +- DroneCAN DNA server init fix (caused logging issues and spam on bus) +- F4 boards with inverter support correctly uninvert RX/TX +- Nanoradar M72 radar driver fix for object avoidance path planning +- RC support for latest version of GHST +- Septentrio GPS sat count correctly drops to zero when 255 received + +2) ROS2/DDS and other developer focused enhancements + +- AP quaternions normalised for ROS2 to avoid warnings +- Dependencies fixed for easier installation +- ROS2 SITL launch file enhancements including displaying console and map +- ROS_DOMAIN_ID param added to support multiple vehicles or instances of ROS2 +- Python 3.12 support +------------------------------------------------------------------ Release 4.5.6 03 Sep 2024 No changes from 4.5.6-beta1 From cb45e8b953f0eb03fdaec19cc14fbf826da25cd0 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 25 Sep 2024 19:58:19 +0900 Subject: [PATCH 11/17] Tracker: version to 4.5.7-beta1 --- AntennaTracker/version.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h index 962137e0d01ee..2d268e4fdba49 100644 --- a/AntennaTracker/version.h +++ b/AntennaTracker/version.h @@ -6,14 +6,14 @@ #include "ap_version.h" -#define THISFIRMWARE "AntennaTracker V4.5.6" +#define THISFIRMWARE "AntennaTracker V4.5.7-beta1" // the following line is parsed by the autotest scripts -#define FIRMWARE_VERSION 4,5,6,FIRMWARE_VERSION_TYPE_OFFICIAL +#define FIRMWARE_VERSION 4,5,7,FIRMWARE_VERSION_TYPE_BETA #define FW_MAJOR 4 #define FW_MINOR 5 -#define FW_PATCH 6 -#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL +#define FW_PATCH 7 +#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA #include From b9f61444ca9cd769eccd53b503821d1ba64935da Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 25 Sep 2024 19:58:30 +0900 Subject: [PATCH 12/17] Rover: 4.5.7-beta1 release notes --- Rover/ReleaseNotes.txt | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/Rover/ReleaseNotes.txt b/Rover/ReleaseNotes.txt index 7ade5052c008a..4566f6d0bbacd 100644 --- a/Rover/ReleaseNotes.txt +++ b/Rover/ReleaseNotes.txt @@ -1,5 +1,28 @@ Rover Release Notes: ------------------------------------------------------------------ +Release 4.5.7-beta1 26 Sep 2024 + +Changes from 4.5.6 + +1) Bug fixes and minor enhancements + +- VUAV-V7pro support +- CUAV-7-Nano correction for LEDs and battery volt and current scaling +- DroneCAN deadlock and saturation of CAN bus fixed +- DroneCAN DNA server init fix (caused logging issues and spam on bus) +- F4 boards with inverter support correctly uninvert RX/TX +- Nanoradar M72 radar driver fix for object avoidance path planning +- RC support for latest version of GHST +- Septentrio GPS sat count correctly drops to zero when 255 received + +2) ROS2/DDS and other developer focused enhancements + +- AP quaternions normalised for ROS2 to avoid warnings +- Dependencies fixed for easier installation +- ROS2 SITL launch file enhancements including displaying console and map +- ROS_DOMAIN_ID param added to support multiple vehicles or instances of ROS2 +- Python 3.12 support +------------------------------------------------------------------ Release 4.5.6 03 Sep 2024 No changes from 4.5.6-beta1 From d21f2c7a8d72353118dbd92593dd7197841a4b68 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 25 Sep 2024 19:58:39 +0900 Subject: [PATCH 13/17] Rover: version to 4.5.7-beta1 --- Rover/version.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/Rover/version.h b/Rover/version.h index b329eb2a22ff3..35281b0b870a4 100644 --- a/Rover/version.h +++ b/Rover/version.h @@ -6,14 +6,14 @@ #include "ap_version.h" -#define THISFIRMWARE "ArduRover V4.5.6" +#define THISFIRMWARE "ArduRover V4.5.7-beta1" // the following line is parsed by the autotest scripts -#define FIRMWARE_VERSION 4,5,6,FIRMWARE_VERSION_TYPE_OFFICIAL +#define FIRMWARE_VERSION 4,5,7,FIRMWARE_VERSION_TYPE_BETA #define FW_MAJOR 4 #define FW_MINOR 5 -#define FW_PATCH 6 -#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL +#define FW_PATCH 7 +#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA #include From 9758b078ba392597adad0265e7c0877e4379d222 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 25 Sep 2024 19:59:07 +0900 Subject: [PATCH 14/17] Copter: 4.5.7-beta1 release notes --- ArduCopter/ReleaseNotes.txt | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index ed3bf0ea1abfa..57c4b2121f1b4 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -1,5 +1,29 @@ ArduPilot Copter Release Notes: ------------------------------------------------------------------ +Release 4.5.7-beta1 26 Sep 2024 + +Changes from 4.5.6 + +1) Bug fixes and minor enhancements + +- VUAV-V7pro support +- CUAV-7-Nano correction for LEDs and battery volt and current scaling +- DroneCAN deadlock and saturation of CAN bus fixed +- DroneCAN DNA server init fix (caused logging issues and spam on bus) +- F4 boards with inverter support correctly uninvert RX/TX +- Nanoradar M72 radar driver fix for object avoidance path planning +- RC support for latest version of GHST +- Septentrio GPS sat count correctly drops to zero when 255 received +- TradHeli DDVP tail rotor pitch actuator fixed + +2) ROS2/DDS and other developer focused enhancements + +- AP quaternions normalised for ROS2 to avoid warnings +- Dependencies fixed for easier installation +- ROS2 SITL launch file enhancements including displaying console and map +- ROS_DOMAIN_ID param added to support multiple vehicles or instances of ROS2 +- Python 3.12 support +------------------------------------------------------------------ Release 4.5.6 03 Sep 2024 No changes from 4.5.6-beta1 From 339aa784daeff33dd1c65975a87b3084ca9557f9 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 25 Sep 2024 19:59:16 +0900 Subject: [PATCH 15/17] Copter: version to 4.5.7-beta1 --- ArduCopter/version.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ArduCopter/version.h b/ArduCopter/version.h index 8a12e4d8353da..20f02a5ab1aff 100644 --- a/ArduCopter/version.h +++ b/ArduCopter/version.h @@ -6,14 +6,14 @@ #include "ap_version.h" -#define THISFIRMWARE "ArduCopter V4.5.6" +#define THISFIRMWARE "ArduCopter V4.5.7-beta1" // the following line is parsed by the autotest scripts -#define FIRMWARE_VERSION 4,5,6,FIRMWARE_VERSION_TYPE_OFFICIAL +#define FIRMWARE_VERSION 4,5,7,FIRMWARE_VERSION_TYPE_BETA #define FW_MAJOR 4 #define FW_MINOR 5 -#define FW_PATCH 6 -#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL +#define FW_PATCH 7 +#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA #include From 5d80f857f565b3edfd06b4b363ccb63a3969c6c1 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 25 Sep 2024 19:58:47 +0900 Subject: [PATCH 16/17] Plane: 4.5.7-beta1 release notes --- ArduPlane/ReleaseNotes.txt | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt index 2f2827aef8927..22dae4c23ce74 100644 --- a/ArduPlane/ReleaseNotes.txt +++ b/ArduPlane/ReleaseNotes.txt @@ -1,5 +1,29 @@ ArduPilot Plane Release Notes: ------------------------------------------------------------------ +Release 4.5.7-beta1 26 Sep 2024 + +Changes from 4.5.6 + +1) Bug fixes and minor enhancements + +- VUAV-V7pro support +- CUAV-7-Nano correction for LEDs and battery volt and current scaling +- DroneCAN deadlock and saturation of CAN bus fixed +- DroneCAN DNA server init fix (caused logging issues and spam on bus) +- F4 boards with inverter support correctly uninvert RX/TX +- Nanoradar M72 radar driver fix for object avoidance path planning +- Plane fix to ability to disable the takeoff atititude checks +- RC support for latest version of GHST +- Septentrio GPS sat count correctly drops to zero when 255 received + +2) ROS2/DDS and other developer focused enhancements + +- AP quaternions normalised for ROS2 to avoid warnings +- Dependencies fixed for easier installation +- ROS2 SITL launch file enhancements including displaying console and map +- ROS_DOMAIN_ID param added to support multiple vehicles or instances of ROS2 +- Python 3.12 support +------------------------------------------------------------------ Release 4.5.6 03 Sep 2024 No changes from 4.5.6-beta1 From fe63c4348eeb7dfa39462bdffb8d520fea714598 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 25 Sep 2024 19:59:01 +0900 Subject: [PATCH 17/17] Plane: version to 4.5.7-beta1 --- ArduPlane/version.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/ArduPlane/version.h b/ArduPlane/version.h index c5a10de301ca7..db9c4be943e09 100644 --- a/ArduPlane/version.h +++ b/ArduPlane/version.h @@ -6,14 +6,14 @@ #include "ap_version.h" -#define THISFIRMWARE "ArduPlane V4.5.6" +#define THISFIRMWARE "ArduPlane V4.5.7-beta1" // the following line is parsed by the autotest scripts -#define FIRMWARE_VERSION 4,5,6,FIRMWARE_VERSION_TYPE_OFFICIAL +#define FIRMWARE_VERSION 4,5,7,FIRMWARE_VERSION_TYPE_BETA #define FW_MAJOR 4 #define FW_MINOR 5 -#define FW_PATCH 6 -#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL +#define FW_PATCH 7 +#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA #include