Tools: uploader.py: verify installed firmware

ArduPilot · Feb 3, 2025 · c0682e2 · c0682e2
1 parent 4fb4556
commit c0682e2
Show file tree

Hide file tree

Showing 136 changed files with 2,223 additions and 348 deletions.
diff --git a/ArduCopter/AP_Arming_Copter.cpp b/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)) {

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -451,6 +451,8 @@ AP_Vehicle::custom_mode_state* Copter::register_custom_mode(const uint8_t num, c
             }
             if (mode_guided_custom[i] == nullptr) {
                 // Allocation failure
+                free((void*)full_name_copy);
+                free((void*)short_name_copy);
                 return nullptr;
             }
 
@@ -962,7 +964,6 @@ 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),

diff --git a/ArduCopter/Copter.h b/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;
 

diff --git a/ArduCopter/ekf_check.cpp b/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;
 

diff --git a/ArduCopter/mode_systemid.cpp b/ArduCopter/mode_systemid.cpp
@@ -161,7 +161,8 @@ void ModeSystemId::exit()
 // should be called at 100hz or more
 void ModeSystemId::run()
 {
-    float target_roll, target_pitch;
+    float target_roll = 0.0f;
+    float target_pitch = 0.0f;
     float target_yaw_rate = 0.0f;
     float pilot_throttle_scaled = 0.0f;
     float target_climb_rate = 0.0f;

diff --git a/ArduCopter/system.cpp b/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;

diff --git a/ArduCopter/toy_mode.cpp b/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);
         }
     }
 }

diff --git a/ArduSub/AP_Arming_Sub.cpp b/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)) {

diff --git a/Blimp/AP_Arming_Blimp.cpp b/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)) {

diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
@@ -390,6 +390,7 @@ AP_HW_TM-SYS-Airspeed                5244
 # IDs 5250-5269 reserved for Team Black Sheep
 AP_HW_TBS_LUCID_H7                   5250
 AP_HW_TBS_LUCID_PRO                  5251
+AP_HW_TBS_L431_PERIPH                5252
 
 #IDs 5301-5399 reserved for Sierra Aerospace
 AP_HW_Sierra-TrueNavPro-G4           5301

diff --git a/Tools/AP_Bootloader/can.cpp b/Tools/AP_Bootloader/can.cpp
@@ -836,6 +836,35 @@ void can_start()
     if (stm32_was_watchdog_reset()) {
         node_status.vendor_specific_status_code = uint8_t(check_fw_result_t::FAIL_REASON_WATCHDOG);
     }
+
+    {
+        /*
+          support termination solder bridge or switch and optional LED
+         */
+#if defined(HAL_GPIO_PIN_GPIO_CAN1_TERM) && defined(HAL_GPIO_PIN_GPIO_CAN1_TERM_SWITCH)
+        const bool can1_term = palReadLine(HAL_GPIO_PIN_GPIO_CAN1_TERM_SWITCH);
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN1_TERM, can1_term);
+# ifdef HAL_GPIO_PIN_GPIO_CAN1_TERM_LED
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN1_TERM_LED, can1_term? HAL_LED_ON : !HAL_LED_ON);
+# endif
+#endif
+
+#if defined(HAL_GPIO_PIN_GPIO_CAN2_TERM) && defined(HAL_GPIO_PIN_GPIO_CAN2_TERM_SWITCH)
+        const bool can2_term = palReadLine(HAL_GPIO_PIN_GPIO_CAN2_TERM_SWITCH);
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN2_TERM, can2_term);
+# ifdef HAL_GPIO_PIN_GPIO_CAN2_TERM_LED
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN2_TERM_LED, can2_term? HAL_LED_ON : !HAL_LED_ON);
+# endif
+#endif
+
+#if defined(HAL_GPIO_PIN_GPIO_CAN3_TERM) && defined(HAL_GPIO_PIN_GPIO_CAN3_TERM_SWITCH)
+        const bool can3_term = palReadLine(HAL_GPIO_PIN_GPIO_CAN3_TERM_SWITCH);
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN3_TERM, can3_term);
+# ifdef HAL_GPIO_PIN_GPIO_CAN3_TERM_LED
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN3_TERM_LED, can3_term? HAL_LED_ON : !HAL_LED_ON);
+# endif
+#endif
+    }
 }
 
 

diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
@@ -160,11 +160,11 @@ void AP_Periph_FW::init()
     }
 #endif  // AP_PERIPH_GPS_ENABLED
 
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
     compass.init();
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     baro.init();
 #endif
 
@@ -425,11 +425,11 @@ 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
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
         hal.serial(0)->printf("BARO H=%u P=%.2f T=%.2f\n", baro.healthy(), baro.get_pressure(), baro.get_temperature());
 #endif
 #ifdef HAL_PERIPH_ENABLE_RANGEFINDER

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
@@ -227,11 +227,11 @@ class AP_Periph_FW {
     AP_NMEA_Output nmea;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
     Compass compass;
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     AP_Baro baro;
 #endif
 
@@ -449,15 +449,15 @@ 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
     uint32_t last_gps_update_ms;
     uint32_t last_gps_yaw_ms;
 #endif
     uint32_t last_relposheading_ms;
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     uint32_t last_baro_update_ms;
 #endif
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED

diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
@@ -263,13 +263,13 @@ 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),
 #endif
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     // Baro driver
     // @Group: BARO
     // @Path: ../libraries/AP_Baro/AP_Baro.cpp

diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
@@ -119,7 +119,7 @@ class Parameters {
 #ifdef AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY
     AP_Int8 led_brightness;
 #endif
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     AP_Int8 baro_enable;
 #endif
 #if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)

diff --git a/Tools/AP_Periph/baro.cpp b/Tools/AP_Periph/baro.cpp
@@ -1,6 +1,6 @@
 #include "AP_Periph.h"
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
 
 /*
   barometer support
@@ -60,4 +60,4 @@ void AP_Periph_FW::can_baro_update(void)
     }
 }
 
-#endif // HAL_PERIPH_ENABLE_BARO
+#endif // AP_PERIPH_BARO_ENABLED
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
@@ -352,10 +352,10 @@ 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
+#if AP_PERIPH_BARO_ENABLED
         AP_Param::setup_object_defaults(&baro, baro.var_info);
 #endif
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
@@ -1611,20 +1611,50 @@ 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
 
+    {
+        /*
+          support termination parameters, and also a hardware switch
+          to force termination and an LED to indicate if termination
+          is active
+         */
 #ifdef HAL_GPIO_PIN_GPIO_CAN1_TERM
-    palWriteLine(HAL_GPIO_PIN_GPIO_CAN1_TERM, g.can_terminate[0]);
+        bool can1_term = g.can_terminate[0];
+# ifdef HAL_GPIO_PIN_GPIO_CAN1_TERM_SWITCH
+        can1_term |= palReadLine(HAL_GPIO_PIN_GPIO_CAN1_TERM_SWITCH);
+# endif
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN1_TERM, can1_term);
+# ifdef HAL_GPIO_PIN_GPIO_CAN1_TERM_LED
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN1_TERM_LED, can1_term? HAL_LED_ON : !HAL_LED_ON);
+# endif
 #endif
+
 #ifdef HAL_GPIO_PIN_GPIO_CAN2_TERM
-    palWriteLine(HAL_GPIO_PIN_GPIO_CAN2_TERM, g.can_terminate[1]);
+        bool can2_term = g.can_terminate[1];
+# ifdef HAL_GPIO_PIN_GPIO_CAN2_TERM_SWITCH
+        can2_term |= palReadLine(HAL_GPIO_PIN_GPIO_CAN2_TERM_SWITCH);
+# endif
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN2_TERM, can2_term);
+# ifdef HAL_GPIO_PIN_GPIO_CAN2_TERM_LED
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN2_TERM_LED, can2_term? HAL_LED_ON : !HAL_LED_ON);
+# endif
 #endif
+
 #ifdef HAL_GPIO_PIN_GPIO_CAN3_TERM
-    palWriteLine(HAL_GPIO_PIN_GPIO_CAN3_TERM, g.can_terminate[2]);
+        bool can3_term = g.can_terminate[2];
+# ifdef HAL_GPIO_PIN_GPIO_CAN3_TERM_SWITCH
+        can3_term |= palReadLine(HAL_GPIO_PIN_GPIO_CAN3_TERM_SWITCH);
+# endif
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN3_TERM, can3_term);
+# ifdef HAL_GPIO_PIN_GPIO_CAN3_TERM_LED
+        palWriteLine(HAL_GPIO_PIN_GPIO_CAN3_TERM_LED, can3_term? HAL_LED_ON : !HAL_LED_ON);
+# endif
 #endif
+    }
 
     for (uint8_t i=0; i<HAL_NUM_CAN_IFACES; i++) {
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
@@ -1882,7 +1912,7 @@ 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
@@ -1894,7 +1924,7 @@ void AP_Periph_FW::can_update()
 #if AP_PERIPH_BATTERY_ENABLED
         can_battery_update();
 #endif
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
         can_baro_update();
 #endif
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED

diff --git a/Tools/AP_Periph/compass.cpp b/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
diff --git a/Tools/AP_Periph/msp.cpp b/Tools/AP_Periph/msp.cpp
@@ -48,10 +48,10 @@ void AP_Periph_FW::msp_sensor_update(void)
 #if AP_PERIPH_GPS_ENABLED
     send_msp_GPS();
 #endif
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
     send_msp_baro();
 #endif
-#ifdef HAL_PERIPH_ENABLE_MAG
+#if AP_PERIPH_MAG_ENABLED
     send_msp_compass();
 #endif
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
@@ -125,7 +125,7 @@ void AP_Periph_FW::send_msp_GPS(void)
 #endif // AP_PERIPH_GPS_ENABLED
 
 
-#ifdef HAL_PERIPH_ENABLE_BARO
+#if AP_PERIPH_BARO_ENABLED
 /*
   send MSP baro packet
  */
@@ -149,9 +149,9 @@ void AP_Periph_FW::send_msp_baro(void)
 
     send_msp_packet(MSP2_SENSOR_BAROMETER, &p, sizeof(p));
 }
-#endif // HAL_PERIPH_ENABLE_BARO
+#endif // AP_PERIPH_BARO_ENABLED
 
-#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
 /*

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
@@ -954,8 +954,8 @@ def configure_env(self, cfg, env):
 
             AP_PERIPH_GPS_ENABLED = 1,
             HAL_PERIPH_ENABLE_AIRSPEED = 1,
-            HAL_PERIPH_ENABLE_MAG = 1,
-            HAL_PERIPH_ENABLE_BARO = 1,
+            AP_PERIPH_MAG_ENABLED = 1,
+            AP_PERIPH_BARO_ENABLED = 1,
             HAL_PERIPH_ENABLE_IMU = 1,
             HAL_PERIPH_ENABLE_RANGEFINDER = 1,
             AP_PERIPH_BATTERY_ENABLED = 1,