rmaia3d · rmaia3d · May 2, 2024 · Mar 5, 2024 · Mar 6, 2024 · Mar 21, 2024
diff --git a/.github/workflows/test_environment.yml b/.github/workflows/test_environment.yml
@@ -36,8 +36,6 @@ jobs:
             name: lunar
           - os: ubuntu
             name: mantic
-          - os: archlinux
-            name: latest
           - os: debian
             name: bullseye
           - os: debian

diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
@@ -1,4 +1,39 @@
 Antenna Tracker Release Notes:
+------------------------------
+Release 4.5.2-beta1 29th April 2024
+
+Changes from 4.5.1
+
+1) Board specific enhancements and bug fixes
+
+- FoxeerF405v2 support
+- iFlight BLITZ Mini F745 support
+- Pixhawk5X, Pixhawk6C, Pixhawk6X, Durandal power peripherals immediately at startup
+
+2) System level minor enhancements and bug fixes
+
+- Camera lens (e.g. RGB, IR) can be selected from GCS or during missions using set-camera-source
+- Crashdump pre-arm check added
+- Gimbal gets improved yaw lock reporting to GCS
+- Gimbal default mode fixed (MNTx_DEFLT_MODE was being overriden by RC input)
+- RM3100 compass SPI bus speed reduced to 1Mhz
+- SBUS output fix for channels 1 to 8 also applying to 9 to 16
+- ViewPro gimbal supports enable/disable rangefinder from RC aux switch
+- Visual Odometry delay fixed (was always using 1ms delay, see VISO_DELAY_MS)
+- fixed serial passthrough to avoid data loss at high data rates
+
+3) AHRS / EKF fixes
+
+- Compass learning disabled when using GPS-for-yaw
+- GSF reset minimum speed reduced to 1m/s (except Plane which remains 5m/s)
+- MicroStrain7 External AHRS position quantization bug fix
+- MicroStrain7 init failure warning added
+- MicroStrain5 and 7 position and velocity variance reporting fix
+
+4) Other minor enhancements and bug fixes
+
+- DDS_UDP_PORT parameter renamed (was DDS_PORT)
+- Harmonic Notch bitmask parameter conversion fix (see INS_HNTCH_HMNCS)
 
 ------------------------------------------------------------------
 Release 4.5.1 8th April 2024

diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.5.1"
+#define THISFIRMWARE "AntennaTracker V4.5.2-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,1,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,2,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 1
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 2
+#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 +1,46 @@
 ArduPilot Copter Release Notes:
 -------------------------------
+Release 4.5.2-beta1 29th April 2024
+
+Changes from 4.5.1
+
+1) Board specific enhancements and bug fixes
+
+- FoxeerF405v2 support
+- iFlight BLITZ Mini F745 support
+- Pixhawk5X, Pixhawk6C, Pixhawk6X, Durandal power peripherals immediately at startup
+
+2) System level minor enhancements and bug fixes
+
+- Camera lens (e.g. RGB, IR) can be selected from GCS or during missions using set-camera-source
+- Crashdump pre-arm check added
+- Gimbal gets improved yaw lock reporting to GCS
+- Gimbal default mode fixed (MNTx_DEFLT_MODE was being overriden by RC input)
+- RM3100 compass SPI bus speed reduced to 1Mhz
+- SBUS output fix for channels 1 to 8 also applying to 9 to 16
+- ViewPro gimbal supports enable/disable rangefinder from RC aux switch
+- Visual Odometry delay fixed (was always using 1ms delay, see VISO_DELAY_MS)
+- fixed serial passthrough to avoid data loss at high data rates
+
+3) AHRS / EKF fixes
+
+- Compass learning disabled when using GPS-for-yaw
+- GSF reset minimum speed reduced to 1m/s (except Plane which remains 5m/s)
+- MicroStrain7 External AHRS position quantization bug fix
+- MicroStrain7 init failure warning added
+- MicroStrain5 and 7 position and velocity variance reporting fix
+
+4) Copter specific changes
+
+- Auto mode condition yaw fix to avoid pointing at out-of-date target
+- Guided mode angle control yaw target initialisation fix (was always turning North)
+
+5) Other minor enhancements and bug fixes
+
+- DDS_UDP_PORT parameter renamed (was DDS_PORT)
+- Harmonic Notch bitmask parameter conversion fix (see INS_HNTCH_HMNCS)
+
+------------------------------------------------------------------
 
 Release 4.5.1 8th April 2024
 

diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
@@ -313,14 +313,11 @@ void ModeGuided::angle_control_start()
 
     // initialise targets
     guided_angle_state.update_time_ms = millis();
-    guided_angle_state.attitude_quat.initialise();
+    guided_angle_state.attitude_quat.from_euler(Vector3f(0.0, 0.0, attitude_control->get_att_target_euler_rad().z));
     guided_angle_state.ang_vel.zero();
     guided_angle_state.climb_rate_cms = 0.0f;
     guided_angle_state.yaw_rate_cds = 0.0f;
     guided_angle_state.use_yaw_rate = false;
-
-    // pilot always controls yaw
-    auto_yaw.set_mode(AutoYaw::Mode::HOLD);
 }
 
 // set_destination - sets guided mode's target destination
@@ -939,7 +936,7 @@ void ModeGuided::angle_control_run()
     // check for timeout - set lean angles and climb rate to zero if no updates received for 3 seconds
     uint32_t tnow = millis();
     if (tnow - guided_angle_state.update_time_ms > get_timeout_ms()) {
-        guided_angle_state.attitude_quat.initialise();
+        guided_angle_state.attitude_quat.from_euler(Vector3f(0.0, 0.0, attitude_control->get_att_target_euler_rad().z));
         guided_angle_state.ang_vel.zero();
         climb_rate_cms = 0.0f;
         if (guided_angle_state.use_thrust) {

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.5.1"
+#define THISFIRMWARE "ArduCopter V4.5.2-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,1,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,2,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 1
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 2
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
@@ -533,7 +533,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @Param: PTCH_LIM_MIN_DEG
     // @DisplayName: Minimum Pitch Angle
     // @Description: Maximum pitch down angle commanded in modes with stabilized limits
-    // @Units: cdeg
+    // @Units: deg
     // @Range: -90 0
     // @Increment: 10
     // @User: Standard

diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
@@ -1,3 +1,46 @@
+ArduPilot Plane Release Notes:
+------------------------------
+Release 4.5.2-beta1 29th April 2024
+
+Changes from 4.5.1
+
+1) Board specific enhancements and bug fixes
+
+- FoxeerF405v2 support
+- iFlight BLITZ Mini F745 support
+- Pixhawk5X, Pixhawk6C, Pixhawk6X, Durandal power peripherals immediately at startup
+
+2) System level minor enhancements and bug fixes
+
+- Camera lens (e.g. RGB, IR) can be selected from GCS or during missions using set-camera-source
+- Crashdump pre-arm check added
+- Gimbal gets improved yaw lock reporting to GCS
+- Gimbal default mode fixed (MNTx_DEFLT_MODE was being overriden by RC input)
+- RM3100 compass SPI bus speed reduced to 1Mhz
+- SBUS output fix for channels 1 to 8 also applying to 9 to 16
+- ViewPro gimbal supports enable/disable rangefinder from RC aux switch
+- Visual Odometry delay fixed (was always using 1ms delay, see VISO_DELAY_MS)
+- fixed serial passthrough to avoid data loss at high data rates
+
+3) AHRS / EKF fixes
+
+- Compass learning disabled when using GPS-for-yaw
+- GSF reset minimum speed reduced to 1m/s (except Plane which remains 5m/s)
+- MicroStrain7 External AHRS position quantization bug fix
+- MicroStrain7 init failure warning added
+- MicroStrain5 and 7 position and velocity variance reporting fix
+
+4) Plane specific changes
+
+- Drop min Q_TRANSITION_MS to 500ms
+- FBWB/CRUISE missing zero crossing of elevator input fix
+- PTCH_LIM_MIN_DEG param units fixed to be deg
+
+5) Other minor enhancements and bug fixes
+
+- DDS_UDP_PORT parameter renamed (was DDS_PORT)
+- Harmonic Notch bitmask parameter conversion fix (see INS_HNTCH_HMNCS)
+
 Release 4.5.1 8th April 2024
 ----------------------------
 

diff --git a/ArduPlane/mode_rtl.cpp b/ArduPlane/mode_rtl.cpp
@@ -95,6 +95,13 @@ void ModeRTL::navigate()
     }
 #endif
 
+    uint16_t radius = abs(plane.g.rtl_radius);
+    if (radius > 0) {
+        plane.loiter.direction = (plane.g.rtl_radius < 0) ? -1 : 1;
+    }
+
+    plane.update_loiter(radius);
+
     if (!plane.auto_state.checked_for_autoland) {
         if ((plane.g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START) ||
             (plane.g.rtl_autoland == RtlAutoland::RTL_THEN_DO_LAND_START &&
@@ -116,13 +123,6 @@ void ModeRTL::navigate()
                 plane.auto_state.checked_for_autoland = true;
             }
     }
-
-    uint16_t radius = abs(plane.g.rtl_radius);
-    if (radius > 0) {
-        plane.loiter.direction = (plane.g.rtl_radius < 0) ? -1 : 1;
-    }
-
-    plane.update_loiter(radius);
 }
 
 #if HAL_QUADPLANE_ENABLED

diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
@@ -394,15 +394,16 @@ void Plane::update_fbwb_speed_height(void)
             elevator_input = -elevator_input;
         }
 
-        int32_t alt_change_cm = g.flybywire_climb_rate * elevator_input * dt * 100;
-        change_target_altitude(alt_change_cm);
-
-        if (is_zero(elevator_input) && !is_zero(target_altitude.last_elevator_input)) {
-            // the user has just released the elevator, lock in
-            // the current altitude
+        bool input_stop_climb = !is_positive(elevator_input) && is_positive(target_altitude.last_elevator_input);
+        bool input_stop_descent = !is_negative(elevator_input) && is_negative(target_altitude.last_elevator_input);
+        if (input_stop_climb || input_stop_descent) {
+            // user elevator input reached or passed zero, lock in the current altitude
             set_target_altitude_current();
         }
 
+        int32_t alt_change_cm = g.flybywire_climb_rate * elevator_input * dt * 100;
+        change_target_altitude(alt_change_cm);
+
 #if HAL_SOARING_ENABLED
         if (g2.soaring_controller.is_active()) {
             if (g2.soaring_controller.get_throttle_suppressed()) {

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
@@ -33,7 +33,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
     // @DisplayName: Transition time
     // @Description: Transition time in milliseconds after minimum airspeed is reached
     // @Units: ms
-    // @Range: 2000 30000
+    // @Range: 500 30000
     // @User: Advanced
     AP_GROUPINFO("TRANSITION_MS", 11, QuadPlane, transition_time_ms, 5000),
 
@@ -1714,7 +1714,7 @@ void SLT_Transition::update()
         // after airspeed is reached we degrade throttle over the
         // transition time, but continue to stabilize
         const uint32_t transition_timer_ms = now - transition_low_airspeed_ms;
-        const float trans_time_ms = constrain_float(quadplane.transition_time_ms,2000,30000);
+        const float trans_time_ms = constrain_float(quadplane.transition_time_ms,500,30000);
         if (transition_timer_ms > unsigned(trans_time_ms)) {
             transition_state = TRANSITION_DONE;
             in_forced_transition = false;

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.5.1"
+#define THISFIRMWARE "ArduPlane V4.5.2-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,1,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,2,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 1
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 2
+#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 +1,41 @@
 Rover Release Notes:
 --------------------
+Release 4.5.2-beta1 29th April 2024
+
+Changes from 4.5.1
+
+1) Board specific enhancements and bug fixes
+
+- FoxeerF405v2 support
+- iFlight BLITZ Mini F745 support
+- Pixhawk5X, Pixhawk6C, Pixhawk6X, Durandal power peripherals immediately at startup
+
+2) System level minor enhancements and bug fixes
+
+- Camera lens (e.g. RGB, IR) can be selected from GCS or during missions using set-camera-source
+- Crashdump pre-arm check added
+- Gimbal gets improved yaw lock reporting to GCS
+- Gimbal default mode fixed (MNTx_DEFLT_MODE was being overriden by RC input)
+- RM3100 compass SPI bus speed reduced to 1Mhz
+- SBUS output fix for channels 1 to 8 also applying to 9 to 16
+- ViewPro gimbal supports enable/disable rangefinder from RC aux switch
+- Visual Odometry delay fixed (was always using 1ms delay, see VISO_DELAY_MS)
+- fixed serial passthrough to avoid data loss at high data rates
+
+3) AHRS / EKF fixes
+
+- Compass learning disabled when using GPS-for-yaw
+- GSF reset minimum speed reduced to 1m/s (except Plane which remains 5m/s)
+- MicroStrain7 External AHRS position quantization bug fix
+- MicroStrain7 init failure warning added
+- MicroStrain5 and 7 position and velocity variance reporting fix
+
+4) Other minor enhancements and bug fixes
+
+- DDS_UDP_PORT parameter renamed (was DDS_PORT)
+- Harmonic Notch bitmask parameter conversion fix (see INS_HNTCH_HMNCS)
+
+------------------------------------------------------------------
 Release 4.5.1 8th April 2024
 
 This release fixes a critical bug in the CRSF R/C protocol parser that

diff --git a/Rover/version.h b/Rover/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.5.1"
+#define THISFIRMWARE "ArduRover V4.5.2-beta1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,1,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,2,FIRMWARE_VERSION_TYPE_BETA
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 1
-#define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FW_PATCH 2
+#define FW_TYPE FIRMWARE_VERSION_TYPE_BETA
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
@@ -264,6 +264,9 @@ AP_HW_BotBloxSwitch                  1148
 AP_HW_MatekH7A3                      1149
 AP_HW_MicoAir405v2                   1150
 AP_HW_ORAQF405PRO                    1155
+AP_HW_FOXEERF405_V2                  1157
+AP_HW_BlitzF7Mini                    1163
+AP_HW_BlitzF7                        1164
 
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206

diff --git a/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_dshot_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_f103_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_lowpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_highpolh.bin b/Tools/IO_Firmware/iofirmware_highpolh.bin
diff --git a/Tools/IO_Firmware/iofirmware_lowpolh.bin b/Tools/IO_Firmware/iofirmware_lowpolh.bin