Merge branch 'ArduPilot:master' into NarinFC-H7

.github/workflows/cygwin_build.yml

@@ -9,6 +9,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -74,6 +75,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/qurt_build.yml

@@ -9,6 +9,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -74,6 +75,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_replay.yml

@@ -13,6 +13,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -81,6 +82,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_sitl_blimp.yml

@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -88,6 +89,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_sitl_copter.yml

@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -87,6 +88,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_sitl_periph.yml

@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/bootloaders/**'
       - 'Tools/CHDK-Script/**'
@@ -86,6 +87,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/bootloaders/**'
       - 'Tools/CHDK-Script/**'

.github/workflows/test_sitl_plane.yml

@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -87,6 +88,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_sitl_rover.yml

@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -87,6 +88,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_sitl_sub.yml

@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -88,6 +89,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_sitl_tracker.yml

@@ -12,6 +12,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'
@@ -88,6 +89,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # remove non SITL directories
       - 'Tools/AP_Bootloader/**'
       - 'Tools/AP_Periph/**'

.github/workflows/test_unit_tests.yml

@@ -43,6 +43,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # Remove change on other workflows
       - '.github/workflows/test_environment.yml'
   pull_request:
@@ -88,6 +89,7 @@ on:
       # remove non SITL HAL
       - 'libraries/AP_HAL_ChibiOS/**'
       - 'libraries/AP_HAL_ESP32/**'
+      - 'libraries/AP_HAL_QURT/**'
       # Remove change on other workflows
       - '.github/workflows/test_environment.yml'
   workflow_dispatch:

Rover/AP_Arming_Rover.cpp

@@ -34,7 +34,9 @@ bool AP_Arming_Rover::rc_calibration_checks(const bool display_failure)
 // performs pre_arm gps related checks and returns true if passed
 bool AP_Arming_Rover::gps_checks(bool display_failure)
 {
-    if (!rover.control_mode->requires_position() && !rover.control_mode->requires_velocity()) {
+    if (!require_location &&
+        !rover.control_mode->requires_position() &&
+        !rover.control_mode->requires_velocity()) {
         // we don't care!
         return true;
     }

Tools/ardupilotwaf/boards.py

@@ -287,6 +287,7 @@ def configure_env(self, cfg, env):
                 '-Wno-gnu-variable-sized-type-not-at-end',
                 '-Werror=implicit-fallthrough',
                 '-cl-single-precision-constant',
+                '-Wno-vla-cxx-extension',
             ]
         else:
             env.CFLAGS += [
@@ -419,6 +420,7 @@ def configure_env(self, cfg, env):
 
                 '-Wno-gnu-designator',
                 '-Wno-mismatched-tags',
+                '-Wno-vla-cxx-extension',
                 '-Wno-gnu-variable-sized-type-not-at-end',
                 '-Werror=implicit-fallthrough',
                 '-cl-single-precision-constant',

Tools/autotest/arducopter.py

@@ -12243,16 +12243,6 @@ def GripperReleaseOnThrustLoss(self):
         self.context_pop()
         self.reboot_sitl()
 
-    def assert_home_position_not_set(self):
-        try:
-            self.poll_home_position()
-        except NotAchievedException:
-            return
-
-        # if home.lng != 0: etc
-
-        raise NotAchievedException("Home is set when it shouldn't be")
-
     def REQUIRE_LOCATION_FOR_ARMING(self):
         '''check AP_Arming::Option::REQUIRE_LOCATION_FOR_ARMING works'''
         self.context_push()

Tools/autotest/rover.py

@@ -6947,6 +6947,31 @@ def SDPolyFence(self):
 
         self.delay_sim_time(1000)
 
+    def REQUIRE_LOCATION_FOR_ARMING(self):
+        '''check DriveOption::REQUIRE_POSITION_FOR_ARMING works'''
+        self.context_push()
+        self.set_parameters({
+            "SIM_GPS1_NUMSATS": 3,  # EKF does not like < 6
+            "AHRS_GPS_USE": 0,  # stop DCM supplying home
+        })
+        self.reboot_sitl()
+        self.change_mode('MANUAL')
+        self.wait_prearm_sys_status_healthy()
+        self.assert_home_position_not_set()
+        self.arm_vehicle()
+        self.disarm_vehicle()
+
+        self.change_mode('GUIDED')
+        self.assert_prearm_failure("waiting for home", other_prearm_failures_fatal=False)
+
+        self.change_mode('MANUAL')
+        self.set_parameters({
+            "ARMING_NEED_LOC": 1,
+        })
+        self.assert_prearm_failure("waiting for home", other_prearm_failures_fatal=False)
+        self.context_pop()
+        self.reboot_sitl()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -7045,6 +7070,7 @@ def tests(self):
             self.ClearMission,
             self.JammingSimulation,
             self.BatteryInvalid,
+            self.REQUIRE_LOCATION_FOR_ARMING,
         ])
         return ret
 

Tools/autotest/vehicle_test_suite.py

@@ -3625,6 +3625,16 @@ def assert_bytes_equal(self, bytes1, bytes2, maxlen=None):
             if bytes1[i] != bytes2[i]:
                 raise NotAchievedException("differ at offset %u" % i)
 
+    def assert_home_position_not_set(self):
+        try:
+            self.poll_home_position()
+        except NotAchievedException:
+            return
+
+        # if home.lng != 0: etc
+
+        raise NotAchievedException("Home is set when it shouldn't be")
+
     def HIGH_LATENCY2(self):
         '''test sending of HIGH_LATENCY2'''
 
@@ -8360,8 +8370,8 @@ def assert_prearm_failure(self,
             now = self.get_sim_time_cached()
             if now - tstart > timeout:
                 raise NotAchievedException(
-                    "Did not see failure-to-arm messages (statustext=%s command_ack=%s" %
-                    (seen_statustext, seen_command_ack))
+                    f"Did not see failure-to-arm messages ({seen_statustext=} {expected_statustext=} {seen_command_ack=})"
+                )
             if now - arm_last_send > 1:
                 arm_last_send = now
                 self.send_mavlink_run_prearms_command()