Merge branch 'master' into jte_fs_deadreckoning

ArduCopter/AP_Arming_Copter.cpp

@@ -807,7 +807,7 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
 
     // save compass offsets learned by the EKF if enabled
     Compass &compass = AP::compass();
-    if (ahrs.use_compass() && compass.get_learn_type() == Compass::LEARN_EKF) {
+    if (ahrs.use_compass() && compass.get_learn_type() == Compass::LearnType::COPY_FROM_EKF) {
         for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
             Vector3f magOffsets;
             if (ahrs.getMagOffsets(i, magOffsets)) {

ArduCopter/Copter.cpp

@@ -962,7 +962,6 @@ Copter::Copter(void)
     flight_modes(&g.flight_mode1),
     pos_variance_filt(FS_EKF_FILT_DEFAULT),
     vel_variance_filt(FS_EKF_FILT_DEFAULT),
-    hgt_variance_filt(FS_EKF_FILT_DEFAULT),
     flightmode(&mode_stabilize),
     simple_cos_yaw(1.0f),
     super_simple_cos_yaw(1.0),

ArduCopter/Copter.h

@@ -335,7 +335,6 @@ class Copter : public AP_Vehicle {
     // thus failsafes should be triggered on filtered values in order to avoid transient errors 
     LowPassFilterFloat pos_variance_filt;
     LowPassFilterFloat vel_variance_filt;
-    LowPassFilterFloat hgt_variance_filt;
     bool variances_valid;
     uint32_t last_ekf_check_us;
 

ArduCopter/ekf_check.cpp

@@ -128,7 +128,6 @@ bool Copter::ekf_over_threshold()
     // always update filtered values as this serves the vibration check as well
     position_var = pos_variance_filt.apply(position_var, dt);
     vel_var = vel_variance_filt.apply(vel_var, dt);
-    height_var = hgt_variance_filt.apply(height_var, dt);
 
     last_ekf_check_us = now_us;
 

ArduCopter/system.cpp

@@ -200,7 +200,6 @@ void Copter::init_ardupilot()
 
     pos_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
     vel_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
-    hgt_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
 
     // flag that initialisation has completed
     ap.initialised = true;

ArduCopter/toy_mode.cpp

@@ -1079,9 +1079,9 @@ void ToyMode::arm_check_compass(void)
     if (offsets.length() > copter.compass.get_offsets_max() ||
         field < 200 || field > 800 ||
         !copter.compass.configured(unused_compass_configured_error_message, ARRAY_SIZE(unused_compass_configured_error_message))) {
-        if (copter.compass.get_learn_type() != Compass::LEARN_INFLIGHT) {
+        if (copter.compass.get_learn_type() != Compass::LearnType::INFLIGHT) {
             gcs().send_text(MAV_SEVERITY_INFO, "Tmode: enable compass learning");
-            copter.compass.set_learn_type(Compass::LEARN_INFLIGHT, false);
+            copter.compass.set_learn_type(Compass::LearnType::INFLIGHT, false);
         }
     }
 }

ArduSub/AP_Arming_Sub.cpp

@@ -179,7 +179,7 @@ bool AP_Arming_Sub::disarm(const AP_Arming::Method method, bool do_disarm_checks
     auto &ahrs = AP::ahrs();
 
     // save compass offsets learned by the EKF if enabled
-    if (ahrs.use_compass() && AP::compass().get_learn_type() == Compass::LEARN_EKF) {
+    if (ahrs.use_compass() && AP::compass().get_learn_type() == Compass::LearnType::COPY_FROM_EKF) {
         for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
             Vector3f magOffsets;
             if (ahrs.getMagOffsets(i, magOffsets)) {

Blimp/AP_Arming_Blimp.cpp

@@ -383,7 +383,7 @@ bool AP_Arming_Blimp::disarm(const AP_Arming::Method method, bool do_disarm_chec
 
     // save compass offsets learned by the EKF if enabled
     Compass &compass = AP::compass();
-    if (ahrs.use_compass() && compass.get_learn_type() == Compass::LEARN_EKF) {
+    if (ahrs.use_compass() && compass.get_learn_type() == Compass::LearnType::COPY_FROM_EKF) {
         for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
             Vector3f magOffsets;
             if (ahrs.getMagOffsets(i, magOffsets)) {

Tools/AP_Periph/AP_Periph.cpp

@@ -160,7 +160,7 @@ void AP_Periph_FW::init()
     }
 #endif  // AP_PERIPH_GPS_ENABLED
 
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
     compass.init();
 #endif
 
@@ -425,7 +425,7 @@ void AP_Periph_FW::update()
 #if AP_PERIPH_GPS_ENABLED
         hal.serial(0)->printf("GPS status: %u\n", (unsigned)gps.status());
 #endif
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
         const Vector3f &field = compass.get_field();
         hal.serial(0)->printf("MAG (%d,%d,%d)\n", int(field.x), int(field.y), int(field.z));
 #endif

Tools/AP_Periph/AP_Periph.h

@@ -227,7 +227,7 @@ class AP_Periph_FW {
     AP_NMEA_Output nmea;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
     Compass compass;
 #endif
 
@@ -449,7 +449,7 @@ class AP_Periph_FW {
 #ifdef HAL_PERIPH_ENABLE_EFI
     uint32_t last_efi_update_ms;
 #endif
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
     uint32_t last_mag_update_ms;
 #endif
 #if AP_PERIPH_GPS_ENABLED

Tools/AP_Periph/Parameters.cpp

@@ -263,7 +263,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GSCALAR(battery_hide_mask, "BATT_HIDE_MASK", HAL_PERIPH_BATT_HIDE_MASK_DEFAULT),
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
     // @Group: COMPASS_
     // @Path: ../libraries/AP_Compass/AP_Compass.cpp
     GOBJECT(compass,         "COMPASS_",     Compass),

Tools/AP_Periph/can.cpp

@@ -352,7 +352,7 @@ void AP_Periph_FW::handle_param_executeopcode(CanardInstance* canard_instance, C
 #if AP_PERIPH_BATTERY_ENABLED
         AP_Param::setup_object_defaults(&battery, battery_lib.var_info);
 #endif
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
         AP_Param::setup_object_defaults(&compass, compass.var_info);
 #endif
 #ifdef HAL_PERIPH_ENABLE_BARO
@@ -1611,7 +1611,7 @@ void AP_Periph_FW::can_start()
         }
     }
     if (!has_uavcan_at_1MHz) {
-        g.can_protocol[0].set_and_save(uint8_t(AP_CAN::Protocol::DroneCAN));
+        g.can_protocol[0].set_and_save(AP_CAN::Protocol::DroneCAN);
         g.can_baudrate[0].set_and_save(1000000);
     }
 #endif // HAL_PERIPH_ENFORCE_AT_LEAST_ONE_PORT_IS_UAVCAN_1MHz
@@ -1882,7 +1882,7 @@ void AP_Periph_FW::can_update()
     if (!hal.run_in_maintenance_mode())
 #endif
     {
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
         can_mag_update();
 #endif
 #if AP_PERIPH_GPS_ENABLED

Tools/AP_Periph/compass.cpp

@@ -1,6 +1,6 @@
 #include "AP_Periph.h"
 
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
 
 /*
   magnetometer support
@@ -97,4 +97,4 @@ void AP_Periph_FW::can_mag_update(void)
 #endif // AP_PERIPH_MAG_HIRES
 }
 
-#endif // HAL_PERIPH_ENABLE_MAG
+#endif // AP_PERIPH_MAG_ENABLED

Tools/AP_Periph/msp.cpp

@@ -51,7 +51,7 @@ void AP_Periph_FW::msp_sensor_update(void)
 #ifdef HAL_PERIPH_ENABLE_BARO
     send_msp_baro();
 #endif
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
     send_msp_compass();
 #endif
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
@@ -151,7 +151,7 @@ void AP_Periph_FW::send_msp_baro(void)
 }
 #endif // HAL_PERIPH_ENABLE_BARO
 
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
 /*
   send MSP compass packet
  */
@@ -176,7 +176,7 @@ void AP_Periph_FW::send_msp_compass(void)
 
     send_msp_packet(MSP2_SENSOR_COMPASS, &p, sizeof(p));
 }
-#endif // HAL_PERIPH_ENABLE_MAG
+#endif // AP_PERIPH_MAG_ENABLED
 
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
 /*

Tools/ardupilotwaf/boards.py

@@ -954,7 +954,7 @@ def configure_env(self, cfg, env):
 
             AP_PERIPH_GPS_ENABLED = 1,
             HAL_PERIPH_ENABLE_AIRSPEED = 1,
-            HAL_PERIPH_ENABLE_MAG = 1,
+            AP_PERIPH_MAG_ENABLED = 1,
             HAL_PERIPH_ENABLE_BARO = 1,
             HAL_PERIPH_ENABLE_IMU = 1,
             HAL_PERIPH_ENABLE_RANGEFINDER = 1,

Tools/autotest/autotest.py

@@ -154,17 +154,17 @@ def run_unit_tests():
 
 def run_clang_scan_build():
     """Run Clang Scan-build utility."""
-    if util.run_cmd("scan-build python waf configure",
+    if util.run_cmd("scan-build python3 waf configure",
                     directory=util.reltopdir('.')) != 0:
         print("Failed scan-build-configure")
         return False
 
-    if util.run_cmd("scan-build python waf clean",
+    if util.run_cmd("scan-build python3 waf clean",
                     directory=util.reltopdir('.')) != 0:
         print("Failed scan-build-clean")
         return False
 
-    if util.run_cmd("scan-build python waf build",
+    if util.run_cmd("scan-build python3 waf build",
                     directory=util.reltopdir('.')) != 0:
         print("Failed scan-build-build")
         return False

Tools/scripts/create_OEM_board.py

@@ -24,14 +24,14 @@ def __init__(self, oem_board_name, board_name):
 
     def run(self):
         hwdef_dir = "libraries/AP_HAL_ChibiOS/hwdef"
-        oem_board_dirpath = f"{hwdef_dir}/{oem_board_name}"
+        oem_board_dirpath = f"{hwdef_dir}/{self.oem_board_name}"
 
         if os.path.exists(oem_board_dirpath):
-            raise ValueError(f"{oem_board_dirpath} already exists")  # FIXME exception type
+            raise ValueError(f"{self.oem_board_dirpath} already exists")  # FIXME exception type
 
         hwdef_include_relpath = None
         for extension in "dat", "inc":
-            tmp = f"../{board_name}/hwdef.{extension}"
+            tmp = f"../{self.board_name}/hwdef.{extension}"
             tmp_norm = os.path.normpath(f"{oem_board_dirpath}/{tmp}")
             if os.path.exists(tmp_norm):
                 hwdef_include_relpath = tmp
@@ -44,25 +44,31 @@ def run(self):
         use_bootloader_from_board = ch.get_config('USE_BOOTLOADER_FROM_BOARD', default=None, required=False)
         if use_bootloader_from_board is None:
             hwdef_content += "\n"
-            hwdef_content += f"USE_BOOTLOADER_FROM_BOARD {board_name}\n"
+            hwdef_content += f"USE_BOOTLOADER_FROM_BOARD {self.board_name}\n"
 
         subprocess.run(["mkdir",  oem_board_dirpath])
 
         # create files and add reference to originals
         new_hwdef = pathlib.Path(oem_board_dirpath, "hwdef.dat")
 
         if hwdef_include_relpath is None:
-            raise ValueError(f"Could not find .inc or .dat for {board_name}")
+            raise ValueError(f"Could not find .inc or .dat for {self.board_name}")
 
         new_hwdef.write_text(hwdef_content)
 
-        if os.path.exists(f"{hwdef_dir}/{board_name}/defaults.parm"):
-            path = pathlib.Path(f"{hwdef_dir}/{oem_board_name}/defaults.parm")
-            path.write_text(f"@include ../{board_name}/defaults.parm\n")  # noqa
+        if os.path.exists(f"{hwdef_dir}/{self.board_name}/defaults.parm"):
+            path = pathlib.Path(f"{hwdef_dir}/{self.oem_board_name}/defaults.parm")
+            path.write_text(f"@include ../{self.board_name}/defaults.parm\n")  # noqa
 
 
-board_name = sys.argv[1]
-oem_board_name = sys.argv[2]
+if __name__ == '__main__':
+    import argparse
 
-oemcreate = OEMCreate(board_name, oem_board_name)
-oemcreate.run()
+    parser = argparse.ArgumentParser(description='ArduPilot OEM board creator')
+    parser.add_argument('board_name', default=None, help='board to inherit from')
+    parser.add_argument('oem_board_name', default=None, help='new board name')
+
+    args = parser.parse_args()
+
+    oemcreate = OEMCreate(args.oem_board_name, args.board_name)
+    oemcreate.run()

libraries/AP_ADC/AP_ADC_ADS1115.cpp

@@ -191,7 +191,6 @@ float AP_ADC_ADS1115::_convert_register_data_to_mv(int16_t word) const
         pga = ADS1115_MV_0P256C;
         break;
     default:
-        pga = 0.0f;
         DEV_PRINTF("Wrong gain");
         AP_HAL::panic("ADS1115: wrong gain selected");
         break;

libraries/AP_AHRS/AP_AHRS.cpp

@@ -346,8 +346,15 @@ void AP_AHRS::reset_gyro_drift(void)
  */
 void AP_AHRS::update_state(void)
 {
+    const uint8_t primary_gyro = _get_primary_gyro_index();
+#if AP_INERTIALSENSOR_ENABLED
+    // tell the IMUS about primary changes
+    if (primary_gyro != state.primary_gyro) {
+        AP::ins().set_primary(primary_gyro);
+    }
+#endif
     state.primary_IMU = _get_primary_IMU_index();
-    state.primary_gyro = _get_primary_gyro_index();
+    state.primary_gyro = primary_gyro;
     state.primary_accel = _get_primary_accel_index();
     state.primary_core = _get_primary_core_index();
     state.wind_estimate_ok = _wind_estimate(state.wind_estimate);
@@ -367,6 +374,7 @@ void AP_AHRS::update_state(void)
     state.velocity_NED_ok = _get_velocity_NED(state.velocity_NED);
 }
 
+// update run at loop rate
 void AP_AHRS::update(bool skip_ins_update)
 {
     // periodically checks to see if we should update the AHRS

libraries/AP_Compass/AP_Compass.cpp

@@ -56,7 +56,7 @@ extern const AP_HAL::HAL& hal;
 #endif
 
 #ifndef COMPASS_LEARN_DEFAULT
-#define COMPASS_LEARN_DEFAULT Compass::LEARN_NONE
+#define COMPASS_LEARN_DEFAULT Compass::LearnType::NONE
 #endif
 
 #ifndef AP_COMPASS_OFFSETS_MAX_DEFAULT
@@ -119,7 +119,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @Description: Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.
     // @Values: 0:Disabled,2:EKF-Learning,3:InFlight-Learning
     // @User: Advanced
-    AP_GROUPINFO("LEARN",  3, Compass, _learn, COMPASS_LEARN_DEFAULT),
+    AP_GROUPINFO("LEARN",  3, Compass, _learn, float(COMPASS_LEARN_DEFAULT)),
 #endif
 
 #ifndef HAL_BUILD_AP_PERIPH
@@ -1793,11 +1793,11 @@ Compass::read(void)
         any_healthy |= _state[i].healthy;
     }
 #if COMPASS_LEARN_ENABLED
-    if (_learn == LEARN_INFLIGHT && !learn_allocated) {
+    if (_learn == LearnType::INFLIGHT && !learn_allocated) {
         learn_allocated = true;
         learn = NEW_NOTHROW CompassLearn(*this);
     }
-    if (_learn == LEARN_INFLIGHT && learn != nullptr) {
+    if (_learn == LearnType::INFLIGHT && learn != nullptr) {
         learn->update();
     }
 #endif
@@ -1985,7 +1985,7 @@ Compass::use_for_yaw(uint8_t i) const
     // when we are doing in-flight compass learning the state
     // estimator must not use the compass. The learning code turns off
     // inflight learning when it has converged
-    return _use_for_yaw[Priority(i)] && _learn.get() != LEARN_INFLIGHT;
+    return _use_for_yaw[Priority(i)] && _learn != LearnType::INFLIGHT;
 }
 
 /*

libraries/AP_Compass/AP_Compass.h

@@ -226,7 +226,7 @@ friend class AP_Compass_Backend;
 #endif  // AP_COMPASS_DIAGONALS_ENABLED
 
     // learn offsets accessor
-    bool learn_offsets_enabled() const { return _learn == LEARN_INFLIGHT; }
+    bool learn_offsets_enabled() const { return _learn == LearnType::INFLIGHT; }
 
     /// return true if the compass should be used for yaw calculations
     bool use_for_yaw(uint8_t i) const;
@@ -318,24 +318,24 @@ friend class AP_Compass_Backend;
 
     static const struct AP_Param::GroupInfo var_info[];
 
-    enum LearnType {
-        LEARN_NONE=0,
-        // LEARN_INTERNAL=1,
-        LEARN_EKF=2,
-        LEARN_INFLIGHT=3
+    enum class LearnType {
+        NONE          = 0,
+        // INTERNAL   = 1,
+        COPY_FROM_EKF = 2,
+        INFLIGHT      = 3,
     };
 
     // return the chosen learning type
-    enum LearnType get_learn_type(void) const {
-        return (enum LearnType)_learn.get();
+    LearnType get_learn_type(void) const {
+        return (LearnType)_learn.get();
     }
 
     // set the learning type
-    void set_learn_type(enum LearnType type, bool save) {
+    void set_learn_type(LearnType type, bool save) {
         if (save) {
-            _learn.set_and_save((int8_t)type);
+            _learn.set_and_save(type);
         } else {
-            _learn.set((int8_t)type);
+            _learn.set(type);
         }
     }
 
@@ -520,7 +520,7 @@ friend class AP_Compass_Backend;
     uint8_t     _unreg_compass_count;
 
     // settable parameters
-    AP_Int8 _learn;
+    AP_Enum<LearnType> _learn;
 
     // board orientation from AHRS
     enum Rotation _board_orientation = ROTATION_NONE;