ArduPilot · tridge · Dec 12, 2024 · Nov 25, 2024 · Nov 25, 2024 · Nov 30, 2024
diff --git a/.github/workflows/test_environment.yml b/.github/workflows/test_environment.yml
@@ -32,8 +32,6 @@ jobs:
             name: focal
           - os: ubuntu
             name: jammy
-          - os: ubuntu
-            name: mantic
           - os: ubuntu
             name: noble
           - os: archlinux

diff --git a/.github/workflows/test_sitl_blimp.yml b/.github/workflows/test_sitl_blimp.yml
@@ -229,7 +229,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}

diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml
@@ -247,7 +247,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -343,7 +343,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}

diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
@@ -230,7 +230,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}

diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
@@ -244,7 +244,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}

diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml
@@ -244,7 +244,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}

diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml
@@ -230,7 +230,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}

diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
@@ -1,6 +1,53 @@
 Antenna Tracker Release Notes:
 ------------------------------------------------------------------
-Release 4.6.0-beta 13 Nov 2024
+Release 4.6.0-beta2 11 Dec 2024
+
+Changes from 4.6.0-beta1
+
+1) Board specfic changes
+
+- FoxeerF405v2 supports BMP280 baro
+- KakuteH7, H7-Mini, H7-Wing, F4 support SPA06 baro
+- MUPilot support
+- SkySakura H743 support
+- TBS Lucid H7 support
+- VUAV-V7pro README documentation fixed
+- X-MAV AP-H743v2 CAN pin definition fixed
+
+2) Copter specific enhancements and bug fixes
+
+- AutoTune fix for calc of maximum angular acceleration
+- Advanced Failsafe customer build server option
+
+3) Plane related enhancements and bug fixes
+
+- QuadPlane fix for QLand getting stuck in pilot repositioning
+- QuikTune C++ conversion (allow running quiktun on F4 and f7 boards)
+- Takeoff direction fixed when no yaw source
+- TECS correctly handles home altitude changes
+
+4) Bug Fixes and minor enhancements
+
+- AIRSPEED_AUTOCAL mavlink message only sent when required and fixed for 2nd sensor
+- CAN frame logging added to ease support
+- CRSF reconnection after failsafe fixed
+- EKF3 position and velocity resets default to user defined source
+- Ethernet IP address default 192.168.144.x
+- Fence autoenable fix when both RCn_OPTION=11/Fence and FENCE_AUTOENABLE = 3 (AutoEnableOnlyWhenArmed)
+- Fence pre-arm check that vehicle is within polygon fence
+- Fence handling of more than 256 items fixed
+- FFT protection against divide-by-zero in Jain estimator
+- Frsky telemetry apparent wind speed fixed
+- Inertial sensors stop sensor converging if motors arm
+- Inertial sensors check for changes to notch filters fixed
+- Real Time Clock allowed to shift forward when disarmed
+- ROS2/DDS get/set parameter service added
+- Scripting gets memory handling improvements
+- Scripting promote video-stream-information to applet
+- Topotek gimbal driver uses GIA message to retrieve current angle
+- Tramp VTX OSD power indicator fixed
+------------------------------------------------------------------
+Release 4.6.0-beta1 13 Nov 2024
 
 Changes from 4.5.7
 

diff --git a/AntennaTracker/Tracker.cpp b/AntennaTracker/Tracker.cpp
@@ -82,7 +82,7 @@ void Tracker::one_second_loop()
     mavlink_system.sysid = g.sysid_this_mav;
 
     // update assigned functions and enable auxiliary servos
-    SRV_Channels::enable_aux_servos();
+    AP::srv().enable_aux_servos();
 
     // updated armed/disarmed status LEDs
     update_armed_disarmed();

diff --git a/AntennaTracker/servos.cpp b/AntennaTracker/servos.cpp
@@ -8,7 +8,7 @@
 void Tracker::init_servos()
 {
     // update assigned functions and enable auxiliary servos
-    SRV_Channels::enable_aux_servos();
+    AP::srv().enable_aux_servos();
 
     SRV_Channels::set_default_function(CH_YAW, SRV_Channel::k_tracker_yaw);
     SRV_Channels::set_default_function(CH_PITCH, SRV_Channel::k_tracker_pitch);

diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.6.0-beta1"
+#define THISFIRMWARE "AntennaTracker V4.6.0-beta2"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_BETA+1
 
 #define FW_MAJOR 4
 #define FW_MINOR 6

diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
@@ -27,7 +27,7 @@
 // features below are disabled by default on all boards
 //#define CAL_ALWAYS_REBOOT                         // flight controller will reboot after compass or accelerometer calibration completes
 //#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE   // disable mode changes from GCS during Radio failsafes.  Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link
-//#define ADVANCED_FAILSAFE     1             // enabled advanced failsafe which allows running a portion of the mission in failsafe events
+//#define AP_COPTER_ADVANCED_FAILSAFE_ENABLED     1             // enabled advanced failsafe which allows running a portion of the mission in failsafe events
 
 // other settings
 //#define THROTTLE_IN_DEADBAND   100                // redefine size of throttle deadband in pwm (0 ~ 1000)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -232,7 +232,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if HAL_ADSB_ENABLED
     SCHED_TASK(avoidance_adsb_update, 10,    100, 138),
 #endif
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     SCHED_TASK(afs_fs_check,          10,    100, 141),
 #endif
 #if AP_TERRAIN_AVAILABLE
@@ -710,7 +710,7 @@ void Copter::one_hz_loop()
     }
 
     // update assigned functions and enable auxiliary servos
-    SRV_Channels::enable_aux_servos();
+    AP::srv().enable_aux_servos();
 
 #if HAL_LOGGING_ENABLED
     // log terrain data

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -137,7 +137,7 @@
  #include <AP_OSD/AP_OSD.h>
 #endif
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
  # include "afs_copter.h"
 #endif
 #if TOY_MODE_ENABLED
@@ -183,7 +183,7 @@ class Copter : public AP_Vehicle {
     friend class ParametersG2;
     friend class AP_Avoidance_Copter;
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     friend class AP_AdvancedFailsafe_Copter;
 #endif
     friend class AP_Arming_Copter;
@@ -802,7 +802,7 @@ class Copter : public AP_Vehicle {
     // failsafe.cpp
     void failsafe_enable();
     void failsafe_disable();
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     void afs_fs_check(void);
 #endif
 

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
@@ -1519,7 +1519,7 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
 }
 
 MAV_RESULT GCS_MAVLINK_Copter::handle_flight_termination(const mavlink_command_int_t &packet) {
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     if (GCS_MAVLINK::handle_flight_termination(packet) == MAV_RESULT_ACCEPTED) {
         return MAV_RESULT_ACCEPTED;
     }

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -771,7 +771,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("GND_EFFECT_COMP", 5, ParametersG2, gndeffect_comp_enabled, 1),
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     // @Group: AFS_
     // @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
     AP_SUBGROUPINFO(afs, "AFS_", 6, ParametersG2, AP_AdvancedFailsafe),
@@ -1251,7 +1251,7 @@ ParametersG2::ParametersG2(void)
 #if HAL_PROXIMITY_ENABLED
     , proximity()
 #endif
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     ,afs()
 #endif
 #if MODE_SMARTRTL_ENABLED

diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
@@ -530,8 +530,8 @@ class ParametersG2 {
 
     // whether to enforce acceptance of packets only from sysid_my_gcs
     AP_Int8 sysid_enforce;
-    
-#if ADVANCED_FAILSAFE
+
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
     // advanced failsafe library
     AP_AdvancedFailsafe_Copter afs;
 #endif

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,6 +1,53 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
-Release 4.6.0-beta 13 Nov 2024
+Release 4.6.0-beta2 11 Dec 2024
+
+Changes from 4.6.0-beta1
+
+1) Board specfic changes
+
+- FoxeerF405v2 supports BMP280 baro
+- KakuteH7, H7-Mini, H7-Wing, F4 support SPA06 baro
+- MUPilot support
+- SkySakura H743 support
+- TBS Lucid H7 support
+- VUAV-V7pro README documentation fixed
+- X-MAV AP-H743v2 CAN pin definition fixed
+
+2) Copter specific enhancements and bug fixes
+
+- AutoTune fix for calc of maximum angular acceleration
+- Advanced Failsafe customer build server option
+
+3) Plane related enhancements and bug fixes
+
+- QuadPlane fix for QLand getting stuck in pilot repositioning
+- QuikTune C++ conversion (allow running quiktun on F4 and f7 boards)
+- Takeoff direction fixed when no yaw source
+- TECS correctly handles home altitude changes
+
+4) Bug Fixes and minor enhancements
+
+- AIRSPEED_AUTOCAL mavlink message only sent when required and fixed for 2nd sensor
+- CAN frame logging added to ease support
+- CRSF reconnection after failsafe fixed
+- EKF3 position and velocity resets default to user defined source
+- Ethernet IP address default 192.168.144.x
+- Fence autoenable fix when both RCn_OPTION=11/Fence and FENCE_AUTOENABLE = 3 (AutoEnableOnlyWhenArmed)
+- Fence pre-arm check that vehicle is within polygon fence
+- Fence handling of more than 256 items fixed
+- FFT protection against divide-by-zero in Jain estimator
+- Frsky telemetry apparent wind speed fixed
+- Inertial sensors stop sensor converging if motors arm
+- Inertial sensors check for changes to notch filters fixed
+- Real Time Clock allowed to shift forward when disarmed
+- ROS2/DDS get/set parameter service added
+- Scripting gets memory handling improvements
+- Scripting promote video-stream-information to applet
+- Topotek gimbal driver uses GIA message to retrieve current angle
+- Tramp VTX OSD power indicator fixed
+------------------------------------------------------------------
+Release 4.6.0-beta1 13 Nov 2024
 
 Changes from 4.5.7
 

diff --git a/ArduCopter/afs_copter.cpp b/ArduCopter/afs_copter.cpp
@@ -4,7 +4,7 @@
 
 #include "Copter.h"
 
-#if ADVANCED_FAILSAFE
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
 
 /*
   setup radio_out values for all channels to termination values
@@ -63,4 +63,4 @@ AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Copter::afs_mode(void)
  {
     copter.set_mode(Mode::Number::AUTO,ModeReason::GCS_FAILSAFE);
  }
-#endif // ADVANCED_FAILSAFE
+#endif // AP_COPTER_ADVANCED_FAILSAFE_ENABLED
diff --git a/ArduCopter/afs_copter.h b/ArduCopter/afs_copter.h
@@ -18,7 +18,9 @@
   advanced failsafe support for copter
  */
 
-#if ADVANCED_FAILSAFE
+#include "config.h"
+
+#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED
 #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
 
 /*
@@ -44,5 +46,5 @@ class AP_AdvancedFailsafe_Copter : public AP_AdvancedFailsafe
     void set_mode_auto(void) override;
 };
 
-#endif // ADVANCED_FAILSAFE
+#endif // AP_COPTER_ADVANCED_FAILSAFE_ENABLED
 
diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp
@@ -146,9 +146,10 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
         read_radio();
 
         // pass through throttle to motors
-        SRV_Channels::cork();
+        auto &srv = AP::srv();
+        srv.cork();
         motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f);
-        SRV_Channels::push();
+        srv.push();
 
         // read some compass values
         compass.read();

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
@@ -574,8 +574,8 @@
 // Developer Items
 //
 
-#ifndef ADVANCED_FAILSAFE
-# define ADVANCED_FAILSAFE 0
+#ifndef AP_COPTER_ADVANCED_FAILSAFE_ENABLED
+# define AP_COPTER_ADVANCED_FAILSAFE_ENABLED 0
 #endif
 
 #ifndef CH_MODE_DEFAULT