hwdef.dat:New hardware description file added for BetaflightF4 target

AntennaTracker/GCS_Mavlink.cpp

@@ -276,10 +276,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
 #endif
     MSG_MEMINFO,
     MSG_NAV_CONTROLLER_OUTPUT,
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     MSG_GPS_RAW,
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     MSG_GPS_RTK,
-#if GPS_MAX_RECEIVERS > 1
+#endif
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
     MSG_GPS2_RAW,
+#endif
+#if AP_GPS_GPS2_RTK_SENDING_ENABLED
     MSG_GPS2_RTK,
 #endif
 };
@@ -315,7 +321,8 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
     MSG_BATTERY_STATUS,
 };
 static const ap_message STREAM_PARAMS_msgs[] = {
-    MSG_NEXT_PARAM
+    MSG_NEXT_PARAM,
+    MSG_AVAILABLE_MODES
 };
 
 const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
@@ -643,3 +650,43 @@ void GCS_MAVLINK_Tracker::send_global_position_int()
         0,                        // Z speed cm/s (+ve Down)
         tracker.ahrs.yaw_sensor); // compass heading in 1/100 degree
 }
+
+// Send the mode with the given index (not mode number!) return the total number of modes
+// Index starts at 1
+uint8_t GCS_MAVLINK_Tracker::send_available_mode(uint8_t index) const
+{
+    const Mode* modes[] {
+        &tracker.mode_manual,
+        &tracker.mode_stop,
+        &tracker.mode_scan,
+        &tracker.mode_guided,
+        &tracker.mode_servotest,
+        &tracker.mode_auto,
+        &tracker.mode_initialising,
+    };
+
+    const uint8_t mode_count = ARRAY_SIZE(modes);
+
+    // Convert to zero indexed
+    const uint8_t index_zero = index - 1;
+    if (index_zero >= mode_count) {
+        // Mode does not exist!?
+        return mode_count;
+    }
+
+    // Ask the mode for its name and number
+    const char* name = modes[index_zero]->name();
+    const uint8_t mode_number = (uint8_t)modes[index_zero]->number();
+
+    mavlink_msg_available_modes_send(
+        chan,
+        mode_count,
+        index,
+        MAV_STANDARD_MODE::MAV_STANDARD_MODE_NON_STANDARD,
+        mode_number,
+        0, // MAV_MODE_PROPERTY bitmask
+        name
+    );
+
+    return mode_count;
+}

AntennaTracker/GCS_Mavlink.h

@@ -30,6 +30,10 @@ class GCS_MAVLINK_Tracker : public GCS_MAVLINK
     void send_nav_controller_output() const override;
     void send_pid_tuning() override;
 
+    // Send the mode with the given index (not mode number!) return the total number of modes
+    // Index starts at 1
+    uint8_t send_available_mode(uint8_t index) const override;
+
 private:
 
     void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;

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();

AntennaTracker/mode.h

@@ -22,6 +22,7 @@ class Mode {
 
     // returns a unique number specific to this mode
     virtual Mode::Number number() const = 0;
+    virtual const char* name() const = 0;
 
     virtual bool requires_armed_servos() const = 0;
 
@@ -41,13 +42,15 @@ class Mode {
 class ModeAuto : public Mode {
 public:
     Mode::Number number() const override { return Mode::Number::AUTO; }
+    const char* name() const override { return "Auto"; }
     bool requires_armed_servos() const override { return true; }
     void update() override;
 };
 
 class ModeGuided : public Mode {
 public:
     Mode::Number number() const override { return Mode::Number::GUIDED; }
+    const char* name() const override { return "Guided"; }
     bool requires_armed_servos() const override { return true; }
     void update() override;
 
@@ -66,27 +69,31 @@ class ModeGuided : public Mode {
 class ModeInitialising : public Mode {
 public:
     Mode::Number number() const override { return Mode::Number::INITIALISING; }
+    const char* name() const override { return "Initialising"; }
     bool requires_armed_servos() const override { return false; }
     void update() override {};
 };
 
 class ModeManual : public Mode {
 public:
     Mode::Number number() const override { return Mode::Number::MANUAL; }
+    const char* name() const override { return "Manual"; }
     bool requires_armed_servos() const override { return true; }
     void update() override;
 };
 
 class ModeScan : public Mode {
 public:
     Mode::Number number() const override { return Mode::Number::SCAN; }
+    const char* name() const override { return "Scan"; }
     bool requires_armed_servos() const override { return true; }
     void update() override;
 };
 
 class ModeServoTest : public Mode {
 public:
     Mode::Number number() const override { return Mode::Number::SERVOTEST; }
+    const char* name() const override { return "ServoTest"; }
     bool requires_armed_servos() const override { return true; }
     void update() override {};
 
@@ -96,6 +103,7 @@ class ModeServoTest : public Mode {
 class ModeStop : public Mode {
 public:
     Mode::Number number() const override { return Mode::Number::STOP; }
+    const char* name() const override { return "Stop"; }
     bool requires_armed_servos() const override { return false; }
     void update() override {};
 };

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);

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)

ArduCopter/AP_Arming.cpp

@@ -1,7 +1,7 @@
 #include "Copter.h"
 
 #pragma GCC diagnostic push
-#if defined(__clang__)
+#if defined(__clang_major__) && __clang_major__ >= 14
 #pragma GCC diagnostic ignored "-Wbitwise-instead-of-logical"
 #endif
 

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
@@ -727,7 +727,7 @@ 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

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;
@@ -804,7 +804,7 @@ 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
 

ArduCopter/GCS_Mavlink.cpp

@@ -505,10 +505,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
 #endif
     MSG_MEMINFO,
     MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     MSG_GPS_RAW,
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     MSG_GPS_RTK,
-#if GPS_MAX_RECEIVERS > 1
+#endif
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
     MSG_GPS2_RAW,
+#endif
+#if AP_GPS_GPS2_RTK_SENDING_ENABLED
     MSG_GPS2_RTK,
 #endif
     MSG_NAV_CONTROLLER_OUTPUT,
@@ -583,7 +589,8 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
 #endif
 };
 static const ap_message STREAM_PARAMS_msgs[] = {
-    MSG_NEXT_PARAM
+    MSG_NEXT_PARAM,
+    MSG_AVAILABLE_MODES
 };
 static const ap_message STREAM_ADSB_msgs[] = {
     MSG_ADSB_VEHICLE,
@@ -1519,7 +1526,7 @@ 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;
     }
@@ -1657,3 +1664,120 @@ uint8_t GCS_MAVLINK_Copter::high_latency_wind_direction() const
     return 0;
 }
 #endif // HAL_HIGH_LATENCY2_ENABLED
+
+// Send the mode with the given index (not mode number!) return the total number of modes
+// Index starts at 1
+uint8_t GCS_MAVLINK_Copter::send_available_mode(uint8_t index) const
+{
+    const Mode* modes[] {
+#if MODE_AUTO_ENABLED
+        &copter.mode_auto, // This auto is actually auto RTL!
+        &copter.mode_auto, // This one is really is auto!
+#endif
+#if MODE_ACRO_ENABLED
+        &copter.mode_acro,
+#endif
+        &copter.mode_stabilize,
+        &copter.mode_althold,
+#if MODE_CIRCLE_ENABLED
+        &copter.mode_circle,
+#endif
+#if MODE_LOITER_ENABLED
+        &copter.mode_loiter,
+#endif
+#if MODE_GUIDED_ENABLED
+        &copter.mode_guided,
+#endif
+        &copter.mode_land,
+#if MODE_RTL_ENABLED
+        &copter.mode_rtl,
+#endif
+#if MODE_DRIFT_ENABLED
+        &copter.mode_drift,
+#endif
+#if MODE_SPORT_ENABLED
+        &copter.mode_sport,
+#endif
+#if MODE_FLIP_ENABLED
+        &copter.mode_flip,
+#endif
+#if AUTOTUNE_ENABLED
+        &copter.mode_autotune,
+#endif
+#if MODE_POSHOLD_ENABLED
+        &copter.mode_poshold,
+#endif
+#if MODE_BRAKE_ENABLED
+        &copter.mode_brake,
+#endif
+#if MODE_THROW_ENABLED
+        &copter.mode_throw,
+#endif
+#if HAL_ADSB_ENABLED
+        &copter.mode_avoid_adsb,
+#endif
+#if MODE_GUIDED_NOGPS_ENABLED
+        &copter.mode_guided_nogps,
+#endif
+#if MODE_SMARTRTL_ENABLED
+        &copter.mode_smartrtl,
+#endif
+#if MODE_FLOWHOLD_ENABLED
+        (Mode*)copter.g2.mode_flowhold_ptr,
+#endif
+#if MODE_FOLLOW_ENABLED
+        &copter.mode_follow,
+#endif
+#if MODE_ZIGZAG_ENABLED
+        &copter.mode_zigzag,
+#endif
+#if MODE_SYSTEMID_ENABLED
+        (Mode *)copter.g2.mode_systemid_ptr,
+#endif
+#if MODE_AUTOROTATE_ENABLED
+        &copter.mode_autorotate,
+#endif
+#if MODE_TURTLE_ENABLED
+        &copter.mode_turtle,
+#endif
+    };
+
+    const uint8_t mode_count = ARRAY_SIZE(modes);
+
+    // Convert to zero indexed
+    const uint8_t index_zero = index - 1;
+    if (index_zero >= mode_count) {
+        // Mode does not exist!?
+        return mode_count;
+    }
+
+    // Ask the mode for its name and number
+    const char* name = modes[index_zero]->name();
+    uint8_t mode_number = (uint8_t)modes[index_zero]->mode_number();
+
+#if MODE_AUTO_ENABLED
+    // Auto RTL is odd
+    // Have to deal with is separately becase its number and name can change depending on if were in it or not
+    if (index_zero == 0) {
+        mode_number = (uint8_t)Mode::Number::AUTO_RTL;
+        name = "AUTO RTL";
+
+    } else if (index_zero == 1) {
+        mode_number = (uint8_t)Mode::Number::AUTO;
+        name = "AUTO";
+
+    }
+#endif
+
+    mavlink_msg_available_modes_send(
+        chan,
+        mode_count,
+        index,
+        MAV_STANDARD_MODE::MAV_STANDARD_MODE_NON_STANDARD,
+        mode_number,
+        0, // MAV_MODE_PROPERTY bitmask
+        name
+    );
+
+    return mode_count;
+}

ArduCopter/GCS_Mavlink.h

@@ -64,6 +64,10 @@ class GCS_MAVLINK_Copter : public GCS_MAVLINK
     uint32_t log_radio_bit() const override { return MASK_LOG_PM; }
 #endif
 
+    // Send the mode with the given index (not mode number!) return the total number of modes
+    // Index starts at 1
+    uint8_t send_available_mode(uint8_t index) const override;
+
 private:
 
     // sanity check velocity or acceleration vector components are numbers