Merge branch 'ArduPilot:master' into pr-fix-qurt-spi-transfer

ArduPilot · Nov 14, 2024 · b11c723 · b11c723
2 parents bbef76f + f07df39
commit b11c723
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Showing 6 changed files with 1,282 additions and 20 deletions.
diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
diff --git a/Rover/ReleaseNotes.txt b/Rover/ReleaseNotes.txt
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
@@ -9832,28 +9832,15 @@ def RefindGPS(self):
 
     def GPSForYaw(self):
         '''Moving baseline GPS yaw'''
-        self.context_push()
         self.load_default_params_file("copter-gps-for-yaw.parm")
         self.reboot_sitl()
-        ex = None
-        try:
-            self.wait_gps_fix_type_gte(6, message_type="GPS2_RAW", verbose=True)
-            m = self.assert_receive_message("GPS2_RAW")
-            self.progress(self.dump_message_verbose(m))
-            want = 27000
-            if abs(m.yaw - want) > 500:
-                raise NotAchievedException("Expected to get GPS-from-yaw (want %f got %f)" % (want, m.yaw))
-            self.wait_ready_to_arm()
-        except Exception as e:
-            self.print_exception_caught(e)
-            ex = e
 
-        self.context_pop()
-
-        self.reboot_sitl()
-
-        if ex is not None:
-            raise ex
+        self.wait_gps_fix_type_gte(6, message_type="GPS2_RAW", verbose=True)
+        m = self.assert_receive_message("GPS2_RAW", very_verbose=True)
+        want = 27000
+        if abs(m.yaw - want) > 500:
+            raise NotAchievedException("Expected to get GPS-from-yaw (want %f got %f)" % (want, m.yaw))
+        self.wait_ready_to_arm()
 
     def SMART_RTL_EnterLeave(self):
         '''check SmartRTL behaviour when entering/leaving'''

diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -632,15 +632,17 @@ bool AP_DDS_Client::update_topic(ardupilot_msgs_msg_Status& msg)
     msg.external_control = true; // Always true for now. To be filled after PR#28429.
     uint8_t fs_iter = 0;
     msg.failsafe_size = 0;
-    if (AP_Notify::flags.failsafe_radio) {
+    if (rc().in_rc_failsafe()) {
         msg.failsafe[fs_iter++] = FS_RADIO;
     }
     if (battery.has_failsafed()) {
         msg.failsafe[fs_iter++] = FS_BATTERY;
     }
+    // TODO: replace flag with function.
     if (AP_Notify::flags.failsafe_gcs) {
         msg.failsafe[fs_iter++] = FS_GCS;
     }
+    // TODO: replace flag with function.
     if (AP_Notify::flags.failsafe_ekf) {
         msg.failsafe[fs_iter++] = FS_EKF;
     }

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FoxeerF405v2/hwdef.dat
@@ -147,6 +147,7 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
 
 # Barometer setup
 BARO DPS310 I2C:0:0x76
+BARO BMP280 I2C:0:0x76
 
 # IMU setup