Merge branch 'ArduPilot:master' into NarinFC-H7

ArduPilot · Jan 22, 2025 · 2399291 · 2399291
2 parents c21aa80 + d64cf3e
commit 2399291
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Showing 29 changed files with 1,843 additions and 582 deletions.
diff --git a/.vscode/launch.default.json b/.vscode/launch.default.json
@@ -0,0 +1,49 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "AP_ST",
+            "cwd": "${workspaceFolder}",
+            "executable": "${config:wscript.elf_file_path}",
+            "liveWatch": {
+                "enabled": true,
+                "samplesPerSecond": 4
+            },
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "configFiles": [
+                "${workspaceFolder}/build/${config:wscript.board}/openocd.cfg"
+            ]
+        },
+        {
+            "name": "AP_SITL",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${config:wscript.elf_file_path}",
+            "args": [
+                "-S",
+                "--model",
+                "+",
+                "--speedup",
+                "1",
+                "--slave",
+                "0",
+                "--sim-address=127.0.0.1",
+                "-IO"
+            ],
+            "stopAtEntry": false,
+            "cwd": "${workspaceFolder}",
+            "environment": [],
+            "externalConsole": false,
+            "MIMode": "${config:wscript.MIMode}",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": false
+                }
+            ]
+        }
+    ]
+}
diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
@@ -50,6 +50,14 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
         passed = false;
     }
 
+#if FRAME_CONFIG == HELI_FRAME && MODE_AUTOROTATE_ENABLED
+    // check on autorotation config
+    if (!copter.g2.arot.arming_checks(ARRAY_SIZE(failure_msg), failure_msg)) {
+        check_failed(display_failure, "AROT: %s", failure_msg);
+        passed = false;
+    }
+#endif
+
     // If not passed all checks return false
     if (!passed) {
         return false;

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -716,12 +716,6 @@ void Copter::twentyfive_hz_logging()
         AP::ins().Write_IMU();
     }
 
-#if MODE_AUTOROTATE_ENABLED
-    if (should_log(MASK_LOG_ATTITUDE_MED) || should_log(MASK_LOG_ATTITUDE_FAST)) {
-        //update autorotation log
-        g2.arot.Log_Write_Autorotation();
-    }
-#endif
 #if HAL_GYROFFT_ENABLED
     if (should_log(MASK_LOG_FTN_FAST)) {
         gyro_fft.write_log_messages();

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -164,6 +164,10 @@
   #error AP_OAPathPlanner relies on AP_FENCE_ENABLED which is disabled
 #endif
 
+#if MODE_AUTOROTATE_ENABLED && !AP_RPM_ENABLED
+  #error AC_Autorotation relies on AP_RPM_ENABLED which is disabled
+#endif
+
 #if HAL_ADSB_ENABLED
 #include "avoidance_adsb.h"
 #endif

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -1293,7 +1293,7 @@ ParametersG2::ParametersG2(void) :
     ,mode_systemid_ptr(&copter.mode_systemid)
 #endif
 #if MODE_AUTOROTATE_ENABLED
-    ,arot()
+    ,arot(copter.motors, copter.attitude_control)
 #endif
 #if MODE_ZIGZAG_ENABLED
     ,mode_zigzag_ptr(&copter.mode_zigzag)

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -2033,46 +2033,21 @@ class ModeAutorotate : public Mode {
 
 private:
 
-    // --- Internal variables ---
-    float _initial_rpm;             // Head speed recorded at initiation of flight mode (RPM)
-    float _target_head_speed;       // The terget head main rotor head speed.  Normalised by main rotor set point
-    float _desired_v_z;             // Desired vertical
-    int32_t _pitch_target;          // Target pitch attitude to pass to attitude controller
-    uint32_t _entry_time_start_ms;  // Time remaining until entry phase moves on to glide phase
-    float _hs_decay;                // The head accerleration during the entry phase
-
-    enum class Autorotation_Phase {
+    uint32_t _entry_time_start_ms;  // time remaining until entry phase moves on to glide phase
+    uint32_t _last_logged_ms;       // used for timing slow rate autorotation log
+
+    enum class Phase {
+        ENTRY_INIT,
         ENTRY,
-        SS_GLIDE,
+        GLIDE_INIT,
+        GLIDE,
+        FLARE_INIT,
         FLARE,
+        TOUCH_DOWN_INIT,
         TOUCH_DOWN,
-        LANDED } phase_switch;
-
-    enum class Navigation_Decision {
-        USER_CONTROL_STABILISED,
-        STRAIGHT_AHEAD,
-        INTO_WIND,
-        NEAREST_RALLY} nav_pos_switch;
-
-    // --- Internal flags ---
-    struct controller_flags {
-            bool entry_initial             : 1;
-            bool ss_glide_initial          : 1;
-            bool flare_initial             : 1;
-            bool touch_down_initial        : 1;
-            bool landed_initial            : 1;
-            bool straight_ahead_initial    : 1;
-            bool level_initial             : 1;
-            bool break_initial             : 1;
-            bool bad_rpm                   : 1;
-    } _flags;
-
-    struct message_flags {
-            bool bad_rpm                   : 1;
-    } _msg_flags;
-
-    //--- Internal functions ---
-    void warning_message(uint8_t message_n);    //Handles output messages to the terminal
+        LANDED_INIT,
+        LANDED,
+    } current_phase;
 
 };
 #endif