Merge branch 'master' into master_JRE

AntennaTracker/GCS_Mavlink.cpp

@@ -279,8 +279,10 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_NAV_CONTROLLER_OUTPUT,
     MSG_GPS_RAW,
     MSG_GPS_RTK,
+#if GPS_MAX_RECEIVERS > 1
     MSG_GPS2_RAW,
     MSG_GPS2_RTK,
+#endif
 };
 static const ap_message STREAM_POSITION_msgs[] = {
     MSG_LOCATION,

ArduCopter/Copter.h

@@ -237,6 +237,8 @@ class Copter : public AP_Vehicle {
 
     friend class _AutoTakeoff;
 
+    friend class PayloadPlace;
+
     Copter(void);
 
 private:

ArduCopter/GCS_Mavlink.cpp

@@ -508,8 +508,10 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
     MSG_GPS_RAW,
     MSG_GPS_RTK,
+#if GPS_MAX_RECEIVERS > 1
     MSG_GPS2_RAW,
     MSG_GPS2_RTK,
+#endif
     MSG_NAV_CONTROLLER_OUTPUT,
 #if AP_FENCE_ENABLED
     MSG_FENCE_STATUS,
@@ -569,7 +571,9 @@ static const ap_message STREAM_PARAMS_msgs[] = {
 };
 static const ap_message STREAM_ADSB_msgs[] = {
     MSG_ADSB_VEHICLE,
+#if AP_AIS_ENABLED
     MSG_AIS_VESSEL,
+#endif
 };
 
 const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {

ArduCopter/autoyaw.cpp

@@ -154,9 +154,7 @@ void Mode::AutoYaw::set_roi(const Location &roi_location)
         auto_yaw.set_mode_to_default(false);
 #if HAL_MOUNT_ENABLED
         // switch off the camera tracking if enabled
-        if (copter.camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
-            copter.camera_mount.set_mode_to_default();
-        }
+        copter.camera_mount.clear_roi_target();
 #endif  // HAL_MOUNT_ENABLED
     } else {
 #if HAL_MOUNT_ENABLED

ArduCopter/config.h

@@ -638,3 +638,7 @@
 #ifndef AC_CUSTOMCONTROL_MULTI_ENABLED
 #define AC_CUSTOMCONTROL_MULTI_ENABLED FRAME_CONFIG == MULTICOPTER_FRAME && AP_CUSTOMCONTROL_ENABLED
 #endif
+
+#ifndef AC_PAYLOAD_PLACE_ENABLED
+#define AC_PAYLOAD_PLACE_ENABLED 1
+#endif

ArduCopter/defines.h

@@ -76,18 +76,6 @@ enum class AirMode {
     AIRMODE_ENABLED,
 };
 
-enum PayloadPlaceStateType {
-    PayloadPlaceStateType_FlyToLocation,
-    PayloadPlaceStateType_Descent_Start,
-    PayloadPlaceStateType_Descent,
-    PayloadPlaceStateType_Release,
-    PayloadPlaceStateType_Releasing,
-    PayloadPlaceStateType_Delay,
-    PayloadPlaceStateType_Ascent_Start,
-    PayloadPlaceStateType_Ascent,
-    PayloadPlaceStateType_Done,
-};
-
 // bit options for DEV_OPTIONS parameter
 enum DevOptions {
     DevOptionADSBMAVLink = 1,

ArduCopter/mode.cpp

@@ -25,6 +25,10 @@ Mode::Mode(void) :
     G_Dt(copter.G_Dt)
 { };
 
+#if AC_PAYLOAD_PLACE_ENABLED
+PayloadPlace Mode::payload_place;
+#endif
+
 // return the static controller object corresponding to supplied mode
 Mode *Copter::mode_from_mode_num(const Mode::Number mode)
 {

ArduCopter/mode.h

@@ -29,7 +29,41 @@ class _AutoTakeoff {
     Vector3p complete_pos;  // target takeoff position as offset from ekf origin in cm
 };
 
+#if AC_PAYLOAD_PLACE_ENABLED
+class PayloadPlace {
+public:
+    void run();
+    void start_descent();
+    bool verify();
+
+    enum class State : uint8_t {
+        FlyToLocation,
+        Descent_Start,
+        Descent,
+        Release,
+        Releasing,
+        Delay,
+        Ascent_Start,
+        Ascent,
+        Done,
+    };
+
+    // these are set by the Mission code:
+    State state = State::Descent_Start; // records state of payload place
+    float descent_max_cm;
+
+private:
+
+    uint32_t descent_established_time_ms; // milliseconds
+    uint32_t place_start_time_ms; // milliseconds
+    float descent_thrust_level;
+    float descent_start_altitude_cm;
+    float descent_speed_cms;
+};
+#endif
+
 class Mode {
+    friend class PayloadPlace;
 
 public:
 
@@ -167,6 +201,11 @@ class Mode {
         land_run_vertical_control(pause_descent);
     }
 
+#if AC_PAYLOAD_PLACE_ENABLED
+    // payload place flight behaviour:
+    static PayloadPlace payload_place;
+#endif
+
     // run normal or precision landing (if enabled)
     // pause_descent is true if vehicle should not descend
     void land_run_normal_or_precland(bool pause_descent = false);
@@ -432,10 +471,11 @@ class ModeAltHold : public Mode {
 
 };
 
-
 class ModeAuto : public Mode {
 
 public:
+    friend class PayloadPlace;  // in case wp_run is accidentally required
+
     // inherit constructor
     using Mode::Mode;
     Number mode_number() const override { return auto_RTL? Number::AUTO_RTL : Number::AUTO; }
@@ -461,7 +501,9 @@ class ModeAuto : public Mode {
         NAVGUIDED,
         LOITER,
         LOITER_TO_ALT,
+#if AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED && AC_PAYLOAD_PLACE_ENABLED
         NAV_PAYLOAD_PLACE,
+#endif
         NAV_SCRIPT_TIME,
         NAV_ATTITUDE_TIME,
     };
@@ -556,12 +598,6 @@ class ModeAuto : public Mode {
 
     Location loc_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc) const;
 
-    void payload_place_run();
-    bool payload_place_run_should_run();
-    void payload_place_run_hover();
-    void payload_place_run_descent();
-    void payload_place_run_release();
-
     SubMode _mode = SubMode::TAKEOFF;   // controls which auto controller is run
 
     bool shift_alt_to_current_alt(Location& target_loc) const;
@@ -649,16 +685,6 @@ class ModeAuto : public Mode {
     };
     State state = State::FlyToLocation;
 
-    struct {
-        PayloadPlaceStateType state = PayloadPlaceStateType_Descent_Start; // records state of payload place
-        uint32_t descent_established_time_ms; // milliseconds
-        uint32_t place_start_time_ms; // milliseconds
-        float descent_thrust_level;
-        float descent_start_altitude_cm;
-        float descent_speed_cms;
-        float descent_max_cm;
-    } nav_payload_place;
-
     bool waiting_to_start;  // true if waiting for vehicle to be armed or EKF origin before starting mission
 
     // True if we have entered AUTO to perform a DO_LAND_START landing sequence and we should report as AUTO RTL mode