Merge branch 'master' into RPM_filter_V2

Author: LupusTheCanine

.github/workflows/test_branch_conventions.yml

@@ -72,14 +72,23 @@ jobs:
             echo "✅ No fixup commits found in the PR branch."
           fi
 
-          # require a ":" to appear somewhere in each commit message:
+          # require a well-formed subsystem tag before ":" in each commit message:
           while IFS= read x; do
-            if ! [[ "$x" == *":"* ]] ; then
+            # strip leading hash from oneline format
+            subject="${x#* }"
+            # extract everything before the first colon
+            prefix="${subject%%:*}"
+            if [[ "$prefix" == "$subject" ]]; then
               echo "❌ Commit message ($x) missing subsystem tag on front.  Re-word your commit to reflect what subsystem it changes. E.g. 'AP_Compass: Added driver for XYZZY' (https://ardupilot.org/dev/docs/submitting-patches-back-to-master.html)"
               exit 1
             fi
+            # spaces and quotes are allowed to support Revert commits e.g. 'Revert "AP_Periph: ...'
+            if ! [[ "$prefix" =~ ^[A-Za-z0-9._/\ \"-]+$ ]]; then
+              echo "❌ Commit message ($x) has malformed subsystem tag '$prefix'.  The subsystem prefix must contain only letters, digits, dots, underscores, slashes, hyphens, spaces, and quotes. E.g. 'AP_Compass: Added driver for XYZZY' (https://ardupilot.org/dev/docs/submitting-patches-back-to-master.html)"
+              exit 1
+            fi
           done <<< $COMMITS
-          echo "✅ Commit messages have subsystem tags."
+          echo "✅ Commit messages have well-formed subsystem tags."
 
       - name: Lint changed markdown files
         shell: bash

.markdownlint-cli2.jsonc

@@ -10,7 +10,6 @@
     // Disable rules that are currently violated in the codebase
     // These can be re-enabled incrementally as files are fixed
     "MD001": false,  // Heading levels should only increment by one level at a time
-    "MD003": false,  // Heading style
     "MD012": false,  // Multiple consecutive blank lines
     "MD013": false,  // Line length
     "MD014": false,  // Dollar signs used before commands without showing output

ArduCopter/AP_ExternalControl_Copter.h

@@ -15,7 +15,7 @@ class AP_ExternalControl_Copter : public AP_ExternalControl
       Velocity is in earth frame, NED [m/s].
       Yaw is in earth frame, NED [rad/s].
      */
-    bool set_linear_velocity_and_yaw_rate(const Vector3f &linear_velocity, float yaw_rate_rads) override WARN_IF_UNUSED;
+    bool set_linear_velocity_and_yaw_rate(const Vector3f &linear_velocity_ned_ms, float yaw_rate_rads) override WARN_IF_UNUSED;
 
     /*
       Sets the target global position for a loiter point.

ArduCopter/Copter.cpp

@@ -963,13 +963,13 @@ bool Copter::get_wp_crosstrack_error_m(float &xtrack_error) const
 }
 
 // get the target earth-frame angular velocities in rad/s (Z-axis component used by some gimbals)
-bool Copter::get_rate_ef_targets(Vector3f& rate_ef_targets) const
+bool Copter::get_rate_ef_targets(Vector3f& rate_ef_targets_rads) const
 {
     // always returns zero vector if landed or disarmed
     if (copter.ap.land_complete) {
-        rate_ef_targets.zero();
+        rate_ef_targets_rads.zero();
     } else {
-        rate_ef_targets = attitude_control->get_rate_ef_targets();
+        rate_ef_targets_rads = attitude_control->get_rate_ef_target_rads();
     }
     return true;
 }

ArduCopter/Copter.h

@@ -678,11 +678,11 @@ class Copter : public AP_Vehicle {
 #if MODE_GUIDED_ENABLED
     bool get_target_location(Location& target_loc) override;
     bool update_target_location(const Location &old_loc, const Location &new_loc) override;
-    bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool is_terrain_alt) override;
-    bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) override;
-    bool set_target_posvelaccel_NED(const Vector3f& target_pos, const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) override;
-    bool set_target_velocity_NED(const Vector3f& vel_ned, bool align_yaw_to_target) override;
-    bool set_target_velaccel_NED(const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool relative_yaw) override;
+    bool set_target_pos_NED(const Vector3f& target_pos_ned_m, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool is_terrain_alt) override;
+    bool set_target_posvel_NED(const Vector3f& target_pos_ned_m, const Vector3f& target_vel_ned_ms) override;
+    bool set_target_posvelaccel_NED(const Vector3f& target_pos_ned_m, const Vector3f& target_vel_ned_ms, const Vector3f& target_accel_ned_mss, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) override;
+    bool set_target_velocity_NED(const Vector3f& vel_ned_ms, bool align_yaw_to_target) override;
+    bool set_target_velaccel_NED(const Vector3f& target_vel_ned_ms, const Vector3f& target_accel_ned_mss, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool relative_yaw) override;
     bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) override;
     bool set_target_rate_and_throttle(float roll_rate_dps, float pitch_rate_dps, float yaw_rate_dps, float throttle) override;
     bool set_target_angle_and_rate_and_throttle(float roll_deg, float pitch_deg, float yaw_deg, float roll_rate_degs, float pitch_rate_degs, float yaw_rate_degs, float throttle) override;
@@ -694,7 +694,7 @@ class Copter : public AP_Vehicle {
     bool get_circle_radius(float &radius_m) override;
     bool set_circle_rate(float rate_dps) override;
 #endif
-    bool set_desired_speed(float speed) override;
+    bool set_desired_speed(float speed_ms) override;
 #if MODE_AUTO_ENABLED
     bool nav_scripting_enable(uint8_t mode) override;
     bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4) override;
@@ -722,7 +722,7 @@ class Copter : public AP_Vehicle {
     bool get_wp_distance_m(float &distance) const override;
     bool get_wp_bearing_deg(float &bearing) const override;
     bool get_wp_crosstrack_error_m(float &xtrack_error) const override;
-    bool get_rate_ef_targets(Vector3f& rate_ef_targets) const override;
+    bool get_rate_ef_targets(Vector3f& rate_ef_targets_rads) const override;
 
     // Attitude.cpp
     void update_throttle_hover();
@@ -910,9 +910,9 @@ class Copter : public AP_Vehicle {
     void Log_Write_PTUN(uint8_t param, float tuning_val, float tune_min, float tune_max, float norm_in);
     void Log_Video_Stabilisation();
     void Log_Write_Guided_Position_Target(ModeGuided::SubMode submode, const Vector3p& pos_target_ned_m, bool is_terrain_alt, const Vector3f& vel_target_ms, const Vector3f& accel_target_mss);
-    void Log_Write_Guided_Attitude_Target(ModeGuided::SubMode submode, float roll, float pitch, float yaw, const Vector3f &ang_vel, float thrust, float climb_rate);
+    void Log_Write_Guided_Attitude_Target(ModeGuided::SubMode submode, float roll_rad, float pitch_rad, float yaw_rad, const Vector3f &ang_vel_rads, float thrust, float climb_rate_ms);
     void Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out);
-    void Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z);
+    void Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq_hz, float angle_x_degs, float angle_y_degs, float angle_z_degs, float accel_x_mss, float accel_y_mss, float accel_z_mss);
     void Log_Write_Vehicle_Startup_Messages();
     void Log_Write_Rate_Thread_Dt(float dt, float dtAvg, float dtMax, float dtMin);
 #endif  // HAL_LOGGING_ENABLED

ArduCopter/Log.cpp

@@ -19,8 +19,8 @@ struct PACKED log_Control_Tuning {
     float    desired_rangefinder_alt;
     float    rangefinder_alt;
     float    terr_alt;
-    int16_t  target_climb_rate;
-    int16_t  climb_rate;
+    int16_t  target_climb_rate_cms;
+    int16_t  climb_rate_cms;
 };
 
 // Write a control tuning packet
@@ -52,23 +52,23 @@ void Copter::Log_Write_Control_Tuning()
 
     struct log_Control_Tuning pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CONTROL_TUNING_MSG),
-        time_us             : AP_HAL::micros64(),
-        throttle_in         : attitude_control->get_throttle_in(),
-        angle_boost         : attitude_control->angle_boost(),
-        throttle_out        : motors->get_throttle(),
-        throttle_hover      : motors->get_throttle_hover(),
-        desired_alt         : des_alt_m,
-        inav_alt            : float(pos_control->get_pos_estimate_U_m()),
-        baro_alt            : baro_alt_m,
+        time_us                 : AP_HAL::micros64(),
+        throttle_in             : attitude_control->get_throttle_in(),
+        angle_boost             : attitude_control->angle_boost(),
+        throttle_out            : motors->get_throttle(),
+        throttle_hover          : motors->get_throttle_hover(),
+        desired_alt             : des_alt_m,
+        inav_alt                : float(pos_control->get_pos_estimate_U_m()),
+        baro_alt                : baro_alt_m,
         desired_rangefinder_alt : desired_rangefinder_alt_m,
 #if AP_RANGEFINDER_ENABLED
-        rangefinder_alt     : surface_tracking.get_dist_for_logging(),
+        rangefinder_alt         : surface_tracking.get_dist_for_logging(),
 #else
-        rangefinder_alt     : AP_Logger::quiet_nanf(),
+        rangefinder_alt         : AP_Logger::quiet_nanf(),
 #endif
-        terr_alt            : terr_alt,
-        target_climb_rate   : int16_t(target_climb_rate_ms * 100.0),
-        climb_rate          : int16_t(pos_control->get_vel_estimate_U_ms() * 100.0) // float -> int16_t
+        terr_alt                : terr_alt,
+        target_climb_rate_cms   : int16_t(target_climb_rate_ms * 100.0),
+        climb_rate_cms          : int16_t(pos_control->get_vel_estimate_U_ms() * 100.0) // float -> int16_t
     };
     logger.WriteBlock(&pkt, sizeof(pkt));
 }
@@ -251,31 +251,31 @@ struct PACKED log_SysIdD {
     uint64_t time_us;
     float    waveform_time;
     float    waveform_sample;
-    float    waveform_freq;
-    float    angle_x;
-    float    angle_y;
-    float    angle_z;
-    float    accel_x;
-    float    accel_y;
-    float    accel_z;
+    float    waveform_freq_hz;
+    float    angle_x_degs;
+    float    angle_y_degs;
+    float    angle_z_degs;
+    float    accel_x_mss;
+    float    accel_y_mss;
+    float    accel_z_mss;
 };
 
 // Write an rate packet
-void Copter::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq, float angle_x, float angle_y, float angle_z, float accel_x, float accel_y, float accel_z)
+void Copter::Log_Write_SysID_Data(float waveform_time, float waveform_sample, float waveform_freq_hz, float angle_x_degs, float angle_y_degs, float angle_z_degs, float accel_x_mss, float accel_y_mss, float accel_z_mss)
 {
 #if MODE_SYSTEMID_ENABLED
     struct log_SysIdD pkt_sidd = {
         LOG_PACKET_HEADER_INIT(LOG_SYSIDD_MSG),
         time_us         : AP_HAL::micros64(),
         waveform_time   : waveform_time,
         waveform_sample : waveform_sample,
-        waveform_freq   : waveform_freq,
-        angle_x         : angle_x,
-        angle_y         : angle_y,
-        angle_z         : angle_z,
-        accel_x         : accel_x,
-        accel_y         : accel_y,
-        accel_z         : accel_z
+        waveform_freq_hz : waveform_freq_hz,
+        angle_x_degs    : angle_x_degs,
+        angle_y_degs    : angle_y_degs,
+        angle_z_degs    : angle_z_degs,
+        accel_x_mss     : accel_x_mss,
+        accel_y_mss     : accel_y_mss,
+        accel_z_mss     : accel_z_mss
     };
     logger.WriteBlock(&pkt_sidd, sizeof(pkt_sidd));
 #endif
@@ -336,14 +336,14 @@ struct PACKED log_Guided_Attitude_Target {
     LOG_PACKET_HEADER;
     uint64_t time_us;
     uint8_t type;
-    float roll;
-    float pitch;
-    float yaw;
-    float roll_rate;
-    float pitch_rate;
-    float yaw_rate;
+    float roll_deg;
+    float pitch_deg;
+    float yaw_deg;
+    float roll_rate_degs;
+    float pitch_rate_degs;
+    float yaw_rate_degs;
     float thrust;
-    float climb_rate;
+    float climb_rate_ms;
 };
 
 // rate thread dt stats
@@ -391,14 +391,14 @@ void Copter::Log_Write_Guided_Attitude_Target(ModeGuided::SubMode submode, float
         LOG_PACKET_HEADER_INIT(LOG_GUIDED_ATTITUDE_TARGET_MSG),
         time_us         : AP_HAL::micros64(),
         type            : (uint8_t)submode,
-        roll            : degrees(roll_rad),       // rad to deg
-        pitch           : degrees(pitch_rad),      // rad to deg
-        yaw             : degrees(yaw_rad),        // rad to deg
-        roll_rate       : degrees(ang_vel_rads.x),  // rad/s to deg/s
-        pitch_rate      : degrees(ang_vel_rads.y),  // rad/s to deg/s
-        yaw_rate        : degrees(ang_vel_rads.z),  // rad/s to deg/s
+        roll_deg        : degrees(roll_rad),       // rad to deg
+        pitch_deg       : degrees(pitch_rad),      // rad to deg
+        yaw_deg         : degrees(yaw_rad),        // rad to deg
+        roll_rate_degs  : degrees(ang_vel_rads.x),  // rad/s to deg/s
+        pitch_rate_degs : degrees(ang_vel_rads.y),  // rad/s to deg/s
+        yaw_rate_degs   : degrees(ang_vel_rads.z),  // rad/s to deg/s
         thrust          : thrust,
-        climb_rate      : climb_rate_ms
+        climb_rate_ms   : climb_rate_ms
     };
     logger.WriteBlock(&pkt, sizeof(pkt));
 }

ArduCopter/crash_check.cpp

@@ -77,8 +77,8 @@ void Copter::crash_check()
     }
 
     // check for speed under 10m/s (if available)
-    Vector3f vel_ned;
-    if (ahrs.get_velocity_NED(vel_ned) && (vel_ned.length() >= CRASH_CHECK_SPEED_MAX)) {
+    Vector3f vel_ned_ms;
+    if (ahrs.get_velocity_NED(vel_ned_ms) && (vel_ned_ms.length() >= CRASH_CHECK_SPEED_MAX)) {
         crash_counter = 0;
         return;
     }

ArduCopter/land_detector.cpp

@@ -16,9 +16,9 @@ static uint32_t land_detector_count = 0;
 void Copter::update_land_and_crash_detectors()
 {
     // update 1hz filtered acceleration
-    Vector3f accel_ef = ahrs.get_accel_ef();
-    accel_ef.z += GRAVITY_MSS;
-    land_accel_ef_filter.apply(accel_ef, scheduler.get_loop_period_s());
+    Vector3f accel_ef_mss = ahrs.get_accel_ef();
+    accel_ef_mss.z += GRAVITY_MSS;
+    land_accel_ef_filter.apply(accel_ef_mss, scheduler.get_loop_period_s());
 
     update_land_detector();
 

ArduCopter/mode.cpp

@@ -484,28 +484,28 @@ void Mode::get_pilot_desired_lean_angles_rad(float &roll_out_rad, float &pitch_o
 // transform pilot's roll or pitch input into a desired velocity
 Vector2f Mode::get_pilot_desired_velocity(float vel_max) const
 {
-    Vector2f vel;
+    Vector2f vel_ne_ms;
 
     if (!rc().has_valid_input()) {
-        return vel;
+        return vel_ne_ms;
     }
     // fetch roll and pitch inputs
-    float roll_out = channel_roll->norm_input_dz();
-    float pitch_out = channel_pitch->norm_input_dz();
+    float roll_out_norm = channel_roll->norm_input_dz();
+    float pitch_out_norm = channel_pitch->norm_input_dz();
 
     // convert roll and pitch inputs into velocity in NE frame
-    vel = Vector2f(-pitch_out, roll_out);
-    if (vel.is_zero()) {
-        return vel;
+    vel_ne_ms = Vector2f(-pitch_out_norm, roll_out_norm);
+    if (vel_ne_ms.is_zero()) {
+        return vel_ne_ms;
     }
-    vel = copter.ahrs.body_to_earth2D(vel);
+    vel_ne_ms = copter.ahrs.body_to_earth2D(vel_ne_ms);
 
     // Transform square input range to circular output
     // vel_scalar is the vector to the edge of the +- 1.0 square in the direction of the current input
-    Vector2f vel_scalar = vel / MAX(fabsf(vel.x), fabsf(vel.y));
+    Vector2f vel_scalar = vel_ne_ms / MAX(fabsf(vel_ne_ms.x), fabsf(vel_ne_ms.y));
     // We scale the output by the ratio of the distance to the square to the unit circle and multiply by vel_max
-    vel *= vel_max / vel_scalar.length();
-    return vel;
+    vel_ne_ms *= vel_max / vel_scalar.length();
+    return vel_ne_ms;
 }
 
 bool Mode::_TakeOff::triggered_ms(const float target_climb_rate_ms) const
@@ -741,15 +741,15 @@ void Mode::land_run_horizontal_control()
          // get the velocity of the target
         copter.precland.get_target_velocity_ms(pos_control->get_vel_estimate_NED_ms().xy(), target_vel_ne_ms);
 
-        Vector2f accel_zero;
+        Vector2f accel_ne_zero;
         // target vel will remain zero if landing target is stationary
-        pos_control->input_pos_vel_accel_NE_m(target_pos_ne_m, target_vel_ne_ms, accel_zero);
+        pos_control->input_pos_vel_accel_NE_m(target_pos_ne_m, target_vel_ne_ms, accel_ne_zero);
     }
 #endif
 
     if (!copter.ap.prec_land_active) {
-        Vector2f accel;
-        pos_control->input_vel_accel_NE_m(vel_correction_ms, accel);
+        Vector2f accel_ne_zero;
+        pos_control->input_vel_accel_NE_m(vel_correction_ms, accel_ne_zero);
     }
 
     // run pos controller
@@ -984,10 +984,10 @@ float Mode::get_pilot_desired_yaw_rate_rads() const
     }
 
     // Get yaw input
-    const float yaw_in = channel_yaw->norm_input_dz();
+    const float yaw_in_norm = channel_yaw->norm_input_dz();
 
     // convert pilot input to the desired yaw rate
-    return radians(g2.command_model_pilot_y.get_rate()) * input_expo(yaw_in, g2.command_model_pilot_y.get_expo());
+    return radians(g2.command_model_pilot_y.get_rate()) * input_expo(yaw_in_norm, g2.command_model_pilot_y.get_expo());
 }
 
 // pass-through functions to reduce code churn on conversion;

ArduCopter/mode.h

@@ -484,7 +484,7 @@ class ModeAcro_Heli : public ModeAcro {
 
     bool init(bool ignore_checks) override;
     void run() override;
-    void virtual_flybar( float &roll_out, float &pitch_out, float &yaw_out, float pitch_leak, float roll_leak);
+    void virtual_flybar( float &roll_out_rads, float &pitch_out_rads, float &yaw_out_rads, float pitch_leak, float roll_leak);
 
 protected:
 private: