Merge branch 'ArduPilot:master' into master

ArduPilot · Dec 30, 2024 · 21e4d13 · 21e4d13
2 parents 331b58d + 8875479
commit 21e4d13
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diff --git a/.github/problem-matchers/Lua.json b/.github/problem-matchers/Lua.json
@@ -0,0 +1,32 @@
+{
+    "problemMatcher": [
+        {
+            "owner": "Luacheck-problem-matcher",
+            "fileLocation": [ "relative", "${GITHUB_WORKSPACE}" ],
+            "pattern": [
+                {
+                    "regexp": "^( *)(.+.lua):(\\d+):(\\d+): (.*)$",
+                    "file": 2,
+                    "line": 3,
+                    "column": 4,
+                    "message": 5
+                }
+            ]
+        },
+        {
+            "owner": "Lua-language-server-problem-matcher",
+            "pattern": [
+                {
+                    "regexp": "^(.+.lua):(\\d+):(\\d+)",
+                    "file": 1,
+                    "line": 2,
+                    "column": 3
+                },
+                {
+                    "regexp": "^(.*)",
+                    "message": 1
+                }
+            ]
+        }
+    ]
+}
diff --git a/.github/workflows/test_scripting.yml b/.github/workflows/test_scripting.yml
@@ -29,6 +29,9 @@ jobs:
         with:
           submodules: 'recursive'
 
+      - name: Register lua problem matcher
+        run: echo "::add-matcher::.github/problem-matchers/Lua.json"
+
       - name: Lua Linter
         shell: bash
         run: |

diff --git a/AntennaTracker/GCS_Mavlink.cpp → AntennaTracker/GCS_MAVLink_Tracker.cpp b/AntennaTracker/GCS_Mavlink.cpp → AntennaTracker/GCS_MAVLink_Tracker.cpp
@@ -1,4 +1,4 @@
-#include "GCS_Mavlink.h"
+#include "GCS_MAVLink_Tracker.h"
 #include "Tracker.h"
 
 MAV_TYPE GCS_Tracker::frame_type() const

diff --git a/AntennaTracker/GCS_Mavlink.h → AntennaTracker/GCS_MAVLink_Tracker.h b/AntennaTracker/GCS_Mavlink.h → AntennaTracker/GCS_MAVLink_Tracker.h
diff --git a/AntennaTracker/GCS_Tracker.h b/AntennaTracker/GCS_Tracker.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <GCS_MAVLink/GCS.h>
-#include "GCS_Mavlink.h"
+#include "GCS_MAVLink_Tracker.h"
 
 class GCS_Tracker : public GCS
 {

diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
@@ -222,42 +222,42 @@ const AP_Param::Info Tracker::var_info[] = {
     GOBJECT(scheduler, "SCHED_", AP_Scheduler),
 
     // @Group: SR0_
-    // @Path: GCS_Mavlink.cpp
+    // @Path: GCS_MAVLink_Tracker.cpp
     GOBJECTN(_gcs.chan_parameters[0], gcs0,        "SR0_",     GCS_MAVLINK_Parameters),
 
 #if MAVLINK_COMM_NUM_BUFFERS >= 2
     // @Group: SR1_
-    // @Path: GCS_Mavlink.cpp
+    // @Path: GCS_MAVLink_Tracker.cpp
     GOBJECTN(_gcs.chan_parameters[1],  gcs1,       "SR1_",     GCS_MAVLINK_Parameters),
 #endif
 
 #if MAVLINK_COMM_NUM_BUFFERS >= 3
     // @Group: SR2_
-    // @Path: GCS_Mavlink.cpp
+    // @Path: GCS_MAVLink_Tracker.cpp
     GOBJECTN(_gcs.chan_parameters[2],  gcs2,       "SR2_",     GCS_MAVLINK_Parameters),
 #endif
 
 #if MAVLINK_COMM_NUM_BUFFERS >= 4
     // @Group: SR3_
-    // @Path: GCS_Mavlink.cpp
+    // @Path: GCS_MAVLink_Tracker.cpp
     GOBJECTN(_gcs.chan_parameters[3],  gcs3,       "SR3_",     GCS_MAVLINK_Parameters),
 #endif
 
 #if MAVLINK_COMM_NUM_BUFFERS >= 5
     // @Group: SR4_
-    // @Path: GCS_Mavlink.cpp
+    // @Path: GCS_MAVLink_Tracker.cpp
     GOBJECTN(_gcs.chan_parameters[4],  gcs4,       "SR4_",     GCS_MAVLINK_Parameters),
 #endif
 
 #if MAVLINK_COMM_NUM_BUFFERS >= 6
     // @Group: SR5_
-    // @Path: GCS_Mavlink.cpp
+    // @Path: GCS_MAVLink_Tracker.cpp
     GOBJECTN(_gcs.chan_parameters[5],  gcs5,       "SR5_",     GCS_MAVLINK_Parameters),
 #endif
 
 #if MAVLINK_COMM_NUM_BUFFERS >= 7
     // @Group: SR6_
-    // @Path: GCS_Mavlink.cpp
+    // @Path: GCS_MAVLink_Tracker.cpp
     GOBJECTN(_gcs.chan_parameters[6],  gcs6,       "SR6_",     GCS_MAVLINK_Parameters),
 #endif
 

diff --git a/AntennaTracker/RC_Channel.cpp → AntennaTracker/RC_Channel_Tracker.cpp b/AntennaTracker/RC_Channel.cpp → AntennaTracker/RC_Channel_Tracker.cpp
@@ -1,6 +1,6 @@
 #include "Tracker.h"
 
-#include "RC_Channel.h"
+#include "RC_Channel_Tracker.h"
 
 // defining these two macros and including the RC_Channels_VarInfo
 // header defines the parameter information common to all vehicle

diff --git a/AntennaTracker/RC_Channel.h → AntennaTracker/RC_Channel_Tracker.h b/AntennaTracker/RC_Channel.h → AntennaTracker/RC_Channel_Tracker.h
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
@@ -46,9 +46,9 @@
 #include "config.h"
 #include "defines.h"
 
-#include "RC_Channel.h"
+#include "RC_Channel_Tracker.h"
 #include "Parameters.h"
-#include "GCS_Mavlink.h"
+#include "GCS_MAVLink_Tracker.h"
 #include "GCS_Tracker.h"
 
 #include "AP_Arming.h"

diff --git a/AntennaTracker/mode.h b/AntennaTracker/mode.h
@@ -13,6 +13,7 @@ class Mode {
         GUIDED=4,
         AUTO=10,
         INITIALISING=16
+        // Mode number 30 reserved for "offboard" for external/lua control.
     };
 
     Mode() {}

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
@@ -87,9 +87,9 @@
  #include <AC_Autorotation/AC_Autorotation.h> // Autorotation controllers
 #endif
 
-#include "RC_Channel.h"         // RC Channel Library
+#include "RC_Channel_Copter.h"         // RC Channel Library
 
-#include "GCS_Mavlink.h"
+#include "GCS_MAVLink_Copter.h"
 #include "GCS_Copter.h"
 #include "AP_Rally.h"           // Rally point library
 #include "AP_Arming.h"

diff --git a/ArduCopter/GCS_Copter.h b/ArduCopter/GCS_Copter.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <GCS_MAVLink/GCS.h>
-#include "GCS_Mavlink.h"
+#include "GCS_MAVLink_Copter.h"
 
 class GCS_Copter : public GCS
 {

diff --git a/ArduCopter/GCS_Mavlink.cpp → ArduCopter/GCS_MAVLink_Copter.cpp b/ArduCopter/GCS_Mavlink.cpp → ArduCopter/GCS_MAVLink_Copter.cpp
@@ -1,6 +1,6 @@
 #include "Copter.h"
 
-#include "GCS_Mavlink.h"
+#include "GCS_MAVLink_Copter.h"
 #include <AP_RPM/AP_RPM_config.h>
 #include <AP_EFI/AP_EFI_config.h>
 

diff --git a/ArduCopter/GCS_Mavlink.h → ArduCopter/GCS_MAVLink_Copter.h b/ArduCopter/GCS_Mavlink.h → ArduCopter/GCS_MAVLink_Copter.h
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -503,42 +503,42 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECTPTR(pos_control, "PSC", AC_PosControl),
 
     // @Group: SR0_
-    // @Path: GCS_Mavlink.cpp
+    // @Path: GCS_MAVLink_Copter.cpp
     GOBJECTN(_gcs.chan_parameters[0],  gcs0,       "SR0_",     GCS_MAVLINK_Parameters),
 
 #if MAVLINK_COMM_NUM_BUFFERS >= 2
     // @Group: SR1_
-    // @Path: GCS_Mavlink.cpp
+    // @Path: GCS_MAVLink_Copter.cpp
     GOBJECTN(_gcs.chan_parameters[1],  gcs1,       "SR1_",     GCS_MAVLINK_Parameters),
 #endif
 
 #if MAVLINK_COMM_NUM_BUFFERS >= 3
     // @Group: SR2_
-    // @Path: GCS_Mavlink.cpp
+    // @Path: GCS_MAVLink_Copter.cpp
     GOBJECTN(_gcs.chan_parameters[2],  gcs2,       "SR2_",     GCS_MAVLINK_Parameters),
 #endif
 
 #if MAVLINK_COMM_NUM_BUFFERS >= 4
     // @Group: SR3_
-    // @Path: GCS_Mavlink.cpp
+    // @Path: GCS_MAVLink_Copter.cpp
     GOBJECTN(_gcs.chan_parameters[3],  gcs3,       "SR3_",     GCS_MAVLINK_Parameters),
 #endif
 
 #if MAVLINK_COMM_NUM_BUFFERS >= 5
     // @Group: SR4_
-    // @Path: GCS_Mavlink.cpp
+    // @Path: GCS_MAVLink_Copter.cpp
     GOBJECTN(_gcs.chan_parameters[4],  gcs4,       "SR4_",     GCS_MAVLINK_Parameters),
 #endif
 
 #if MAVLINK_COMM_NUM_BUFFERS >= 6
     // @Group: SR5_
-    // @Path: GCS_Mavlink.cpp
+    // @Path: GCS_MAVLink_Copter.cpp
     GOBJECTN(_gcs.chan_parameters[5],  gcs5,       "SR5_",     GCS_MAVLINK_Parameters),
 #endif
 
 #if MAVLINK_COMM_NUM_BUFFERS >= 7
     // @Group: SR6_
-    // @Path: GCS_Mavlink.cpp
+    // @Path: GCS_MAVLink_Copter.cpp
     GOBJECTN(_gcs.chan_parameters[6],  gcs6,       "SR6_",     GCS_MAVLINK_Parameters),
 #endif
 

diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
@@ -3,7 +3,7 @@
 #define AP_PARAM_VEHICLE_NAME copter
 
 #include <AP_Common/AP_Common.h>
-#include "RC_Channel.h"
+#include "RC_Channel_Copter.h"
 #include <AP_Proximity/AP_Proximity.h>
 
 #if MODE_FOLLOW_ENABLED

diff --git a/ArduCopter/RC_Channel.cpp → ArduCopter/RC_Channel_Copter.cpp b/ArduCopter/RC_Channel.cpp → ArduCopter/RC_Channel_Copter.cpp
@@ -1,6 +1,6 @@
 #include "Copter.h"
 
-#include "RC_Channel.h"
+#include "RC_Channel_Copter.h"
 
 
 // defining these two macros and including the RC_Channels_VarInfo header defines the parameter information common to all vehicle types
@@ -140,7 +140,7 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi
     case AUX_FUNC::CUSTOM_CONTROLLER:
     case AUX_FUNC::WEATHER_VANE_ENABLE:
     case AUX_FUNC::TRANSMITTER_TUNING:
-        run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
+        run_aux_function(ch_option, ch_flag, AuxFuncTrigger::Source::INIT, ch_in);
         break;
     default:
         RC_Channel::init_aux_function(ch_option, ch_flag);
@@ -169,8 +169,11 @@ void RC_Channel_Copter::do_aux_function_change_mode(const Mode::Number mode,
 }
 
 // do_aux_function - implement the function invoked by auxiliary switches
-bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel_Copter::do_aux_function(const AuxFuncTrigger &trigger)
 {
+    const AUX_FUNC &ch_option = trigger.func;
+    const AuxSwitchPos &ch_flag = trigger.pos;
+
     switch(ch_option) {
         case AUX_FUNC::FLIP:
             // flip if switch is on, positive throttle and we're actually flying
@@ -668,7 +671,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
         break;
 
     default:
-        return RC_Channel::do_aux_function(ch_option, ch_flag);
+        return RC_Channel::do_aux_function(trigger);
     }
     return true;
 }

diff --git a/ArduCopter/RC_Channel.h → ArduCopter/RC_Channel_Copter.h b/ArduCopter/RC_Channel.h → ArduCopter/RC_Channel_Copter.h
@@ -12,7 +12,7 @@ class RC_Channel_Copter : public RC_Channel
 protected:
 
     void init_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
-    bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
+    bool do_aux_function(const AuxFuncTrigger &trigger) override;
 
 private:
 

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -101,6 +101,8 @@ class Mode {
         AUTO_RTL =     27,  // Auto RTL, this is not a true mode, AUTO will report as this mode if entered to perform a DO_LAND_START Landing sequence
         TURTLE =       28,  // Flip over after crash
 
+        // Mode number 30 reserved for "offboard" for external/lua control.
+
         // Mode number 127 reserved for the "drone show mode" in the Skybrush
         // fork at https://github.com/skybrush-io/ardupilot
     };