Revert "Merge branch 'ArduPilot:master' into hwdef_add_MicoAir405Mini"

This reverts commit 78b3bb5, reversing
changes made to 63bafe1.

ArduCopter/RC_Channel.cpp

@@ -108,7 +108,6 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
     case AUX_FUNC::SIMPLE_HEADING_RESET:
     case AUX_FUNC::ARMDISARM_AIRMODE:
     case AUX_FUNC::TURBINE_START:
-    case AUX_FUNC::FLIGHTMODE_PAUSE:
         break;
     case AUX_FUNC::ACRO_TRAINER:
     case AUX_FUNC::ATTCON_ACCEL_LIM:
@@ -567,21 +566,6 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
             }
             break;
 
-        case AUX_FUNC::FLIGHTMODE_PAUSE:
-            switch (ch_flag) {
-                case AuxSwitchPos::HIGH:
-                    if (!copter.flightmode->pause()) {
-                        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Flight Mode Pause failed");
-                    }
-                    break;
-                case AuxSwitchPos::MIDDLE:
-                    break;
-                case AuxSwitchPos::LOW:
-                    copter.flightmode->resume();
-                    break;
-            }
-            break;
-
         case AUX_FUNC::ZIGZAG_Auto:
 #if MODE_ZIGZAG_ENABLED == ENABLED
             if (copter.flightmode == &copter.mode_zigzag) {

ArduCopter/autoyaw.cpp

@@ -8,14 +8,13 @@ float Mode::AutoYaw::roi_yaw() const
     return get_bearing_cd(copter.inertial_nav.get_position_xy_cm(), roi.xy());
 }
 
-// returns a yaw in degrees, direction of vehicle travel:
 float Mode::AutoYaw::look_ahead_yaw()
 {
     const Vector3f& vel = copter.inertial_nav.get_velocity_neu_cms();
     const float speed_sq = vel.xy().length_squared();
     // Commanded Yaw to automatically look ahead.
     if (copter.position_ok() && (speed_sq > (YAW_LOOK_AHEAD_MIN_SPEED * YAW_LOOK_AHEAD_MIN_SPEED))) {
-        _look_ahead_yaw = degrees(atan2f(vel.y,vel.x));
+        _look_ahead_yaw = degrees(atan2f(vel.y,vel.x))*100.0f;
     }
     return _look_ahead_yaw;
 }
@@ -81,7 +80,7 @@ void Mode::AutoYaw::set_mode(Mode yaw_mode)
 
     case Mode::LOOK_AHEAD:
         // Commanded Yaw to automatically look ahead.
-        _look_ahead_yaw = copter.ahrs.yaw_sensor * 0.01;  // cdeg -> deg
+        _look_ahead_yaw = copter.ahrs.yaw_sensor;
         break;
 
     case Mode::RESETTOARMEDYAW:
@@ -231,7 +230,7 @@ float Mode::AutoYaw::yaw_cd()
 
     case Mode::LOOK_AHEAD:
         // Commanded Yaw to automatically look ahead.
-        _yaw_angle_cd = look_ahead_yaw() * 100.0;
+        _yaw_angle_cd = look_ahead_yaw();
         break;
 
     case Mode::RESETTOARMEDYAW:

ArduCopter/mode.h

@@ -341,9 +341,7 @@ class Mode {
         // rate_cds(): desired yaw rate in centidegrees/second:
         float rate_cds();
 
-        // returns a yaw in degrees, direction of vehicle travel:
         float look_ahead_yaw();
-
         float roi_yaw() const;
 
         // auto flight mode's yaw mode

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: 500 30000
+    // @Range: 2000 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,500,30000);
+        const float trans_time_ms = constrain_float(quadplane.transition_time_ms,2000,30000);
         if (transition_timer_ms > unsigned(trans_time_ms)) {
             transition_state = TRANSITION_DONE;
             in_forced_transition = false;

Tools/autotest/fakepos.py

@@ -36,6 +36,22 @@ def write(self, buf):
             pass
 
 
+def ft2m(x):
+    return x * 0.3048
+
+
+def m2ft(x):
+    return x / 0.3048
+
+
+def kt2mps(x):
+    return x * 0.514444444
+
+
+def mps2kt(x):
+    return x / 0.514444444
+
+
 udp = udp_out("127.0.0.1:5501")
 
 latitude = -35

Tools/autotest/locations.txt

@@ -99,5 +99,3 @@ RF_Garage=37.621798,-2.646596,788,0
 SFO_Bay=37.62561973,-122.33235387,0.0,0
 Egge=60.215720,10.324071,198,303
 Gundaroo=-35.02349196,149.26496411,576.8,0
-Kaga=36.3268982,136.3316638,44,0
-

Tools/autotest/pysim/fg_display.py

@@ -44,6 +44,21 @@ def write(self, buf):
             pass
 
 
+def ft2m(x):
+    return x * 0.3048
+
+
+def m2ft(x):
+    return x / 0.3048
+
+
+def kt2mps(x):
+    return x * 0.514444444
+
+
+def mps2kt(x):
+    return x / 0.514444444
+
 udp = udp_socket("127.0.0.1:5123")
 fgout = udp_socket("127.0.0.1:5124", is_input=False)
 

Tools/autotest/pysim/util.py

@@ -29,6 +29,24 @@
 windowID = []
 
 
+def m2ft(x):
+    """Meters to feet."""
+    return float(x) / 0.3048
+
+
+def ft2m(x):
+    """Feet to meters."""
+    return float(x) * 0.3048
+
+
+def kt2mps(x):
+    return x * 0.514444444
+
+
+def mps2kt(x):
+    return x / 0.514444444
+
+
 def topdir():
     """Return top of git tree where autotest is running from."""
     d = os.path.dirname(os.path.realpath(__file__))
@@ -421,7 +439,7 @@ def start_SITL(binary,
                model=None,
                speedup=1,
                sim_rate_hz=None,
-               defaults_filepath=[],
+               defaults_filepath=None,
                unhide_parameters=False,
                gdbserver=False,
                breakpoints=[],
@@ -506,13 +524,6 @@ def start_SITL(binary,
             raise RuntimeError("DISPLAY was not set")
 
     cmd.append(binary)
-
-    if defaults_filepath is None:
-        defaults_filepath = []
-    if not isinstance(defaults_filepath, list):
-        defaults_filepath = [defaults_filepath]
-    defaults = [reltopdir(path) for path in defaults_filepath]
-
     if not supplementary:
         if wipe:
             cmd.append('-w')
@@ -522,12 +533,7 @@ def start_SITL(binary,
             cmd.extend(['--home', home])
         cmd.extend(['--model', model])
         if speedup is not None and speedup != 1:
-            ntf = tempfile.NamedTemporaryFile(mode="w", delete=False)
-            print(f"SIM_SPEEDUP {speedup}", file=ntf)
-            ntf.close()
-            # prepend it so that a caller can override the speedup in
-            # passed-in defaults:
-            defaults = [ntf.name] + defaults
+            cmd.extend(['--speedup', str(speedup)])
         if sim_rate_hz is not None:
             cmd.extend(['--rate', str(sim_rate_hz)])
         if unhide_parameters:
@@ -537,8 +543,13 @@ def start_SITL(binary,
         if enable_fgview_output:
             cmd.append("--enable-fgview")
 
-    if len(defaults):
-        cmd.extend(['--defaults', ",".join(defaults)])
+    if defaults_filepath is not None:
+        if isinstance(defaults_filepath, list):
+            defaults = [reltopdir(path) for path in defaults_filepath]
+            if len(defaults):
+                cmd.extend(['--defaults', ",".join(defaults)])
+        else:
+            cmd.extend(['--defaults', reltopdir(defaults_filepath)])
 
     cmd.extend(customisations)
 

libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef.dat

@@ -115,14 +115,14 @@ PB12 CAN2_RX CAN2
 PB13 CAN2_TX CAN2
 
 # PWM
-PA9  TIM1_CH2  TIM1  PWM(1)  GPIO(50) BIDIR
-PA10 TIM1_CH3  TIM1  PWM(2)  GPIO(51) BIDIR
-PA15 TIM2_CH1  TIM2  PWM(3)  GPIO(52) BIDIR
-PB3  TIM2_CH2  TIM2  PWM(4)  GPIO(53) 
-PB0  TIM3_CH3  TIM3  PWM(5)  GPIO(54) BIDIR
+PA9  TIM1_CH2  TIM1  PWM(1)  GPIO(50)
+PA10 TIM1_CH3  TIM1  PWM(2)  GPIO(51)
+PA15 TIM2_CH1  TIM2  PWM(3)  GPIO(52)
+PB3  TIM2_CH2  TIM2  PWM(4)  GPIO(53)
+PB0  TIM3_CH3  TIM3  PWM(5)  GPIO(54)
 PB1  TIM3_CH4  TIM3  PWM(6)  GPIO(55)
 PB4  TIM3_CH1  TIM3  PWM(7)  GPIO(56)
-PB5  TIM3_CH2  TIM3  PWM(8)  GPIO(57) BIDIR
+PB5  TIM3_CH2  TIM3  PWM(8)  GPIO(57)
 PB6  TIM4_CH1  TIM4  PWM(9)  GPIO(58)
 PB7  TIM4_CH2  TIM4  PWM(10) GPIO(59)
 PB8  TIM16_CH1 TIM16 PWM(11) GPIO(60)

libraries/RC_Channel/RC_Channel.cpp

@@ -237,7 +237,6 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
     // @Values{Copter, Rover, Plane, Blimp}: 175:Camera Lens
     // @Values{Plane}: 176:Quadplane Fwd Throttle Override enable
     // @Values{Copter, Rover, Plane, Blimp}: 177:Mount LRF enable
-    // @Values{Copter}: 178:FlightMode Pause/Resume
     // @Values{Rover}: 201:Roll
     // @Values{Rover}: 202:Pitch
     // @Values{Rover}: 207:MainSail
@@ -674,9 +673,7 @@ void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos
     // not really aux functions:
     case AUX_FUNC::LOWEHEISER_THROTTLE:
         break;
-#if HAL_ADSB_ENABLED
     case AUX_FUNC::AVOID_ADSB:
-#endif
     case AUX_FUNC::AVOID_PROXIMITY:
     case AUX_FUNC::FENCE:
     case AUX_FUNC::GPS_DISABLE:
@@ -1341,11 +1338,9 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
         do_aux_function_mission_reset(ch_flag);
         break;
 
-#if HAL_ADSB_ENABLED
     case AUX_FUNC::AVOID_ADSB:
         do_aux_function_avoid_adsb(ch_flag);
         break;
-#endif
 
     case AUX_FUNC::FFT_NOTCH_TUNE:
         do_aux_function_fft_notch_tune(ch_flag);

libraries/RC_Channel/RC_Channel.h

@@ -250,7 +250,6 @@ class RC_Channel {
         CAMERA_LENS =        175, // camera lens selection
         VFWD_THR_OVERRIDE =  176, // force enabled VTOL forward throttle method
         MOUNT_LRF_ENABLE =   177,  // mount LRF enable/disable
-        FLIGHTMODE_PAUSE =   178,  // e.g. pause movement towards waypoint
 
 
         // inputs from 200 will eventually used to replace RCMAP