ArduPilot · rmackay9 · Sep 27, 2024 · Apr 25, 2024 · Apr 26, 2024 · Apr 26, 2024
diff --git 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

diff --git 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 <AP_Common/AP_FWVersionDefine.h>
diff --git 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

diff --git 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 <AP_Common/AP_FWVersionDefine.h>
diff --git 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

diff --git 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)) {

diff --git 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 <AP_Common/AP_FWVersionDefine.h>
diff --git 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

diff --git 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 <AP_Common/AP_FWVersionDefine.h>
diff --git 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
@@ -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
@@ -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/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

diff --git 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;

diff --git 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:

diff --git 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;
 }
 

diff --git 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

diff --git a/modules/mavlink b/modules/mavlink
diff --git a/modules/waf b/modules/waf
diff --git 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')