Tools: FX

Tools/ardupilotwaf/ardupilotwaf.py

@@ -37,6 +37,7 @@
     'AP_InertialSensor',
     'AP_Math',
     'AP_Mission',
+    'AP_Fallback_Mission',
     'AP_DAL',
     'AP_NavEKF',
     'AP_NavEKF2',

Tools/ardupilotwaf/boards.py

@@ -388,6 +388,20 @@ def configure_env(self, cfg, env):
             env.INCLUDES += [
                 cfg.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath()
             ]
+
+        env.AP_LIBRARIES += [
+            'modules/heatshrink/**/heatshrink_encoder.c'
+            ]
+
+        env.INCLUDES += [
+            cfg.srcnode.find_dir('modules/heatshrink').abspath()
+        ]
+
+        if cfg.options.fts:
+            cfg.msg('Configuring FTS variant', 'yes')
+            env.DEFINES.update(
+                FTS = 1,
+            )
 
         if cfg.options.build_dates:
             env.build_dates = True

Tools/autotest/arducopter.py

@@ -8240,8 +8240,8 @@ def tests1c(self):
              self.test_set_position_global_int),
 
             ("ThrowDoubleDrop",
-             "Test a more complicated drop-mode scenario",
-             self.ThrowDoubleDrop),
+            "Test a more complicated drop-mode scenario",
+            self.ThrowDoubleDrop),
 
             ("SetpointGlobalVel",
              "Test setpoint global velocity",
@@ -8512,6 +8512,20 @@ def tests2a(self):
              self.test_mag_calibration),
         ])
         return ret
+
+    def AHRSTrimLand(self):
+        '''test land detector with significant AHRS trim'''
+        self.context_push()
+        self.set_parameters({
+            "SIM_ACC_TRIM_X": 0.12,
+            "AHRS_TRIM_X": 0.12,
+        })
+        self.reboot_sitl()
+        self.wait_ready_to_arm()
+        self.takeoff(alt_min=20, mode='LOITER')
+        self.land_and_disarm()
+        self.context_pop()
+        self.reboot_sitl()
 
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
@@ -8659,6 +8673,10 @@ def tests2b(self):  # this block currently around 9.5mins here
             Test("LogUpload",
                  "Log upload",
                  self.log_upload),
+
+            Test("AHRSTrimLand",
+                 "test land detector with significant AHRS trim",
+                 self.AHRSTrimLand),
         ])
         return ret
 

Tools/autotest/default_params/copter-hexa-flyhawk.parm

@@ -0,0 +1,13 @@
+GPS_TYPE2		    1
+
+SIM_GPS2_DISABLE    0
+
+BRD_SAFETYENABLE    0
+FS_CRASH_CHECK      0
+BRAKE_ACCEL         200
+FS_THR_ENABLE       0
+FS_GCS_ENABLE       7
+ARMING_CHECK        5631
+LOG_DISARMED        1
+
+RC16_OPTION         31

Tools/autotest/default_params/copter-hexa-fts.parm

@@ -0,0 +1,18 @@
+GPS_TYPE2		    1
+
+SIM_GPS2_DISABLE    0
+
+LOG_DISARMED        1
+ARMING_CHECK        1049614
+FS_EKF_ACTION       0
+FS_CRASH_CHECK      0
+FS_THR_ENABLE       0
+FTS_ALT_MIN         0
+FTS_DELAY_MS        0
+FTS_ENABLED         1
+FTS_FLIP_CRT        60
+FTS_FLIP_TIME       250
+FTS_SINK_CRT        5
+FTS_SINK_TIME       250
+FTS_YAW_CRT         300
+FTS_YAW_TIME        250

Tools/autotest/default_params/copter-passenger.parm

@@ -0,0 +1,27 @@
+FRAME_CLASS     18
+ATC_ACCEL_P_MAX 100000
+ATC_ACCEL_R_MAX 100000
+ATC_ACCEL_Y_MAX 18000
+ATC_ANG_PIT_P   10
+ATC_ANG_RLL_P   10
+ATC_ANG_YAW_P   6.819923
+ATC_RAT_PIT_D   0.003066369
+ATC_RAT_PIT_I   0.3672593
+ATC_RAT_PIT_IMAX    0.5
+ATC_RAT_PIT_P   0.3672593
+ATC_RAT_RLL_D   0.002667568
+ATC_RAT_RLL_I   0.3180474
+ATC_RAT_RLL_IMAX    0.5
+ATC_RAT_RLL_P   0.3180474
+ATC_RAT_YAW_D   0
+ATC_RAT_YAW_FLTD    5
+ATC_RAT_YAW_I   0.06603496
+ATC_RAT_YAW_IMAX    0.25
+ATC_RAT_YAW_P   0.6603495
+ATC_RATE_FF_ENAB    1
+ATC_RATE_P_MAX  0
+ATC_RATE_R_MAX  0
+ATC_RATE_Y_MAX  0
+MOT_THST_EXPO   0
+MOT_THST_HOVER  0.4831406
+MOT_YAW_HEADROOM    300

Tools/autotest/pysim/vehicleinfo.py

@@ -63,6 +63,20 @@ def __init__(self):
                     "default_params/copter-hexa.parm",
                     "default_params/copter-hexa-dji.parm"
                 ],
+            },
+            "flyhawk": {
+                "make_target": "sitl",
+                "waf_target": "bin/arducopter",
+                "default_params_filename": ["default_params/copter.parm",
+                                            "default_params/copter-hexa.parm",
+                                            "default_params/copter-hexa-flyhawk.parm" ],
+            },
+            "passenger": {
+                "make_target": "sitl",
+                "waf_target": "bin/arducopter",
+                "default_params_filename": ["default_params/copter.parm",
+                                            "default_params/copter-passenger.parm",
+                                            "default_params/copter-hexa-fts.parm" ],
             },
              "octa-cwx": {
                 "waf_target": "bin/arducopter",

Tools/autotest/run_in_terminal_window.sh

@@ -45,10 +45,10 @@ elif [ -n "$STY" ]; then
   # We are running inside of screen, try to start it there
   screen -X screen -t "$name" $*
 else
-  filename="/tmp/$name.log"
-  echo "RiTW: Window access not found, logging to $filename"
   cmd="$1"
   shift
+  filename="/tmp/$name-$(basename $cmd).log"
+  echo "RiTW: Window access not found, logging to $filename"
 # the following "true" is to avoid bash optimising the following call
 # to avoid creating a subshell.  We need that subshell, or
 # _fdm_input_step sees ArduPilot has no parent and kills ArduPilot!