From cc18c82622632bd2bd715ef4aa3cada2a56570ce Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 12:55:58 +1100
Subject: [PATCH 0001/1335] AP_Follow: correct defaulting of AP_FOLLOW_ENABLED

and clarify a closing endif
---
 libraries/AP_Follow/AP_Follow.cpp      | 2 +-
 libraries/AP_Follow/AP_Follow_config.h | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Follow/AP_Follow.cpp b/libraries/AP_Follow/AP_Follow.cpp
index bb7dedc03aae7b..274ddf4d935c22 100644
--- a/libraries/AP_Follow/AP_Follow.cpp
+++ b/libraries/AP_Follow/AP_Follow.cpp
@@ -539,4 +539,4 @@ AP_Follow &follow()
 
 }
 
-#endif
+#endif  // AP_FOLLOW_ENABLED
diff --git a/libraries/AP_Follow/AP_Follow_config.h b/libraries/AP_Follow/AP_Follow_config.h
index f5aa2dae54d465..2621dd698fc99e 100644
--- a/libraries/AP_Follow/AP_Follow_config.h
+++ b/libraries/AP_Follow/AP_Follow_config.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <AP_HAL/AP_HAL_Boards.h>
+
 #ifndef AP_FOLLOW_ENABLED
 #define AP_FOLLOW_ENABLED 1
 #endif

From d1ad9ccfbb1f6988539f8c188401aeebd1305760 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 12:59:25 +1100
Subject: [PATCH 0002/1335] AR_WPNav: correct missing include

---
 libraries/AR_WPNav/AR_WPNav.cpp    | 1 +
 libraries/AR_WPNav/AR_WPNav_OA.cpp | 1 +
 2 files changed, 2 insertions(+)

diff --git a/libraries/AR_WPNav/AR_WPNav.cpp b/libraries/AR_WPNav/AR_WPNav.cpp
index 1ab6c817d86fb5..66b4041dce920f 100644
--- a/libraries/AR_WPNav/AR_WPNav.cpp
+++ b/libraries/AR_WPNav/AR_WPNav.cpp
@@ -18,6 +18,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include "AR_WPNav.h"
 #include <GCS_MAVLink/GCS.h>
+#include <AP_InternalError/AP_InternalError.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <stdio.h>
diff --git a/libraries/AR_WPNav/AR_WPNav_OA.cpp b/libraries/AR_WPNav/AR_WPNav_OA.cpp
index dc7c8f29be3af9..0ecdc22c95ffe3 100644
--- a/libraries/AR_WPNav/AR_WPNav_OA.cpp
+++ b/libraries/AR_WPNav/AR_WPNav_OA.cpp
@@ -18,6 +18,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include "AR_WPNav_OA.h"
 #include <GCS_MAVLink/GCS.h>
+#include <AP_InternalError/AP_InternalError.h>
 
 extern const AP_HAL::HAL& hal;
 

From e4a27943f5b692ad331c09840960f0c408169599 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 9 Dec 2023 09:46:44 +1100
Subject: [PATCH 0003/1335] AP_RTC: fixed ms value from
 AP_RTC::get_date_and_time_utc

this impacts the ViewPro mount driver
---
 libraries/AP_RTC/AP_RTC.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_RTC/AP_RTC.cpp b/libraries/AP_RTC/AP_RTC.cpp
index d695e57420ad99..41d9f5b2944706 100644
--- a/libraries/AP_RTC/AP_RTC.cpp
+++ b/libraries/AP_RTC/AP_RTC.cpp
@@ -229,7 +229,7 @@ bool AP_RTC::get_date_and_time_utc(uint16_t& year, uint8_t& month, uint8_t& day,
     hour = tm->tm_hour;         /* Hours.	[0-23] */
     min = tm->tm_min;           /* Minutes.	[0-59] */
     sec = tm->tm_sec;           /* Seconds.	[0-60] (1 leap second) */
-    ms = time_us / 1000U;       /* milliseconds [0-999] */
+    ms = (time_us / 1000U) % 1000U; /* milliseconds [0-999] */
     return true;
 }
 

From 273e0795d05bfe2edbdb9bae9f1c4a062d191eb1 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Sun, 10 Dec 2023 12:32:27 +1100
Subject: [PATCH 0004/1335] Tools: ignore the error from brew update

---
 Tools/environment_install/install-prereqs-mac.sh | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Tools/environment_install/install-prereqs-mac.sh b/Tools/environment_install/install-prereqs-mac.sh
index cba654a6de3d7e..69f647c1b23c24 100755
--- a/Tools/environment_install/install-prereqs-mac.sh
+++ b/Tools/environment_install/install-prereqs-mac.sh
@@ -103,7 +103,8 @@ function maybe_prompt_user() {
 # see https://github.com/orgs/Homebrew/discussions/3895
 find /usr/local/bin -lname '*/Library/Frameworks/Python.framework/*' -delete
 
-brew update
+# brew update randomly failing on CI, so ignore errors:
+brew update || true
 brew install gawk curl coreutils wget
 
 PIP=pip

From 4cb0a922b2f6819b7ee89fa6fd5196d50a35af5c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 6 Dec 2023 13:01:36 +1100
Subject: [PATCH 0005/1335] AP_Airspeed: correct spelling of configured

---
 libraries/AP_Airspeed/AP_Airspeed_Backend.cpp | 2 +-
 libraries/AP_Airspeed/AP_Airspeed_Backend.h   | 2 +-
 libraries/AP_Airspeed/AP_Airspeed_MS4525.cpp  | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Airspeed/AP_Airspeed_Backend.cpp b/libraries/AP_Airspeed/AP_Airspeed_Backend.cpp
index 412b337eeb65c6..fc36421419b867 100644
--- a/libraries/AP_Airspeed/AP_Airspeed_Backend.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_Backend.cpp
@@ -58,7 +58,7 @@ uint8_t AP_Airspeed_Backend::get_bus(void) const
     return frontend.param[instance].bus;
 }
 
-bool AP_Airspeed_Backend::bus_is_confgured(void) const
+bool AP_Airspeed_Backend::bus_is_configured(void) const
 {
     return frontend.param[instance].bus.configured();
 }
diff --git a/libraries/AP_Airspeed/AP_Airspeed_Backend.h b/libraries/AP_Airspeed/AP_Airspeed_Backend.h
index 2deeb427c09c34..58ca025883a7aa 100644
--- a/libraries/AP_Airspeed/AP_Airspeed_Backend.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_Backend.h
@@ -59,7 +59,7 @@ class AP_Airspeed_Backend {
     int8_t get_pin(void) const;
     float get_psi_range(void) const;
     uint8_t get_bus(void) const;
-    bool bus_is_confgured(void) const;
+    bool bus_is_configured(void) const;
     uint8_t get_instance(void) const {
         return instance;
     }
diff --git a/libraries/AP_Airspeed/AP_Airspeed_MS4525.cpp b/libraries/AP_Airspeed/AP_Airspeed_MS4525.cpp
index d6e4c456a32e61..ec91bf8b4b309c 100644
--- a/libraries/AP_Airspeed/AP_Airspeed_MS4525.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_MS4525.cpp
@@ -62,7 +62,7 @@ bool AP_Airspeed_MS4525::probe(uint8_t bus, uint8_t address)
 bool AP_Airspeed_MS4525::init()
 {
     static const uint8_t addresses[] = { MS4525D0_I2C_ADDR1, MS4525D0_I2C_ADDR2, MS4525D0_I2C_ADDR3 };
-    if (bus_is_confgured()) {
+    if (bus_is_configured()) {
         // the user has configured a specific bus
         for (uint8_t addr : addresses) {
             if (probe(get_bus(), addr)) {

From b49152bbe6724a6eec4d42716f56c85aa0b7d242 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 3 Dec 2023 16:43:00 +1100
Subject: [PATCH 0006/1335] AP_HAL: mark new accept() socket as connected

---
 libraries/AP_HAL/utility/Socket.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index a5beacca66d054..1bc4503b2da45e 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -391,7 +391,11 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
     if (newfd == -1) {
         return nullptr;
     }
-    return new SocketAPM(false, newfd);
+    auto *ret = new SocketAPM(false, newfd);
+    if (ret) {
+        ret->connected = true;
+    }
+    return ret;
 }
 
 /*

From 98e8b9785c0cefc5761c470cbc1a6c728cb83678 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 4 Dec 2023 10:11:48 +1100
Subject: [PATCH 0007/1335] AP_HAL: added close() to SocketAPM

---
 libraries/AP_HAL/utility/Socket.cpp | 67 +++++++++++++++++++++++------
 libraries/AP_HAL/utility/Socket.h   |  3 ++
 2 files changed, 57 insertions(+), 13 deletions(-)

diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index 1bc4503b2da45e..eef8c53ad558fa 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -52,14 +52,7 @@ SocketAPM::SocketAPM(bool _datagram, int _fd) :
 
 SocketAPM::~SocketAPM()
 {
-    if (fd != -1) {
-        CALL_PREFIX(close)(fd);
-        fd = -1;
-    }
-    if (fd_in != -1) {
-        CALL_PREFIX(close)(fd_in);
-        fd_in = -1;
-    }
+    close();
 }
 
 void SocketAPM::make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr)
@@ -79,6 +72,9 @@ void SocketAPM::make_sockaddr(const char *address, uint16_t port, struct sockadd
  */
 bool SocketAPM::connect(const char *address, uint16_t port)
 {
+    if (fd == -1) {
+        return false;
+    }
     struct sockaddr_in sockaddr;
     int ret;
     int one = 1;
@@ -163,6 +159,9 @@ bool SocketAPM::connect(const char *address, uint16_t port)
  */
 bool SocketAPM::connect_timeout(const char *address, uint16_t port, uint32_t timeout_ms)
 {
+    if (fd == -1) {
+        return false;
+    }
     struct sockaddr_in sockaddr;
     make_sockaddr(address, port, sockaddr);
 
@@ -194,12 +193,16 @@ bool SocketAPM::connect_timeout(const char *address, uint16_t port, uint32_t tim
  */
 bool SocketAPM::bind(const char *address, uint16_t port)
 {
+    if (fd == -1) {
+        return false;
+    }
     struct sockaddr_in sockaddr;
     make_sockaddr(address, port, sockaddr);
 
     if (CALL_PREFIX(bind)(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
         return false;
     }
+    reuseaddress();
     return true;
 }
 
@@ -209,6 +212,9 @@ bool SocketAPM::bind(const char *address, uint16_t port)
  */
 bool SocketAPM::reuseaddress(void) const
 {
+    if (fd == -1) {
+        return false;
+    }
     int one = 1;
     return (CALL_PREFIX(setsockopt)(fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one)) != -1);
 }
@@ -218,6 +224,9 @@ bool SocketAPM::reuseaddress(void) const
  */
 bool SocketAPM::set_blocking(bool blocking) const
 {
+    if (fd == -1) {
+        return false;
+    }
     int fcntl_ret;
     if (blocking) {
         fcntl_ret = CALL_PREFIX(fcntl)(fd, F_SETFL, CALL_PREFIX(fcntl)(fd, F_GETFL, 0) & ~O_NONBLOCK);
@@ -238,6 +247,9 @@ bool SocketAPM::set_blocking(bool blocking) const
  */
 bool SocketAPM::set_cloexec() const
 {
+    if (fd == -1) {
+        return false;
+    }
 #ifdef FD_CLOEXEC
     return (CALL_PREFIX(fcntl)(fd, F_SETFD, FD_CLOEXEC) != -1);
 #else
@@ -250,6 +262,9 @@ bool SocketAPM::set_cloexec() const
  */
 ssize_t SocketAPM::send(const void *buf, size_t size) const
 {
+    if (fd == -1) {
+        return -1;
+    }
     return CALL_PREFIX(send)(fd, buf, size, 0);
 }
 
@@ -258,6 +273,9 @@ ssize_t SocketAPM::send(const void *buf, size_t size) const
  */
 ssize_t SocketAPM::sendto(const void *buf, size_t size, const char *address, uint16_t port)
 {
+    if (fd == -1) {
+        return -1;
+    }
     struct sockaddr_in sockaddr;
     make_sockaddr(address, port, sockaddr);
     return CALL_PREFIX(sendto)(fd, buf, size, 0, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
@@ -322,6 +340,9 @@ const char *SocketAPM::last_recv_address(char *ip_addr_buf, uint8_t buflen, uint
 
 void SocketAPM::set_broadcast(void) const
 {
+    if (fd == -1) {
+        return;
+    }
     int one = 1;
     CALL_PREFIX(setsockopt)(fd,SOL_SOCKET,SO_BROADCAST,(char *)&one,sizeof(one));
 }
@@ -336,6 +357,9 @@ bool SocketAPM::pollin(uint32_t timeout_ms)
 
     FD_ZERO(&fds);
     int fin = get_read_fd();
+    if (fin == -1) {
+        return false;
+    }
     FD_SET(fin, &fds);
 
     tv.tv_sec = timeout_ms / 1000;
@@ -353,6 +377,9 @@ bool SocketAPM::pollin(uint32_t timeout_ms)
  */
 bool SocketAPM::pollout(uint32_t timeout_ms)
 {
+    if (fd == -1) {
+        return false;
+    }
     fd_set fds;
     struct timeval tv;
 
@@ -373,6 +400,9 @@ bool SocketAPM::pollout(uint32_t timeout_ms)
  */
 bool SocketAPM::listen(uint16_t backlog) const
 {
+    if (fd == -1) {
+        return false;
+    }
     return CALL_PREFIX(listen)(fd, (int)backlog) == 0;
 }
 
@@ -382,6 +412,9 @@ bool SocketAPM::listen(uint16_t backlog) const
 */
 SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
 {
+    if (fd == -1) {
+        return nullptr;
+    }
     if (!pollin(timeout_ms)) {
         return nullptr;
     }
@@ -391,11 +424,7 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
     if (newfd == -1) {
         return nullptr;
     }
-    auto *ret = new SocketAPM(false, newfd);
-    if (ret) {
-        ret->connected = true;
-    }
-    return ret;
+    return new SocketAPM(false, newfd);
 }
 
 /*
@@ -409,4 +438,16 @@ bool SocketAPM::is_multicast_address(struct sockaddr_in &addr) const
     return haddr >= mc_lower && haddr <= mc_upper;
 }
 
+void SocketAPM::close(void)
+{
+    if (fd != -1) {
+        CALL_PREFIX(close)(fd);
+        fd = -1;
+    }
+    if (fd_in != -1) {
+        CALL_PREFIX(close)(fd_in);
+        fd_in = -1;
+    }
+}
+
 #endif // AP_NETWORKING_BACKEND_ANY
diff --git a/libraries/AP_HAL/utility/Socket.h b/libraries/AP_HAL/utility/Socket.h
index 70e4a1cdea1584..0ebc128d72caaa 100644
--- a/libraries/AP_HAL/utility/Socket.h
+++ b/libraries/AP_HAL/utility/Socket.h
@@ -69,6 +69,9 @@ class SocketAPM {
     // start listening for new tcp connections
     bool listen(uint16_t backlog) const;
 
+    // close socket
+    void close(void);
+
     // accept a new connection. Only valid for TCP connections after
     // listen has been used. A new socket is returned
     SocketAPM *accept(uint32_t timeout_ms);

From 64d649fbccf5fcf14356c5cfaee4491fc983f245 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 4 Dec 2023 14:37:54 +1100
Subject: [PATCH 0008/1335] AP_HAL: fixed SO_REUSEADDR on bind

and use MSG_NOSIGNAL to prevent pipe errors in SITL
---
 libraries/AP_HAL/utility/Socket.cpp | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index eef8c53ad558fa..9b9698eb797638 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -199,10 +199,10 @@ bool SocketAPM::bind(const char *address, uint16_t port)
     struct sockaddr_in sockaddr;
     make_sockaddr(address, port, sockaddr);
 
+    reuseaddress();
     if (CALL_PREFIX(bind)(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
         return false;
     }
-    reuseaddress();
     return true;
 }
 
@@ -265,7 +265,7 @@ ssize_t SocketAPM::send(const void *buf, size_t size) const
     if (fd == -1) {
         return -1;
     }
-    return CALL_PREFIX(send)(fd, buf, size, 0);
+    return CALL_PREFIX(send)(fd, buf, size, MSG_NOSIGNAL);
 }
 
 /*
@@ -424,7 +424,12 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
     if (newfd == -1) {
         return nullptr;
     }
-    return new SocketAPM(false, newfd);
+    auto *ret = new SocketAPM(false, newfd);
+    if (ret != nullptr) {
+        ret->connected = true;
+        ret->reuseaddress();
+    }
+    return ret;
 }
 
 /*

From a77331e725ebe396d73181cc3b83d7f2db1aae76 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 5 Dec 2023 13:51:03 +1100
Subject: [PATCH 0009/1335] AP_HAL: mark socket as not connected on EOF

this allows lua scripts to properly detect a closed TCP connection
---
 libraries/AP_HAL/utility/Socket.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index 9b9698eb797638..faab14d3d20341 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -295,6 +295,10 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
     ssize_t ret;
     ret = CALL_PREFIX(recvfrom)(fin, buf, size, MSG_DONTWAIT, (sockaddr *)&in_addr, &len);
     if (ret <= 0) {
+        if (!datagram && connected && ret == 0) {
+            // remote host has closed connection
+            connected = false;
+        }
         return ret;
     }
     if (fd_in != -1) {

From 0f0aed66b794f09b8025c1c658bdd8a6fd96f11f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 4 Dec 2023 14:38:37 +1100
Subject: [PATCH 0010/1335] AP_Filesystem: fixed fseek and open of directories

---
 libraries/AP_Filesystem/AP_Filesystem_posix.cpp | 6 ++++++
 libraries/AP_Filesystem/posix_compat.cpp        | 3 ++-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Filesystem/AP_Filesystem_posix.cpp b/libraries/AP_Filesystem/AP_Filesystem_posix.cpp
index 039e0685df98a4..5a6169053472da 100644
--- a/libraries/AP_Filesystem/AP_Filesystem_posix.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem_posix.cpp
@@ -58,6 +58,12 @@ int AP_Filesystem_Posix::open(const char *fname, int flags, bool allow_absolute_
     if (! allow_absolute_paths) {
         fname = map_filename(fname);
     }
+    struct stat st;
+    if (::stat(fname, &st) == 0 &&
+        ((st.st_mode & S_IFMT) != S_IFREG && (st.st_mode & S_IFMT) != S_IFLNK)) {
+        // only allow links and files
+        return -1;
+    }
     // we automatically add O_CLOEXEC as we always want it for ArduPilot FS usage
     return ::open(fname, flags | O_CLOEXEC, 0644);
 }
diff --git a/libraries/AP_Filesystem/posix_compat.cpp b/libraries/AP_Filesystem/posix_compat.cpp
index 3ec501ef393bc6..f12f146012d5bb 100644
--- a/libraries/AP_Filesystem/posix_compat.cpp
+++ b/libraries/AP_Filesystem/posix_compat.cpp
@@ -170,7 +170,8 @@ int apfs_fseek(APFS_FILE *stream, long offset, int whence)
 {
     CHECK_STREAM(stream, EOF);
     stream->eof = false;
-    return AP::FS().lseek(stream->fd, offset, whence);
+    AP::FS().lseek(stream->fd, offset, whence);
+    return 0;
 }
 
 int apfs_ferror(APFS_FILE *stream)

From 11ea2cf5c1f5a28ef1899a3cf3914b8ddc29016b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 4 Dec 2023 17:18:47 +1100
Subject: [PATCH 0011/1335] AP_Filesystem: added option @SYS/flash.bin

useful for speed tests
---
 libraries/AP_Filesystem/AP_Filesystem_Sys.cpp  | 10 ++++++++++
 libraries/AP_Filesystem/AP_Filesystem_config.h |  3 +++
 2 files changed, 13 insertions(+)

diff --git a/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp b/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp
index 31d5265f358f3f..9eadd7f607b407 100644
--- a/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp
@@ -52,6 +52,9 @@ static const SysFileList sysfs_file_list[] = {
 #endif
     {"crash_dump.bin"},
     {"storage.bin"},
+#if AP_FILESYSTEM_SYS_FLASH_ENABLED
+    {"flash.bin"},
+#endif
 };
 
 int8_t AP_Filesystem_Sys::file_in_sysfs(const char *fname) {
@@ -152,6 +155,13 @@ int AP_Filesystem_Sys::open(const char *fname, int flags, bool allow_absolute_pa
             r.str->set_buffer((char*)ptr, size, size);
         }
     }
+#if AP_FILESYSTEM_SYS_FLASH_ENABLED
+    if (strcmp(fname, "flash.bin") == 0) {
+        void *ptr = (void*)0x08000000;
+        const size_t size = BOARD_FLASH_SIZE*1024;
+        r.str->set_buffer((char*)ptr, size, size);
+    }
+#endif
     
     if (r.str->get_length() == 0) {
         errno = r.str->has_failed_allocation()?ENOMEM:ENOENT;
diff --git a/libraries/AP_Filesystem/AP_Filesystem_config.h b/libraries/AP_Filesystem/AP_Filesystem_config.h
index 75f3aa001c224b..63cf31f2084f69 100644
--- a/libraries/AP_Filesystem/AP_Filesystem_config.h
+++ b/libraries/AP_Filesystem/AP_Filesystem_config.h
@@ -50,3 +50,6 @@
 #define AP_FILESYSTEM_FILE_READING_ENABLED (AP_FILESYSTEM_FILE_WRITING_ENABLED || AP_FILESYSTEM_ROMFS_ENABLED)
 #endif
 
+#ifndef AP_FILESYSTEM_SYS_FLASH_ENABLED
+#define AP_FILESYSTEM_SYS_FLASH_ENABLED CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#endif

From 436c60c7de0c22092bfe348f3152f541082d3d0d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 6 Dec 2023 07:26:24 +1100
Subject: [PATCH 0012/1335] HAL_ChibiOS: defaults to 50 socket limit

makes for more useful web server
---
 libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h b/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h
index 7002236e2eda90..5351ff63933e0f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h
@@ -57,8 +57,8 @@
 #define LWIP_STATS_DISPLAY 1
 #define ETHARP_STATS 1
 #define LWIP_IGMP 1
-#define MEMP_NUM_NETCONN 10 // up to 10 sockets
-#define MEMP_NUM_TCP_PCB 10
+#define MEMP_NUM_NETCONN 50 // up to 50 sockets
+#define MEMP_NUM_TCP_PCB 50
 #define MEM_LIBC_MALLOC 1
 #define MEMP_MEM_MALLOC 1
 #define SO_REUSE 1

From 9065baa329ff7071d0054ec0cd1b1bb2858b5cba Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 3 Dec 2023 16:43:29 +1100
Subject: [PATCH 0013/1335] AP_Scripting: added bindings for SocketAPM

---
 libraries/AP_Scripting/AP_Scripting.cpp       |  15 ++
 libraries/AP_Scripting/AP_Scripting.h         |  14 ++
 libraries/AP_Scripting/docs/docs.lua          |  45 ++++++
 libraries/AP_Scripting/examples/net_test.lua  | 140 ++++++++++++++++++
 .../generator/description/bindings.desc       |  13 ++
 libraries/AP_Scripting/lua_bindings.cpp       | 120 +++++++++++++++
 libraries/AP_Scripting/lua_bindings.h         |   4 +
 7 files changed, 351 insertions(+)
 create mode 100644 libraries/AP_Scripting/examples/net_test.lua

diff --git a/libraries/AP_Scripting/AP_Scripting.cpp b/libraries/AP_Scripting/AP_Scripting.cpp
index 347a7d440fd2d2..82c6f220cbf789 100644
--- a/libraries/AP_Scripting/AP_Scripting.cpp
+++ b/libraries/AP_Scripting/AP_Scripting.cpp
@@ -53,6 +53,10 @@ static_assert(SCRIPTING_STACK_SIZE <= SCRIPTING_STACK_MAX_SIZE, "Scripting requi
 #define SCRIPTING_ENABLE_DEFAULT 0
 #endif
 
+#if AP_NETWORKING_ENABLED
+#include <AP_HAL/utility/Socket.h>
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 const AP_Param::GroupInfo AP_Scripting::var_info[] = {
@@ -287,6 +291,17 @@ void AP_Scripting::thread(void) {
         }
         num_pwm_source = 0;
 
+#if AP_NETWORKING_ENABLED
+        // clear allocated sockets
+        for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
+            if (_net_sockets[i] != nullptr) {
+                delete _net_sockets[i];
+                _net_sockets[i] = nullptr;
+            }
+        }
+        num_net_sockets = 0;
+#endif // AP_NETWORKING_ENABLED
+        
         // Clear blocked commands
         {
             WITH_SEMAPHORE(mavlink_command_block_list_sem);
diff --git a/libraries/AP_Scripting/AP_Scripting.h b/libraries/AP_Scripting/AP_Scripting.h
index 307203122a937f..3e68fbbb3e16d2 100644
--- a/libraries/AP_Scripting/AP_Scripting.h
+++ b/libraries/AP_Scripting/AP_Scripting.h
@@ -24,6 +24,7 @@
 #include <AP_Filesystem/AP_Filesystem.h>
 #include <AP_HAL/I2CDevice.h>
 #include "AP_Scripting_CANSensor.h"
+#include <AP_Networking/AP_Networking_Config.h>
 
 #ifndef SCRIPTING_MAX_NUM_I2C_DEVICE
   #define SCRIPTING_MAX_NUM_I2C_DEVICE 4
@@ -31,6 +32,13 @@
 
 #define SCRIPTING_MAX_NUM_PWM_SOURCE 4
 
+#if AP_NETWORKING_ENABLED
+#ifndef SCRIPTING_MAX_NUM_NET_SOCKET
+#define SCRIPTING_MAX_NUM_NET_SOCKET 50
+#endif
+class SocketAPM;
+#endif
+
 class AP_Scripting
 {
 public:
@@ -111,6 +119,12 @@ class AP_Scripting
     int get_current_ref() { return current_ref; }
     void set_current_ref(int ref) { current_ref = ref; }
 
+#if AP_NETWORKING_ENABLED
+    // SocketAPM storage
+    uint8_t num_net_sockets;
+    SocketAPM *_net_sockets[SCRIPTING_MAX_NUM_NET_SOCKET];
+#endif
+
     struct mavlink_msg {
         mavlink_message_t msg;
         mavlink_channel_t chan;
diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 40ddb7ac9c35fa..4f70ca60671fc2 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -452,6 +452,51 @@ function motor_factor_table_ud:roll(index) end
 ---@param value number
 function motor_factor_table_ud:roll(index, value) end
 
+-- network socket class
+---@class SocketAPM_ud
+local SocketAPM_ud = {}
+
+-- desc
+---@return boolean
+function SocketAPM_ud:is_connected() end
+
+-- desc
+---@param param1 boolean
+---@return boolean
+function SocketAPM_ud:set_blocking(param1) end
+
+-- desc
+---@param param1 integer
+---@return boolean
+function SocketAPM_ud:listen(param1) end
+
+-- desc
+---@param param1 string
+---@param param2 uint32_t_ud
+---@return integer
+function SocketAPM_ud:send(param1, param2) end
+
+-- desc
+---@param param1 string
+---@param param2 integer
+---@return boolean
+function SocketAPM_ud:bind(param1, param2) end
+
+-- desc
+---@param param1 string
+---@param param2 integer
+---@return boolean
+function SocketAPM_ud:connect(param1, param2) end
+
+-- desc
+function SocketAPM_ud:__gc() end
+
+-- desc
+function SocketAPM_ud:accept(param1) end
+
+-- desc
+function SocketAPM_ud:recv(param1) end
+
 
 -- desc
 ---@class AP_HAL__PWMSource_ud
diff --git a/libraries/AP_Scripting/examples/net_test.lua b/libraries/AP_Scripting/examples/net_test.lua
new file mode 100644
index 00000000000000..e40f4d59aa9d0b
--- /dev/null
+++ b/libraries/AP_Scripting/examples/net_test.lua
@@ -0,0 +1,140 @@
+--[[
+   example script to test lua socket API
+--]]
+
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+
+PARAM_TABLE_KEY = 46
+PARAM_TABLE_PREFIX = "NT_"
+
+-- bind a parameter to a variable given
+function bind_param(name)
+    local p = Parameter()
+    assert(p:init(name), string.format('could not find %s parameter', name))
+    return p
+end
+
+-- add a parameter and bind it to a variable
+function bind_add_param(name, idx, default_value)
+    assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
+    return bind_param(PARAM_TABLE_PREFIX .. name)
+end
+
+-- Setup Parameters
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 6), 'net_test: could not add param table')
+
+--[[
+  // @Param: NT_ENABLE
+  // @DisplayName: enable network tests
+  // @Description: Enable network tests
+  // @Values: 0:Disabled,1:Enabled
+  // @User: Standard
+--]]
+local NT_ENABLE = bind_add_param('ENABLE',  1, 0)
+if NT_ENABLE:get() == 0 then
+   return
+end
+
+local NT_TEST_IP = { bind_add_param('TEST_IP0', 2, 192),
+                     bind_add_param('TEST_IP1', 3, 168),
+                     bind_add_param('TEST_IP2', 4, 13),
+                     bind_add_param('TEST_IP3', 5, 15) }
+
+local NT_BIND_PORT = bind_add_param('BIND_PORT', 6, 15001)
+
+local PORT_ECHO = 7
+
+gcs:send_text(MAV_SEVERITY.INFO, "net_test: starting")
+
+local function test_ip()
+   return string.format("%u.%u.%u.%u", NT_TEST_IP[1]:get(), NT_TEST_IP[2]:get(), NT_TEST_IP[3]:get(), NT_TEST_IP[4]:get())
+end
+
+local counter = 0
+local sock_tcp_echo = SocketAPM(0)
+local sock_udp_echo = SocketAPM(1)
+local sock_tcp_in = SocketAPM(0)
+local sock_tcp_in2 = nil
+local sock_udp_in = SocketAPM(1)
+
+if not sock_tcp_echo then
+   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to create tcp echo socket")
+   return
+end
+
+if not sock_udp_echo then
+   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to create udp echo socket")
+   return
+end
+
+if not sock_tcp_in:bind("0.0.0.0", NT_BIND_PORT:get()) then
+   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to bind to TCP 5001")
+end
+
+if not sock_tcp_in:listen(1) then
+   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to listen")
+end
+
+if not sock_udp_in:bind("0.0.0.0", NT_BIND_PORT:get()) then
+   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to bind to UDP 5001")
+end
+
+--[[
+   test TCP or UDP echo
+--]]
+local function test_echo(name, sock)
+   if not sock:is_connected() then
+      if not sock:connect(test_ip(), PORT_ECHO) then
+         gcs:send_text(MAV_SEVERITY.ERROR, string.format("test_echo(%s): failed to connect", name))
+         return
+      end
+
+      if not sock:set_blocking(true) then
+         gcs:send_text(MAV_SEVERITY.ERROR, string.format("test_echo(%s): failed to set blocking", name))
+         return
+      end
+   end
+
+   local s = string.format("testing %u", counter)
+   local nsent = sock:send(s, #s)
+   if nsent ~= #s then
+      gcs:send_text(MAV_SEVERITY.ERROR, string.format("test_echo(%s): failed to send", name))
+      return
+   end
+   local r = sock:recv(#s)
+   if r then
+      gcs:send_text(MAV_SEVERITY.ERROR, string.format("test_echo(%s): got reply '%s'", name, r))
+   end
+end
+
+--[[
+   test a simple server
+--]]
+local function test_server(name, sock)
+   if name == "TCP" then
+      if not sock_tcp_in2 then
+         sock_tcp_in2 = sock:accept()
+         if not sock_tcp_in2 then
+            return
+         end
+         gcs:send_text(MAV_SEVERITY.ERROR, string.format("test_server(%s): new connection", name))
+      end
+      sock = sock_tcp_in2
+   end
+
+   local r = sock:recv(1024)
+   if r and #r > 0 then
+      gcs:send_text(MAV_SEVERITY.ERROR, string.format("test_server(%s): got input '%s'", name, r))
+   end
+end
+
+local function update()
+   test_echo("TCP", sock_tcp_echo)
+   test_echo("UDP", sock_udp_echo)
+   test_server("TCP", sock_tcp_in)
+   test_server("UDP", sock_udp_in)
+   counter = counter + 1
+   return update,1000
+end
+
+return update,100
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index a37476a5252d93..d2c25274b354a4 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -536,6 +536,19 @@ ap_object AP_HAL::I2CDevice method write_register boolean uint8_t'skip_check uin
 ap_object AP_HAL::I2CDevice manual read_registers AP_HAL__I2CDevice_read_registers 2
 ap_object AP_HAL::I2CDevice method set_address void uint8_t'skip_check
 
+include AP_HAL/utility/Socket.h depends (AP_NETWORKING_ENABLED==1)
+global manual SocketAPM lua_get_SocketAPM 1 depends (AP_NETWORKING_ENABLED==1)
+
+ap_object SocketAPM depends (AP_NETWORKING_ENABLED==1)
+ap_object SocketAPM method connect boolean string uint16_t'skip_check
+ap_object SocketAPM method bind boolean string uint16_t'skip_check
+ap_object SocketAPM method send int32_t string uint32_t'skip_check
+ap_object SocketAPM method listen boolean uint8_t'skip_check
+ap_object SocketAPM method set_blocking boolean boolean
+ap_object SocketAPM method is_connected boolean
+ap_object SocketAPM manual close SocketAPM_close 0
+ap_object SocketAPM manual recv SocketAPM_recv 1
+ap_object SocketAPM manual accept SocketAPM_accept 1
 
 ap_object AP_HAL::AnalogSource depends !defined(HAL_DISABLE_ADC_DRIVER)
 ap_object AP_HAL::AnalogSource method set_pin boolean uint8_t'skip_check
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index 1ff491ed740785..a3d574e8ed2fe3 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -15,6 +15,11 @@
 #include <AP_Scripting/AP_Scripting.h>
 #include <string.h>
 
+#include <AP_Networking/AP_Networking_Config.h>
+#if AP_NETWORKING_ENABLED
+#include <AP_HAL/utility/Socket.h>
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 extern "C" {
@@ -755,6 +760,121 @@ int lua_get_PWMSource(lua_State *L) {
     return 1;
 }
 
+#if AP_NETWORKING_ENABLED
+/*
+  allocate a SocketAPM
+ */
+int lua_get_SocketAPM(lua_State *L) {
+    binding_argcheck(L, 1);
+    const uint8_t datagram = get_uint8_t(L, 1);
+    auto *scripting = AP::scripting();
+
+    lua_gc(L, LUA_GCCOLLECT, 0);
+
+    if (scripting->num_net_sockets >= SCRIPTING_MAX_NUM_NET_SOCKET) {
+        return luaL_argerror(L, 1, "no sockets available");
+    }
+
+    auto *sock = new SocketAPM(datagram);
+    if (sock == nullptr) {
+        return luaL_argerror(L, 1, "SocketAPM device nullptr");
+    }
+    scripting->_net_sockets[scripting->num_net_sockets] = sock;
+
+    new_SocketAPM(L);
+    *((SocketAPM**)luaL_checkudata(L, -1, "SocketAPM")) = scripting->_net_sockets[scripting->num_net_sockets];
+
+    scripting->num_net_sockets++;
+
+    return 1;
+}
+
+/*
+  socket close
+ */
+int SocketAPM_close(lua_State *L) {
+    binding_argcheck(L, 1);
+
+    SocketAPM *ud = *check_SocketAPM(L, 1);
+
+    auto *scripting = AP::scripting();
+
+    if (scripting->num_net_sockets == 0) {
+        return luaL_argerror(L, 1, "socket close error");
+    }
+
+    // clear allocated socket
+    for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
+        if (scripting->_net_sockets[i] == ud) {
+            ud->close();
+            delete ud;
+            scripting->_net_sockets[i] = nullptr;
+            scripting->num_net_sockets--;
+            break;
+        }
+    }
+
+    return 0;
+}
+
+/*
+  receive from a socket to a lua string
+ */
+int SocketAPM_recv(lua_State *L) {
+    binding_argcheck(L, 2);
+
+    SocketAPM * ud = *check_SocketAPM(L, 1);
+
+    const uint16_t count = get_uint16_t(L, 2);
+    uint8_t *data = (uint8_t*)malloc(count);
+    if (data == nullptr) {
+        return 0;
+    }
+
+    const auto ret = ud->recv(data, count, 0);
+    if (ret < 0) {
+        free(data);
+        return 0;
+    }
+
+    // push to lua string
+    lua_pushlstring(L, (const char *)data, ret);
+    free(data);
+
+    return 1;
+}
+
+/*
+  TCP socket accept() call
+ */
+int SocketAPM_accept(lua_State *L) {
+    binding_argcheck(L, 1);
+
+    SocketAPM * ud = *check_SocketAPM(L, 1);
+
+    auto *scripting = AP::scripting();
+    if (scripting->num_net_sockets >= SCRIPTING_MAX_NUM_NET_SOCKET) {
+        return luaL_argerror(L, 1, "no sockets available");
+    }
+
+    auto *sock = ud->accept(0);
+    if (sock == nullptr) {
+        return 0;
+    }
+
+    scripting->_net_sockets[scripting->num_net_sockets] = sock;
+
+    new_SocketAPM(L);
+    *((SocketAPM**)luaL_checkudata(L, -1, "SocketAPM")) = scripting->_net_sockets[scripting->num_net_sockets];
+
+    scripting->num_net_sockets++;
+
+    return 1;
+}
+
+#endif // AP_NETWORKING_ENABLED
+
+
 int lua_get_current_ref()
 {
     auto *scripting = AP::scripting();
diff --git a/libraries/AP_Scripting/lua_bindings.h b/libraries/AP_Scripting/lua_bindings.h
index 8eef08bca35ac9..797a551b205f46 100644
--- a/libraries/AP_Scripting/lua_bindings.h
+++ b/libraries/AP_Scripting/lua_bindings.h
@@ -14,6 +14,10 @@ int lua_dirlist(lua_State *L);
 int lua_removefile(lua_State *L);
 int SRV_Channels_get_safety_state(lua_State *L);
 int lua_get_PWMSource(lua_State *L);
+int lua_get_SocketAPM(lua_State *L);
+int SocketAPM_recv(lua_State *L);
+int SocketAPM_accept(lua_State *L);
+int SocketAPM_close(lua_State *L);
 int lua_mavlink_init(lua_State *L);
 int lua_mavlink_receive_chan(lua_State *L);
 int lua_mavlink_register_rx_msgid(lua_State *L);

From 3446ff78d770ae7929ebdedc2565cb732bd7c7a8 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 4 Dec 2023 17:19:15 +1100
Subject: [PATCH 0014/1335] AP_Scripting: added isdirectory()

---
 libraries/AP_Scripting/docs/docs.lua          |  5 +++++
 .../generator/description/bindings.desc       |  1 +
 libraries/AP_Scripting/lua_bindings.cpp       | 19 +++++++++++++++++++
 libraries/AP_Scripting/lua_bindings.h         |  1 +
 4 files changed, 26 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 4f70ca60671fc2..b8f7c806b84feb 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -3062,6 +3062,11 @@ function scripting:restart_all() end
 ---@return table -- table of filenames
 function dirlist(directoryname) end
 
+-- return true if path is a directory
+---@param path string
+---@return result
+function isdirectory(path) end
+
 --desc
 ---@param filename string
 function remove(filename) end
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index d2c25274b354a4..5d6bf1b39e17e0 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -812,6 +812,7 @@ userdata uint32_t manual tofloat uint32_t_tofloat 0
 
 global manual dirlist lua_dirlist 1
 global manual remove lua_removefile 1
+global manual isdirectory lua_isdirectory 1
 global manual print lua_print 1
 
 singleton mavlink depends HAL_GCS_ENABLED
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index a3d574e8ed2fe3..ac7b4b83349f8e 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -720,6 +720,25 @@ int lua_dirlist(lua_State *L) {
     return 1;  /* table is already on top */
 }
 
+/*
+  return true if path is a directory
+ */
+int lua_isdirectory(lua_State *L) {
+    binding_argcheck(L, 1);
+
+    const char *path = luaL_checkstring(L, 1);
+    
+    struct stat st;
+    if (AP::FS().stat(path, &st) != 0) {
+        lua_pushnil(L);  /* return nil and ... */
+        lua_pushstring(L, strerror(errno));  /* error message */
+        return 2;
+    }
+    bool ret = (st.st_mode & S_IFMT) == S_IFDIR;
+    lua_pushboolean(L, ret);
+    return 1;
+}
+
 /*
   remove a file
  */
diff --git a/libraries/AP_Scripting/lua_bindings.h b/libraries/AP_Scripting/lua_bindings.h
index 797a551b205f46..41adfd859659ea 100644
--- a/libraries/AP_Scripting/lua_bindings.h
+++ b/libraries/AP_Scripting/lua_bindings.h
@@ -12,6 +12,7 @@ int lua_get_CAN_device(lua_State *L);
 int lua_get_CAN_device2(lua_State *L);
 int lua_dirlist(lua_State *L);
 int lua_removefile(lua_State *L);
+int lua_isdirectory(lua_State *L);
 int SRV_Channels_get_safety_state(lua_State *L);
 int lua_get_PWMSource(lua_State *L);
 int lua_get_SocketAPM(lua_State *L);

From 1419042fc09457c2bc0b232324a6b729a7f85dfa Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 4 Dec 2023 10:12:07 +1100
Subject: [PATCH 0015/1335] AP_Scripting: added web server appliction

---
 .../AP_Scripting/applets/WebExamples/test.lua |   9 +
 .../applets/WebExamples/test.shtml            |  16 +
 .../AP_Scripting/applets/net_webserver.lua    | 694 ++++++++++++++++++
 .../AP_Scripting/applets/net_webserver.md     |  91 +++
 libraries/AP_Scripting/examples/net_test.lua  |  37 +-
 5 files changed, 818 insertions(+), 29 deletions(-)
 create mode 100644 libraries/AP_Scripting/applets/WebExamples/test.lua
 create mode 100644 libraries/AP_Scripting/applets/WebExamples/test.shtml
 create mode 100644 libraries/AP_Scripting/applets/net_webserver.lua
 create mode 100644 libraries/AP_Scripting/applets/net_webserver.md

diff --git a/libraries/AP_Scripting/applets/WebExamples/test.lua b/libraries/AP_Scripting/applets/WebExamples/test.lua
new file mode 100644
index 00000000000000..97a5cc4a9e086c
--- /dev/null
+++ b/libraries/AP_Scripting/applets/WebExamples/test.lua
@@ -0,0 +1,9 @@
+--[[
+example lua cgi file for cgi-bin/ folder
+--]]
+return [[
+test-from-cgi
+
+working!!
+]]
+
diff --git a/libraries/AP_Scripting/applets/WebExamples/test.shtml b/libraries/AP_Scripting/applets/WebExamples/test.shtml
new file mode 100644
index 00000000000000..96546a427fe521
--- /dev/null
+++ b/libraries/AP_Scripting/applets/WebExamples/test.shtml
@@ -0,0 +1,16 @@
+<html>
+  <head>
+       <meta http-equiv="refresh" content="1">
+  </head>
+  <body>
+    <h1>Server Side Scripting Test</h1>
+    <table>
+      <tr><th>Roll</th><th>Pitch</th><th>Yaw</th></tr>
+      <tr>
+      <td><?lua return tostring(math.deg(ahrs:get_roll()))?></td>
+      <td><?lstr math.deg(ahrs:get_pitch())?></td>
+      <td><?lstr math.deg(ahrs:get_yaw())?></td>
+      </tr>
+    </table>
+  </body>
+</html>
diff --git a/libraries/AP_Scripting/applets/net_webserver.lua b/libraries/AP_Scripting/applets/net_webserver.lua
new file mode 100644
index 00000000000000..fb0076717ca850
--- /dev/null
+++ b/libraries/AP_Scripting/applets/net_webserver.lua
@@ -0,0 +1,694 @@
+--[[
+   example script to test lua socket API
+--]]
+
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+
+PARAM_TABLE_KEY = 47
+PARAM_TABLE_PREFIX = "WEB_"
+
+-- add a parameter and bind it to a variable
+function bind_add_param(name, idx, default_value)
+    assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
+    return Parameter(PARAM_TABLE_PREFIX .. name)
+end
+
+-- Setup Parameters
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 6), 'net_test: could not add param table')
+
+--[[
+  // @Param: WEB_ENABLE
+  // @DisplayName: enable web server
+  // @Description: enable web server
+  // @Values: 0:Disabled,1:Enabled
+  // @User: Standard
+--]]
+local WEB_ENABLE = bind_add_param('ENABLE',  1, 0)
+
+--[[
+  // @Param: WEB_BIND_PORT
+  // @DisplayName: web server TCP port
+  // @Description: web server TCP port
+  // @Range: 1 65535
+  // @User: Standard
+--]]
+local WEB_BIND_PORT = bind_add_param('BIND_PORT', 2, 8080)
+
+--[[
+  // @Param: WEB_DEBUG
+  // @DisplayName: web server debugging
+  // @Description: web server debugging
+  // @Values: 0:Disabled,1:Enabled
+  // @User: Advanced
+--]]
+local WEB_DEBUG = bind_add_param('DEBUG', 3, 0)
+
+--[[
+  // @Param: WEB_BLOCK_SIZE
+  // @DisplayName: web server block size
+  // @Description: web server block size for download
+  // @Range: 1 65535
+  // @User: Advanced
+--]]
+local WEB_BLOCK_SIZE = bind_add_param('BLOCK_SIZE', 4, 10240)
+
+--[[
+  // @Param: WEB_TIMEOUT
+  // @DisplayName: web server timeout
+  // @Description: timeout for inactive connections
+  // @Units: s
+  // @Range: 0.1 60
+  // @User: Advanced
+--]]
+local WEB_TIMEOUT = bind_add_param('TIMEOUT', 5, 2.0)
+
+gcs:send_text(MAV_SEVERITY.INFO, string.format("WebServer: starting on port %u", WEB_BIND_PORT:get()))
+
+local counter = 0
+local sock_listen = SocketAPM(0)
+local clients = {}
+
+local DOCTYPE = "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 3.2 Final//EN\">"
+local SERVER_VERSION = "net_webserver 1.0"
+local CONTENT_TEXT_HTML = "text/html;charset=UTF-8"
+local CONTENT_OCTET_STREAM = "application/octet-stream"
+
+local HIDDEN_FOLDERS = { "@SYS", "@ROMFS", "@MISSION", "@PARAM" }
+
+local CGI_BIN_PATH = "cgi-bin"
+
+local MIME_TYPES = {
+   ["apj"] = CONTENT_OCTET_STREAM,
+   ["dat"] = CONTENT_OCTET_STREAM,
+   ["o"] = CONTENT_OCTET_STREAM,
+   ["obj"] = CONTENT_OCTET_STREAM,
+   ["lua"] = "text/x-lua",
+   ["py"] = "text/x-python",
+   ["shtml"] = CONTENT_TEXT_HTML,
+   ["js"] = "text/javascript",
+   -- thanks to https://developer.mozilla.org/en-US/docs/Web/HTTP/Basics_of_HTTP/MIME_types/Common_types
+   ["aac"] = "audio/aac",
+   ["abw"] = "application/x-abiword",
+   ["arc"] = "application/x-freearc",
+   ["avif"] = "image/avif",
+   ["avi"] = "video/x-msvideo",
+   ["azw"] = "application/vnd.amazon.ebook",
+   ["bin"] = "application/octet-stream",
+   ["bmp"] = "image/bmp",
+   ["bz"] = "application/x-bzip",
+   ["bz2"] = "application/x-bzip2",
+   ["cda"] = "application/x-cdf",
+   ["csh"] = "application/x-csh",
+   ["css"] = "text/css",
+   ["csv"] = "text/csv",
+   ["doc"] = "application/msword",
+   ["docx"] = "application/vnd.openxmlformats-officedocument.wordprocessingml.document",
+   ["eot"] = "application/vnd.ms-fontobject",
+   ["epub"] = "application/epub+zip",
+   ["gz"] = "application/gzip",
+   ["gif"] = "image/gif",
+   ["htm"] = CONTENT_TEXT_HTML,
+   ["html"] = CONTENT_TEXT_HTML,
+   ["ico"] = "image/vnd.microsoft.icon",
+   ["ics"] = "text/calendar",
+   ["jar"] = "application/java-archive",
+   ["jpeg"] = "image/jpeg",
+   ["json"] = "application/json",
+   ["jsonld"] = "application/ld+json",
+   ["mid"] = "audio/x-midi",
+   ["mjs"] = "text/javascript",
+   ["mp3"] = "audio/mpeg",
+   ["mp4"] = "video/mp4",
+   ["mpeg"] = "video/mpeg",
+   ["mpkg"] = "application/vnd.apple.installer+xml",
+   ["odp"] = "application/vnd.oasis.opendocument.presentation",
+   ["ods"] = "application/vnd.oasis.opendocument.spreadsheet",
+   ["odt"] = "application/vnd.oasis.opendocument.text",
+   ["oga"] = "audio/ogg",
+   ["ogv"] = "video/ogg",
+   ["ogx"] = "application/ogg",
+   ["opus"] = "audio/opus",
+   ["otf"] = "font/otf",
+   ["png"] = "image/png",
+   ["pdf"] = "application/pdf",
+   ["php"] = "application/x-httpd-php",
+   ["ppt"] = "application/vnd.ms-powerpoint",
+   ["pptx"] = "application/vnd.openxmlformats-officedocument.presentationml.presentation",
+   ["rar"] = "application/vnd.rar",
+   ["rtf"] = "application/rtf",
+   ["sh"] = "application/x-sh",
+   ["svg"] = "image/svg+xml",
+   ["tar"] = "application/x-tar",
+   ["tif"] = "image/tiff",
+   ["tiff"] = "image/tiff",
+   ["ts"] = "video/mp2t",
+   ["ttf"] = "font/ttf",
+   ["txt"] = "text/plain",
+   ["vsd"] = "application/vnd.visio",
+   ["wav"] = "audio/wav",
+   ["weba"] = "audio/webm",
+   ["webm"] = "video/webm",
+   ["webp"] = "image/webp",
+   ["woff"] = "font/woff",
+   ["woff2"] = "font/woff2",
+   ["xhtml"] = "application/xhtml+xml",
+   ["xls"] = "application/vnd.ms-excel",
+   ["xlsx"] = "application/vnd.openxmlformats-officedocument.spreadsheetml.sheet",
+   ["xml"] = "default.",
+   ["xul"] = "application/vnd.mozilla.xul+xml",
+   ["zip"] = "application/zip",
+   ["3gp"] = "video",
+   ["3g2"] = "video",
+   ["7z"] = "application/x-7z-compressed",
+}
+
+
+if not sock_listen:bind("0.0.0.0", WEB_BIND_PORT:get()) then
+   gcs:send_text(MAV_SEVERITY.ERROR, string.format("WebServer: failed to bind to TCP %u", WEB_BIND_PORT:get()))
+   return
+end
+
+if not sock_listen:listen(50) then
+   gcs:send_text(MAV_SEVERITY.ERROR, "WebServer: failed to listen")
+   return
+end
+
+--[[
+   split string by pattern
+--]]
+local function split(str, pattern)
+   local ret = {}
+   for s in string.gmatch(str, pattern) do
+      table.insert(ret, s)
+   end
+   return ret
+end
+
+--[[
+   return true if a string ends in the 2nd string
+--]]
+local function endswith(str, s)
+   local len1 = #str
+   local len2 = #s
+   return string.sub(str,1+len1-len2,len1) == s
+end
+
+--[[
+   return true if a string starts with the 2nd string
+--]]
+local function startswith(str, s)
+   local len1 = #str
+   local len2 = #s
+   return string.sub(str,1,len2) == s
+end
+
+function DEBUG(txt)
+   if WEB_DEBUG:get() ~= 0 then
+      gcs:send_text(MAV_SEVERITY.DEBUG, txt)
+   end
+end
+
+--[[
+   return true if a table contains a given element
+--]]
+function contains(t,el)
+   for _,v in ipairs(t) do
+      if v == el then
+         return true
+      end
+   end
+   return false
+end
+
+function is_hidden_dir(path)
+   return contains(HIDDEN_FOLDERS, path)
+end
+
+function file_exists(path)
+   local f = io.open(path, "rb")
+   if f then
+      return true
+   end
+   return false
+end
+
+--[[
+   client class for open connections
+--]]
+local function Client(_sock, _idx)
+   local self = {}
+
+   self.closed = false
+
+   local sock = _sock
+   local idx = _idx
+   local have_header = false
+   local header = ""
+   local header_lines = {}
+   local header_vars = {}
+   local run = nil
+   local protocol = nil
+   local file = nil
+   local start_time = millis()
+
+   function self.read_header()
+      local s = sock:recv(2048)
+      if not s then
+         local now = millis()
+         if not sock:is_connected() or now - start_time > WEB_TIMEOUT:get()*1000 then
+            -- EOF while looking for header
+            DEBUG("EOF")
+            self.remove()
+            return false
+         end
+         return false
+      end
+      if not s or #s == 0 then
+         return false
+      end
+      header = header .. s
+      local eoh = string.find(s, '\r\n\r\n')
+      if eoh then
+         DEBUG("got header")
+         have_header = true
+         header_lines = split(header, "[^\r\n]+")
+         -- blocking for reply
+         sock:set_blocking(true)
+         return true
+      end
+      return false
+   end
+
+   function self.sendstring(s)
+      sock:send(s, #s)
+   end
+
+   function self.sendline(s)
+      self.sendstring(s .. "\r\n")
+   end
+
+   --[[
+      send a string with variable substitution using {varname}
+      from http://lua-users.org/wiki/StringInterpolation
+   --]]
+   function self.sendstring_vars(s, vars)
+      s = (string.gsub(s, "({([^}]+)})",
+                          function(whole,i)
+                             return vars[i] or whole
+      end))
+      self.sendstring(s)
+   end
+   
+   function self.send_header(code, codestr, vars)
+      self.sendline(string.format("%s %u %s", protocol, code, codestr))
+      self.sendline(string.format("Server: %s", SERVER_VERSION))
+      for k,v in pairs(vars) do
+         self.sendline(string.format("%s: %s", k, v))
+      end
+      self.sendline("Connection: close")
+      self.sendline("")
+   end
+
+   -- get size of a file
+   function self.file_size(fname)
+      DEBUG(string.format("size of '%s'", fname))
+      local f = io.open(fname, "rb")
+      if not f then
+         return -1
+      end
+      local ret = f:seek("end")
+      f:close()
+      DEBUG(string.format("size of '%s' -> %u", fname, ret))
+      return ret
+   end
+
+
+   --[[
+      return full path with .. resolution
+   --]]
+   function self.full_path(path, name)
+      DEBUG(string.format("full_path(%s,%s)", path, name))
+      local ret = path
+      if path == "/" and startswith(name,"@") then
+         return name
+      end
+      if name == ".." then
+         if path == "/" then
+            return "/"
+         end
+         if endswith(path,"/") then
+            path = string.sub(path, 1, #path-1)
+         end
+         local dir, file = string.match(path, '(.*/)(.*)')
+         if not dir then
+            return path
+         end
+         return dir
+      end
+      if not endswith(ret, "/") then
+         ret = ret .. "/"
+      end
+      ret = ret .. name
+      DEBUG(string.format("full_path(%s,%s) -> %s", path, name, ret))
+      return ret
+   end
+   
+   function self.directory_list(path)
+      if startswith(path, "/@") then
+         path = string.sub(path, 2, #path-1)
+      end
+      DEBUG(string.format("directory_list(%s)", path))
+      local dlist = dirlist(path)
+      if not dlist then
+         dlist = {}
+      end
+      if not contains(dlist, "..") then
+         -- on ChibiOS we don't get ..
+         table.insert(dlist, "..")
+      end
+      if path == "/" then
+         for _,v in ipairs(HIDDEN_FOLDERS) do
+            table.insert(dlist, v)
+         end
+      end
+
+      table.sort(dlist)
+      self.send_header(200, "OK", {["Content-Type"]=CONTENT_TEXT_HTML})
+      self.sendline(DOCTYPE)
+      self.sendstring_vars([[
+<html>
+ <head>
+  <title>Index of {path}</title>
+ </head>
+ <body>
+<h1>Index of {path}</h1>
+  <table>
+   <tr><th>Name</th><th>Size</th></tr>
+]], {path=path})
+      for _,d in ipairs(dlist) do
+         local skip = d == "."
+         if path == "/" and d == ".." then
+            skip = true
+         end
+         if not skip then
+            local fullpath = self.full_path(path, d)
+            local name = d
+            local size = 0
+            if is_hidden_dir(fullpath) or isdirectory(fullpath) then
+               name = name .. "/"
+            else
+               size = math.max(self.file_size(fullpath),0)
+            end
+            self.sendstring_vars([[<tr><td><a href="{name}">{name}</a></td><td>{size}</td></tr>
+]], { name=name, size=tostring(size) })
+         end
+      end
+      self.sendstring([[
+</table>
+</body>
+</html>
+]])
+   end
+
+   -- send file content
+   function self.send_file()
+      local chunk = WEB_BLOCK_SIZE:get()
+      local b = file:read(chunk)
+      if b and #b > 0 then
+         sock:send(b, #b)
+      end
+      if not b or #b < chunk then
+         -- EOF
+         DEBUG("sent file")
+         run = nil
+         self.remove()
+         return
+      end
+   end
+
+   --[[
+      load whole file as a string
+   --]]
+   function self.load_file()
+      local chunk = WEB_BLOCK_SIZE:get()
+      local ret = ""
+      while true do
+         local b = file:read(chunk)
+         if not b or #b == 0 then
+            break
+         end
+         ret = ret .. b
+      end
+      return ret
+   end
+   
+   --[[
+      evaluate some lua code and return as a string
+   --]]
+   function self.evaluate(code)
+      local eval_code = "function eval_func()\n" .. code .. "\nend\n"
+      local f, errloc, err = load(eval_code, "eval_func", "t", _ENV)
+      if not f then
+         DEBUG(string.format("load failed: err=%s", err))
+         return nil
+      end
+      local success, err = pcall(f)
+      if not success then
+         DEBUG(string.format("pcall failed: err=%s", err))
+         return nil
+      end
+      local ok, s2 = pcall(eval_func)
+      eval_func = nil
+      if ok then
+         return s2
+      end
+      return nil
+   end
+
+   --[[
+      process a file as a lua CGI
+   --]]
+   function self.send_cgi()
+      local contents = self.load_file()
+      local s = self.evaluate(contents)
+      if s then
+         self.sendstring(s)
+      end
+      self.remove()
+   end
+
+   --[[
+      send file content with server side processsing
+      files ending in .shtml can have embedded lua lika this:
+      <?lua return "foo" ?>
+      <?lstr 2.6+7.2 ?>
+
+      Using 'lstr' a return tostring(yourcode) is added to the code
+      automatically
+   --]]
+   function self.send_processed_file()
+      local contents = self.load_file()
+      while #contents > 0 do
+         local pat1 = "(.-)[<][?]lua[ \n](.-)[?][>](.*)"
+         local pat2 = "(.-)[<][?]lstr[ \n](.-)[?][>](.*)"
+         local p1, p2, p3 = string.match(contents, pat1)
+         if not p1 then
+            p1, p2, p3 = string.match(contents, pat2)
+            if not p1 then
+               break
+            end
+            p2 = "return tostring(" .. p2 .. ")"
+         end
+         self.sendstring(p1)
+         local s2 = self.evaluate(p2)
+         if s2 then
+            self.sendstring(s2)
+         end
+         contents = p3
+      end
+      self.sendstring(contents)
+      self.remove()
+   end
+   
+   -- return a content type
+   function self.content_type(path)
+      local file, ext = string.match(path, '(.*[.])(.*)')
+      ext = string.lower(ext)
+      local ret = MIME_TYPES[ext]
+      if not ret then
+         return CONTENT_OCTET_STREAM
+      end
+      return ret
+   end
+
+   -- perform a file download
+   function self.file_download(path)
+      if startswith(path, "/@") then
+         path = string.sub(path, 2, #path)
+      end
+      DEBUG(string.format("file_download(%s)", path))
+      file = io.open(path,"rb")
+      if not file then
+         DEBUG(string.format("Failed to open '%s'", path))
+         return false
+      end
+      local vars = {["Content-Type"]=self.content_type(path)}
+      local cgi_processing = startswith(path, "/cgi-bin/") and endswith(path, ".lua")
+      local server_side_processing = endswith(path, ".shtml")
+      if not startswith(path, "@") and not server_side_processing and not cgi_processing then
+         local fsize = self.file_size(path)
+         vars["Content-Length"]= tostring(fsize)
+      end
+      self.send_header(200, "OK", vars)
+      if server_side_processing then
+         DEBUG(string.format("shtml processing %s", path))
+         run = self.send_processed_file
+      elseif cgi_processing then
+         DEBUG(string.format("CGI processing %s", path))
+         run = self.send_cgi
+      else
+         run = self.send_file
+      end
+      return true
+   end
+
+   function self.not_found()
+      self.send_header(404, "Not found", {})
+   end
+
+   function self.moved_permanently(relpath)
+      if not startswith(relpath, "/") then
+         relpath = "/" .. relpath
+      end
+      local location = string.format("http://%s%s", header_vars['Host'], relpath)
+      DEBUG(string.format("Redirect -> %s", location))
+      self.send_header(301, "Moved Permanently", {["Location"]=location})
+   end
+   
+   -- process a single request
+   function self.process_request()
+      local h1 = header_lines[1]
+      if not h1 or #h1 == 0 then
+         DEBUG("empty request")
+         return
+      end
+      local cmd = split(header_lines[1], "%S+")
+      if not cmd or #cmd < 3 then
+         DEBUG(string.format("bad request: %s", header_lines[1]))
+         return
+      end
+      if cmd[1] ~= "GET" then
+         DEBUG(string.format("bad op: %s", cmd[1]))
+         return
+      end
+      protocol = cmd[3]
+      if protocol ~= "HTTP/1.0" and protocol ~= "HTTP/1.1" then
+         DEBUG(string.format("bad protocol: %s", protocol))
+         return
+      end
+      local path = cmd[2]
+      DEBUG(string.format("path='%s'", path))
+
+      -- extract header variables
+      for i = 2,#header_lines do
+         local key, var = string.match(header_lines[i], '(.*): (.*)')
+         header_vars[key] = var
+      end
+
+      if isdirectory(path) and not endswith(path,"/") and header_vars['Host'] and not is_hidden_dir(path) then
+         self.moved_permanently(path .. "/")
+         return
+      end
+
+      if path ~= "/" and endswith(path,"/") then
+         path = string.sub(path, 1, #path-1)
+      end
+
+      if startswith(path,"/@") then
+         path = string.sub(path, 2, #path)
+      end
+
+      -- see if we have an index file
+      if isdirectory(path) and file_exists(path .. "/index.html") then
+         DEBUG("found index.html")
+         if self.file_download(path .. "/index.html") then
+            return
+         end
+      end
+      
+      -- see if it is a directory
+      if endswith(path,"/") or isdirectory(path) or is_hidden_dir(path) then
+         self.directory_list(path)
+         return
+      end
+      -- or a file
+      if self.file_download(path) then
+         return
+      end
+      self.not_found(path)
+   end
+
+   -- update the client
+   function self.update()
+      if run then
+         run()
+         return
+      end
+      if not have_header then
+         if not self.read_header() then
+            return
+         end
+      end
+      self.process_request()
+      if not run then
+         -- nothing more to do
+         self.remove()
+      end
+   end
+
+   function self.remove()
+      DEBUG(string.format("Removing client %u", idx))
+      sock:close()
+      self.closed = true
+   end
+
+   -- return the instance
+   return self
+end
+
+--[[
+   see if any new clients want to connect
+--]]
+local function check_new_clients()
+   local sock = sock_listen:accept()
+   if sock then
+      -- non-blocking for header read
+      sock:set_blocking(false)
+      local idx = #clients+1
+      local client = Client(sock, idx)
+      DEBUG(string.format("New client %u", idx))
+      table.insert(clients, client)
+   end
+end
+
+--[[
+   check for client activity
+--]]
+local function check_clients()
+   for idx,client in ipairs(clients) do
+      if not client.closed then
+         client.update()
+      end
+      if client.closed then
+         table.remove(clients,idx)
+      end
+   end
+end
+
+local function update()
+   check_clients()
+   check_new_clients()
+   return update,1
+end
+
+return update,100
diff --git a/libraries/AP_Scripting/applets/net_webserver.md b/libraries/AP_Scripting/applets/net_webserver.md
new file mode 100644
index 00000000000000..fa45efe780b467
--- /dev/null
+++ b/libraries/AP_Scripting/applets/net_webserver.md
@@ -0,0 +1,91 @@
+# Web Server Application
+
+This implements a web server for boards that have networking support.
+
+# Parameters
+
+The web server has a small number of parameters
+
+## WEB_ENABLE
+
+This must be set to 1 to enable the web server
+
+## WEB_BIND_PORT
+
+This sets the network port to use for the server. It defaults to 8080
+
+## WEB_DEBUG
+
+This enables verbose debugging
+
+## WEB_BLOCK_SIZE
+
+This sets the block size for network and file read/write
+operations. Setting a larger value can increase performance at the
+cost of more memory
+
+## WEB_TIMEOUT
+
+This sets the timeout in seconds for inactive client connections.
+
+# Operation
+
+By default the web server serves the root of your microSD card. You
+can include html, javascript (*.js), image files etc on your microSD
+to create a full web server with any structure you want.
+
+## Server Side Scripting
+
+The web server supports embedding lua script elements inside html
+files for files with a filename of *.shtml. Here is an example:
+
+```
+<html>
+  <head>
+       <meta http-equiv="refresh" content="1">
+  </head>
+  <body>
+    <h1>Server Side Scripting Test</h1>
+    <table>
+      <tr><th>Roll</th><th>Pitch</th><th>Yaw</th></tr>
+      <tr>
+      <td><?lua return tostring(math.deg(ahrs:get_roll()))?></td>
+      <td><?lstr math.deg(ahrs:get_pitch())?></td>
+      <td><?lstr math.deg(ahrs:get_yaw())?></td>
+      </tr>
+    </table>
+  </body>
+</html>
+```
+In this example we are using two forms of embedded lua scripts. The
+first form starts with "<?lua" and requires you to have a return
+statement at the end which returns a string. This form can use as many
+lines as you like.
+
+The second form starts with "<?lstr" and will automatically cast the
+expression to a string. The second form is for short single value
+elements.
+
+You can use any of the normal ArduPilot lua script bindings inside
+these lua embedded elements to access sensor data etc.
+
+## CGI Scripts
+
+You can have CGI scripts written in lua by putting them in a directory
+called "cgi-bin" in the root of the microSD card. The files must have
+a file extension of ".lua".
+
+Here is an example of a simple cgi script:
+```
+--[[
+example lua cgi file for cgi-bin/ folder
+--]]
+return [[
+test-from-cgi
+2nd line
+and a third line
+]]
+```
+
+You can use any of the normal ArduPilot lua script bindings inside CGI
+scripts to access sensor data etc.
diff --git a/libraries/AP_Scripting/examples/net_test.lua b/libraries/AP_Scripting/examples/net_test.lua
index e40f4d59aa9d0b..1db3e45f638067 100644
--- a/libraries/AP_Scripting/examples/net_test.lua
+++ b/libraries/AP_Scripting/examples/net_test.lua
@@ -7,17 +7,10 @@ local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTI
 PARAM_TABLE_KEY = 46
 PARAM_TABLE_PREFIX = "NT_"
 
--- bind a parameter to a variable given
-function bind_param(name)
-    local p = Parameter()
-    assert(p:init(name), string.format('could not find %s parameter', name))
-    return p
-end
-
 -- add a parameter and bind it to a variable
 function bind_add_param(name, idx, default_value)
     assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
-    return bind_param(PARAM_TABLE_PREFIX .. name)
+    return Parameter(PARAM_TABLE_PREFIX .. name)
 end
 
 -- Setup Parameters
@@ -57,27 +50,13 @@ local sock_tcp_in = SocketAPM(0)
 local sock_tcp_in2 = nil
 local sock_udp_in = SocketAPM(1)
 
-if not sock_tcp_echo then
-   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to create tcp echo socket")
-   return
-end
-
-if not sock_udp_echo then
-   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to create udp echo socket")
-   return
-end
-
-if not sock_tcp_in:bind("0.0.0.0", NT_BIND_PORT:get()) then
-   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to bind to TCP 5001")
-end
-
-if not sock_tcp_in:listen(1) then
-   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to listen")
-end
-
-if not sock_udp_in:bind("0.0.0.0", NT_BIND_PORT:get()) then
-   gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to bind to UDP 5001")
-end
+assert(sock_tcp_echo, "net_test: failed to create tcp echo socket")
+assert(sock_udp_echo, "net_test: failed to create udp echo socket")
+assert(sock_tcp_in:bind("0.0.0.0",
+                        NT_BIND_PORT:get()), string.format("net_test: failed to bind to TCP %u", NT_BIND_PORT:get()))
+assert(sock_tcp_in:listen(1), "net_test: failed to listen")
+assert(sock_udp_in:bind("0.0.0.0",
+                        NT_BIND_PORT:get()), string.format("net_test: failed to bind to UDP %u", NT_BIND_PORT:get()))
 
 --[[
    test TCP or UDP echo

From f9244971948b4ebb2085e717e5c429311d80ec28 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 7 Dec 2023 16:36:08 +1100
Subject: [PATCH 0016/1335] AP_Scripting: added poll bindings

---
 libraries/AP_Scripting/generator/description/bindings.desc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 5d6bf1b39e17e0..f269643e1d512a 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -546,6 +546,9 @@ ap_object SocketAPM method send int32_t string uint32_t'skip_check
 ap_object SocketAPM method listen boolean uint8_t'skip_check
 ap_object SocketAPM method set_blocking boolean boolean
 ap_object SocketAPM method is_connected boolean
+ap_object SocketAPM method pollout boolean uint32_t'skip_check
+ap_object SocketAPM method pollin boolean uint32_t'skip_check
+ap_object SocketAPM method reuseaddress boolean
 ap_object SocketAPM manual close SocketAPM_close 0
 ap_object SocketAPM manual recv SocketAPM_recv 1
 ap_object SocketAPM manual accept SocketAPM_accept 1

From fec0ec79c56e3f8d82899facf2da2c1dbfc56259 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 7 Dec 2023 16:37:56 +1100
Subject: [PATCH 0017/1335] AP_Networking: make lwip debugging easier

---
 libraries/AP_Networking/AP_Networking.cpp | 27 +++++++++++++++++++++++
 libraries/AP_Networking/AP_Networking.h   |  4 ++++
 2 files changed, 31 insertions(+)

diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp
index df2f207e9c5abf..76c7e95b5f081d 100644
--- a/libraries/AP_Networking/AP_Networking.cpp
+++ b/libraries/AP_Networking/AP_Networking.cpp
@@ -292,4 +292,31 @@ AP_Networking &network()
 }
 }
 
+/*
+  debug printfs from LWIP
+ */
+int ap_networking_printf(const char *fmt, ...)
+{
+#ifdef AP_NETWORKING_LWIP_DEBUG_PORT
+    static AP_HAL::UARTDriver *uart;
+    if (uart == nullptr) {
+        uart = hal.serial(AP_NETWORKING_LWIP_DEBUG_PORT);
+        if (uart == nullptr) {
+            return -1;
+        }
+        uart->begin(921600, 0, 50000);
+    }
+    va_list ap;
+    va_start(ap, fmt);
+    uart->vprintf(fmt, ap);
+    va_end(ap);
+#else
+    va_list ap;
+    va_start(ap, fmt);
+    hal.console->vprintf(fmt, ap);
+    va_end(ap);
+#endif
+    return 0;
+}
+
 #endif // AP_NETWORKING_ENABLED
diff --git a/libraries/AP_Networking/AP_Networking.h b/libraries/AP_Networking/AP_Networking.h
index 1359b3abe55723..5c3b52be73551f 100644
--- a/libraries/AP_Networking/AP_Networking.h
+++ b/libraries/AP_Networking/AP_Networking.h
@@ -319,4 +319,8 @@ namespace AP
     AP_Networking &network();
 };
 
+extern "C" {
+int ap_networking_printf(const char *fmt, ...);
+}
+
 #endif // AP_NETWORKING_ENABLED

From f603f045b532d09f6e47a4ec747f8da0c9d8a881 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 7 Dec 2023 16:40:20 +1100
Subject: [PATCH 0018/1335] HAL_ChibiOS: make lwip debugging easier

use ap_networking_printf wrapper
---
 .../AP_HAL_ChibiOS/hwdef/common/lwipopts.h      | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h b/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h
index 5351ff63933e0f..7ff155ca45fd13 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h
@@ -49,7 +49,6 @@
    -----------------------------------------------
 */
 
-#define LWIP_PLATFORM_DIAG(x)    do {__wrap_printf x; } while(0)
 // #define LWIP_DEBUG
 #define U16_F "u"
 #define X8_F  "x"
@@ -58,12 +57,24 @@
 #define ETHARP_STATS 1
 #define LWIP_IGMP 1
 #define MEMP_NUM_NETCONN 50 // up to 50 sockets
-#define MEMP_NUM_TCP_PCB 50
+#define MEMP_NUM_TCP_PCB 200
 #define MEM_LIBC_MALLOC 1
 #define MEMP_MEM_MALLOC 1
 #define SO_REUSE 1
 #define SO_REUSE_RXTOALL 1
-#define DHCP_DEBUG LWIP_DBG_ON
+
+/*
+  map LWIP debugging onto ap_networking_printf to allow for easier
+  redirection to a file or dedicated serial port
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+int ap_networking_printf(const char *fmt, ...);
+#ifdef __cplusplus
+}
+#endif
+#define LWIP_PLATFORM_DIAG(x)    do {ap_networking_printf x; } while(0)
 
 #ifndef LWIP_IPV6
   // This uses an additional 18KB Flash

From 39891d3161eb0162c5e06f91c3284abd7d6fdaa3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 7 Dec 2023 16:41:23 +1100
Subject: [PATCH 0019/1335] AP_Scripting: improve web server debug

---
 .../AP_Scripting/applets/net_webserver.lua    | 88 +++++++++++++------
 1 file changed, 59 insertions(+), 29 deletions(-)

diff --git a/libraries/AP_Scripting/applets/net_webserver.lua b/libraries/AP_Scripting/applets/net_webserver.lua
index fb0076717ca850..8ba0a14e92a40f 100644
--- a/libraries/AP_Scripting/applets/net_webserver.lua
+++ b/libraries/AP_Scripting/applets/net_webserver.lua
@@ -168,7 +168,7 @@ if not sock_listen:bind("0.0.0.0", WEB_BIND_PORT:get()) then
    return
 end
 
-if not sock_listen:listen(50) then
+if not sock_listen:listen(1) then
    gcs:send_text(MAV_SEVERITY.ERROR, "WebServer: failed to listen")
    return
 end
@@ -202,9 +202,12 @@ local function startswith(str, s)
    return string.sub(str,1,len2) == s
 end
 
+local debug_count=0
+
 function DEBUG(txt)
    if WEB_DEBUG:get() ~= 0 then
-      gcs:send_text(MAV_SEVERITY.DEBUG, txt)
+      gcs:send_text(MAV_SEVERITY.DEBUG, txt .. string.format(" [%u]", debug_count))
+      debug_count = debug_count + 1
    end
 end
 
@@ -250,6 +253,7 @@ local function Client(_sock, _idx)
    local protocol = nil
    local file = nil
    local start_time = millis()
+   local offset = 0
 
    function self.read_header()
       local s = sock:recv(2048)
@@ -257,7 +261,7 @@ local function Client(_sock, _idx)
          local now = millis()
          if not sock:is_connected() or now - start_time > WEB_TIMEOUT:get()*1000 then
             -- EOF while looking for header
-            DEBUG("EOF")
+            DEBUG(string.format("%u: EOF", idx))
             self.remove()
             return false
          end
@@ -269,7 +273,7 @@ local function Client(_sock, _idx)
       header = header .. s
       local eoh = string.find(s, '\r\n\r\n')
       if eoh then
-         DEBUG("got header")
+         DEBUG(string.format("%u: got header", idx))
          have_header = true
          header_lines = split(header, "[^\r\n]+")
          -- blocking for reply
@@ -311,14 +315,14 @@ local function Client(_sock, _idx)
 
    -- get size of a file
    function self.file_size(fname)
-      DEBUG(string.format("size of '%s'", fname))
+      DEBUG(string.format("%u: size of '%s'", idx, fname))
       local f = io.open(fname, "rb")
       if not f then
          return -1
       end
       local ret = f:seek("end")
       f:close()
-      DEBUG(string.format("size of '%s' -> %u", fname, ret))
+      DEBUG(string.format("%u: size of '%s' -> %u", idx, fname, ret))
       return ret
    end
 
@@ -327,7 +331,7 @@ local function Client(_sock, _idx)
       return full path with .. resolution
    --]]
    function self.full_path(path, name)
-      DEBUG(string.format("full_path(%s,%s)", path, name))
+      DEBUG(string.format("%u: full_path(%s,%s)", idx, path, name))
       local ret = path
       if path == "/" and startswith(name,"@") then
          return name
@@ -349,15 +353,16 @@ local function Client(_sock, _idx)
          ret = ret .. "/"
       end
       ret = ret .. name
-      DEBUG(string.format("full_path(%s,%s) -> %s", path, name, ret))
+      DEBUG(string.format("%u: full_path(%s,%s) -> %s", idx, path, name, ret))
       return ret
    end
    
    function self.directory_list(path)
+      sock:set_blocking(true)
       if startswith(path, "/@") then
          path = string.sub(path, 2, #path-1)
       end
-      DEBUG(string.format("directory_list(%s)", path))
+      DEBUG(string.format("%u: directory_list(%s)", idx, path))
       local dlist = dirlist(path)
       if not dlist then
          dlist = {}
@@ -412,14 +417,27 @@ local function Client(_sock, _idx)
 
    -- send file content
    function self.send_file()
+      if not sock:pollout(0) then
+         return
+      end
       local chunk = WEB_BLOCK_SIZE:get()
       local b = file:read(chunk)
+      sock:set_blocking(true)
       if b and #b > 0 then
-         sock:send(b, #b)
+         local sent = sock:send(b, #b)
+         if sent == -1 then
+            run = nil
+            self.remove()
+            return
+         end
+         if sent < #b then
+            file:seek(offset+sent)
+         end
+         offset = offset + sent
       end
       if not b or #b < chunk then
          -- EOF
-         DEBUG("sent file")
+         DEBUG(string.format("%u: sent file", idx))
          run = nil
          self.remove()
          return
@@ -469,6 +487,7 @@ local function Client(_sock, _idx)
       process a file as a lua CGI
    --]]
    function self.send_cgi()
+      sock:set_blocking(true)
       local contents = self.load_file()
       local s = self.evaluate(contents)
       if s then
@@ -487,6 +506,7 @@ local function Client(_sock, _idx)
       automatically
    --]]
    function self.send_processed_file()
+      sock:set_blocking(true)
       local contents = self.load_file()
       while #contents > 0 do
          local pat1 = "(.-)[<][?]lua[ \n](.-)[?][>](.*)"
@@ -526,10 +546,10 @@ local function Client(_sock, _idx)
       if startswith(path, "/@") then
          path = string.sub(path, 2, #path)
       end
-      DEBUG(string.format("file_download(%s)", path))
+      DEBUG(string.format("%u: file_download(%s)", idx, path))
       file = io.open(path,"rb")
       if not file then
-         DEBUG(string.format("Failed to open '%s'", path))
+         DEBUG(string.format("%u: Failed to open '%s'", idx, path))
          return false
       end
       local vars = {["Content-Type"]=self.content_type(path)}
@@ -541,10 +561,10 @@ local function Client(_sock, _idx)
       end
       self.send_header(200, "OK", vars)
       if server_side_processing then
-         DEBUG(string.format("shtml processing %s", path))
+         DEBUG(string.format("%u: shtml processing %s", idx, path))
          run = self.send_processed_file
       elseif cgi_processing then
-         DEBUG(string.format("CGI processing %s", path))
+         DEBUG(string.format("%u: CGI processing %s", idx, path))
          run = self.send_cgi
       else
          run = self.send_file
@@ -561,7 +581,7 @@ local function Client(_sock, _idx)
          relpath = "/" .. relpath
       end
       local location = string.format("http://%s%s", header_vars['Host'], relpath)
-      DEBUG(string.format("Redirect -> %s", location))
+      DEBUG(string.format("%u: Redirect -> %s", idx, location))
       self.send_header(301, "Moved Permanently", {["Location"]=location})
    end
    
@@ -569,7 +589,7 @@ local function Client(_sock, _idx)
    function self.process_request()
       local h1 = header_lines[1]
       if not h1 or #h1 == 0 then
-         DEBUG("empty request")
+         DEBUG(string.format("%u: empty request", idx))
          return
       end
       local cmd = split(header_lines[1], "%S+")
@@ -587,12 +607,14 @@ local function Client(_sock, _idx)
          return
       end
       local path = cmd[2]
-      DEBUG(string.format("path='%s'", path))
+      DEBUG(string.format("%u: path='%s'", idx, path))
 
       -- extract header variables
       for i = 2,#header_lines do
          local key, var = string.match(header_lines[i], '(.*): (.*)')
-         header_vars[key] = var
+         if key then
+            header_vars[key] = var
+         end
       end
 
       if isdirectory(path) and not endswith(path,"/") and header_vars['Host'] and not is_hidden_dir(path) then
@@ -610,7 +632,7 @@ local function Client(_sock, _idx)
 
       -- see if we have an index file
       if isdirectory(path) and file_exists(path .. "/index.html") then
-         DEBUG("found index.html")
+         DEBUG(string.format("%u: found index.html", idx))
          if self.file_download(path .. "/index.html") then
             return
          end
@@ -647,7 +669,7 @@ local function Client(_sock, _idx)
    end
 
    function self.remove()
-      DEBUG(string.format("Removing client %u", idx))
+      DEBUG(string.format("%u: removing client OFFSET=%u", idx, offset))
       sock:close()
       self.closed = true
    end
@@ -660,14 +682,22 @@ end
    see if any new clients want to connect
 --]]
 local function check_new_clients()
-   local sock = sock_listen:accept()
-   if sock then
+   while true do
+      local sock = sock_listen:accept()
+      if not sock then
+         return
+      end
       -- non-blocking for header read
       sock:set_blocking(false)
-      local idx = #clients+1
-      local client = Client(sock, idx)
-      DEBUG(string.format("New client %u", idx))
-      table.insert(clients, client)
+      -- find free client slot
+      for i = 1, #clients+1 do
+         if clients[i] == nil then
+            local idx = i
+            local client = Client(sock, idx)
+            DEBUG(string.format("%u: New client", idx))
+            clients[idx] = client
+         end
+      end
    end
 end
 
@@ -686,9 +716,9 @@ local function check_clients()
 end
 
 local function update()
-   check_clients()
    check_new_clients()
-   return update,1
+   check_clients()
+   return update,5
 end
 
 return update,100

From 8f2911d0e281cd69134a2622480329abbe91f2e8 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 7 Dec 2023 16:41:47 +1100
Subject: [PATCH 0020/1335] waf: fix dependency on lwip code

---
 Tools/ardupilotwaf/chibios.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index a827af26f777f7..0262eeecffa021 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -675,6 +675,8 @@ def build(bld):
     common_src += bld.path.ant_glob('libraries/AP_HAL_ChibiOS/hwdef/common/*.mk')
     common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.[ch]')
     common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.mk')
+    common_src += bld.path.ant_glob('modules/ChibiOS/ext/lwip/src/**/*.[ch]')
+    common_src += bld.path.ant_glob('modules/ChibiOS/ext/lwip/src/core/**/*.[ch]')
     if bld.env.ROMFS_FILES:
         common_src += [bld.bldnode.find_or_declare('ap_romfs_embedded.h')]
 

From 28885dca4c07a11198e8340bb6887c5d99315cc0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 7 Dec 2023 18:54:50 +1100
Subject: [PATCH 0021/1335] HAL_ChibiOS: adjust buffer sizes

this fixes issues with TCP accepts being lost in web server
---
 libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h b/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h
index 7ff155ca45fd13..4cd1e61bee89db 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h
@@ -62,6 +62,8 @@
 #define MEMP_MEM_MALLOC 1
 #define SO_REUSE 1
 #define SO_REUSE_RXTOALL 1
+#define DEFAULT_ACCEPTMBOX_SIZE 20
+#define MEMP_NUM_PBUF 64
 
 /*
   map LWIP debugging onto ap_networking_printf to allow for easier

From a4fb05de9567033175c0a510a7ea61f593a0536f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 8 Dec 2023 12:37:54 +1100
Subject: [PATCH 0022/1335] HAL_ChibiOS: increase LWIP windows

now getting 6.8MByte/s with NET_TESTS=4
---
 libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h b/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h
index 4cd1e61bee89db..94f839feaa0f7d 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h
@@ -64,6 +64,8 @@
 #define SO_REUSE_RXTOALL 1
 #define DEFAULT_ACCEPTMBOX_SIZE 20
 #define MEMP_NUM_PBUF 64
+#define TCP_WND 12000
+#define TCP_SND_BUF 12000
 
 /*
   map LWIP debugging onto ap_networking_printf to allow for easier

From 26d814880e90e5ca6e56231a85714a56f669a7a2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 7 Dec 2023 18:55:02 +1100
Subject: [PATCH 0023/1335] AP_Scripting: webserver improvements

---
 libraries/AP_Scripting/applets/net_webserver.lua | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Scripting/applets/net_webserver.lua b/libraries/AP_Scripting/applets/net_webserver.lua
index 8ba0a14e92a40f..284dae82017954 100644
--- a/libraries/AP_Scripting/applets/net_webserver.lua
+++ b/libraries/AP_Scripting/applets/net_webserver.lua
@@ -168,7 +168,7 @@ if not sock_listen:bind("0.0.0.0", WEB_BIND_PORT:get()) then
    return
 end
 
-if not sock_listen:listen(1) then
+if not sock_listen:listen(20) then
    gcs:send_text(MAV_SEVERITY.ERROR, "WebServer: failed to listen")
    return
 end
@@ -682,7 +682,7 @@ end
    see if any new clients want to connect
 --]]
 local function check_new_clients()
-   while true do
+   while sock_listen:pollin(0) do
       local sock = sock_listen:accept()
       if not sock then
          return

From c9c38300bd72aa5cbf936275af2d92b36e079f1a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 8 Dec 2023 05:29:01 +1100
Subject: [PATCH 0024/1335] AP_Filesystem: expose APFS_FILE structure

allows scripting to set the fd for sendfile()
---
 libraries/AP_Filesystem/posix_compat.cpp | 8 --------
 libraries/AP_Filesystem/posix_compat.h   | 9 ++++++++-
 2 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_Filesystem/posix_compat.cpp b/libraries/AP_Filesystem/posix_compat.cpp
index f12f146012d5bb..6dee4f1653431f 100644
--- a/libraries/AP_Filesystem/posix_compat.cpp
+++ b/libraries/AP_Filesystem/posix_compat.cpp
@@ -30,14 +30,6 @@
 #include <stdarg.h>
 #include <AP_Math/AP_Math.h>
 
-struct apfs_file {
-    int fd;
-    bool error;
-    bool eof;
-    int16_t unget;
-    char *tmpfile_name;
-};
-
 #define CHECK_STREAM(stream, ret) while (stream == NULL || stream->fd < 0) { errno = EBADF; return ret; }
 
 #define modecmp(str, pat) (strcmp(str, pat) == 0 ? 1: 0)
diff --git a/libraries/AP_Filesystem/posix_compat.h b/libraries/AP_Filesystem/posix_compat.h
index 5fa0fba3caa8f2..c899d81332ee98 100644
--- a/libraries/AP_Filesystem/posix_compat.h
+++ b/libraries/AP_Filesystem/posix_compat.h
@@ -20,6 +20,7 @@
 #include <sys/types.h>
 #include <stdio.h>
 #include <stddef.h>
+#include <stdbool.h>
 
 #ifdef __cplusplus
 extern "C" {
@@ -29,7 +30,13 @@ extern "C" {
   these are here to allow lua to build on HAL_ChibiOS
  */
 
-typedef struct apfs_file APFS_FILE;
+typedef struct apfs_file {
+    int fd;
+    bool error;
+    bool eof;
+    int16_t unget;
+    char *tmpfile_name;
+} APFS_FILE;
 
 APFS_FILE *apfs_fopen(const char *pathname, const char *mode);
 int apfs_fprintf(APFS_FILE *stream, const char *format, ...);

From 9358bfce344cb42c352f93e93e6dbd7d47afa2eb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 8 Dec 2023 05:29:48 +1100
Subject: [PATCH 0025/1335] AP_HAL: added duplicate() in SocketAPM

---
 libraries/AP_HAL/utility/Socket.cpp | 17 +++++++++++++++++
 libraries/AP_HAL/utility/Socket.h   |  4 ++++
 2 files changed, 21 insertions(+)

diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index faab14d3d20341..b27a3195d0a661 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -459,4 +459,21 @@ void SocketAPM::close(void)
     }
 }
 
+/*
+  duplicate a socket, giving a new object with the same contents,
+  the fd in the old object is set to -1
+ */
+SocketAPM *SocketAPM::duplicate(void)
+{
+    auto *ret = new SocketAPM(datagram, fd);
+    if (ret == nullptr) {
+        return nullptr;
+    }
+    ret->fd_in = fd_in;
+    ret->connected = connected;
+    fd = -1;
+    fd_in = -1;
+    return ret;
+}
+
 #endif // AP_NETWORKING_BACKEND_ANY
diff --git a/libraries/AP_HAL/utility/Socket.h b/libraries/AP_HAL/utility/Socket.h
index 0ebc128d72caaa..a7bbf45e5ba1cf 100644
--- a/libraries/AP_HAL/utility/Socket.h
+++ b/libraries/AP_HAL/utility/Socket.h
@@ -81,6 +81,10 @@ class SocketAPM {
         return fd_in != -1? fd_in : fd;
     }
 
+    // create a new socket with same fd, but new memory
+    // the old socket gets fd of -1
+    SocketAPM *duplicate(void);
+
     bool is_connected(void) const {
         return connected;
     }

From 241323eade953a1d826fdf38334011de791e8ec6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 8 Dec 2023 05:32:32 +1100
Subject: [PATCH 0026/1335] AP_Networking: added sendfile()

this allows for scripting to offload a file send to the AP_Networking
library, reducing CPU costs of large file downloads
---
 libraries/AP_Networking/AP_Networking.cpp     | 77 +++++++++++++++++++
 libraries/AP_Networking/AP_Networking.h       | 15 ++++
 .../AP_Networking/AP_Networking_Config.h      |  8 ++
 3 files changed, 100 insertions(+)

diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp
index 76c7e95b5f081d..95856166fd17f5 100644
--- a/libraries/AP_Networking/AP_Networking.cpp
+++ b/libraries/AP_Networking/AP_Networking.cpp
@@ -8,6 +8,7 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Math/crc.h>
 #include <AP_InternalError/AP_InternalError.h>
+#include <AP_Filesystem/AP_Filesystem.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -19,6 +20,8 @@ extern const AP_HAL::HAL& hal;
 #include <arpa/inet.h>
 #endif
 
+#include <AP_HAL/utility/Socket.h>
+
 #if AP_NETWORKING_BACKEND_SITL
 #include "AP_Networking_SITL.h"
 #endif
@@ -150,6 +153,9 @@ void AP_Networking::init()
 
     // init network mapped serialmanager ports
     ports_init();
+
+    // register sendfile handler
+    hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Networking::sendfile_check, void));
 }
 
 /*
@@ -282,6 +288,77 @@ void AP_Networking::startup_wait(void) const
 #endif
 }
 
+/*
+  send the rest of a file to a socket
+ */
+bool AP_Networking::sendfile(SocketAPM *sock, int fd)
+{
+    WITH_SEMAPHORE(sem);
+    if (sendfile_buf == nullptr) {
+        sendfile_buf = (uint8_t *)malloc(AP_NETWORKING_SENDFILE_BUFSIZE);
+        if (sendfile_buf == nullptr) {
+            return false;
+        }
+    }
+    for (auto &s : sendfiles) {
+        if (s.sock == nullptr) {
+            s.sock = sock->duplicate();
+            if (s.sock == nullptr) {
+                return false;
+            }
+            s.fd = fd;
+            return true;
+        }
+    }
+    return false;
+}
+
+void AP_Networking::SendFile::close(void)
+{
+    AP::FS().close(fd);
+    delete sock;
+    sock = nullptr;
+}
+
+#include <stdio.h>
+/*
+  check for sendfile updates
+ */
+void AP_Networking::sendfile_check(void)
+{
+    if (sendfile_buf == nullptr) {
+        return;
+    }
+    WITH_SEMAPHORE(sem);
+    bool none_active = true;
+    for (auto &s : sendfiles) {
+        if (s.sock == nullptr) {
+            continue;
+        }
+        none_active = false;
+        if (!s.sock->pollout(0)) {
+            continue;
+        }
+        const auto nread = AP::FS().read(s.fd, sendfile_buf, AP_NETWORKING_SENDFILE_BUFSIZE);
+        if (nread <= 0) {
+            s.close();
+            continue;
+        }
+        const auto nsent = s.sock->send(sendfile_buf, nread);
+        if (nsent <= 0) {
+            s.close();
+            continue;
+        }
+        if (nsent < nread) {
+            AP::FS().lseek(s.fd, nsent - nread, SEEK_CUR);
+        }
+    }
+    if (none_active) {
+        free(sendfile_buf);
+        sendfile_buf = nullptr;
+    }
+}
+
 AP_Networking *AP_Networking::singleton;
 
 namespace AP
diff --git a/libraries/AP_Networking/AP_Networking.h b/libraries/AP_Networking/AP_Networking.h
index 5c3b52be73551f..5ed32329244073 100644
--- a/libraries/AP_Networking/AP_Networking.h
+++ b/libraries/AP_Networking/AP_Networking.h
@@ -188,6 +188,11 @@ class AP_Networking
     static uint32_t convert_netmask_bitcount_to_ip(const uint32_t netmask_bitcount);
     static uint8_t convert_netmask_ip_to_bitcount(const uint32_t netmask_ip);
 
+    /*
+      send contents of a file to a socket then close both socket and file
+     */
+    bool sendfile(SocketAPM *sock, int fd);
+
     static const struct AP_Param::GroupInfo var_info[];
 
 private:
@@ -311,6 +316,16 @@ class AP_Networking
     // ports for registration with serial manager
     Port ports[AP_NETWORKING_NUM_PORTS];
 
+    // support for sendfile()
+    struct SendFile {
+        SocketAPM *sock;
+        int fd;
+        void close(void);
+    } sendfiles[AP_NETWORKING_NUM_SENDFILES];
+
+    uint8_t *sendfile_buf;
+    void sendfile_check(void);
+
     void ports_init(void);
 };
 
diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index 5d32334510dc55..00ba6d50c1e60e 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -89,3 +89,11 @@
 #ifndef AP_NETWORKING_NUM_PORTS
 #define AP_NETWORKING_NUM_PORTS 4
 #endif
+
+#ifndef AP_NETWORKING_NUM_SENDFILES
+#define AP_NETWORKING_NUM_SENDFILES 20
+#endif
+
+#ifndef AP_NETWORKING_SENDFILE_BUFSIZE
+#define AP_NETWORKING_SENDFILE_BUFSIZE 10000
+#endif

From 1e1255c8f0ffae5464259115852dadbbb8a339f7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 8 Dec 2023 05:36:19 +1100
Subject: [PATCH 0027/1335] AP_Scripting: added sendfile() API on sockets

---
 .../generator/description/bindings.desc       |  1 +
 libraries/AP_Scripting/lua_bindings.cpp       | 37 +++++++++++++++++++
 libraries/AP_Scripting/lua_bindings.h         |  1 +
 3 files changed, 39 insertions(+)

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index f269643e1d512a..1b2f7e0c4ec6d2 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -549,6 +549,7 @@ ap_object SocketAPM method is_connected boolean
 ap_object SocketAPM method pollout boolean uint32_t'skip_check
 ap_object SocketAPM method pollin boolean uint32_t'skip_check
 ap_object SocketAPM method reuseaddress boolean
+ap_object SocketAPM manual sendfile SocketAPM_sendfile 1
 ap_object SocketAPM manual close SocketAPM_close 0
 ap_object SocketAPM manual recv SocketAPM_recv 1
 ap_object SocketAPM manual accept SocketAPM_accept 1
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index ac7b4b83349f8e..8264233e137c14 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -19,6 +19,7 @@
 #if AP_NETWORKING_ENABLED
 #include <AP_HAL/utility/Socket.h>
 #endif
+#include "lua/src/lauxlib.h"
 
 extern const AP_HAL::HAL& hal;
 
@@ -836,6 +837,42 @@ int SocketAPM_close(lua_State *L) {
     return 0;
 }
 
+/*
+  socket sendfile, for offloading file send to AP_Networking
+ */
+int SocketAPM_sendfile(lua_State *L) {
+    binding_argcheck(L, 2);
+
+    SocketAPM *ud = *check_SocketAPM(L, 1);
+
+    auto *scripting = AP::scripting();
+
+    if (scripting->num_net_sockets == 0) {
+        return luaL_argerror(L, 1, "socket close error");
+    }
+
+    auto *p = (luaL_Stream *)luaL_checkudata(L, 2, LUA_FILEHANDLE);
+    int fd = p->f->fd;
+    bool ret = false;
+
+    // find the socket
+    for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
+        if (scripting->_net_sockets[i] == ud) {
+            ret = AP::network().sendfile(ud, fd);
+            if (ret) {
+                // remove from scripting, leave socket and fd open
+                p->f->fd = -1;
+                scripting->_net_sockets[i] = nullptr;
+                scripting->num_net_sockets--;
+            }
+            break;
+        }
+    }
+
+    lua_pushboolean(L, ret);
+    return 1;
+}
+
 /*
   receive from a socket to a lua string
  */
diff --git a/libraries/AP_Scripting/lua_bindings.h b/libraries/AP_Scripting/lua_bindings.h
index 41adfd859659ea..3c5d9528c8d1e5 100644
--- a/libraries/AP_Scripting/lua_bindings.h
+++ b/libraries/AP_Scripting/lua_bindings.h
@@ -19,6 +19,7 @@ int lua_get_SocketAPM(lua_State *L);
 int SocketAPM_recv(lua_State *L);
 int SocketAPM_accept(lua_State *L);
 int SocketAPM_close(lua_State *L);
+int SocketAPM_sendfile(lua_State *L);
 int lua_mavlink_init(lua_State *L);
 int lua_mavlink_receive_chan(lua_State *L);
 int lua_mavlink_register_rx_msgid(lua_State *L);

From 9f08e5d317f3dccefd7185d6b55e33d554547d51 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 8 Dec 2023 05:36:31 +1100
Subject: [PATCH 0028/1335] AP_Scripting: use sendfile() in web server

---
 libraries/AP_Scripting/applets/net_webserver.lua | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Scripting/applets/net_webserver.lua b/libraries/AP_Scripting/applets/net_webserver.lua
index 284dae82017954..52c5dcce27870f 100644
--- a/libraries/AP_Scripting/applets/net_webserver.lua
+++ b/libraries/AP_Scripting/applets/net_webserver.lua
@@ -566,6 +566,8 @@ local function Client(_sock, _idx)
       elseif cgi_processing then
          DEBUG(string.format("%u: CGI processing %s", idx, path))
          run = self.send_cgi
+      elseif sock:sendfile(file) then
+         return true
       else
          run = self.send_file
       end

From 9beea49c3cbe73454639679d37400297f2624cef Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 8 Dec 2023 11:19:07 +1100
Subject: [PATCH 0029/1335] AP_Filesystem: implement stat() call for lua

---
 libraries/AP_Filesystem/AP_Filesystem.cpp | 24 +++++++++++++++++++++++
 libraries/AP_Filesystem/AP_Filesystem.h   | 19 +++++++++++++++++-
 2 files changed, 42 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Filesystem/AP_Filesystem.cpp b/libraries/AP_Filesystem/AP_Filesystem.cpp
index c0ab14b9869049..e62ec5920827c3 100644
--- a/libraries/AP_Filesystem/AP_Filesystem.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem.cpp
@@ -333,6 +333,30 @@ AP_Filesystem_Backend::FormatStatus AP_Filesystem::get_format_status(void) const
 }
 #endif
 
+/*
+  stat wrapper for scripting
+ */
+bool AP_Filesystem::stat(const char *pathname, stat_t &stbuf)
+{
+    struct stat st;
+    if (fs.stat(pathname, &st) != 0) {
+        return false;
+    }
+    stbuf.size = st.st_size;
+    stbuf.mode = st.st_mode;
+    // these wrap in 2038
+    stbuf.atime = st.st_atime;
+    stbuf.ctime = st.st_ctime;
+    stbuf.mtime = st.st_mtime;
+    return true;
+}
+
+// get_singleton for scripting
+AP_Filesystem *AP_Filesystem::get_singleton(void)
+{
+    return &fs;
+}
+
 namespace AP
 {
 AP_Filesystem &FS()
diff --git a/libraries/AP_Filesystem/AP_Filesystem.h b/libraries/AP_Filesystem/AP_Filesystem.h
index 585a2f5e2eb2c9..b139713a751f59 100644
--- a/libraries/AP_Filesystem/AP_Filesystem.h
+++ b/libraries/AP_Filesystem/AP_Filesystem.h
@@ -82,6 +82,20 @@ class AP_Filesystem {
     int fsync(int fd);
     int32_t lseek(int fd, int32_t offset, int whence);
     int stat(const char *pathname, struct stat *stbuf);
+
+    // stat variant for scripting
+    typedef struct {
+        uint32_t size;
+        int32_t mode;
+        uint32_t mtime;
+        uint32_t atime;
+        uint32_t ctime;
+        bool is_directory(void) const {
+            return (mode & S_IFMT) == S_IFDIR;
+        }
+    } stat_t;
+    bool stat(const char *pathname, stat_t &stbuf);
+
     int unlink(const char *pathname);
     int mkdir(const char *pathname);
     int rename(const char *oldpath, const char *newpath);
@@ -121,7 +135,10 @@ class AP_Filesystem {
       load a full file. Use delete to free the data
      */
     FileData *load_file(const char *filename);
-    
+
+    // get_singleton for scripting
+    static AP_Filesystem *get_singleton(void);
+
 private:
     struct Backend {
         const char *prefix;

From 2822f507c131c2095c4fd7823ccd3c62674226a9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 8 Dec 2023 11:19:50 +1100
Subject: [PATCH 0030/1335] AP_RTC: added time and date APIs for lua

and fixed a bug with the ms time return
---
 libraries/AP_RTC/AP_RTC.cpp | 111 ++++++++++++++++++++++++++++--------
 libraries/AP_RTC/AP_RTC.h   |   9 ++-
 2 files changed, 96 insertions(+), 24 deletions(-)

diff --git a/libraries/AP_RTC/AP_RTC.cpp b/libraries/AP_RTC/AP_RTC.cpp
index 41d9f5b2944706..77c763b528e0c0 100644
--- a/libraries/AP_RTC/AP_RTC.cpp
+++ b/libraries/AP_RTC/AP_RTC.cpp
@@ -94,15 +94,8 @@ bool AP_RTC::get_utc_usec(uint64_t &usec) const
     return true;
 }
 
-bool AP_RTC::get_system_clock_utc(uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms) const
+void AP_RTC::clock_ms_to_hms_fields(const uint64_t time_ms, uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms) const
 {
-     // get time of day in ms
-    uint64_t time_ms = 0;
-    if (!get_utc_usec(time_ms)) {
-        return false;
-    }
-    time_ms /= 1000U;
-
     // separate time into ms, sec, min, hour and days but all expressed in milliseconds
     ms = time_ms % 1000;
     uint32_t sec_ms = (time_ms % (60 * 1000)) - ms;
@@ -113,32 +106,104 @@ bool AP_RTC::get_system_clock_utc(uint8_t &hour, uint8_t &min, uint8_t &sec, uin
     sec = sec_ms / 1000;
     min = min_ms / (60 * 1000);
     hour = hour_ms / (60 * 60 * 1000);
+}
 
+bool AP_RTC::clock_s_to_date_fields(const uint32_t utc_sec32, uint16_t& year, uint8_t& month, uint8_t& day, uint8_t &hour, uint8_t &min, uint8_t &sec, uint8_t &wday) const
+{
+    const time_t utc_sec = utc_sec32;
+    struct tm* tm = gmtime(&utc_sec);
+    if (tm == nullptr) {
+        return false;
+    }
+    year = tm->tm_year+1900;    /* Year, 20xx.  */
+    month = tm->tm_mon;         /* Month.	[0-11] */
+    day = tm->tm_mday;          /* Day.		[1-31] */
+    hour = tm->tm_hour;         /* Hours.	[0-23] */
+    min = tm->tm_min;           /* Minutes.	[0-59] */
+    sec = tm->tm_sec;           /* Seconds.	[0-60] (1 leap second) */
+    wday = tm->tm_wday;         /* week day, [0-6] */
+    return true;
+}
+
+/*
+  return true for leap years
+ */
+bool AP_RTC::_is_leap(uint32_t y)
+{
+    y += 1900;
+    return (y % 4) == 0 && ((y % 100) != 0 || (y % 400) == 0);
+}
+
+/*
+  implementation of timegm() (from Samba)
+*/
+uint32_t AP_RTC::_timegm(struct tm &tm)
+{
+    static const uint8_t ndays[2][12] = {
+		{31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31},
+		{31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31}};
+    uint32_t res = 0;
+
+    if (tm.tm_mon > 12 ||
+        tm.tm_mday > 31 ||
+        tm.tm_min > 60 ||
+        tm.tm_sec > 60 ||
+        tm.tm_hour > 24) {
+		/* invalid tm structure */
+		return 0;
+	}
+	
+    for (auto i = 70; i < tm.tm_year; i++) {
+        res += _is_leap(i) ? 366 : 365;
+    }
+	
+    for (auto i = 0; i < tm.tm_mon; i++) {
+        res += ndays[_is_leap(tm.tm_year)][i];
+    }
+    res += tm.tm_mday - 1U;
+    res *= 24U;
+	res += tm.tm_hour;
+    res *= 60U;
+	res += tm.tm_min;
+    res *= 60U;
+	res += tm.tm_sec;
+	return res;
+}
+
+uint32_t AP_RTC::date_fields_to_clock_s(uint16_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t min, uint8_t sec) const
+{
+    struct tm tm {};
+    tm.tm_year = year - 1900;
+    tm.tm_mon = month;
+    tm.tm_mday = day;
+    tm.tm_hour = hour;
+    tm.tm_min = min;
+    tm.tm_sec = sec;
+    return _timegm(tm);
+}
+
+bool AP_RTC::get_system_clock_utc(uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms) const
+{
+    // get time of day in ms
+    uint64_t time_ms;
+    if (!get_utc_usec(time_ms)) {
+        return false;
+    }
+    time_ms /= 1000U;
+    clock_ms_to_hms_fields(time_ms, hour, min, sec, ms);
     return true;
 }
 
 bool AP_RTC::get_local_time(uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms) const
 {
      // get local time of day in ms
-    uint64_t time_ms = 0;
-    uint64_t ms_local = 0;
+    uint64_t time_ms;
     if (!get_utc_usec(time_ms)) {
         return false;
     }
     time_ms /= 1000U;
-    ms_local = time_ms + (tz_min * 60000);
-
-    // separate time into ms, sec, min, hour and days but all expressed in milliseconds
-    ms = ms_local % 1000;
-    uint32_t sec_ms = (ms_local % (60 * 1000)) - ms;
-    uint32_t min_ms = (ms_local % (60 * 60 * 1000)) - sec_ms - ms;
-    uint32_t hour_ms = (ms_local % (24 * 60 * 60 * 1000)) - min_ms - sec_ms - ms;
-
-    // convert times as milliseconds into appropriate units
-    sec = sec_ms / 1000;
-    min = min_ms / (60 * 1000);
-    hour = hour_ms / (60 * 60 * 1000);
-
+    const uint64_t ms_local = time_ms + (tz_min * 60000);
+    clock_ms_to_hms_fields(ms_local, hour, min, sec, ms);
     return true;
 }
 
diff --git a/libraries/AP_RTC/AP_RTC.h b/libraries/AP_RTC/AP_RTC.h
index d03846bf6f29b1..a35887532b5473 100644
--- a/libraries/AP_RTC/AP_RTC.h
+++ b/libraries/AP_RTC/AP_RTC.h
@@ -61,7 +61,10 @@ class AP_RTC {
     HAL_Semaphore &get_semaphore(void) {
         return rsem;
     }
-    
+
+    bool clock_s_to_date_fields(const uint32_t utc_sec32, uint16_t& year, uint8_t& month, uint8_t& day, uint8_t &hour, uint8_t &min, uint8_t &sec, uint8_t &wday) const;
+    uint32_t date_fields_to_clock_s(uint16_t year, uint8_t month, uint8_t day, uint8_t hour, uint8_t min, uint8_t sec) const;
+
 private:
 
     static AP_RTC *_singleton;
@@ -70,6 +73,10 @@ class AP_RTC {
     source_type rtc_source_type = SOURCE_NONE;
     int64_t rtc_shift;
 
+    void clock_ms_to_hms_fields(const uint64_t time_ms, uint8_t &hour, uint8_t &min, uint8_t &sec, uint16_t &ms) const;
+
+    static bool _is_leap(uint32_t y);
+    static uint32_t _timegm(struct tm &tm);
 };
 
 namespace AP {

From 90c12d4db33e094752a7c5e2fcad49994292e6ec Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 8 Dec 2023 11:20:59 +1100
Subject: [PATCH 0031/1335] AP_Scripting: added stat() binding for filesystem

---
 libraries/AP_Scripting/docs/docs.lua          |  5 -----
 .../generator/description/bindings.desc       | 21 ++++++++++++++++++-
 libraries/AP_Scripting/lua_bindings.cpp       | 19 -----------------
 libraries/AP_Scripting/lua_bindings.h         |  1 -
 4 files changed, 20 insertions(+), 26 deletions(-)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index b8f7c806b84feb..4f70ca60671fc2 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -3062,11 +3062,6 @@ function scripting:restart_all() end
 ---@return table -- table of filenames
 function dirlist(directoryname) end
 
--- return true if path is a directory
----@param path string
----@return result
-function isdirectory(path) end
-
 --desc
 ---@param filename string
 function remove(filename) end
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 1b2f7e0c4ec6d2..6f77cc8124a980 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -816,7 +816,6 @@ userdata uint32_t manual tofloat uint32_t_tofloat 0
 
 global manual dirlist lua_dirlist 1
 global manual remove lua_removefile 1
-global manual isdirectory lua_isdirectory 1
 global manual print lua_print 1
 
 singleton mavlink depends HAL_GCS_ENABLED
@@ -832,3 +831,23 @@ singleton AC_Fence depends AP_FENCE_ENABLED
 singleton AC_Fence rename fence
 singleton AC_Fence method get_breaches uint8_t
 singleton AC_Fence method get_breach_time uint32_t
+
+include AP_Filesystem/AP_Filesystem.h depends AP_FILESYSTEM_FILE_READING_ENABLED
+include AP_Filesystem/AP_Filesystem_config.h
+userdata AP_Filesystem::stat_t depends AP_FILESYSTEM_FILE_READING_ENABLED
+userdata AP_Filesystem::stat_t rename stat_t
+userdata AP_Filesystem::stat_t field size uint32_t read
+userdata AP_Filesystem::stat_t field mode int32_t read
+userdata AP_Filesystem::stat_t field mtime uint32_t read
+userdata AP_Filesystem::stat_t field atime uint32_t read
+userdata AP_Filesystem::stat_t field ctime uint32_t read
+userdata AP_Filesystem::stat_t method is_directory boolean
+
+singleton AP_Filesystem rename fs
+singleton AP_Filesystem method stat boolean string AP_Filesystem::stat_t'Null
+
+include AP_RTC/AP_RTC.h depends AP_RTC_ENABLED
+include AP_RTC/AP_RTC_config.h
+singleton AP_RTC rename rtc
+singleton AP_RTC method clock_s_to_date_fields boolean uint32_t'skip_check uint16_t'Null uint8_t'Null uint8_t'Null uint8_t'Null uint8_t'Null uint8_t'Null uint8_t'Null
+singleton AP_RTC method date_fields_to_clock_s uint32_t uint16_t'skip_check int8_t'skip_check uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index 8264233e137c14..8020da37e92c0e 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -721,25 +721,6 @@ int lua_dirlist(lua_State *L) {
     return 1;  /* table is already on top */
 }
 
-/*
-  return true if path is a directory
- */
-int lua_isdirectory(lua_State *L) {
-    binding_argcheck(L, 1);
-
-    const char *path = luaL_checkstring(L, 1);
-    
-    struct stat st;
-    if (AP::FS().stat(path, &st) != 0) {
-        lua_pushnil(L);  /* return nil and ... */
-        lua_pushstring(L, strerror(errno));  /* error message */
-        return 2;
-    }
-    bool ret = (st.st_mode & S_IFMT) == S_IFDIR;
-    lua_pushboolean(L, ret);
-    return 1;
-}
-
 /*
   remove a file
  */
diff --git a/libraries/AP_Scripting/lua_bindings.h b/libraries/AP_Scripting/lua_bindings.h
index 3c5d9528c8d1e5..6bc459dc27bf2b 100644
--- a/libraries/AP_Scripting/lua_bindings.h
+++ b/libraries/AP_Scripting/lua_bindings.h
@@ -12,7 +12,6 @@ int lua_get_CAN_device(lua_State *L);
 int lua_get_CAN_device2(lua_State *L);
 int lua_dirlist(lua_State *L);
 int lua_removefile(lua_State *L);
-int lua_isdirectory(lua_State *L);
 int SRV_Channels_get_safety_state(lua_State *L);
 int lua_get_PWMSource(lua_State *L);
 int lua_get_SocketAPM(lua_State *L);

From 168bc4e32fff622df1dc328324334701da443d30 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 8 Dec 2023 11:21:25 +1100
Subject: [PATCH 0032/1335] AP_Scripting: added If-Modified-Since for webserver

---
 .../AP_Scripting/applets/net_webserver.lua    | 158 ++++++++++++++----
 1 file changed, 127 insertions(+), 31 deletions(-)

diff --git a/libraries/AP_Scripting/applets/net_webserver.lua b/libraries/AP_Scripting/applets/net_webserver.lua
index 52c5dcce27870f..a1cac978c0205e 100644
--- a/libraries/AP_Scripting/applets/net_webserver.lua
+++ b/libraries/AP_Scripting/applets/net_webserver.lua
@@ -62,6 +62,8 @@ local WEB_BLOCK_SIZE = bind_add_param('BLOCK_SIZE', 4, 10240)
 --]]
 local WEB_TIMEOUT = bind_add_param('TIMEOUT', 5, 2.0)
 
+local BRD_RTC_TZ_MIN = Parameter("BRD_RTC_TZ_MIN")
+
 gcs:send_text(MAV_SEVERITY.INFO, string.format("WebServer: starting on port %u", WEB_BIND_PORT:get()))
 
 local counter = 0
@@ -212,29 +214,110 @@ function DEBUG(txt)
 end
 
 --[[
-   return true if a table contains a given element
+   return index of element in a table
 --]]
-function contains(t,el)
-   for _,v in ipairs(t) do
+function table_index(t,el)
+   for i,v in ipairs(t) do
       if v == el then
-         return true
+         return i
       end
    end
-   return false
+   return nil
+end
+
+--[[
+   return true if a table contains a given element
+--]]
+function table_contains(t,el)
+   local i = table_index(t, el)
+   return i ~= nil
 end
 
 function is_hidden_dir(path)
-   return contains(HIDDEN_FOLDERS, path)
+   return table_contains(HIDDEN_FOLDERS, path)
+end
+
+local DAYS = { "Sun", "Mon", "Tue", "Wed", "Thu", "Fri", "Sat" }
+local MONTHS = { "Jan", "Feb", "Mar", "Apr", "May", "Jun", "Jul", "Aug", "Sep", "Oct", "Nov", "Dec" }
+
+function isdirectory(path)
+   local s = fs:stat(path)
+   return s and s:is_directory()
+end
+
+--[[
+   time string for directory listings
+--]]
+function file_timestring(path)
+   local s = fs:stat(path)
+   if not s then
+      return ""
+   end
+   local mtime = s:mtime()
+   mtime = mtime + BRD_RTC_TZ_MIN:get()*60
+   local year, month, day, hour, min, sec, wday = rtc:clock_s_to_date_fields(mtime)
+   if not year then
+      return ""
+   end
+   return string.format("%04u-%02u-%02u %02u:%02u", year, month+1, day, hour, min, sec)
+end
+
+--[[
+   time string for Last-Modified
+--]]
+function file_timestring_http(mtime)
+   local year, month, day, hour, min, sec, wday = rtc:clock_s_to_date_fields(mtime)
+   if not year then
+      return ""
+   end
+   return string.format("%s, %02u %s %u %02u:%02u:%02u GMT",
+                        DAYS[wday+1],
+                        day,
+                        MONTHS[month+1],
+                        year,
+                        hour,
+                        min,
+                        sec)
 end
 
+--[[
+   parse a http time string to a uint32_t seconds timestamp
+--]]
+function file_timestring_http_parse(tstring)
+   local dayname, day, monthname, year, hour, min, sec =
+      string.match(tstring,
+                   '(%w%w%w), (%d+) (%w%w%w) (%d%d%d%d) (%d%d):(%d%d):(%d%d) GMT')
+   if not dayname then
+      return nil
+   end
+   local mon = table_index(MONTHS, monthname)
+   return rtc:date_fields_to_clock_s(year, mon-1, day, hour, min, sec)
+end
+
+--[[
+   return true if path exists and is not a directory
+--]]
 function file_exists(path)
-   local f = io.open(path, "rb")
-   if f then
-      return true
+   local s = fs:stat(path)
+   if not s then
+      return false
    end
-   return false
+   return not s:is_directory()
 end
 
+--[[
+   substitute variables of form {xxx} from a table
+   from http://lua-users.org/wiki/StringInterpolation
+--]]
+function substitute_vars(s, vars)
+   s = (string.gsub(s, "({([^}]+)})",
+                    function(whole,i)
+                       return vars[i] or whole
+   end))
+   return s
+end
+   
+
 --[[
    client class for open connections
 --]]
@@ -293,14 +376,9 @@ local function Client(_sock, _idx)
 
    --[[
       send a string with variable substitution using {varname}
-      from http://lua-users.org/wiki/StringInterpolation
    --]]
    function self.sendstring_vars(s, vars)
-      s = (string.gsub(s, "({([^}]+)})",
-                          function(whole,i)
-                             return vars[i] or whole
-      end))
-      self.sendstring(s)
+      self.sendstring(substitute_vars(s, vars))
    end
    
    function self.send_header(code, codestr, vars)
@@ -315,13 +393,11 @@ local function Client(_sock, _idx)
 
    -- get size of a file
    function self.file_size(fname)
-      DEBUG(string.format("%u: size of '%s'", idx, fname))
-      local f = io.open(fname, "rb")
-      if not f then
-         return -1
+      local s = fs:stat(fname)
+      if not s then
+         return 0
       end
-      local ret = f:seek("end")
-      f:close()
+      local ret = s:size():toint()
       DEBUG(string.format("%u: size of '%s' -> %u", idx, fname, ret))
       return ret
    end
@@ -367,7 +443,7 @@ local function Client(_sock, _idx)
       if not dlist then
          dlist = {}
       end
-      if not contains(dlist, "..") then
+      if not table_contains(dlist, "..") then
          -- on ChibiOS we don't get ..
          table.insert(dlist, "..")
       end
@@ -388,7 +464,7 @@ local function Client(_sock, _idx)
  <body>
 <h1>Index of {path}</h1>
   <table>
-   <tr><th>Name</th><th>Size</th></tr>
+   <tr><th align="left">Name</th><th align="left">Last modified</th><th align="left">Size</th></tr>
 ]], {path=path})
       for _,d in ipairs(dlist) do
          local skip = d == "."
@@ -398,14 +474,19 @@ local function Client(_sock, _idx)
          if not skip then
             local fullpath = self.full_path(path, d)
             local name = d
-            local size = 0
-            if is_hidden_dir(fullpath) or isdirectory(fullpath) then
+            local sizestr = "0"
+            local stat = fs:stat(fullpath)
+            local size = stat and stat:size() or 0
+            if is_hidden_dir(fullpath) or (stat and stat:is_directory()) then
                name = name .. "/"
+            elseif size >= 100*1000*1000 then
+               sizestr = string.format("%uM", (size/(1000*1000)):toint())
             else
-               size = math.max(self.file_size(fullpath),0)
+               sizestr = tostring(size)
             end
-            self.sendstring_vars([[<tr><td><a href="{name}">{name}</a></td><td>{size}</td></tr>
-]], { name=name, size=tostring(size) })
+            local modtime = file_timestring(fullpath)
+            self.sendstring_vars([[<tr><td align="left"><a href="{name}">{name}</a></td><td align="left">{modtime}</td><td align="left">{size}</td></tr>
+]], { name=name, size=sizestr, modtime=modtime })
          end
       end
       self.sendstring([[
@@ -555,9 +636,24 @@ local function Client(_sock, _idx)
       local vars = {["Content-Type"]=self.content_type(path)}
       local cgi_processing = startswith(path, "/cgi-bin/") and endswith(path, ".lua")
       local server_side_processing = endswith(path, ".shtml")
-      if not startswith(path, "@") and not server_side_processing and not cgi_processing then
-         local fsize = self.file_size(path)
+      local stat = fs:stat(path)
+      if not startswith(path, "@") and not server_side_processing and not cgi_processing and stat then
+         local fsize = stat:size()
+         local mtime = stat:mtime()
          vars["Content-Length"]= tostring(fsize)
+         local modtime = file_timestring_http(mtime)
+         if modtime then
+            vars["Last-Modified"] = modtime
+         end
+         local if_modified_since = header_vars['If-Modified-Since']
+         if if_modified_since then
+            local tsec = file_timestring_http_parse(if_modified_since)
+            if tsec and tsec >= mtime then
+               DEBUG(string.format("%u: Not modified: %s %s", idx, modtime, if_modified_since))
+               self.send_header(304, "Not Modified", vars)
+               return true
+            end
+         end
       end
       self.send_header(200, "OK", vars)
       if server_side_processing then

From 18044a9644436f4a83576ed6ac4e7031c60f223e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 9 Dec 2023 13:06:24 +1100
Subject: [PATCH 0033/1335] AP_Scripting: added a home page and ajax support

---
 .../AP_Scripting/applets/net_webserver.lua    | 163 ++++++++++++++++--
 1 file changed, 148 insertions(+), 15 deletions(-)

diff --git a/libraries/AP_Scripting/applets/net_webserver.lua b/libraries/AP_Scripting/applets/net_webserver.lua
index a1cac978c0205e..c1bac7e97a7775 100644
--- a/libraries/AP_Scripting/applets/net_webserver.lua
+++ b/libraries/AP_Scripting/applets/net_webserver.lua
@@ -79,6 +79,9 @@ local HIDDEN_FOLDERS = { "@SYS", "@ROMFS", "@MISSION", "@PARAM" }
 
 local CGI_BIN_PATH = "cgi-bin"
 
+local MNT_PREFIX = "/mnt"
+local MNT_PREFIX2 = MNT_PREFIX .. "/"
+
 local MIME_TYPES = {
    ["apj"] = CONTENT_OCTET_STREAM,
    ["dat"] = CONTENT_OCTET_STREAM,
@@ -164,6 +167,79 @@ local MIME_TYPES = {
    ["7z"] = "application/x-7z-compressed",
 }
 
+--[[
+ builtin dynamic pages
+--]]
+local DYNAMIC_PAGES = {
+
+-- main home page
+["/"] = [[
+<!doctype html>
+<html lang="en">
+
+<head>
+    <meta charset="utf-8">
+    <title>ArduPilot</title>
+    <script>
+      <?lstr JS_LIBRARY['dynamic_load']?>
+    </script>
+</head>
+
+<h2>ArduPilot Web Server</h2>
+<body onload="javascript: dynamic_load('board_status','/@DYNAMIC/board_status.shtml',1000)">
+
+  <div id="main">
+    <ul>
+      <li><a href="mnt/">SDCard Access</a></li>
+    </ul>
+    </div>
+<h2>Controller Status</h2>
+  <div id="board_status"></div>
+</body>
+</html>
+]],    
+   
+-- board status section on front page
+["@DYNAMIC/board_status.shtml"] = [[
+         <table>
+         <tr><td>Firmware</td><td><?lstr FWVersion:string() ?></td></tr>
+         <tr><td>GIT Hash</td><td><?lstr FWVersion:hash() ?></td></tr>
+         <tr><td>Uptime</td><td><?lstr hms_uptime() ?></td></tr>
+         <tr><td>Arm Status</td><td><?lstr arming:is_armed() and "ARMED" or "DISARMED" ?></td></tr>
+         <tr><td>AHRS Location</td><td><?lstr location_string(ahrs:get_location()) ?></td>
+         <tr><td>GPS Location</td><td><?lstr location_string(ahrs:get_location()) ?></td>
+         </table>
+]]
+}
+
+--[[
+ builtin javascript library functions
+--]]
+JS_LIBRARY = {
+   ["dynamic_load"] = [[
+      function dynamic_load(div_id, uri, period_ms) {
+          var xhr = new XMLHttpRequest();
+          xhr.open('GET', uri);
+          
+          xhr.setRequestHeader("Cache-Control", "no-cache, no-store, max-age=0");
+          xhr.setRequestHeader("Expires", "Tue, 01 Jan 1980 1:00:00 GMT");
+          xhr.setRequestHeader("Pragma", "no-cache");
+          
+          xhr.onload = function () {
+              if (xhr.status === 200) {
+                 var output = document.getElementById(div_id);
+                 if (uri.endsWith('.shtml') || uri.endsWith('.html')) {
+                  output.innerHTML = xhr.responseText;
+                 } else {
+                  output.textContent = xhr.responseText;
+                 }
+              }
+              setTimeout(function() { dynamic_load(div_id,uri, period_ms); }, period_ms);
+          }
+          xhr.send();
+     }
+]]
+}
 
 if not sock_listen:bind("0.0.0.0", WEB_BIND_PORT:get()) then
    gcs:send_text(MAV_SEVERITY.ERROR, string.format("WebServer: failed to bind to TCP %u", WEB_BIND_PORT:get()))
@@ -175,6 +251,13 @@ if not sock_listen:listen(20) then
    return
 end
 
+function hms_uptime()
+   local s = (millis()/1000):toint()
+   local min = math.floor(s / 60) % 60
+   local hr = math.floor(s / 3600)
+   return string.format("%u hours %u minutes %u seconds", hr, min, s%60)
+end
+
 --[[
    split string by pattern
 --]]
@@ -316,7 +399,25 @@ function substitute_vars(s, vars)
    end))
    return s
 end
-   
+
+--[[
+  lat or lon as a string, working around limited type in ftoa_engine
+--]]
+function latlon_str(ll)
+   local ipart = tonumber(string.match(tostring(ll*1.0e-7), '(.*[.]).*'))
+   local fpart = math.abs(ll - ipart*10000000)
+   return string.format("%d.%u", ipart, fpart, ipart*10000000, ll)
+end
+
+--[[
+ location string for home page
+--]]
+function location_string(loc)
+   return substitute_vars([[<a href="https://www.google.com/maps/search/?api=1&query={lat},{lon}" target="_blank">{lat} {lon}</a> {alt}]],
+      { ["lat"] = latlon_str(loc:lat()),
+        ["lon"] = latlon_str(loc:lng()),
+        ["alt"] = string.format("%.1fm", loc:alt()*1.0e-2) })
+end
 
 --[[
    client class for open connections
@@ -468,9 +569,6 @@ local function Client(_sock, _idx)
 ]], {path=path})
       for _,d in ipairs(dlist) do
          local skip = d == "."
-         if path == "/" and d == ".." then
-            skip = true
-         end
          if not skip then
             local fullpath = self.full_path(path, d)
             local name = d
@@ -586,9 +684,14 @@ local function Client(_sock, _idx)
       Using 'lstr' a return tostring(yourcode) is added to the code
       automatically
    --]]
-   function self.send_processed_file()
+   function self.send_processed_file(dynamic_page)
       sock:set_blocking(true)
-      local contents = self.load_file()
+      local contents
+      if dynamic_page then
+         contents = file
+      else
+         contents = self.load_file()
+      end
       while #contents > 0 do
          local pat1 = "(.-)[<][?]lua[ \n](.-)[?][>](.*)"
          local pat2 = "(.-)[<][?]lstr[ \n](.-)[?][>](.*)"
@@ -613,6 +716,9 @@ local function Client(_sock, _idx)
    
    -- return a content type
    function self.content_type(path)
+      if path == "/" then
+         return MIME_TYPES["html"]
+      end
       local file, ext = string.match(path, '(.*[.])(.*)')
       ext = string.lower(ext)
       local ret = MIME_TYPES[ext]
@@ -628,16 +734,23 @@ local function Client(_sock, _idx)
          path = string.sub(path, 2, #path)
       end
       DEBUG(string.format("%u: file_download(%s)", idx, path))
-      file = io.open(path,"rb")
-      if not file then
-         DEBUG(string.format("%u: Failed to open '%s'", idx, path))
-         return false
+      file = DYNAMIC_PAGES[path]
+      dynamic_page = file ~= nil
+      if not dynamic_page then
+         file = io.open(path,"rb")
+         if not file then
+            DEBUG(string.format("%u: Failed to open '%s'", idx, path))
+            return false
+         end
       end
       local vars = {["Content-Type"]=self.content_type(path)}
       local cgi_processing = startswith(path, "/cgi-bin/") and endswith(path, ".lua")
       local server_side_processing = endswith(path, ".shtml")
       local stat = fs:stat(path)
-      if not startswith(path, "@") and not server_side_processing and not cgi_processing and stat then
+      if not startswith(path, "@") and
+         not server_side_processing and
+         not cgi_processing and stat and
+         not dynamic_page then
          local fsize = stat:size()
          local mtime = stat:mtime()
          vars["Content-Length"]= tostring(fsize)
@@ -656,9 +769,9 @@ local function Client(_sock, _idx)
          end
       end
       self.send_header(200, "OK", vars)
-      if server_side_processing then
+      if server_side_processing or dynamic_page then
          DEBUG(string.format("%u: shtml processing %s", idx, path))
-         run = self.send_processed_file
+         run = self.send_processed_file(dynamic_page)
       elseif cgi_processing then
          DEBUG(string.format("%u: CGI processing %s", idx, path))
          run = self.send_cgi
@@ -715,7 +828,22 @@ local function Client(_sock, _idx)
          end
       end
 
-      if isdirectory(path) and not endswith(path,"/") and header_vars['Host'] and not is_hidden_dir(path) then
+      if DYNAMIC_PAGES[path] ~= nil then
+         self.file_download(path)
+         return
+      end
+
+      if path == MNT_PREFIX then
+         path = "/"
+      end
+      if startswith(path, MNT_PREFIX2) then
+         path = string.sub(path,#MNT_PREFIX2,#path)
+      end
+
+      if isdirectory(path) and
+         not endswith(path,"/") and
+         header_vars['Host'] and
+         not is_hidden_dir(path) then
          self.moved_permanently(path .. "/")
          return
       end
@@ -737,10 +865,15 @@ local function Client(_sock, _idx)
       end
       
       -- see if it is a directory
-      if endswith(path,"/") or isdirectory(path) or is_hidden_dir(path) then
+      if (path == "/" or
+         DYNAMIC_PAGES[path] == nil) and
+         (endswith(path,"/") or
+          isdirectory(path) or
+          is_hidden_dir(path)) then
          self.directory_list(path)
          return
       end
+      
       -- or a file
       if self.file_download(path) then
          return

From 583c24d833924f142313f5d3266a2df85a00103f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 10 Dec 2023 07:05:58 +1100
Subject: [PATCH 0034/1335] AP_Scripting: updated docs

---
 libraries/AP_Scripting/docs/docs.lua | 144 ++++++++++++++++++++++-----
 1 file changed, 120 insertions(+), 24 deletions(-)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 4f70ca60671fc2..777eb8c8089d95 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -457,46 +457,77 @@ function motor_factor_table_ud:roll(index, value) end
 local SocketAPM_ud = {}
 
 -- desc
+function SocketAPM(param1) end
+
+-- return true if a socket is connected
 ---@return boolean
 function SocketAPM_ud:is_connected() end
 
--- desc
----@param param1 boolean
+-- set blocking state of socket
+---@param blocking boolean
 ---@return boolean
-function SocketAPM_ud:set_blocking(param1) end
+function SocketAPM_ud:set_blocking(blocking) end
 
--- desc
----@param param1 integer
+-- setup a socket to listen
+---@param backlog integer
 ---@return boolean
-function SocketAPM_ud:listen(param1) end
+function SocketAPM_ud:listen(backlog) end
 
--- desc
----@param param1 string
----@param param2 uint32_t_ud
+-- send a lua string. May contain binary data
+---@param str string
+---@param len uint32_t_ud
 ---@return integer
-function SocketAPM_ud:send(param1, param2) end
+function SocketAPM_ud:send(str, len) end
 
--- desc
----@param param1 string
----@param param2 integer
+-- bind to an address. Use "0.0.0.0" for wildcard bind
+---@param IP_address string
+---@param port integer
 ---@return boolean
-function SocketAPM_ud:bind(param1, param2) end
+function SocketAPM_ud:bind(IP_address, port) end
 
--- desc
----@param param1 string
----@param param2 integer
+-- connect a socket to an endpoint
+---@param IP_address string
+---@param port integer
 ---@return boolean
-function SocketAPM_ud:connect(param1, param2) end
-
--- desc
-function SocketAPM_ud:__gc() end
+function SocketAPM_ud:connect(IP_address, port) end
 
--- desc
+--[[ accept new incoming sockets, returning a new socket.
+     Must be used on a stream socket in listen state
+--]]
 function SocketAPM_ud:accept(param1) end
 
--- desc
-function SocketAPM_ud:recv(param1) end
+-- receive data from a socket
+---@param length
+---@return data
+function SocketAPM_ud:recv(length) end
+
+-- check for available input
+---@param timeout_ms uint32_t_ud
+---@return boolean
+function SocketAPM_ud:pollin(timeout_ms) end
+
+-- check for availability of space to write to socket
+---@param timeout_ms uint32_t_ud
+---@return boolean
+function SocketAPM_ud:pollout(timeout_ms) end
 
+--[[
+   close a socket. Note that there is no automatic garbage
+   collection of sockets so you must close a socket when you are
+   finished with it or you will run out of sockets
+--]]
+function SocketAPM_ud:close() end
+
+--[[
+   setup to send all remaining data from a filehandle to the socket
+   this also "closes" the socket and the file from the point of view of lua
+   the underlying socket and file are both closed on end of file
+--]]
+function SocketAPM_ud:sendfile(filehandle) end
+
+-- enable SO_REUSEADDR on a socket
+---@return boolean
+function SocketAPM_ud:reuseaddress() end
 
 -- desc
 ---@class AP_HAL__PWMSource_ud
@@ -3111,3 +3142,68 @@ function fence:get_breach_time() end
 ---| 4 # Polygon
 ---| 8 # Minimum altitude
 function fence:get_breaches() end
+
+-- desc
+---@class stat_t_ud
+local stat_t_ud = {}
+
+---@return stat_t_ud
+function stat_t() end
+
+-- get creation time in seconds
+---@return uint32_t_ud
+function stat_t_ud:ctime() end
+
+-- get last access time in seconds
+---@return uint32_t_ud
+function stat_t_ud:atime() end
+
+-- get last modification time in seconds
+---@return uint32_t_ud
+function stat_t_ud:mtime() end
+
+-- get file mode
+---@return integer
+function stat_t_ud:mode() end
+
+-- get file size in bytes
+---@return uint32_t_ud
+function stat_t_ud:size() end
+
+-- return true if this is a directory
+---@return boolean
+function stat_t_ud:is_directory() end
+
+-- desc
+---@class rtc
+rtc = {}
+
+-- return a time since 1970 in seconds from GMT date elements
+---@param year integer -- 20xx
+---@param month integer -- 0-11
+---@param day  integer -- 1-31
+---@param hour  integer -- 0-23
+---@param min integer -- 0-60
+---@param sec integer -- 0-60
+---@return uint32_t_ud
+function rtc:date_fields_to_clock_s(year, month, day, hour, min, sec) end
+
+-- break a time in seconds since 1970 to GMT date elements
+---@param param1 uint32_t_ud
+---@return integer|nil -- year 20xx
+---@return integer|nil -- month 0-11
+---@return integer|nil -- day 1-31
+---@return integer|nil -- hour 0-23
+---@return integer|nil -- min 0-60
+---@return integer|nil -- sec 0-60
+---@return integer|nil -- weekday 0-6, sunday is 0
+function rtc:clock_s_to_date_fields(param1) end
+
+-- desc
+---@class fs
+fs = {}
+
+-- desc
+---@param param1 string
+---@return stat_t_ud|nil
+function fs:stat(param1) end

From ded1cdaa2a6f625eb22cfbf6aa09d02ba918e9f1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 10 Dec 2023 08:06:22 +1100
Subject: [PATCH 0035/1335] AP_Scripting: fixed webserver warnings

---
 .../AP_Scripting/applets/net_webserver.lua    | 26 +++++++++----------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/libraries/AP_Scripting/applets/net_webserver.lua b/libraries/AP_Scripting/applets/net_webserver.lua
index c1bac7e97a7775..ac9df70379b864 100644
--- a/libraries/AP_Scripting/applets/net_webserver.lua
+++ b/libraries/AP_Scripting/applets/net_webserver.lua
@@ -23,7 +23,7 @@ assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 6), 'net_test: could
   // @Values: 0:Disabled,1:Enabled
   // @User: Standard
 --]]
-local WEB_ENABLE = bind_add_param('ENABLE',  1, 0)
+local WEB_ENABLE = bind_add_param('ENABLE',  1, 1)
 
 --[[
   // @Param: WEB_BIND_PORT
@@ -62,11 +62,15 @@ local WEB_BLOCK_SIZE = bind_add_param('BLOCK_SIZE', 4, 10240)
 --]]
 local WEB_TIMEOUT = bind_add_param('TIMEOUT', 5, 2.0)
 
+if WEB_ENABLE:get() ~= 1 then
+   gcs:send_text(MAV_SEVERITY.INFO, "WebServer: disabled")
+   return
+end
+
 local BRD_RTC_TZ_MIN = Parameter("BRD_RTC_TZ_MIN")
 
 gcs:send_text(MAV_SEVERITY.INFO, string.format("WebServer: starting on port %u", WEB_BIND_PORT:get()))
 
-local counter = 0
 local sock_listen = SocketAPM(0)
 local clients = {}
 
@@ -77,8 +81,6 @@ local CONTENT_OCTET_STREAM = "application/octet-stream"
 
 local HIDDEN_FOLDERS = { "@SYS", "@ROMFS", "@MISSION", "@PARAM" }
 
-local CGI_BIN_PATH = "cgi-bin"
-
 local MNT_PREFIX = "/mnt"
 local MNT_PREFIX2 = MNT_PREFIX .. "/"
 
@@ -282,9 +284,7 @@ end
    return true if a string starts with the 2nd string
 --]]
 local function startswith(str, s)
-   local len1 = #str
-   local len2 = #s
-   return string.sub(str,1,len2) == s
+   return string.sub(str,1,#s) == s
 end
 
 local debug_count=0
@@ -338,7 +338,7 @@ function file_timestring(path)
    end
    local mtime = s:mtime()
    mtime = mtime + BRD_RTC_TZ_MIN:get()*60
-   local year, month, day, hour, min, sec, wday = rtc:clock_s_to_date_fields(mtime)
+   local year, month, day, hour, min, sec, _ = rtc:clock_s_to_date_fields(mtime)
    if not year then
       return ""
    end
@@ -520,7 +520,7 @@ local function Client(_sock, _idx)
          if endswith(path,"/") then
             path = string.sub(path, 1, #path-1)
          end
-         local dir, file = string.match(path, '(.*/)(.*)')
+         local dir, _ = string.match(path, '(.*/)(.*)')
          if not dir then
             return path
          end
@@ -646,12 +646,12 @@ local function Client(_sock, _idx)
       local eval_code = "function eval_func()\n" .. code .. "\nend\n"
       local f, errloc, err = load(eval_code, "eval_func", "t", _ENV)
       if not f then
-         DEBUG(string.format("load failed: err=%s", err))
+         DEBUG(string.format("load failed: err=%s errloc=%s", err, errloc))
          return nil
       end
-      local success, err = pcall(f)
+      local success, err2 = pcall(f)
       if not success then
-         DEBUG(string.format("pcall failed: err=%s", err))
+         DEBUG(string.format("pcall failed: err=%s", err2))
          return nil
       end
       local ok, s2 = pcall(eval_func)
@@ -719,7 +719,7 @@ local function Client(_sock, _idx)
       if path == "/" then
          return MIME_TYPES["html"]
       end
-      local file, ext = string.match(path, '(.*[.])(.*)')
+      local _, ext = string.match(path, '(.*[.])(.*)')
       ext = string.lower(ext)
       local ret = MIME_TYPES[ext]
       if not ret then

From 867e9c6799ec29163d2a299f975d191cc3f3f2d9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 10 Dec 2023 11:30:11 +1100
Subject: [PATCH 0036/1335] AP_RTC: fixed build on arm

---
 libraries/AP_Filesystem/posix_compat.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Filesystem/posix_compat.h b/libraries/AP_Filesystem/posix_compat.h
index c899d81332ee98..4ccf56b5c5f43e 100644
--- a/libraries/AP_Filesystem/posix_compat.h
+++ b/libraries/AP_Filesystem/posix_compat.h
@@ -21,6 +21,7 @@
 #include <stdio.h>
 #include <stddef.h>
 #include <stdbool.h>
+#include <stdint.h>
 
 #ifdef __cplusplus
 extern "C" {

From ffb7328ede61f79a397b3da381270fa5d9bc482c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 10 Dec 2023 11:40:18 +1100
Subject: [PATCH 0037/1335] AP_Scripting: review fixes

thanks Pete!
---
 libraries/AP_Scripting/applets/net_webserver.lua          | 2 +-
 libraries/AP_Scripting/docs/docs.lua                      | 2 +-
 libraries/AP_Scripting/examples/net_test.lua              | 8 ++++----
 .../AP_Scripting/generator/description/bindings.desc      | 2 +-
 libraries/AP_Scripting/lua_bindings.cpp                   | 4 +---
 5 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_Scripting/applets/net_webserver.lua b/libraries/AP_Scripting/applets/net_webserver.lua
index ac9df70379b864..4355fa6006e878 100644
--- a/libraries/AP_Scripting/applets/net_webserver.lua
+++ b/libraries/AP_Scripting/applets/net_webserver.lua
@@ -71,7 +71,7 @@ local BRD_RTC_TZ_MIN = Parameter("BRD_RTC_TZ_MIN")
 
 gcs:send_text(MAV_SEVERITY.INFO, string.format("WebServer: starting on port %u", WEB_BIND_PORT:get()))
 
-local sock_listen = SocketAPM(0)
+local sock_listen = Socket(0)
 local clients = {}
 
 local DOCTYPE = "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 3.2 Final//EN\">"
diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 777eb8c8089d95..856105481eaba2 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -457,7 +457,7 @@ function motor_factor_table_ud:roll(index, value) end
 local SocketAPM_ud = {}
 
 -- desc
-function SocketAPM(param1) end
+function Socket(param1) end
 
 -- return true if a socket is connected
 ---@return boolean
diff --git a/libraries/AP_Scripting/examples/net_test.lua b/libraries/AP_Scripting/examples/net_test.lua
index 1db3e45f638067..b83fa2f8f4ba97 100644
--- a/libraries/AP_Scripting/examples/net_test.lua
+++ b/libraries/AP_Scripting/examples/net_test.lua
@@ -44,11 +44,11 @@ local function test_ip()
 end
 
 local counter = 0
-local sock_tcp_echo = SocketAPM(0)
-local sock_udp_echo = SocketAPM(1)
-local sock_tcp_in = SocketAPM(0)
+local sock_tcp_echo = Socket(0)
+local sock_udp_echo = Socket(1)
+local sock_tcp_in = Socket(0)
 local sock_tcp_in2 = nil
-local sock_udp_in = SocketAPM(1)
+local sock_udp_in = Socket(1)
 
 assert(sock_tcp_echo, "net_test: failed to create tcp echo socket")
 assert(sock_udp_echo, "net_test: failed to create udp echo socket")
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 6f77cc8124a980..3c0c37a7a936ae 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -537,7 +537,7 @@ ap_object AP_HAL::I2CDevice manual read_registers AP_HAL__I2CDevice_read_registe
 ap_object AP_HAL::I2CDevice method set_address void uint8_t'skip_check
 
 include AP_HAL/utility/Socket.h depends (AP_NETWORKING_ENABLED==1)
-global manual SocketAPM lua_get_SocketAPM 1 depends (AP_NETWORKING_ENABLED==1)
+global manual Socket lua_get_SocketAPM 1 depends (AP_NETWORKING_ENABLED==1)
 
 ap_object SocketAPM depends (AP_NETWORKING_ENABLED==1)
 ap_object SocketAPM method connect boolean string uint16_t'skip_check
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index 8020da37e92c0e..0059fb11509949 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -770,8 +770,6 @@ int lua_get_SocketAPM(lua_State *L) {
     const uint8_t datagram = get_uint8_t(L, 1);
     auto *scripting = AP::scripting();
 
-    lua_gc(L, LUA_GCCOLLECT, 0);
-
     if (scripting->num_net_sockets >= SCRIPTING_MAX_NUM_NET_SOCKET) {
         return luaL_argerror(L, 1, "no sockets available");
     }
@@ -829,7 +827,7 @@ int SocketAPM_sendfile(lua_State *L) {
     auto *scripting = AP::scripting();
 
     if (scripting->num_net_sockets == 0) {
-        return luaL_argerror(L, 1, "socket close error");
+        return luaL_argerror(L, 1, "sendfile error");
     }
 
     auto *p = (luaL_Stream *)luaL_checkudata(L, 2, LUA_FILEHANDLE);

From 75fca4c1715afb7f9545065adeb5f0de30c78646 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 10 Dec 2023 13:58:03 +1100
Subject: [PATCH 0038/1335] Tools: fixed AerobaticsScripting test

we no longer allow open() on directories so that we match ChibiOS
FATFS
---
 Tools/autotest/arduplane.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index fb78e2c186b536..5c76db5d35d888 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -4515,7 +4515,7 @@ def AerobaticsScripting(self):
         self.customise_SITL_commandline(
             [],
             model=model,
-            defaults_filepath="",
+            defaults_filepath="Tools/autotest/models/plane-3d.parm",
             wipe=True)
 
         self.context_push()

From 375a940b51f4f6f310c4d7e5cb06c719981ffe79 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sat, 9 Dec 2023 13:54:26 +0000
Subject: [PATCH 0039/1335] AP_IOMCU: make adc interrupt driven

---
 libraries/AP_IOMCU/iofirmware/analog.cpp     | 127 +++++++++++++++----
 libraries/AP_IOMCU/iofirmware/analog.h       |  13 +-
 libraries/AP_IOMCU/iofirmware/iofirmware.cpp |   8 +-
 3 files changed, 116 insertions(+), 32 deletions(-)

diff --git a/libraries/AP_IOMCU/iofirmware/analog.cpp b/libraries/AP_IOMCU/iofirmware/analog.cpp
index e2c6f820810274..1da6d7f4e461fb 100644
--- a/libraries/AP_IOMCU/iofirmware/analog.cpp
+++ b/libraries/AP_IOMCU/iofirmware/analog.cpp
@@ -13,9 +13,9 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 /*
-  analog capture for IOMCU. This uses direct register access to avoid
-  using up a DMA channel and to minimise latency. We capture a single
-  sample at a time
+   analog capture for IOMCU. This uses direct register access to avoid
+   using up a DMA channel and to minimise latency. We capture a single
+   sample at a time
  */
 
 #include "ch.h"
@@ -25,64 +25,135 @@
 #if HAL_USE_ADC != TRUE
 #error "HAL_USE_ADC must be set"
 #endif
+// we build this file with optimisation to lower the interrupt
+// latency.
+#pragma GCC optimize("O2")
+
+extern "C" {
+    extern void Vector88();
+}
+
+#define STM32_ADC1_NUMBER 18
+#define STM32_ADC1_HANDLER Vector88
+
+const uint32_t VSERVO_CHANNEL = ADC_SQR3_SQ1_N(ADC_CHANNEL_IN4);
+const uint32_t VRSSI_CHANNEL = ADC_SQR3_SQ1_N(ADC_CHANNEL_IN5);
+
+static uint16_t vrssi_val = 0xFFFF;
+static uint16_t vservo_val = 0xFFFF;
+static bool sample_vrssi_enable = true;
+static bool sampling_vservo = true;
 
 /*
   initialise ADC capture
  */
 void adc_init(void)
 {
-    adc_lld_init();
     rccEnableADC1(true);
+    ADC1->CR1 = 0;
+    ADC1->CR2 = ADC_CR2_ADON;
+
+    /* Reset calibration just to be safe.*/
+    ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_RSTCAL;
+    while ((ADC1->CR2 & ADC_CR2_RSTCAL) != 0)
+      ;
+
+    /* Calibration.*/
+    ADC1->CR2 = ADC_CR2_ADON | ADC_CR2_CAL;
+    while ((ADC1->CR2 & ADC_CR2_CAL) != 0)
+      ;
 
     /* set channels 4 and 5 for 28.5us sample time */
     ADC1->SMPR2 = ADC_SMPR2_SMP_AN4(ADC_SAMPLE_28P5) | ADC_SMPR2_SMP_AN5(ADC_SAMPLE_28P5);
 
-    /* capture a single sample at a time */
+    /* capture one sample at a time */
     ADC1->SQR1 = 0;
     ADC1->SQR2 = 0;
+
+    ADC1->CR1 |= ADC_CR1_EOCIE;
+
+    nvicEnableVector(STM32_ADC1_NUMBER, STM32_ADC_ADC1_IRQ_PRIORITY);
 }
 
 /*
-  capture one sample on a channel
+  capture VSERVO in mV
  */
-static uint16_t adc_sample_channel(uint32_t channel)
+void adc_enable_vrssi(void)
 {
-    // clear EOC
-    ADC1->SR = 0;
+    sample_vrssi_enable = true;
+}
 
-    /* capture one sample */
-    ADC1->SQR3 = channel;
-    ADC1->CR2 |= ADC_CR2_ADON;
+/*
+  don't capture VRSSI
+ */
+void adc_disable_vrssi(void)
+{
+    sample_vrssi_enable = false;
+}
 
-    /* wait for the conversion to complete */
-    uint32_t counter = 16;
+/*
+  capture one sample on a channel
+ */
+void adc_sample_channels()
+{
+    chSysLock();
 
-    while (!(ADC1->SR & ADC_SR_EOC)) {
-        if (--counter == 0) {
-            // ensure EOC is clear
-            ADC1->SR = 0;
-            return 0xffff;
-        }
+    if (ADC1->SR & ADC_SR_STRT) {
+        return; // still waiting for sample
     }
 
-    // return sample (this also clears EOC flag)
-    return ADC1->DR;
+    /* capture another sample */
+    ADC1->CR2 |= ADC_CR2_ADON;
+
+    chSysUnlock();
 }
 
 /*
   capture VSERVO in mV
  */
-uint16_t adc_sample_vservo(void)
+uint16_t adc_vservo(void)
 {
-    const uint32_t channel = ADC_SQR3_SQ1_N(ADC_CHANNEL_IN4);
-    return adc_sample_channel(channel);
+    return vservo_val;
 }
 
 /*
   capture VRSSI in mV
  */
-uint16_t adc_sample_vrssi(void)
+uint16_t adc_vrssi(void)
 {
-    const uint32_t channel = ADC_SQR3_SQ1_N(ADC_CHANNEL_IN5);
-    return adc_sample_channel(channel);
+    return vrssi_val;
+}
+
+static void adc_read_sample()
+{
+    if (ADC1->SR & ADC_SR_EOC) {
+
+        ADC1->SR &= ~(ADC_SR_EOC | ADC_SR_STRT);
+
+        if (sampling_vservo) {
+            vservo_val = ADC1->DR;
+            if (sample_vrssi_enable) {
+                /* capture another sample */
+                ADC1->SQR3 = VRSSI_CHANNEL;
+                ADC1->CR2 |= ADC_CR2_ADON;
+                sampling_vservo = false;
+            }
+        } else {
+            vrssi_val = ADC1->DR;
+            ADC1->SQR3 = VSERVO_CHANNEL;
+            sampling_vservo = true;
+        }
+    }
+}
+
+OSAL_IRQ_HANDLER(STM32_ADC1_HANDLER) {
+    OSAL_IRQ_PROLOGUE();
+
+    chSysLockFromISR();
+
+    adc_read_sample();
+
+    chSysUnlockFromISR();
+
+    OSAL_IRQ_EPILOGUE();
 }
diff --git a/libraries/AP_IOMCU/iofirmware/analog.h b/libraries/AP_IOMCU/iofirmware/analog.h
index 4871cdb32f7fc5..0e0622b3860cd7 100644
--- a/libraries/AP_IOMCU/iofirmware/analog.h
+++ b/libraries/AP_IOMCU/iofirmware/analog.h
@@ -9,9 +9,18 @@ void adc_init(void);
 /*
   capture VSERVO
  */
-uint16_t adc_sample_vservo(void);
+uint16_t adc_vservo(void);
 
 /*
   capture VRSSI
  */
-uint16_t adc_sample_vrssi(void);
+uint16_t adc_vrssi(void);
+
+/* start another update */
+void adc_sample_channels(void);
+
+/* capture VRSSI */
+void adc_enable_vrssi(void);
+
+/* don't capture VRSSI */
+void adc_disable_vrssi(void);
diff --git a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
index 3050a5b8e07cb4..3d1cce6f62d1e9 100644
--- a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
+++ b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
@@ -671,13 +671,15 @@ void AP_IOMCU_FW::process_io_packet()
  */
 void AP_IOMCU_FW::page_status_update(void)
 {
+    adc_sample_channels();
+
     if ((reg_setup.features & P_SETUP_FEATURES_SBUS1_OUT) == 0) {
         // we can only get VRSSI when sbus is disabled
-        reg_status.vrssi = adc_sample_vrssi();
+        reg_status.vrssi = adc_vrssi();
     } else {
         reg_status.vrssi = 0;
     }
-    reg_status.vservo = adc_sample_vservo();
+    reg_status.vservo = adc_vservo();
 }
 
 bool AP_IOMCU_FW::handle_code_read()
@@ -798,8 +800,10 @@ bool AP_IOMCU_FW::handle_code_write()
                 // or disable SBUS out
                 AFIO->MAPR = AFIO_MAPR_SWJ_CFG_NOJNTRST;
 
+                adc_disable_vrssi();
                 palClearLine(HAL_GPIO_PIN_SBUS_OUT_EN);
             } else {
+                adc_enable_vrssi();
                 palSetLine(HAL_GPIO_PIN_SBUS_OUT_EN);
             }
             if (reg_setup.features & P_SETUP_FEATURES_HEATER) {

From 4a48dc2dde55302a736bb3177e61bd2d67c3e87f Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sat, 9 Dec 2023 14:01:51 +0000
Subject: [PATCH 0040/1335] IO_Firmware: fix adc reading

---
 .../IO_Firmware/iofirmware_dshot_highpolh.bin | Bin 46796 -> 46996 bytes
 .../IO_Firmware/iofirmware_dshot_lowpolh.bin  | Bin 46796 -> 46996 bytes
 .../iofirmware_f103_8MHz_highpolh.bin         | Bin 41028 -> 40544 bytes
 .../iofirmware_f103_8MHz_lowpolh.bin          | Bin 41028 -> 40544 bytes
 .../iofirmware_f103_dshot_highpolh.bin        | Bin 46788 -> 46988 bytes
 .../iofirmware_f103_dshot_lowpolh.bin         | Bin 46788 -> 46988 bytes
 .../IO_Firmware/iofirmware_f103_highpolh.bin  | Bin 41028 -> 40544 bytes
 Tools/IO_Firmware/iofirmware_f103_lowpolh.bin | Bin 41028 -> 40544 bytes
 Tools/IO_Firmware/iofirmware_highpolh.bin     | Bin 41028 -> 40544 bytes
 Tools/IO_Firmware/iofirmware_lowpolh.bin      | Bin 41028 -> 40544 bytes
 10 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin
index 83a7e2b6299695df11f9bb41ab3e2a6a4570dcdc..362fdf5ffa84648396d91b15c7e082d563589c74 100755
GIT binary patch
delta 11272
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diff --git a/Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin
index dbc520edd07a617a842e2cb6b8f8ccb3383ff166..e7b80111959f0543c0f274b6a416e17da7e2e77e 100755
GIT binary patch
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diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_highpolh.bin
index a722bc5bd2ee925ea653298d76de6d6ccf52bbad..a17db83ef58c18393e242a2a57a0747707953492 100755
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diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin
index cdb40f2fab870f0225c3f9ea488aaa2ba73fad86..19002c9bbf3669ce640fa90cb6fcf69f030a996d 100755
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diff --git a/Tools/IO_Firmware/iofirmware_f103_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_dshot_highpolh.bin
index 3d993264ce8699942bf654a8877104efe329e02f..dcdc39f66d8b805e0bb85effbaf9bd894a20623d 100755
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diff --git a/Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
index ef5755a62abef342bee0ae869e6671ad93277f95..76b5c6d9742bb05bb54ff0735e654fff55e46682 100755
GIT binary patch
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diff --git a/Tools/IO_Firmware/iofirmware_f103_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_highpolh.bin
index 89d0449fb1256644eac823b48c8443349791f162..dd7261502f1a9a7482cad4bf32c59ba486c57857 100755
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diff --git a/Tools/IO_Firmware/iofirmware_f103_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_lowpolh.bin
index 2179b5cbc5efb9479ae4c1206187a436fdc5234d..df3d1554a3a13e0b6122f807557df5cbf47d7efb 100755
GIT binary patch
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diff --git a/Tools/IO_Firmware/iofirmware_highpolh.bin b/Tools/IO_Firmware/iofirmware_highpolh.bin
index 4e2b62dec6a670717a5576388d7117c53931ccdd..2d30bc034288e00249096e372f3efd34b99be500 100755
GIT binary patch
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diff --git a/Tools/IO_Firmware/iofirmware_lowpolh.bin b/Tools/IO_Firmware/iofirmware_lowpolh.bin
index 3ba40363bcd4a83a5cb6c910f95365dceb03e530..a355bbdd2c3eb65e2dd1e0856f94652e4fb0c25e 100755
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From 75217ec1e6a3122dfcab66187cf45b7f5e0b5465 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 3 Dec 2023 11:32:28 +1100
Subject: [PATCH 0041/1335] AP_Scripting: added readstring for uarts

this is much more efficient than reading a byte at a time
---
 libraries/AP_Scripting/docs/docs.lua          |  8 +++++++
 .../generator/description/bindings.desc       |  1 +
 libraries/AP_Scripting/lua_bindings.cpp       | 24 +++++++++++++++++++
 libraries/AP_Scripting/lua_bindings.h         |  1 +
 4 files changed, 34 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 856105481eaba2..1d57957c7b0e30 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1140,6 +1140,14 @@ function AP_HAL__UARTDriver_ud:read() end
 ---@param baud_rate uint32_t_ud
 function AP_HAL__UARTDriver_ud:begin(baud_rate) end
 
+--[[
+  read count bytes from a uart and return as a lua string. Note
+  that the returned string can be shorter than the requested length
+--]]
+---@param count integer
+---@return string|nil
+function AP_HAL__UARTDriver_ud:readstring(count) end
+
 
 -- desc
 ---@class RC_Channel_ud
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 3c0c37a7a936ae..74cc6c109de8e3 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -357,6 +357,7 @@ include AP_SerialManager/AP_SerialManager.h
 ap_object AP_HAL::UARTDriver depends HAL_GCS_ENABLED
 ap_object AP_HAL::UARTDriver method begin void uint32_t 1U UINT32_MAX
 ap_object AP_HAL::UARTDriver method read int16_t
+ap_object AP_HAL::UARTDriver manual readstring AP_HAL__UARTDriver_readstring 1
 ap_object AP_HAL::UARTDriver method write uint32_t uint8_t'skip_check
 ap_object AP_HAL::UARTDriver method available uint32_t
 ap_object AP_HAL::UARTDriver method set_flow_control void AP_HAL::UARTDriver::flow_control'enum AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE AP_HAL::UARTDriver::FLOW_CONTROL_AUTO
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index 0059fb11509949..a8637ed380547a 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -638,6 +638,30 @@ int AP_HAL__I2CDevice_read_registers(lua_State *L) {
     return success;
 }
 
+int AP_HAL__UARTDriver_readstring(lua_State *L) {
+    binding_argcheck(L, 2);
+
+    AP_HAL::UARTDriver * ud = *check_AP_HAL__UARTDriver(L, 1);
+
+    const uint16_t count = get_uint16_t(L, 2);
+    uint8_t *data = (uint8_t*)malloc(count);
+    if (data == nullptr) {
+        return 0;
+    }
+
+    const auto ret = ud->read(data, count);
+    if (ret < 0) {
+        free(data);
+        return 0;
+    }
+
+    // push to lua string
+    lua_pushlstring(L, (const char *)data, ret);
+    free(data);
+
+    return 1;
+}
+
 #if AP_SCRIPTING_CAN_SENSOR_ENABLED
 int lua_get_CAN_device(lua_State *L) {
 
diff --git a/libraries/AP_Scripting/lua_bindings.h b/libraries/AP_Scripting/lua_bindings.h
index 6bc459dc27bf2b..99e4f8a3747727 100644
--- a/libraries/AP_Scripting/lua_bindings.h
+++ b/libraries/AP_Scripting/lua_bindings.h
@@ -8,6 +8,7 @@ int lua_mission_receive(lua_State *L);
 int AP_Logger_Write(lua_State *L);
 int lua_get_i2c_device(lua_State *L);
 int AP_HAL__I2CDevice_read_registers(lua_State *L);
+int AP_HAL__UARTDriver_readstring(lua_State *L);
 int lua_get_CAN_device(lua_State *L);
 int lua_get_CAN_device2(lua_State *L);
 int lua_dirlist(lua_State *L);

From ff86e2dda88b9644e523b481019d3fe6f00aa701 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:07:31 +1100
Subject: [PATCH 0042/1335] AP_WindVane: add and use AP_WINDVANE_*_ENABLED
 defines

---
 libraries/AP_WindVane/AP_WindVane.cpp         | 26 ++++++++++--
 libraries/AP_WindVane/AP_WindVane.h           | 22 +++++++++-
 .../AP_WindVane/AP_WindVane_Airspeed.cpp      |  8 +++-
 libraries/AP_WindVane/AP_WindVane_Airspeed.h  |  6 +++
 libraries/AP_WindVane/AP_WindVane_Analog.cpp  |  6 +++
 libraries/AP_WindVane/AP_WindVane_Analog.h    |  6 +++
 libraries/AP_WindVane/AP_WindVane_Backend.cpp |  6 +++
 libraries/AP_WindVane/AP_WindVane_Backend.h   |  6 +++
 libraries/AP_WindVane/AP_WindVane_Home.cpp    |  6 +++
 libraries/AP_WindVane/AP_WindVane_Home.h      |  6 +++
 .../AP_WindVane/AP_WindVane_ModernDevice.cpp  |  6 +++
 .../AP_WindVane/AP_WindVane_ModernDevice.h    |  6 +++
 libraries/AP_WindVane/AP_WindVane_NMEA.cpp    |  6 +++
 libraries/AP_WindVane/AP_WindVane_NMEA.h      |  6 +++
 libraries/AP_WindVane/AP_WindVane_RPM.cpp     |  8 +++-
 libraries/AP_WindVane/AP_WindVane_RPM.h       |  6 +++
 libraries/AP_WindVane/AP_WindVane_SITL.cpp    |  8 ++--
 libraries/AP_WindVane/AP_WindVane_SITL.h      |  6 +++
 libraries/AP_WindVane/AP_WindVane_config.h    | 42 +++++++++++++++++++
 19 files changed, 180 insertions(+), 12 deletions(-)
 create mode 100644 libraries/AP_WindVane/AP_WindVane_config.h

diff --git a/libraries/AP_WindVane/AP_WindVane.cpp b/libraries/AP_WindVane/AP_WindVane.cpp
index cd541779016eec..3b3cb718352426 100644
--- a/libraries/AP_WindVane/AP_WindVane.cpp
+++ b/libraries/AP_WindVane/AP_WindVane.cpp
@@ -13,6 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_ENABLED
+
 #include "AP_WindVane.h"
 
 #include "AP_WindVane_Home.h"
@@ -202,36 +206,46 @@ void AP_WindVane::init(const AP_SerialManager& serial_manager)
         case WindVaneType::WINDVANE_NONE:
             // WindVane disabled
             return;
+#if AP_WINDVANE_HOME_ENABLED
         case WindVaneType::WINDVANE_HOME_HEADING:
         case WindVaneType::WINDVANE_PWM_PIN:
             _direction_driver = new AP_WindVane_Home(*this);
             break;
+#endif
+#if AP_WINDVANE_ANALOG_ENABLED
         case WindVaneType::WINDVANE_ANALOG_PIN:
             _direction_driver = new AP_WindVane_Analog(*this);
             break;
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#endif
+#if AP_WINDVANE_SIM_ENABLED
         case WindVaneType::WINDVANE_SITL_TRUE:
         case WindVaneType::WINDVANE_SITL_APPARENT:
             _direction_driver = new AP_WindVane_SITL(*this);
             break;
 #endif
+#if AP_WINDVANE_NMEA_ENABLED
         case WindVaneType::WINDVANE_NMEA:
             _direction_driver = new AP_WindVane_NMEA(*this);
             _direction_driver->init(serial_manager);
             break;
+#endif
     }
 
     // wind speed
     switch (_speed_sensor_type) {
         case Speed_type::WINDSPEED_NONE:
             break;
+#if AP_WINDVANE_AIRSPEED_ENABLED
         case Speed_type::WINDSPEED_AIRSPEED:
             _speed_driver = new AP_WindVane_Airspeed(*this);
             break;
+#endif
+#if AP_WINDVANE_MODERNDEVICE_ENABLED
         case Speed_type::WINDVANE_WIND_SENSOR_REV_P:
             _speed_driver = new AP_WindVane_ModernDevice(*this);
             break;
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#endif
+#if AP_WINDVANE_SIM_ENABLED
         case Speed_type::WINDSPEED_SITL_TRUE:
         case Speed_type::WINDSPEED_SITL_APPARENT:
             // single driver does both speed and direction
@@ -241,7 +255,8 @@ void AP_WindVane::init(const AP_SerialManager& serial_manager)
                 _speed_driver = _direction_driver;
             }
             break;
-#endif
+#endif  // AP_WINDVANE_SIM_ENABLED
+#if AP_WINDVANE_NMEA_ENABLED
         case Speed_type::WINDSPEED_NMEA:
             // single driver does both speed and direction
             if (_direction_type != WindVaneType::WINDVANE_NMEA) {
@@ -251,9 +266,12 @@ void AP_WindVane::init(const AP_SerialManager& serial_manager)
                 _speed_driver = _direction_driver;
             }
             break;
+#endif  // AP_WINDVANE_NMEA_ENABLED
+#if AP_WINDVANE_RPM_ENABLED
         case Speed_type::WINDSPEED_RPM:
             _speed_driver = new AP_WindVane_RPM(*this);
             break;
+#endif
     }
 }
 
@@ -476,3 +494,5 @@ namespace AP {
         return AP_WindVane::get_singleton();
     }
 };
+
+#endif  // AP_WINDVANE_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane.h b/libraries/AP_WindVane/AP_WindVane.h
index e17edbaa49f7b0..148f072e867a53 100644
--- a/libraries/AP_WindVane/AP_WindVane.h
+++ b/libraries/AP_WindVane/AP_WindVane.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_ENABLED
+
 #include <AP_Param/AP_Param.h>
 #include <Filter/Filter.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
@@ -162,11 +166,17 @@ class AP_WindVane
 
     enum WindVaneType {
         WINDVANE_NONE           = 0,
+#if AP_WINDVANE_HOME_ENABLED
         WINDVANE_HOME_HEADING   = 1,
         WINDVANE_PWM_PIN        = 2,
+#endif
+#if AP_WINDVANE_ANALOG_ENABLED
         WINDVANE_ANALOG_PIN     = 3,
+#endif
+#if AP_WINDVANE_NMEA_ENABLED
         WINDVANE_NMEA           = 4,
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#endif
+#if AP_WINDVANE_SIM_ENABLED
         WINDVANE_SITL_TRUE      = 10,
         WINDVANE_SITL_APPARENT  = 11,
 #endif
@@ -174,11 +184,17 @@ class AP_WindVane
 
     enum Speed_type {
         WINDSPEED_NONE               = 0,
+#if AP_WINDVANE_AIRSPEED_ENABLED
         WINDSPEED_AIRSPEED           = 1,
+#endif
         WINDVANE_WIND_SENSOR_REV_P   = 2,
+#if AP_WINDVANE_RPM_ENABLED
         WINDSPEED_RPM                = 3,
+#endif
+#if AP_WINDVANE_NMEA_ENABLED
         WINDSPEED_NMEA               = 4,
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#endif
+#if AP_WINDVANE_SIM_ENABLED
         WINDSPEED_SITL_TRUE          = 10,
         WINDSPEED_SITL_APPARENT      = 11,
 #endif
@@ -190,3 +206,5 @@ class AP_WindVane
 namespace AP {
     AP_WindVane *windvane();
 };
+
+#endif  // AP_WINDVANE_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_Airspeed.cpp b/libraries/AP_WindVane/AP_WindVane_Airspeed.cpp
index 094d27cc496925..54496e2f15857d 100644
--- a/libraries/AP_WindVane/AP_WindVane_Airspeed.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_Airspeed.cpp
@@ -13,14 +13,18 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_AIRSPEED_ENABLED
+
 #include "AP_WindVane_Airspeed.h"
 
 void AP_WindVane_Airspeed::update_speed()
 {
-#if AP_AIRSPEED_ENABLED
     const AP_Airspeed* airspeed = AP_Airspeed::get_singleton();
     if (airspeed != nullptr) {
         _frontend._speed_apparent_raw = airspeed->get_raw_airspeed();
     }
-#endif
 }
+
+#endif  // AP_WINDVANE_AIRSPEED_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_Airspeed.h b/libraries/AP_WindVane/AP_WindVane_Airspeed.h
index 8f69151bc442fd..d64c8badb7c0e4 100644
--- a/libraries/AP_WindVane/AP_WindVane_Airspeed.h
+++ b/libraries/AP_WindVane/AP_WindVane_Airspeed.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_AIRSPEED_ENABLED
+
 #include "AP_WindVane_Backend.h"
 
 #include <AP_Airspeed/AP_Airspeed.h>
@@ -27,3 +31,5 @@ class AP_WindVane_Airspeed : public AP_WindVane_Backend
     // update state
     void update_speed() override;
 };
+
+#endif  // AP_WINDVANE_AIRSPEED_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_Analog.cpp b/libraries/AP_WindVane/AP_WindVane_Analog.cpp
index cee49bdd1ef3c6..404fa4ea94d8f7 100644
--- a/libraries/AP_WindVane/AP_WindVane_Analog.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_Analog.cpp
@@ -13,6 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_ANALOG_ENABLED
+
 #include "AP_WindVane_Analog.h"
 
 #include <AP_HAL/AP_HAL.h>
@@ -82,3 +86,5 @@ void AP_WindVane_Analog::calibrate()
         _cal_start_ms = 0;
     }
 }
+
+#endif  // AP_WINDVANE_ANALOG_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_Analog.h b/libraries/AP_WindVane/AP_WindVane_Analog.h
index 017266b0be9a66..658761c5381f76 100644
--- a/libraries/AP_WindVane/AP_WindVane_Analog.h
+++ b/libraries/AP_WindVane/AP_WindVane_Analog.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_ANALOG_ENABLED
+
 #include "AP_WindVane_Backend.h"
 
 class AP_WindVane_Analog : public AP_WindVane_Backend
@@ -35,3 +39,5 @@ class AP_WindVane_Analog : public AP_WindVane_Backend
     float _cal_volt_min;
     float _cal_volt_max;
 };
+
+#endif  // AP_WINDVANE_ANALOG_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_Backend.cpp b/libraries/AP_WindVane/AP_WindVane_Backend.cpp
index 39f9ac9ed79174..7f9ea4026769e7 100644
--- a/libraries/AP_WindVane/AP_WindVane_Backend.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_Backend.cpp
@@ -13,6 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_ENABLED
+
 #include "AP_WindVane.h"
 #include "AP_WindVane_Backend.h"
 
@@ -31,3 +35,5 @@ void AP_WindVane_Backend::calibrate()
     _frontend._calibration.set_and_save(0);
     return;
 }
+
+#endif  // AP_WINDVANE_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_Backend.h b/libraries/AP_WindVane/AP_WindVane_Backend.h
index e347de49723509..54b9b227e26bd7 100644
--- a/libraries/AP_WindVane/AP_WindVane_Backend.h
+++ b/libraries/AP_WindVane/AP_WindVane_Backend.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_ENABLED
+
 #include "AP_WindVane.h"
 
 class AP_WindVane_Backend
@@ -39,3 +43,5 @@ class AP_WindVane_Backend
     AP_WindVane &_frontend;
 
 };
+
+#endif  // AP_WINDVANE_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_Home.cpp b/libraries/AP_WindVane/AP_WindVane_Home.cpp
index 042d4ca0c1889f..c291fb75dc8455 100644
--- a/libraries/AP_WindVane/AP_WindVane_Home.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_Home.cpp
@@ -13,6 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_HOME_ENABLED
+
 #include "AP_WindVane_Home.h"
 
 #include <AP_AHRS/AP_AHRS.h>
@@ -30,3 +34,5 @@ void AP_WindVane_Home::update_direction()
 
     _frontend._direction_apparent_raw = wrap_PI(direction_apparent_ef - AP::ahrs().yaw);
 }
+
+#endif  // AP_WINDVANE_HOME_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_Home.h b/libraries/AP_WindVane/AP_WindVane_Home.h
index 8a60d807a364e5..32dfe1a9920fb5 100644
--- a/libraries/AP_WindVane/AP_WindVane_Home.h
+++ b/libraries/AP_WindVane/AP_WindVane_Home.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_HOME_ENABLED
+
 #include "AP_WindVane_Backend.h"
 #include <RC_Channel/RC_Channel.h>
 
@@ -26,3 +30,5 @@ class AP_WindVane_Home : public AP_WindVane_Backend
     // update state
     void update_direction() override;
 };
+
+#endif  // AP_WINDVANE_HOME_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_ModernDevice.cpp b/libraries/AP_WindVane/AP_WindVane_ModernDevice.cpp
index 9daacb6c86bdf3..c88fb13cff82b1 100644
--- a/libraries/AP_WindVane/AP_WindVane_ModernDevice.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_ModernDevice.cpp
@@ -13,6 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_MODERNDEVICE_ENABLED
+
 #include "AP_WindVane_ModernDevice.h"
 // read wind speed from Modern Device rev p wind sensor
 // https://moderndevice.com/news/calibrating-rev-p-wind-sensor-new-regression/
@@ -70,3 +74,5 @@ void AP_WindVane_ModernDevice::calibrate()
     _frontend._speed_sensor_voltage_offset.set_and_save(_current_analog_voltage);
     _frontend._calibration.set_and_save(0);
 }
+
+#endif  // AP_WINDVANE_MODERNDEVICE_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_ModernDevice.h b/libraries/AP_WindVane/AP_WindVane_ModernDevice.h
index 1d32708881666f..e94690fe3a5850 100644
--- a/libraries/AP_WindVane/AP_WindVane_ModernDevice.h
+++ b/libraries/AP_WindVane/AP_WindVane_ModernDevice.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_MODERNDEVICE_ENABLED
+
 #include "AP_WindVane_Backend.h"
 
 class AP_WindVane_ModernDevice : public AP_WindVane_Backend
@@ -33,3 +37,5 @@ class AP_WindVane_ModernDevice : public AP_WindVane_Backend
     AP_HAL::AnalogSource *_speed_analog_source;
     AP_HAL::AnalogSource *_temp_analog_source;
 };
+
+#endif  // AP_WINDVANE_MODERNDEVICE_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_NMEA.cpp b/libraries/AP_WindVane/AP_WindVane_NMEA.cpp
index 7501571afb69a7..ef6f693740cde4 100644
--- a/libraries/AP_WindVane/AP_WindVane_NMEA.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_NMEA.cpp
@@ -13,6 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_NMEA_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include "AP_WindVane_NMEA.h"
 #include <AP_SerialManager/AP_SerialManager.h>
@@ -197,3 +201,5 @@ bool AP_WindVane_NMEA::decode_latest_term()
     }
     return false;
 }
+
+#endif  // AP_WINDVANE_NMEA_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_NMEA.h b/libraries/AP_WindVane/AP_WindVane_NMEA.h
index f23f35b8b3cf58..71c4e0a86e82c6 100644
--- a/libraries/AP_WindVane/AP_WindVane_NMEA.h
+++ b/libraries/AP_WindVane/AP_WindVane_NMEA.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_NMEA_ENABLED
+
 #include "AP_WindVane_Backend.h"
 
 class AP_WindVane_NMEA : public AP_WindVane_Backend
@@ -54,3 +58,5 @@ class AP_WindVane_NMEA : public AP_WindVane_Backend
     bool _sentence_valid;      // is current sentence valid so far
     bool _sentence_done;       // true if this sentence has already been decoded
 };
+
+#endif  // AP_WINDVANE_NMEA_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_RPM.cpp b/libraries/AP_WindVane/AP_WindVane_RPM.cpp
index 069f30b657e973..b80b366c5fb94a 100644
--- a/libraries/AP_WindVane/AP_WindVane_RPM.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_RPM.cpp
@@ -15,11 +15,14 @@
 
 #include "AP_WindVane_RPM.h"
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_RPM_ENABLED
+
 #include <AP_RPM/AP_RPM.h>
 
 void AP_WindVane_RPM::update_speed()
 {
-#if AP_RPM_ENABLED
     const AP_RPM* rpm = AP_RPM::get_singleton();
     if (rpm != nullptr) {
         float temp_speed;
@@ -28,5 +31,6 @@ void AP_WindVane_RPM::update_speed()
             _frontend._speed_apparent_raw = temp_speed;
         }
     }
-#endif  // AP_RPM_ENABLED
 }
+
+#endif  // AP_WINDVANE_RPM_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_RPM.h b/libraries/AP_WindVane/AP_WindVane_RPM.h
index 3d2c9e2dfe80c1..b68f7e8b3bf0bb 100644
--- a/libraries/AP_WindVane/AP_WindVane_RPM.h
+++ b/libraries/AP_WindVane/AP_WindVane_RPM.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_RPM_ENABLED
+
 #include "AP_WindVane_Backend.h"
 
 class AP_WindVane_RPM : public AP_WindVane_Backend
@@ -25,3 +29,5 @@ class AP_WindVane_RPM : public AP_WindVane_Backend
     // update state
     void update_speed() override;
 };
+
+#endif  // AP_WINDVANE_RPM_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_SITL.cpp b/libraries/AP_WindVane/AP_WindVane_SITL.cpp
index 8460bbf5cddd59..061e42158eee41 100644
--- a/libraries/AP_WindVane/AP_WindVane_SITL.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_SITL.cpp
@@ -13,9 +13,11 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "AP_WindVane_SITL.h"
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_SIM_ENABLED
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#include "AP_WindVane_SITL.h"
 
 #include <SITL/SITL.h>
 #include <AP_AHRS/AP_AHRS.h>
@@ -71,4 +73,4 @@ void AP_WindVane_SITL::update_speed()
         _frontend._speed_apparent_raw = AP::sitl()->get_apparent_wind_spd();
     }
 }
-#endif
+#endif  // AP_WINDVANE_SIM_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_SITL.h b/libraries/AP_WindVane/AP_WindVane_SITL.h
index c9d3bd68ae4733..f84d0a815d4e9c 100644
--- a/libraries/AP_WindVane/AP_WindVane_SITL.h
+++ b/libraries/AP_WindVane/AP_WindVane_SITL.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_WindVane_config.h"
+
+#if AP_WINDVANE_SIM_ENABLED
+
 #include "AP_WindVane_Backend.h"
 
 class AP_WindVane_SITL : public AP_WindVane_Backend
@@ -29,3 +33,5 @@ class AP_WindVane_SITL : public AP_WindVane_Backend
         void update_speed() override;
     #endif
 };
+
+#endif  // AP_WINDVANE_SIM_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_config.h b/libraries/AP_WindVane/AP_WindVane_config.h
new file mode 100644
index 00000000000000..2c1e0f46c83826
--- /dev/null
+++ b/libraries/AP_WindVane/AP_WindVane_config.h
@@ -0,0 +1,42 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#include <AP_Airspeed/AP_Airspeed_config.h>
+#include <AP_RPM/AP_RPM_config.h>
+
+#ifndef AP_WINDVANE_ENABLED
+#define AP_WINDVANE_ENABLED 1
+#endif
+
+#ifndef AP_WINDVANE_BACKEND_DEFAULT_ENABLED
+#define AP_WINDVANE_BACKEND_DEFAULT_ENABLED AP_WINDVANE_ENABLED
+#endif
+
+#ifndef AP_WINDVANE_AIRSPEED_ENABLED
+#define AP_WINDVANE_AIRSPEED_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED && AP_AIRSPEED_ENABLED
+#endif
+
+#ifndef AP_WINDVANE_ANALOG_ENABLED
+#define AP_WINDVANE_ANALOG_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_WINDVANE_HOME_ENABLED
+#define AP_WINDVANE_HOME_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_WINDVANE_MODERNDEVICE_ENABLED
+#define AP_WINDVANE_MODERNDEVICE_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_WINDVANE_NMEA_ENABLED
+#define AP_WINDVANE_NMEA_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_WINDVANE_RPM_ENABLED
+#define AP_WINDVANE_RPM_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED && AP_RPM_ENABLED
+#endif
+
+#ifndef AP_WINDVANE_SIM_ENABLED
+#define AP_WINDVANE_SIM_ENABLED AP_WINDVANE_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED
+#endif

From f8d7be5e43686e5a20a1a59420c308ac1fab4c70 Mon Sep 17 00:00:00 2001
From: Bob Long <robertlong13@gmail.com>
Date: Wed, 12 Apr 2023 02:09:16 -0400
Subject: [PATCH 0043/1335] Plane: fix bug in RTL_AUTOLAND with rally points

After loading the rally point, ModeRTL:navigate checks if rally altitude
has been reached before altitude_error_cm gets updated
---
 ArduPlane/commands_logic.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 823f1e4da93bb5..439c03d80a05e3 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -348,6 +348,7 @@ void Plane::do_RTL(int32_t rtl_altitude_AMSL_cm)
     next_WP_loc = calc_best_rally_or_home_location(current_loc, rtl_altitude_AMSL_cm);
     setup_terrain_target_alt(next_WP_loc);
     set_target_altitude_location(next_WP_loc);
+    plane.altitude_error_cm = calc_altitude_error_cm();
 
     if (aparm.loiter_radius < 0) {
         loiter.direction = -1;

From e6feebb2fb19f303a928e4a2f37493042838850c Mon Sep 17 00:00:00 2001
From: "tomas.vrsansky" <tomas.vrsansky@airvolute.com>
Date: Fri, 8 Dec 2023 12:10:06 +0100
Subject: [PATCH 0044/1335] AP_HAL_ChibiOS: add hwdef files for Airvolute DCS2
 onboard FMU

added ethernet config to hwdef
updated readme.md
hwdef: MAC parameters redefined according to ChibiOS
hwdef: add default params for Airvolute DCS2 on board FMU
update according to new changes in ChibiOS MAC driver
added defines to support ethernet communication
bootloaders: Airvolute-DCS2
---
 .../Airvolute-DCS2/DC2.Pilot peripherals.png  | Bin 0 -> 243478 bytes
 .../Airvolute-DCS2/DCS2.Pilot_BottomSide.png  | Bin 0 -> 572645 bytes
 .../Airvolute-DCS2/DCS2.Pilot_TopSide.png     | Bin 0 -> 611365 bytes
 .../hwdef/Airvolute-DCS2/README.md            | 256 ++++++++++++++++++
 .../hwdef/Airvolute-DCS2/defaults.parm        |   4 +
 .../hwdef/Airvolute-DCS2/hwdef-bl.dat         |  58 ++++
 .../hwdef/Airvolute-DCS2/hwdef.dat            | 174 ++++++++++++
 7 files changed, 492 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DC2.Pilot peripherals.png
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_BottomSide.png
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_TopSide.png
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/README.md
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/defaults.parm
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DC2.Pilot peripherals.png b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DC2.Pilot peripherals.png
new file mode 100644
index 0000000000000000000000000000000000000000..e12b3c6c1edc7dbe878cf962724a9855d4560a61
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_TopSide.png b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_TopSide.png
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/README.md b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/README.md
new file mode 100644
index 00000000000000..b747dd3f54be07
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/README.md
@@ -0,0 +1,256 @@
+# Onboard FMU on Airvolute DCS2.Pilot board
+
+DroneCore 2.0 is a modular AI-driven open architecture autopilot designed for complex use cases that combines high computational processing power, redundant connectivity, small size, and low weight.The autopilot represents a one-stop-solution for developers integrating the functionality of carrier board, companion computer, and power distribution board into a single compact form factor.
+This system usually uses a "CUBE" autopilot as its primary FMU, but can use an onboard STM32H743 as the FMU. This board definition and firmware on `the ArduPilot firmware server <https://firmware.ardupilot.org>`__ is for this secondary FMU
+For more informations on DCS2.Pilot board see:
+https://docs.airvolute.com/dronecore-autopilot/dcs2
+
+## Where To Buy
+info@airvolute.com
+
+## Features
+
+ - MCU: STM32H743
+ - IMU: BMI088 
+ - Barometer: BMP390
+ - 2 UARTS
+ - 2 CAN buses
+ - 4 PWM outputs
+ - PPM (RC input)
+ - external SPI and I2C
+ - SD card connector
+ - USB connection onboard with Jetson Host
+ - Ethernet
+
+## DCS2.Pilot peripherals diagram
+<img width="957" alt="DC2 Pilot peripherals" src="https://github.com/vrsanskytom/ardupilot/blob/hwdef_for_airvolute_dcs2/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DC2.Pilot%20peripherals.png">
+
+## DCS2.Pilot onboard FMU related connectors pinout
+### Top side
+<img width="818" alt="DCS2 Pilot_bottom" src="https://github.com/vrsanskytom/ardupilot/blob/hwdef_for_airvolute_dcs2/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_TopSide.png">
+
+#### <ins>PPM connector (RC input)</ins>
+JST GH 1.25mm pitch, 3-Pin
+
+Matching connector JST GHR-03V-S.
+
+RC input is configured on the PPM_SBUS_PROT pin as part of the PPM connector. Pin is connected to UART3_RX and also to analog input on TIM3_CH1. This pin supports all unidirectional RC protocols, but for it to be enabled, it is necessary to set SERIAL3_PROTOCOL as RCIN. Also RC input is shared with primary FMU, so it is default disabled on this secondary FMU.
+
+5V supply is limited to 1A by internal current limiter.
+<table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>Pin </th>
+   <th>Signal </th>
+   </tr>
+    <tr>
+   <td>1</td>
+   <td>GND</td>
+   </tr>
+   <td>2</td>
+   <td>5V</td>
+   </tr>
+   <td>3</td>
+   <td>PPM</td>
+   </tr>
+   </tbody>
+   </table>
+
+### Bottom side
+<img width="811" alt="DCS2 Pilot_top" src="https://github.com/vrsanskytom/ardupilot/blob/hwdef_for_airvolute_dcs2/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/DCS2.Pilot_BottomSide.png">
+
+#### <ins>FMU SEC. connector</ins>
+JST GH 1.25mm pitch, 12-Pin
+
+Matching connector JST GHR-12V-S.
+
+The DCS2 Onboard FMU supports up to 4 PWM outputs. These are directly attached to the STM32H743 and support all PWM protocols as well as DShot and bi-directional DShot.
+The 4 PWM outputs are in 2 groups:
+PWM 1,2 in group1
+PWM 3,4 in group2
+Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot.
+
+5V supply is limited to 1A by internal current limiter.
+<table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>Pin </th>
+   <th>Signal </th>
+   </tr>
+    <tr>
+   <td>1</td>
+   <td>GND</td>
+   </tr>
+   <td>2</td>
+   <td>GND</td>
+   </tr>
+   <td>3</td>
+   <td>GPIO/PWM output 4</td>
+   </tr>
+    </tr>
+   <td>4</td>
+   <td>GPIO/PWM output 3</td>
+   </tr>
+    </tr>
+   <td>5</td>
+   <td>GPIO/PWM output 2</td>
+   </tr>
+    </tr>
+   <td>6</td>
+   <td>GPIO/PWM output 1</td>
+   </tr>
+    </tr>
+   <td>7</td>
+   <td>Serial 1 RX</td>
+   </tr>
+    </tr>
+   <td>8</td>
+   <td>Serial 1 TX</td>
+   </tr>
+    </tr>
+   <td>9</td>
+   <td>Serial 2 RX</td>
+   </tr>
+    </tr>
+   <td>10</td>
+   <td>Serial 2 TX</td>
+   </tr>
+    </tr>
+   <td>11</td>
+   <td>5V</td>
+   </tr>
+    </tr>
+   <td>12</td>
+   <td>5V</td>
+   </tr>
+   </tbody>
+   </table>
+   
+   #### <ins>EXT. SENS. connector</ins>
+   BM23PF0.8-10DS-0.35V connector
+   
+   Matching connector BM23PF0.8-10DP-0.35V
+   
+   This connector allows connecting external IMU with I2C and SPI data buses.
+
+   5V supply is limited to 1.9A by internal current limiter.
+<table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>Pin </th>
+   <th>Signal </th>
+   </tr>
+    <tr>
+   <td>1</td>
+   <td>SPI_MOSI</td>
+   </tr>
+   <td>2</td>
+   <td>SPI_MISO</td>
+   </tr>
+   <td>3</td>
+   <td>SPI_SCK</td>
+   </tr>
+    </tr>
+   <td>4</td>
+   <td>SPI_CS0</td>
+   </tr>
+    </tr>
+   <td>5</td>
+   <td>SPI_CS1</td>
+   </tr>
+    </tr>
+   <td>6</td>
+   <td>SPI_CS2</td>
+   </tr>
+    </tr>
+   <td>7</td>
+   <td>SPI_CS3</td>
+   </tr>
+    </tr>
+   <td>8</td>
+   <td>IMU_DRDY_EXT</td>
+   </tr>
+    </tr>
+   <td>9</td>
+   <td>I2C_SE_SDA</td>
+   </tr>
+    </tr>
+   <td>10</td>
+   <td>I2C_SE_SCL</td>
+   </tr>
+    </tr>
+   <td>MP1</td>
+   <td>5V</td>
+   </tr>
+    </tr>
+   <td>MP2</td>
+   <td>5V</td>
+   </tr>
+    </tr>
+   <td>MP3</td>
+   <td>GND</td>
+   </tr>
+    </tr>
+   <td>MP4</td>
+   <td>GND</td>
+   </tr>
+   </tbody>
+   </table>
+
+   #### <ins>ETH EXP. connector</ins>
+   505110-1692 connector
+   
+   Ethernet connector is routed to FMU through onboard switch.
+   
+   The onboard FMU is connected via the RMII bus with a speed of 100 Mbits.
+   
+   #### <ins>SD card connector</ins>
+   MEM2085-00-115-00-A connector
+   
+   Connector for standard microSD memory card. This card is primarily used to store flight data and logs.
+   
+## Other connectors
+### CAN 1, CAN 2 connectors
+The board contains two CAN buses - CAN1 and CAN 2. The buses support speeds up to 1 Mbits and in FD mode up to 8 Mbits. 
+
+These connectors are not part of DCS2.Pilot board, but they are routed on DCS2.Adapter_board. This board (DCS2.Adapter_board) is fully modular and can be modified according to the customer's requirements. For more informations see: https://docs.airvolute.com/dronecore-autopilot/dcs2/adapter-extension-boards/dcs2.-adapter-default-v1.0/connectors-and-pinouts
+
+JST GH 1.25mm pitch, 4-Pin
+
+Matching connector JST GHR-04V-S.
+
+5V supply is limited to 1.9A by internal current limiter.
+<table border="1" class="docutils">
+   <tbody>
+   <tr>
+   <th>Pin </th>
+   <th>Signal </th>
+   </tr>
+    <tr>
+   <td>1</td>
+   <td>5V</td>
+   </tr>
+   <td>2</td>
+   <td>CAN_H</td>
+   </tr>
+   <td>3</td>
+   <td>CAN_L</td>
+   </tr>
+    <td>4</td>
+   <td>GND</td>
+   </tr>
+   </tbody>
+   </table>
+
+## UART Mapping
+
+- SERIAL0 -> USB (Default baud: 115200)
+- SERIAL1 -> UART1 (FMU SEC) (Default baud: 57600, Default protocol: Mavlink2 (2))
+- SERIAL2 -> UART2 (FMU SEC) (Default baud: 57600, Default protocol: Mavlink2 (2))
+- SERIAL3 -> UART3 (RX pin only labeled as PPM on PPM connector) (Since this is a secondary FMU, default protocol is set to NONE instead of RCIN (23))
+  
+UARTs do not have RTS/CTS. UARTs 1 and 2 are routed to FMU_SEC. connector.
+
+## Loading Firmware
+
+Initial bootloader load is achievable only by SDW interface. Then it is possible to flash firmware thrugh onboard USB connection with Jetson host.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/defaults.parm
new file mode 100644
index 00000000000000..6ffa986988d26c
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/defaults.parm
@@ -0,0 +1,4 @@
+SERIAL3_PROTOCOL -1
+NTF_BUZZ_TYPES 0
+NTF_BUZZ_VOLUME 0
+SYSID_THISMAV 2
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef-bl.dat
new file mode 100644
index 00000000000000..e11d30a2ba3901
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef-bl.dat
@@ -0,0 +1,58 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H743 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 5200
+
+# the nucleo seems to have trouble with flashing the last sector?
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# USB setup
+USB_STRING_MANUFACTURER "Airvolute"
+
+# baudrate to run bootloader at on uarts
+define BOOTLOADER_BAUDRATE 115200
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1
+
+# this is the pin that senses USB being connected. It is an input pin
+# setup as OPENDRAIN
+PA9 VBUS INPUT OPENDRAIN
+
+# UART1 (SE_CONNECTOR)
+PB14 USART1_TX USART1
+PA10 USART1_RX USART1
+
+PB1 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 1
+
+define HAL_USE_SERIAL TRUE
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# Add CS pins to ensure they are high in bootloader
+PD12 IMU_CS0 CS
+PE13 IMU_CS1 CS
+PD13 BARO_CS CS
+PD15 EXT_0 CS
+PD14 EXT_1 CS
+PD11 EXT_2 CS
+PD10 EXT_3 CS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef.dat
new file mode 100644
index 00000000000000..313d8e62453015
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Airvolute-DCS2/hwdef.dat
@@ -0,0 +1,174 @@
+# hw definition file for processing by chibios_hwdef.py
+#following exapmle: 
+#https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/mRoControlZeroH7/hwdef.dat#L105
+# for H743 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 5200
+
+# the nucleo seems to have trouble with flashing the last sector?
+FLASH_SIZE_KB 2048
+
+# This is the STM32 timer that ChibiOS will use for the low level
+# driver. This must be a 32 bit timer. We currently only support
+# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details.
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 5
+
+#optimize for space
+env OPTIMIZE -Os
+
+FLASH_RESERVE_START_KB 128
+
+define HAL_STORAGE_SIZE 32768
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+STORAGE_FLASH_PAGE 14
+
+# (---FUTURE REVISION---): PA0 AS VDD_SENSE_PIN
+PA0 VDD_5V_SENS ADC1 SCALE(2)
+
+# order of I2C buses
+I2C_ORDER I2C1
+
+# I2C1 (SE_CONNECTOR)
+PB8 I2C1_SCL I2C1 PULLUP
+PB7 I2C1_SDA I2C1 PULLUP
+
+# USB setup
+USB_STRING_MANUFACTURER "Airvolute"
+
+# This is the pin that senses USB being connected. It is an input pin
+# setup as OPENDRAIN.
+PA9 VBUS INPUT OPENDRAIN
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# (---FUTURE REVISION---): PWM output for buzzer 
+PB15 TIM12_CH2 TIM12 GPIO(80) ALARM
+
+# (---FUTURE REVISION---): RC Input set for Interrupt not DMA
+PA6 TIM3_CH1 TIM3 RCININT PULLDOWN LOW
+
+# UART SETUP
+# USART1 (SE_CONNECTOR)
+PB14 USART1_TX USART1
+PA10 USART1_RX USART1
+
+# USART2 (SE_CONNECTOR)
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3 (RC INPUT)
+PD9 USART3_RX USART3
+
+#LED RED
+PB1 LED1 OUTPUT HIGH
+#LED GREEN
+PA3 FMU_LED_AMBER OUTPUT LOW GPIO(0)
+
+# microSD card
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+# CS pins for SPI sensors. The labels for all CS pins need to
+# match the SPI device table later in this file.
+PD12 BMI088_ACC_CS CS
+PE13 BMI088_GYRO_CS CS
+PD13 BMP390_CS CS
+PD15 EXT_0_CS CS
+PD14 EXT_1_CS CS
+PD11 EXT_2_CS CS
+PD10 EXT_3_CS CS
+
+# CAN Busses
+PD0 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+
+# CAN1 Silent Pin LOW Enable
+PC7 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+
+PB5 CAN2_RX CAN2
+PB6 CAN2_TX CAN2
+
+# CAN2 Silent Pin LOW Enable
+PC6 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
+
+# Ethernet
+PC1  ETH_MDC            ETH1
+PA2  ETH_MDIO           ETH1
+PC4  ETH_RMII_RXD0      ETH1
+PC5  ETH_RMII_RXD1      ETH1
+PB12 ETH_RMII_TXD0      ETH1
+PB13 ETH_RMII_TXD1      ETH1
+PB11 ETH_RMII_TX_EN     ETH1
+PA7  ETH_RMII_CRS_DV    ETH1
+PA1  ETH_RMII_REF_CLK   ETH1
+
+define BOARD_PHY_RMII
+define BOARD_PHY_ADDRESS 0x0000
+define STM32_MAC_PHY_LINK_TYPE MAC_LINK_100_FULLDUPLEX
+define HAL_PERIPH_ENABLE_NETWORKING
+
+#PWM outputs
+PB3  TIM2_CH2 TIM2 PWM(1) GPIO(50) BIDIR
+PB10 TIM2_CH3 TIM2 PWM(2) GPIO(51)
+PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
+PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53)
+
+# BMI088_DRDY
+PE12 BMI088_DRDY INPUT
+
+# (---FUTURE REVISION---) EXT IMU DRDY
+PD1 EXT_IMU_DRDY INPUT
+
+# SPI1 (ONBOARD SENSORS)
+PA5 SPI1_SCK SPI1
+PB4 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+
+# SPI4 (EXTERNAL SENSORS)
+PE2 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# SPI devices
+SPIDEV bmi088_g    SPI1 DEVID1  BMI088_GYRO_CS    MODE3  10*MHZ  10*MHZ
+SPIDEV bmi088_a    SPI1 DEVID2  BMI088_ACC_CS     MODE3  10*MHZ  10*MHZ
+SPIDEV bmp390      SPI1 DEVID3  BMP390_CS         MODE3  5*MHZ  5*MHZ
+SPIDEV icm42688_ext  SPI4 DEVID4  EXT_0_CS        MODE3  5*MHZ  5*MHZ
+SPIDEV lis3mdl       SPI4 DEVID5  EXT_1_CS        MODE3  5*MHZ  5*MHZ
+
+# Enable FAT filesystem support (needs a microSD defined via SDMMC).
+define HAL_OS_FATFS_IO 1
+
+# IMUs
+IMU BMI088       SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
+IMU Invensense   SPI:icm42688_ext ROTATION_NONE
+
+# 1 baro
+define HAL_BARO_ALLOW_INIT_NO_BARO 1
+BARO BMP388      SPI:bmp390
+
+define ALLOW_ARM_NO_COMPASS
+
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES

From 3dd27b7ac51f2457e8b1ae89375fa7634b710559 Mon Sep 17 00:00:00 2001
From: "tomas.vrsansky" <tomas.vrsansky@airvolute.com>
Date: Fri, 8 Dec 2023 12:10:06 +0100
Subject: [PATCH 0045/1335] Tools: add hwdef files for Airvolute DCS2 onboard
 FMU

added ethernet config to hwdef
updated readme.md
hwdef: MAC parameters redefined according to ChibiOS
hwdef: add default params for Airvolute DCS2 on board FMU
update according to new changes in ChibiOS MAC driver
added defines to support ethernet communication
bootloaders: Airvolute-DCS2
---
 Tools/bootloaders/Airvolute-DCS2_bl.bin |  Bin 0 -> 17732 bytes
 Tools/bootloaders/Airvolute-DCS2_bl.hex | 1111 +++++++++++++++++++++++
 2 files changed, 1111 insertions(+)
 create mode 100644 Tools/bootloaders/Airvolute-DCS2_bl.bin
 create mode 100644 Tools/bootloaders/Airvolute-DCS2_bl.hex

diff --git a/Tools/bootloaders/Airvolute-DCS2_bl.bin b/Tools/bootloaders/Airvolute-DCS2_bl.bin
new file mode 100644
index 0000000000000000000000000000000000000000..1c9935095b9f4541d3c401bda7047c2ec1bd3ace
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diff --git a/Tools/bootloaders/Airvolute-DCS2_bl.hex b/Tools/bootloaders/Airvolute-DCS2_bl.hex
new file mode 100644
index 00000000000000..2a7d8442644c08
--- /dev/null
+++ b/Tools/bootloaders/Airvolute-DCS2_bl.hex
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+:00000001FF

From 1c8ab3853ce4c3d9df7ea4b4da66f658a06bc9ee Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 22 Nov 2023 14:07:37 +0000
Subject: [PATCH 0046/1335] AP_Motors: Heli: Single: tail type tidyup

---
 libraries/AP_Motors/AP_MotorsHeli_Single.cpp | 206 +++++++++++--------
 libraries/AP_Motors/AP_MotorsHeli_Single.h   |  34 ++-
 2 files changed, 146 insertions(+), 94 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index fe13951f4d1dac..30f10cda24bc37 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -31,7 +31,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
     // @Description: Tail type selection.  Simpler yaw controller used if external gyro is selected. Direct Drive Variable Pitch is used for tails that have a motor that is governed at constant speed by an ESC.  Tail pitch is still accomplished with a servo.  Direct Drive Fixed Pitch (DDFP) CW is used for helicopters with a rotor that spins clockwise when viewed from above. Direct Drive Fixed Pitch (DDFP) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above. In both DDFP cases, no servo is used for the tail and the tail motor esc is controlled by the yaw axis.
     // @Values: 0:Servo only,1:Servo with ExtGyro,2:DirectDrive VarPitch,3:DirectDrive FixedPitch CW,4:DirectDrive FixedPitch CCW,5:DDVP with external governor
     // @User: Standard
-    AP_GROUPINFO("TAIL_TYPE", 4, AP_MotorsHeli_Single, _tail_type, AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO),
+    AP_GROUPINFO("TAIL_TYPE", 4, AP_MotorsHeli_Single, _tail_type, float(TAIL_TYPE::SERVO)),
 
     // Indice 5 was used by SWASH_TYPE and should not be used
 
@@ -210,25 +210,33 @@ void AP_MotorsHeli_Single::init_outputs()
         // initialize main rotor servo
         _main_rotor.init_servo();
 
-        if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPIT_EXT_GOV) {
-            _tail_rotor.init_servo();
-        } else if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
-            // external gyro output
-            add_motor_num(AP_MOTORS_HELI_SINGLE_EXTGYRO);
-        }
-    }
+        switch (get_tail_type()) {
+            case TAIL_TYPE::DIRECTDRIVE_FIXEDPITCH_CW:
+            case TAIL_TYPE::DIRECTDRIVE_FIXEDPITCH_CCW:
+                // DDFP tails use range as it is easier to ignore servo trim in making for simple implementation of thrust linearisation.
+                SRV_Channels::set_range(SRV_Channel::k_motor4, 1.0f);
+                break;
 
-    if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
-        // External Gyro uses PWM output thus servo endpoints are forced
-        SRV_Channels::set_output_min_max(SRV_Channels::get_motor_function(AP_MOTORS_HELI_SINGLE_EXTGYRO), 1000, 2000);
-    }
+            case TAIL_TYPE::DIRECTDRIVE_VARPITCH:
+            case TAIL_TYPE::DIRECTDRIVE_VARPIT_EXT_GOV:
+                _tail_rotor.init_servo();
+                break;
+
+            case TAIL_TYPE::SERVO_EXTGYRO:
+                // external gyro output
+                add_motor_num(AP_MOTORS_HELI_SINGLE_EXTGYRO);
+
+
+                // External Gyro uses PWM output thus servo endpoints are forced
+                SRV_Channels::set_output_min_max(SRV_Channels::get_motor_function(AP_MOTORS_HELI_SINGLE_EXTGYRO), 1000, 2000);
+                FALLTHROUGH;
 
-    if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW) {
-        // DDFP tails use range as it is easier to ignore servo trim in making for simple implementation of thrust linearisation.
-        SRV_Channels::set_range(SRV_Channel::k_motor4, 1.0f);
-    } else if (_tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH && _tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPIT_EXT_GOV) {
-        // yaw servo is an angle from -4500 to 4500
-        SRV_Channels::set_angle(SRV_Channel::k_motor4, YAW_SERVO_MAX_ANGLE);
+            case TAIL_TYPE::SERVO:
+            default:
+                // yaw servo is an angle from -4500 to 4500
+                SRV_Channels::set_angle(SRV_Channel::k_motor4, YAW_SERVO_MAX_ANGLE);
+                break;
+        }
     }
 
     set_initialised_ok(_frame_class == MOTOR_FRAME_HELI);
@@ -266,13 +274,13 @@ void AP_MotorsHeli_Single::calculate_armed_scalars()
         _main_rotor.set_autorotation_flag(_heliflags.in_autorotation);
         // set bailout ramp time
         _main_rotor.use_bailout_ramp_time(_heliflags.enable_bailout);
-        if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPIT_EXT_GOV) {
+        if (use_tail_RSC()) {
             _tail_rotor.set_autorotation_flag(_heliflags.in_autorotation);
             _tail_rotor.use_bailout_ramp_time(_heliflags.enable_bailout);
         }
     } else {
         _main_rotor.set_autorotation_flag(false);
-        if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPIT_EXT_GOV) {
+        if (use_tail_RSC()) {
             _tail_rotor.set_autorotation_flag(false);
         }
     }
@@ -310,7 +318,7 @@ void AP_MotorsHeli_Single::calculate_scalars()
     calculate_armed_scalars();
 
     // send setpoints to DDVP rotor controller and trigger recalculation of scalars
-    if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPIT_EXT_GOV) {
+    if (use_tail_RSC()) {
         _tail_rotor.set_control_mode(ROTOR_CONTROL_MODE_SETPOINT);
         _tail_rotor.set_ramp_time(_main_rotor._ramp_time.get());
         _tail_rotor.set_runup_time(_main_rotor._runup_time.get());
@@ -370,8 +378,6 @@ void AP_MotorsHeli_Single::update_motor_control(RotorControlState state)
 //
 void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out)
 {
-    float yaw_offset = 0.0f;
-
     // initialize limits flag
     limit.throttle_lower = false;
     limit.throttle_upper = false;
@@ -422,26 +428,8 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
     // updates takeoff collective flag based on 50% hover collective
     update_takeoff_collective_flag(collective_out);
 
-    // if servo output not in manual mode and heli is not in autorotation, process pre-compensation factors
-    if (_servo_mode == SERVO_CONTROL_MODE_AUTOMATED && !_heliflags.in_autorotation) {
-        // rudder feed forward based on collective
-        // the feed-forward is not required when the motor is stopped or at idle, and thus not creating torque
-        // also not required if we are using external gyro
-        if ((get_control_output() > _main_rotor.get_idle_output()) && _tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
-            // sanity check collective_yaw_scale
-            _collective_yaw_scale.set(constrain_float(_collective_yaw_scale, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE));
-            // This feedforward compensation follows the hover performance theory that hover power required
-            // is a function of gross weight to the 3/2 power
-            yaw_offset = _collective_yaw_scale * powf(fabsf(collective_out - _collective_zero_thrust_pct),1.5f);
-
-            // Add yaw trim for DDFP tails
-            if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW) {
-                yaw_offset += _yaw_trim.get();
-            }
-        }
-    } else {
-        yaw_offset = 0.0f;
-    }
+    // Get yaw offset required to cancel out steady state main rotor torque
+    const float yaw_offset = get_yaw_offset(collective_out);
 
     // feed power estimate into main rotor controller
     // ToDo: include tail rotor power?
@@ -475,72 +463,110 @@ void AP_MotorsHeli_Single::move_yaw(float yaw_out)
     _servo4_out = yaw_out;
 }
 
-void AP_MotorsHeli_Single::output_to_motors()
+// Get yaw offset required to cancel out steady state main rotor torque
+float AP_MotorsHeli_Single::get_yaw_offset(float collective)
 {
-    if (!initialised_ok()) {
-        return;
+    if ((get_tail_type() == TAIL_TYPE::SERVO_EXTGYRO) || (_servo_mode != SERVO_CONTROL_MODE_AUTOMATED)) {
+        // Not in direct control of tail with external gyro or manual servo mode
+        return 0.0;
     }
 
-    // Write swashplate outputs
-    _swashplate.output();
-
-    if (_tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW && _tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW) {
-        rc_write_angle(AP_MOTORS_MOT_4, _servo4_out * YAW_SERVO_MAX_ANGLE);
-    }
-    if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
-        // output gain to exernal gyro
-        if (_acro_tail && _ext_gyro_gain_acro > 0) {
-            rc_write(AP_MOTORS_HELI_SINGLE_EXTGYRO, 1000 + _ext_gyro_gain_acro);
-        } else {
-            rc_write(AP_MOTORS_HELI_SINGLE_EXTGYRO, 1000 + _ext_gyro_gain_std);
-        }
+    if (_heliflags.in_autorotation || (get_control_output() <= _main_rotor.get_idle_output())) {
+        // Motor is stopped or at idle, and thus not creating torque
+        return 0.0;
     }
 
-    if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW) {
-        _servo4_out = -_servo4_out;
+    // sanity check collective_yaw_scale
+    _collective_yaw_scale.set(constrain_float(_collective_yaw_scale, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE));
+ 
+    // This feedforward compensation follows the hover performance theory that hover power required
+    // is a function of gross weight to the 3/2 power
+    float yaw_offset = _collective_yaw_scale * powf(fabsf(collective - _collective_zero_thrust_pct),1.5f);
+
+    // Add yaw trim for DDFP tails
+    if (have_DDFP_tail()) {
+        yaw_offset += _yaw_trim.get();
     }
 
-    if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW) {
-        // calc filtered battery voltage and lift_max
-        thr_lin.update_lift_max_from_batt_voltage();
+    return yaw_offset;
+}
+
+void AP_MotorsHeli_Single::output_to_motors()
+{
+    if (!initialised_ok()) {
+        return;
     }
 
-    // Warning: This spool state logic is what prevents DDFP tails from actuating when doing H_SV_MAN and H_SV_TEST tests
+    // Write swashplate outputs
+    _swashplate.output();
+
+    // Output main rotor
     switch (_spool_state) {
         case SpoolState::SHUT_DOWN:
             // sends minimum values out to the motors
             update_motor_control(ROTOR_CONTROL_STOP);
-            if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW) {
-                // Set DDFP to servo min
-                output_to_ddfp_tail(0.0);
-            }
             break;
         case SpoolState::GROUND_IDLE:
             // sends idle output to motors when armed. rotor could be static or turning (autorotation)
             update_motor_control(ROTOR_CONTROL_IDLE);
-            if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW) {
-                // Set DDFP to servo min
-                output_to_ddfp_tail(0.0);
-            }
             break;
         case SpoolState::SPOOLING_UP:
         case SpoolState::THROTTLE_UNLIMITED:
             // set motor output based on thrust requests
             update_motor_control(ROTOR_CONTROL_ACTIVE);
-            if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW) {
-                // Operate DDFP to between DDFP_SPIN_MIN and DDFP_SPIN_MAX using thrust linearisation
-                output_to_ddfp_tail(thr_lin.thrust_to_actuator(_servo4_out));
-            }
             break;
         case SpoolState::SPOOLING_DOWN:
             // sends idle output to motors and wait for rotor to stop
             update_motor_control(ROTOR_CONTROL_IDLE);
-            if (_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW || _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW){
-                // Set DDFP to servo min
-                output_to_ddfp_tail(0.0);
+            break;
+    }
+
+    // Output tail rotor
+    switch (get_tail_type()) {
+        case TAIL_TYPE::DIRECTDRIVE_FIXEDPITCH_CCW:
+            // Invert output for CCW tail
+            _servo4_out *= -1.0;
+            FALLTHROUGH;
+
+        case TAIL_TYPE::DIRECTDRIVE_FIXEDPITCH_CW: {
+            // calc filtered battery voltage and lift_max
+            thr_lin.update_lift_max_from_batt_voltage();
+
+            // Only throttle up if in active spool state
+            switch (_spool_state) {
+                case AP_Motors::SpoolState::SHUT_DOWN:
+                case AP_Motors::SpoolState::GROUND_IDLE:
+                case AP_Motors::SpoolState::SPOOLING_DOWN:
+                    // Set DDFP to servo min
+                    output_to_ddfp_tail(0.0);
+                    break;
+
+                case AP_Motors::SpoolState::SPOOLING_UP:
+                case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
+                    // Operate DDFP to between DDFP_SPIN_MIN and DDFP_SPIN_MAX using thrust linearisation
+                    output_to_ddfp_tail(thr_lin.thrust_to_actuator(_servo4_out));
+                    break;
             }
             break;
+        }
+
+        case TAIL_TYPE::SERVO_EXTGYRO:
+            // output gain to external gyro
+            if (_acro_tail && _ext_gyro_gain_acro > 0) {
+                rc_write(AP_MOTORS_HELI_SINGLE_EXTGYRO, 1000 + _ext_gyro_gain_acro);
+            } else {
+                rc_write(AP_MOTORS_HELI_SINGLE_EXTGYRO, 1000 + _ext_gyro_gain_std);
+            }
+            FALLTHROUGH;
+
+        case TAIL_TYPE::SERVO:
+        case TAIL_TYPE::DIRECTDRIVE_VARPITCH:
+        case TAIL_TYPE::DIRECTDRIVE_VARPIT_EXT_GOV:
+        default:
+            rc_write_angle(AP_MOTORS_MOT_4, _servo4_out * YAW_SERVO_MAX_ANGLE);
+            break;
     }
+
 }
 
 // handle output limit flags and send throttle to servos lib
@@ -655,9 +681,7 @@ void AP_MotorsHeli_Single::heli_motors_param_conversions(void)
     // Previous DDFP configs used servo trim for setting the yaw trim, which no longer works with thrust linearisation. Convert servo trim
     // to H_YAW_TRIM. Default thrust linearisation gives linear thrust to throttle relationship to preserve previous setup behaviours so
     // we can assume linear relationship in the conversion.
-    if ((_tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW ||
-        _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW) &&
-        !_yaw_trim.configured()) {
+    if (have_DDFP_tail() && !_yaw_trim.configured()) {
 
         SRV_Channel *c = SRV_Channels::get_channel_for(SRV_Channel::k_motor4);
         if (c != nullptr) {
@@ -673,3 +697,19 @@ void AP_MotorsHeli_Single::heli_motors_param_conversions(void)
         _yaw_trim.save();
     }
 }
+
+// Helper to return true for direct drive fixed pitch tail, either CW or CCW
+bool AP_MotorsHeli_Single::have_DDFP_tail() const
+{
+    const TAIL_TYPE type = get_tail_type();
+    return (type == TAIL_TYPE::DIRECTDRIVE_FIXEDPITCH_CW) ||
+           (type == TAIL_TYPE::DIRECTDRIVE_FIXEDPITCH_CCW);
+}
+
+// Helper to return true if the tail RSC should be used
+bool AP_MotorsHeli_Single::use_tail_RSC() const
+{
+    const TAIL_TYPE type = get_tail_type();
+    return (type == TAIL_TYPE::DIRECTDRIVE_VARPITCH) ||
+           (type == TAIL_TYPE::DIRECTDRIVE_VARPIT_EXT_GOV);
+}
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.h b/libraries/AP_Motors/AP_MotorsHeli_Single.h
index 595ce98a04f90e..870d4801c96050 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.h
@@ -14,15 +14,6 @@
 #define AP_MOTORS_HELI_SINGLE_EXTGYRO                          CH_7
 #define AP_MOTORS_HELI_SINGLE_TAILRSC                          CH_7
 
-// tail types
-#define AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO                      0
-#define AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO              1
-#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPITCH       2
-#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CW  3
-#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_FIXEDPITCH_CCW 4
-#define AP_MOTORS_HELI_SINGLE_TAILTYPE_DIRECTDRIVE_VARPIT_EXT_GOV 5
-
-
 // direct-drive variable pitch defaults
 #define AP_MOTORS_HELI_SINGLE_DDVP_SPEED_DEFAULT               50
 
@@ -72,8 +63,8 @@ class AP_MotorsHeli_Single : public AP_MotorsHeli {
     // has_flybar - returns true if we have a mechical flybar
     bool has_flybar() const  override { return _flybar_mode; }
 
-    // supports_yaw_passthrought - returns true if we support yaw passthrough
-    bool supports_yaw_passthrough() const override { return _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO; }
+    // supports_yaw_passthrough - returns true if we support yaw passthrough
+    bool supports_yaw_passthrough() const override { return get_tail_type() == TAIL_TYPE::SERVO_EXTGYRO; }
 
     void set_acro_tail(bool set) override { _acro_tail = set; }
 
@@ -103,12 +94,33 @@ class AP_MotorsHeli_Single : public AP_MotorsHeli {
     // move_yaw - moves the yaw servo
     void move_yaw(float yaw_out);
 
+    // Get yaw offset required to cancel out steady state main rotor torque
+    float get_yaw_offset(float collective);
+
     // handle output limit flags and send throttle to servos lib
     void output_to_ddfp_tail(float throttle);
 
     // servo_test - move servos through full range of movement
     void servo_test() override;
 
+    // Tail types
+    enum class TAIL_TYPE {
+        SERVO = 0,
+        SERVO_EXTGYRO = 1,
+        DIRECTDRIVE_VARPITCH = 2,
+        DIRECTDRIVE_FIXEDPITCH_CW = 3,
+        DIRECTDRIVE_FIXEDPITCH_CCW = 4,
+        DIRECTDRIVE_VARPIT_EXT_GOV = 5
+    };
+
+    TAIL_TYPE get_tail_type() const { return TAIL_TYPE(_tail_type.get()); }
+
+    // Helper to return true for direct drive fixed pitch tail, either CW or CCW
+    bool have_DDFP_tail() const;
+
+    // Helper to return true if the tail RSC should be used
+    bool use_tail_RSC() const;
+
     // external objects we depend upon
     AP_MotorsHeli_RSC   _tail_rotor;            // tail rotor
     AP_MotorsHeli_Swash _swashplate;            // swashplate

From 5dcdd238a9afd6b18f8f12645e718727cdc47fd1 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 22 Nov 2023 14:07:58 +0000
Subject: [PATCH 0047/1335] AP_Motors: Example: allow testing of heli tail type

---
 .../AP_Motors_test/AP_Motors_test.cpp         | 33 +++++++++-
 .../AP_Motors_test/run_heli_comparison.py     | 62 ++++++++++++++-----
 2 files changed, 78 insertions(+), 17 deletions(-)

diff --git a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
index d65c940cd86f89..29e86eca9b5e0f 100644
--- a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
+++ b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
@@ -130,6 +130,30 @@ void setup()
                 AP_Int8 *dual_mode = (AP_Int8*)motors + AP_MotorsHeli_Dual::var_info[1].offset;
                 dual_mode->set(value);
 
+            } else if (strcmp(cmd,"tail_type") == 0) {
+                if (frame_class != AP_Motors::MOTOR_FRAME_HELI) {
+                    ::printf("tail_type only supported by single heli frame type (%i), got %i\n", AP_Motors::MOTOR_FRAME_HELI, frame_class);
+                    exit(1);
+                }
+
+                // Union allows pointers to be aligned despite different sizes
+                // avoids "increases required alignment of target type" error when casting from char* to AP_Int16*
+                union {
+                    char *char_ptr;
+                    AP_Int16 *int16;
+                } tail_type;
+
+                // look away now, more dodgy param access.
+                tail_type.char_ptr = (char*)motors + AP_MotorsHeli_Single::var_info[1].offset;
+                tail_type.int16->set(value);
+
+                // Re-init motors to switch to the new tail type
+                // Have to do this twice to make sure the tail type sticks
+                motors->set_initialised_ok(false);
+                motors->init(frame_class, AP_Motors::MOTOR_FRAME_TYPE_X);
+                motors->set_initialised_ok(false);
+                motors->init(frame_class, AP_Motors::MOTOR_FRAME_TYPE_X);
+
             } else if (strcmp(cmd,"frame_class") == 0) {
                 // We must have the frame_class argument 2nd as resulting class is used to determine if
                 // we have access to certain functions in the multicopter motors child class
@@ -152,8 +176,13 @@ void setup()
 
                     case AP_Motors::MOTOR_FRAME_HELI:
                         motors = new AP_MotorsHeli_Single(400);
-                        // Mot 1-3 swashplate, mot 4 tail rotor pitch, mot 5 for 4th servo in H4-90 swash
-                        num_outputs = 5;
+                        // Mot 1-3: Swash plate 1 to 3
+                        // Mot 4: Tail rotor
+                        // Mot 5: 4th servo in H4-90 swash
+                        // Mot 6: Unused
+                        // Mot 7: Tail rotor RSC / external governor output
+                        // Mot 8: Main rotor RSC
+                        num_outputs = 8;
                         break;
 
                     case AP_Motors::MOTOR_FRAME_HELI_DUAL:
diff --git a/libraries/AP_Motors/examples/AP_Motors_test/run_heli_comparison.py b/libraries/AP_Motors/examples/AP_Motors_test/run_heli_comparison.py
index 118a5de193fcb0..7136c65fef806d 100644
--- a/libraries/AP_Motors/examples/AP_Motors_test/run_heli_comparison.py
+++ b/libraries/AP_Motors/examples/AP_Motors_test/run_heli_comparison.py
@@ -100,8 +100,15 @@ def get_fields(self):
                     1: 'Transverse',
                     2: 'Intermeshing_or_Coaxial'}
 
+tail_type_lookup = {0: 'Servo_only',
+                    1: 'Servo_with_ExtGyro',
+                    2: 'DirectDrive_VarPitch',
+                    3: 'DirectDrive_FixedPitch_CW',
+                    4: 'DirectDrive_FixedPitch_CCW',
+                    5: 'DDVP_with_external_governor'}
+
 # Run sweep over range of types
-def run_sweep(frame_class, swash_type, dual_mode, dir_name):
+def run_sweep(frame_class, swash_type, secondary_iter, secondary_lookup, secondary_name, dir_name):
 
     # configure and build the test
     os.system('./waf configure --board linux')
@@ -110,28 +117,28 @@ def run_sweep(frame_class, swash_type, dual_mode, dir_name):
     # Run sweep
     for fc in frame_class:
         for swash in swash_type:
-            for mode in dual_mode:
+            for sec in secondary_iter:
                 if swash is not None:
                     swash_cmd = 'swash=%d' % swash
 
-                    if mode is not None:
-                        name = 'frame class = %s (%i), swash = %s (%i), dual mode = %s (%i)' % (frame_class_lookup[fc], fc, swash_type_lookup[swash], swash, dual_mode_lookup[mode], mode)
-                        filename = '%s_%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash], dual_mode_lookup[mode])
-                        mode_cmd = 'dual_mode=%d' % mode
+                    if sec is not None:
+                        name = 'frame class = %s (%i), swash = %s (%i), %s = %s (%i)' % (frame_class_lookup[fc], fc, swash_type_lookup[swash], swash, secondary_name.replace('_', ' '), secondary_lookup[sec], sec)
+                        filename = '%s_%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash], secondary_lookup[sec])
+                        sec_cmd = '%s=%d' % (secondary_name, sec)
 
                     else:
                         name = 'frame class = %s (%i), swash = %s (%i)' % (frame_class_lookup[fc], fc, swash_type_lookup[swash], swash)
                         filename = '%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash])
-                        mode_cmd = ''
+                        sec_cmd = ''
 
                 else:
                     name = 'frame class = %s (%i)' % (frame_class_lookup[fc], fc)
                     filename = '%s_motor_test.csv' % (frame_class_lookup[fc])
                     swash_cmd = ''
-                    mode_cmd = ''
+                    sec_cmd = ''
 
                 print('Running motors test for %s' % name)
-                os.system('./build/linux/examples/AP_Motors_test s frame_class=%d %s %s > %s/%s' % (fc, swash_cmd, mode_cmd, dir_name, filename))
+                os.system('./build/linux/examples/AP_Motors_test s frame_class=%d %s %s > %s/%s' % (fc, swash_cmd, sec_cmd, dir_name, filename))
                 print('%s complete\n' % name)
 
 
@@ -149,6 +156,7 @@ def run_sweep(frame_class, swash_type, dual_mode, dir_name):
     parser.add_argument("-c", "--compare", action='store_true', help='Compare only, do not re-run tests')
     parser.add_argument("-p", "--plot", action='store_true', help='Plot comparison results')
     parser.add_argument("-m", "--dual_mode", type=int, dest='dual_mode', help='Set DUAL_MODE, 0:Longitudinal, 1:Transverse, 2:Intermeshing/Coaxial, default:run all')
+    parser.add_argument("-t", "--tail_type", type=int, dest='tail_type', help='Set TAIL_TYPE, 0:Servo Only, 1:Servo with ExtGyro, 2:DirectDrive VarPitch, 3:DirectDrive FixedPitch CW, 4:DirectDrive FixedPitch CCW, 5:DDVP with external governor, default:run all')
     args = parser.parse_args()
 
     if 13 in args.frame_class:
@@ -171,6 +179,30 @@ def run_sweep(frame_class, swash_type, dual_mode, dir_name):
     else:
         args.dual_mode = [None]
 
+    if (args.frame_class != [6]) and (args.tail_type is not None):
+        print('Only Frame %s (%i) supports tail_type' % (frame_class_lookup[6], 6))
+        quit()
+
+    if args.frame_class == [6]:
+        if args.tail_type is None:
+            args.tail_type = (0, 1, 2, 3, 4, 5)
+    else:
+        args.tail_type = [None]
+
+    # Secondary iterator, tail type for single heli and dual mode for dual heli
+    secondary_iter = [None]
+    secondary_lookup = None
+    secondary_name = None
+    if args.dual_mode != [None]:
+        secondary_iter = args.dual_mode
+        secondary_lookup = dual_mode_lookup
+        secondary_name = 'dual_mode'
+
+    elif args.tail_type != [None]:
+        secondary_iter = args.tail_type
+        secondary_lookup = tail_type_lookup
+        secondary_name = 'tail_type'
+
     dir_name = 'motors_comparison'
 
     if not args.compare:
@@ -185,7 +217,7 @@ def run_sweep(frame_class, swash_type, dual_mode, dir_name):
         print('\nRunning motor tests with current changes\n')
 
         # run the test
-        run_sweep(args.frame_class, args.swash_type, args.dual_mode, new_name)
+        run_sweep(args.frame_class, args.swash_type, secondary_iter, secondary_lookup, secondary_name, new_name)
 
         if args.head:
             # rewind head and repeat test
@@ -237,14 +269,14 @@ def run_sweep(frame_class, swash_type, dual_mode, dir_name):
     # Print comparison
     for fc in args.frame_class:
         for sw in args.swash_type:
-            for dm in args.dual_mode:
+            for sec in secondary_iter:
                 frame = frame_class_lookup[fc]
                 if sw is not None:
                     swash = swash_type_lookup[sw]
-                    if dm is not None:
-                        mode = dual_mode_lookup[dm]
-                        name = frame + ' ' + swash + ' ' + mode
-                        filename = '%s_%s_%s_motor_test.csv' % (frame, swash, mode)
+                    if sec is not None:
+                        sec_str = secondary_lookup[sec]
+                        name = frame + ' ' + swash + ' ' + sec_str
+                        filename = '%s_%s_%s_motor_test.csv' % (frame, swash, sec_str)
 
                     else:
                         name = frame + ' ' + swash

From 6d546eed8f974c8ef26ebf3a8961e330669ce728 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 8 Dec 2023 20:16:10 +0000
Subject: [PATCH 0048/1335] AP_Motors: Example: allow setting of COL2YAW and
 autorotation flag

---
 .../AP_Motors_test/AP_Motors_test.cpp         | 33 +++++++++++++++++--
 1 file changed, 30 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
index 29e86eca9b5e0f..491bb0fc60bff6 100644
--- a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
+++ b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
@@ -38,6 +38,7 @@ SRV_Channels srvs;
 AP_BattMonitor _battmonitor{0, nullptr, nullptr};
 
 AP_Motors *motors;
+AP_MotorsHeli *motors_heli;
 AP_MotorsMatrix *motors_matrix;
 
 bool thrust_boost = false;
@@ -175,7 +176,8 @@ void setup()
                         break;
 
                     case AP_Motors::MOTOR_FRAME_HELI:
-                        motors = new AP_MotorsHeli_Single(400);
+                        motors_heli = new AP_MotorsHeli_Single(400);
+                        motors = motors_heli;
                         // Mot 1-3: Swash plate 1 to 3
                         // Mot 4: Tail rotor
                         // Mot 5: 4th servo in H4-90 swash
@@ -186,13 +188,15 @@ void setup()
                         break;
 
                     case AP_Motors::MOTOR_FRAME_HELI_DUAL:
-                        motors = new AP_MotorsHeli_Dual(400);
+                        motors_heli = new AP_MotorsHeli_Dual(400);
+                        motors = motors_heli;
                         // Mot 1-3 swashplate 1, mot 4-6 swashplate 2, mot 7 and 8 for 4th servos on H4-90 swash plates front and back, respectively
                         num_outputs = 8;
                         break;
 
                     case AP_Motors::MOTOR_FRAME_HELI_QUAD:
-                        motors = new AP_MotorsHeli_Quad(400);
+                        motors_heli = new AP_MotorsHeli_Quad(400);
+                        motors = motors_heli;
                         num_outputs = 4; // Only 4 collective servos
                         break;
 
@@ -215,6 +219,29 @@ void setup()
                     exit(1);
                 }
 
+            } else if (strcmp(cmd,"COL2YAW") == 0) {
+                if (frame_class != AP_Motors::MOTOR_FRAME_HELI) {
+                    ::printf("COL2YAW only supported by single heli frame type (%i), got %i\n", AP_Motors::MOTOR_FRAME_HELI, frame_class);
+                    exit(1);
+                }
+
+                // Union allows pointers to be aligned despite different sizes
+                // avoids "increases required alignment of target type" error when casting from char* to AP_Int16*
+                union {
+                    char *char_ptr;
+                    AP_Float *ap_float;
+                } collective_yaw_scale;
+
+                collective_yaw_scale.char_ptr = (char*)motors + AP_MotorsHeli_Single::var_info[7].offset;
+                collective_yaw_scale.ap_float->set(value);
+
+            } else if (strcmp(cmd,"autorotation") == 0) {
+                if (motors_heli == nullptr) {
+                    ::printf("autorotation only supported by heli frame types, got %i\n", frame_class);
+                    exit(1);
+                }
+                motors_heli->set_in_autorotation(!is_zero(value));
+
             } else {
                 ::printf("Expected \"frame_class\", \"yaw_headroom\" or \"throttle_avg_max\"\n");
                 exit(1);

From e48b7cea12216be0423a21b2bd09aa8e62a565b8 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Wed, 6 Dec 2023 10:37:33 +1030
Subject: [PATCH 0049/1335] Copter: Use RTL_CLIMB_MIN in cone slope.

---
 ArduCopter/config.h     | 4 ----
 ArduCopter/mode_rtl.cpp | 6 +++---
 2 files changed, 3 insertions(+), 7 deletions(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 329678e1b889ca..ace8cc43f2edc3 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -433,10 +433,6 @@
  # define RTL_CLIMB_MIN_DEFAULT     0       // vehicle will always climb this many cm as first stage of RTL
 #endif
 
-#ifndef RTL_ABS_MIN_CLIMB
- # define RTL_ABS_MIN_CLIMB         250     // absolute minimum initial climb
-#endif
-
 #ifndef RTL_CONE_SLOPE_DEFAULT
  # define RTL_CONE_SLOPE_DEFAULT    3.0f    // slope of RTL cone (height / distance). 0 = No cone
 #endif
diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp
index 7c74838a3fe742..a8421d9009741e 100644
--- a/ArduCopter/mode_rtl.cpp
+++ b/ArduCopter/mode_rtl.cpp
@@ -483,14 +483,14 @@ void ModeRTL::compute_return_target()
     int32_t target_alt = MAX(rtl_path.return_target.alt, 0);
 
     // increase target to maximum of current altitude + climb_min and rtl altitude
-    target_alt = MAX(target_alt, curr_alt + MAX(0, g.rtl_climb_min));
-    target_alt = MAX(target_alt, MAX(g.rtl_altitude, RTL_ALT_MIN));
+    const float min_rtl_alt = MAX(RTL_ALT_MIN, curr_alt + MAX(0, g.rtl_climb_min));
+    target_alt = MAX(target_alt, MAX(g.rtl_altitude, min_rtl_alt));
 
     // reduce climb if close to return target
     float rtl_return_dist_cm = rtl_path.return_target.get_distance(rtl_path.origin_point) * 100.0f;
     // don't allow really shallow slopes
     if (g.rtl_cone_slope >= RTL_MIN_CONE_SLOPE) {
-        target_alt = MAX(curr_alt, MIN(target_alt, MAX(rtl_return_dist_cm*g.rtl_cone_slope, curr_alt+RTL_ABS_MIN_CLIMB)));
+        target_alt = MIN(target_alt, MAX(rtl_return_dist_cm * g.rtl_cone_slope, min_rtl_alt));
     }
 
     // set returned target alt to new target_alt (don't change altitude type)

From 782605e7ea60c3ff15e15b62cb94056049599bf1 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 5 Dec 2023 13:32:45 +0000
Subject: [PATCH 0050/1335] AP_Scripting: CANSensor: Add filtering of incoming
 frames

Co-authored-by: Andras Schaffer <eosbandi@gmail.com>
---
 .../AP_Scripting/AP_Scripting_CANSensor.cpp   | 35 ++++++++++++++++++-
 .../AP_Scripting/AP_Scripting_CANSensor.h     |  9 +++++
 libraries/AP_Scripting/docs/docs.lua          |  8 +++++
 libraries/AP_Scripting/examples/CAN_read.lua  |  5 +++
 .../generator/description/bindings.desc       |  2 +-
 5 files changed, 57 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Scripting/AP_Scripting_CANSensor.cpp b/libraries/AP_Scripting/AP_Scripting_CANSensor.cpp
index d3b0ab23756535..39f1bf9f870a09 100644
--- a/libraries/AP_Scripting/AP_Scripting_CANSensor.cpp
+++ b/libraries/AP_Scripting/AP_Scripting_CANSensor.cpp
@@ -16,6 +16,7 @@
   Scripting CANSensor class, for easy scripting CAN support
  */
 #include "AP_Scripting_CANSensor.h"
+#include <AP_Math/AP_Math.h>
 
 #if AP_SCRIPTING_CAN_SENSOR_ENABLED
 
@@ -62,8 +63,25 @@ bool ScriptingCANBuffer::read_frame(AP_HAL::CANFrame &frame)
 // recursively add frame to buffer
 void ScriptingCANBuffer::handle_frame(AP_HAL::CANFrame &frame)
 {
+    // accept everything if no filters are setup
+    bool accept = num_filters == 0;
+
+    // Check if frame matches any filters
+    for (uint8_t i = 0; i < MIN(num_filters, ARRAY_SIZE(filter)); i++) {
+        if ((frame.id & filter[i].mask) == filter[i].value) {
+            accept = true;
+            break;
+        }
+    }
+
     WITH_SEMAPHORE(sem);
-    buffer.push(frame);
+
+    // Add to buffer for scripting to read
+    if (accept) {
+        buffer.push(frame);
+    }
+
+    // filtering is not applied to other buffers
     if (next != nullptr) {
         next->handle_frame(frame);
     }
@@ -79,4 +97,19 @@ void ScriptingCANBuffer::add_buffer(ScriptingCANBuffer* new_buff) {
     next->add_buffer(new_buff);
 }
 
+// Add a filter, will pass ID's that match value given the mask
+bool ScriptingCANBuffer::add_filter(uint32_t mask, uint32_t value) {
+
+    // Run out of filters
+    if (num_filters >= ARRAY_SIZE(filter)) {
+        return false;
+    }
+
+    // Add to list and increment
+    filter[num_filters].mask = mask;
+    filter[num_filters].value = value & mask;
+    num_filters++;
+    return true;
+}
+
 #endif // AP_SCRIPTING_CAN_SENSOR_ENABLED
diff --git a/libraries/AP_Scripting/AP_Scripting_CANSensor.h b/libraries/AP_Scripting/AP_Scripting_CANSensor.h
index b6f19d28d83e7b..962aef8fbfa5f2 100644
--- a/libraries/AP_Scripting/AP_Scripting_CANSensor.h
+++ b/libraries/AP_Scripting/AP_Scripting_CANSensor.h
@@ -74,6 +74,9 @@ class ScriptingCANBuffer {
     // recursively add new buffer
     void add_buffer(ScriptingCANBuffer* new_buff);
 
+    // Add a filter to this buffer
+    bool add_filter(uint32_t mask, uint32_t value);
+
 private:
 
     ObjectBuffer<AP_HAL::CANFrame> buffer;
@@ -84,6 +87,12 @@ class ScriptingCANBuffer {
 
     HAL_Semaphore sem;
 
+    struct {
+        uint32_t mask;
+        uint32_t value;
+    } filter[8];
+    uint8_t num_filters;
+
 };
 
 #endif // AP_SCRIPTING_CAN_SENSOR_ENABLED
diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 1d57957c7b0e30..7e3be1f487dba4 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1057,6 +1057,14 @@ local ScriptingCANBuffer_ud = {}
 ---@return CANFrame_ud|nil
 function ScriptingCANBuffer_ud:read_frame() end
 
+-- Add a filter to the CAN buffer, mask is bitwise ANDed with the frame id and compared to value if not match frame is not buffered
+-- By default no filters are added and all frames are buffered, write is not affected by filters
+-- Maximum number of filters is 8
+---@param mask uint32_t_ud
+---@param value uint32_t_ud
+---@return boolean -- returns true if the filler was added successfully
+function ScriptingCANBuffer_ud:add_filter(mask, value) end
+
 -- desc
 ---@param frame CANFrame_ud
 ---@param timeout_us uint32_t_ud
diff --git a/libraries/AP_Scripting/examples/CAN_read.lua b/libraries/AP_Scripting/examples/CAN_read.lua
index ca310faf3e0e47..789f9e32002f4d 100644
--- a/libraries/AP_Scripting/examples/CAN_read.lua
+++ b/libraries/AP_Scripting/examples/CAN_read.lua
@@ -10,6 +10,11 @@ if not driver1 and not driver2 then
    return
 end
 
+-- Only accept DroneCAN node status msg on second driver
+-- node status is message ID 341
+-- Message ID is 16 bits left shifted by 8 in the CAN frame ID.
+driver2:add_filter(uint32_t(0xFFFF) << 8, uint32_t(341) << 8)
+
 function show_frame(dnum, frame)
     gcs:send_text(0,string.format("CAN[%u] msg from " .. tostring(frame:id()) .. ": %i, %i, %i, %i, %i, %i, %i, %i", dnum, frame:data(0), frame:data(1), frame:data(2), frame:data(3), frame:data(4), frame:data(5), frame:data(6), frame:data(7)))
 end
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 74cc6c109de8e3..7ddc378d843fdc 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -620,7 +620,7 @@ userdata AP_HAL::CANFrame method isErrorFrame boolean
 ap_object ScriptingCANBuffer depends AP_SCRIPTING_CAN_SENSOR_ENABLED
 ap_object ScriptingCANBuffer method write_frame boolean AP_HAL::CANFrame uint32_t'skip_check
 ap_object ScriptingCANBuffer method read_frame boolean AP_HAL::CANFrame'Null
-
+ap_object ScriptingCANBuffer method add_filter boolean uint32_t'skip_check uint32_t'skip_check
 
 include ../Tools/AP_Periph/AP_Periph.h depends defined(HAL_BUILD_AP_PERIPH)
 singleton AP_Periph_FW depends defined(HAL_BUILD_AP_PERIPH)

From c93fd0b5347b0aabb4aad0b7b6f15df541ee8ebf Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Wed, 6 Dec 2023 17:17:12 +0000
Subject: [PATCH 0051/1335] Tools: new standard tunes for Holybro QAV250 and
 X500v2

---
 .../Frame_params/Holybro-QAV250-bdshot.param  | 55 +++++++++++++++++++
 Tools/Frame_params/Holybro-QAV250.param       | 54 ++++++++++++++++++
 .../Frame_params/Holybro-X500v2-bdshot.param  | 44 +++++++++++++++
 3 files changed, 153 insertions(+)
 create mode 100644 Tools/Frame_params/Holybro-QAV250-bdshot.param
 create mode 100644 Tools/Frame_params/Holybro-QAV250.param
 create mode 100644 Tools/Frame_params/Holybro-X500v2-bdshot.param

diff --git a/Tools/Frame_params/Holybro-QAV250-bdshot.param b/Tools/Frame_params/Holybro-QAV250-bdshot.param
new file mode 100644
index 00000000000000..5ee424b27b2c96
--- /dev/null
+++ b/Tools/Frame_params/Holybro-QAV250-bdshot.param
@@ -0,0 +1,55 @@
+ANGLE_MAX        7500
+ATC_ACCEL_P_MAX  247932.2
+ATC_ACCEL_R_MAX  280459.7
+ATC_ACCEL_Y_MAX  70449.61
+ATC_ANG_PIT_P    20.62971
+ATC_ANG_RLL_P    21.77228
+ATC_ANG_YAW_P    12.07662
+ATC_RAT_PIT_D    0.001443983
+ATC_RAT_PIT_FLTD 40
+ATC_RAT_PIT_FLTT 40
+ATC_RAT_PIT_I    0.05448329
+ATC_RAT_PIT_P    0.05448329
+ATC_RAT_PIT_SMAX 30
+ATC_RAT_RLL_D    0.001218464
+ATC_RAT_RLL_FLTD 40
+ATC_RAT_RLL_FLTT 40
+ATC_RAT_RLL_I    0.03652912
+ATC_RAT_RLL_P    0.03652912
+ATC_RAT_RLL_SMAX 30
+ATC_RAT_YAW_D    0.004205064
+ATC_RAT_YAW_FLTD 20
+ATC_RAT_YAW_FLTE 2
+ATC_RAT_YAW_I    0.02155114
+ATC_RAT_YAW_P    0.2155114
+ATC_RAT_YAW_SMAX 30
+INS_HNTC2_ATT    40
+INS_HNTC2_BW     8
+INS_HNTC2_ENABLE 1
+INS_HNTC2_FM_RAT 1
+INS_HNTC2_FREQ   47
+INS_HNTC2_HMNCS  3
+INS_HNTC2_MODE   1
+INS_HNTC2_OPTS   16
+INS_HNTC2_REF    1
+INS_HNTCH_ATT    40
+INS_HNTCH_BW     20
+INS_HNTCH_ENABLE 1
+INS_HNTCH_FM_RAT 1
+INS_HNTCH_FREQ   80
+INS_HNTCH_HMNCS  1
+INS_HNTCH_MODE   3
+INS_HNTCH_OPTS   22
+INS_HNTCH_REF    1
+MOT_BAT_VOLT_MAX 16.8
+MOT_BAT_VOLT_MIN 13.2
+MOT_PWM_TYPE     6
+MOT_SPIN_ARM     0.06
+MOT_SPIN_MIN     0.08
+MOT_THST_EXPO    0.55
+MOT_THST_HOVER   0.125
+PSC_ACCZ_I       0.168
+PSC_ACCZ_P       0.084
+SERVO_BLH_AUTO   1
+SERVO_DSHOT_ESC  2
+SERVO_DSHOT_RATE 3
diff --git a/Tools/Frame_params/Holybro-QAV250.param b/Tools/Frame_params/Holybro-QAV250.param
new file mode 100644
index 00000000000000..af5072de6d9038
--- /dev/null
+++ b/Tools/Frame_params/Holybro-QAV250.param
@@ -0,0 +1,54 @@
+ANGLE_MAX        7500
+ATC_ACCEL_P_MAX  278477.8
+ATC_ACCEL_R_MAX  344115.3
+ATC_ACCEL_Y_MAX  51274.09
+ATC_ANG_PIT_P    25.66075
+ATC_ANG_RLL_P    28.50734
+ATC_ANG_YAW_P    8.258418
+ATC_RAT_PIT_D    0.001949416
+ATC_RAT_PIT_FLTD 40
+ATC_RAT_PIT_FLTT 40
+ATC_RAT_PIT_I    0.07421205
+ATC_RAT_PIT_P    0.07421205
+ATC_RAT_PIT_SMAX 30
+ATC_RAT_RLL_D    0.00120043
+ATC_RAT_RLL_FLTD 40
+ATC_RAT_RLL_FLTT 40
+ATC_RAT_RLL_I    0.04598495
+ATC_RAT_RLL_P    0.04598495
+ATC_RAT_RLL_SMAX 30
+ATC_RAT_YAW_D    0.009076501
+ATC_RAT_YAW_FLTD 40
+ATC_RAT_YAW_FLTE 1.3176
+ATC_RAT_YAW_I    0.02884508
+ATC_RAT_YAW_P    0.2884507
+ATC_RAT_YAW_SMAX 30
+INS_HNTC2_ATT    40
+INS_HNTC2_BW     8
+INS_HNTC2_ENABLE 1
+INS_HNTC2_FM_RAT 1
+INS_HNTC2_FREQ   47
+INS_HNTC2_HMNCS  1
+INS_HNTC2_MODE   1
+INS_HNTC2_OPTS   16
+INS_HNTC2_REF    1
+INS_HNTCH_ATT    40
+INS_HNTCH_BW     75
+INS_HNTCH_ENABLE 1
+INS_HNTCH_FM_RAT 0.7
+INS_HNTCH_FREQ   150
+INS_HNTCH_HMNCS  3
+INS_HNTCH_MODE   1
+INS_HNTCH_OPTS   0
+INS_HNTCH_REF    0.125
+MOT_BAT_VOLT_MAX 16.8
+MOT_BAT_VOLT_MIN 13.2
+MOT_PWM_TYPE     5
+MOT_SPIN_ARM     0.06
+MOT_SPIN_MIN     0.08
+MOT_THST_EXPO    0.55
+MOT_THST_HOVER   0.125
+PSC_ACCZ_I       0.168
+PSC_ACCZ_P       0.084
+SERVO_DSHOT_ESC  2
+SERVO_DSHOT_RATE 3
diff --git a/Tools/Frame_params/Holybro-X500v2-bdshot.param b/Tools/Frame_params/Holybro-X500v2-bdshot.param
new file mode 100644
index 00000000000000..51f8733d21b439
--- /dev/null
+++ b/Tools/Frame_params/Holybro-X500v2-bdshot.param
@@ -0,0 +1,44 @@
+ANGLE_MAX        3500
+ATC_ACCEL_P_MAX  165167.5
+ATC_ACCEL_R_MAX  176726.4
+ATC_ACCEL_Y_MAX  35955.46
+ATC_ANG_PIT_P    21.2236
+ATC_ANG_RLL_P    26.35878
+ATC_ANG_YAW_P    8.53887
+ATC_RAT_PIT_D    0.005201788
+ATC_RAT_PIT_FLTD 21
+ATC_RAT_PIT_FLTT 21
+ATC_RAT_PIT_I    0.1466683
+ATC_RAT_PIT_P    0.1466683
+ATC_RAT_RLL_D    0.004905871
+ATC_RAT_RLL_FLTD 21
+ATC_RAT_RLL_FLTT 21
+ATC_RAT_RLL_I    0.1255951
+ATC_RAT_RLL_P    0.1255951
+ATC_RAT_YAW_D    0.02224096
+ATC_RAT_YAW_FLTD 10
+ATC_RAT_YAW_FLTE 1.3176
+ATC_RAT_YAW_FLTT 21
+ATC_RAT_YAW_I    0.1204564
+ATC_RAT_YAW_P    1.204564
+INS_HNTCH_ATT    40
+INS_HNTCH_BW     40
+INS_HNTCH_ENABLE 1
+INS_HNTCH_FM_RAT 1
+INS_HNTCH_FREQ   80
+INS_HNTCH_HMNCS  3
+INS_HNTCH_MODE   3
+INS_HNTCH_OPTS   22
+INS_HNTCH_REF    1
+MOT_BAT_VOLT_MAX 16.8
+MOT_BAT_VOLT_MIN 13.2
+MOT_SPIN_ARM     0.07
+MOT_SPIN_MIN     0.09
+MOT_THST_HOVER   0.2905434
+PSC_ACCZ_I       0.6
+PSC_ACCZ_P       0.3
+SERVO_BLH_AUTO   1
+SERVO_BLH_MASK   3840
+SERVO_BLH_OTYPE  5
+SERVO_DSHOT_ESC  2
+TKOFF_RPM_MIN    1000

From e95b1e5dd31acc546f334ba53be31c9f28038f7b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 11:03:15 +1100
Subject: [PATCH 0052/1335] AC_AutoTune: add and use header guards

---
 libraries/AC_AutoTune/AC_AutoTune.cpp       | 5 +++++
 libraries/AC_AutoTune/AC_AutoTune.h         | 6 ++++++
 libraries/AC_AutoTune/AC_AutoTune_Heli.cpp  | 6 ++++++
 libraries/AC_AutoTune/AC_AutoTune_Heli.h    | 6 ++++++
 libraries/AC_AutoTune/AC_AutoTune_Multi.cpp | 6 ++++++
 libraries/AC_AutoTune/AC_AutoTune_Multi.h   | 6 ++++++
 libraries/AC_AutoTune/AC_AutoTune_config.h  | 7 +++++++
 7 files changed, 42 insertions(+)
 create mode 100644 libraries/AC_AutoTune/AC_AutoTune_config.h

diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp
index 1e672f2e325505..3c081f31488f11 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune.cpp
@@ -1,3 +1,7 @@
+#include "AC_AutoTune_config.h"
+
+#if AC_AUTOTUNE_ENABLED
+
 #include "AC_AutoTune.h"
 
 #include <AP_Logger/AP_Logger.h>
@@ -757,3 +761,4 @@ void AC_AutoTune::next_tune_type(TuneType &curr_tune_type, bool reset)
     curr_tune_type = tune_seq[tune_seq_curr];
 }
 
+#endif  // AC_AUTOTUNE_ENABLED
diff --git a/libraries/AC_AutoTune/AC_AutoTune.h b/libraries/AC_AutoTune/AC_AutoTune.h
index e152af499993f8..a901b50e06b692 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.h
+++ b/libraries/AC_AutoTune/AC_AutoTune.h
@@ -18,6 +18,10 @@
  */
 #pragma once
 
+#include "AC_AutoTune_config.h"
+
+#if AC_AUTOTUNE_ENABLED
+
 #include <AC_AttitudeControl/AC_AttitudeControl.h>
 #include <AC_AttitudeControl/AC_PosControl.h>
 #include <AP_Math/AP_Math.h>
@@ -327,3 +331,5 @@ class AC_AutoTune
     uint32_t last_pilot_override_warning;
 
 };
+
+#endif  // AC_AUTOTUNE_ENABLED
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
index d72a6db6fe4c09..0defc67f671503 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
@@ -17,6 +17,10 @@
   Converted to a library by Andrew Tridgell, and rewritten to include helicopters by Bill Geyer
  */
 
+#include "AC_AutoTune_config.h"
+
+#if AC_AUTOTUNE_ENABLED
+
 #include "AC_AutoTune_Heli.h"
 
 #include <AP_Logger/AP_Logger.h>
@@ -1941,3 +1945,5 @@ bool AC_AutoTune_Heli::exceeded_freq_range(float frequency)
     }
     return ret;
 }
+
+#endif  // AC_AUTOTUNE_ENABLED
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.h b/libraries/AC_AutoTune/AC_AutoTune_Heli.h
index 6329563b02bae7..5da4dc658182e9 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Heli.h
+++ b/libraries/AC_AutoTune/AC_AutoTune_Heli.h
@@ -18,6 +18,10 @@
 
 #pragma once
 
+#include "AC_AutoTune_config.h"
+
+#if AC_AUTOTUNE_ENABLED
+
 #include "AC_AutoTune.h"
 #include <AP_Math/chirp.h>
 #include <GCS_MAVLink/GCS.h>
@@ -296,3 +300,5 @@ class AC_AutoTune_Heli : public AC_AutoTune
 
     Chirp chirp_input;
 };
+
+#endif  // AC_AUTOTUNE_ENABLED
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
index bf988c187ae9f2..c8ff8cc4114b3e 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
@@ -1,3 +1,7 @@
+#include "AC_AutoTune_config.h"
+
+#if AC_AUTOTUNE_ENABLED
+
 #include "AC_AutoTune_Multi.h"
 
 #include <AP_Logger/AP_Logger.h>
@@ -1246,3 +1250,5 @@ uint32_t AC_AutoTune_Multi::get_testing_step_timeout_ms() const
     return AUTOTUNE_TESTING_STEP_TIMEOUT_MS;
 }
 
+
+#endif  // AC_AUTOTUNE_ENABLED
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.h b/libraries/AC_AutoTune/AC_AutoTune_Multi.h
index b2a02fcdc6bce8..c199c18ca2dc9b 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Multi.h
+++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.h
@@ -19,6 +19,10 @@
 
 #pragma once
 
+#include "AC_AutoTune_config.h"
+
+#if AC_AUTOTUNE_ENABLED
+
 #include "AC_AutoTune.h"
 
 class AC_AutoTune_Multi : public AC_AutoTune
@@ -168,3 +172,5 @@ class AC_AutoTune_Multi : public AC_AutoTune
     AP_Float aggressiveness;      // aircraft response aggressiveness to be tuned
     AP_Float min_d;               // minimum rate d gain allowed during tuning
 };
+
+#endif  // AC_AUTOTUNE_ENABLED
diff --git a/libraries/AC_AutoTune/AC_AutoTune_config.h b/libraries/AC_AutoTune/AC_AutoTune_config.h
new file mode 100644
index 00000000000000..ae2b22b712205b
--- /dev/null
+++ b/libraries/AC_AutoTune/AC_AutoTune_config.h
@@ -0,0 +1,7 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AC_AUTOTUNE_ENABLED
+#define AC_AUTOTUNE_ENABLED 1
+#endif

From 03218b11acb41796579dc669d2541f3ebf473e28 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:02:40 +1100
Subject: [PATCH 0053/1335] AP_MSP: add and use AP_RSSI_ENABLED

---
 libraries/AP_MSP/AP_MSP_Telem_Backend.cpp | 5 +++++
 libraries/AP_MSP/AP_MSP_Telem_DJI.cpp     | 4 ++++
 2 files changed, 9 insertions(+)

diff --git a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
index ee01834cb19d6f..2f4fe9c63bb188 100644
--- a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
+++ b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
@@ -1261,6 +1261,7 @@ bool AP_MSP_Telem_Backend::displaying_stats_screen() const
 
 bool AP_MSP_Telem_Backend::get_rssi(float &rssi) const
 {
+#if AP_RSSI_ENABLED
     AP_RSSI* ap_rssi = AP::rssi();
     if (ap_rssi == nullptr) {
         return false;
@@ -1270,5 +1271,9 @@ bool AP_MSP_Telem_Backend::get_rssi(float &rssi) const
     }
     rssi =  ap_rssi->read_receiver_rssi(); // range is [0-1]
     return true;
+#else
+    return false;
+#endif
 }
+
 #endif //HAL_MSP_ENABLED
diff --git a/libraries/AP_MSP/AP_MSP_Telem_DJI.cpp b/libraries/AP_MSP/AP_MSP_Telem_DJI.cpp
index fcb3108c71609b..bafa921bd0263c 100644
--- a/libraries/AP_MSP/AP_MSP_Telem_DJI.cpp
+++ b/libraries/AP_MSP/AP_MSP_Telem_DJI.cpp
@@ -224,6 +224,7 @@ bool AP_MSP_Telem_DJI::get_rssi(float &rssi) const
     if (!displaying_stats_screen()) {
         return true;
     }
+#if AP_RSSI_ENABLED
     AP_RSSI* ap_rssi = AP::rssi();
     if (ap_rssi == nullptr) {
         return false;
@@ -231,6 +232,9 @@ bool AP_MSP_Telem_DJI::get_rssi(float &rssi) const
     if (!ap_rssi->enabled()) {
         return false;
     }
+#else
+    return false;
+#endif
     AP_OSD *osd = AP::osd();
     if (osd == nullptr) {
         return false;

From b2a12f406f15af34a65aa87176f7a0681dd0cc5c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:02:40 +1100
Subject: [PATCH 0054/1335] AP_OSD: add and use AP_RSSI_ENABLED

---
 libraries/AP_OSD/AP_OSD.cpp        | 2 ++
 libraries/AP_OSD/AP_OSD_Screen.cpp | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/libraries/AP_OSD/AP_OSD.cpp b/libraries/AP_OSD/AP_OSD.cpp
index d4284cc7208981..8034e0ee92b111 100644
--- a/libraries/AP_OSD/AP_OSD.cpp
+++ b/libraries/AP_OSD/AP_OSD.cpp
@@ -457,11 +457,13 @@ void AP_OSD::update_stats()
     if (voltage > 0) {
         _stats.min_voltage_v = fminf(_stats.min_voltage_v, voltage);
     }
+#if AP_RSSI_ENABLED
     // minimum rssi
     AP_RSSI *ap_rssi = AP_RSSI::get_singleton();
     if (ap_rssi) {
         _stats.min_rssi = fminf(_stats.min_rssi, ap_rssi->read_receiver_rssi());
     }
+#endif
     // max airspeed either true or synthetic
     if (have_airspeed_estimate) {
         _stats.max_airspeed_mps = fmaxf(_stats.max_airspeed_mps, aspd_mps);
diff --git a/libraries/AP_OSD/AP_OSD_Screen.cpp b/libraries/AP_OSD/AP_OSD_Screen.cpp
index cdc0e2a59a9c19..c63a481417b3d7 100644
--- a/libraries/AP_OSD/AP_OSD_Screen.cpp
+++ b/libraries/AP_OSD/AP_OSD_Screen.cpp
@@ -1410,6 +1410,7 @@ void AP_OSD_Screen::draw_restvolt(uint8_t x, uint8_t y)
     draw_bat_volt(0,VoltageType::RESTING_VOLTAGE,x,y);
 }
 
+#if AP_RSSI_ENABLED
 void AP_OSD_Screen::draw_rssi(uint8_t x, uint8_t y)
 {
     AP_RSSI *ap_rssi = AP_RSSI::get_singleton();
@@ -1431,6 +1432,7 @@ void AP_OSD_Screen::draw_link_quality(uint8_t x, uint8_t y)
         }
     }
 }
+#endif  // AP_RSSI_ENABLED
 
 void AP_OSD_Screen::draw_current(uint8_t instance, uint8_t x, uint8_t y)
 {

From b7710a78d8e1714c2e0ab9306e6384a0007fef94 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:02:40 +1100
Subject: [PATCH 0055/1335] AP_RSSI: add and use AP_RSSI_ENABLED

---
 libraries/AP_RSSI/AP_RSSI.cpp      | 6 ++++++
 libraries/AP_RSSI/AP_RSSI.h        | 6 ++++++
 libraries/AP_RSSI/AP_RSSI_config.h | 7 +++++++
 3 files changed, 19 insertions(+)
 create mode 100644 libraries/AP_RSSI/AP_RSSI_config.h

diff --git a/libraries/AP_RSSI/AP_RSSI.cpp b/libraries/AP_RSSI/AP_RSSI.cpp
index 883ae2662e0682..033e6122b76795 100644
--- a/libraries/AP_RSSI/AP_RSSI.cpp
+++ b/libraries/AP_RSSI/AP_RSSI.cpp
@@ -13,6 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_RSSI_config.h"
+
+#if AP_RSSI_ENABLED
+
 #include <AP_RSSI/AP_RSSI.h>
 #include <GCS_MAVLink/GCS.h>
 #include <RC_Channel/RC_Channel.h>
@@ -272,3 +276,5 @@ AP_RSSI *rssi()
 }
 
 };
+
+#endif  // AP_RSSI_ENABLED
diff --git a/libraries/AP_RSSI/AP_RSSI.h b/libraries/AP_RSSI/AP_RSSI.h
index f46438480013df..20f0db1b39ffb1 100644
--- a/libraries/AP_RSSI/AP_RSSI.h
+++ b/libraries/AP_RSSI/AP_RSSI.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_RSSI_config.h"
+
+#if AP_RSSI_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
@@ -102,3 +106,5 @@ class AP_RSSI
 namespace AP {
     AP_RSSI *rssi();
 };
+
+#endif  // AP_RSSI_ENABLED
diff --git a/libraries/AP_RSSI/AP_RSSI_config.h b/libraries/AP_RSSI/AP_RSSI_config.h
new file mode 100644
index 00000000000000..28f6e724f40656
--- /dev/null
+++ b/libraries/AP_RSSI/AP_RSSI_config.h
@@ -0,0 +1,7 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_RSSI_ENABLED
+#define AP_RSSI_ENABLED 1
+#endif

From b0b94f50edf24a188069f14e68b0d8022829b4a2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:02:40 +1100
Subject: [PATCH 0056/1335] AP_Vehicle: add and use AP_RSSI_ENABLED

---
 libraries/AP_Vehicle/AP_Vehicle.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 1b12f3505c3124..38e65f071fb4ab 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -301,7 +301,10 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 #endif
     RangeFinder rangefinder;
 
+#if AP_RSSI_ENABLED
     AP_RSSI rssi;
+#endif
+
 #if HAL_RUNCAM_ENABLED
     AP_RunCam runcam;
 #endif

From dcebd072be28607f57e687d731fd3cc1f51a5e9d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:10:37 +1100
Subject: [PATCH 0057/1335] AC_AttitudeControl: correct compilation when GCS
 library not available

---
 libraries/AC_AttitudeControl/AC_WeatherVane.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AC_AttitudeControl/AC_WeatherVane.cpp b/libraries/AC_AttitudeControl/AC_WeatherVane.cpp
index 087f4b2274c51d..7c0e6b81547105 100644
--- a/libraries/AC_AttitudeControl/AC_WeatherVane.cpp
+++ b/libraries/AC_AttitudeControl/AC_WeatherVane.cpp
@@ -219,7 +219,8 @@ bool AC_WeatherVane::get_yaw_out(float &yaw_output, const int16_t pilot_yaw, con
     }
 
     if (!active_msg_sent) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Weathervane Active: %s", dir_string);
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Weathervane Active: %s", dir_string);
+        (void)dir_string;  // in case GCS is disabled
         active_msg_sent = true;
     }
 

From 87c0543d9fb0279b04731e9d5018f463bdb32e8f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:10:37 +1100
Subject: [PATCH 0058/1335] AP_Arming: correct compilation when GCS library not
 available

---
 libraries/AP_Arming/AP_Arming.cpp | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index b617c6d134c491..bbfcaf73519319 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -244,6 +244,7 @@ void AP_Arming::check_failed(const enum AP_Arming::ArmingChecks check, bool repo
     }
     hal.util->snprintf(taggedfmt, sizeof(taggedfmt), metafmt, fmt);
 
+#if HAL_GCS_ENABLED
     MAV_SEVERITY severity = MAV_SEVERITY_CRITICAL;
     if (!check_enabled(check)) {
         // technically should be NOTICE, but will annoy users at that level:
@@ -253,10 +254,12 @@ void AP_Arming::check_failed(const enum AP_Arming::ArmingChecks check, bool repo
     va_start(arg_list, fmt);
     gcs().send_textv(severity, taggedfmt, arg_list);
     va_end(arg_list);
+#endif  // HAL_GCS_ENABLED
 }
 
 void AP_Arming::check_failed(bool report, const char *fmt, ...) const
 {
+#if HAL_GCS_ENABLED
     if (!report) {
         return;
     }
@@ -275,6 +278,7 @@ void AP_Arming::check_failed(bool report, const char *fmt, ...) const
     va_start(arg_list, fmt);
     gcs().send_textv(MAV_SEVERITY_CRITICAL, taggedfmt, arg_list);
     va_end(arg_list);
+#endif  // HAL_GCS_ENABLED
 }
 
 bool AP_Arming::barometer_checks(bool report)
@@ -1656,7 +1660,7 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
     running_arming_checks = false;
 
     if (armed && do_arming_checks && checks_to_perform == 0) {
-        gcs().send_text(MAV_SEVERITY_WARNING, "Warning: Arming Checks Disabled");
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Warning: Arming Checks Disabled");
     }
     
 #if HAL_GYROFFT_ENABLED
@@ -1685,7 +1689,7 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
             // If a fence is set to auto-enable, turn on the fence
             if (fence->auto_enabled() == AC_Fence::AutoEnable::ONLY_WHEN_ARMED) {
                 fence->enable(true);
-                gcs().send_text(MAV_SEVERITY_INFO, "Fence: auto-enabled");
+                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Fence: auto-enabled");
             }
         }
     }
@@ -1752,7 +1756,7 @@ void AP_Arming::send_arm_disarm_statustext(const char *str) const
     if (option_enabled(AP_Arming::Option::DISABLE_STATUSTEXT_ON_STATE_CHANGE)) {
         return;
     }
-    gcs().send_text(MAV_SEVERITY_INFO, "%s", str);
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s", str);
 }
 
 AP_Arming::Required AP_Arming::arming_required() const

From 6df3f184407362dbbaa9ebfb87dbe101688326aa Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:10:37 +1100
Subject: [PATCH 0059/1335] AP_Landing: correct compilation when GCS library
 not available

---
 libraries/AP_Landing/AP_Landing.cpp           | 10 +++++-----
 libraries/AP_Landing/AP_Landing_Deepstall.cpp | 20 +++++++++----------
 libraries/AP_Landing/AP_Landing_Slope.cpp     | 14 ++++++-------
 3 files changed, 22 insertions(+), 22 deletions(-)

diff --git a/libraries/AP_Landing/AP_Landing.cpp b/libraries/AP_Landing/AP_Landing.cpp
index e3947d40f680da..8a5800d3179d74 100644
--- a/libraries/AP_Landing/AP_Landing.cpp
+++ b/libraries/AP_Landing/AP_Landing.cpp
@@ -253,7 +253,7 @@ bool AP_Landing::verify_land(const Location &prev_WP_loc, Location &next_WP_loc,
     default:
         // returning TRUE while executing verify_land() will increment the
         // mission index which in many cases will trigger an RTL for end-of-mission
-        gcs().send_text(MAV_SEVERITY_CRITICAL, "Landing configuration error, invalid LAND_TYPE");
+        GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Landing configuration error, invalid LAND_TYPE");
         success = true;
         break;
     }
@@ -486,14 +486,14 @@ bool AP_Landing::restart_landing_sequence()
             mission.set_current_cmd(current_index+1))
     {
         // if the next immediate command is MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT to climb, do it
-        gcs().send_text(MAV_SEVERITY_NOTICE, "Restarted landing sequence. Climbing to %dm", (signed)cmd.content.location.alt/100);
+        GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Restarted landing sequence. Climbing to %dm", (signed)cmd.content.location.alt/100);
         success =  true;
     }
     else if (do_land_start_index != 0 &&
             mission.set_current_cmd(do_land_start_index))
     {
         // look for a DO_LAND_START and use that index
-        gcs().send_text(MAV_SEVERITY_NOTICE, "Restarted landing via DO_LAND_START: %d",do_land_start_index);
+        GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Restarted landing via DO_LAND_START: %d",do_land_start_index);
         success =  true;
     }
     else if (prev_cmd_with_wp_index != AP_MISSION_CMD_INDEX_NONE &&
@@ -501,10 +501,10 @@ bool AP_Landing::restart_landing_sequence()
     {
         // if a suitable navigation waypoint was just executed, one that contains lat/lng/alt, then
         // repeat that cmd to restart the landing from the top of approach to repeat intended glide slope
-        gcs().send_text(MAV_SEVERITY_NOTICE, "Restarted landing sequence at waypoint %d", prev_cmd_with_wp_index);
+        GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Restarted landing sequence at waypoint %d", prev_cmd_with_wp_index);
         success =  true;
     } else {
-        gcs().send_text(MAV_SEVERITY_WARNING, "Unable to restart landing sequence");
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Unable to restart landing sequence");
         success =  false;
     }
 
diff --git a/libraries/AP_Landing/AP_Landing_Deepstall.cpp b/libraries/AP_Landing/AP_Landing_Deepstall.cpp
index 550fa92ecc6c3d..d6f24c6ecaca82 100644
--- a/libraries/AP_Landing/AP_Landing_Deepstall.cpp
+++ b/libraries/AP_Landing/AP_Landing_Deepstall.cpp
@@ -345,7 +345,7 @@ bool AP_Landing_Deepstall::override_servos(void)
 
     if (elevator == nullptr) {
         // deepstalls are impossible without these channels, abort the process
-        gcs().send_text(MAV_SEVERITY_CRITICAL, "Deepstall: Unable to find the elevator channels");
+        GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Deepstall: Unable to find the elevator channels");
         request_go_around();
         return false;
     }
@@ -533,17 +533,17 @@ void AP_Landing_Deepstall::build_approach_path(bool use_current_heading)
 
 #ifdef DEBUG_PRINTS
     // TODO: Send this information via a MAVLink packet
-    gcs().send_text(MAV_SEVERITY_INFO, "Arc: %3.8f %3.8f",
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Arc: %3.8f %3.8f",
                                      (double)(arc.lat / 1e7),(double)( arc.lng / 1e7));
-    gcs().send_text(MAV_SEVERITY_INFO, "Loiter en: %3.8f %3.8f",
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Loiter en: %3.8f %3.8f",
                                      (double)(arc_entry.lat / 1e7), (double)(arc_entry.lng / 1e7));
-    gcs().send_text(MAV_SEVERITY_INFO, "Loiter ex: %3.8f %3.8f",
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Loiter ex: %3.8f %3.8f",
                                      (double)(arc_exit.lat / 1e7), (double)(arc_exit.lng / 1e7));
-    gcs().send_text(MAV_SEVERITY_INFO, "Extended: %3.8f %3.8f",
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Extended: %3.8f %3.8f",
                                      (double)(extended_approach.lat / 1e7), (double)(extended_approach.lng / 1e7));
-    gcs().send_text(MAV_SEVERITY_INFO, "Extended by: %f (%f)", (double)approach_extension_m,
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Extended by: %f (%f)", (double)approach_extension_m,
                                      (double)expected_travel_distance);
-    gcs().send_text(MAV_SEVERITY_INFO, "Target Heading: %3.1f", (double)target_heading_deg);
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Target Heading: %3.1f", (double)target_heading_deg);
 #endif // DEBUG_PRINTS
 
 }
@@ -590,7 +590,7 @@ float AP_Landing_Deepstall::predict_travel_distance(const Vector3f wind, const f
 
     if(print) {
         // allow printing the travel distances on the final entry as its used for tuning
-        gcs().send_text(MAV_SEVERITY_INFO, "Deepstall: Entry: %0.1f (m) Travel: %0.1f (m)",
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Deepstall: Entry: %0.1f (m) Travel: %0.1f (m)",
                                          (double)stall_distance, (double)predicted_travel_distance);
     }
 
@@ -620,7 +620,7 @@ float AP_Landing_Deepstall::update_steering()
         // panic if no position source is available
         // continue the stall but target just holding the wings held level as deepstall should be a minimal
         // energy configuration on the aircraft, and if a position isn't available aborting would be worse
-        gcs().send_text(MAV_SEVERITY_CRITICAL, "Deepstall: Invalid data from AHRS. Holding level");
+        GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Deepstall: Invalid data from AHRS. Holding level");
         hold_level = true;
     }
 
@@ -652,7 +652,7 @@ float AP_Landing_Deepstall::update_steering()
     float error = wrap_PI(constrain_float(desired_change, -yaw_rate_limit_rps, yaw_rate_limit_rps) - yaw_rate);
 
 #ifdef DEBUG_PRINTS
-    gcs().send_text(MAV_SEVERITY_INFO, "x: %f e: %f r: %f d: %f",
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "x: %f e: %f r: %f d: %f",
                                     (double)crosstrack_error,
                                     (double)error,
                                     (double)degrees(yaw_rate),
diff --git a/libraries/AP_Landing/AP_Landing_Slope.cpp b/libraries/AP_Landing/AP_Landing_Slope.cpp
index 9499dc80f47d70..7c7a9da3253b2a 100644
--- a/libraries/AP_Landing/AP_Landing_Slope.cpp
+++ b/libraries/AP_Landing/AP_Landing_Slope.cpp
@@ -38,7 +38,7 @@ void AP_Landing::type_slope_do_land(const AP_Mission::Mission_Command& cmd, cons
     type_slope_flags.post_stats = false;
 
     type_slope_stage = SlopeStage::NORMAL;
-    gcs().send_text(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude);
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude);
 }
 
 void AP_Landing::type_slope_verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, bool &throttle_suppressed)
@@ -106,9 +106,9 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
         if (type_slope_stage != SlopeStage::FINAL) {
             type_slope_flags.post_stats = true;
             if (is_flying && (AP_HAL::millis()-last_flying_ms) > 3000) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)gps.ground_speed());
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)gps.ground_speed());
             } else {
-                gcs().send_text(MAV_SEVERITY_INFO, "Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
+                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
                                   (double)height, (double)sink_rate,
                                   (double)gps.ground_speed(),
                                   (double)current_loc.get_distance(next_WP_loc));
@@ -122,7 +122,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
             AP_LandingGear *LG_inst = AP_LandingGear::get_singleton();
             if (LG_inst != nullptr && !LG_inst->check_before_land()) {
                 type_slope_request_go_around();
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "Landing gear was not deployed");
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Landing gear was not deployed");
             }
 #endif
         }
@@ -158,7 +158,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
     // this is done before disarm_if_autoland_complete() so that it happens on the next loop after the disarm
     if (type_slope_flags.post_stats && !is_armed) {
         type_slope_flags.post_stats = false;
-        gcs().send_text(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)current_loc.get_distance(next_WP_loc));
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)current_loc.get_distance(next_WP_loc));
     }
 
     // check if we should auto-disarm after a confirmed landing
@@ -226,7 +226,7 @@ void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_FixedWi
 
         // is projected slope too steep?
         if (new_slope_deg - initial_slope_deg > slope_recalc_steep_threshold_to_abort) {
-            gcs().send_text(MAV_SEVERITY_INFO, "Landing slope too steep, aborting (%.0fm %.1fdeg)",
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Landing slope too steep, aborting (%.0fm %.1fdeg)",
                                              (double)rangefinder_state.correction, (double)(new_slope_deg - initial_slope_deg));
             alt_offset = rangefinder_state.correction;
             flags.commanded_go_around = true;
@@ -319,7 +319,7 @@ void AP_Landing::type_slope_setup_landing_glide_slope(const Location &prev_WP_lo
     bool is_first_calc = is_zero(slope);
     slope = (sink_height - aim_height) / (total_distance - flare_distance);
     if (is_first_calc) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Landing glide slope %.1f degrees", (double)degrees(atanf(slope)));
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Landing glide slope %.1f degrees", (double)degrees(atanf(slope)));
     }
 
     // calculate point along that slope 500m ahead

From 6efc6d0f2dc38d477548282041bfca902cd2eb09 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:10:37 +1100
Subject: [PATCH 0060/1335] AP_Motors: correct compilation when GCS library not
 available

---
 libraries/AP_Motors/AP_MotorsHeli_RSC.cpp | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
index 57a3046fc82198..bb5a1ba4f88ec3 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
@@ -313,12 +313,12 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
                 _idle_throttle = constrain_float( get_arot_idle_output(), 0.0f, 0.4f);
             }
             if (!_autorotating) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "Autorotation");
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Autorotation");
                 _autorotating =true;
             }
         } else {
             if (_autorotating) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "Autorotation Stopped");
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Autorotation Stopped");
                 _autorotating =false;
             }
             // set rotor control speed to idle speed parameter, this happens instantly and ignores ramping
@@ -326,7 +326,7 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
                 _idle_throttle += 0.001f;
                 if (_control_output >= 1.0f) {
                     _idle_throttle = get_idle_output();
-                    gcs().send_text(MAV_SEVERITY_INFO, "Turbine startup");
+                    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Turbine startup");
                     _starting = false;
                 }
             } else {
@@ -408,7 +408,7 @@ void AP_MotorsHeli_RSC::update_rotor_ramp(float rotor_ramp_input, float dt)
     if (_rotor_ramp_output < rotor_ramp_input) {
         if (_use_bailout_ramp) {
             if (!_bailing_out) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "bailing_out");
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "bailing_out");
                 _bailing_out = true;
                 if (_control_mode == ROTOR_CONTROL_MODE_AUTOTHROTTLE) {_gov_bailing_out = true;}
             }
@@ -563,9 +563,9 @@ void AP_MotorsHeli_RSC::autothrottle_run()
                 governor_reset();
                 _governor_fault = true;
                 if (_rotor_rpm >= (_governor_rpm + _governor_range)) {
-                    gcs().send_text(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
+                    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
                 } else {
-                    gcs().send_text(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Underspeed");
+                    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Underspeed");
                 }
             }
         } else {
@@ -577,7 +577,7 @@ void AP_MotorsHeli_RSC::autothrottle_run()
         if (_rotor_rpm > (_governor_rpm + _governor_range) && !_gov_bailing_out) {
             _governor_fault = true;
             governor_reset();
-            gcs().send_text(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
+            GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
             _governor_output = 0.0f;
 
         // when performing power recovery from autorotation, this waits for user to load rotor in order to 
@@ -594,7 +594,7 @@ void AP_MotorsHeli_RSC::autothrottle_run()
                 _governor_engage = true;
                 _autothrottle = true;
                 _gov_bailing_out = false;
-                gcs().send_text(MAV_SEVERITY_NOTICE, "Governor Engaged");
+                GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Governor Engaged");
             }
         } else {
             // temporary use of throttle curve and ramp timer to accelerate rotor to governor min torque rise speed

From dd6d1f04c2ad62bbfc737f66fb6784e9e12d1675 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:10:38 +1100
Subject: [PATCH 0061/1335] AP_OSD: correct compilation when GCS library not
 available

---
 libraries/AP_OSD/AP_OSD_MSP_DisplayPort.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_OSD/AP_OSD_MSP_DisplayPort.cpp b/libraries/AP_OSD/AP_OSD_MSP_DisplayPort.cpp
index 0e46dfc2cd7848..dccc059b570cfa 100644
--- a/libraries/AP_OSD/AP_OSD_MSP_DisplayPort.cpp
+++ b/libraries/AP_OSD/AP_OSD_MSP_DisplayPort.cpp
@@ -39,12 +39,12 @@ bool AP_OSD_MSP_DisplayPort::init(void)
     // check if we have a DisplayPort backend to use
     const AP_MSP *msp = AP::msp();
     if (msp == nullptr) {
-        gcs().send_text(MAV_SEVERITY_WARNING,"MSP backend not available");
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING,"MSP backend not available");
         return false;
     }
     _displayport = msp->find_protocol(AP_SerialManager::SerialProtocol_MSP_DisplayPort);
     if (_displayport == nullptr) {
-        gcs().send_text(MAV_SEVERITY_WARNING,"MSP DisplayPort uart not available");
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING,"MSP DisplayPort uart not available");
         return false;
     }
     // re-init port here for use in this thread

From 1bf85a0a15237f02e50c0d5f9a03b6b88bbd4049 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:10:38 +1100
Subject: [PATCH 0062/1335] AP_SmartRTL: correct compilation when GCS library
 not available

---
 libraries/AP_SmartRTL/AP_SmartRTL.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_SmartRTL/AP_SmartRTL.cpp b/libraries/AP_SmartRTL/AP_SmartRTL.cpp
index 049e7506b6aba0..0de442dc7faaad 100644
--- a/libraries/AP_SmartRTL/AP_SmartRTL.cpp
+++ b/libraries/AP_SmartRTL/AP_SmartRTL.cpp
@@ -118,7 +118,7 @@ void AP_SmartRTL::init()
     // check if memory allocation failed
     if (_path == nullptr || _prune.loops == nullptr || _simplify.stack == nullptr) {
         log_action(SRTL_DEACTIVATED_INIT_FAILED);
-        gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL deactivated: init failed");
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "SmartRTL deactivated: init failed");
         free(_path);
         free(_prune.loops);
         free(_simplify.stack);
@@ -390,7 +390,7 @@ void AP_SmartRTL::run_background_cleanup()
     // warn if buffer is about to be filled
     uint32_t now_ms = AP_HAL::millis();
     if ((path_points_count >0) && (path_points_count >= _path_points_max - 9) && (now_ms - _last_low_space_notify_ms > 10000)) {
-        gcs().send_text(MAV_SEVERITY_INFO, "SmartRTL Low on space!");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "SmartRTL Low on space!");
        _last_low_space_notify_ms = now_ms;
     }
 
@@ -866,7 +866,7 @@ void AP_SmartRTL::deactivate(SRTL_Actions action, const char *reason)
 {
     _active = false;
     log_action(action);
-    gcs().send_text(MAV_SEVERITY_WARNING, "SmartRTL deactivated: %s", reason);
+    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "SmartRTL deactivated: %s", reason);
 }
 
 // logging

From 673fad04de7115536f4ed541fd3a5f2c8a038ec5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:10:38 +1100
Subject: [PATCH 0063/1335] AP_WindVane: correct compilation when GCS library
 not available

---
 libraries/AP_WindVane/AP_WindVane_Analog.cpp       | 6 +++---
 libraries/AP_WindVane/AP_WindVane_Backend.cpp      | 2 +-
 libraries/AP_WindVane/AP_WindVane_ModernDevice.cpp | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_WindVane/AP_WindVane_Analog.cpp b/libraries/AP_WindVane/AP_WindVane_Analog.cpp
index 404fa4ea94d8f7..cebd664f51b502 100644
--- a/libraries/AP_WindVane/AP_WindVane_Analog.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_Analog.cpp
@@ -59,7 +59,7 @@ void AP_WindVane_Analog::calibrate()
         _cal_start_ms = AP_HAL::millis();
         _cal_volt_max = _current_analog_voltage;
         _cal_volt_min = _current_analog_voltage;
-        gcs().send_text(MAV_SEVERITY_INFO, "WindVane: Calibration started, rotate wind vane");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "WindVane: Calibration started, rotate wind vane");
     }
 
     // record min and max voltage
@@ -74,11 +74,11 @@ void AP_WindVane_Analog::calibrate()
             // save min and max voltage
             _frontend._dir_analog_volt_max.set_and_save(_cal_volt_max);
             _frontend._dir_analog_volt_min.set_and_save(_cal_volt_min);
-            gcs().send_text(MAV_SEVERITY_INFO, "WindVane: Calibration complete (volt min:%.1f max:%1.f)",
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "WindVane: Calibration complete (volt min:%.1f max:%1.f)",
             (double)_cal_volt_min,
             (double)_cal_volt_max);
         } else {
-             gcs().send_text(MAV_SEVERITY_INFO, "WindVane: Calibration failed (volt diff %.1f below %.1f)",
+             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "WindVane: Calibration failed (volt diff %.1f below %.1f)",
             (double)volt_diff,
             (double)WINDVANE_CALIBRATION_VOLT_DIFF_MIN);
         }
diff --git a/libraries/AP_WindVane/AP_WindVane_Backend.cpp b/libraries/AP_WindVane/AP_WindVane_Backend.cpp
index 7f9ea4026769e7..a0fa4e10582452 100644
--- a/libraries/AP_WindVane/AP_WindVane_Backend.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_Backend.cpp
@@ -31,7 +31,7 @@ AP_WindVane_Backend::AP_WindVane_Backend(AP_WindVane &frontend) :
 // calibrate WindVane
 void AP_WindVane_Backend::calibrate()
 {
-    gcs().send_text(MAV_SEVERITY_INFO, "WindVane: No cal required");
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "WindVane: No cal required");
     _frontend._calibration.set_and_save(0);
     return;
 }
diff --git a/libraries/AP_WindVane/AP_WindVane_ModernDevice.cpp b/libraries/AP_WindVane/AP_WindVane_ModernDevice.cpp
index c88fb13cff82b1..e01d6aad199eb1 100644
--- a/libraries/AP_WindVane/AP_WindVane_ModernDevice.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_ModernDevice.cpp
@@ -70,7 +70,7 @@ void AP_WindVane_ModernDevice::update_speed()
 
 void AP_WindVane_ModernDevice::calibrate()
 {
-    gcs().send_text(MAV_SEVERITY_INFO, "WindVane: rev P. zero wind voltage offset set to %.1f",double(_current_analog_voltage));
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "WindVane: rev P. zero wind voltage offset set to %.1f",double(_current_analog_voltage));
     _frontend._speed_sensor_voltage_offset.set_and_save(_current_analog_voltage);
     _frontend._calibration.set_and_save(0);
 }

From c15a73c79866767494897502aab47226fa157e9a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:10:38 +1100
Subject: [PATCH 0064/1335] AR_Motors: correct compilation when GCS library not
 available

---
 libraries/AR_Motors/AP_MotorsUGV.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/AR_Motors/AP_MotorsUGV.cpp b/libraries/AR_Motors/AP_MotorsUGV.cpp
index 357815613e6ae2..c1b2177a46b9e0 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.cpp
+++ b/libraries/AR_Motors/AP_MotorsUGV.cpp
@@ -465,21 +465,21 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
        !SRV_Channels::function_assigned(SRV_Channel::k_scripting1) &&
        !has_sail()) {
         if (report) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: no motor, sail or scripting outputs defined");
+            GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PreArm: no motor, sail or scripting outputs defined");
         }
         return false;
     }
     // check if only one of skid-steering output has been configured
     if (SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft) != SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
         if (report) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: check skid steering config");
+            GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PreArm: check skid steering config");
         }
         return false;
     }
     // check if only one of throttle or steering outputs has been configured, if has a sail allow no throttle
     if ((has_sail() || SRV_Channels::function_assigned(SRV_Channel::k_throttle)) != SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
         if (report) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: check steering and throttle config");
+            GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PreArm: check steering and throttle config");
         }
         return false;
     }
@@ -488,7 +488,7 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
         SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(i);
         if (!SRV_Channels::function_assigned(function)) {
             if (report) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: servo function %u unassigned", function);
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PreArm: servo function %u unassigned", function);
             }
             return false;
         }
@@ -613,7 +613,7 @@ void AP_MotorsUGV::add_omni_motor_num(int8_t motor_num)
         SRV_Channel::Aux_servo_function_t function = SRV_Channels::get_motor_function(motor_num);
         SRV_Channels::set_aux_channel_default(function, motor_num);
         if (!SRV_Channels::find_channel(function, chan)) {
-            gcs().send_text(MAV_SEVERITY_ERROR, "Motors: unable to setup motor %u", motor_num);
+            GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Motors: unable to setup motor %u", motor_num);
         }
     }
 }

From 93907f4a6d2a35b94449e93adef1fb1b2cfa2b3b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 11 Dec 2023 17:44:00 +1100
Subject: [PATCH 0065/1335] AP_Avoidance: correct compilation when
 HAL_GCS_ENABLED is false

---
 libraries/AP_Avoidance/AP_Avoidance.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Avoidance/AP_Avoidance.cpp b/libraries/AP_Avoidance/AP_Avoidance.cpp
index 45f28874fc10c5..14e0d286283e0b 100644
--- a/libraries/AP_Avoidance/AP_Avoidance.cpp
+++ b/libraries/AP_Avoidance/AP_Avoidance.cpp
@@ -396,6 +396,7 @@ MAV_COLLISION_THREAT_LEVEL AP_Avoidance::current_threat_level() const {
     return _obstacles[_current_most_serious_threat].threat_level;
 }
 
+#if HAL_GCS_ENABLED
 void AP_Avoidance::send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_COLLISION_ACTION behaviour) const
 {
     const mavlink_collision_t packet{
@@ -409,6 +410,7 @@ void AP_Avoidance::send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_
     };
     gcs().send_to_active_channels(MAVLINK_MSG_ID_COLLISION, (const char *)&packet);
 }
+#endif
 
 void AP_Avoidance::handle_threat_gcs_notify(AP_Avoidance::Obstacle *threat)
 {

From 283a1edb9f840eb7b045527272db2baf85a9f56b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 11 Dec 2023 17:44:00 +1100
Subject: [PATCH 0066/1335] AP_VisualOdom: correct compilation when
 HAL_GCS_ENABLED is false

---
 libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp | 2 ++
 libraries/AP_VisualOdom/AP_VisualOdom_Backend.h   | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
index b0974348e1467a..5519f86d452d8c 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
@@ -36,6 +36,7 @@ bool AP_VisualOdom_Backend::healthy() const
     return ((AP_HAL::millis() - _last_update_ms) < AP_VISUALODOM_TIMEOUT_MS);
 }
 
+#if HAL_GCS_ENABLED
 // consume vision_position_delta mavlink messages
 void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_message_t &msg)
 {
@@ -69,6 +70,7 @@ void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_messa
                                   position_delta,
                                   packet.confidence);
 }
+#endif  // HAL_GCS_ENABLED
 
 // returns the system time of the last reset if reset_counter has not changed
 // updates the reset timestamp to the current system time if the reset_counter has changed
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
index b17eef76e73915..ce2033ca4ce2f2 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
@@ -27,8 +27,10 @@ class AP_VisualOdom_Backend
     // return true if sensor is basically healthy (we are receiving data)
     bool healthy() const;
 
+#if HAL_GCS_ENABLED
     // consume vision_position_delta mavlink messages
     void handle_vision_position_delta_msg(const mavlink_message_t &msg);
+#endif
 
     // consume vision pose estimate data and send to EKF. distances in meters
     virtual void handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter) = 0;

From 21a9f8e3a2751f05dee853493bdfcfb05f9e214f Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 10 Dec 2023 17:40:29 +0000
Subject: [PATCH 0067/1335] Plane: move landing servo override out of throttle
 control function

---
 ArduPlane/Plane.h    | 2 +-
 ArduPlane/servos.cpp | 7 ++++++-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 80e3cb8636ce1e..b40ab6a1321723 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -1091,7 +1091,7 @@ class Plane : public AP_Vehicle {
     // servos.cpp
     void set_servos_idle(void);
     void set_servos();
-    void set_servos_controlled(void);
+    void set_throttle(void);
     void set_takeoff_expected(void);
     void set_servos_old_elevons(void);
     void set_servos_flaps(void);
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 6048aed8042a02..51a28e1ee34f09 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -829,8 +829,13 @@ void Plane::set_servos(void)
     quadplane.update();
 #endif
 
+    if (flight_stage == AP_FixedWing::FlightStage::LAND) {
+        // allow landing to override servos if it would like to
+        landing.override_servos();
+    }
+
     if (control_mode != &mode_manual) {
-        set_servos_controlled();
+        set_throttle();
         set_takeoff_expected();
     }
 

From 740b04aed36c6003833de1ed4be782d45ce2b1d1 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 10 Dec 2023 17:42:03 +0000
Subject: [PATCH 0068/1335] Plane: Mode: ensure flight stage is correct on
 successful mode change

---
 ArduPlane/mode.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index b6c3a2b44fc863..6eef3fb0fab389 100644
--- a/ArduPlane/mode.cpp
+++ b/ArduPlane/mode.cpp
@@ -135,6 +135,9 @@ bool Mode::enter()
            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "In landing sequence: mission reset");
            plane.mission.reset();
         }
+
+        // Make sure the flight stage is correct for the new mode
+        plane.update_flight_stage();
     }
 
     return enter_result;

From 5642d2449a9483039406a709c72e64c4f1425909 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 10 Dec 2023 17:42:34 +0000
Subject: [PATCH 0069/1335] Plane: allow set_takeoff_expected in manual mode

---
 ArduPlane/servos.cpp | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 51a28e1ee34f09..35dc8b08017280 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -472,13 +472,8 @@ void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle)
 /*
   setup output channels all non-manual modes
  */
-void Plane::set_servos_controlled(void)
+void Plane::set_throttle(void)
 {
-    if (flight_stage == AP_FixedWing::FlightStage::LAND) {
-        // allow landing to override servos if it would like to
-        landing.override_servos();
-    }
-
     // convert 0 to 100% (or -100 to +100) into PWM
     int8_t min_throttle = aparm.throttle_min.get();
     int8_t max_throttle = aparm.throttle_max.get();
@@ -836,9 +831,11 @@ void Plane::set_servos(void)
 
     if (control_mode != &mode_manual) {
         set_throttle();
-        set_takeoff_expected();
     }
 
+    // Warn AHRS if we might take off soon
+    set_takeoff_expected();
+
     // setup flap outputs
     set_servos_flaps();
 

From 58d4871177efc0594825c2e8a5d92fb7bac7691d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 10 Dec 2023 08:55:59 +1100
Subject: [PATCH 0070/1335] AP_DAL: remove tmp_location from global namespace

removes this from the global namespace and means it isn't included when DAL isn't

update the location where we update the fields.
---
 libraries/AP_DAL/AP_DAL_GPS.cpp | 16 ++++------------
 libraries/AP_DAL/AP_DAL_GPS.h   | 10 +++++++++-
 2 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/libraries/AP_DAL/AP_DAL_GPS.cpp b/libraries/AP_DAL/AP_DAL_GPS.cpp
index 8246157691602d..c57cc3d0631108 100644
--- a/libraries/AP_DAL/AP_DAL_GPS.cpp
+++ b/libraries/AP_DAL/AP_DAL_GPS.cpp
@@ -3,9 +3,6 @@
 #include <AP_Logger/AP_Logger.h>
 #include "AP_DAL.h"
 
-// we use a static here as the "location" accessor wants to be const
-static Location tmp_location[GPS_MAX_INSTANCES];
-
 AP_DAL_GPS::AP_DAL_GPS()
 {
     for (uint8_t i=0; i<ARRAY_SIZE(_RGPI); i++) {
@@ -14,15 +11,6 @@ AP_DAL_GPS::AP_DAL_GPS()
     }
 }
 
-const Location &AP_DAL_GPS::location(uint8_t instance) const
-{
-    Location &loc = tmp_location[instance];
-    loc.lat = _RGPJ[instance].lat;
-    loc.lng = _RGPJ[instance].lng;
-    loc.alt = _RGPJ[instance].alt;
-    return loc;
-}
-
 void AP_DAL_GPS::start_frame()
 {
     const auto &gps = AP::gps();
@@ -61,5 +49,9 @@ void AP_DAL_GPS::start_frame()
 
         WRITE_REPLAY_BLOCK_IFCHANGED(RGPI, RGPI, old_RGPI);
         WRITE_REPLAY_BLOCK_IFCHANGED(RGPJ, RGPJ, old_RGPJ);
+
+        tmp_location[i].lat = RGPJ.lat;
+        tmp_location[i].lng = RGPJ.lng;
+        tmp_location[i].alt = RGPJ.alt;
     }
 }
diff --git a/libraries/AP_DAL/AP_DAL_GPS.h b/libraries/AP_DAL/AP_DAL_GPS.h
index 8c8d22af430e1b..909a2ce5d86b10 100644
--- a/libraries/AP_DAL/AP_DAL_GPS.h
+++ b/libraries/AP_DAL/AP_DAL_GPS.h
@@ -26,7 +26,9 @@ class AP_DAL_GPS {
     GPS_Status status() const {
         return status(primary_sensor());
     }
-    const Location &location(uint8_t instance) const;
+    const Location &location(uint8_t instance) const {
+        return tmp_location[instance];
+    }
     bool have_vertical_velocity(uint8_t instance) const {
         return _RGPI[instance].have_vertical_velocity;
     }
@@ -125,6 +127,10 @@ class AP_DAL_GPS {
     }
     void handle_message(const log_RGPJ &msg) {
         _RGPJ[msg.instance] = msg;
+
+        tmp_location[msg.instance].lat = msg.lat;
+        tmp_location[msg.instance].lng = msg.lng;
+        tmp_location[msg.instance].alt = msg.alt;
     }
 
 private:
@@ -132,4 +138,6 @@ class AP_DAL_GPS {
     struct log_RGPH _RGPH;
     struct log_RGPI _RGPI[GPS_MAX_INSTANCES];
     struct log_RGPJ _RGPJ[GPS_MAX_INSTANCES];
+
+    Location tmp_location[GPS_MAX_INSTANCES];
 };

From 2768c63971e3a4f892c62ad3f0eeb484bed62f4e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:12:45 +1100
Subject: [PATCH 0071/1335] AP_Arming: correct compilation when RC_Channels
 library not available

---
 libraries/AP_Arming/AP_Arming.cpp | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index bbfcaf73519319..e51f3c75704f79 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -718,6 +718,7 @@ bool AP_Arming::hardware_safety_check(bool report)
     return true;
 }
 
+#if AP_RC_CHANNEL_ENABLED
 bool AP_Arming::rc_arm_checks(AP_Arming::Method method)
 {
     // don't check the trims if we are in a failsafe
@@ -835,6 +836,7 @@ bool AP_Arming::manual_transmitter_checks(bool report)
 
     return rc_in_calibration_check(report);
 }
+#endif  // AP_RC_CHANNEL_ENABLED
 
 bool AP_Arming::mission_checks(bool report)
 {
@@ -1523,6 +1525,7 @@ bool AP_Arming::estop_checks(bool display_failure)
        // not emergency-stopped, so no prearm failure:
        return true;
     }
+#if AP_RC_CHANNEL_ENABLED
     // vehicle is emergency-stopped; if this *appears* to have been done via switch then we do not fail prearms:
     const RC_Channel *chan = rc().find_channel_for_option(RC_Channel::AUX_FUNC::ARM_EMERGENCY_STOP);
     if (chan != nullptr) {
@@ -1531,7 +1534,8 @@ bool AP_Arming::estop_checks(bool display_failure)
             // switch is configured and is in estop position, so likely the reason we are estopped, so no prearm failure
             return true;  // no prearm failure
         }
-    }   
+    }
+#endif  // AP_RC_CHANNEL_ENABLED
     check_failed(display_failure,"Motors Emergency Stopped");
     return false;
 }
@@ -1558,7 +1562,9 @@ bool AP_Arming::pre_arm_checks(bool report)
         &  gps_checks(report)
         &  battery_checks(report)
         &  logging_checks(report)
+#if AP_RC_CHANNEL_ENABLED
         &  manual_transmitter_checks(report)
+#endif
         &  mission_checks(report)
         &  rangefinder_checks(report)
         &  servo_checks(report)
@@ -1576,7 +1582,9 @@ bool AP_Arming::pre_arm_checks(bool report)
 #if AP_ARMING_AUX_AUTH_ENABLED
         &  aux_auth_checks(report)
 #endif
+#if AP_RC_CHANNEL_ENABLED
         &  disarm_switch_checks(report)
+#endif
         &  fence_checks(report)
         &  opendroneid_checks(report)
         &  serial_protocol_checks(report)
@@ -1592,11 +1600,13 @@ bool AP_Arming::pre_arm_checks(bool report)
 
 bool AP_Arming::arm_checks(AP_Arming::Method method)
 {
+#if AP_RC_CHANNEL_ENABLED
     if (check_enabled(ARMING_CHECK_RC)) {
         if (!rc_arm_checks(method)) {
             return false;
         }
     }
+#endif
 
     // ensure the GPS drivers are ready on any final changes
     if (check_enabled(ARMING_CHECK_GPS_CONFIG)) {
@@ -1772,6 +1782,7 @@ AP_Arming::Required AP_Arming::arming_required() const
     return require;
 }
 
+#if AP_RC_CHANNEL_ENABLED
 // Copter and sub share the same RC input limits
 // Copter checks that min and max have been configured by default, Sub does not
 bool AP_Arming::rc_checks_copter_sub(const bool display_failure, const RC_Channel *channels[4]) const
@@ -1800,6 +1811,7 @@ bool AP_Arming::rc_checks_copter_sub(const bool display_failure, const RC_Channe
     }
     return ret;
 }
+#endif  // AP_RC_CHANNEL_ENABLED
 
 // check visual odometry is working
 bool AP_Arming::visodom_checks(bool display_failure) const
@@ -1822,6 +1834,7 @@ bool AP_Arming::visodom_checks(bool display_failure) const
     return true;
 }
 
+#if AP_RC_CHANNEL_ENABLED
 // check disarm switch is asserted
 bool AP_Arming::disarm_switch_checks(bool display_failure) const
 {
@@ -1834,6 +1847,7 @@ bool AP_Arming::disarm_switch_checks(bool display_failure) const
 
     return true;
 }
+#endif  // AP_RC_CHANNEL_ENABLED
 
 void AP_Arming::Log_Write_Arm(const bool forced, const AP_Arming::Method method)
 {

From 1aa6ad5bc3eca656ed82627347b20865d5f88c0c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 8 Dec 2023 13:12:45 +1100
Subject: [PATCH 0072/1335] AP_OSD: correct compilation when RC_Channels
 library not available

---
 libraries/AP_OSD/AP_OSD.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_OSD/AP_OSD.cpp b/libraries/AP_OSD/AP_OSD.cpp
index 8034e0ee92b111..e88e2363959a48 100644
--- a/libraries/AP_OSD/AP_OSD.cpp
+++ b/libraries/AP_OSD/AP_OSD.cpp
@@ -511,6 +511,7 @@ void AP_OSD::update_current_screen()
         return;
     }
 
+#if AP_RC_CHANNEL_ENABLED
     RC_Channel *channel = RC_Channels::rc_channel(rc_channel-1);
     if (channel == nullptr) {
         return;
@@ -566,6 +567,7 @@ void AP_OSD::update_current_screen()
         break;
     }
     switch_debouncer = false;
+#endif  // AP_RC_CHANNEL_ENABLED
 }
 
 //select next avaliable screen, do nothing if all screens disabled

From 22c1019767c421e733f858ddd65a58f9dbfdb4e9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 Dec 2023 08:32:58 +1100
Subject: [PATCH 0073/1335] AP_Scripting: correct compilation when AP_RTC is
 compiled out

---
 libraries/AP_Scripting/generator/description/bindings.desc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 7ddc378d843fdc..94557841c84a0e 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -849,6 +849,7 @@ singleton AP_Filesystem method stat boolean string AP_Filesystem::stat_t'Null
 
 include AP_RTC/AP_RTC.h depends AP_RTC_ENABLED
 include AP_RTC/AP_RTC_config.h
+singleton AP_RTC depends AP_RTC_ENABLED
 singleton AP_RTC rename rtc
 singleton AP_RTC method clock_s_to_date_fields boolean uint32_t'skip_check uint16_t'Null uint8_t'Null uint8_t'Null uint8_t'Null uint8_t'Null uint8_t'Null uint8_t'Null
 singleton AP_RTC method date_fields_to_clock_s uint32_t uint16_t'skip_check int8_t'skip_check uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check

From f6bff8c19ed50049b45fcc506e443e6670e74d7c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 9 Dec 2023 17:09:26 +1100
Subject: [PATCH 0074/1335] AP_Mission: correct compilation when RC_Channel not
 enabled

---
 libraries/AP_Mission/AP_Mission.cpp          | 3 +++
 libraries/AP_Mission/AP_Mission_Commands.cpp | 2 ++
 2 files changed, 5 insertions(+)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 3487d3a974fcaa..22d6f60c364fa3 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -10,6 +10,7 @@
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents_config.h>
+#include <RC_Channel/RC_Channel_config.h>
 
 const AP_Param::GroupInfo AP_Mission::var_info[] = {
 
@@ -405,8 +406,10 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
     }
 
     switch (cmd.id) {
+#if AP_RC_CHANNEL_ENABLED
     case MAV_CMD_DO_AUX_FUNCTION:
         return start_command_do_aux_function(cmd);
+#endif
 #if AP_GRIPPER_ENABLED
     case MAV_CMD_DO_GRIPPER:
         return start_command_do_gripper(cmd);
diff --git a/libraries/AP_Mission/AP_Mission_Commands.cpp b/libraries/AP_Mission/AP_Mission_Commands.cpp
index 83716ec71849cd..9d82550e482326 100644
--- a/libraries/AP_Mission/AP_Mission_Commands.cpp
+++ b/libraries/AP_Mission/AP_Mission_Commands.cpp
@@ -10,6 +10,7 @@
 #include <RC_Channel/RC_Channel.h>
 #include <AP_Mount/AP_Mount.h>
 
+#if AP_RC_CHANNEL_ENABLED
 bool AP_Mission::start_command_do_aux_function(const AP_Mission::Mission_Command& cmd)
 {
     const RC_Channel::AUX_FUNC function = (RC_Channel::AUX_FUNC)cmd.content.auxfunction.function;
@@ -28,6 +29,7 @@ bool AP_Mission::start_command_do_aux_function(const AP_Mission::Mission_Command
     rc().run_aux_function(function, pos, RC_Channel::AuxFuncTriggerSource::MISSION);
     return true;
 }
+#endif  // AP_RC_CHANNEL_ENABLED
 
 #if AP_GRIPPER_ENABLED
 bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd)

From 575314d31e08d9a8ce5677f969eb51267f5bad9b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 Dec 2023 12:44:11 +1100
Subject: [PATCH 0075/1335] Tools: mac: force install to avoid npm installation
 error

2023-12-11T23:04:39.8671350Z already exists. You may want to remove it:
2023-12-11T23:04:39.8679620Z   rm '/usr/local/lib/node_modules/npm/node_modules/@npmcli/agent/lib/agents.js'
2023-12-11T23:04:39.8682240Z
2023-12-11T23:04:39.8691710Z To force the link and overwrite all conflicting files:
2023-12-11T23:04:39.8700070Z   brew link --overwrite node@18
2023-12-11T23:04:39.8726220Z
2023-12-11T23:04:39.8736300Z To list all files that would be deleted:
2023-12-11T23:04:39.8744090Z   brew link --overwrite --dry-run node@18

... also remove hack to force update to succeed
---
 Tools/environment_install/install-prereqs-mac.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Tools/environment_install/install-prereqs-mac.sh b/Tools/environment_install/install-prereqs-mac.sh
index 69f647c1b23c24..cfbf9858617225 100755
--- a/Tools/environment_install/install-prereqs-mac.sh
+++ b/Tools/environment_install/install-prereqs-mac.sh
@@ -104,8 +104,8 @@ function maybe_prompt_user() {
 find /usr/local/bin -lname '*/Library/Frameworks/Python.framework/*' -delete
 
 # brew update randomly failing on CI, so ignore errors:
-brew update || true
-brew install gawk curl coreutils wget
+brew update
+brew install --force --overwrite gawk curl coreutils wget
 
 PIP=pip
 if maybe_prompt_user "Install python using pyenv [N/y]?" ; then

From 4226f9e97cb0f39d77d540a80937e17d0b1d571f Mon Sep 17 00:00:00 2001
From: Luca Scheuer <luca.scheuer@iq-control.com>
Date: Tue, 12 Dec 2023 10:14:04 -0600
Subject: [PATCH 0076/1335] AP_SerialManager: reserving serial protocol for
 Vertiq IQUART

---
 libraries/AP_SerialManager/AP_SerialManager.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_SerialManager/AP_SerialManager.h b/libraries/AP_SerialManager/AP_SerialManager.h
index b548656297f91c..30bae549f6b879 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.h
+++ b/libraries/AP_SerialManager/AP_SerialManager.h
@@ -80,6 +80,7 @@ class AP_SerialManager {
         SerialProtocol_Tramp = 44,
         SerialProtocol_DDS_XRCE = 45,
         SerialProtocol_IMUOUT = 46,
+        // Reserving Serial Protocol 47 for SerialProtocol_IQ
         SerialProtocol_NumProtocols                    // must be the last value
     };
 

From fc9e6de99a229f6aaca6c976b03aa8b9efe70fa9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 13 Dec 2023 13:44:03 +1100
Subject: [PATCH 0077/1335] Tools: size_compare_branches.py: add canzero to
 linux boards

---
 Tools/scripts/size_compare_branches.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Tools/scripts/size_compare_branches.py b/Tools/scripts/size_compare_branches.py
index 41e93bc7a5c5ca..08751595854634 100755
--- a/Tools/scripts/size_compare_branches.py
+++ b/Tools/scripts/size_compare_branches.py
@@ -164,6 +164,7 @@ def __init__(self,
             'Pixhawk1-bdshot',
             'SITL_arm_linux_gnueabihf',
             'RADIX2HD',
+            'canzero',
         ])
 
         # blacklist all linux boards for bootloader build:
@@ -197,6 +198,7 @@ def linux_board_names(self):
             'rst_zynq',
             'obal',
             'SITL_x86_64_linux_gnu',
+            'canzero',
         ]
 
     def esp32_board_names(self):

From 71a64d50465df90148d37383572c4e8a6c045ccd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 Dec 2023 16:39:09 +1100
Subject: [PATCH 0078/1335] GCS_MAVLink: correct compilation when compass not
 enabled

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index a81f3d5a38cb7b..377c08304183d2 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -22,6 +22,7 @@
 #include "GCS.h"
 
 #include <AC_Fence/AC_Fence.h>
+#include <AP_Compass/AP_Compass.h>
 #include <AP_ADSB/AP_ADSB.h>
 #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
 #include <AP_AHRS/AP_AHRS.h>
@@ -38,6 +39,7 @@
 #include <AP_Gripper/AP_Gripper.h>
 #include <AC_Sprayer/AC_Sprayer.h>
 #include <AP_BLHeli/AP_BLHeli.h>
+#include <AP_Relay/AP_Relay.h>
 #include <AP_RSSI/AP_RSSI.h>
 #include <AP_RTC/AP_RTC.h>
 #include <AP_Scheduler/AP_Scheduler.h>
@@ -68,6 +70,8 @@
 #include "MissionItemProtocol_Rally.h"
 #include "MissionItemProtocol_Fence.h"
 
+#include <AP_Notify/AP_Notify.h>
+
 #include <stdio.h>
 
 #if HAL_RCINPUT_WITH_AP_RADIO
@@ -2031,16 +2035,16 @@ void GCS_MAVLINK::send_raw_imu()
 {
 #if AP_INERTIALSENSOR_ENABLED
     const AP_InertialSensor &ins = AP::ins();
-    const Compass &compass = AP::compass();
 
     const Vector3f &accel = ins.get_accel(0);
     const Vector3f &gyro = ins.get_gyro(0);
     Vector3f mag;
+#if AP_COMPASS_ENABLED
+    const Compass &compass = AP::compass();
     if (compass.get_count() >= 1) {
         mag = compass.get_field(0);
-    } else {
-        mag.zero();
     }
+#endif
 
     mavlink_msg_raw_imu_send(
         chan,
@@ -2063,7 +2067,6 @@ void GCS_MAVLINK::send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_chan
 {
 #if AP_INERTIALSENSOR_ENABLED
     const AP_InertialSensor &ins = AP::ins();
-    const Compass &compass = AP::compass();
     int16_t _temperature = 0;
 
     bool have_data = false;
@@ -2078,11 +2081,14 @@ void GCS_MAVLINK::send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_chan
         gyro = ins.get_gyro(instance);
         have_data = true;
     }
-    Vector3f mag{};
+    Vector3f mag;
+#if AP_COMPASS_ENABLED
+    const Compass &compass = AP::compass();
     if (compass.get_count() > instance) {
         mag = compass.get_field(instance);
         have_data = true;
     }
+#endif
     if (!have_data) {
         return;
     }

From d5cc1d4ad074bc78c3ac8ff9e10126902cc7907b Mon Sep 17 00:00:00 2001
From: Lachlan Conn <lachlan@carbonix.com.au>
Date: Mon, 20 Nov 2023 12:38:28 +1100
Subject: [PATCH 0079/1335] Plane: QAssist speed warning added

Also updated the severity of other QAssist messages
---
 ArduPlane/quadplane.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 48259c89a4462a..db7df54d9b7313 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1496,7 +1496,7 @@ bool QuadPlane::should_assist(float aspeed, bool have_airspeed)
                 // we've been below assistant alt for Q_ASSIST_DELAY seconds
                 if (!in_alt_assist) {
                     in_alt_assist = true;
-                    gcs().send_text(MAV_SEVERITY_INFO, "Alt assist %.1fm", height_above_ground);
+                    gcs().send_text(MAV_SEVERITY_WARNING, "Alt assist %.1fm", height_above_ground);
                 }
                 return true;
             }
@@ -1541,7 +1541,7 @@ bool QuadPlane::should_assist(float aspeed, bool have_airspeed)
     bool ret = (now - angle_error_start_ms) >= assist_delay*1000;
     if (ret && !in_angle_assist) {
         in_angle_assist = true;
-        gcs().send_text(MAV_SEVERITY_INFO, "Angle assist r=%d p=%d",
+        gcs().send_text(MAV_SEVERITY_WARNING, "Angle assist r=%d p=%d",
                                          (int)(ahrs.roll_sensor/100),
                                          (int)(ahrs.pitch_sensor/100));
     }

From 452f9989b94be6b9954efd6d08f5ab0df2663a6e Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 11 Dec 2023 21:19:48 +0000
Subject: [PATCH 0080/1335] AP_Scripting: fix some more of the easy luacheck
 warnings

---
 libraries/AP_Scripting/applets/runcam_on_arm.lua   | 4 ----
 libraries/AP_Scripting/examples/OOP_example.lua    | 2 --
 libraries/AP_Scripting/examples/plane-doublets.lua | 6 +-----
 libraries/AP_Scripting/examples/protected_call.lua | 2 +-
 libraries/AP_Scripting/examples/quadruped.lua      | 3 +--
 libraries/AP_Scripting/examples/test_load.lua      | 5 ++---
 6 files changed, 5 insertions(+), 17 deletions(-)

diff --git a/libraries/AP_Scripting/applets/runcam_on_arm.lua b/libraries/AP_Scripting/applets/runcam_on_arm.lua
index 8f99b0a289af8a..6a1924d36b848a 100644
--- a/libraries/AP_Scripting/applets/runcam_on_arm.lua
+++ b/libraries/AP_Scripting/applets/runcam_on_arm.lua
@@ -19,7 +19,6 @@
 -- presses, I want the script to be responsive and start recording as
 -- soon as the vehicle arms, so there I use a shorter delay.
 
--- luacheck: only 0
 
 
 -- constants
@@ -46,7 +45,6 @@ function update()
    local is_armed = arming:is_armed()
 
    local delay = DELAY_SHORT
-
    if is_armed ~= prev_armed then
       -- a state transition has occurred
       if is_armed then
@@ -57,8 +55,6 @@ function update()
          rc:run_aux_function(RC_OPTION.RunCamControl, AuxSwitchPos.LOW)
       end
       delay = DELAY_LONG
-   else
-      delay = DELAY_SHORT
    end
 
    prev_armed = is_armed
diff --git a/libraries/AP_Scripting/examples/OOP_example.lua b/libraries/AP_Scripting/examples/OOP_example.lua
index d555cb4a0278e7..a6b7cf0638d91c 100644
--- a/libraries/AP_Scripting/examples/OOP_example.lua
+++ b/libraries/AP_Scripting/examples/OOP_example.lua
@@ -1,5 +1,4 @@
 -- this is an example of how to do object oriented programming in Lua
--- luacheck: only 0
 
 function constrain(v, minv, maxv)
    -- constrain a value between two limits
@@ -25,7 +24,6 @@ local function PIFF(kFF,kP,kI,iMax)
    local _kFF = kFF
    local _kP = kP or 0.0
    local _kI = kI or 0.0
-   local _kD = kD or 0.0
    local _iMax = iMax
    local _last_t = nil
    local _log_data = {}
diff --git a/libraries/AP_Scripting/examples/plane-doublets.lua b/libraries/AP_Scripting/examples/plane-doublets.lua
index 60618b66aa5f18..2c34a381f6cd55 100644
--- a/libraries/AP_Scripting/examples/plane-doublets.lua
+++ b/libraries/AP_Scripting/examples/plane-doublets.lua
@@ -7,7 +7,6 @@
 -- It is suggested to allow the aircraft to trim for straight, level, unaccelerated flight (SLUF) in FBWB mode before
 -- starting a doublet
 -- Charlie Johnson, Oklahoma State University 2020
--- luacheck: only 0
 
 local DOUBLET_ACTION_CHANNEL = 6 -- RCIN channel to start a doublet when high (>1700)
 local DOUBLET_CHOICE_CHANNEL = 7 -- RCIN channel to choose elevator (low) or rudder (high)
@@ -19,8 +18,6 @@ local DOUBLET_TIME = 500 -- period of doublet signal in ms
 -- flight mode numbers for plane https://mavlink.io/en/messages/ardupilotmega.html
 local MODE_MANUAL = 0
 local MODE_FBWA = 5
-local MODE_FBWB = 6
-local MODE_RTL = 11
 local K_AILERON = 4
 local K_ELEVATOR = 19
 local K_THROTTLE = 70
@@ -30,7 +27,6 @@ local K_RUDDER = 21
 local start_time = -1
 local end_time = -1
 local now = -1
-local desired_mode = -1
 
 -- store information about the doublet channel
 local doublet_srv_chan = SRV_Channels:find_channel(DOUBLET_FUCNTION)
@@ -65,7 +61,7 @@ function doublet()
             pre_doublet_mode = vehicle:get_mode()
             -- are we doing a doublet on elevator or rudder? set the other controls to trim
             local doublet_choice_pwm = rc:get_pwm(DOUBLET_CHOICE_CHANNEL)
-            local trim_funcs = {}
+            local trim_funcs
             local pre_doublet_elevator = SRV_Channels:get_output_pwm(K_ELEVATOR)
             if doublet_choice_pwm < 1500 then
                 -- doublet on elevator
diff --git a/libraries/AP_Scripting/examples/protected_call.lua b/libraries/AP_Scripting/examples/protected_call.lua
index 7446092c5f4e2c..ff7cf45cd7a402 100644
--- a/libraries/AP_Scripting/examples/protected_call.lua
+++ b/libraries/AP_Scripting/examples/protected_call.lua
@@ -1,7 +1,6 @@
 -- this shows how to protect against faults in your scripts
 -- you can wrap your update() call (or any other call) in a pcall()
 -- which catches errors, allowing you to take an appropriate action
--- luacheck: only 0
 
 
 -- example main loop function
@@ -12,6 +11,7 @@ function update()
       -- deliberately make a bad call to cause a fault, asking for the 6th GPS status
       -- as this is done inside a pcall() the error will be caught instead of stopping the script
       local status = gps:status(5)
+      gcs:send_text(0, "GPS status: " .. tostring(status))
    end
 end
 
diff --git a/libraries/AP_Scripting/examples/quadruped.lua b/libraries/AP_Scripting/examples/quadruped.lua
index b36391e9899040..a8d5536512d7de 100644
--- a/libraries/AP_Scripting/examples/quadruped.lua
+++ b/libraries/AP_Scripting/examples/quadruped.lua
@@ -18,7 +18,6 @@
 -- Output12: back right tibia (shin) servo
 --
 -- CAUTION: This script should only be used with ArduPilot Rover's firmware
--- luacheck: only 0
 
 
 local FRAME_LEN = 80    -- frame length in mm
@@ -183,7 +182,7 @@ end
 --   a) body rotations: body_rot_x, body_rot_y, body_rot_z
 --   b) body position: body_pos_x, body_pos_y, body_pos_z
 --   c) offset of the center of body
-function body_forward_kinematics(X, Y, Z, Xdist, Ydist, Zrot)
+function body_forward_kinematics(X, Y, _, Xdist, Ydist, Zrot)
     local totaldist_x = X + Xdist + body_pos_x
     local totaldist_y = Y + Ydist + body_pos_y
     local distBodyCenterFeet = math.sqrt(totaldist_x^2 + totaldist_y^2)
diff --git a/libraries/AP_Scripting/examples/test_load.lua b/libraries/AP_Scripting/examples/test_load.lua
index 0178cf0ed9708e..f09d6a48274036 100644
--- a/libraries/AP_Scripting/examples/test_load.lua
+++ b/libraries/AP_Scripting/examples/test_load.lua
@@ -7,7 +7,6 @@ gcs:send_text(0,"Testing load() method")
 -- a function written as a string. This could come from a file
 -- or any other source (eg. mavlink)
 -- Note that the [[ xxx ]] syntax is just a multi-line string
--- luacheck: only 0
 
 local func_str = [[
 function TestFunc(x,y)
@@ -23,9 +22,9 @@ function test_load()
       return
    end
    -- run the code within a protected call to catch any errors
-   local success, err = pcall(f)
+   local success, err2 = pcall(f)
    if not success then
-      gcs:send_text(0, string.format("Failed to load TestFunc: %s", err))
+      gcs:send_text(0, string.format("Failed to load TestFunc: %s", err2))
       return
    end
 

From c6c41cb60962386c042b6c84a31ddba9b7b5af9d Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 31 Jul 2023 15:52:31 -0500
Subject: [PATCH 0081/1335] AP_Scripting: mount-djirs2: fix parsing for latest
 firmware

DJI R SDK version 2.2.0.5 released on October 30, 2020 added CmdSet and
CmdID bytes to reply frames before the data segment which need to be
skipped when parsing replies.

Tested with gimbal firmware 01.04.00.20 and 01.05.00.20 (latest version).
---
 .../drivers/mount-djirs2-driver.lua            | 18 +++++++++---------
 .../drivers/mount-djirs2-driver.md             |  7 +++++++
 2 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
index ac050cabc66339..013c28b0c7a0a7 100644
--- a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
+++ b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
@@ -653,12 +653,12 @@ function parse_byte(b)
           end
 
           -- parse attitude reply message
-          if (expected_reply == REPLY_TYPE.ATTITUDE) and (parse_length >= 20) then
-            local ret_code = parse_buff[13]
+          if (expected_reply == REPLY_TYPE.ATTITUDE) and (parse_length >= 22) then
+            local ret_code = parse_buff[15]
             if ret_code == RETURN_CODE.SUCCESS then
-              local yaw_deg = int16_value(parse_buff[16],parse_buff[15]) * 0.1
-              local pitch_deg = int16_value(parse_buff[18],parse_buff[17]) * 0.1
-              local roll_deg = int16_value(parse_buff[20],parse_buff[19]) * 0.1
+              local yaw_deg = int16_value(parse_buff[18],parse_buff[17]) * 0.1
+              local pitch_deg = int16_value(parse_buff[20],parse_buff[19]) * 0.1
+              local roll_deg = int16_value(parse_buff[22],parse_buff[21]) * 0.1
               mount:set_attitude_euler(MOUNT_INSTANCE, roll_deg, pitch_deg, yaw_deg)
               if DJIR_DEBUG:get() > 1 then
                 gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: roll:%4.1f pitch:%4.1f yaw:%4.1f", roll_deg, pitch_deg, yaw_deg))
@@ -669,16 +669,16 @@ function parse_byte(b)
           end
 
           -- parse position control reply message
-          if (expected_reply == REPLY_TYPE.POSITION_CONTROL) and (parse_length >= 13) then
-            local ret_code = parse_buff[13]
+          if (expected_reply == REPLY_TYPE.POSITION_CONTROL) and (parse_length >= 15) then
+            local ret_code = parse_buff[15]
             if ret_code ~= RETURN_CODE.SUCCESS then
               execute_fails = execute_fails + 1
             end
           end
 
           -- parse speed control reply message
-          if (expected_reply == REPLY_TYPE.SPEED_CONTROL) and (parse_length >= 13) then
-            local ret_code = parse_buff[13]
+          if (expected_reply == REPLY_TYPE.SPEED_CONTROL) and (parse_length >= 15) then
+            local ret_code = parse_buff[15]
             if ret_code ~= RETURN_CODE.SUCCESS then
               execute_fails = execute_fails + 1
             end
diff --git a/libraries/AP_Scripting/drivers/mount-djirs2-driver.md b/libraries/AP_Scripting/drivers/mount-djirs2-driver.md
index d4b19886e2354f..7f4d6e058c36b9 100644
--- a/libraries/AP_Scripting/drivers/mount-djirs2-driver.md
+++ b/libraries/AP_Scripting/drivers/mount-djirs2-driver.md
@@ -12,3 +12,10 @@ DJI RS2 and RS3-Pro gimbal mount driver lua script
 - Set MNT1_TYPE = 9 (Scripting) to enable the mount/gimbal scripting driver
 - Reboot the autopilot
 - Copy the mount-djirs2-driver.lua script to the autopilot's SD card in the APM/scripts directory and reboot the autopilot
+
+## Issues
+
+If the ground station reports "Pre-arm: Mount not healthy", update the 
+gimbal firmware using the DJI Ronin phone app to version 01.04.00.20 or 
+later to correct a mismatch in the way data is received from the gimbal. 
+Completing this update may take more than an hour.

From b507075701ac7abf6fc6bcf0a364e0651dbbe6a4 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 4 Dec 2023 11:46:13 +0900
Subject: [PATCH 0082/1335] AP_Scripting: mount-djir2 handles both legacy and
 latest ver

---
 .../drivers/mount-djirs2-driver.lua           | 42 +++++++++++++++----
 1 file changed, 33 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
index 013c28b0c7a0a7..77e5f95b5a8f9c 100644
--- a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
+++ b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
@@ -118,6 +118,9 @@ local MNT1_TYPE = Parameter("MNT1_TYPE")                -- should be 9:Scripting
 -- message definitions
 local HEADER = 0xAA
 local RETURN_CODE = {SUCCESS=0x00, PARSE_ERROR=0x01, EXECUTION_FAILED=0x02, UNDEFINED=0xFF}
+local ATTITUDE_PACKET_LEN = {LEGACY=24, LATEST=26}      -- attitude packet expected length.  Legacy must be less than latest
+local POSITION_CONTROL_PACKET_LEN = {LEGACY=17, LATEST=19}  -- position control packet expected length.  Legacy must be less than latest
+local SPEED_CONTROL_PACKET_LEN = {LEGACY=17, LATEST=19} -- speed control packet expected length.  Legacy must be less than latest
 
 -- parsing state definitions
 local PARSE_STATE_WAITING_FOR_HEADER        = 0
@@ -653,12 +656,23 @@ function parse_byte(b)
           end
 
           -- parse attitude reply message
-          if (expected_reply == REPLY_TYPE.ATTITUDE) and (parse_length >= 22) then
-            local ret_code = parse_buff[15]
+          if (expected_reply == REPLY_TYPE.ATTITUDE) and (parse_length >= ATTITUDE_PACKET_LEN.LEGACY) then
+            -- default to legacy format but also handle latest format
+            local ret_code_field = 13
+            local yaw_field = 15
+            local pitch_field = 17
+            local roll_field = 19
+            if (parse_length >= ATTITUDE_PACKET_LEN.LATEST) then
+              ret_code_field = 15
+              yaw_field = 17
+              pitch_field = 21
+              roll_field = 19
+            end
+            local ret_code = parse_buff[ret_code_field]
             if ret_code == RETURN_CODE.SUCCESS then
-              local yaw_deg = int16_value(parse_buff[18],parse_buff[17]) * 0.1
-              local pitch_deg = int16_value(parse_buff[20],parse_buff[19]) * 0.1
-              local roll_deg = int16_value(parse_buff[22],parse_buff[21]) * 0.1
+              local yaw_deg = int16_value(parse_buff[yaw_field+1],parse_buff[yaw_field]) * 0.1
+              local pitch_deg = int16_value(parse_buff[pitch_field+1],parse_buff[pitch_field]) * 0.1
+              local roll_deg = int16_value(parse_buff[roll_field+1],parse_buff[roll_field]) * 0.1
               mount:set_attitude_euler(MOUNT_INSTANCE, roll_deg, pitch_deg, yaw_deg)
               if DJIR_DEBUG:get() > 1 then
                 gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: roll:%4.1f pitch:%4.1f yaw:%4.1f", roll_deg, pitch_deg, yaw_deg))
@@ -669,16 +683,26 @@ function parse_byte(b)
           end
 
           -- parse position control reply message
-          if (expected_reply == REPLY_TYPE.POSITION_CONTROL) and (parse_length >= 15) then
-            local ret_code = parse_buff[15]
+          if (expected_reply == REPLY_TYPE.POSITION_CONTROL) and (parse_length >= POSITION_CONTROL_PACKET_LEN.LEGACY) then
+            -- default to legacy format but also handle latest format
+            local ret_code_field = 13
+            if (parse_length >= POSITION_CONTROL_PACKET_LEN.LATEST) then
+              ret_code_field = 15
+            end
+            local ret_code = parse_buff[ret_code_field]
             if ret_code ~= RETURN_CODE.SUCCESS then
               execute_fails = execute_fails + 1
             end
           end
 
           -- parse speed control reply message
-          if (expected_reply == REPLY_TYPE.SPEED_CONTROL) and (parse_length >= 15) then
-            local ret_code = parse_buff[15]
+          if (expected_reply == REPLY_TYPE.SPEED_CONTROL) and (parse_length >= SPEED_CONTROL_PACKET_LEN.LEGACY) then
+            -- default to legacy format but also handle latest format
+            local ret_code_field = 13
+            if (parse_length >= SPEED_CONTROL_PACKET_LEN.LATEST) then
+              ret_code_field = 15
+            end
+            local ret_code = parse_buff[ret_code_field]
             if ret_code ~= RETURN_CODE.SUCCESS then
               execute_fails = execute_fails + 1
             end

From 95033b2ef5514db3fb81b4c98493f3f45180fd28 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 4 Dec 2023 12:43:42 +0900
Subject: [PATCH 0083/1335] AP_Scripting: mount-djirs2 yaw angle reporting fix

---
 libraries/AP_Scripting/drivers/mount-djirs2-driver.lua | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
index 77e5f95b5a8f9c..7c6272600fb4e3 100644
--- a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
+++ b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
@@ -673,6 +673,10 @@ function parse_byte(b)
               local yaw_deg = int16_value(parse_buff[yaw_field+1],parse_buff[yaw_field]) * 0.1
               local pitch_deg = int16_value(parse_buff[pitch_field+1],parse_buff[pitch_field]) * 0.1
               local roll_deg = int16_value(parse_buff[roll_field+1],parse_buff[roll_field]) * 0.1
+              -- if upsidedown, subtract 180deg from yaw to undo addition of target
+              if DJIR_UPSIDEDOWN:get() > 0 then
+                yaw_deg = wrap_180(yaw_deg - 180)
+              end
               mount:set_attitude_euler(MOUNT_INSTANCE, roll_deg, pitch_deg, yaw_deg)
               if DJIR_DEBUG:get() > 1 then
                 gcs:send_text(MAV_SEVERITY.INFO, string.format("DJIR: roll:%4.1f pitch:%4.1f yaw:%4.1f", roll_deg, pitch_deg, yaw_deg))

From 56a2474e1ce89e38f81ff307c07eedb47f529f37 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 4 Dec 2023 13:19:08 +0900
Subject: [PATCH 0084/1335] AP_Scripting: djirs2 reply timeout reduced to 0.1
 sec

---
 libraries/AP_Scripting/drivers/mount-djirs2-driver.lua | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
index 7c6272600fb4e3..61113d05d7d545 100644
--- a/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
+++ b/libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
@@ -74,7 +74,7 @@
 -- global definitions
 local INIT_INTERVAL_MS = 3000           -- attempt to initialise the gimbal at this interval
 local UPDATE_INTERVAL_MS = 1            -- update interval in millis
-local REPLY_TIMEOUT_MS = 1000           -- timeout waiting for reply after 1 sec
+local REPLY_TIMEOUT_MS = 100            -- timeout waiting for reply after 0.1 sec
 local REQUEST_ATTITUDE_INTERVAL_MS = 100-- request attitude at 10hz
 local SET_ATTITUDE_INTERVAL_MS = 100    -- set attitude at 10hz
 local MOUNT_INSTANCE = 0                -- always control the first mount/gimbal

From 3ba2f3117fc645496121ef08c5111021eb99c9a0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 Dec 2023 09:21:15 +1100
Subject: [PATCH 0085/1335] AP_Arming: correct compilation when logging not
 available

---
 libraries/AP_Arming/AP_Arming.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index e51f3c75704f79..fc836b90d4ba54 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -324,6 +324,7 @@ bool AP_Arming::airspeed_checks(bool report)
     return true;
 }
 
+#if HAL_LOGGING_ENABLED
 bool AP_Arming::logging_checks(bool report)
 {
     if (check_enabled(ARMING_CHECK_LOGGING)) {
@@ -346,6 +347,7 @@ bool AP_Arming::logging_checks(bool report)
     }
     return true;
 }
+#endif  // HAL_LOGGING_ENABLED
 
 #if AP_INERTIALSENSOR_ENABLED
 bool AP_Arming::ins_accels_consistent(const AP_InertialSensor &ins)
@@ -1561,7 +1563,9 @@ bool AP_Arming::pre_arm_checks(bool report)
         &  compass_checks(report)
         &  gps_checks(report)
         &  battery_checks(report)
+#if HAL_LOGGING_ENABLED
         &  logging_checks(report)
+#endif
 #if AP_RC_CHANNEL_ENABLED
         &  manual_transmitter_checks(report)
 #endif
@@ -1660,10 +1664,14 @@ bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
 
         _last_arm_method = method;
 
+#if HAL_LOGGING_ENABLED
         Log_Write_Arm(!do_arming_checks, method); // note Log_Write_Armed takes forced not do_arming_checks
+#endif
 
     } else {
+#if HAL_LOGGING_ENABLED
         AP::logger().arming_failure();
+#endif
         armed = false;
     }
 
@@ -1719,9 +1727,11 @@ bool AP_Arming::disarm(const AP_Arming::Method method, bool do_disarm_checks)
     armed = false;
     _last_disarm_method = method;
 
+#if HAL_LOGGING_ENABLED
     Log_Write_Disarm(!do_disarm_checks, method);  // Log_Write_Disarm takes "force"
 
     check_forced_logging(method);
+#endif
 
 #if HAL_HAVE_SAFETY_SWITCH
     AP_BoardConfig *board_cfg = AP_BoardConfig::get_singleton();
@@ -1849,6 +1859,7 @@ bool AP_Arming::disarm_switch_checks(bool display_failure) const
 }
 #endif  // AP_RC_CHANNEL_ENABLED
 
+#if HAL_LOGGING_ENABLED
 void AP_Arming::Log_Write_Arm(const bool forced, const AP_Arming::Method method)
 {
     const struct log_Arm_Disarm pkt {
@@ -1927,6 +1938,7 @@ void AP_Arming::check_forced_logging(const AP_Arming::Method method)
             return;
     }
 }
+#endif  // HAL_LOGGING_ENABLED
 
 AP_Arming *AP_Arming::_singleton = nullptr;
 

From 66da78abaf406fa4e112c15f89db94103ee088f4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 Dec 2023 15:31:06 +1100
Subject: [PATCH 0086/1335] AP_Logger: correct compilation with AP_RSSI
 disabled

---
 libraries/AP_Logger/LogFile.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp
index 0666943e94b87e..e4d3f1ff895b79 100644
--- a/libraries/AP_Logger/LogFile.cpp
+++ b/libraries/AP_Logger/LogFile.cpp
@@ -248,6 +248,7 @@ void AP_Logger::Write_RCOUT(void)
 
 }
 
+#if AP_RSSI_ENABLED
 // Write an RSSI packet
 void AP_Logger::Write_RSSI()
 {
@@ -264,6 +265,7 @@ void AP_Logger::Write_RSSI()
     };
     WriteBlock(&pkt, sizeof(pkt));
 }
+#endif
 
 void AP_Logger::Write_Command(const mavlink_command_int_t &packet,
                               uint8_t source_system,

From 70cc84dd89d416f58fb1c18bd24803f65e65662d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 Dec 2023 17:35:29 +1100
Subject: [PATCH 0087/1335] GCS_Common: correct compilation when
 AP_RSSI_ENABLED is false

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 377c08304183d2..1e706b8b008038 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1997,7 +1997,12 @@ void GCS_MAVLINK::send_rc_channels() const
         values[15],
         values[16],
         values[17],
-        receiver_rssi());
+#if AP_RSSI_ENABLED
+        receiver_rssi()
+#else
+        255  // meaning "unknown"
+#endif
+        );
 }
 
 bool GCS_MAVLINK::sending_mavlink1() const
@@ -2028,7 +2033,12 @@ void GCS_MAVLINK::send_rc_channels_raw() const
         values[5],
         values[6],
         values[7],
-        receiver_rssi());
+#if AP_RSSI_ENABLED
+        receiver_rssi()
+#else
+        255  // meaning "unknown"
+#endif
+);
 }
 
 void GCS_MAVLINK::send_raw_imu()
@@ -6643,6 +6653,7 @@ void GCS_MAVLINK::handle_manual_control(const mavlink_message_t &msg)
 }
 
 
+#if AP_RSSI_ENABLED
 uint8_t GCS_MAVLINK::receiver_rssi() const
 {
     AP_RSSI *aprssi = AP::rssi();
@@ -6657,6 +6668,7 @@ uint8_t GCS_MAVLINK::receiver_rssi() const
     // scale across the full valid range
     return aprssi->read_receiver_rssi() * 254;
 }
+#endif
 
 GCS &gcs()
 {

From 8ef98c0f4150dff75613d4a6804270e9b9066ff6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 Dec 2023 23:10:17 +1100
Subject: [PATCH 0088/1335] AP_Arming: correct compilation when AP_Vehicle not
 available

---
 libraries/AP_Arming/AP_Arming.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index fc836b90d4ba54..6a8bae36ccb1f8 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -902,6 +902,7 @@ bool AP_Arming::mission_checks(bool report)
     }
 #endif
 
+#if AP_VEHICLE_ENABLED
     // do not allow arming if there are no mission items and we are in
     // (e.g.) AUTO mode
     if (AP::vehicle()->current_mode_requires_mission() &&
@@ -909,6 +910,7 @@ bool AP_Arming::mission_checks(bool report)
         check_failed(ARMING_CHECK_MISSION, report, "Mode requires mission");
         return false;
     }
+#endif
 
     return true;
 }

From 105acc605f4b591d89472a82697a48b6c0e9b287 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 Dec 2023 23:10:17 +1100
Subject: [PATCH 0089/1335] AP_DAL: correct compilation when AP_Vehicle not
 available

---
 libraries/AP_DAL/AP_DAL.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_DAL/AP_DAL.cpp b/libraries/AP_DAL/AP_DAL.cpp
index 0e4f309fad0b86..b05c411e5d523c 100644
--- a/libraries/AP_DAL/AP_DAL.cpp
+++ b/libraries/AP_DAL/AP_DAL.cpp
@@ -6,6 +6,7 @@
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
 #include <AP_WheelEncoder/AP_WheelEncoder.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #if APM_BUILD_TYPE(APM_BUILD_Replay)
 #include <AP_NavEKF2/AP_NavEKF2.h>
@@ -46,8 +47,12 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
     end_frame();
 
     _RFRF.frame_types = uint8_t(frametype);
-    
+
+#if AP_VEHICLE_ENABLED
     _RFRH.time_flying_ms = AP::vehicle()->get_time_flying_ms();
+#else
+    _RFRH.time_flying_ms = 0;
+#endif
     _RFRH.time_us = AP_HAL::micros64();
     WRITE_REPLAY_BLOCK(RFRH, _RFRH);
 

From 0f4262de3d6cfec5443653be466b01f5885c4d9f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 Dec 2023 23:10:17 +1100
Subject: [PATCH 0090/1335] AP_Scheduler: correct compilation when AP_Vehicle
 not available

---
 libraries/AP_Scheduler/AP_Scheduler.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp
index abfbf2fec5614f..93f55a22778646 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.cpp
+++ b/libraries/AP_Scheduler/AP_Scheduler.cpp
@@ -31,6 +31,7 @@
 #include <AP_InternalError/AP_InternalError.h>
 #include <AP_Common/ExpandingString.h>
 #include <AP_HAL/SIMState.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
@@ -113,10 +114,12 @@ void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks, uint
     _vehicle_tasks = tasks;
     _num_vehicle_tasks = num_tasks;
 
+#if AP_VEHICLE_ENABLED
     AP_Vehicle* vehicle = AP::vehicle();
     if (vehicle != nullptr) {
         vehicle->get_common_scheduler_tasks(_common_tasks, _num_common_tasks);
     }
+#endif
 
     _num_tasks = _num_vehicle_tasks + _num_common_tasks;
 

From 8e1fc605504253f86fddaeee89a3c712be0ba2c2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 Dec 2023 23:10:18 +1100
Subject: [PATCH 0091/1335] AP_Vehicle: correct compilation when AP_Vehicle not
 available

---
 libraries/AP_Vehicle/AP_Vehicle.cpp      | 5 +++++
 libraries/AP_Vehicle/AP_Vehicle.h        | 6 ++++++
 libraries/AP_Vehicle/AP_Vehicle_config.h | 5 +++++
 3 files changed, 16 insertions(+)
 create mode 100644 libraries/AP_Vehicle/AP_Vehicle_config.h

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 7a1595b7e5dc06..9908cf767d60fe 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -1,3 +1,7 @@
+#include "AP_Vehicle_config.h"
+
+#if AP_VEHICLE_ENABLED
+
 #include "AP_Vehicle.h"
 
 #include <AP_BLHeli/AP_BLHeli.h>
@@ -1029,3 +1033,4 @@ AP_Vehicle *vehicle()
 
 };
 
+#endif  // AP_VEHICLE_ENABLED
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 38e65f071fb4ab..1ccbe4d5500140 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_Vehicle_config.h"
+
+#if AP_VEHICLE_ENABLED
+
 /*
   this header holds a parameter structure for each vehicle type for
   parameters needed by multiple libraries
@@ -490,3 +494,5 @@ extern const AP_HAL::HAL& hal;
 extern const AP_Param::Info vehicle_var_info[];
 
 #include "AP_Vehicle_Type.h"
+
+#endif  // AP_VEHICLE_ENABLED
diff --git a/libraries/AP_Vehicle/AP_Vehicle_config.h b/libraries/AP_Vehicle/AP_Vehicle_config.h
new file mode 100644
index 00000000000000..8cdfa764a05294
--- /dev/null
+++ b/libraries/AP_Vehicle/AP_Vehicle_config.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#ifndef AP_VEHICLE_ENABLED
+#define AP_VEHICLE_ENABLED 1
+#endif

From 6515df72f0473b8982f3d25bdade74f5d9df8be3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 11 Dec 2023 18:55:05 +1100
Subject: [PATCH 0092/1335] GCS_MAVLink: correct compilation when AP_Vehicle
 disabled

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 1e706b8b008038..f2fb1c5bb04c3e 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -71,6 +71,7 @@
 #include "MissionItemProtocol_Fence.h"
 
 #include <AP_Notify/AP_Notify.h>
+#include <AP_Vehicle/AP_Vehicle_config.h>
 
 #include <stdio.h>
 
@@ -656,7 +657,11 @@ void GCS_MAVLINK::send_mission_current(const class AP_Mission &mission, uint16_t
         num_commands -= 1;
     }
 
+#if AP_VEHICLE_ENABLED
     const uint8_t mission_mode = AP::vehicle()->current_mode_requires_mission() ? 1 : 0;
+#else
+    const uint8_t mission_mode = 0;
+#endif
 
     mavlink_msg_mission_current_send(
         chan,
@@ -2603,6 +2608,7 @@ void GCS_MAVLINK::handle_set_mode(const mavlink_message_t &msg)
 MAV_RESULT GCS_MAVLINK::_set_mode_common(const MAV_MODE _base_mode, const uint32_t _custom_mode)
 {
     // only accept custom modes because there is no easy mapping from Mavlink flight modes to AC flight modes
+#if AP_VEHICLE_ENABLED
     if (uint32_t(_base_mode) & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
         if (!AP::vehicle()->set_mode(_custom_mode, ModeReason::GCS_COMMAND)) {
             // often we should be returning DENIED rather than FAILED
@@ -2612,6 +2618,7 @@ MAV_RESULT GCS_MAVLINK::_set_mode_common(const MAV_MODE _base_mode, const uint32
         }
         return MAV_RESULT_ACCEPTED;
     }
+#endif
 
     if (_base_mode == (MAV_MODE)MAV_MODE_FLAG_DECODE_POSITION_SAFETY) {
         // set the safety switch position. Must be in a command by itself
@@ -3285,7 +3292,11 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_int_t &pac
     // when packet.param1 == 3 we reboot to hold in bootloader
     const bool hold_in_bootloader = is_equal(packet.param1, 3.0f);
 
+#if AP_VEHICLE_ENABLED
     AP::vehicle()->reboot(hold_in_bootloader);  // not expected to return
+#else
+    hal.scheduler->reboot(hold_in_bootloader);
+#endif
 
     return MAV_RESULT_FAILED;
 }
@@ -5629,10 +5640,12 @@ void GCS_MAVLINK::send_autopilot_state_for_gimbal_device() const
 
     // get vehicle earth-frame rotation rate targets
     Vector3f rate_ef_targets;
+#if AP_VEHICLE_ENABLED
     const AP_Vehicle *vehicle = AP::vehicle();
     if (vehicle != nullptr) {
         vehicle->get_rate_ef_targets(rate_ef_targets);
     }
+#endif
 
     // get estimator flags
     uint16_t est_status_flags = 0;

From 56cc78b8538487eaa1d47160e2e59d597292338b Mon Sep 17 00:00:00 2001
From: Abu Mohammad <taqwaisneeded@tutanota.com>
Date: Thu, 14 Dec 2023 10:41:16 +0300
Subject: [PATCH 0093/1335] Tools: added name to GIT_Success.txt

---
 Tools/GIT_Test/GIT_Success.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/GIT_Test/GIT_Success.txt b/Tools/GIT_Test/GIT_Success.txt
index 9f00eea02a121e..2b89570700cd59 100644
--- a/Tools/GIT_Test/GIT_Success.txt
+++ b/Tools/GIT_Test/GIT_Success.txt
@@ -178,3 +178,4 @@ seba czapnik
 Ramy Gad
 Matthew R. Cunningham
 prathap devendran (Tamil) india, 11-23
+Taqwaisneeded

From 61b3ad326dda41449bbd0f954cea126b19b3028a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 3 Dec 2023 11:36:18 +1100
Subject: [PATCH 0094/1335] AP_Scripting: added SCR_THD_PRIORITY parameter

this makes it possible to run lua scripts at higher priorities, which
makes real time lua scripts (such as IMU drivers) possible
---
 libraries/AP_Scripting/AP_Scripting.cpp | 31 ++++++++++++++++++++++++-
 libraries/AP_Scripting/AP_Scripting.h   | 13 +++++++++++
 2 files changed, 43 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/AP_Scripting.cpp b/libraries/AP_Scripting/AP_Scripting.cpp
index 82c6f220cbf789..1240c6e070b2cc 100644
--- a/libraries/AP_Scripting/AP_Scripting.cpp
+++ b/libraries/AP_Scripting/AP_Scripting.cpp
@@ -153,6 +153,14 @@ const AP_Param::GroupInfo AP_Scripting::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("RUN_CHECKSUM", 13, AP_Scripting, _required_running_checksum, -1),
 
+    // @Param: THD_PRIORITY
+    // @DisplayName: Scripting thread priority
+    // @Description: This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system.
+    // @Values: 0:Normal, 1:IO Priority, 2:Storage Priority, 3:UART Priority, 4:I2C Priority, 5:SPI Priority, 6:Timer Priority, 7:Main Priority, 8:Boost Priority
+    // @RebootRequired: True
+    // @User: Advanced
+    AP_GROUPINFO("THD_PRIORITY", 14, AP_Scripting, _thd_priority, uint8_t(ThreadPriority::NORMAL)),
+    
     AP_GROUPEND
 };
 
@@ -179,8 +187,29 @@ void AP_Scripting::init(void) {
         }
     }
 
+    AP_HAL::Scheduler::priority_base priority = AP_HAL::Scheduler::PRIORITY_SCRIPTING;
+    static const struct {
+        ThreadPriority scr_priority;
+        AP_HAL::Scheduler::priority_base hal_priority;
+    } priority_map[] = {
+        { ThreadPriority::NORMAL, AP_HAL::Scheduler::PRIORITY_SCRIPTING },
+        { ThreadPriority::IO, AP_HAL::Scheduler::PRIORITY_IO },
+        { ThreadPriority::STORAGE, AP_HAL::Scheduler::PRIORITY_STORAGE },
+        { ThreadPriority::UART, AP_HAL::Scheduler::PRIORITY_UART },
+        { ThreadPriority::I2C, AP_HAL::Scheduler::PRIORITY_I2C },
+        { ThreadPriority::SPI, AP_HAL::Scheduler::PRIORITY_SPI },
+        { ThreadPriority::TIMER, AP_HAL::Scheduler::PRIORITY_TIMER },
+        { ThreadPriority::MAIN, AP_HAL::Scheduler::PRIORITY_MAIN },
+        { ThreadPriority::BOOST, AP_HAL::Scheduler::PRIORITY_BOOST },
+    };
+    for (const auto &p : priority_map) {
+        if (p.scr_priority == _thd_priority) {
+            priority = p.hal_priority;
+        }
+    }
+
     if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Scripting::thread, void),
-                                      "Scripting", SCRIPTING_STACK_SIZE, AP_HAL::Scheduler::PRIORITY_SCRIPTING, 0)) {
+                                      "Scripting", SCRIPTING_STACK_SIZE, priority, 0)) {
         GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Scripting: %s", "failed to start");
         _thread_failed = true;
     }
diff --git a/libraries/AP_Scripting/AP_Scripting.h b/libraries/AP_Scripting/AP_Scripting.h
index 3e68fbbb3e16d2..158ad429ac3ebc 100644
--- a/libraries/AP_Scripting/AP_Scripting.h
+++ b/libraries/AP_Scripting/AP_Scripting.h
@@ -159,6 +159,18 @@ class AP_Scripting
     // The full range of uint32 integers cannot be represented by a float.
     const uint32_t checksum_param_mask = 0x007FFFFF;
 
+    enum class ThreadPriority : uint8_t {
+        NORMAL = 0,
+        IO = 1,
+        STORAGE = 2,
+        UART = 3,
+        I2C = 4,
+        SPI = 5,
+        TIMER = 6,
+        MAIN = 7,
+        BOOST = 8
+    };
+
     AP_Int8 _enable;
     AP_Int32 _script_vm_exec_count;
     AP_Int32 _script_heap_size;
@@ -167,6 +179,7 @@ class AP_Scripting
     AP_Int32 _required_loaded_checksum;
     AP_Int32 _required_running_checksum;
 
+    AP_Enum<ThreadPriority> _thd_priority;
 
     bool _thread_failed; // thread allocation failed
     bool _init_failed;  // true if memory allocation failed

From ddccc92e7dd92dbf28805ee0778ee355c066b323 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Dec 2023 08:59:18 +1100
Subject: [PATCH 0095/1335] AP_Math: added rfu_to_frd() method for Vector3

---
 libraries/AP_Math/vector3.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/libraries/AP_Math/vector3.h b/libraries/AP_Math/vector3.h
index 08f6337cef4d90..d4d3a1baa63cb2 100644
--- a/libraries/AP_Math/vector3.h
+++ b/libraries/AP_Math/vector3.h
@@ -281,6 +281,12 @@ class Vector3
         return Vector3<double>{x,y,z};
     }
 
+    // convert from right-front-up to front-right-down
+    // or ENU to NED
+    Vector3<T> rfu_to_frd() const {
+        return Vector3<T>{y,x,-z};
+    }
+
     // given a position p1 and a velocity v1 produce a vector
     // perpendicular to v1 maximising distance from p1.  If p1 is the
     // zero vector the return from the function will always be the

From ee1975d47a68e59556fc1f25184a8aaca32ed0ef Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Dec 2023 08:59:32 +1100
Subject: [PATCH 0096/1335] AP_Math: added tesla conversions

---
 libraries/AP_Math/definitions.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_Math/definitions.h b/libraries/AP_Math/definitions.h
index 024838a1c62c94..7317a19906e0b4 100644
--- a/libraries/AP_Math/definitions.h
+++ b/libraries/AP_Math/definitions.h
@@ -95,6 +95,9 @@ static const double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F));
 
 #define INCH_OF_H2O_TO_PASCAL 248.84f
 
+#define UTESLA_TO_MGAUSS   10.0f // uT to mGauss conversion
+#define NTESLA_TO_MGAUSS   0.01f // nT to mGauss conversion
+
 /*
   use AP_ prefix to prevent conflict with OS headers, such as NuttX
   clock.h

From 80730d6c02bebc5d36b520c80af757c977e60ce5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Dec 2023 08:59:51 +1100
Subject: [PATCH 0097/1335] AP_Compass: use tesla conversion from
 AP_Math/definitions.h

---
 libraries/AP_Compass/AP_Compass_RM3100.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/libraries/AP_Compass/AP_Compass_RM3100.cpp b/libraries/AP_Compass/AP_Compass_RM3100.cpp
index b191a6b52b7ca4..7e4fd7970b5819 100644
--- a/libraries/AP_Compass/AP_Compass_RM3100.cpp
+++ b/libraries/AP_Compass/AP_Compass_RM3100.cpp
@@ -61,7 +61,6 @@
 #define GAIN_CC50 20.0f   // LSB/uT
 #define GAIN_CC100 38.0f
 #define GAIN_CC200 75.0f
-#define UTESLA_TO_MGAUSS   10.0f // uT to mGauss conversion
 
 #define TMRC    0x94    // Update rate 150Hz
 #define CMM     0x71    // read 3 axes and set data ready if 3 axes are ready

From 376426a088f752dad3898643039cab592bd81422 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 16 Sep 2023 09:19:01 +1000
Subject: [PATCH 0098/1335] RC_Channel: added AUX function 112 for AHRS EKF
 type changes

---
 libraries/RC_Channel/RC_Channel.cpp | 10 ++++++++++
 libraries/RC_Channel/RC_Channel.h   |  1 +
 2 files changed, 11 insertions(+)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index fb85273f26eccb..32023fe9ab9199 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -207,6 +207,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
     // @Values{Plane}: 108:QRTL Mode
     // @Values{Copter}: 109:use Custom Controller
     // @Values{Copter, Rover, Plane, Blimp}:  110:KillIMU3
+    // @Values{Copter,Plane,Rover,Blimp,Sub,Tracker}: 112:SwitchExternalAHRS
     // @Values{Plane}: 150:CRUISE Mode
     // @Values{Copter}: 151:TURTLE Mode
     // @Values{Copter}: 152:SIMPLE heading reset
@@ -700,6 +701,7 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo
     case AUX_FUNC::CAMERA_MANUAL_FOCUS:
     case AUX_FUNC::CAMERA_AUTO_FOCUS:
     case AUX_FUNC::CAMERA_LENS:
+    case AUX_FUNC::AHRS_TYPE:
         run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
         break;
     default:
@@ -1613,6 +1615,14 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
         AP::ahrs().request_yaw_reset();
         break;
 
+    case AUX_FUNC::AHRS_TYPE: {
+#if HAL_NAVEKF3_AVAILABLE && HAL_EXTERNAL_AHRS_ENABLED
+        AP::ahrs().set_ekf_type(ch_flag==AuxSwitchPos::HIGH? 11 : 3);
+#endif
+        break;
+    }
+        
+
 #if HAL_TORQEEDO_ENABLED
     // clear torqeedo error
     case AUX_FUNC::TORQEEDO_CLEAR_ERR: {
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index bf9d70f5bcf4ed..fcf61047733450 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -216,6 +216,7 @@ class RC_Channel {
         CUSTOM_CONTROLLER =  109,  // use Custom Controller
         KILL_IMU3 =          110, // disable third IMU (for IMU failure testing)
         LOWEHEISER_STARTER = 111,  // allows for manually running starter
+        AHRS_TYPE =          112, // change AHRS_EKF_TYPE
 
         // if you add something here, make sure to update the documentation of the parameter in RC_Channel.cpp!
         // also, if you add an option >255, you will need to fix duplicate_options_exist

From cbc14d1fa5e9ece28277ea501cf4caa6cb5ec89e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 2 Dec 2023 08:59:27 +1100
Subject: [PATCH 0099/1335] AP_ExternalAHRS: align origin with AHRS origin

automatically set origin to AHRS origin. This means if on boot
external AHRS is not the primary then it will use the origin from the
active backend, preventing a jump on change of backends
---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index f75d6ac1d4fd7d..8d9881011106c2 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -27,6 +27,7 @@
 #include "AP_ExternalAHRS_MicroStrain7.h"
 
 #include <GCS_MAVLink/GCS.h>
+#include <AP_AHRS/AP_AHRS.h>
 
 extern const AP_HAL::HAL &hal;
 
@@ -242,6 +243,20 @@ void AP_ExternalAHRS::update(void)
     if (backend) {
         backend->update();
     }
+
+    /*
+      if backend has not supplied an origin and AHRS has an origin
+      then use that origin so we get a common origin for minimum
+      disturbance when switching backends
+     */
+    WITH_SEMAPHORE(state.sem);
+    if (!state.have_origin) {
+        Location origin;
+        if (AP::ahrs().get_origin(origin)) {
+            state.origin = origin;
+            state.have_origin = true;
+        }
+    }
 }
 
 // Get model/type name

From 3954425f773b87bed88b303fe82f44a27acba3d9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 2 Dec 2023 11:52:50 +1100
Subject: [PATCH 0100/1335] AP_ExternalAHRS: allow backends to set default
 sensor set

---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.h         | 5 +++++
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h | 5 +++++
 2 files changed, 10 insertions(+)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
index c825b0f609b6b8..cdd2d63fdd285e 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -175,6 +175,11 @@ class AP_ExternalAHRS {
     bool has_sensor(AvailableSensor sensor) const {
         return (uint16_t(sensors.get()) & uint16_t(sensor)) != 0;
     }
+
+    // set default of EAHRS_SENSORS
+    void set_default_sensors(uint16_t _sensors) {
+        sensors.set_default(_sensors);
+    }
 };
 
 namespace AP {
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h
index 07436b7ae43888..02eb1b5319b7d0 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h
@@ -53,6 +53,11 @@ class AP_ExternalAHRS_backend {
     uint16_t get_rate(void) const;
     bool option_is_set(AP_ExternalAHRS::OPTIONS option) const;
 
+    // set default of EAHRS_SENSORS
+    void set_default_sensors(uint16_t sensors) {
+        frontend.set_default_sensors(sensors);
+    }
+    
 private:
     AP_ExternalAHRS &frontend;
 };

From 771dfdf8262a712a70fd5dfacc768ae9b3a8db8e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 2 Dec 2023 12:10:08 +1100
Subject: [PATCH 0101/1335] AP_ExternalAHRS: added location extrapolation

this copes better with slow backends
---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp       | 13 +++++++++++++
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.h         |  2 ++
 .../AP_ExternalAHRS_MicroStrain5.cpp                |  1 +
 .../AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp   |  1 +
 4 files changed, 17 insertions(+)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index 8d9881011106c2..a18659028caa6b 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -167,6 +167,19 @@ bool AP_ExternalAHRS::get_location(Location &loc)
     }
     WITH_SEMAPHORE(state.sem);
     loc = state.location;
+
+    if (state.last_location_update_us != 0 &&
+        state.have_velocity) {
+        // extrapolate position based on velocity to cope with slow backends
+        const float dt = (AP_HAL::micros() - state.last_location_update_us)*1.0e-6;
+        if (dt < 1) {
+            // only extrapolate for 1s max
+            Vector3p ofs = state.velocity.topostype();
+            ofs *= dt;
+            loc.offset(ofs);
+        }
+    }
+
     return true;
 }
 
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
index cdd2d63fdd285e..da36e5d706d1d5 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -96,6 +96,8 @@ class AP_ExternalAHRS {
         bool have_origin;
         bool have_location;
         bool have_velocity;
+
+        uint32_t last_location_update_us;
     } state;
 
     // accessors for AP_AHRS
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.cpp
index 141b4ff857e7c9..ed6304429c28d8 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain5.cpp
@@ -163,6 +163,7 @@ void AP_ExternalAHRS_MicroStrain5::post_filter() const
 
         state.location = Location{filter_data.lat, filter_data.lon, gnss_data[gnss_instance].msl_altitude, Location::AltFrame::ABSOLUTE};
         state.have_location = true;
+        state.last_location_update_us = AP_HAL::micros();
     }
 
     AP_ExternalAHRS::gps_data_message_t gps {
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
index 8e8515b70aa17d..13acaf4fc993c3 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
@@ -475,6 +475,7 @@ void AP_ExternalAHRS_VectorNav::process_packet1(const uint8_t *b)
                                   int32_t(pkt1.positionLLA[1] * 1.0e7),
                                   int32_t(pkt1.positionLLA[2] * 1.0e2),
                                   Location::AltFrame::ABSOLUTE};
+        state.last_location_update_us = AP_HAL::micros();
         state.have_location = true;
     }
 

From bdab1054d6e722981aa982b86e4a9f1639d799d4 Mon Sep 17 00:00:00 2001
From: "patrick.wiltshire956@gmail.com" <patrick.wiltshire956@gmail.com>
Date: Sat, 18 Nov 2023 16:44:06 +1100
Subject: [PATCH 0102/1335] AP_AHRS: added set_ekf_type() and DCM logging

---
 libraries/AP_AHRS/AP_AHRS.h       |  6 ++++++
 libraries/AP_AHRS/AP_AHRS_DCM.cpp | 16 ++++++++++++++++
 libraries/AP_AHRS/AP_AHRS_DCM.h   |  2 ++
 3 files changed, 24 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 0f5c985eeb1a70..25881d2f11b1b0 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -421,6 +421,11 @@ class AP_AHRS {
         return _ekf_type;
     }
 
+    // set the selected ekf type, for RC aux control
+    void set_ekf_type(uint8_t ahrs_type) {
+        _ekf_type.set(ahrs_type);
+    }
+    
     // these are only out here so vehicles can reference them for parameters
 #if HAL_NAVEKF2_AVAILABLE
     NavEKF2 EKF2;
@@ -700,6 +705,7 @@ class AP_AHRS {
         EXTERNAL = 11,
 #endif
     };
+
     EKFType active_EKF_type(void) const { return state.active_EKF; }
 
     bool always_use_EKF() const {
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index 5dd7f681ba1951..b26bdeb472714a 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -101,6 +101,22 @@ AP_AHRS_DCM::update()
 
     // remember the last origin for fallback support
     IGNORE_RETURN(AP::ahrs().get_origin(last_origin));
+
+#if HAL_LOGGING_ENABLED
+    const uint32_t now_ms = AP_HAL::millis();
+    if (now_ms - last_log_ms >= 100) {
+        // log DCM at 10Hz
+        last_log_ms = now_ms;
+        AP::logger().WriteStreaming("DCM", "TimeUS,Roll,Pitch,Yaw",
+                                    "sddd",
+                                    "F000",
+                                    "Qfff",
+                                    AP_HAL::micros64(),
+                                    degrees(roll),
+                                    degrees(pitch),
+                                    wrap_360(degrees(yaw)));
+    }
+#endif // HAL_LOGGING_ENABLED
 }
 
 void AP_AHRS_DCM::get_results(AP_AHRS_Backend::Estimates &results)
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index 690ef22810bed0..0d3dedc5b54d96 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -286,6 +286,8 @@ class AP_AHRS_DCM : public AP_AHRS_Backend {
     // pre-calculated trig cache:
     float _sin_yaw;
     float _cos_yaw;
+
+    uint32_t last_log_ms;
 };
 
 #endif  // AP_AHRS_DCM_ENABLED

From 7102205be3f20739bf55eb42c4177305f881fed0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Dec 2023 09:00:05 +1100
Subject: [PATCH 0103/1335] AP_Math: added crc_sum_of_bytes_16()

---
 libraries/AP_Math/crc.cpp | 14 ++++++++++----
 libraries/AP_Math/crc.h   |  5 ++++-
 2 files changed, 14 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_Math/crc.cpp b/libraries/AP_Math/crc.cpp
index 985a02c290baa4..de81543b485ccd 100644
--- a/libraries/AP_Math/crc.cpp
+++ b/libraries/AP_Math/crc.cpp
@@ -599,13 +599,19 @@ uint8_t parity(uint8_t byte)
     return p;
 }
 
-// sums the bytes in the supplied buffer, returns that sum mod 256
-// (i.e. shoved into a uint8_t)
-uint8_t crc_sum_of_bytes(uint8_t *data, uint16_t count)
+// sums the bytes in the supplied buffer, returns that sum mod 0xFFFF
+uint16_t crc_sum_of_bytes_16(const uint8_t *data, uint16_t count)
 {
-    uint8_t ret = 0;
+    uint16_t ret = 0;
     for (uint32_t i=0; i<count; i++) {
         ret += data[i];
     }
     return ret;
 }
+
+// sums the bytes in the supplied buffer, returns that sum mod 256
+// (i.e. shoved into a uint8_t)
+uint8_t crc_sum_of_bytes(const uint8_t *data, uint16_t count)
+{
+    return crc_sum_of_bytes_16(data, count) & 0xFF;
+}
diff --git a/libraries/AP_Math/crc.h b/libraries/AP_Math/crc.h
index e0c024bc158467..5aa39e70a89e23 100644
--- a/libraries/AP_Math/crc.h
+++ b/libraries/AP_Math/crc.h
@@ -66,4 +66,7 @@ uint8_t parity(uint8_t byte);
 
 // sums the bytes in the supplied buffer, returns that sum mod 256
 // (i.e. shoved into a uint8_t)
-uint8_t crc_sum_of_bytes(uint8_t *data, uint16_t count);
+uint8_t crc_sum_of_bytes(const uint8_t *data, uint16_t count);
+
+// sums the bytes in the supplied buffer, returns that sum mod 0xFFFF
+uint16_t crc_sum_of_bytes_16(const uint8_t *data, uint16_t count);

From 54ffdc57f22b366f52b7babf93dafa3beb89a9eb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Dec 2023 13:57:44 +1100
Subject: [PATCH 0104/1335] AP_Airspeed: support external AHRS airspeed sensor

---
 libraries/AP_Airspeed/AP_Airspeed.cpp         | 24 ++++++++
 libraries/AP_Airspeed/AP_Airspeed.h           |  8 +++
 libraries/AP_Airspeed/AP_Airspeed_Backend.h   |  3 +
 .../AP_Airspeed/AP_Airspeed_External.cpp      | 58 +++++++++++++++++++
 libraries/AP_Airspeed/AP_Airspeed_External.h  | 38 ++++++++++++
 libraries/AP_Airspeed/AP_Airspeed_Params.cpp  |  2 +-
 libraries/AP_Airspeed/AP_Airspeed_config.h    |  5 ++
 7 files changed, 137 insertions(+), 1 deletion(-)
 create mode 100644 libraries/AP_Airspeed/AP_Airspeed_External.cpp
 create mode 100644 libraries/AP_Airspeed/AP_Airspeed_External.h

diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp
index a13480b531c7e9..65c0b7b2911312 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed.cpp
@@ -52,6 +52,7 @@
 #include "AP_Airspeed_DroneCAN.h"
 #include "AP_Airspeed_NMEA.h"
 #include "AP_Airspeed_MSP.h"
+#include "AP_Airspeed_External.h"
 #include "AP_Airspeed_SITL.h"
 extern const AP_HAL::HAL &hal;
 
@@ -433,6 +434,11 @@ void AP_Airspeed::allocate()
         case TYPE_MSP:
 #if AP_AIRSPEED_MSP_ENABLED
             sensor[i] = new AP_Airspeed_MSP(*this, i, 0);
+#endif
+            break;
+        case TYPE_EXTERNAL:
+#if AP_AIRSPEED_EXTERNAL_ENABLED
+            sensor[i] = new AP_Airspeed_External(*this, i);
 #endif
             break;
         }
@@ -731,6 +737,24 @@ void AP_Airspeed::handle_msp(const MSP::msp_airspeed_data_message_t &pkt)
 }
 #endif 
 
+#if AP_AIRSPEED_EXTERNAL_ENABLED
+/*
+  handle airspeed airspeed data
+ */
+void AP_Airspeed::handle_external(const AP_ExternalAHRS::airspeed_data_message_t &pkt)
+{
+    if (!lib_enabled()) {
+        return;
+    }
+
+    for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
+        if (param[i].type == TYPE_EXTERNAL && sensor[i]) {
+            sensor[i]->handle_external(pkt);
+        }
+    }
+}
+#endif 
+
 // @LoggerMessage: HYGR
 // @Description: Hygrometer data
 // @Field: TimeUS: Time since system startup
diff --git a/libraries/AP_Airspeed/AP_Airspeed.h b/libraries/AP_Airspeed/AP_Airspeed.h
index 5574f807557a67..8f6666f62b822c 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.h
+++ b/libraries/AP_Airspeed/AP_Airspeed.h
@@ -10,6 +10,9 @@
 #if AP_AIRSPEED_MSP_ENABLED
 #include <AP_MSP/msp.h>
 #endif
+#if AP_AIRSPEED_EXTERNAL_ENABLED
+#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
+#endif
 
 class AP_Airspeed_Backend;
 
@@ -187,6 +190,7 @@ class AP_Airspeed
         TYPE_NMEA_WATER=13,
         TYPE_MSP=14,
         TYPE_I2C_ASP5033=15,
+        TYPE_EXTERNAL=16,
         TYPE_SITL=100,
     };
 
@@ -208,6 +212,10 @@ class AP_Airspeed
     void handle_msp(const MSP::msp_airspeed_data_message_t &pkt);
 #endif
 
+#if AP_AIRSPEED_EXTERNAL_ENABLED
+    void handle_external(const AP_ExternalAHRS::airspeed_data_message_t &pkt);
+#endif
+    
     enum class CalibrationState {
         NOT_STARTED,
         IN_PROGRESS,
diff --git a/libraries/AP_Airspeed/AP_Airspeed_Backend.h b/libraries/AP_Airspeed/AP_Airspeed_Backend.h
index 58ca025883a7aa..bdb4dded5c562c 100644
--- a/libraries/AP_Airspeed/AP_Airspeed_Backend.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_Backend.h
@@ -49,6 +49,9 @@ class AP_Airspeed_Backend {
     virtual bool get_airspeed(float& airspeed) {return false;}
 
     virtual void handle_msp(const MSP::msp_airspeed_data_message_t &pkt) {}
+#if AP_AIRSPEED_EXTERNAL_ENABLED
+    virtual void handle_external(const AP_ExternalAHRS::airspeed_data_message_t &pkt) {}
+#endif
 
 #if AP_AIRSPEED_HYGROMETER_ENABLE
     // optional hygrometer support
diff --git a/libraries/AP_Airspeed/AP_Airspeed_External.cpp b/libraries/AP_Airspeed/AP_Airspeed_External.cpp
new file mode 100644
index 00000000000000..5fc709f069bc9b
--- /dev/null
+++ b/libraries/AP_Airspeed/AP_Airspeed_External.cpp
@@ -0,0 +1,58 @@
+#include "AP_Airspeed_External.h"
+
+#if AP_AIRSPEED_EXTERNAL_ENABLED
+
+AP_Airspeed_External::AP_Airspeed_External(AP_Airspeed &_frontend, uint8_t _instance) :
+    AP_Airspeed_Backend(_frontend, _instance)
+{
+    set_bus_id(AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SERIAL,0,_instance,0));
+}
+
+// return the current differential_pressure in Pascal
+bool AP_Airspeed_External::get_differential_pressure(float &pressure)
+{
+    WITH_SEMAPHORE(sem);
+    if (press_count == 0) {
+        return false;
+    }
+    pressure = sum_pressure/press_count;
+    press_count = 0;
+    sum_pressure = 0;
+    return true;
+}
+
+// get last temperature
+bool AP_Airspeed_External::get_temperature(float &temperature)
+{
+    WITH_SEMAPHORE(sem);
+    if (temperature_count == 0) {
+        return false;
+    }
+    temperature = sum_temperature/temperature_count;
+    temperature_count = 0;
+    sum_temperature = 0;
+    return true;
+}
+
+void AP_Airspeed_External::handle_external(const AP_ExternalAHRS::airspeed_data_message_t &pkt)
+{
+    WITH_SEMAPHORE(sem);
+
+    sum_pressure += pkt.differential_pressure;
+    press_count++;
+    if (press_count > 100) {
+        // prevent overflow
+        sum_pressure /= 2;
+        press_count /= 2;
+    }
+
+    sum_temperature += pkt.temperature;
+    temperature_count++;
+    if (temperature_count > 100) {
+        // prevent overflow
+        sum_temperature /= 2;
+        temperature_count /= 2;
+    }
+}
+
+#endif // AP_AIRSPEED_EXTERNAL_ENABLED
diff --git a/libraries/AP_Airspeed/AP_Airspeed_External.h b/libraries/AP_Airspeed/AP_Airspeed_External.h
new file mode 100644
index 00000000000000..cd27d757f2ce24
--- /dev/null
+++ b/libraries/AP_Airspeed/AP_Airspeed_External.h
@@ -0,0 +1,38 @@
+/*
+  external AHRS airspeed backend
+ */
+#pragma once
+
+#include "AP_Airspeed_config.h"
+
+#if AP_AIRSPEED_EXTERNAL_ENABLED
+
+#include "AP_Airspeed_Backend.h"
+#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
+
+class AP_Airspeed_External : public AP_Airspeed_Backend
+{
+public:
+    AP_Airspeed_External(AP_Airspeed &airspeed, uint8_t instance);
+
+    bool init(void) override {
+        return true;
+    }
+
+    void handle_external(const AP_ExternalAHRS::airspeed_data_message_t &pkt) override;
+
+    // return the current differential_pressure in Pascal
+    bool get_differential_pressure(float &pressure) override;
+
+    // temperature not available via analog backend
+    bool get_temperature(float &temperature) override;
+    
+private:
+    float sum_pressure;
+    uint8_t press_count;
+    float sum_temperature;
+    uint8_t temperature_count;
+};
+
+#endif // AP_AIRSPEED_EXTERNAL_ENABLED
+
diff --git a/libraries/AP_Airspeed/AP_Airspeed_Params.cpp b/libraries/AP_Airspeed/AP_Airspeed_Params.cpp
index 37c6b69faa262c..749fa9d6121641 100644
--- a/libraries/AP_Airspeed/AP_Airspeed_Params.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_Params.cpp
@@ -46,7 +46,7 @@ const AP_Param::GroupInfo AP_Airspeed_Params::var_info[] = {
     // @Param: TYPE
     // @DisplayName: Airspeed type
     // @Description: Type of airspeed sensor
-    // @Values: 0:None,1:I2C-MS4525D0,2:Analog,3:I2C-MS5525,4:I2C-MS5525 (0x76),5:I2C-MS5525 (0x77),6:I2C-SDP3X,7:I2C-DLVR-5in,8:DroneCAN,9:I2C-DLVR-10in,10:I2C-DLVR-20in,11:I2C-DLVR-30in,12:I2C-DLVR-60in,13:NMEA water speed,14:MSP,15:ASP5033,100:SITL
+    // @Values: 0:None,1:I2C-MS4525D0,2:Analog,3:I2C-MS5525,4:I2C-MS5525 (0x76),5:I2C-MS5525 (0x77),6:I2C-SDP3X,7:I2C-DLVR-5in,8:DroneCAN,9:I2C-DLVR-10in,10:I2C-DLVR-20in,11:I2C-DLVR-30in,12:I2C-DLVR-60in,13:NMEA water speed,14:MSP,15:ASP5033,16:ExternalAHRS,100:SITL
     // @User: Standard
     AP_GROUPINFO_FLAGS("TYPE", 1, AP_Airspeed_Params, type, 0, AP_PARAM_FLAG_ENABLE),
 
diff --git a/libraries/AP_Airspeed/AP_Airspeed_config.h b/libraries/AP_Airspeed/AP_Airspeed_config.h
index 4ba2e4179388a2..f12db5cb16c4e9 100644
--- a/libraries/AP_Airspeed/AP_Airspeed_config.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_config.h
@@ -3,6 +3,7 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_MSP/AP_MSP_config.h>
+#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
 
 #ifndef AP_AIRSPEED_ENABLED
 #define AP_AIRSPEED_ENABLED 1
@@ -66,3 +67,7 @@
 #ifndef AP_AIRSPEED_HYGROMETER_ENABLE
 #define AP_AIRSPEED_HYGROMETER_ENABLE (AP_AIRSPEED_ENABLED && BOARD_FLASH_SIZE > 1024)
 #endif
+
+#ifndef AP_AIRSPEED_EXTERNAL_ENABLED
+#define AP_AIRSPEED_EXTERNAL_ENABLED AP_AIRSPEED_ENABLED && HAL_EXTERNAL_AHRS_ENABLED
+#endif

From a17438d52cfa2918c0fdd4087f98c83fb6d9d82d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Dec 2023 15:57:21 +1100
Subject: [PATCH 0105/1335] SITL: added InertialLabs simulator

---
 libraries/SITL/SIM_GPS.h            |  15 ++--
 libraries/SITL/SIM_InertialLabs.cpp | 124 ++++++++++++++++++++++++++++
 libraries/SITL/SIM_InertialLabs.h   | 123 +++++++++++++++++++++++++++
 3 files changed, 255 insertions(+), 7 deletions(-)
 create mode 100644 libraries/SITL/SIM_InertialLabs.cpp
 create mode 100644 libraries/SITL/SIM_InertialLabs.h

diff --git a/libraries/SITL/SIM_GPS.h b/libraries/SITL/SIM_GPS.h
index 63e4b99441c85d..334ea2e0a077e7 100644
--- a/libraries/SITL/SIM_GPS.h
+++ b/libraries/SITL/SIM_GPS.h
@@ -74,13 +74,6 @@ class GPS_Backend {
     virtual void update_read();
     // writing fix information to autopilot (e.g.)
     virtual void publish(const GPS_Data *d) = 0;
-    
-protected:
-
-    uint8_t instance;
-    GPS &front;
-
-    class SIM *_sitl;
 
     struct GPS_TOW {
         // Number of weeks since midnight 5-6 January 1980
@@ -90,6 +83,14 @@ class GPS_Backend {
     };
 
     static GPS_TOW gps_time();
+
+protected:
+
+    uint8_t instance;
+    GPS &front;
+
+    class SIM *_sitl;
+
     static void simulation_timeval(struct timeval *tv);
 };
 
diff --git a/libraries/SITL/SIM_InertialLabs.cpp b/libraries/SITL/SIM_InertialLabs.cpp
new file mode 100644
index 00000000000000..728c7934f9cf7c
--- /dev/null
+++ b/libraries/SITL/SIM_InertialLabs.cpp
@@ -0,0 +1,124 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  simulate InertialLabs external AHRS
+*/
+#include "SIM_InertialLabs.h"
+#include <GCS_MAVLink/GCS.h>
+#include "SIM_GPS.h"
+
+using namespace SITL;
+
+InertialLabs::InertialLabs() : SerialDevice::SerialDevice()
+{
+}
+
+void InertialLabs::send_packet(void)
+{
+    const auto &fdm = _sitl->state;
+
+    pkt.msg_len = sizeof(pkt)-2;
+
+    pkt.accel_data_hr.x = (fdm.yAccel * 1.0e6)/GRAVITY_MSS;
+    pkt.accel_data_hr.y = (fdm.xAccel * 1.0e6)/GRAVITY_MSS;
+    pkt.accel_data_hr.z = (-fdm.zAccel * 1.0e6)/GRAVITY_MSS;
+
+    pkt.gyro_data_hr.y = fdm.rollRate*1.0e5;
+    pkt.gyro_data_hr.x = fdm.pitchRate*1.0e5;
+    pkt.gyro_data_hr.z = -fdm.yawRate*1.0e5;
+
+    float sigma, delta, theta;
+    AP_Baro::SimpleAtmosphere((fdm.altitude+rand_float()*0.25) * 0.001, sigma, delta, theta);
+    pkt.baro_data.pressure_pa2 = SSL_AIR_PRESSURE * delta * 0.5;
+    pkt.baro_data.baro_alt = fdm.altitude;
+    pkt.temperature = KELVIN_TO_C(SSL_AIR_TEMPERATURE * theta);
+
+    pkt.mag_data.x = (fdm.bodyMagField.y / NTESLA_TO_MGAUSS)*0.1;
+    pkt.mag_data.y = (fdm.bodyMagField.x / NTESLA_TO_MGAUSS)*0.1;
+    pkt.mag_data.z = (-fdm.bodyMagField.z / NTESLA_TO_MGAUSS)*0.1;
+
+    pkt.orientation_angles.roll = fdm.rollDeg*100;
+    pkt.orientation_angles.pitch = fdm.pitchDeg*100;
+    pkt.orientation_angles.yaw = fdm.yawDeg*100;
+
+    pkt.velocity.x = fdm.speedE*100;
+    pkt.velocity.y = fdm.speedN*100;
+    pkt.velocity.z = -fdm.speedD*100;
+
+    pkt.position.lat = fdm.latitude*1e7;
+    pkt.position.lon = fdm.longitude*1e7;
+    pkt.position.alt = fdm.altitude*1e2;
+
+    pkt.kf_vel_covariance.x = 10;
+    pkt.kf_vel_covariance.z = 10;
+    pkt.kf_vel_covariance.z = 10;
+
+    pkt.kf_pos_covariance.x = 20;
+    pkt.kf_pos_covariance.z = 20;
+    pkt.kf_pos_covariance.z = 20;
+
+    const auto gps_tow = GPS_Backend::gps_time();
+
+    pkt.gps_ins_time_ms = gps_tow.ms;
+
+    pkt.gnss_new_data = 0;
+
+    if (packets_sent % gps_frequency == 0) {
+        // update GPS data at 5Hz
+        pkt.gps_week = gps_tow.week;
+        pkt.gnss_pos_timestamp = gps_tow.ms;
+        pkt.gnss_new_data = 3;
+        pkt.gps_position.lat = pkt.position.lat;
+        pkt.gps_position.lon = pkt.position.lon;
+        pkt.gps_position.alt = pkt.position.alt;
+
+        pkt.num_sats = 32;
+        pkt.gnss_vel_track.hor_speed = norm(fdm.speedN,fdm.speedE)*100;
+        Vector2d track{fdm.speedN,fdm.speedE};
+        pkt.gnss_vel_track.track_over_ground = wrap_360(degrees(track.angle()))*100;
+        pkt.gnss_vel_track.ver_speed = -fdm.speedD*100;
+
+        pkt.gnss_extended_info.fix_type = 2;
+    }
+
+    pkt.differential_pressure = 0.5*sq(fdm.airspeed+fabsf(rand_float()*0.25))*1.0e4;
+    pkt.supply_voltage = 12.3*100;
+    pkt.temperature = 23.4*10;
+
+    const uint8_t *buffer = (const uint8_t *)&pkt;
+    pkt.crc = crc_sum_of_bytes_16(&buffer[2], sizeof(pkt)-4);
+
+    write_to_autopilot((char *)&pkt, sizeof(pkt));
+
+    packets_sent++;
+}
+
+
+/*
+  send InertialLabs data
+ */
+void InertialLabs::update(void)
+{
+    if (!init_sitl_pointer()) {
+        return;
+    }
+    const uint32_t us_between_packets = 5000; // 200Hz
+    const uint32_t now = AP_HAL::micros();
+    if (now - last_pkt_us >= us_between_packets) {
+        last_pkt_us = now;
+        send_packet();
+    }
+
+}
diff --git a/libraries/SITL/SIM_InertialLabs.h b/libraries/SITL/SIM_InertialLabs.h
new file mode 100644
index 00000000000000..448d5bf48bd192
--- /dev/null
+++ b/libraries/SITL/SIM_InertialLabs.h
@@ -0,0 +1,123 @@
+//usage:
+//PARAMS:
+// param set AHRS_EKF_TYPE 11
+// param set EAHRS_TYPE 5
+// param set SERIAL4_PROTOCOL 36
+// param set SERIAL4_BAUD 460800
+// sim_vehicle.py -v ArduPlane -D --console --map -A --uartE=sim:ILabs
+#pragma once
+
+#include "SIM_Aircraft.h"
+
+#include <SITL/SITL.h>
+#include "SIM_SerialDevice.h"
+
+namespace SITL
+{
+
+class InertialLabs : public SerialDevice
+{
+public:
+
+    InertialLabs();
+
+    // update state
+    void update(void);
+
+private:
+    void send_packet(void);
+
+    struct PACKED vec3_16_t {
+        int16_t x,y,z;
+    };
+    struct PACKED vec3_32_t {
+        int32_t x,y,z;
+    };
+    struct PACKED vec3_u8_t {
+        uint8_t x,y,z;
+    };
+    struct PACKED vec3_u16_t {
+        uint16_t x,y,z;
+    };
+
+    struct gnss_extended_info_t {
+        uint8_t fix_type;
+        uint8_t spoofing_status;
+    };
+
+    struct gnss_info_short_t {
+        uint8_t info1;
+        uint8_t info2;
+    };
+
+    struct PACKED ILabsPacket {
+        uint16_t magic = 0x55AA;
+        uint8_t msg_type = 1;
+        uint8_t msg_id = 0x95;
+        uint16_t msg_len; // total packet length-2
+
+        // send Table4, 27 messages
+        uint8_t num_messages = 27;
+        uint8_t messages[27] = {
+            0x01, 0x3C, 0x23, 0x21, 0x25, 0x24, 0x07, 0x12, 0x10, 0x58, 0x57, 0x53, 0x4a,
+            0x3b, 0x30, 0x32, 0x3e, 0x36, 0x41, 0xc0, 0x28, 0x86, 0x8a, 0x8d, 0x50,
+            0x52, 0x5a
+        };
+        uint32_t gps_ins_time_ms; // ms since start of GPS week for IMU data
+        uint16_t gps_week;
+        vec3_32_t accel_data_hr; // g * 1e6
+        vec3_32_t gyro_data_hr; // deg/s * 1e5
+        struct PACKED {
+            uint16_t pressure_pa2; // Pascals/2
+            int32_t baro_alt; // meters*100
+        } baro_data;
+        vec3_16_t mag_data; // nT/10
+        struct PACKED {
+            int16_t yaw; // deg*100
+            int16_t pitch; // deg*100
+            int16_t roll; // deg*100
+        } orientation_angles; // 321 euler order
+        vec3_32_t velocity; // m/s * 100
+        struct PACKED {
+            int32_t lat; // deg*1e7
+            int32_t lon; // deg*1e7
+            int32_t alt; // m*100, AMSL
+        } position;
+        vec3_u8_t kf_vel_covariance; // mm/s
+        vec3_u16_t kf_pos_covariance;
+        uint16_t unit_status;
+        gnss_extended_info_t gnss_extended_info;
+        uint8_t num_sats;
+        struct PACKED {
+            int32_t lat; // deg*1e7
+            int32_t lon; // deg*1e7
+            int32_t alt; // m*100, AMSL
+        } gps_position;
+        struct PACKED {
+            int32_t hor_speed; // m/s*100
+            uint16_t track_over_ground; // deg*100
+            int32_t ver_speed; // m/s*100
+        } gnss_vel_track;
+        uint32_t gnss_pos_timestamp; // ms
+        gnss_info_short_t gnss_info_short;
+        uint8_t gnss_new_data;
+        uint8_t gnss_jam_status;
+        int32_t differential_pressure; // mbar*1e4
+        int16_t true_airspeed; // m/s*100
+        vec3_16_t wind_speed; // m/s*100
+        uint16_t air_data_status;
+        uint16_t supply_voltage; // V*100
+        int16_t temperature; // degC*10
+        uint16_t unit_status2;
+        uint16_t crc;
+    } pkt;
+
+    uint32_t last_pkt_us;
+    const uint16_t pkt_rate_hz = 200;
+    const uint16_t gps_rate_hz = 10;
+    const uint16_t gps_frequency = pkt_rate_hz / gps_rate_hz;
+    uint32_t packets_sent;
+};
+
+}
+

From 48ab76d06eedc32dc2ae748fa6ca6aa22603d27e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Dec 2023 15:57:37 +1100
Subject: [PATCH 0106/1335] AP_HAL: added InertialLabs simulator

---
 libraries/AP_HAL/SIMState.cpp | 3 +++
 libraries/AP_HAL/SIMState.h   | 4 ++++
 2 files changed, 7 insertions(+)

diff --git a/libraries/AP_HAL/SIMState.cpp b/libraries/AP_HAL/SIMState.cpp
index 9a270445abf71c..b7c562f3b47d80 100644
--- a/libraries/AP_HAL/SIMState.cpp
+++ b/libraries/AP_HAL/SIMState.cpp
@@ -230,6 +230,9 @@ void SIMState::fdm_input_local(void)
     if (microstrain5 != nullptr) {
         microstrain5->update();
     }
+    if (inertiallabs != nullptr) {
+        inertiallabs->update();
+    }
 
 #if HAL_SIM_AIS_ENABLED
     if (ais != nullptr) {
diff --git a/libraries/AP_HAL/SIMState.h b/libraries/AP_HAL/SIMState.h
index 41505a6263d905..4c8350371a70b0 100644
--- a/libraries/AP_HAL/SIMState.h
+++ b/libraries/AP_HAL/SIMState.h
@@ -30,6 +30,7 @@
 #include <SITL/SIM_RF_GYUS42v2.h>
 #include <SITL/SIM_VectorNav.h>
 #include <SITL/SIM_MicroStrain.h>
+#include <SITL/SIM_InertialLabs.h>
 #include <SITL/SIM_AIS.h>
 #include <SITL/SIM_GPS.h>
 
@@ -198,6 +199,9 @@ class AP_HAL::SIMState {
     // simulated MicroStrain Series 7 system
     SITL::MicroStrain7 *microstrain7;
 
+    // simulated InertialLabs INS-U
+    SITL::InertialLabs *inertiallabs;
+    
 #if HAL_SIM_JSON_MASTER_ENABLED
     // Ride along instances via JSON SITL backend
     SITL::JSON_Master ride_along;

From 38960a3db2a3dd976deb2c0020d538057ffdf746 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Dec 2023 15:57:51 +1100
Subject: [PATCH 0107/1335] HAL_SITL: added InertialLabs simulator

---
 libraries/AP_HAL_SITL/SITL_State_common.cpp | 11 +++++++++++
 libraries/AP_HAL_SITL/SITL_State_common.h   |  4 ++++
 2 files changed, 15 insertions(+)

diff --git a/libraries/AP_HAL_SITL/SITL_State_common.cpp b/libraries/AP_HAL_SITL/SITL_State_common.cpp
index 718d80537e182e..f05bbf20b1fc79 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State_common.cpp
@@ -276,6 +276,14 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
         }
         microstrain7 = new SITL::MicroStrain7();
         return microstrain7;
+
+    } else if (streq(name, "ILabs")) {
+        if (inertiallabs != nullptr) {
+            AP_HAL::panic("Only one InertialLabs INS at a time");
+        }
+        inertiallabs = new SITL::InertialLabs();
+        return inertiallabs;
+
 #if HAL_SIM_AIS_ENABLED
     } else if (streq(name, "AIS")) {
         if (ais != nullptr) {
@@ -445,6 +453,9 @@ void SITL_State_Common::sim_update(void)
     if (microstrain7 != nullptr) {
         microstrain7->update();
     }
+    if (inertiallabs != nullptr) {
+        inertiallabs->update();
+    }
 
 #if HAL_SIM_AIS_ENABLED
     if (ais != nullptr) {
diff --git a/libraries/AP_HAL_SITL/SITL_State_common.h b/libraries/AP_HAL_SITL/SITL_State_common.h
index 3a2d722fc5ebde..5d5ea6999db603 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.h
+++ b/libraries/AP_HAL_SITL/SITL_State_common.h
@@ -34,6 +34,7 @@
 #include <SITL/SIM_RF_GYUS42v2.h>
 #include <SITL/SIM_VectorNav.h>
 #include <SITL/SIM_MicroStrain.h>
+#include <SITL/SIM_InertialLabs.h>
 #include <SITL/SIM_AIS.h>
 #include <SITL/SIM_GPS.h>
 
@@ -203,6 +204,9 @@ class HALSITL::SITL_State_Common {
     // simulated MicroStrain system
     SITL::MicroStrain7 *microstrain7;
 
+    // simulated InertialLabs INS
+    SITL::InertialLabs *inertiallabs;
+    
 #if HAL_SIM_JSON_MASTER_ENABLED
     // Ride along instances via JSON SITL backend
     SITL::JSON_Master ride_along;

From 59ec0a6b56c044fcbd77a63ccbce04d5f8a5d7be Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Dec 2023 15:59:28 +1100
Subject: [PATCH 0108/1335] Tools: added test for InertialLabs EAHRS

---
 Tools/autotest/ArduPlane_Tests/InertialLabsEAHRS/ap1.txt | 7 +++++++
 Tools/autotest/arduplane.py                              | 5 +++++
 2 files changed, 12 insertions(+)
 create mode 100644 Tools/autotest/ArduPlane_Tests/InertialLabsEAHRS/ap1.txt

diff --git a/Tools/autotest/ArduPlane_Tests/InertialLabsEAHRS/ap1.txt b/Tools/autotest/ArduPlane_Tests/InertialLabsEAHRS/ap1.txt
new file mode 100644
index 00000000000000..ab2be0d1a45470
--- /dev/null
+++ b/Tools/autotest/ArduPlane_Tests/InertialLabsEAHRS/ap1.txt
@@ -0,0 +1,7 @@
+QGC WPL 110
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	-35.363262	149.165237	584.090027	1
+1	0	3	22	0.000000	0.000000	0.000000	0.000000	-35.361553	149.163956	20.000000	1
+2	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.364540	149.162857	50.000000	1
+3	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.367333	149.163164	28.000000	1
+4	0	3	16	0.000000	0.000000	0.000000	0.000000	-35.366814	149.165878	28.000000	1
+5	0	3	21	0.000000	0.000000	0.000000	1.000000	-35.362947	149.165179	0.000000	1
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 5c76db5d35d888..09041b17dab928 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -3279,6 +3279,10 @@ def MicroStrainEAHRS7(self):
         '''Test MicroStrain EAHRS series 7 support'''
         self.fly_external_AHRS("MicroStrain7", 7, "ap1.txt")
 
+    def InertialLabsEAHRS(self):
+        '''Test InertialLabs EAHRS support'''
+        self.fly_external_AHRS("ILabs", 5, "ap1.txt")
+
     def get_accelvec(self, m):
         return Vector3(m.xacc, m.yacc, m.zacc) * 0.001 * 9.81
 
@@ -5358,6 +5362,7 @@ def tests(self):
             self.VectorNavEAHRS,
             self.MicroStrainEAHRS5,
             self.MicroStrainEAHRS7,
+            self.InertialLabsEAHRS,
             self.Deadreckoning,
             self.DeadreckoningNoAirSpeed,
             self.EKFlaneswitch,

From 757607e4f8ebc1d83d9663aa56d4d8df5aa0cd78 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 1 Dec 2023 09:00:30 +1100
Subject: [PATCH 0109/1335] AP_ExternalAHRS: added InertialLabs backend

---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp |  11 +
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.h   |   9 +-
 .../AP_ExternalAHRS_InertialLabs.cpp          | 708 ++++++++++++++++++
 .../AP_ExternalAHRS_InertialLabs.h            | 226 ++++++
 .../AP_ExternalAHRS/AP_ExternalAHRS_config.h  |   4 +
 5 files changed, 957 insertions(+), 1 deletion(-)
 create mode 100644 libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
 create mode 100644 libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index a18659028caa6b..0bb0d0af22acb8 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -25,6 +25,7 @@
 #include "AP_ExternalAHRS_VectorNav.h"
 #include "AP_ExternalAHRS_MicroStrain5.h"
 #include "AP_ExternalAHRS_MicroStrain7.h"
+#include "AP_ExternalAHRS_InertialLabs.h"
 
 #include <GCS_MAVLink/GCS.h>
 #include <AP_AHRS/AP_AHRS.h>
@@ -95,21 +96,31 @@ void AP_ExternalAHRS::init(void)
     case DevType::None:
         // nothing to do
         return;
+
 #if AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
     case DevType::VecNav:
         backend = new AP_ExternalAHRS_VectorNav(this, state);
         return;
 #endif
+
 #if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
     case DevType::MicroStrain5:
         backend = new AP_ExternalAHRS_MicroStrain5(this, state);
         return;
 #endif
+
 #if AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED
     case DevType::MicroStrain7:
         backend = new AP_ExternalAHRS_MicroStrain7(this, state);
         return;
 #endif
+
+#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+    case DevType::InertialLabs:
+        backend = new AP_ExternalAHRS_InertialLabs(this, state);
+        return;
+#endif
+
     }
 
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Unsupported ExternalAHRS type %u", unsigned(devtype));
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
index da36e5d706d1d5..557f1e9c699940 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -48,10 +48,12 @@ class AP_ExternalAHRS {
 #endif
 #if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
         MicroStrain5 = 2,
+#endif
+#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+        InertialLabs = 5,
 #endif
         // 3 reserved for AdNav
         // 4 reserved for CINS
-        // 5 reserved for InertialLabs
         // 6 reserved for Trimble
 #if AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED
         MicroStrain7 = 7,
@@ -156,6 +158,11 @@ class AP_ExternalAHRS {
         float temperature;
     } ins_data_message_t;
 
+    typedef struct {
+        float differential_pressure; // Pa
+        float temperature; // degC
+    } airspeed_data_message_t;
+    
 protected:
 
     enum class OPTIONS {
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
new file mode 100644
index 00000000000000..0ab6857f63ca39
--- /dev/null
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
@@ -0,0 +1,708 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  support for serial connected InertialLabs INS
+ */
+
+#include "AP_ExternalAHRS_config.h"
+
+#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+
+#include "AP_ExternalAHRS_InertialLabs.h"
+#include <AP_Math/AP_Math.h>
+#include <AP_Math/crc.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_Compass/AP_Compass.h>
+#include <AP_GPS/AP_GPS.h>
+#include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
+#include <GCS_MAVLink/GCS.h>
+#include <AP_Logger/AP_Logger.h>
+#include <AP_SerialManager/AP_SerialManager.h>
+#include <AP_HAL/utility/sparse-endian.h>
+#include <AP_Common/Bitmask.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
+
+extern const AP_HAL::HAL &hal;
+
+// unit status bits
+#define ILABS_UNIT_STATUS_ALIGNMENT_FAIL   0x0001
+#define ILABS_UNIT_STATUS_OPERATION_FAIL   0x0002
+#define ILABS_UNIT_STATUS_GYRO_FAIL        0x0004
+#define ILABS_UNIT_STATUS_ACCEL_FAIL       0x0008
+#define ILABS_UNIT_STATUS_MAG_FAIL         0x0010
+#define ILABS_UNIT_STATUS_ELECTRONICS_FAIL 0x0020
+#define ILABS_UNIT_STATUS_GNSS_FAIL        0x0040
+#define ILABS_UNIT_STATUS_RUNTIME_CAL      0x0080
+#define ILABS_UNIT_STATUS_VOLTAGE_LOW      0x0100
+#define ILABS_UNIT_STATUS_VOLTAGE_HIGH     0x0200
+#define ILABS_UNIT_STATUS_X_RATE_HIGH      0x0400
+#define ILABS_UNIT_STATUS_Y_RATE_HIGH      0x0800
+#define ILABS_UNIT_STATUS_Z_RATE_HIGH      0x1000
+#define ILABS_UNIT_STATUS_MAG_FIELD_HIGH   0x2000
+#define ILABS_UNIT_STATUS_TEMP_RANGE_ERR   0x4000
+#define ILABS_UNIT_STATUS_RUNTIME_CAL2     0x8000
+
+// unit status2 bits
+#define ILABS_UNIT_STATUS2_ACCEL_X_HIGH           0x0001
+#define ILABS_UNIT_STATUS2_ACCEL_Y_HIGH           0x0002
+#define ILABS_UNIT_STATUS2_ACCEL_Z_HIGH           0x0004
+#define ILABS_UNIT_STATUS2_BARO_FAIL              0x0008
+#define ILABS_UNIT_STATUS2_DIFF_PRESS_FAIL        0x0010
+#define ILABS_UNIT_STATUS2_MAGCAL_2D_ACT          0x0020
+#define ILABS_UNIT_STATUS2_MAGCAL_3D_ACT          0x0020
+#define ILABS_UNIT_STATUS2_GNSS_FUSION_OFF        0x0040
+#define ILABS_UNIT_STATUS2_DIFF_PRESS_FUSION_OFF  0x0080
+#define ILABS_UNIT_STATUS2_MAG_FUSION_OFF         0x0100
+#define ILABS_UNIT_STATUS2_GNSS_POS_VALID         0x0200
+
+// air data status bits
+#define ILABS_AIRDATA_INIT_FAIL                   0x0001
+#define ILABS_AIRDATA_DIFF_PRESS_INIT_FAIL        0x0002
+#define ILABS_AIRDATA_STATIC_PRESS_FAIL           0x0004
+#define ILABS_AIRDATA_DIFF_PRESS_FAIL             0x0008
+#define ILABS_AIRDATA_STATIC_PRESS_RANGE_ERR      0x0010
+#define ILABS_AIRDATA_DIFF_PRESS_RANGE_ERR        0x0020
+#define ILABS_AIRDATA_PRESS_ALT_FAIL              0x0040
+#define ILABS_AIRDATA_AIRSPEED_FAIL               0x0080
+#define ILABS_AIRDATA_BELOW_THRESHOLD             0x0100
+
+
+// constructor
+AP_ExternalAHRS_InertialLabs::AP_ExternalAHRS_InertialLabs(AP_ExternalAHRS *_frontend,
+                                                           AP_ExternalAHRS::state_t &_state) :
+    AP_ExternalAHRS_backend(_frontend, _state)
+{
+    auto &sm = AP::serialmanager();
+    uart = sm.find_serial(AP_SerialManager::SerialProtocol_AHRS, 0);
+    if (!uart) {
+        GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "InertialLabs ExternalAHRS no UART");
+        return;
+    }
+    baudrate = sm.find_baudrate(AP_SerialManager::SerialProtocol_AHRS, 0);
+    port_num = sm.find_portnum(AP_SerialManager::SerialProtocol_AHRS, 0);
+
+    // don't offer IMU by default, at 200Hz it is too slow for many aircraft
+    set_default_sensors(uint16_t(AP_ExternalAHRS::AvailableSensor::GPS) |
+                        uint16_t(AP_ExternalAHRS::AvailableSensor::BARO) |
+                        uint16_t(AP_ExternalAHRS::AvailableSensor::COMPASS));
+    
+    if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_ExternalAHRS_InertialLabs::update_thread, void), "ILabs", 2048, AP_HAL::Scheduler::PRIORITY_SPI, 0)) {
+        AP_HAL::panic("InertialLabs Failed to start ExternalAHRS update thread");
+    }
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "InertialLabs ExternalAHRS initialised");
+}
+
+/*
+  re-sync buffer on parse failure
+ */
+void AP_ExternalAHRS_InertialLabs::re_sync(void)
+{
+    if (buffer_ofs > 3) {
+        /*
+          look for the 2 byte header and try to sync to that
+         */
+        const uint16_t header = 0x55AA;
+        const uint8_t *p = (const uint8_t *)memmem(&buffer[1], buffer_ofs-3, &header, sizeof(header));
+        if (p != nullptr) {
+            const uint16_t n = p - &buffer[0];
+            memmove(&buffer[0], p, buffer_ofs - n);
+            buffer_ofs -= n;
+        } else {
+            buffer_ofs = 0;
+        }
+    } else {
+        buffer_ofs = 0;
+    }
+}
+
+// macro for checking we don't run past end of message buffer
+#define CHECK_SIZE(d) need_re_sync = (message_ofs + (msg_len=sizeof(d)) > buffer_end); if (need_re_sync) break
+
+// lookup a message in the msg_types bitmask to see if we received it in this packet
+#define GOT_MSG(mtype) msg_types.get(unsigned(MessageType::mtype))
+
+/*
+  check header is valid
+ */
+bool AP_ExternalAHRS_InertialLabs::check_header(const ILabsHeader *h) const
+{
+    return h->magic == 0x55AA &&
+        h->msg_type == 1 &&
+        h->msg_id == 0x95 &&
+        h->msg_len <= sizeof(buffer)-2;
+}
+
+/*
+  check the UART for more data
+  returns true if we have consumed potentially valid bytes
+ */
+bool AP_ExternalAHRS_InertialLabs::check_uart()
+{
+    WITH_SEMAPHORE(state.sem);
+
+    if (!setup_complete) {
+        return false;
+    }
+    uint32_t n = uart->available();
+    if (n == 0) {
+        return false;
+    }
+    if (n + buffer_ofs > sizeof(buffer)) {
+        n = sizeof(buffer) - buffer_ofs;
+    }
+    const ILabsHeader *h = (ILabsHeader *)&buffer[0];
+
+    if (buffer_ofs < sizeof(ILabsHeader)) {
+        n = MIN(n, sizeof(ILabsHeader)-buffer_ofs);
+    } else {
+        if (!check_header(h)) {
+            re_sync();
+            return false;
+        }
+        if (buffer_ofs > h->msg_len+8) {
+            re_sync();
+            return false;
+        }
+        n = MIN(n, uint32_t(h->msg_len + 2 - buffer_ofs));
+    }
+
+    const ssize_t nread = uart->read(&buffer[buffer_ofs], n);
+    if (nread != ssize_t(n)) {
+        re_sync();
+        return false;
+    }
+    buffer_ofs += n;
+
+    if (buffer_ofs < sizeof(ILabsHeader)) {
+        return true;
+    }
+
+    if (!check_header(h)) {
+        re_sync();
+        return false;
+    }
+
+    if (buffer_ofs < h->msg_len+2) {
+        /*
+          see if we can read the rest immediately
+         */
+        const uint16_t needed = h->msg_len+2 - buffer_ofs;
+        if (uart->available() < needed) {
+            // need more data
+            return true;
+        }
+        const ssize_t nread2 = uart->read(&buffer[buffer_ofs], needed);
+        if (nread2 != needed) {
+            re_sync();
+            return false;
+        }
+        buffer_ofs += nread2;
+    }
+
+    // check checksum
+    const uint16_t crc1 = crc_sum_of_bytes_16(&buffer[2], buffer_ofs-4);
+    const uint16_t crc2 = le16toh_ptr(&buffer[buffer_ofs-2]);
+    if (crc1 != crc2) {
+        re_sync();
+        return false;
+    }
+
+    const uint8_t *buffer_end = &buffer[buffer_ofs];
+    const uint16_t payload_size = h->msg_len - 6;
+    const uint8_t *payload = &buffer[6];
+    if (payload_size < 3) {
+        re_sync();
+        return false;
+    }
+    const uint8_t num_messages = payload[0];
+    if (num_messages == 0 ||
+        num_messages > payload_size-1) {
+        re_sync();
+        return false;
+    }
+    const uint8_t *message_ofs = &payload[num_messages+1];
+    bool need_re_sync = false;
+
+    // bitmask for what types we get
+    Bitmask<256> msg_types;
+    uint32_t now_ms = AP_HAL::millis();
+
+    for (uint8_t i=0; i<num_messages; i++) {
+        if (message_ofs >= buffer_end) {
+            re_sync();
+            return false;
+        }
+        MessageType mtype = (MessageType)payload[1+i];
+        ILabsData &u = *(ILabsData*)message_ofs;
+        uint8_t msg_len = 0;
+
+        msg_types.set(unsigned(mtype));
+
+        switch (mtype) {
+        case MessageType::GPS_INS_TIME_MS: {
+            // this is the GPS tow timestamp in ms for when the IMU data was sampled
+            CHECK_SIZE(u.gps_time_ms);
+            state2.gnss_ins_time_ms = u.gps_time_ms;
+            break;
+        }
+        case MessageType::GPS_WEEK: {
+            CHECK_SIZE(u.gps_week);
+            gps_data.gps_week = u.gps_week;
+            break;
+        }
+        case MessageType::ACCEL_DATA_HR: {
+            CHECK_SIZE(u.accel_data_hr);
+            ins_data.accel = u.accel_data_hr.tofloat().rfu_to_frd()*GRAVITY_MSS*1.0e-6;
+            break;
+        }
+        case MessageType::GYRO_DATA_HR: {
+            CHECK_SIZE(u.gyro_data_hr);
+            ins_data.gyro = u.gyro_data_hr.tofloat().rfu_to_frd()*DEG_TO_RAD*1.0e-5;
+            break;
+        }
+        case MessageType::BARO_DATA: {
+            CHECK_SIZE(u.baro_data);
+            baro_data.pressure_pa = u.baro_data.pressure_pa2*2;
+            break;
+        }
+        case MessageType::MAG_DATA: {
+            CHECK_SIZE(u.mag_data);
+            mag_data.field = u.mag_data.tofloat().rfu_to_frd()*(10*NTESLA_TO_MGAUSS);
+            break;
+        }
+        case MessageType::ORIENTATION_ANGLES: {
+            CHECK_SIZE(u.orientation_angles);
+            state.quat.from_euler(radians(u.orientation_angles.roll*0.01),
+                                  radians(u.orientation_angles.pitch*0.01),
+                                  radians(u.orientation_angles.yaw*0.01));
+            state.have_quaternion = true;
+            if (last_att_ms == 0) {
+                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "InertialLabs: got link");
+            }
+            last_att_ms = now_ms;
+            break;
+        }
+        case MessageType::VELOCITIES: {
+            CHECK_SIZE(u.velocity);
+            state.velocity = u.velocity.tofloat().rfu_to_frd()*0.01;
+            state.have_velocity = true;
+            last_vel_ms = now_ms;
+            break;
+        }
+        case MessageType::POSITION: {
+            CHECK_SIZE(u.position);
+            state.location.lat = u.position.lat;
+            state.location.lng = u.position.lon;
+            state.location.alt = u.position.alt;
+            state.have_location = true;
+            state.last_location_update_us = AP_HAL::micros();
+            last_pos_ms = now_ms;
+            break;
+        }
+        case MessageType::KF_VEL_COVARIANCE: {
+            CHECK_SIZE(u.kf_vel_covariance);
+            state2.kf_vel_covariance = u.kf_vel_covariance.tofloat() * 0.001;
+            break;
+        }
+        case MessageType::KF_POS_COVARIANCE: {
+            CHECK_SIZE(u.kf_pos_covariance);
+            state2.kf_pos_covariance = u.kf_pos_covariance.tofloat() * 0.001;
+            break;
+        }
+        case MessageType::UNIT_STATUS: {
+            CHECK_SIZE(u.unit_status);
+            state2.unit_status = u.unit_status;
+            break;
+        }
+        case MessageType::GNSS_EXTENDED_INFO: {
+            CHECK_SIZE(u.gnss_extended_info);
+            gps_data.fix_type = u.gnss_extended_info.fix_type+1;
+            state2.gnss_extended_info = u.gnss_extended_info;
+            break;
+        }
+        case MessageType::NUM_SATS: {
+            CHECK_SIZE(u.num_sats);
+            gps_data.satellites_in_view = u.num_sats;
+            break;
+        }
+        case MessageType::GNSS_POSITION: {
+            CHECK_SIZE(u.position);
+            gps_data.latitude = u.position.lat;
+            gps_data.longitude = u.position.lon;
+            gps_data.msl_altitude = u.position.alt;
+            break;
+        }
+        case MessageType::GNSS_VEL_TRACK: {
+            CHECK_SIZE(u.gnss_vel_track);
+            Vector2f velxy;
+            velxy.offset_bearing(u.gnss_vel_track.track_over_ground*0.01, u.gnss_vel_track.hor_speed*0.01);
+            gps_data.ned_vel_north = velxy.x;
+            gps_data.ned_vel_east = velxy.y;
+            gps_data.ned_vel_down = -u.gnss_vel_track.ver_speed*0.01;
+            break;
+        }
+        case MessageType::GNSS_POS_TIMESTAMP: {
+            CHECK_SIZE(u.gnss_pos_timestamp);
+            gps_data.ms_tow = u.gnss_pos_timestamp;
+            break;
+        }
+        case MessageType::GNSS_INFO_SHORT: {
+            CHECK_SIZE(u.gnss_info_short);
+            state2.gnss_info_short = u.gnss_info_short;
+            break;
+        }
+        case MessageType::GNSS_NEW_DATA: {
+            CHECK_SIZE(u.gnss_new_data);
+            state2.gnss_new_data = u.gnss_new_data;
+            break;
+        }
+        case MessageType::GNSS_JAM_STATUS: {
+            CHECK_SIZE(u.gnss_jam_status);
+            state2.gnss_jam_status = u.gnss_jam_status;
+            break;
+        }
+        case MessageType::DIFFERENTIAL_PRESSURE: {
+            CHECK_SIZE(u.differential_pressure);
+            airspeed_data.differential_pressure = u.differential_pressure*1.0e-4;
+            break;
+        }
+        case MessageType::TRUE_AIRSPEED: {
+            CHECK_SIZE(u.true_airspeed);
+            state2.true_airspeed = u.true_airspeed*0.01;
+            break;
+        }
+        case MessageType::WIND_SPEED: {
+            CHECK_SIZE(u.wind_speed);
+            state2.wind_speed = u.wind_speed.tofloat().rfu_to_frd()*0.01;
+            break;
+        }
+        case MessageType::AIR_DATA_STATUS: {
+            CHECK_SIZE(u.air_data_status);
+            state2.air_data_status = u.air_data_status;
+            break;
+        }
+        case MessageType::SUPPLY_VOLTAGE: {
+            CHECK_SIZE(u.supply_voltage);
+            state2.supply_voltage = u.supply_voltage*0.01;
+            break;
+        }
+        case MessageType::TEMPERATURE: {
+            CHECK_SIZE(u.temperature);
+            // assume same temperature for baro and airspeed
+            baro_data.temperature = u.temperature*0.1;
+            airspeed_data.temperature = u.temperature*0.1;
+            break;
+        }
+        case MessageType::UNIT_STATUS2: {
+            CHECK_SIZE(u.unit_status2);
+            state2.unit_status2 = u.unit_status2;
+            break;
+        }
+        }
+
+        if (msg_len == 0) {
+            // got an unknown message
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "InertialLabs: unknown msg 0x%02x", unsigned(mtype));
+            buffer_ofs = 0;
+            return false;
+        }
+        message_ofs += msg_len;
+
+        if (msg_len == 0 || need_re_sync) {
+            re_sync();
+            return false;
+        }
+    }
+
+    if (h->msg_len != message_ofs-buffer) {
+        // we had stray bytes at the end of the message
+        re_sync();
+        return false;
+    }
+
+    if (GOT_MSG(ACCEL_DATA_HR) &&
+        GOT_MSG(GYRO_DATA_HR)) {
+        AP::ins().handle_external(ins_data);
+    }
+    if (GOT_MSG(GPS_INS_TIME_MS) &&
+        GOT_MSG(NUM_SATS) &&
+        GOT_MSG(GNSS_POSITION) &&
+        GOT_MSG(GNSS_NEW_DATA) &&
+        GOT_MSG(GNSS_EXTENDED_INFO) &&
+        state2.gnss_new_data != 0) {
+        uint8_t instance;
+        if (AP::gps().get_first_external_instance(instance)) {
+            AP::gps().handle_external(gps_data, instance);
+        }
+        if (gps_data.satellites_in_view > 3) {
+            if (last_gps_ms == 0) {
+                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "InertialLabs: got GPS lock");
+                if (!state.have_origin) {
+                    state.origin = Location{
+                        gps_data.latitude,
+                        gps_data.longitude,
+                        gps_data.msl_altitude,
+                        Location::AltFrame::ABSOLUTE};
+                    state.have_origin = true;
+                }
+            }
+            last_gps_ms = now_ms;
+        }
+    }
+    if (GOT_MSG(BARO_DATA) &&
+        GOT_MSG(TEMPERATURE)) {
+        AP::baro().handle_external(baro_data);
+    }
+    if (GOT_MSG(MAG_DATA)) {
+        AP::compass().handle_external(mag_data);
+    }
+#if AP_AIRSPEED_EXTERNAL_ENABLED && (APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane))
+    // only on plane and copter as others do not link AP_Airspeed
+    if (GOT_MSG(DIFFERENTIAL_PRESSURE) &&
+        GOT_MSG(TEMPERATURE)) {
+        auto *arsp = AP::airspeed();
+        if (arsp != nullptr) {
+            arsp->handle_external(airspeed_data);
+        }
+    }
+#endif // AP_AIRSPEED_EXTERNAL_ENABLED
+    buffer_ofs = 0;
+
+    if (GOT_MSG(POSITION) &&
+        GOT_MSG(ORIENTATION_ANGLES) &&
+        GOT_MSG(VELOCITIES)) {
+
+        float roll, pitch, yaw;
+        state.quat.to_euler(roll, pitch, yaw);
+        uint64_t now_us = AP_HAL::micros64();
+
+        // @LoggerMessage: ILB1
+        // @Description: InertialLabs AHRS data1
+        // @Field: TimeUS: Time since system startup
+        // @Field: Roll: euler roll
+        // @Field: Pitch: euler pitch
+        // @Field: Yaw: euler yaw
+        // @Field: VN: velocity north
+        // @Field: VE: velocity east
+        // @Field: VD: velocity down
+        // @Field: Lat: latitude
+        // @Field: Lon: longitude
+        // @Field: Alt: altitude AMSL
+
+        AP::logger().WriteStreaming("ILB1", "TimeUS,Roll,Pitch,Yaw,VN,VE,VD,Lat,Lon,Alt",
+                                    "sdddnnnDUm",
+                                    "F000000GG0",
+                                    "QffffffLLf",
+                                    now_us,
+                                    degrees(roll), degrees(pitch), degrees(yaw),
+                                    state.velocity.x, state.velocity.y, state.velocity.z,
+                                    state.location.lat, state.location.lng, state.location.alt*0.01);
+
+        // @LoggerMessage: ILB2
+        // @Description: InertialLabs AHRS data2
+        // @Field: TimeUS: Time since system startup
+        // @Field: PosVarN: position variance north
+        // @Field: PosVarE: position variance east
+        // @Field: PosVarD: position variance down
+        // @Field: VelVarN: velocity variance north
+        // @Field: VelVarE: velocity variance east
+        // @Field: VelVarD: velocity variance down
+
+        AP::logger().WriteStreaming("ILB2", "TimeUS,PosVarN,PosVarE,PosVarD,VelVarN,VelVarE,VelVarD",
+                                    "smmmnnn",
+                                    "F000000",
+                                    "Qffffff",
+                                    now_us,
+                                    state2.kf_pos_covariance.x, state2.kf_pos_covariance.x, state2.kf_pos_covariance.z,
+                                    state2.kf_vel_covariance.x, state2.kf_vel_covariance.x, state2.kf_vel_covariance.z);
+
+        // @LoggerMessage: ILB3
+        // @Description: InertialLabs AHRS data3
+        // @Field: TimeUS: Time since system startup
+        // @Field: Stat1: unit status1
+        // @Field: Stat2: unit status2
+        // @Field: FType: fix type
+        // @Field: SpStat: spoofing status
+        // @Field: GI1: GNSS Info1
+        // @Field: GI2: GNSS Info2
+        // @Field: GJS: GNSS jamming status
+        // @Field: TAS: true airspeed
+        // @Field: WVN: Wind velocity north
+        // @Field: WVE: Wind velocity east
+        // @Field: WVD: Wind velocity down
+
+        AP::logger().WriteStreaming("ILB3", "TimeUS,Stat1,Stat2,FType,SpStat,GI1,GI2,GJS,TAS,WVN,WVE,WVD",
+                                    "s-----------",
+                                    "F-----------",
+                                    "QHHBBBBBffff",
+                                    now_us,
+                                    state2.unit_status, state2.unit_status2,
+                                    state2.gnss_extended_info.fix_type, state2.gnss_extended_info.spoofing_status,
+                                    state2.gnss_info_short.info1, state2.gnss_info_short.info2,
+                                    state2.gnss_jam_status,
+                                    state2.true_airspeed,
+                                    state2.wind_speed.x, state2.wind_speed.y, state2.wind_speed.z);
+    }
+        
+    return true;
+}
+
+void AP_ExternalAHRS_InertialLabs::update_thread()
+{
+    // Open port in the thread
+    uart->begin(baudrate, 1024, 512);
+
+    /*
+      we assume the user has already configured the device
+     */
+
+    setup_complete = true;
+    while (true) {
+        if (!check_uart()) {
+            hal.scheduler->delay_microseconds(250);
+        }
+    }
+}
+
+// get serial port number for the uart
+int8_t AP_ExternalAHRS_InertialLabs::get_port(void) const
+{
+    if (!uart) {
+        return -1;
+    }
+    return port_num;
+};
+
+// accessors for AP_AHRS
+bool AP_ExternalAHRS_InertialLabs::healthy(void) const
+{
+    WITH_SEMAPHORE(state.sem);
+    return AP_HAL::millis() - last_att_ms < 100;
+}
+
+bool AP_ExternalAHRS_InertialLabs::initialised(void) const
+{
+    if (!setup_complete) {
+        return false;
+    }
+    return true;
+}
+
+bool AP_ExternalAHRS_InertialLabs::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const
+{
+    if (!setup_complete) {
+        hal.util->snprintf(failure_msg, failure_msg_len, "InertialLabs setup failed");
+        return false;
+    }
+    if (!healthy()) {
+        hal.util->snprintf(failure_msg, failure_msg_len, "InertialLabs unhealthy");
+        return false;
+    }
+    WITH_SEMAPHORE(state.sem);
+    uint32_t now = AP_HAL::millis();
+    if (now - last_att_ms > 10 ||
+        now - last_pos_ms > 10 ||
+        now - last_vel_ms > 10) {
+        hal.util->snprintf(failure_msg, failure_msg_len, "InertialLabs not up to date");
+        return false;
+    }
+    return true;
+}
+
+/*
+  get filter status. We don't know the meaning of the status bits yet,
+  so assume all OK if we have GPS lock
+ */
+void AP_ExternalAHRS_InertialLabs::get_filter_status(nav_filter_status &status) const
+{
+    WITH_SEMAPHORE(state.sem);
+    uint32_t now = AP_HAL::millis();
+    const uint32_t dt_limit = 200;
+    const uint32_t dt_limit_gps = 500;
+    memset(&status, 0, sizeof(status));
+    const bool init_ok = (state2.unit_status & (ILABS_UNIT_STATUS_ALIGNMENT_FAIL|ILABS_UNIT_STATUS_OPERATION_FAIL))==0;
+    status.flags.initalized = init_ok;
+    status.flags.attitude = init_ok && (now - last_att_ms < dt_limit) && init_ok;
+    status.flags.vert_vel = init_ok && (now - last_vel_ms < dt_limit);
+    status.flags.vert_pos = init_ok && (now - last_pos_ms < dt_limit);
+    status.flags.horiz_vel = status.flags.vert_vel;
+    status.flags.horiz_pos_abs = status.flags.vert_pos;
+    status.flags.horiz_pos_rel = status.flags.horiz_pos_abs;
+    status.flags.pred_horiz_pos_rel = status.flags.horiz_pos_abs;
+    status.flags.pred_horiz_pos_abs = status.flags.horiz_pos_abs;
+    status.flags.using_gps = (now - last_gps_ms < dt_limit_gps) &&
+        (state2.unit_status & (ILABS_UNIT_STATUS_GNSS_FAIL|ILABS_UNIT_STATUS2_GNSS_FUSION_OFF)) == 0;
+    status.flags.gps_quality_good = (now - last_gps_ms < dt_limit_gps) &&
+        (state2.unit_status2 & ILABS_UNIT_STATUS2_GNSS_POS_VALID) != 0 &&
+        (state2.unit_status & ILABS_UNIT_STATUS_GNSS_FAIL) == 0;
+    status.flags.rejecting_airspeed = (state2.air_data_status & ILABS_AIRDATA_AIRSPEED_FAIL);
+}
+
+// send an EKF_STATUS message to GCS
+void AP_ExternalAHRS_InertialLabs::send_status_report(GCS_MAVLINK &link) const
+{
+    // prepare flags
+    uint16_t flags = 0;
+    nav_filter_status filterStatus;
+    get_filter_status(filterStatus);
+    if (filterStatus.flags.attitude) {
+        flags |= EKF_ATTITUDE;
+    }
+    if (filterStatus.flags.horiz_vel) {
+        flags |= EKF_VELOCITY_HORIZ;
+    }
+    if (filterStatus.flags.vert_vel) {
+        flags |= EKF_VELOCITY_VERT;
+    }
+    if (filterStatus.flags.horiz_pos_rel) {
+        flags |= EKF_POS_HORIZ_REL;
+    }
+    if (filterStatus.flags.horiz_pos_abs) {
+        flags |= EKF_POS_HORIZ_ABS;
+    }
+    if (filterStatus.flags.vert_pos) {
+        flags |= EKF_POS_VERT_ABS;
+    }
+    if (filterStatus.flags.terrain_alt) {
+        flags |= EKF_POS_VERT_AGL;
+    }
+    if (filterStatus.flags.const_pos_mode) {
+        flags |= EKF_CONST_POS_MODE;
+    }
+    if (filterStatus.flags.pred_horiz_pos_rel) {
+        flags |= EKF_PRED_POS_HORIZ_REL;
+    }
+    if (filterStatus.flags.pred_horiz_pos_abs) {
+        flags |= EKF_PRED_POS_HORIZ_ABS;
+    }
+    if (!filterStatus.flags.initalized) {
+        flags |= EKF_UNINITIALIZED;
+    }
+
+    // send message
+    const float vel_gate = 5;
+    const float pos_gate = 5;
+    const float hgt_gate = 5;
+    const float mag_var = 0;
+    mavlink_msg_ekf_status_report_send(link.get_chan(), flags,
+                                       state2.kf_vel_covariance.length()/vel_gate,
+                                       state2.kf_pos_covariance.xy().length()/pos_gate,
+                                       state2.kf_pos_covariance.z/hgt_gate,
+                                       mag_var, 0, 0);
+}
+
+#endif  // AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h
new file mode 100644
index 00000000000000..bee7d5c28e0cce
--- /dev/null
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h
@@ -0,0 +1,226 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  support for serial connected InertialLabs INS system
+ */
+
+#pragma once
+
+#include "AP_ExternalAHRS_config.h"
+
+#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+
+#include "AP_ExternalAHRS_backend.h"
+
+class AP_ExternalAHRS_InertialLabs : public AP_ExternalAHRS_backend {
+
+public:
+    AP_ExternalAHRS_InertialLabs(AP_ExternalAHRS *frontend, AP_ExternalAHRS::state_t &state);
+
+    // get serial port number, -1 for not enabled
+    int8_t get_port(void) const override;
+
+    // accessors for AP_AHRS
+    bool healthy(void) const override;
+    bool initialised(void) const override;
+    bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override;
+    void get_filter_status(nav_filter_status &status) const override;
+    void send_status_report(class GCS_MAVLINK &link) const override;
+
+    // check for new data
+    void update() override {
+        check_uart();
+    }
+
+    // Get model/type name
+    const char* get_name() const override {
+        return "ILabs";
+    }
+
+    enum class MessageType : uint8_t {
+        GPS_INS_TIME_MS = 0x01,
+        GPS_WEEK = 0x3C,
+        ACCEL_DATA_HR = 0x23,
+        GYRO_DATA_HR = 0x21,
+        BARO_DATA = 0x25,
+        MAG_DATA = 0x24,
+        ORIENTATION_ANGLES = 0x07,
+        VELOCITIES = 0x12,
+        POSITION = 0x10,
+        KF_VEL_COVARIANCE = 0x58,
+        KF_POS_COVARIANCE = 0x57,
+        UNIT_STATUS = 0x53,
+        GNSS_EXTENDED_INFO = 0x4A,
+        NUM_SATS = 0x3B,
+        GNSS_POSITION = 0x30,
+        GNSS_VEL_TRACK = 0x32,
+        GNSS_POS_TIMESTAMP = 0x3E,
+        GNSS_INFO_SHORT = 0x36,
+        GNSS_NEW_DATA = 0x41,
+        GNSS_JAM_STATUS = 0xC0,
+        DIFFERENTIAL_PRESSURE = 0x28,
+        TRUE_AIRSPEED = 0x86,
+        WIND_SPEED = 0x8A,
+        AIR_DATA_STATUS = 0x8D,
+        SUPPLY_VOLTAGE = 0x50,
+        TEMPERATURE = 0x52,
+        UNIT_STATUS2 = 0x5A,
+    };
+
+    /*
+      packets consist of:
+         ILabsHeader
+         list of MessageType
+         sequence of ILabsData
+         checksum
+     */
+    struct PACKED ILabsHeader {
+        uint16_t magic; // 0x55AA
+        uint8_t msg_type; // always 1 for INS data
+        uint8_t msg_id; // always 0x95
+        uint16_t msg_len; // msg_len+2 is total packet length
+    };
+
+    struct PACKED vec3_16_t {
+        int16_t x,y,z;
+        Vector3f tofloat(void) {
+            return Vector3f(x,y,z);
+        }
+    };
+    struct PACKED vec3_32_t {
+        int32_t x,y,z;
+        Vector3f tofloat(void) {
+            return Vector3f(x,y,z);
+        }
+    };
+    struct PACKED vec3_u8_t {
+        uint8_t x,y,z;
+        Vector3f tofloat(void) {
+            return Vector3f(x,y,z);
+        }
+    };
+    struct PACKED vec3_u16_t {
+        uint16_t x,y,z;
+        Vector3f tofloat(void) {
+            return Vector3f(x,y,z);
+        }
+    };
+
+    struct gnss_extended_info_t {
+        uint8_t fix_type;
+        uint8_t spoofing_status;
+    };
+
+    struct gnss_info_short_t {
+        uint8_t info1;
+        uint8_t info2;
+    };
+    
+    union PACKED ILabsData {
+        uint32_t gps_time_ms; // ms since start of GPS week
+        uint16_t gps_week;
+        vec3_32_t accel_data_hr; // g * 1e6
+        vec3_32_t gyro_data_hr; // deg/s * 1e5
+        struct PACKED {
+            uint16_t pressure_pa2; // Pascals/2
+            int32_t baro_alt; // meters*100
+        } baro_data;
+        vec3_16_t mag_data; // nT/10
+        struct PACKED {
+            int16_t yaw; // deg*100
+            int16_t pitch; // deg*100
+            int16_t roll; // deg*100
+        } orientation_angles; // 321 euler order?
+        vec3_32_t velocity; // m/s * 100
+        struct PACKED {
+            int32_t lat; // deg*1e7
+            int32_t lon; // deg*1e7
+            int32_t alt; // m*100, AMSL
+        } position;
+        vec3_u8_t kf_vel_covariance; // mm/s
+        vec3_u16_t kf_pos_covariance;
+        uint16_t unit_status; // set ILABS_UNIT_STATUS_*
+        gnss_extended_info_t gnss_extended_info;
+        uint8_t num_sats;
+        struct PACKED {
+            int32_t hor_speed; // m/s*100
+            uint16_t track_over_ground; // deg*100
+            int32_t ver_speed; // m/s*100
+        } gnss_vel_track;
+        uint32_t gnss_pos_timestamp; // ms
+        gnss_info_short_t gnss_info_short;
+        uint8_t gnss_new_data;
+        uint8_t gnss_jam_status;
+        int32_t differential_pressure; // mbar*1e4
+        int16_t true_airspeed; // m/s*100
+        vec3_16_t wind_speed; // m/s*100
+        uint16_t air_data_status;
+        uint16_t supply_voltage; // V*100
+        int16_t temperature; // degC*10
+        uint16_t unit_status2;
+    };
+
+    AP_ExternalAHRS::gps_data_message_t gps_data;
+    AP_ExternalAHRS::mag_data_message_t mag_data;
+    AP_ExternalAHRS::baro_data_message_t baro_data;
+    AP_ExternalAHRS::ins_data_message_t ins_data;
+    AP_ExternalAHRS::airspeed_data_message_t airspeed_data;
+
+    uint16_t buffer_ofs;
+    uint8_t buffer[256]; // max for normal message set is 167+8
+
+private:
+    AP_HAL::UARTDriver *uart;
+    int8_t port_num;
+    uint32_t baudrate;
+    bool setup_complete;
+
+    void update_thread();
+    bool check_uart();
+    bool check_header(const ILabsHeader *h) const;
+
+    // re-sync on header bytes
+    void re_sync(void);
+
+    static const struct MessageLength {
+        MessageType mtype;
+        uint8_t length;
+    } message_lengths[];
+
+    struct {
+        Vector3f kf_vel_covariance;
+        Vector3f kf_pos_covariance;
+        uint32_t gnss_ins_time_ms;
+        uint16_t unit_status;
+        uint16_t unit_status2;
+        gnss_extended_info_t gnss_extended_info;
+        gnss_info_short_t gnss_info_short;
+        uint8_t gnss_new_data;
+        uint8_t gnss_jam_status;
+        float differential_pressure;
+        float true_airspeed;
+        Vector3f wind_speed;
+        uint16_t air_data_status;
+        float supply_voltage;
+    } state2;
+
+    uint32_t last_att_ms;
+    uint32_t last_vel_ms;
+    uint32_t last_pos_ms;
+    uint32_t last_gps_ms;
+};
+
+#endif  // AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
index 3b2caa23870462..0119e6857eceac 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
@@ -25,3 +25,7 @@
 #ifndef AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
 #define AP_EXTERNAL_AHRS_VECTORNAV_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
 #endif
+
+#ifndef AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+#define AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
+#endif

From 6f79c1cee2c8a4032aeb3b8e5cb2fcf42efdb816 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 5 Dec 2023 18:40:07 +1100
Subject: [PATCH 0110/1335] AP_AHRS: use EKFType enum class in set_ekf_type()

---
 libraries/AP_AHRS/AP_AHRS.cpp |  6 +++---
 libraries/AP_AHRS/AP_AHRS.h   | 40 +++++++++++++++++------------------
 2 files changed, 23 insertions(+), 23 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 312471f0e9f5b9..c48b06bfd3773d 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -220,12 +220,12 @@ void AP_AHRS::init()
     }
 #if !HAL_NAVEKF2_AVAILABLE && HAL_NAVEKF3_AVAILABLE
     if (_ekf_type.get() == 2) {
-        _ekf_type.set(3);
+        _ekf_type.set(EKFType::THREE);
         EKF3.set_enable(true);
     }
 #elif !HAL_NAVEKF3_AVAILABLE && HAL_NAVEKF2_AVAILABLE
     if (_ekf_type.get() == 3) {
-        _ekf_type.set(2);
+        _ekf_type.set(EKFType::TWO);
         EKF2.set_enable(true);
     }
 #endif
@@ -234,7 +234,7 @@ void AP_AHRS::init()
     // a special case to catch users who had AHRS_EKF_TYPE=2 saved and
     // updated to a version where EK2_ENABLE=0
     if (_ekf_type.get() == 2 && !EKF2.get_enable() && EKF3.get_enable()) {
-        _ekf_type.set(3);
+        _ekf_type.set(EKFType::THREE);
     }
 #endif
 
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 25881d2f11b1b0..1d6841a28a0dde 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -421,8 +421,26 @@ class AP_AHRS {
         return _ekf_type;
     }
 
+    enum class EKFType : uint8_t {
+#if AP_AHRS_DCM_ENABLED
+        DCM = 0,
+#endif
+#if HAL_NAVEKF3_AVAILABLE
+        THREE = 3,
+#endif
+#if HAL_NAVEKF2_AVAILABLE
+        TWO = 2,
+#endif
+#if AP_AHRS_SIM_ENABLED
+        SIM = 10,
+#endif
+#if HAL_EXTERNAL_AHRS_ENABLED
+        EXTERNAL = 11,
+#endif
+    };
+
     // set the selected ekf type, for RC aux control
-    void set_ekf_type(uint8_t ahrs_type) {
+    void set_ekf_type(EKFType ahrs_type) {
         _ekf_type.set(ahrs_type);
     }
     
@@ -673,7 +691,7 @@ class AP_AHRS {
      */
     AP_Int8 _wind_max;
     AP_Int8 _board_orientation;
-    AP_Int8 _ekf_type;
+    AP_Enum<EKFType> _ekf_type;
 
     /*
      * DCM-backend parameters; it takes references to these
@@ -688,24 +706,6 @@ class AP_AHRS {
     AP_Enum<GPSUse> _gps_use;
     AP_Int8 _gps_minsats;
 
-    enum class EKFType {
-#if AP_AHRS_DCM_ENABLED
-        DCM = 0,
-#endif
-#if HAL_NAVEKF3_AVAILABLE
-        THREE = 3,
-#endif
-#if HAL_NAVEKF2_AVAILABLE
-        TWO = 2,
-#endif
-#if AP_AHRS_SIM_ENABLED
-        SIM = 10,
-#endif
-#if HAL_EXTERNAL_AHRS_ENABLED
-        EXTERNAL = 11,
-#endif
-    };
-
     EKFType active_EKF_type(void) const { return state.active_EKF; }
 
     bool always_use_EKF() const {

From 897676732157a9b7552ad922c254402646827854 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 5 Dec 2023 18:40:18 +1100
Subject: [PATCH 0111/1335] RC_Channel: use EKFType enum class

---
 libraries/RC_Channel/RC_Channel.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 32023fe9ab9199..f454515aefab8c 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -1617,7 +1617,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
 
     case AUX_FUNC::AHRS_TYPE: {
 #if HAL_NAVEKF3_AVAILABLE && HAL_EXTERNAL_AHRS_ENABLED
-        AP::ahrs().set_ekf_type(ch_flag==AuxSwitchPos::HIGH? 11 : 3);
+        AP::ahrs().set_ekf_type(ch_flag==AuxSwitchPos::HIGH? AP_AHRS::EKFType::EXTERNAL : AP_AHRS::EKFType::THREE);
 #endif
         break;
     }

From 8732f582c38cb997f7273ef1ed04ef6378d36445 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 10 Dec 2023 13:42:00 +1100
Subject: [PATCH 0112/1335] AP_Scripting: update SkyPower driver to support new
 model

support SP-275 dual-cylinder ECU
---
 .../AP_Scripting/drivers/EFI_SkyPower.lua     | 181 +++++++++++++-----
 1 file changed, 131 insertions(+), 50 deletions(-)

diff --git a/libraries/AP_Scripting/drivers/EFI_SkyPower.lua b/libraries/AP_Scripting/drivers/EFI_SkyPower.lua
index ba75519a99b6b5..569295ff1bac88 100644
--- a/libraries/AP_Scripting/drivers/EFI_SkyPower.lua
+++ b/libraries/AP_Scripting/drivers/EFI_SkyPower.lua
@@ -11,7 +11,6 @@ CAN_P1_DRIVER 1 (First driver)
 CAN_D1_BITRATE 500000 (500 kbit/s)
 
 --]]
--- luacheck: only 0
 
 -- Check Script uses a miniumum firmware version
 local SCRIPT_AP_VERSION = 4.3
@@ -27,6 +26,9 @@ local MAV_SEVERITY_ERROR = 3
 local K_THROTTLE = 70
 local K_HELIRSC = 31
 
+local MODEL_DEFAULT = 0
+local MODEL_SP_275 = 1
+
 PARAM_TABLE_KEY = 36
 PARAM_TABLE_PREFIX = "EFI_SP_"
 
@@ -62,10 +64,6 @@ function constrain(v, vmin, vmax)
     return v
 end
 
----- GLOBAL VARIABLES
-local GKWH_TO_LBS_HP_HR = 0.0016439868
-local LITRES_TO_LBS = 1.6095 -- 6.1 lbs of fuel per gallon -> 1.6095
-
 local efi_backend = nil
 
 -- Setup EFI Parameters
@@ -174,6 +172,34 @@ local EFI_SP_LOG_RT     = bind_add_param('LOG_RT',    10, 10)   -- rate for logg
 --]]
 local EFI_SP_ST_DISARM  = bind_add_param('ST_DISARM', 11, 0)    -- allow start when disarmed
 
+--[[
+  // @Param: EFI_SP_MODEL
+  // @DisplayName: SkyPower EFI ECU model
+  // @Description: SkyPower EFI ECU model
+  // @Values: 0:Default,1:SP_275
+  // @User: Standard
+--]]
+local EFI_SP_MODEL  = bind_add_param('MODEL', 12, MODEL_DEFAULT)
+
+--[[
+  // @Param: EFI_SP_GEN_CTRL
+  // @DisplayName: SkyPower EFI enable generator control
+  // @Description: SkyPower EFI enable generator control
+  // @Values: 0:Disabled,1:Enabled
+  // @User: Standard
+--]]
+local EFI_SP_GEN_CTRL  = bind_add_param('GEN_CRTL', 13, 1)
+
+--[[
+  // @Param: EFI_SP_RST_TIME
+  // @DisplayName: SkyPower EFI restart time
+  // @Description: SkyPower EFI restart time. If engine should be running and it has stopped for this amount of time then auto-restart. To disable this feature set this value to zero.
+  // @Range: 0 10
+  // @User: Standard
+  // @Units: s
+--]]
+local EFI_SP_RST_TIME  = bind_add_param('RST_TIME', 14, 2)
+
 if EFI_SP_ENABLE:get() == 0 then
    gcs:send_text(0, string.format("EFISP: disabled"))
    return
@@ -211,7 +237,7 @@ end
 --[[
    EFI Engine Object
 --]]
-local function engine_control(_driver, _idx)
+local function engine_control(_driver)
     local self = {}
 
     -- Build up the EFI_State that is passed into the EFI Scripting backend
@@ -221,21 +247,16 @@ local function engine_control(_driver, _idx)
     -- private fields as locals
     local rpm = 0
     local air_pressure = 0
-    local inj_ang = 0
     local inj_time = 0
     local target_load = 0
     local current_load = 0
     local throttle_angle = 0
     local ignition_angle = 0
-    local sfc = 0
-    local sfc_icao = 0
-    local last_sfc_t = 0
     local supply_voltage = 0
     local fuel_consumption_lph = 0
     local fuel_total_l = 0
     local last_fuel_s = 0
     local driver = _driver
-    local idx = _idx
     local last_rpm_t = get_time_sec()
     local last_state_update_t = get_time_sec()
     local last_thr_update = get_time_sec()
@@ -246,6 +267,9 @@ local function engine_control(_driver, _idx)
     local generator_started = false
     local engine_start_t = 0.0
     local last_throttle = 0.0
+    local sensor_error_flags = 0
+    local thermal_limit_flags = 0
+    local starter_rpm = 0
 
     -- frames for sending commands
     local FRM_500 = uint32_t(0x500)
@@ -264,6 +288,10 @@ local function engine_control(_driver, _idx)
     temps.cht = 0.0        -- Cylinder Head Temperature
     temps.imt = 0.0        -- intake manifold temperature
     temps.oilt = 0.0        -- oil temperature
+    temps.cht2 = 0.0
+    temps.egt2 = 0.0
+    temps.imt2 = 0.0
+    temps.oil2 = 0.0
 
     -- read telemetry packets
     function self.update_telemetry()
@@ -276,9 +304,9 @@ local function engine_control(_driver, _idx)
                 break
             end
 
-            -- All Frame IDs for this EFI Engine are extended
-            if frame:isExtended() then
-                self.handle_EFI_packet(frame, _idx)
+            -- All Frame IDs for this EFI Engine are not extended
+            if not frame:isExtended() then
+                self.handle_EFI_packet(frame)
             end
         end
         if last_rpm_t > last_state_update_t then
@@ -289,36 +317,79 @@ local function engine_control(_driver, _idx)
     end
 
     -- handle an EFI packet
-    function self.handle_EFI_packet(frame, idx)
+    function self.handle_EFI_packet(frame)
        local id = frame:id_signed()
-       if id == 0x100 then
-          rpm = get_uint16(frame, 0)
-          ignition_angle = get_uint16(frame, 2) * 0.1
-          throttle_angle = get_uint16(frame, 4) * 0.1
-          last_rpm_t = get_time_sec()
-       elseif id == 0x101 then
-          current_load = get_uint16(frame, 0) * 0.1
-          target_load = get_uint16(frame, 2) * 0.1
-          inj_time = get_uint16(frame, 4)
-          inj_ang = get_uint16(frame, 6) * 0.1
-       elseif id == 0x102 then
-          -- unused fields
-       elseif id == 0x104 then
-          supply_voltage = get_uint16(frame, 0) * 0.1
-          ecu_temp = get_uint16(frame, 2) * 0.1
-          air_pressure = get_uint16(frame, 4)
-          fuel_consumption_lph = get_uint16(frame,6)*0.001
-          if last_fuel_s > 0 then
-             local dt = now_s - last_fuel_s
-             local fuel_lps = fuel_consumption_lph / 3600.0
-             fuel_total_l = fuel_total_l + fuel_lps * dt
+       if EFI_SP_MODEL:get() == MODEL_SP_275 then
+          -- updated telemetry for SP-275 ECU
+          if id == 0x100 then
+             rpm = get_uint16(frame, 0)
+             ignition_angle = get_uint16(frame, 2) * 0.1
+             throttle_angle = get_uint16(frame, 4) * 0.1
+             last_rpm_t = get_time_sec()
+          elseif id == 0x101 then
+             air_pressure = get_uint16(frame, 4)
+          elseif id == 0x102 then
+             inj_time = get_uint16(frame, 4)
+             -- inj_ang = get_uint16(frame, 2) * 0.1
+          elseif id == 0x104 then
+             supply_voltage = get_uint16(frame, 0) * 0.1
+          elseif id == 0x105 then
+             temps.cht = get_uint16(frame, 0) * 0.1
+             temps.imt = get_uint16(frame, 2) * 0.1
+             temps.egt = get_uint16(frame, 4) * 0.1
+             temps.oilt = get_uint16(frame, 6) * 0.1
+          elseif id == 0x107 then
+             sensor_error_flags = get_uint16(frame, 0)
+             thermal_limit_flags = get_uint16(frame, 2)
+          elseif id == 0x107 then
+             target_load = get_uint16(frame, 6) * 0.1
+          elseif id == 0x10C then
+             temps.cht2 = get_uint16(frame, 4) * 0.1
+             temps.egt2 = get_uint16(frame, 6) * 0.1
+          elseif id == 0x10D then
+             current_load = get_uint16(frame, 2) * 0.1
+          elseif id == 0x113 then
+             gen.amps = get_uint16(frame, 2)
+          elseif id == 0x2E0 then
+             starter_rpm = get_uint16(frame, 4)
+          elseif id == 0x10B then
+             fuel_consumption_lph = get_uint16(frame,6)*0.001
+             if last_fuel_s > 0 then
+                local dt = now_s - last_fuel_s
+                local fuel_lps = fuel_consumption_lph / 3600.0
+                fuel_total_l = fuel_total_l + fuel_lps * dt
+             end
+             last_fuel_s = now_s
+          end
+       else
+          -- original SkyPower driver
+          if id == 0x100 then
+             rpm = get_uint16(frame, 0)
+             ignition_angle = get_uint16(frame, 2) * 0.1
+             throttle_angle = get_uint16(frame, 4) * 0.1
+             last_rpm_t = get_time_sec()
+          elseif id == 0x101 then
+             current_load = get_uint16(frame, 0) * 0.1
+             target_load = get_uint16(frame, 2) * 0.1
+             inj_time = get_uint16(frame, 4)
+             -- inj_ang = get_uint16(frame, 6) * 0.1
+          elseif id == 0x104 then
+             supply_voltage = get_uint16(frame, 0) * 0.1
+             ecu_temp = get_uint16(frame, 2) * 0.1
+             air_pressure = get_uint16(frame, 4)
+             fuel_consumption_lph = get_uint16(frame,6)*0.001
+             if last_fuel_s > 0 then
+                local dt = now_s - last_fuel_s
+                local fuel_lps = fuel_consumption_lph / 3600.0
+                fuel_total_l = fuel_total_l + fuel_lps * dt
+             end
+             last_fuel_s = now_s
+          elseif id == 0x105 then
+             temps.cht = get_uint16(frame, 0) * 0.1
+             temps.imt = get_uint16(frame, 2) * 0.1
+             temps.egt = get_uint16(frame, 4) * 0.1
+             temps.oilt = get_uint16(frame, 6) * 0.1
           end
-          last_fuel_s = now_s
-       elseif id == 0x105 then
-          temps.cht = get_uint16(frame, 0) * 0.1
-          temps.imt = get_uint16(frame, 2) * 0.1
-          temps.egt = get_uint16(frame, 4) * 0.1
-          temps.oilt = get_uint16(frame, 6) * 0.1
        end
     end
 
@@ -344,7 +415,7 @@ local function engine_control(_driver, _idx)
        -- copy cylinder_state to efi_state
        efi_state:cylinder_status(cylinder_state)
 
-       last_efi_state_time = millis()
+       local last_efi_state_time = millis()
        efi_state:last_updated_ms(last_efi_state_time)
 
 
@@ -368,6 +439,10 @@ local function engine_control(_driver, _idx)
 
     -- send an engine start command
     function self.send_engine_start()
+       if EFI_SP_MODEL:get() == MODEL_SP_275 then
+          -- the SP-275 needs a stop before a start will work
+          self.send_engine_stop()
+       end
        local msg = CANFrame()
        msg:id(FRM_505)
        msg:data(0,10)
@@ -437,7 +512,7 @@ local function engine_control(_driver, _idx)
        if min_rpm > 0 and engine_started and rpm < min_rpm and allow_run_engine() then
           local now = get_time_sec()
           local dt = now - engine_start_t
-          if dt > 2.0 then
+          if EFI_SP_RST_TIME:get() > 0 and dt > EFI_SP_RST_TIME:get() then
              gcs:send_text(0, string.format("EFISP: re-starting engine"))
              self.send_engine_start()
              engine_start_t = get_time_sec()
@@ -455,6 +530,9 @@ local function engine_control(_driver, _idx)
 
     -- update generator control
     function self.update_generator()
+       if EFI_SP_GEN_CTRL:get() == 0 then
+          return
+       end
        local gen_state = rc:get_aux_cached(EFI_SP_GEN_FN:get())
        if gen_state == 0 and generator_started then
           generator_started = false
@@ -504,6 +582,9 @@ local function engine_control(_driver, _idx)
        gcs:send_named_float('EFI_OILTMP', temps.oilt)
        gcs:send_named_float('EFI_TRLOAD', target_load)
        gcs:send_named_float('EFI_VOLTS', supply_voltage)
+       gcs:send_named_float('EFI_GEN_AMPS', gen.amps)
+       gcs:send_named_float('EFI_CHT2', temps.cht2)
+       gcs:send_named_float('EFI_STARTRPM', starter_rpm)
     end
 
     -- update custom logging
@@ -517,18 +598,18 @@ local function engine_control(_driver, _idx)
           return
        end
        last_log_t = now
-       logger.write('EFSP','Thr,CLoad,TLoad,OilT,RPM,gRPM,gAmp,gCur', 'ffffffff',
+       logger.write('EFSP','Thr,CLoad,TLoad,OilT,RPM,gRPM,gAmp,gCur,SErr,TLim,STRPM', 'ffffffffHHH',
                     last_throttle, current_load, target_load, temps.oilt, rpm,
-                    gen.rpm, gen.amps, gen.batt_current)
+                    gen.rpm, gen.amps, gen.batt_current,
+                    sensor_error_flags, thermal_limit_flags,
+                    starter_rpm)
     end
     
     -- return the instance
     return self
-end -- end function engine_control(_driver, _idx)
-
-local engine1 = engine_control(driver1, 1)
+end -- end function engine_control
 
-local last_efi_state_time = 0.0
+local engine1 = engine_control(driver1)
 
 function update()
    now_s = get_time_sec()

From 1e644d56a51806b63dcd68d5e6566ec0f10248fc Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 17 Dec 2023 15:57:13 +1100
Subject: [PATCH 0113/1335] mavlink: move forward to ardupilot/master

---
 modules/mavlink | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/mavlink b/modules/mavlink
index 71af5c43fc24ff..130a836efbfef0 160000
--- a/modules/mavlink
+++ b/modules/mavlink
@@ -1 +1 @@
-Subproject commit 71af5c43fc24ffb237d3a93dc0c8358d67aa0cc0
+Subproject commit 130a836efbfef0eb3287a92cd5e187de7facdce2

From dee0ca2f3459d0f4a1d72f3f6f555fd22d208b49 Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Sun, 17 Dec 2023 19:54:25 -0700
Subject: [PATCH 0114/1335] AP_ExternalARHS: Don't offer IMU by default

* Since MicroStrain won't support >400Hz yet

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp
index 1abf9436355e03..5f2a066907bd04 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp
@@ -65,6 +65,11 @@ AP_ExternalAHRS_MicroStrain7::AP_ExternalAHRS_MicroStrain7(AP_ExternalAHRS *_fro
         AP_BoardConfig::allocation_error("MicroStrain7 failed to allocate ExternalAHRS update thread");
     }
 
+    // don't offer IMU by default, at 100Hz it is too slow for many aircraft
+    set_default_sensors(uint16_t(AP_ExternalAHRS::AvailableSensor::GPS) |
+                        uint16_t(AP_ExternalAHRS::AvailableSensor::BARO) |
+                        uint16_t(AP_ExternalAHRS::AvailableSensor::COMPASS));
+
     hal.scheduler->delay(5000);
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "MicroStrain7 ExternalAHRS initialised");
 }

From 98aeade904296af06945b2da37a9606523b0bfa3 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Fri, 23 Jun 2023 21:15:14 +0100
Subject: [PATCH 0115/1335] AP_IOMCU: bdshot for iomcu

prevent repeated rcout mode sets
add ESC telemetry if compiled in
add infrastructure to support propagating erpm and telemetry from iomcu
add support to propagate bdmask to iomcu
add support for EDT
scale voltage and current correctly when reading EDT data
ensure that telemetry data is reset
reset ESC telemetry data to zero if stale
ESC type and bdmask must be setup before the output mode
---
 libraries/AP_IOMCU/AP_IOMCU.cpp              | 96 +++++++++++++++++++
 libraries/AP_IOMCU/AP_IOMCU.h                | 27 +++++-
 libraries/AP_IOMCU/iofirmware/iofirmware.cpp | 97 +++++++++++++++++++-
 libraries/AP_IOMCU/iofirmware/iofirmware.h   | 18 +++-
 libraries/AP_IOMCU/iofirmware/ioprotocol.h   | 26 ++++++
 libraries/AP_IOMCU/iofirmware/wscript        |  1 +
 6 files changed, 253 insertions(+), 12 deletions(-)

diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp
index 9045193bb2d3b1..2cf81c9165d599 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.cpp
+++ b/libraries/AP_IOMCU/AP_IOMCU.cpp
@@ -113,6 +113,12 @@ void AP_IOMCU::thread_main(void)
     uart.begin(1500*1000, 128, 128);
     uart.set_unbuffered_writes(true);
 
+    AP_BLHeli* blh = AP_BLHeli::get_singleton();
+    uint16_t erpm_period_ms = 10; // default 100Hz
+    if (blh && blh->get_telemetry_rate() > 0) {
+        erpm_period_ms = constrain_int16(1000 / blh->get_telemetry_rate(), 1, 1000);
+    }
+
     trigger_event(IOEVENT_INIT);
 
     while (!do_shutdown) {
@@ -308,6 +314,22 @@ void AP_IOMCU::thread_main(void)
             last_servo_read_ms = AP_HAL::millis();
         }
 
+        if (AP_BoardConfig::io_dshot() && now - last_erpm_read_ms > erpm_period_ms) {
+            // read erpm at configured rate. A more efficient scheme might be to 
+            // send erpm info back with the response from a PWM send, but that would
+            // require a reworking of the registers model
+            read_erpm();
+            last_erpm_read_ms = AP_HAL::millis();
+        }
+
+        if (AP_BoardConfig::io_dshot() && now - last_telem_read_ms > 100) {
+            // read dshot telemetry at 10Hz
+            // needs to be at least 4Hz since each ESC updates at ~1Hz and we
+            // are reading 4 at a time
+            read_telem();
+            last_telem_read_ms = AP_HAL::millis();
+        }
+
         if (now - last_safety_option_check_ms > 1000) {
             update_safety_options();
             last_safety_option_check_ms = now;
@@ -371,6 +393,66 @@ void AP_IOMCU::read_rc_input()
     }
 }
 
+/*
+  read dshot erpm
+ */
+void AP_IOMCU::read_erpm()
+{
+    uint16_t *r = (uint16_t *)&dshot_erpm;
+    if (!read_registers(PAGE_RAW_DSHOT_ERPM, 0, sizeof(dshot_erpm)/2, r)) {
+        return;
+    }
+    uint8_t motor_poles = 14;
+    AP_BLHeli* blh = AP_BLHeli::get_singleton();
+    if (blh) {
+        motor_poles = blh->get_motor_poles();
+    }
+    for (uint8_t i = 0; i < IOMCU_MAX_CHANNELS/4; i++) {
+        for (uint8_t j = 0; j < 4; j++) {
+            const uint8_t esc_id = (i * 4 + j);
+            if (dshot_erpm.update_mask & 1U<<esc_id) {
+                update_rpm(esc_id, dshot_erpm.erpm[esc_id] * 200U / motor_poles, dshot_telem[i].error_rate[j] / 100.0);
+            }
+        }
+    }
+}
+
+/*
+  read dshot telemetry
+ */
+void AP_IOMCU::read_telem()
+{
+    struct page_dshot_telem* telem = &dshot_telem[esc_group];
+    uint16_t *r = (uint16_t *)telem;
+    iopage page = PAGE_RAW_DSHOT_TELEM_1_4;
+    switch (esc_group) {
+    case 1:
+        page = PAGE_RAW_DSHOT_TELEM_5_8;
+        break;
+    case 2:
+        page = PAGE_RAW_DSHOT_TELEM_9_12;
+        break;
+    case 3:
+        page = PAGE_RAW_DSHOT_TELEM_13_16;
+        break;
+    default:
+        break;
+    }
+
+    if (!read_registers(page, 0, sizeof(page_dshot_telem)/2, r)) {
+        return;
+    }
+    for (uint i = 0; i<4; i++) {
+        TelemetryData t {
+            .temperature_cdeg = int16_t(telem->temperature_cdeg[i]),
+            .voltage = float(telem->voltage_cvolts[i]) * 0.01,
+            .current = float(telem->current_camps[i]) * 0.01
+        };
+        update_telem_data(esc_group * 4 + i, t, telem->types[i]);
+    }
+    esc_group = (esc_group + 1) % 4;
+}
+
 /*
   read status registers
  */
@@ -841,6 +923,13 @@ void AP_IOMCU::set_dshot_period(uint16_t period_us, uint8_t drate)
     trigger_event(IOEVENT_SET_DSHOT_PERIOD);
 }
 
+// set the dshot esc_type
+void AP_IOMCU::set_dshot_esc_type(AP_HAL::RCOutput::DshotEscType dshot_esc_type)
+{
+    mode_out.esc_type = uint16_t(dshot_esc_type);
+    trigger_event(IOEVENT_SET_OUTPUT_MODE);
+}
+
 // set output mode
 void AP_IOMCU::set_telem_request_mask(uint32_t mask)
 {
@@ -873,6 +962,13 @@ void AP_IOMCU::set_output_mode(uint16_t mask, uint16_t mode)
     trigger_event(IOEVENT_SET_OUTPUT_MODE);
 }
 
+// set output mode
+void AP_IOMCU::set_bidir_dshot_mask(uint16_t mask)
+{
+    mode_out.bdmask = mask;
+    trigger_event(IOEVENT_SET_OUTPUT_MODE);
+}
+
 AP_HAL::RCOutput::output_mode AP_IOMCU::get_output_mode(uint8_t& mask) const
 {
     mask = reg_status.rcout_mask;
diff --git a/libraries/AP_IOMCU/AP_IOMCU.h b/libraries/AP_IOMCU/AP_IOMCU.h
index 794844a950ab9b..041c565f48f193 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.h
+++ b/libraries/AP_IOMCU/AP_IOMCU.h
@@ -13,11 +13,16 @@
 #include "iofirmware/ioprotocol.h"
 #include <AP_RCMapper/AP_RCMapper.h>
 #include <AP_HAL/RCOutput.h>
+#include <AP_ESC_Telem/AP_ESC_Telem_Backend.h>
 
 typedef uint32_t eventmask_t;
 typedef struct ch_thread thread_t;
 
-class AP_IOMCU {
+class AP_IOMCU
+#ifdef HAL_WITH_ESC_TELEM
+  : public AP_ESC_Telem_Backend
+#endif
+{
 public:
     AP_IOMCU(AP_HAL::UARTDriver &uart);
 
@@ -102,6 +107,9 @@ class AP_IOMCU {
     // set output mode
     void set_output_mode(uint16_t mask, uint16_t mode);
 
+    // set bi-directional mask
+    void set_bidir_dshot_mask(uint16_t mask);
+
     // get output mode
     AP_HAL::RCOutput::output_mode get_output_mode(uint8_t& mask) const;
 
@@ -118,6 +126,9 @@ class AP_IOMCU {
     // set telem request mask
     void set_telem_request_mask(uint32_t mask);
 
+    // set the dshot esc_type
+    void set_dshot_esc_type(AP_HAL::RCOutput::DshotEscType dshot_esc_type);
+
     // send a dshot command
     void send_dshot_command(uint8_t command, uint8_t chan, uint32_t command_timeout_ms, uint16_t repeat_count, bool priority);
 #endif
@@ -192,6 +203,8 @@ class AP_IOMCU {
     uint32_t last_servo_read_ms;
     uint32_t last_safety_option_check_ms;
     uint32_t last_reg_read_ms;
+    uint32_t last_erpm_read_ms;
+    uint32_t last_telem_read_ms;
 
     // last value of safety options
     uint16_t last_safety_options = 0xFFFF;
@@ -204,6 +217,8 @@ class AP_IOMCU {
 
     void send_servo_out(void);
     void read_rc_input(void);
+    void read_erpm(void);
+    void read_telem(void);
     void read_servo(void);
     void read_status(void);
     void discard_input(void);
@@ -256,15 +271,17 @@ class AP_IOMCU {
         uint16_t rate;
     } dshot_rate;
 
+    // bi-directional dshot erpm values
+    struct page_dshot_erpm dshot_erpm;
+    struct page_dshot_telem dshot_telem[IOMCU_MAX_CHANNELS/4];
+    uint8_t esc_group;
+
     // queue of dshot commands that need sending
     ObjectBuffer<page_dshot> dshot_command_queue{8};
 
     struct page_GPIO GPIO;
     // output mode values
-    struct {
-        uint16_t mask;
-        uint16_t mode;
-    } mode_out;
+    struct page_mode_out mode_out;
 
     // IMU heater duty cycle
     uint8_t heater_duty_cycle;
diff --git a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
index 3d1cce6f62d1e9..2ff7db713b5e4b 100644
--- a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
+++ b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
@@ -135,8 +135,10 @@ static void dma_tx_end_cb(hal_uart_driver *uart)
     (void)uart->usart->DR;
     (void)uart->usart->DR;
 
+#ifdef HAL_GPIO_LINE_GPIO108
     TOGGLE_PIN_DEBUG(108);
     TOGGLE_PIN_DEBUG(108);
+#endif
 
     chEvtSignalI(iomcu.thread_ctx, IOEVENT_TX_END);
 }
@@ -416,8 +418,9 @@ void AP_IOMCU_FW::update()
     // immediate timeout here for lowest latency
     eventmask_t mask = chEvtWaitAnyTimeout(IOEVENT_PWM | IOEVENT_TX_END, TIME_IMMEDIATE);
 #endif
-
+#ifdef HAL_GPIO_LINE_GPIO107
     TOGGLE_PIN_DEBUG(107);
+#endif
 
     iomcu.reg_status.total_ticks++;
     if (mask) {
@@ -482,12 +485,20 @@ void AP_IOMCU_FW::update()
         // turn amber off
         AMBER_SET(0);
     }
+
     // update status page at 20Hz
     if (now - last_status_ms > 50) {
         last_status_ms = now;
         page_status_update();
     }
-
+#ifdef HAL_WITH_BIDIR_DSHOT
+    // EDT updates are semt at ~1Hz per ESC, but we want to make sure
+    // that we don't delay updates unduly so sample at 5Hz
+    if (now - last_telem_ms > 200) {
+        last_telem_ms = now;
+        telem_update();
+    }
+#endif
     // run fast loop functions at 1Khz
     if (now_us - last_fast_loop_us >= 1000)
     {
@@ -495,6 +506,9 @@ void AP_IOMCU_FW::update()
         heater_update();
         rcin_update();
         rcin_serial_update();
+#ifdef HAL_WITH_BIDIR_DSHOT
+        erpm_update();
+#endif
     }
 
     // run remaining functions at 100Hz
@@ -521,7 +535,9 @@ void AP_IOMCU_FW::update()
         tx_dma_handle->unlock();
     }
 #endif
+#ifdef HAL_GPIO_LINE_GPIO107
     TOGGLE_PIN_DEBUG(107);
+#endif
 }
 
 void AP_IOMCU_FW::pwm_out_update()
@@ -603,6 +619,44 @@ void AP_IOMCU_FW::rcin_update()
     }
 }
 
+#ifdef HAL_WITH_BIDIR_DSHOT
+void AP_IOMCU_FW::erpm_update()
+{
+    if (hal.rcout->new_erpm()) {
+        dshot_erpm.update_mask |= hal.rcout->read_erpm(dshot_erpm.erpm, IOMCU_MAX_CHANNELS);
+    }
+}
+
+void AP_IOMCU_FW::telem_update()
+{
+    uint32_t now_ms = AP_HAL::millis();
+
+    for (uint8_t i = 0; i < IOMCU_MAX_CHANNELS/4; i++) {
+        for (uint8_t j = 0; j < 4; j++) {
+            const uint8_t esc_id = (i * 4 + j);
+            if (esc_id >= IOMCU_MAX_CHANNELS) {
+                continue;
+            }
+            dshot_telem[i].error_rate[j] = uint16_t(roundf(hal.rcout->get_erpm_error_rate(esc_id) * 100.0));
+#if HAL_WITH_ESC_TELEM
+            const volatile AP_ESC_Telem_Backend::TelemetryData& telem = esc_telem.get_telem_data(esc_id);
+            // if data is stale the set to zero to avoidn phantom data appearing in mavlink
+            if (now_ms - telem.last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS) {
+                dshot_telem[i].voltage_cvolts[j] = 0;
+                dshot_telem[i].current_camps[j] = 0;
+                dshot_telem[i].temperature_cdeg[j] = 0;
+                continue;
+            }
+            dshot_telem[i].voltage_cvolts[j] = uint16_t(roundf(telem.voltage * 100));
+            dshot_telem[i].current_camps[j] = uint16_t(roundf(telem.current * 100));
+            dshot_telem[i].temperature_cdeg[j] = telem.temperature_cdeg;
+            dshot_telem[i].types[j] = telem.types;
+#endif
+        }
+    }
+}
+#endif
+
 void AP_IOMCU_FW::process_io_packet()
 {
     iomcu.reg_status.total_pkts++;
@@ -701,6 +755,23 @@ bool AP_IOMCU_FW::handle_code_read()
     case PAGE_RAW_RCIN:
         COPY_PAGE(rc_input);
         break;
+#ifdef HAL_WITH_BIDIR_DSHOT
+    case PAGE_RAW_DSHOT_ERPM:
+        COPY_PAGE(dshot_erpm);
+        break;
+    case PAGE_RAW_DSHOT_TELEM_1_4:
+        COPY_PAGE(dshot_telem[0]);
+        break;
+    case PAGE_RAW_DSHOT_TELEM_5_8:
+        COPY_PAGE(dshot_telem[1]);
+        break;
+    case PAGE_RAW_DSHOT_TELEM_9_12:
+        COPY_PAGE(dshot_telem[2]);
+        break;
+    case PAGE_RAW_DSHOT_TELEM_13_16:
+        COPY_PAGE(dshot_telem[3]);
+        break;
+#endif
     case PAGE_STATUS:
         COPY_PAGE(reg_status);
         break;
@@ -727,6 +798,16 @@ bool AP_IOMCU_FW::handle_code_read()
     memcpy(tx_io_packet.regs, values, sizeof(uint16_t)*tx_io_packet.count);
     tx_io_packet.crc = 0;
     tx_io_packet.crc =  crc_crc8((const uint8_t *)&tx_io_packet, tx_io_packet.get_size());
+
+#ifdef HAL_WITH_BIDIR_DSHOT
+    switch (rx_io_packet.page) {
+    case PAGE_RAW_DSHOT_ERPM:
+        memset(&dshot_erpm, 0, sizeof(dshot_erpm));
+        break;
+    default:
+        break;
+    }
+#endif
     return true;
 }
 
@@ -814,6 +895,8 @@ bool AP_IOMCU_FW::handle_code_write()
         case PAGE_REG_SETUP_OUTPUT_MODE:
             mode_out.mask = rx_io_packet.regs[0];
             mode_out.mode = rx_io_packet.regs[1];
+            mode_out.bdmask = rx_io_packet.regs[2];
+            mode_out.esc_type = rx_io_packet.regs[3];
             break;
 
         case PAGE_REG_SETUP_HEATER_DUTY_CYCLE:
@@ -1066,7 +1149,9 @@ void AP_IOMCU_FW::rcout_config_update(void)
     }
 
     // see if there is anything to do, we only support setting the mode for a particular channel once
-    if ((last_output_mode_mask & ~mode_out.mask) == mode_out.mask) {
+    if ((last_output_mode_mask & mode_out.mask) == mode_out.mask
+        && (last_output_bdmask & mode_out.bdmask) == mode_out.bdmask
+        && last_output_esc_type == mode_out.esc_type) {
         return;
     }
 
@@ -1075,11 +1160,17 @@ void AP_IOMCU_FW::rcout_config_update(void)
     case AP_HAL::RCOutput::MODE_PWM_DSHOT300:
 #if defined(STM32F103xB) || defined(STM32F103x8)
     case AP_HAL::RCOutput::MODE_PWM_DSHOT600:
+#endif
+#ifdef HAL_WITH_BIDIR_DSHOT
+        hal.rcout->set_bidir_dshot_mask(mode_out.bdmask);
+        hal.rcout->set_dshot_esc_type(AP_HAL::RCOutput::DshotEscType(mode_out.esc_type));
 #endif
         hal.rcout->set_output_mode(mode_out.mask, (AP_HAL::RCOutput::output_mode)mode_out.mode);
         // enabling dshot changes the memory allocation
         reg_status.freemem = hal.util->available_memory();
         last_output_mode_mask |= mode_out.mask;
+        last_output_bdmask |= mode_out.bdmask;
+        last_output_esc_type = mode_out.esc_type;
         break;
     case AP_HAL::RCOutput::MODE_PWM_ONESHOT:
     case AP_HAL::RCOutput::MODE_PWM_ONESHOT125:
diff --git a/libraries/AP_IOMCU/iofirmware/iofirmware.h b/libraries/AP_IOMCU/iofirmware/iofirmware.h
index 62c8b12565b6e8..16227f39f7e656 100644
--- a/libraries/AP_IOMCU/iofirmware/iofirmware.h
+++ b/libraries/AP_IOMCU/iofirmware/iofirmware.h
@@ -4,6 +4,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_RCProtocol/AP_RCProtocol.h>
+#include <AP_ESC_Telem/AP_ESC_Telem.h>
 
 #include "hal.h"
 #include "ch.h"
@@ -29,6 +30,8 @@ class AP_IOMCU_FW {
     void pwm_out_update();
     void heater_update();
     void rcin_update();
+    void erpm_update();
+    void telem_update();
 
     bool handle_code_write();
     bool handle_code_read();
@@ -112,12 +115,11 @@ class AP_IOMCU_FW {
     } rate;
 
     // output mode values
-    struct {
-        uint16_t mask;
-        uint16_t mode;
-    } mode_out;
+    struct page_mode_out mode_out;
 
     uint16_t last_output_mode_mask;
+    uint16_t last_output_bdmask;
+    uint16_t last_output_esc_type;
 
     // MIXER values
     struct page_mixing mixing;
@@ -135,6 +137,14 @@ class AP_IOMCU_FW {
     void tx_dma_deallocate(ChibiOS::Shared_DMA *ctx);
 
     ChibiOS::Shared_DMA* tx_dma_handle;
+#endif
+#ifdef HAL_WITH_BIDIR_DSHOT
+    struct page_dshot_erpm dshot_erpm;
+    struct page_dshot_telem dshot_telem[IOMCU_MAX_CHANNELS/4];
+    uint32_t last_telem_ms;
+#if HAL_WITH_ESC_TELEM
+    AP_ESC_Telem esc_telem;
+#endif
 #endif
 
     // true when override channel active
diff --git a/libraries/AP_IOMCU/iofirmware/ioprotocol.h b/libraries/AP_IOMCU/iofirmware/ioprotocol.h
index 21b0a4263a07c9..44c10d50542546 100644
--- a/libraries/AP_IOMCU/iofirmware/ioprotocol.h
+++ b/libraries/AP_IOMCU/iofirmware/ioprotocol.h
@@ -58,6 +58,11 @@ enum iopage {
     PAGE_MIXING = 200,
     PAGE_GPIO = 201,
     PAGE_DSHOT = 202,
+    PAGE_RAW_DSHOT_ERPM = 203,
+    PAGE_RAW_DSHOT_TELEM_1_4 = 204,
+    PAGE_RAW_DSHOT_TELEM_5_8 = 205,
+    PAGE_RAW_DSHOT_TELEM_9_12 = 206,
+    PAGE_RAW_DSHOT_TELEM_13_16 = 207,
 };
 
 // setup page registers
@@ -184,6 +189,13 @@ struct __attribute__((packed, aligned(2))) page_GPIO {
     uint8_t output_mask;
 };
 
+struct __attribute__((packed, aligned(2))) page_mode_out {
+    uint16_t mask;
+    uint16_t mode;
+    uint16_t bdmask;
+    uint16_t esc_type;
+};
+
 struct __attribute__((packed, aligned(2))) page_dshot {
     uint16_t telem_mask;
     uint8_t command;
@@ -192,3 +204,17 @@ struct __attribute__((packed, aligned(2))) page_dshot {
     uint8_t repeat_count;
     uint8_t priority;
 };
+
+struct __attribute__((packed, aligned(2))) page_dshot_erpm {
+    uint16_t erpm[IOMCU_MAX_CHANNELS];
+    uint32_t update_mask;
+};
+
+// separate telemetry packet because (a) it's too big otherwise and (b) slower update rate
+struct __attribute__((packed, aligned(2))) page_dshot_telem {
+    uint16_t  error_rate[4]; // as a centi-percentage
+    uint16_t  voltage_cvolts[4];
+    uint16_t  current_camps[4];
+    uint16_t  temperature_cdeg[4];
+    uint16_t  types[4];
+};
diff --git a/libraries/AP_IOMCU/iofirmware/wscript b/libraries/AP_IOMCU/iofirmware/wscript
index 7e051d72cbaefd..445b95c0e1ee0e 100644
--- a/libraries/AP_IOMCU/iofirmware/wscript
+++ b/libraries/AP_IOMCU/iofirmware/wscript
@@ -12,6 +12,7 @@ def build(bld):
         'AP_Math',
         'AP_RCProtocol',
         'AP_BoardConfig',
+        'AP_ESC_Telem',
         'AP_SBusOut'
         ],
         exclude_src=[

From 6deff406e0fce001be61d9634765a2e0af751237 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Tue, 3 Oct 2023 20:25:00 +0100
Subject: [PATCH 0116/1335] AP_ESC_Telem: don't set up parameters on iofirmware

add direct accessor for telemetry data to be used by iomcu
don't update telemetry data if no data
---
 libraries/AP_ESC_Telem/AP_ESC_Telem.cpp | 4 +++-
 libraries/AP_ESC_Telem/AP_ESC_Telem.h   | 5 +++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
index 0ebc163c2d27ed..d2b7e31b1488c5 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -49,7 +49,9 @@ AP_ESC_Telem::AP_ESC_Telem()
         AP_HAL::panic("Too many AP_ESC_Telem instances");
     }
     _singleton = this;
+#if !defined(IOMCU_FW)
     AP_Param::setup_object_defaults(this, var_info);
+#endif
 }
 
 // return the average motor RPM
@@ -416,7 +418,7 @@ void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem
     // can only get slightly more up-to-date information that perhaps they were expecting or might
     // read data that has just gone stale - both of these are safe and avoid the overhead of locking
 
-    if (esc_index >= ESC_TELEM_MAX_ESCS) {
+    if (esc_index >= ESC_TELEM_MAX_ESCS || data_mask == 0) {
         return;
     }
 
diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.h b/libraries/AP_ESC_Telem/AP_ESC_Telem.h
index 503ef43299dfce..ae40ede5970792 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.h
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.h
@@ -32,6 +32,11 @@ class AP_ESC_Telem {
     // get an individual ESC's raw rpm if available
     bool get_raw_rpm(uint8_t esc_index, float& rpm) const;
 
+    // get raw telemetry data, used by IOMCU
+    const volatile AP_ESC_Telem_Backend::TelemetryData& get_telem_data(uint8_t esc_index) const {
+        return _telem_data[esc_index];
+    }
+
     // return the average motor RPM
     float get_average_motor_rpm(uint32_t servo_channel_mask) const;
 

From 9db7120c06818c09afa143e6454166b95cc2ef2f Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Fri, 6 Oct 2023 20:39:27 +0100
Subject: [PATCH 0117/1335] AP_BLHeli: add accessor for motor poles and
 telemetry rate

---
 libraries/AP_BLHeli/AP_BLHeli.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_BLHeli/AP_BLHeli.h b/libraries/AP_BLHeli/AP_BLHeli.h
index ae583262fdaee3..35f1e5082263bf 100644
--- a/libraries/AP_BLHeli/AP_BLHeli.h
+++ b/libraries/AP_BLHeli/AP_BLHeli.h
@@ -54,6 +54,8 @@ class AP_BLHeli : public AP_ESC_Telem_Backend {
     }
 
     uint32_t get_bidir_dshot_mask() const { return channel_bidir_dshot_mask.get(); }
+    uint8_t get_motor_poles() const { return motor_poles.get(); }
+    uint16_t get_telemetry_rate() const { return telem_rate.get(); }
 
     static AP_BLHeli *get_singleton(void) {
         return _singleton;

From 2a9c2fdf149ce2575ae056c57e79fb22493e776f Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Fri, 6 Oct 2023 20:36:09 +0100
Subject: [PATCH 0118/1335] AP_HAL: add methods to directly access erpm array
 from rcout

---
 libraries/AP_HAL/RCOutput.h | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_HAL/RCOutput.h b/libraries/AP_HAL/RCOutput.h
index bc360932268ecd..c4de0473a96f66 100644
--- a/libraries/AP_HAL/RCOutput.h
+++ b/libraries/AP_HAL/RCOutput.h
@@ -154,6 +154,11 @@ class AP_HAL::RCOutput {
      */
     virtual uint16_t get_erpm(uint8_t chan) const { return 0; }
     virtual float get_erpm_error_rate(uint8_t chan) const { return 100.0f; }
+    /*
+      allow all erpm values to be read and for new updates to be detected - primarily for IOMCU
+     */
+    virtual bool  new_erpm() { return false; }
+    virtual uint32_t  read_erpm(uint16_t* erpm, uint8_t len) { return 0; }
 
     /*
       enable PX4IO SBUS out at the given rate

From e024f9fc8c2ea55d031e0eb2870a124ebf632205 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sun, 8 Oct 2023 21:14:52 +0100
Subject: [PATCH 0119/1335] AP_Notify: ensure dshot LEDs work with EDT ESCs

---
 libraries/AP_Notify/DShotLED.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Notify/DShotLED.cpp b/libraries/AP_Notify/DShotLED.cpp
index 798905a990e931..6b895b88bee6da 100644
--- a/libraries/AP_Notify/DShotLED.cpp
+++ b/libraries/AP_Notify/DShotLED.cpp
@@ -23,7 +23,8 @@ extern const AP_HAL::HAL& hal;
 bool DShotLED::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
 {
     // don't play the motor LEDs while flying
-    if (hal.util->get_soft_armed() || hal.rcout->get_dshot_esc_type() != AP_HAL::RCOutput::DSHOT_ESC_BLHELI) {
+    if (hal.util->get_soft_armed() || (hal.rcout->get_dshot_esc_type() != AP_HAL::RCOutput::DSHOT_ESC_BLHELI
+        && hal.rcout->get_dshot_esc_type() != AP_HAL::RCOutput::DSHOT_ESC_BLHELI_EDT)) {
         return false;
     }
 

From 9f30d015610e912ce5cd7a783ac585b77b25b744 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sun, 24 Sep 2023 14:09:23 +0100
Subject: [PATCH 0120/1335] AP_HAL_ChibiOS: bdshot for f103 iofirmware

add support to tell if shared DMA channel is actually shared
avoid starting and stopping the timer peripheral with bdshot
ensure that rcout DMA allocation and deallocation happens entirely within the lock
increase rcout thread working area for bdshot
fix mode mask that is sent to the iomcu
ensure iomcu rcout thread gets timeouts for callbacks
control bdshot input and output line levels on f103
use input capture channel pairs to read rising and falling edges of telemetry on f103
reset channel pairs together on iomcu
generalize the bdshot input path to support suitable buffer sizes for iomcu
generalize DMAR reading of CCR registers to read two at a time on iomcu
enable bi-directional dshot channels on PWM1-4 on iomcu
add methods to directly access erpm values from rcout
update erpm mask and esc telemetry correctly for firmware supporting dshot
add support for propagating bdmask to iomcu
dshot commands to all channels need to be aware of iomcu
ensure esc type is propagated to iomcu
cope with iomcu channel numbering when using EDT
ensure pwm driver is reset properly for dshot commands on iomcu
correctly reset pwm for dshot commands
correctly mask off bdshot bits going to iomcu
don't reset GPIO modes on disabled lines
don't reset pwm_started when sharing DMA channels
set thread name on iomcu rcout and reduce stack size on iomcu
ensure that bdshot pulses with no response are handled correctly
correctly setup DMA for input capture on f103
deal with out of order captured bytes when decoding bdshot telemetry
ensure DMA sharing on f103 does not pull lines low
only disable the timer peripheral when switching DMA channels on iomcu
add support for waiting for _UP to finish before proceeding with dshot
re-order iomcu dshot channels to let TIM4_UP go first
ensure that a cascading event will always come when expected on rcout
allow timeouts when using cascading dshot
always rotate telemetry channel after trying to capture input
cater for both in order and out-of-order bdshot telemetry packets
cope with reversed packets when decoding bdshot telemetry
ensure UP DMA channel is fully free on iomcu before starting next dshot cycle
refactor rcout for iofirmware into separate file
---
 libraries/AP_HAL_ChibiOS/RCOutput.cpp         |  84 +++--
 libraries/AP_HAL_ChibiOS/RCOutput.h           |  41 +-
 libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp  | 147 ++++++--
 .../AP_HAL_ChibiOS/RCOutput_iofirmware.cpp    | 356 +++++++++++++++++-
 libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp  |  22 +-
 .../hwdef/iomcu-dshot/hwdef.inc               |   2 +-
 .../hwdef/iomcu-f103-dshot/hwdef.dat          |  37 ++
 .../hwdef/scripts/chibios_hwdef.py            |   5 +-
 libraries/AP_HAL_ChibiOS/shared_dma.cpp       |   5 +
 libraries/AP_HAL_ChibiOS/shared_dma.h         |   1 +
 10 files changed, 604 insertions(+), 96 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index e703d362991052..e0539b01dd2f9d 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -336,8 +336,9 @@ void RCOutput::dshot_collect_dma_locks(uint64_t time_out_us, bool led_thread)
             continue;
         }
 
+        // dma handle will only be unlocked if the send was aborted
         if (group.dma_handle != nullptr && group.dma_handle->is_locked()) {
-            // calculate how long we have left
+            // if we have time left wait for the event
             const sysinterval_t wait_ticks = calc_ticks_remaining(group, time_out_us,
                                                                   led_thread ? LED_OUTPUT_PERIOD_US : _dshot_period_us);
             const eventmask_t mask = chEvtWaitOneTimeout(group.dshot_event_mask, wait_ticks);
@@ -350,13 +351,11 @@ void RCOutput::dshot_collect_dma_locks(uint64_t time_out_us, bool led_thread)
 #ifdef HAL_WITH_BIDIR_DSHOT
             // if using input capture DMA then clean up
             if (group.bdshot.enabled) {
-                // the channel index only moves on with success
-                const uint8_t chan = mask ? group.bdshot.prev_telem_chan
-                    : group.bdshot.curr_telem_chan;
                 // only unlock if not shared
-                if (group.bdshot.ic_dma_handle[chan] != nullptr
-                    && group.bdshot.ic_dma_handle[chan] != group.dma_handle) {
-                    group.bdshot.ic_dma_handle[chan]->unlock();
+                if (group.bdshot.curr_ic_dma_handle != nullptr
+                    && group.bdshot.curr_ic_dma_handle != group.dma_handle) {
+                    group.bdshot.curr_ic_dma_handle->unlock();
+                    group.bdshot.curr_ic_dma_handle = nullptr;
                 }
             }
 #endif
@@ -593,6 +592,11 @@ void RCOutput::set_dshot_esc_type(DshotEscType dshot_esc_type)
             DSHOT_BIT_1_TICKS = DSHOT_BIT_1_TICKS_DEFAULT;
             break;
     }
+#if HAL_WITH_IO_MCU
+    if (AP_BoardConfig::io_dshot()) {
+        iomcu.set_dshot_esc_type(dshot_esc_type);
+    }
+#endif
 }
 #endif // #if HAL_DSHOT_ENABLED
 
@@ -1188,13 +1192,14 @@ void RCOutput::set_output_mode(uint32_t mask, const enum output_mode mode)
         }
     }
 #if HAL_WITH_IO_MCU
+    const uint16_t iomcu_mask = (mask & ((1U<<chan_offset)-1));
     if ((mode == MODE_PWM_ONESHOT ||
          mode == MODE_PWM_ONESHOT125 ||
          mode == MODE_PWM_BRUSHED ||
          (mode >= MODE_PWM_DSHOT150 && mode <= MODE_PWM_DSHOT600)) &&
-        (mask & ((1U<<chan_offset)-1)) &&
+        iomcu_mask &&
         AP_BoardConfig::io_enabled()) {
-        iomcu.set_output_mode(mask, mode);
+        iomcu.set_output_mode(iomcu_mask, mode);
         return;
     }
 #endif
@@ -1453,14 +1458,25 @@ void RCOutput::dshot_send_groups(uint64_t time_out_us)
     }
 
     for (auto &group : pwm_group_list) {
+        bool pulse_sent;
         // send a dshot command
         if (is_dshot_protocol(group.current_mode)
             && dshot_command_is_active(group)) {
             command_sent = dshot_send_command(group, _dshot_current_command.command, _dshot_current_command.chan);
+            pulse_sent = true;
         // actually do a dshot send
         } else if (group.can_send_dshot_pulse()) {
             dshot_send(group, time_out_us);
+            pulse_sent = true;
         }
+#ifdef HAL_WITH_BIDIR_DSHOT
+        // prevent the next send going out until the previous send has released its DMA channel
+        if (pulse_sent && group.shared_up_dma && group.bdshot.enabled) {
+            chEvtWaitOneTimeout(DSHOT_CASCADE, calc_ticks_remaining(group, time_out_us, _dshot_period_us));
+        }
+#else
+        (void)pulse_sent;
+#endif
     }
 
     if (command_sent) {
@@ -1484,16 +1500,17 @@ __RAMFUNC__ void RCOutput::dshot_send_next_group(void* p)
 #if AP_HAL_SHARED_DMA_ENABLED
 void RCOutput::dma_allocate(Shared_DMA *ctx)
 {
+    chSysLock();
     for (auto &group : pwm_group_list) {
         if (group.dma_handle == ctx && group.dma == nullptr) {
-            chSysLock();
             group.dma = dmaStreamAllocI(group.dma_up_stream_id, 10, dma_up_irq_callback, &group);
-#if defined(IOMCU_FW)
-            if (group.pwm_started) {
-                pwmStart(group.pwm_drv, &group.pwm_cfg);
+#if defined(STM32F1)
+            if (group.pwm_started && group.dma_handle->is_shared()) {
+                /* Timer configured and started.*/
+                group.pwm_drv->tim->CR1   = STM32_TIM_CR1_ARPE | STM32_TIM_CR1_URS | STM32_TIM_CR1_CEN;
+                group.pwm_drv->tim->DIER  = group.pwm_drv->config->dier & ~STM32_TIM_DIER_IRQ_MASK;
             }
 #endif
-            chSysUnlock();
 #if STM32_DMA_SUPPORTS_DMAMUX
             if (group.dma) {
                 dmaSetRequestSource(group.dma, group.dma_up_channel);
@@ -1501,6 +1518,7 @@ void RCOutput::dma_allocate(Shared_DMA *ctx)
 #endif
         }
     }
+    chSysUnlock();
 }
 
 /*
@@ -1508,21 +1526,23 @@ void RCOutput::dma_allocate(Shared_DMA *ctx)
  */
 void RCOutput::dma_deallocate(Shared_DMA *ctx)
 {
+    chSysLock();
     for (auto &group : pwm_group_list) {
         if (group.dma_handle == ctx && group.dma != nullptr) {
-            chSysLock();
-#if defined(IOMCU_FW)
+#if defined(STM32F1)
             // leaving the peripheral running on IOMCU plays havoc with the UART that is
-            // also sharing this channel
-            if (group.pwm_started) {
-                pwmStop(group.pwm_drv);
+            // also sharing this channel, we only turn it off rather than resetting so
+            // that we don't have to worry about line modes etc
+            if (group.pwm_started && group.dma_handle->is_shared()) {
+                group.pwm_drv->tim->CR1   = 0;
+                group.pwm_drv->tim->DIER  = 0;
             }
 #endif
             dmaStreamFreeI(group.dma);
             group.dma = nullptr;
-            chSysUnlock();
         }
     }
+    chSysUnlock();
 }
 #endif // AP_HAL_SHARED_DMA_ENABLED
 
@@ -1588,7 +1608,7 @@ void RCOutput::fill_DMA_buffer_dshot(dmar_uint_t *buffer, uint8_t stride, uint16
 void RCOutput::dshot_send(pwm_group &group, uint64_t time_out_us)
 {
 #if HAL_DSHOT_ENABLED
-    if (soft_serial_waiting() || (group.dshot_state != DshotState::IDLE && group.dshot_state != DshotState::RECV_COMPLETE)) {
+    if (soft_serial_waiting() || !is_dshot_send_allowed(group.dshot_state)) {
         // doing serial output or DMAR input, don't send DShot pulses
         return;
     }
@@ -1601,7 +1621,7 @@ void RCOutput::dshot_send(pwm_group &group, uint64_t time_out_us)
     // if we are sharing UP channels then it might have taken a long time to get here,
     // if there's not enough time to actually send a pulse then cancel
 #if AP_HAL_SHARED_DMA_ENABLED
-    if (time_out_us > 0 && AP_HAL::micros64() + group.dshot_pulse_time_us > time_out_us) {
+    if (AP_HAL::micros64() + group.dshot_pulse_time_us > time_out_us) {
         group.dma_handle->unlock();
         return;
     }
@@ -1681,7 +1701,7 @@ void RCOutput::dshot_send(pwm_group &group, uint64_t time_out_us)
         }
     }
 
-    chEvtGetAndClearEvents(group.dshot_event_mask);
+    chEvtGetAndClearEvents(group.dshot_event_mask | DSHOT_CASCADE);
     // start sending the pulses out
     send_pulses_DMAR(group, DSHOT_BUFFER_LENGTH);
 #endif // HAL_DSHOT_ENABLED
@@ -1700,7 +1720,7 @@ bool RCOutput::serial_led_send(pwm_group &group)
     }
 
 #if HAL_DSHOT_ENABLED
-    if (soft_serial_waiting() || (group.dshot_state != DshotState::IDLE && group.dshot_state != DshotState::RECV_COMPLETE)
+    if (soft_serial_waiting() || !is_dshot_send_allowed(group.dshot_state)
         || AP_HAL::micros64() - group.last_dmar_send_us < (group.dshot_pulse_time_us + 50)) {
         // doing serial output or DMAR input, don't send DShot pulses
         return false;
@@ -1721,7 +1741,7 @@ bool RCOutput::serial_led_send(pwm_group &group)
 
     group.dshot_waiter = led_thread_ctx;
 
-    chEvtGetAndClearEvents(group.dshot_event_mask);
+    chEvtGetAndClearEvents(group.dshot_event_mask | DSHOT_CASCADE);
 
     // start sending the pulses out
     send_pulses_DMAR(group, group.dma_buffer_len);
@@ -1766,10 +1786,18 @@ void RCOutput::send_pulses_DMAR(pwm_group &group, uint32_t buffer_length)
 #endif
     dmaStreamSetMode(group.dma,
                      STM32_DMA_CR_CHSEL(group.dma_up_channel) |
-                     STM32_DMA_CR_DIR_M2P | STM32_DMA_CR_PSIZE_WORD | 
-#if defined(IOMCU_FW)
+                     STM32_DMA_CR_DIR_M2P |
+#if defined(STM32F1)
+#ifdef HAL_WITH_BIDIR_DSHOT
+                     STM32_DMA_CR_PSIZE_HWORD |
+                     STM32_DMA_CR_MSIZE_HWORD |
+#else
+                     STM32_DMA_CR_PSIZE_WORD |
                      STM32_DMA_CR_MSIZE_BYTE |
+#endif
+
 #else
+                     STM32_DMA_CR_PSIZE_WORD |
                      STM32_DMA_CR_MSIZE_WORD |
 #endif
                      STM32_DMA_CR_MINC | STM32_DMA_CR_PL(3) |
@@ -1858,7 +1886,7 @@ void RCOutput::dma_cancel(pwm_group& group)
         }
     }
     chVTResetI(&group.dma_timeout);
-    chEvtGetAndClearEventsI(group.dshot_event_mask);
+    chEvtGetAndClearEventsI(group.dshot_event_mask | DSHOT_CASCADE);
 
     group.dshot_state = DshotState::IDLE;
     chSysUnlock();
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.h b/libraries/AP_HAL_ChibiOS/RCOutput.h
index 1fbd983944e5c0..d6c6c6a343d2f2 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.h
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.h
@@ -25,10 +25,17 @@
 
 #if HAL_USE_PWM == TRUE
 
-#if defined(IOMCU_FW)
+#if defined(STM32F1)
+#ifdef HAL_WITH_BIDIR_DSHOT
+typedef uint16_t dmar_uint_t; // save memory to allow dshot on IOMCU
+typedef int16_t dmar_int_t;
+#else
 typedef uint8_t dmar_uint_t; // save memory to allow dshot on IOMCU
+typedef int8_t dmar_int_t;
+#endif
 #else
 typedef uint32_t dmar_uint_t;
+typedef int32_t dmar_int_t;
 #endif
 
 #define RCOU_DSHOT_TIMING_DEBUG 0
@@ -59,6 +66,11 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
     float get_erpm_error_rate(uint8_t chan) const override {
       return 100.0f * float(_bdshot.erpm_errors[chan]) / (1 + _bdshot.erpm_errors[chan] + _bdshot.erpm_clean_frames[chan]);
     }
+    /*
+      allow all erpm values to be read and for new updates to be detected - primarily for IOMCU
+     */
+    bool  new_erpm() override { return _bdshot.update_mask != 0; }
+    uint32_t read_erpm(uint16_t* erpm, uint8_t len) override;
 #endif
     void set_output_mode(uint32_t mask, const enum output_mode mode) override;
     enum output_mode get_output_mode(uint32_t& mask) override;
@@ -277,7 +289,8 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
       SEND_START = 1,
       SEND_COMPLETE = 2,
       RECV_START = 3,
-      RECV_COMPLETE = 4
+      RECV_COMPLETE = 4,
+      RECV_FAILED = 5
     };
 
     struct PACKED SerialLed {
@@ -296,8 +309,11 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
     static const uint16_t DSHOT_BUFFER_LENGTH = dshot_bit_length * 4 * sizeof(dmar_uint_t);
     static const uint16_t MIN_GCR_BIT_LEN = 7;
     static const uint16_t MAX_GCR_BIT_LEN = 22;
+    static const uint16_t TELEM_IC_SAMPLE = 16;
     static const uint16_t GCR_TELEMETRY_BIT_LEN = MAX_GCR_BIT_LEN;
-    static const uint16_t GCR_TELEMETRY_BUFFER_LEN = GCR_TELEMETRY_BIT_LEN*sizeof(uint32_t);
+    // input capture is expecting TELEM_IC_SAMPLE (16) ticks per transition (22) so the maximum
+    // value of the counter in CCR registers is 16*22 == 352, so must be 16-bit
+    static const uint16_t GCR_TELEMETRY_BUFFER_LEN = GCR_TELEMETRY_BIT_LEN*sizeof(dmar_uint_t);
 
     struct pwm_group {
         // only advanced timers can do high clocks needed for more than 400Hz
@@ -315,6 +331,7 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
             uint8_t stream_id;
             uint8_t channel;
         } dma_ch[4];
+        bool shared_up_dma; // do we need to wait for TIMx_UP DMA to be finished after use
 #endif
         uint8_t alt_functions[4];
         ioline_t pal_lines[4];
@@ -380,8 +397,9 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
             uint8_t telem_tim_ch[4];
             uint8_t curr_telem_chan;
             uint8_t prev_telem_chan;
+            Shared_DMA *curr_ic_dma_handle; // a shortcut to avoid logic errors involving the wrong lock
             uint16_t telempsc;
-            uint32_t dma_buffer_copy[GCR_TELEMETRY_BUFFER_LEN];
+            dmar_uint_t dma_buffer_copy[GCR_TELEMETRY_BUFFER_LEN];
 #if RCOU_DSHOT_TIMING_DEBUG
             uint16_t telem_rate[4];
             uint16_t telem_err_rate[4];
@@ -525,6 +543,7 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
     struct {
         uint32_t mask;
         uint16_t erpm[max_channels];
+        volatile uint32_t update_mask;
 #ifdef HAL_WITH_BIDIR_DSHOT
         uint16_t erpm_errors[max_channels];
         uint16_t erpm_clean_frames[max_channels];
@@ -593,6 +612,10 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
 
     bool is_bidir_dshot_enabled() const { return _bdshot.mask != 0; }
 
+    static bool is_dshot_send_allowed(DshotState state) {
+      return state == DshotState::IDLE || state == DshotState::RECV_COMPLETE || state == DshotState::RECV_FAILED;
+    }
+
     // are all the ESCs returning data
     bool group_escs_active(const pwm_group& group) const {
       return group.en_mask > 0 && (group.en_mask & _active_escs_mask) == group.en_mask;
@@ -644,6 +667,8 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
     uint16_t create_dshot_packet(const uint16_t value, bool telem_request, bool bidir_telem);
     void fill_DMA_buffer_dshot(dmar_uint_t *buffer, uint8_t stride, uint16_t packet, uint16_t clockmul);
 
+    // event to allow dshot cascading
+    static const eventmask_t DSHOT_CASCADE = EVENT_MASK(16);
     static const eventmask_t EVT_PWM_SEND  = EVENT_MASK(11);
     static const eventmask_t EVT_PWM_SYNTHETIC_SEND  = EVENT_MASK(13);
 
@@ -672,7 +697,8 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
      */
     void bdshot_ic_dma_allocate(Shared_DMA *ctx);
     void bdshot_ic_dma_deallocate(Shared_DMA *ctx);
-    static uint32_t bdshot_decode_telemetry_packet(uint32_t* buffer, uint32_t count);
+    static uint32_t bdshot_decode_telemetry_packet(dmar_uint_t* buffer, uint32_t count);
+    static uint32_t bdshot_decode_telemetry_packet_f1(dmar_uint_t* buffer, uint32_t count, bool reversed);
     bool bdshot_decode_telemetry_from_erpm(uint16_t erpm, uint8_t chan);
     bool bdshot_decode_dshot_telemetry(pwm_group& group, uint8_t chan);
     static uint8_t bdshot_find_next_ic_channel(const pwm_group& group);
@@ -681,8 +707,11 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
     bool bdshot_setup_group_ic_DMA(pwm_group &group);
     void bdshot_prepare_for_next_pulse(pwm_group& group);
     static void bdshot_receive_pulses_DMAR(pwm_group* group);
-    static void bdshot_reset_pwm(pwm_group& group);
+    static void bdshot_receive_pulses_DMAR_f1(pwm_group* group);
+    static void bdshot_reset_pwm(pwm_group& group, uint8_t telem_channel);
+    static void bdshot_reset_pwm_f1(pwm_group& group, uint8_t telem_channel);
     static void bdshot_config_icu_dshot(stm32_tim_t* TIMx, uint8_t chan, uint8_t ccr_ch);
+    static void bdshot_config_icu_dshot_f1(stm32_tim_t* TIMx, uint8_t chan, uint8_t ccr_ch);
     static uint32_t bdshot_get_output_rate_hz(const enum output_mode mode);
 
     /*
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
index 4a654c9610bb1d..8817e0217e646e 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
@@ -21,9 +21,20 @@
 #include "hwdef/common/stm32_util.h"
 #include <AP_InternalError/AP_InternalError.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
+
+#if HAL_WITH_IO_MCU
+#include <AP_IOMCU/AP_IOMCU.h>
+extern AP_IOMCU iomcu;
+#endif
 
 #ifdef HAL_WITH_BIDIR_DSHOT
 
+#if defined(IOMCU_FW)
+#undef INTERNAL_ERROR
+#define INTERNAL_ERROR(x) do {} while (0)
+#endif
+
 using namespace ChibiOS;
 
 extern const AP_HAL::HAL& hal;
@@ -35,14 +46,18 @@ extern const AP_HAL::HAL& hal;
 #define TOGGLE_PIN_CH_DEBUG(pin, channel) do {} while (0)
 #endif
 
-#define TELEM_IC_SAMPLE 16
-
 /*
  * enable bi-directional telemetry request for a mask of channels. This is used
  * with DShot to get telemetry feedback
  */
 void RCOutput::set_bidir_dshot_mask(uint32_t mask)
 {
+#if HAL_WITH_IO_MCU
+    const uint32_t iomcu_mask = ((1U<<chan_offset)-1);
+    if (AP_BoardConfig::io_dshot() && (mask & iomcu_mask)) {
+        iomcu.set_bidir_dshot_mask(mask & iomcu_mask);
+    }
+#endif
     _bdshot.mask = (mask >> chan_offset);
     // we now need to reconfigure the DMA channels since they are affected by the value of the mask
     for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
@@ -75,6 +90,7 @@ bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
             // Return error
             return false;
         }
+
         if (!group.bdshot.ic_dma_handle[i]) {
             // share up channel if required
             if (group.dma_ch[i].stream_id == group.dma_up_stream_id) {
@@ -98,6 +114,11 @@ bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
         if (group.chan[i] != CHAN_DISABLED && _bdshot.mask & group.ch_mask) {
             // bi-directional dshot requires less than MID2 speed and PUSHPULL in order to avoid noise on the line
             // when switching from output to input
+#if defined(STM32F1)
+            // on F103 the line mode has to be managed manually
+            // PAL_MODE_STM32_ALTERNATE_PUSHPULL is 50Mhz, similar to the medieum speed on other MCUs
+            palSetLineMode(group.pal_lines[i], PAL_MODE_STM32_ALTERNATE_PUSHPULL);
+#else
             palSetLineMode(group.pal_lines[i], PAL_MODE_ALTERNATE(group.alt_functions[i])
                 | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_PUPDR_PULLUP |
 #ifdef PAL_STM32_OSPEED_MID1
@@ -108,6 +129,7 @@ bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
 #error "Cannot set bdshot line speed"
 #endif
                 );
+#endif
         }
 
         if (!group.is_chan_enabled(i) || !(_bdshot.mask & (1 << group.chan[i]))) {
@@ -166,13 +188,12 @@ bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
  */
 void RCOutput::bdshot_ic_dma_allocate(Shared_DMA *ctx)
 {
+    chSysLock();
     for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
         pwm_group &group = pwm_group_list[i];
         for (uint8_t icuch = 0; icuch < 4; icuch++) {
             if (group.bdshot.ic_dma_handle[icuch] == ctx && group.bdshot.ic_dma[icuch] == nullptr) {
-                chSysLock();
                 group.bdshot.ic_dma[icuch] = dmaStreamAllocI(group.dma_ch[icuch].stream_id, 10, bdshot_dma_ic_irq_callback, &group);
-                chSysUnlock();
 #if STM32_DMA_SUPPORTS_DMAMUX
                 if (group.bdshot.ic_dma[icuch]) {
                     dmaSetRequestSource(group.bdshot.ic_dma[icuch], group.dma_ch[icuch].channel);
@@ -181,6 +202,7 @@ void RCOutput::bdshot_ic_dma_allocate(Shared_DMA *ctx)
             }
         }
     }
+    chSysUnlock();
 }
 
 /*
@@ -188,23 +210,23 @@ void RCOutput::bdshot_ic_dma_allocate(Shared_DMA *ctx)
  */
 void RCOutput::bdshot_ic_dma_deallocate(Shared_DMA *ctx)
 {
+    chSysLock();
     for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
         pwm_group &group = pwm_group_list[i];
         for (uint8_t icuch = 0; icuch < 4; icuch++) {
             if (group.bdshot.ic_dma_handle[icuch] == ctx && group.bdshot.ic_dma[icuch] != nullptr) {
-                chSysLock();
                 dmaStreamFreeI(group.bdshot.ic_dma[icuch]);
                 group.bdshot.ic_dma[icuch] = nullptr;
-                chSysUnlock();
             }
         }
     }
+    chSysUnlock();
 }
 
 // setup bdshot for sending and receiving the next pulse
 void RCOutput::bdshot_prepare_for_next_pulse(pwm_group& group)
 {
-   // assume that we won't be able to get the input capture lock
+    // assume that we won't be able to get the input capture lock
     group.bdshot.enabled = false;
 
     uint32_t active_channels = group.ch_mask & group.en_mask;
@@ -214,8 +236,10 @@ void RCOutput::bdshot_prepare_for_next_pulse(pwm_group& group)
             // no locking required
             group.bdshot.enabled = true;
         } else {
-            osalDbgAssert(!group.bdshot.ic_dma_handle[group.bdshot.curr_telem_chan]->is_locked(), "DMA handle is already locked");
-            group.bdshot.ic_dma_handle[group.bdshot.curr_telem_chan]->lock();
+            osalDbgAssert(!group.bdshot.curr_ic_dma_handle, "IC DMA handle has not been released");
+            group.bdshot.curr_ic_dma_handle = group.bdshot.ic_dma_handle[group.bdshot.curr_telem_chan];
+            osalDbgAssert(group.shared_up_dma || !group.bdshot.curr_ic_dma_handle->is_locked(), "IC DMA handle is already locked");
+            group.bdshot.curr_ic_dma_handle->lock();
             group.bdshot.enabled = true;
         }
     }
@@ -236,31 +260,42 @@ void RCOutput::bdshot_prepare_for_next_pulse(pwm_group& group)
             _bdshot.erpm_errors[chan] = 0;
             _bdshot.erpm_last_stats_ms[chan] = now;
         }
+    } else if (group.dshot_state == DshotState::RECV_FAILED) {
+        _bdshot.erpm_errors[group.bdshot.curr_telem_chan]++;
     }
 
     if (group.bdshot.enabled) {
         if (group.pwm_started) {
-            bdshot_reset_pwm(group);
-        } else {
+            bdshot_reset_pwm(group, group.bdshot.prev_telem_chan);
+        }
+        else {
             pwmStart(group.pwm_drv, &group.pwm_cfg);
+            group.pwm_started = true;
         }
-        group.pwm_started = true;
 
         // we can be more precise for capture timer
         group.bdshot.telempsc = (uint16_t)(lrintf(((float)group.pwm_drv->clock / bdshot_get_output_rate_hz(group.current_mode) + 0.01f)/TELEM_IC_SAMPLE) - 1);
     }
 }
 
-void RCOutput::bdshot_reset_pwm(pwm_group& group)
+// reset pwm driver to output mode without resetting the clock or the peripheral
+// the code here is the equivalent of pwmStart()/pwmStop()
+void RCOutput::bdshot_reset_pwm(pwm_group& group, uint8_t telem_channel)
 {
+#if defined(STM32F1)
+    bdshot_reset_pwm_f1(group, telem_channel);
+#else
+    // on more capable MCUs we can do something very simple
     pwmStop(group.pwm_drv);
     pwmStart(group.pwm_drv, &group.pwm_cfg);
+#endif
 }
 
 // see https://github.com/betaflight/betaflight/pull/8554#issuecomment-512507625
 // called from the interrupt
 #pragma GCC push_options
 #pragma GCC optimize("O2")
+#if !defined(STM32F1)
 void RCOutput::bdshot_receive_pulses_DMAR(pwm_group* group)
 {
     // make sure the transaction finishes or times out, this function takes a little time to run so the most
@@ -268,13 +303,12 @@ void RCOutput::bdshot_receive_pulses_DMAR(pwm_group* group)
     // should be plenty
     chVTSetI(&group->dma_timeout, chTimeUS2I(group->dshot_pulse_send_time_us + 30U + 10U),
         bdshot_finish_dshot_gcr_transaction, group);
-    uint8_t curr_ch = group->bdshot.curr_telem_chan;
 
     group->pwm_drv->tim->CR1 = 0;
-    group->pwm_drv->tim->CCER = 0;
 
     // Configure Timer
     group->pwm_drv->tim->SR = 0;
+    group->pwm_drv->tim->CCER = 0;
     group->pwm_drv->tim->CCMR1 = 0;
     group->pwm_drv->tim->CCMR2 = 0;
     group->pwm_drv->tim->DIER = 0;
@@ -286,6 +320,7 @@ void RCOutput::bdshot_receive_pulses_DMAR(pwm_group* group)
     //TOGGLE_PIN_CH_DEBUG(54, curr_ch);
     group->pwm_drv->tim->ARR = 0xFFFF;  // count forever
     group->pwm_drv->tim->CNT = 0;
+    uint8_t curr_ch = group->bdshot.curr_telem_chan;
 
     // Initialise ICU channels
     bdshot_config_icu_dshot(group->pwm_drv->tim, curr_ch, group->bdshot.telem_tim_ch[curr_ch]);
@@ -308,7 +343,9 @@ void RCOutput::bdshot_receive_pulses_DMAR(pwm_group* group)
 #endif
     dmaStreamSetMode(ic_dma,
                     STM32_DMA_CR_CHSEL(group->dma_ch[curr_ch].channel) |
-                    STM32_DMA_CR_DIR_P2M | STM32_DMA_CR_PSIZE_WORD | STM32_DMA_CR_MSIZE_WORD |
+                    STM32_DMA_CR_DIR_P2M |
+                    STM32_DMA_CR_PSIZE_WORD |
+                    STM32_DMA_CR_MSIZE_WORD |
                     STM32_DMA_CR_MINC | STM32_DMA_CR_PL(3) |
                     STM32_DMA_CR_TEIE | STM32_DMA_CR_TCIE);
 
@@ -424,6 +461,7 @@ void RCOutput::bdshot_config_icu_dshot(stm32_tim_t* TIMx, uint8_t chan, uint8_t
         break;
     }
 }
+#endif
 
 /*
   unlock DMA channel after a bi-directional dshot transaction completes
@@ -441,14 +479,21 @@ __RAMFUNC__ void RCOutput::bdshot_finish_dshot_gcr_transaction(virtual_timer_t*
     // or the input channel buffer
     const stm32_dma_stream_t *dma =
         group->has_shared_ic_up_dma() ? group->dma : group->bdshot.ic_dma[curr_telem_chan];
+    osalDbgAssert(dma, "No DMA channel");
     // record the transaction size before the stream is released
     dmaStreamDisable(dma);
     group->bdshot.dma_tx_size = MIN(uint16_t(GCR_TELEMETRY_BIT_LEN),
         GCR_TELEMETRY_BIT_LEN - dmaStreamGetTransactionSize(dma));
+
     stm32_cacheBufferInvalidate(group->dma_buffer, group->bdshot.dma_tx_size);
-    memcpy(group->bdshot.dma_buffer_copy, group->dma_buffer, sizeof(uint32_t) * group->bdshot.dma_tx_size);
+    memcpy(group->bdshot.dma_buffer_copy, group->dma_buffer, sizeof(dmar_uint_t) * group->bdshot.dma_tx_size);
 
-    group->dshot_state = DshotState::RECV_COMPLETE;
+    // although it should be possible to start the next DMAR transaction concurrently with receiving 
+    // telemetry, in practice it seems to interfere with the DMA engine
+    if (group->shared_up_dma && group->bdshot.enabled) {
+        // next dshot pulse can go out now
+        chEvtSignalI(group->dshot_waiter, DSHOT_CASCADE);
+    }
 
     // if using input capture DMA and sharing the UP and CH channels then clean up
     // by assigning the source back to UP
@@ -458,9 +503,17 @@ __RAMFUNC__ void RCOutput::bdshot_finish_dshot_gcr_transaction(virtual_timer_t*
     }
 #endif
 
-    // rotate to the next input channel
     group->bdshot.prev_telem_chan = group->bdshot.curr_telem_chan;
+    // rotate to the next input channel, we have to rotate even on failure otherwise
+    // we will not get data from active channels
     group->bdshot.curr_telem_chan = bdshot_find_next_ic_channel(*group);
+
+    if (group->bdshot.dma_tx_size > 0) {
+        group->dshot_state = DshotState::RECV_COMPLETE;
+    } else {
+        group->dshot_state = DshotState::RECV_FAILED;
+    }
+
     // tell the waiting process we've done the DMA
     chEvtSignalI(group->dshot_waiter, group->dshot_event_mask);
 #ifdef HAL_GPIO_LINE_GPIO56
@@ -479,7 +532,12 @@ bool RCOutput::bdshot_decode_dshot_telemetry(pwm_group& group, uint8_t chan)
     }
 
     // evaluate dshot telemetry
+#if defined(STM32F1)
+    const bool reversed = (group.bdshot.telem_tim_ch[chan] & 1U) == 0;
+    group.bdshot.erpm[chan] = bdshot_decode_telemetry_packet_f1(group.bdshot.dma_buffer_copy, group.bdshot.dma_tx_size, reversed);
+#else
     group.bdshot.erpm[chan] = bdshot_decode_telemetry_packet(group.bdshot.dma_buffer_copy, group.bdshot.dma_tx_size);
+#endif
 
     group.dshot_state = DshotState::IDLE;
 
@@ -496,7 +554,7 @@ bool RCOutput::bdshot_decode_dshot_telemetry(pwm_group& group, uint8_t chan)
         TOGGLE_PIN_DEBUG(57);
 #endif
     }
-
+#if !defined(IOMCU_FW)
     uint64_t now = AP_HAL::micros64();
     if (chan == DEBUG_CHANNEL && (now  - group.bdshot.last_print) > 1000000) {
         hal.console->printf("TELEM: %d <%d Hz, %.1f%% err>", group.bdshot.erpm[chan], group.bdshot.telem_rate[chan],
@@ -511,6 +569,7 @@ bool RCOutput::bdshot_decode_dshot_telemetry(pwm_group& group, uint8_t chan)
         group.bdshot.telem_err_rate[chan] = 0;
         group.bdshot.last_print = now;
     }
+#endif
 #endif
     return group.bdshot.erpm[chan] != 0xFFFF;
 }
@@ -549,13 +608,19 @@ __RAMFUNC__ void RCOutput::dma_up_irq_callback(void *p, uint32_t flags)
     }
     dmaStreamDisable(group->dma);
 
-    if (group->in_serial_dma && irq.waiter) {
+    if (soft_serial_waiting()) {
+#if HAL_SERIAL_ESC_COMM_ENABLED
         // tell the waiting process we've done the DMA
         chEvtSignalI(irq.waiter, serial_event_mask);
+#endif
     } else if (!group->in_serial_dma && group->bdshot.enabled) {
         group->dshot_state = DshotState::SEND_COMPLETE;
         // sending is done, in 30us the ESC will send telemetry
+#if defined(STM32F1)
+        bdshot_receive_pulses_DMAR_f1(group);
+#else
         bdshot_receive_pulses_DMAR(group);
+#endif
     } else {
         // non-bidir case, this prevents us ever having two dshot pulses too close together
         if (is_dshot_protocol(group->current_mode)) {
@@ -604,20 +669,21 @@ uint32_t RCOutput::bdshot_get_output_rate_hz(const enum output_mode mode)
     }
 }
 
-#define INVALID_ERPM 0xffffU
+#define INVALID_ERPM 0xfffU
 
 // decode a telemetry packet from a GCR encoded stride buffer, take from betaflight decodeTelemetryPacket
 // see https://github.com/betaflight/betaflight/pull/8554#issuecomment-512507625 for a description of the protocol
-uint32_t RCOutput::bdshot_decode_telemetry_packet(uint32_t* buffer, uint32_t count)
+uint32_t RCOutput::bdshot_decode_telemetry_packet(dmar_uint_t* buffer, uint32_t count)
 {
     uint32_t value = 0;
-    uint32_t oldValue = buffer[0];
     uint32_t bits = 0;
     uint32_t len;
 
+    dmar_uint_t oldValue = buffer[0];
+
     for (uint32_t i = 1; i <= count; i++) {
         if (i < count) {
-            int32_t diff = buffer[i] - oldValue;
+            dmar_int_t diff = buffer[i] - oldValue;
             if (bits >= 21U) {
                 break;
             }
@@ -631,6 +697,7 @@ uint32_t RCOutput::bdshot_decode_telemetry_packet(uint32_t* buffer, uint32_t cou
         oldValue = buffer[i];
         bits += len;
     }
+
     if (bits != 21U) {
         return INVALID_ERPM;
     }
@@ -665,8 +732,16 @@ bool RCOutput::bdshot_decode_telemetry_from_erpm(uint16_t encodederpm, uint8_t c
     }
 
     // eRPM = m << e (see https://github.com/bird-sanctuary/extended-dshot-telemetry)
-    uint8_t expo = ((encodederpm & 0xfffffe00U) >> 9U) & 0xffU;
-    uint16_t value = (encodederpm & 0x000001ffU);
+    uint8_t expo = ((encodederpm & 0xfffffe00U) >> 9U) & 0xffU; // 3bits
+    uint16_t value = (encodederpm & 0x000001ffU);               // 9bits
+#if HAL_WITH_ESC_TELEM
+    uint8_t normalized_chan = chan;
+#endif
+#if HAL_WITH_IO_MCU
+    if (AP_BoardConfig::io_dshot()) {
+        normalized_chan = chan + chan_offset;
+    }
+#endif
 
     if (!(value & 0x100U) && (_dshot_esc_type == DSHOT_ESC_BLHELI_EDT || _dshot_esc_type == DSHOT_ESC_BLHELI_EDT_S)) {
         switch (expo) {
@@ -675,7 +750,7 @@ bool RCOutput::bdshot_decode_telemetry_from_erpm(uint16_t encodederpm, uint8_t c
             TelemetryData t {
                 .temperature_cdeg = int16_t(value * 100)
             };
-            update_telem_data(chan, t, AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE);
+            update_telem_data(normalized_chan, t, AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE);
     #endif
             return false;
             }
@@ -685,7 +760,7 @@ bool RCOutput::bdshot_decode_telemetry_from_erpm(uint16_t encodederpm, uint8_t c
             TelemetryData t {
                 .voltage = 0.25f * value
             };
-            update_telem_data(chan, t, AP_ESC_Telem_Backend::TelemetryType::VOLTAGE);
+            update_telem_data(normalized_chan, t, AP_ESC_Telem_Backend::TelemetryType::VOLTAGE);
     #endif
             return false;
             }
@@ -695,7 +770,7 @@ bool RCOutput::bdshot_decode_telemetry_from_erpm(uint16_t encodederpm, uint8_t c
             TelemetryData t {
                 .current = float(value)
             };
-            update_telem_data(chan, t, AP_ESC_Telem_Backend::TelemetryType::CURRENT);
+            update_telem_data(normalized_chan, t, AP_ESC_Telem_Backend::TelemetryType::CURRENT);
     #endif
             return false;
             }
@@ -726,11 +801,21 @@ bool RCOutput::bdshot_decode_telemetry_from_erpm(uint16_t encodederpm, uint8_t c
     // update the ESC telemetry data
     if (erpm < INVALID_ERPM) {
         _bdshot.erpm[chan] = erpm;
+        _bdshot.update_mask |= 1U<<chan;
 #if HAL_WITH_ESC_TELEM
-        update_rpm(chan, erpm * 200U / _bdshot.motor_poles, get_erpm_error_rate(chan));
+        update_rpm(normalized_chan, erpm * 200U / _bdshot.motor_poles, get_erpm_error_rate(chan));
 #endif
     }
     return erpm < INVALID_ERPM;
 }
 
+uint32_t RCOutput::read_erpm(uint16_t* erpm, uint8_t len)
+{
+    const uint8_t READ_LEN = MIN(len, uint8_t(max_channels));
+    memcpy(erpm, _bdshot.erpm, sizeof(uint16_t) * READ_LEN);
+    const uint32_t mask = _bdshot.update_mask;
+    _bdshot.update_mask = 0;
+    return mask;
+}
+
 #endif // HAL_WITH_BIDIR_DSHOT
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
index d3134a9fc1bece..e45ce3c363511f 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
@@ -36,22 +36,21 @@ using namespace ChibiOS;
 
 extern const AP_HAL::HAL& hal;
 
+#ifdef HAL_WITH_BIDIR_DSHOT
+THD_WORKING_AREA(dshot_thread_wa, 512);
+#else
 THD_WORKING_AREA(dshot_thread_wa, 64);
+#endif
+static const char* rcout_thread_name = "rcout";
+
 void RCOutput::timer_tick()
 {
     if (dshot_timer_setup) {
         return;
     }
 
-    bool dshot_enabled = false;
-    for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
-        pwm_group &group = pwm_group_list[i];
-        if (is_dshot_protocol(group.current_mode)) {
-            dshot_enabled = true;
-            break;
-        }
-    }
-    if (!dshot_timer_setup && dshot_enabled) {
+    uint32_t dshot_mask;
+    if (is_dshot_protocol(get_output_mode(dshot_mask))) {
         chThdCreateStatic(dshot_thread_wa, sizeof(dshot_thread_wa),
                             APM_RCOUT_PRIORITY, &RCOutput::dshot_send_trampoline, this);
         dshot_timer_setup = true;
@@ -69,28 +68,65 @@ void RCOutput::dshot_send_trampoline(void *p)
  */
 void RCOutput::rcout_thread() {
     // don't start outputting until fully configured
-    while (!hal.scheduler->is_system_initialized()) {
+    while (!hal.scheduler->is_system_initialized() || _dshot_period_us == 0) {
         hal.scheduler->delay_microseconds(1000);
     }
 
     rcout_thread_ctx = chThdGetSelfX();
+    chRegSetThreadNameX(rcout_thread_ctx, rcout_thread_name);
+
+    uint64_t last_cycle_run_us = 0;
 
     while (true) {
         chEvtWaitOne(EVT_PWM_SEND | EVT_PWM_SYNTHETIC_SEND);
-
+        // start the clock
+        const uint64_t last_thread_run_us = AP_HAL::micros64();
         // this is when the cycle is supposed to start
         if (_dshot_cycle == 0) {
+            last_cycle_run_us = AP_HAL::micros64();
             // register a timer for the next tick if push() will not be providing it
             if (_dshot_rate != 1) {
                 chVTSet(&_dshot_rate_timer, chTimeUS2I(_dshot_period_us), dshot_update_tick, this);
             }
         }
 
-        // main thread requested a new dshot send or we timed out - if we are not running
-        // as a multiple of loop rate then ignore EVT_PWM_SEND events to preserve periodicity
-        dshot_send_groups(0);
+        // if DMA sharing is in effect there can be quite a delay between the request to begin the cycle and
+        // actually sending out data - thus we need to work out how much time we have left to collect the locks
+        uint64_t time_out_us = (_dshot_cycle + 1) * _dshot_period_us + last_cycle_run_us;
+        if (!_dshot_rate) {
+            time_out_us = last_thread_run_us + _dshot_period_us;
+        }
+
+        // DMA channel sharing on F10x is complicated. The allocations are
+        // TIM2_UP  - (1,2)
+        // TIM4_UP  - (1,7)
+        // TIM3_UP  - (1,3)
+        // TIM2_CH2 - (1,7) - F103 only
+        // TIM4_CH3 - (1,5) - F103 only
+        // TIM3_CH4 - (1,3) - F103 only
+        // and (1,7) is also shared with USART2_TX
+        // locks have to be unlocked in reverse order, and shared CH locks do not need to be taken so the
+        // ordering that will work follows. This relies on recursive lock behaviour that allows us to relock
+        // a mutex without releasing it first:
+        // TIM4_UP  - lock   (shared)
+        // TIM4     - dshot send
+        // TIM4_CH3 - lock
+        // TIM2_UP  - lock
+        // TIM2_CH2 - lock recursive (shared)
+        // TIM2     - dshot send
+        // TIM3_UP  - lock
+        // [TIM3_CH4 - shared lock]
+        // TIM3     - dshot send
+        // [TIM3_CH4 - shared unlock]
+        // TIM3_UP  - unlock
+        // TIM2_CH2 - unlock recursive (shared)
+        // TIM2_UP  - unlock
+        // TIM4_CH3 - unlock
+        // TIM4_UP  - unlock
+
+        dshot_send_groups(time_out_us);
 #if AP_HAL_SHARED_DMA_ENABLED
-        dshot_collect_dma_locks(0);
+        dshot_collect_dma_locks(time_out_us);
 #endif
         if (_dshot_rate > 0) {
             _dshot_cycle = (_dshot_cycle + 1) % _dshot_rate;
@@ -98,6 +134,296 @@ void RCOutput::rcout_thread() {
     }
 }
 
+#if defined(HAL_WITH_BIDIR_DSHOT) && defined(STM32F1)
+// reset pwm driver to output mode without resetting the clock or the peripheral
+// the code here is the equivalent of pwmStart()/pwmStop()
+void RCOutput::bdshot_reset_pwm_f1(pwm_group& group, uint8_t telem_channel)
+{
+    osalSysLock();
+
+    stm32_tim_t* TIMx = group.pwm_drv->tim;
+    // pwmStop sets these
+    TIMx->CR1  = 0;                    /* Timer disabled.              */
+    TIMx->DIER = 0;                    /* All IRQs disabled.           */
+    TIMx->SR   = 0;                    /* Clear eventual pending IRQs. */
+    TIMx->CNT = 0;
+    TIMx->CCR[0] = 0;                  /* Comparator 1 disabled.       */
+    TIMx->CCR[1] = 0;                  /* Comparator 2 disabled.       */
+    TIMx->CCR[2] = 0;                  /* Comparator 3 disabled.       */
+    TIMx->CCR[3] = 0;                  /* Comparator 4 disabled.       */
+    // at the point this is called we will have done input capture on two CC channels
+    // we need to switch those channels back to output and the default settings
+    // all other channels will not have been modified
+    switch (group.bdshot.telem_tim_ch[telem_channel]) {
+    case 0: // CC1
+    case 1: // CC2
+        MODIFY_REG(TIMx->CCER, TIM_CCER_CC2E | TIM_CCER_CC1E, 0);   // disable CC so that it can be modified
+        MODIFY_REG(TIMx->CCMR1, (TIM_CCMR1_CC1S | TIM_CCMR1_IC1F | TIM_CCMR1_IC1PSC),
+            STM32_TIM_CCMR1_OC1M(6) | STM32_TIM_CCMR1_OC1PE);
+        MODIFY_REG(TIMx->CCMR1, (TIM_CCMR1_CC2S | TIM_CCMR1_IC2F | TIM_CCMR1_IC2PSC),
+            STM32_TIM_CCMR1_OC2M(6) | STM32_TIM_CCMR1_OC2PE);
+        MODIFY_REG(TIMx->CCER, (TIM_CCER_CC1P | TIM_CCER_CC2P),
+            (TIM_CCER_CC1P | TIM_CCER_CC2P | TIM_CCER_CC1E | TIM_CCER_CC2E));
+        break;
+    case 2: // CC3
+    case 3: // CC4
+        MODIFY_REG(TIMx->CCER, TIM_CCER_CC3E | TIM_CCER_CC4E, 0);   // disable CC so that it can be modified
+        MODIFY_REG(TIMx->CCMR2, (TIM_CCMR2_CC3S | TIM_CCMR2_IC3F | TIM_CCMR2_IC3PSC),
+            STM32_TIM_CCMR2_OC3M(6) | STM32_TIM_CCMR2_OC3PE);
+        MODIFY_REG(TIMx->CCMR2, (TIM_CCMR2_CC4S | TIM_CCMR2_IC4F | TIM_CCMR2_IC4PSC),
+            STM32_TIM_CCMR2_OC4M(6) | STM32_TIM_CCMR2_OC4PE);
+        MODIFY_REG(TIMx->CCER, (TIM_CCER_CC3P | TIM_CCER_CC4P),
+            (TIM_CCER_CC3P | TIM_CCER_CC4P | TIM_CCER_CC3E | TIM_CCER_CC4E));
+        break;
+    default:
+        break;
+    }
+    // pwmStart sets these
+    uint32_t psc = (group.pwm_drv->clock / group.pwm_drv->config->frequency) - 1;
+    TIMx->PSC  = psc;
+    TIMx->ARR  = group.pwm_drv->period - 1;
+    TIMx->CR2  = group.pwm_drv->config->cr2;
+    TIMx->EGR   = STM32_TIM_EGR_UG;      /* Update event.                */
+    TIMx->SR    = 0;                     /* Clear pending IRQs.          */
+    TIMx->DIER  = group.pwm_drv->config->dier &   /* DMA-related DIER settings.   */
+                        ~STM32_TIM_DIER_IRQ_MASK;
+    if (group.pwm_drv->has_bdtr) {
+        TIMx->BDTR  = group.pwm_drv->config->bdtr | STM32_TIM_BDTR_MOE;
+    }
+
+    // we need to switch every output on the same input channel to avoid
+    // spurious line changes
+    for (uint8_t i = 0; i<4; i++) {
+        if (group.chan[i] == CHAN_DISABLED) {
+            continue;
+        }
+        if (group.bdshot.telem_tim_ch[telem_channel] == group.bdshot.telem_tim_ch[i]) {
+            palSetLineMode(group.pal_lines[i], PAL_MODE_STM32_ALTERNATE_PUSHPULL);
+        }
+    }
+
+    /* Timer configured and started.*/
+    TIMx->CR1   = STM32_TIM_CR1_ARPE | STM32_TIM_CR1_URS | STM32_TIM_CR1_CEN;
+
+    osalSysUnlock();
+}
+
+// see https://github.com/betaflight/betaflight/pull/8554#issuecomment-512507625
+// called from the interrupt
+void RCOutput::bdshot_receive_pulses_DMAR_f1(pwm_group* group)
+{
+    // make sure the transaction finishes or times out, this function takes a little time to run so the most
+    // accurate timing is from the beginning. the pulse time is slightly longer than we need so an extra 10U
+    // should be plenty
+    chVTSetI(&group->dma_timeout, chTimeUS2I(group->dshot_pulse_send_time_us + 30U + 10U),
+        bdshot_finish_dshot_gcr_transaction, group);
+
+    group->pwm_drv->tim->CR1 = 0;
+
+    // Configure Timer
+    group->pwm_drv->tim->SR = 0;
+    // do NOT set CCER to 0 here - this pulls the line low on F103 (at least)
+    // and since we are already doing bdshot the relevant options that are set for output
+    // also apply to input and bdshot_config_icu_dshot() will disable any channels that need
+    // disabling
+    group->pwm_drv->tim->DIER = 0;
+    group->pwm_drv->tim->CR2 = 0;
+    group->pwm_drv->tim->PSC = group->bdshot.telempsc;
+
+    group->dshot_state = DshotState::RECV_START;
+
+    //TOGGLE_PIN_CH_DEBUG(54, curr_ch);
+    group->pwm_drv->tim->ARR = 0xFFFF;  // count forever
+    group->pwm_drv->tim->CNT = 0;
+    uint8_t curr_ch = group->bdshot.curr_telem_chan;
+
+    // we need to switch every input on the same input channel to allow
+    // the ESCs to drive the lines
+    for (uint8_t i = 0; i<4; i++) {
+        if (group->chan[i] == CHAN_DISABLED) {
+            continue;
+        }
+        if (group->bdshot.telem_tim_ch[curr_ch] == group->bdshot.telem_tim_ch[i]) {
+            palSetLineMode(group->pal_lines[i], PAL_MODE_INPUT_PULLUP);
+        }
+    }
+
+    // Initialise ICU channels
+    bdshot_config_icu_dshot_f1(group->pwm_drv->tim, curr_ch, group->bdshot.telem_tim_ch[curr_ch]);
+
+    const stm32_dma_stream_t *ic_dma =
+        group->has_shared_ic_up_dma() ? group->dma : group->bdshot.ic_dma[curr_ch];
+
+    // Configure DMA
+    dmaStreamSetPeripheral(ic_dma, &(group->pwm_drv->tim->DMAR));
+    dmaStreamSetMemory0(ic_dma, group->dma_buffer);
+    dmaStreamSetTransactionSize(ic_dma, GCR_TELEMETRY_BIT_LEN);
+    dmaStreamSetMode(ic_dma,
+                    STM32_DMA_CR_CHSEL(group->dma_ch[curr_ch].channel) |
+                    STM32_DMA_CR_DIR_P2M |
+                    STM32_DMA_CR_PSIZE_HWORD |
+                    STM32_DMA_CR_MSIZE_HWORD |
+                    STM32_DMA_CR_MINC | STM32_DMA_CR_PL(3) |
+                    STM32_DMA_CR_TEIE | STM32_DMA_CR_TCIE);
+
+    // setup for transfers. 0x0D is the register
+    // address offset of the CCR registers in the timer peripheral
+    uint8_t telem_ch_pair = group->bdshot.telem_tim_ch[curr_ch] & ~1U; // round to the lowest of the channel pair
+    const uint8_t ccr_ofs = offsetof(stm32_tim_t, CCR)/4 + telem_ch_pair;
+    group->pwm_drv->tim->DCR = STM32_TIM_DCR_DBA(ccr_ofs) | STM32_TIM_DCR_DBL(1); // read two registers at a time
+
+    // Start Timer
+    group->pwm_drv->tim->EGR |= STM32_TIM_EGR_UG;
+    group->pwm_drv->tim->SR = 0;
+    group->pwm_drv->tim->CR1 = TIM_CR1_ARPE | STM32_TIM_CR1_URS | STM32_TIM_CR1_UDIS | STM32_TIM_CR1_CEN;
+    dmaStreamEnable(ic_dma);
+}
+
+void RCOutput::bdshot_config_icu_dshot_f1(stm32_tim_t* TIMx, uint8_t chan, uint8_t ccr_ch)
+{
+    // F103 does not support both edges input capture so we need to set up two channels
+    // both pointing at the same input to capture the data. The triggered channel
+    // needs to handle the second edge - so rising or falling - so that we get an
+    // even number of half-words in the DMA buffer
+    switch(ccr_ch) {
+    case 0:
+    case 1: {
+        // Disable the IC1 and IC2: Reset the CCxE Bit
+        MODIFY_REG(TIMx->CCER, TIM_CCER_CC1E | TIM_CCER_CC2E, 0);
+        // Select the Input and set the filter and the prescaler value
+        if (chan == 0) {    // TI1
+            MODIFY_REG(TIMx->CCMR1,
+                        (TIM_CCMR1_CC1S | TIM_CCMR1_IC1F | TIM_CCMR1_IC1PSC),
+                        (TIM_CCMR1_CC1S_0 | TIM_CCMR1_IC1F_1));// 4 samples per output transition
+            MODIFY_REG(TIMx->CCMR1,
+                        (TIM_CCMR1_CC2S | TIM_CCMR1_IC2F | TIM_CCMR1_IC2PSC),
+                        (TIM_CCMR1_CC2S_1 | TIM_CCMR1_IC2F_1));
+        } else {            // TI2
+            MODIFY_REG(TIMx->CCMR1,
+                        (TIM_CCMR1_CC1S | TIM_CCMR1_IC1F | TIM_CCMR1_IC1PSC),
+                        (TIM_CCMR1_CC1S_1 | TIM_CCMR1_IC1F_1));
+            MODIFY_REG(TIMx->CCMR1,
+                        (TIM_CCMR1_CC2S | TIM_CCMR1_IC2F | TIM_CCMR1_IC2PSC),
+                        (TIM_CCMR1_CC2S_0 | TIM_CCMR1_IC2F_1));
+        }
+        if (ccr_ch == 0) {
+            // Select the Polarity as falling on IC2 and rising on IC1
+            MODIFY_REG(TIMx->CCER, TIM_CCER_CC1P | TIM_CCER_CC2P, TIM_CCER_CC2P | TIM_CCER_CC1E | TIM_CCER_CC2E);
+            MODIFY_REG(TIMx->DIER, TIM_DIER_CC1DE | TIM_DIER_CC2DE, TIM_DIER_CC1DE);
+        } else {
+            // Select the Polarity as falling on IC1 and rising on IC2
+            MODIFY_REG(TIMx->CCER, TIM_CCER_CC1P | TIM_CCER_CC2P, TIM_CCER_CC1P | TIM_CCER_CC1E | TIM_CCER_CC2E);
+            MODIFY_REG(TIMx->DIER, TIM_DIER_CC1DE | TIM_DIER_CC2DE, TIM_DIER_CC2DE);
+        }
+        break;
+    }
+    case 2:
+    case 3: {
+        MODIFY_REG(TIMx->CCER, TIM_CCER_CC3E | TIM_CCER_CC4E, 0);
+        // Select the Input and set the filter and the prescaler value
+        if (chan == 2) {    // TI3
+            MODIFY_REG(TIMx->CCMR2,
+                        (TIM_CCMR2_CC3S | TIM_CCMR2_IC3F | TIM_CCMR2_IC3PSC),
+                        (TIM_CCMR2_CC3S_0 | TIM_CCMR2_IC3F_1));
+            MODIFY_REG(TIMx->CCMR2,
+                        (TIM_CCMR2_CC4S | TIM_CCMR2_IC4F | TIM_CCMR2_IC4PSC),
+                        (TIM_CCMR2_CC4S_1 | TIM_CCMR2_IC4F_1));
+        } else {            // TI4
+            MODIFY_REG(TIMx->CCMR2,
+                        (TIM_CCMR2_CC3S | TIM_CCMR2_IC3F | TIM_CCMR2_IC3PSC),
+                        (TIM_CCMR2_CC3S_1 | TIM_CCMR2_IC3F_1));
+            MODIFY_REG(TIMx->CCMR2,
+                        (TIM_CCMR2_CC4S | TIM_CCMR2_IC4F | TIM_CCMR2_IC4PSC),
+                        (TIM_CCMR2_CC4S_0 | TIM_CCMR2_IC4F_1));
+        }
+        if (ccr_ch == 2) {
+            // Select the Polarity as falling on IC4 and rising on IC3
+            MODIFY_REG(TIMx->CCER, TIM_CCER_CC3P | TIM_CCER_CC4P, TIM_CCER_CC4P | TIM_CCER_CC3E | TIM_CCER_CC4E);
+            MODIFY_REG(TIMx->DIER, TIM_DIER_CC3DE | TIM_DIER_CC4DE, TIM_DIER_CC3DE);
+        } else {
+            // Select the Polarity as falling on IC3 and rising on IC4
+            MODIFY_REG(TIMx->CCER, TIM_CCER_CC3P | TIM_CCER_CC4P, TIM_CCER_CC3P | TIM_CCER_CC3E | TIM_CCER_CC4E);
+            MODIFY_REG(TIMx->DIER, TIM_DIER_CC3DE | TIM_DIER_CC4DE, TIM_DIER_CC4DE);
+        }
+        break;
+
+    }
+    default:
+        break;
+    }
+}
+
+#define INVALID_ERPM 0xfffU
+
+// decode a telemetry packet from a GCR encoded stride buffer, take from betaflight decodeTelemetryPacket
+// see https://github.com/betaflight/betaflight/pull/8554#issuecomment-512507625 for a description of the protocol
+uint32_t RCOutput::bdshot_decode_telemetry_packet_f1(dmar_uint_t* buffer, uint32_t count, bool reversed)
+{
+    if (!reversed) {
+        return bdshot_decode_telemetry_packet(buffer, count);
+    }
+
+    uint32_t value = 0;
+    uint32_t bits = 0;
+    uint32_t len;
+
+    // on F103 we are reading one edge with ICn and the other with ICn+1, the DMA architecture only
+    // allows to trigger on a single register dictated by the DMA input capture channel being used.
+    // even though we are reading multiple registers per transfer we always cannot trigger on one or other
+    // of the registers and if the one we trigger on is the one that is numerically first each register
+    // pair that we read will be swapped in time. in this case we trigger on ICn and then read CCRn and CCRn+1
+    // giving us the new value of ICn and the old value of ICn+1. in order to avoid reading garbage on the
+    // first read we trigger ICn on the rising edge. this gives us all the data but with each pair of bytes
+    // transposed. we thus need to untranspose as we decode
+    dmar_uint_t oldValue = buffer[1];
+
+    for (int32_t i = 0; i <= count+1; ) {
+        if (i < count) {
+            dmar_int_t diff = buffer[i] - oldValue;
+            if (bits >= 21U) {
+                break;
+            }
+            len = (diff + TELEM_IC_SAMPLE/2U) / TELEM_IC_SAMPLE;
+        } else {
+            len = 21U - bits;
+        }
+
+        value <<= len;
+        value |= 1U << (len - 1U);
+        oldValue = buffer[i];
+        bits += len;
+
+        i += (i%2 ? -1 : 3);
+    }
+
+
+    if (bits != 21U) {
+        return INVALID_ERPM;
+    }
+
+    static const uint32_t decode[32] = {
+        0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 10, 11, 0, 13, 14, 15,
+        0, 0, 2, 3, 0, 5, 6, 7, 0, 0, 8, 1, 0, 4, 12, 0 };
+
+    uint32_t decodedValue = decode[value & 0x1fU];
+    decodedValue |= decode[(value >> 5U) & 0x1fU] << 4U;
+    decodedValue |= decode[(value >> 10U) & 0x1fU] << 8U;
+    decodedValue |= decode[(value >> 15U) & 0x1fU] << 12U;
+
+    uint32_t csum = decodedValue;
+    csum = csum ^ (csum >> 8U); // xor bytes
+    csum = csum ^ (csum >> 4U); // xor nibbles
+
+    if ((csum & 0xfU) != 0xfU) {
+        return INVALID_ERPM;
+    }
+    decodedValue >>= 4;
+
+    return decodedValue;
+}
+
+#endif // HAL_WITH_BIDIR_DSHOT && STM32F1
+
 #endif // HAL_USE_PWM
 
 #endif // IOMCU_FW && HAL_DSHOT_ENABLED
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
index db368a9cbfbb1a..52c801e985f7c8 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
@@ -39,7 +39,7 @@ bool RCOutput::dshot_send_command(pwm_group& group, uint8_t command, uint8_t cha
         return false;
     }
 
-    if (soft_serial_waiting() || (group.dshot_state != DshotState::IDLE && group.dshot_state != DshotState::RECV_COMPLETE)) {
+    if (soft_serial_waiting() || !is_dshot_send_allowed(group.dshot_state)) {
         // doing serial output or DMAR input, don't send DShot pulses
         return false;
     }
@@ -57,18 +57,8 @@ bool RCOutput::dshot_send_command(pwm_group& group, uint8_t command, uint8_t cha
     group.dshot_waiter = rcout_thread_ctx;
     bool bdshot_telem = false;
 #ifdef HAL_WITH_BIDIR_DSHOT
-    uint32_t active_channels = group.ch_mask & group.en_mask;
-    // no need to get the input capture lock
-    group.bdshot.enabled = false;
-    if ((_bdshot.mask & active_channels) == active_channels) {
-        bdshot_telem = true;
-        // it's not clear why this is required, but without it we get no output
-        if (group.pwm_started) {
-            pwmStop(group.pwm_drv);
-        }
-        pwmStart(group.pwm_drv, &group.pwm_cfg);
-        group.pwm_started = true;
-    }
+    bdshot_prepare_for_next_pulse(group);
+    bdshot_telem = group.bdshot.enabled;
 #endif    
 
     memset((uint8_t *)group.dma_buffer, 0, DSHOT_BUFFER_LENGTH);
@@ -121,7 +111,11 @@ void RCOutput::send_dshot_command(uint8_t command, uint8_t chan, uint32_t comman
 
     DshotCommandPacket pkt;
     pkt.command = command;
-    pkt.chan = chan - chan_offset;
+    if (chan != ALL_CHANNELS) {
+        pkt.chan = chan - chan_offset;
+    } else {
+        pkt.chan = ALL_CHANNELS;
+    }
     if (command_timeout_ms == 0) {
         pkt.cycle = MAX(10, repeat_count);
     } else {
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/iomcu-dshot/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/iomcu-dshot/hwdef.inc
index 5f6404aa15dc71..b51e0b156d951a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/iomcu-dshot/hwdef.inc
+++ b/libraries/AP_HAL_ChibiOS/hwdef/iomcu-dshot/hwdef.inc
@@ -16,7 +16,7 @@ undef AP_HAL_SHARED_DMA_ENABLED
 define STM32_TIM_TIM2_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
 define STM32_TIM_TIM2_UP_DMA_CHAN 1
 
-# TIM4_UP (PWM 3/4) cannot be used with sharing as channels used by high speed USART2 RX/TX
+# TIM4_UP (PWM 3/4) cannot be used without sharing as channels used by high speed USART2 RX/TX
 define AP_HAL_SHARED_DMA_ENABLED 1
 define STM32_TIM_TIM4_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
 define STM32_TIM_TIM4_UP_DMA_CHAN 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/iomcu-f103-dshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/iomcu-f103-dshot/hwdef.dat
index 10f3b2a2f3f65c..9f885359fe2ddb 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/iomcu-f103-dshot/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/iomcu-f103-dshot/hwdef.dat
@@ -12,3 +12,40 @@ DMA_NOMAP 1
 
 # only four timers on F103xB so use TIM1 for system timer
 STM32_ST_USE_TIMER 1
+
+define HAL_WITH_ESC_TELEM 1
+
+undef PA0 PA1 PB8 PB9
+
+# the order is important here as it determines the order that timers are used to sending dshot
+# TIM4 needs to go first so that TIM4_UP can be freed up to be used by input capture for TIM2
+PB8 TIM4_CH3 TIM4 PWM(3) GPIO(103) BIDIR
+PB9 TIM4_CH4 TIM4 PWM(4) GPIO(104)
+PA0 TIM2_CH1 TIM2 PWM(1) GPIO(101)
+PA1 TIM2_CH2 TIM2 PWM(2) GPIO(102) BIDIR # DMA channel 7, shared with TIM4_UP and USART2_TX
+
+# currently no support for having mixed outputs on the same timer
+# PB1 TIM3_CH4 TIM3 PWM(8) GPIO(108) BIDIR # DMA channel 3, shared with TIM3_UP
+
+# TIM2_UP - (1,2)
+# TIM4_UP - (1,7)
+# TIM3_UP - (1,3)
+
+# TIM2_CH2 (PWM 1/2)
+define STM32_TIM_TIM2_CH2_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
+define STM32_TIM_TIM2_CH2_DMA_CHAN 1
+
+# TIM4_CH3 (PWM 3/4)
+define STM32_TIM_TIM4_CH3_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
+define STM32_TIM_TIM4_CH3_DMA_CHAN 1
+
+# TIM3_CH4 (PWM 7-8)
+define STM32_TIM_TIM3_CH4_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
+define STM32_TIM_TIM3_CH4_DMA_CHAN 1
+
+define HAL_TIM4_UP_SHARED 1
+undef SHARED_DMA_MASK
+define SHARED_DMA_MASK (1U<<STM32_TIM_TIM4_UP_DMA_STREAM | 1U<<STM32_TIM_TIM2_CH2_DMA_STREAM | 1U<<STM32_UART_USART2_TX_DMA_STREAM)
+
+undef MAIN_STACK
+MAIN_STACK 0x400
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 6b1275bf00a351..a79367710cdca8 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -2225,13 +2225,16 @@ def write_PWM_config(self, f, ordered_timers):
 # define HAL_IC%u_CH%u_DMA_CONFIG false, 0, 0
 #endif
 ''' % (n, i, n, i, n, i, n, i, n, i, n, i)
-                hal_icu_cfg += '},  \\'
+                hal_icu_cfg += '}, HAL_TIM%u_UP_SHARED, \\' % n
 
             f.write('''#if defined(STM32_TIM_TIM%u_UP_DMA_STREAM) && defined(STM32_TIM_TIM%u_UP_DMA_CHAN)
 # define HAL_PWM%u_DMA_CONFIG true, STM32_TIM_TIM%u_UP_DMA_STREAM, STM32_TIM_TIM%u_UP_DMA_CHAN
 #else
 # define HAL_PWM%u_DMA_CONFIG false, 0, 0
 #endif\n%s''' % (n, n, n, n, n, n, hal_icu_def))
+            f.write('''#if !defined(HAL_TIM%u_UP_SHARED)
+#define HAL_TIM%u_UP_SHARED false
+#endif\n''' % (n, n))
             f.write('''#define HAL_PWM_GROUP%u { %s, \\
         {%u, %u, %u, %u}, \\
         /* Group Initial Config */ \\
diff --git a/libraries/AP_HAL_ChibiOS/shared_dma.cpp b/libraries/AP_HAL_ChibiOS/shared_dma.cpp
index 2f6c8c7be8822f..68b86d4b27f64d 100644
--- a/libraries/AP_HAL_ChibiOS/shared_dma.cpp
+++ b/libraries/AP_HAL_ChibiOS/shared_dma.cpp
@@ -63,6 +63,11 @@ bool Shared_DMA::is_shared(uint8_t stream_id)
     return (stream_id < SHARED_DMA_MAX_STREAM_ID) && ((1U<<stream_id) & SHARED_DMA_MASK) != 0;
 }
 
+bool Shared_DMA::is_shared()
+{
+    return is_shared(stream_id1) || is_shared(stream_id2);
+}
+
 //remove any assigned deallocator or allocator
 void Shared_DMA::unregister()
 {
diff --git a/libraries/AP_HAL_ChibiOS/shared_dma.h b/libraries/AP_HAL_ChibiOS/shared_dma.h
index 0157c399b72b9c..ecc920d56c846d 100644
--- a/libraries/AP_HAL_ChibiOS/shared_dma.h
+++ b/libraries/AP_HAL_ChibiOS/shared_dma.h
@@ -69,6 +69,7 @@ class ChibiOS::Shared_DMA
 
     // return true if a stream ID is shared between two peripherals
     static bool is_shared(uint8_t stream_id);
+    bool is_shared();
 
 private:
     dma_allocate_fn_t allocate;

From a5b6c3b5ef437710e1bc3429a1b259b9e7e2ac94 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 19 Oct 2023 17:19:37 +0100
Subject: [PATCH 0121/1335] AP_HAL_ChibiOS: utility to print out bdshot encoded
 data

---
 .../hwdef/scripts/bdshot_encoder.py           | 113 ++++++++++++++++++
 1 file changed, 113 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/scripts/bdshot_encoder.py

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/bdshot_encoder.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/bdshot_encoder.py
new file mode 100644
index 00000000000000..4c1877e8b2407b
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/bdshot_encoder.py
@@ -0,0 +1,113 @@
+#!/usr/bin/env python
+
+"""
+script to encode a telemetry value using dshot and gcr and then display in binary and ascii art
+see https://github.com/betaflight/betaflight/pull/8554#issuecomment-512507625
+"""
+
+import argparse
+
+parser = argparse.ArgumentParser("bdshot_encoder.py")
+parser.add_argument('value', help='Value to encode')
+
+args = parser.parse_args()
+
+def dshot_encode(value):
+    packet = (value << 1)
+
+    # compute checksum
+    csum = 0
+    csum_data = packet
+    for i in range(3):
+        csum ^= csum_data
+        csum_data >>= 4
+
+    csum = ~csum
+    csum &= 0xF
+    packet = (packet << 4) | csum
+
+    return packet
+
+def rll_encode(value):
+    old_bit = 0
+    rll_value = 0
+
+    for i in range(1, 21):
+        if value & 1:
+            new_bit = (1 ^ old_bit)
+        else:
+            new_bit = old_bit
+        value >>= 1
+        rll_value |= new_bit << i
+        old_bit = new_bit
+    return rll_value
+
+def gcr_encode(value):
+    expo = 0
+
+    if value:
+        while value & 1 == 0:
+            value >>= 1
+            expo = expo + 1
+    
+    value = (value & 0x1FF) | (expo << 9)
+    value = dshot_encode(value)
+
+    nibble_map = [0x19, 0x1b, 0x12, 0x13, 0x1d, 0x15, 0x16, 0x17, 0x1a, 0x09, 0x0a, 0x0b, 0x1e, 0x0d, 0x0e, 0x0f ]
+
+    new_value = 0
+    for i in range(4):
+        new_value |= (nibble_map[value & 0xF] << ((3-i) * 5))
+        value >> 4
+
+    return rll_encode(new_value)
+
+def print_signal(value):
+    old_bit = 0
+    print("_ ", sep='', end='')
+    for i in range(21):
+        bit = (value>>(20-i)) & 1
+        if bit != old_bit:
+            print(' ', sep='', end='')
+        if bit:
+            print('_', sep='', end='')
+        else:
+            print(' ', sep='', end='')
+        old_bit = bit
+    print(" _", sep='', end='')
+    print('')
+
+    print(" |", sep='', end='')
+    for i in range(21):
+        bit = (value>>(20-i)) & 1
+        if bit != old_bit:
+            print('|', sep='', end='')
+        print(' ', sep='', end='')
+        old_bit = bit
+    print("| ", sep='', end='')
+    print('')
+
+    print(" |", sep='', end='')
+    for i in range(21):
+        bit = (value>>(20-i)) & 1
+        if bit != old_bit:
+            print('|', sep='', end='')
+        if bit == 0:
+            print("_", sep='', end='')
+        else:
+            print(' ', sep='', end='')
+        old_bit = bit
+    print("| ", sep='', end='')
+    print('')
+
+if args.value.startswith("0b"):
+    value = int(args.value[2:], 2)
+elif args.value.startswith("0x"):
+    value = int(args.value[2:], 16)
+else:
+    value = int(args.value)
+
+encoded_value = gcr_encode(value)
+print("0b{:020b}".format(encoded_value))
+print_signal(encoded_value)
+

From 153c5181cb46f0e884396c65183f8477247ca105 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 23 Oct 2023 14:36:02 +0100
Subject: [PATCH 0122/1335] AP_IOMCU: reset erpm to zero on timeout

remove unneeded packed attribute
reset the PWM status after channels have been enabled or disabled
---
 libraries/AP_IOMCU/iofirmware/iofirmware.cpp | 11 ++++++++++-
 libraries/AP_IOMCU/iofirmware/iofirmware.h   |  1 +
 libraries/AP_IOMCU/iofirmware/ioprotocol.h   |  8 ++++----
 3 files changed, 15 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
index 2ff7db713b5e4b..87e2054e10a27c 100644
--- a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
+++ b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
@@ -622,8 +622,13 @@ void AP_IOMCU_FW::rcin_update()
 #ifdef HAL_WITH_BIDIR_DSHOT
 void AP_IOMCU_FW::erpm_update()
 {
+    uint32_t now_us = AP_HAL::micros();
+
     if (hal.rcout->new_erpm()) {
         dshot_erpm.update_mask |= hal.rcout->read_erpm(dshot_erpm.erpm, IOMCU_MAX_CHANNELS);
+        last_erpm_us = now_us;
+    } else if (now_us - last_erpm_us > ESC_RPM_DATA_TIMEOUT_US) {
+        dshot_erpm.update_mask = 0;
     }
 }
 
@@ -640,7 +645,7 @@ void AP_IOMCU_FW::telem_update()
             dshot_telem[i].error_rate[j] = uint16_t(roundf(hal.rcout->get_erpm_error_rate(esc_id) * 100.0));
 #if HAL_WITH_ESC_TELEM
             const volatile AP_ESC_Telem_Backend::TelemetryData& telem = esc_telem.get_telem_data(esc_id);
-            // if data is stale the set to zero to avoidn phantom data appearing in mavlink
+            // if data is stale then set to zero to avoid phantom data appearing in mavlink
             if (now_ms - telem.last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS) {
                 dshot_telem[i].voltage_cvolts[j] = 0;
                 dshot_telem[i].current_camps[j] = 0;
@@ -1146,6 +1151,10 @@ void AP_IOMCU_FW::rcout_config_update(void)
             }
         }
         last_channel_mask = reg_setup.channel_mask;
+        // channel enablement will affect the reported output mode
+        uint32_t output_mask = 0;
+        reg_status.rcout_mode = hal.rcout->get_output_mode(output_mask);
+        reg_status.rcout_mask = uint8_t(0xFF & output_mask);
     }
 
     // see if there is anything to do, we only support setting the mode for a particular channel once
diff --git a/libraries/AP_IOMCU/iofirmware/iofirmware.h b/libraries/AP_IOMCU/iofirmware/iofirmware.h
index 16227f39f7e656..ebc4f1713824cd 100644
--- a/libraries/AP_IOMCU/iofirmware/iofirmware.h
+++ b/libraries/AP_IOMCU/iofirmware/iofirmware.h
@@ -140,6 +140,7 @@ class AP_IOMCU_FW {
 #endif
 #ifdef HAL_WITH_BIDIR_DSHOT
     struct page_dshot_erpm dshot_erpm;
+    uint32_t last_erpm_us;
     struct page_dshot_telem dshot_telem[IOMCU_MAX_CHANNELS/4];
     uint32_t last_telem_ms;
 #if HAL_WITH_ESC_TELEM
diff --git a/libraries/AP_IOMCU/iofirmware/ioprotocol.h b/libraries/AP_IOMCU/iofirmware/ioprotocol.h
index 44c10d50542546..b79f562fb190d3 100644
--- a/libraries/AP_IOMCU/iofirmware/ioprotocol.h
+++ b/libraries/AP_IOMCU/iofirmware/ioprotocol.h
@@ -189,14 +189,14 @@ struct __attribute__((packed, aligned(2))) page_GPIO {
     uint8_t output_mask;
 };
 
-struct __attribute__((packed, aligned(2))) page_mode_out {
+struct page_mode_out {
     uint16_t mask;
     uint16_t mode;
     uint16_t bdmask;
     uint16_t esc_type;
 };
 
-struct __attribute__((packed, aligned(2))) page_dshot {
+struct page_dshot {
     uint16_t telem_mask;
     uint8_t command;
     uint8_t chan;
@@ -205,13 +205,13 @@ struct __attribute__((packed, aligned(2))) page_dshot {
     uint8_t priority;
 };
 
-struct __attribute__((packed, aligned(2))) page_dshot_erpm {
+struct page_dshot_erpm {
     uint16_t erpm[IOMCU_MAX_CHANNELS];
     uint32_t update_mask;
 };
 
 // separate telemetry packet because (a) it's too big otherwise and (b) slower update rate
-struct __attribute__((packed, aligned(2))) page_dshot_telem {
+struct page_dshot_telem {
     uint16_t  error_rate[4]; // as a centi-percentage
     uint16_t  voltage_cvolts[4];
     uint16_t  current_camps[4];

From 8c03c9e4bf81c48298da98f7e7b3fdaaacc1dfcf Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 19 Oct 2023 16:22:08 +0100
Subject: [PATCH 0123/1335] AP_HAL_ChibiOS: cache values of io_dshot() and
 io_enabled()

enabled shared_up_dma to be fully compiled out
address some minor review comments
---
 libraries/AP_HAL_ChibiOS/RCOutput.cpp         | 54 ++++++++++---------
 libraries/AP_HAL_ChibiOS/RCOutput.h           | 13 +++++
 libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp  | 23 +++++---
 .../AP_HAL_ChibiOS/RCOutput_iofirmware.cpp    |  2 +-
 libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp  |  2 +-
 .../hwdef/iomcu-f103-dshot/hwdef.dat          |  3 +-
 .../hwdef/scripts/chibios_hwdef.py            | 18 ++++++-
 .../hwdef/scripts/defaults_iofirmware.h       | 13 +++++
 8 files changed, 90 insertions(+), 38 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index e0539b01dd2f9d..d8c5a218a20030 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -100,6 +100,10 @@ void RCOutput::init()
     if (AP_BoardConfig::io_enabled()) {
         // with IOMCU the local (FMU) channels start at 8
         chan_offset = 8;
+        iomcu_enabled = true;
+    }
+    if (AP_BoardConfig::io_dshot()) {
+        iomcu_dshot = true;
     }
 #endif
 
@@ -144,7 +148,7 @@ void RCOutput::init()
     }
 
 #if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_enabled()) {
+    if (iomcu_enabled) {
         iomcu.init();
     }
 #endif
@@ -442,7 +446,7 @@ void RCOutput::set_freq_group(pwm_group &group)
 void RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
 {
 #if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_enabled()) {
+    if (iomcu_enabled) {
         // change frequency on IOMCU
         uint16_t io_chmask = chmask & 0xFF;
         if (io_chmask) {
@@ -499,7 +503,7 @@ void RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
 void RCOutput::set_default_rate(uint16_t freq_hz)
 {
 #if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_enabled()) {
+    if (iomcu_enabled) {
         iomcu.set_default_rate(freq_hz);
     }
 #endif
@@ -526,7 +530,7 @@ void RCOutput::set_dshot_rate(uint8_t dshot_rate, uint16_t loop_rate_hz)
         _dshot_period_us = 1000UL;
         _dshot_rate = 0;
 #if HAL_WITH_IO_MCU
-        if (AP_BoardConfig::io_dshot()) {
+        if (iomcu_dshot) {
             iomcu.set_dshot_period(1000UL, 0);
         }
 #endif
@@ -542,7 +546,7 @@ void RCOutput::set_dshot_rate(uint8_t dshot_rate, uint16_t loop_rate_hz)
 #if HAL_WITH_IO_MCU
             // this is not strictly neccessary since the iomcu could run at a different rate,
             // but there is only one parameter to control this
-            if (AP_BoardConfig::io_dshot()) {
+            if (iomcu_dshot) {
                 iomcu.set_dshot_period(1000UL, 0);
             }
 #endif
@@ -566,7 +570,7 @@ void RCOutput::set_dshot_rate(uint8_t dshot_rate, uint16_t loop_rate_hz)
     }
     _dshot_period_us = 1000000UL / drate;
 #if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_dshot()) {
+    if (iomcu_dshot) {
         iomcu.set_dshot_period(_dshot_period_us, _dshot_rate);
     }
 #endif
@@ -593,7 +597,7 @@ void RCOutput::set_dshot_esc_type(DshotEscType dshot_esc_type)
             break;
     }
 #if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_dshot()) {
+    if (iomcu_dshot) {
         iomcu.set_dshot_esc_type(dshot_esc_type);
     }
 #endif
@@ -670,7 +674,7 @@ uint16_t RCOutput::get_freq(uint8_t chan)
 void RCOutput::enable_ch(uint8_t chan)
 {
 #if HAL_WITH_IO_MCU
-    if (chan < chan_offset && AP_BoardConfig::io_enabled()) {
+    if (chan < chan_offset && iomcu_enabled) {
         iomcu.enable_ch(chan);
         return;
     }
@@ -686,7 +690,7 @@ void RCOutput::enable_ch(uint8_t chan)
 void RCOutput::disable_ch(uint8_t chan)
 {
 #if HAL_WITH_IO_MCU
-    if (chan < chan_offset && AP_BoardConfig::io_enabled()) {
+    if (chan < chan_offset && iomcu_enabled) {
         iomcu.disable_ch(chan);
         return;
     }
@@ -717,7 +721,7 @@ void RCOutput::write(uint8_t chan, uint16_t period_us)
 
 #if HAL_WITH_IO_MCU
     // handle IO MCU channels
-    if (AP_BoardConfig::io_enabled()) {
+    if (iomcu_enabled) {
         iomcu.write_channel(chan, period_us);
     }
 #endif
@@ -1198,7 +1202,7 @@ void RCOutput::set_output_mode(uint32_t mask, const enum output_mode mode)
          mode == MODE_PWM_BRUSHED ||
          (mode >= MODE_PWM_DSHOT150 && mode <= MODE_PWM_DSHOT600)) &&
         iomcu_mask &&
-        AP_BoardConfig::io_enabled()) {
+        iomcu_enabled) {
         iomcu.set_output_mode(iomcu_mask, mode);
         return;
     }
@@ -1234,7 +1238,7 @@ RCOutput::output_mode RCOutput::get_output_mode(uint32_t& mask)
 void RCOutput::set_telem_request_mask(uint32_t mask)
 {
 #if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_dshot() && (mask & ((1U<<chan_offset)-1))) {
+    if (iomcu_dshot && (mask & ((1U<<chan_offset)-1))) {
         iomcu.set_telem_request_mask(mask);
     }
 #endif
@@ -1257,7 +1261,7 @@ bool RCOutput::get_output_mode_banner(char banner_msg[], uint8_t banner_msg_len)
 
 #if HAL_WITH_IO_MCU
     // fill in ch_mode array for IOMCU channels
-    if (AP_BoardConfig::io_enabled()) {
+    if (iomcu_enabled) {
         uint8_t iomcu_mask;
         const output_mode iomcu_mode = iomcu.get_output_mode(iomcu_mask);
         for (uint8_t i = 0; i < chan_offset; i++ ) {
@@ -1320,7 +1324,7 @@ void RCOutput::cork(void)
 {
     corked = true;
 #if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_enabled()) {
+    if (iomcu_enabled) {
         iomcu.cork();
     }
 #endif
@@ -1334,7 +1338,7 @@ void RCOutput::push(void)
     corked = false;
     push_local();
 #if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_enabled()) {
+    if (iomcu_enabled) {
         iomcu.push();
     }
 #endif
@@ -1346,7 +1350,7 @@ void RCOutput::push(void)
 bool RCOutput::enable_px4io_sbus_out(uint16_t rate_hz)
 {
 #if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_enabled()) {
+    if (iomcu_enabled) {
         return iomcu.enable_sbus_out(rate_hz);
     }
 #endif
@@ -1469,7 +1473,7 @@ void RCOutput::dshot_send_groups(uint64_t time_out_us)
             dshot_send(group, time_out_us);
             pulse_sent = true;
         }
-#ifdef HAL_WITH_BIDIR_DSHOT
+#if defined(HAL_WITH_BIDIR_DSHOT) && defined(HAL_TIM_UP_SHARED)
         // prevent the next send going out until the previous send has released its DMA channel
         if (pulse_sent && group.shared_up_dma && group.bdshot.enabled) {
             chEvtWaitOneTimeout(DSHOT_CASCADE, calc_ticks_remaining(group, time_out_us, _dshot_period_us));
@@ -1500,9 +1504,9 @@ __RAMFUNC__ void RCOutput::dshot_send_next_group(void* p)
 #if AP_HAL_SHARED_DMA_ENABLED
 void RCOutput::dma_allocate(Shared_DMA *ctx)
 {
-    chSysLock();
     for (auto &group : pwm_group_list) {
         if (group.dma_handle == ctx && group.dma == nullptr) {
+            chSysLock();
             group.dma = dmaStreamAllocI(group.dma_up_stream_id, 10, dma_up_irq_callback, &group);
 #if defined(STM32F1)
             if (group.pwm_started && group.dma_handle->is_shared()) {
@@ -1516,9 +1520,9 @@ void RCOutput::dma_allocate(Shared_DMA *ctx)
                 dmaSetRequestSource(group.dma, group.dma_up_channel);
             }
 #endif
+            chSysUnlock();
         }
     }
-    chSysUnlock();
 }
 
 /*
@@ -1526,9 +1530,9 @@ void RCOutput::dma_allocate(Shared_DMA *ctx)
  */
 void RCOutput::dma_deallocate(Shared_DMA *ctx)
 {
-    chSysLock();
     for (auto &group : pwm_group_list) {
         if (group.dma_handle == ctx && group.dma != nullptr) {
+            chSysLock();
 #if defined(STM32F1)
             // leaving the peripheral running on IOMCU plays havoc with the UART that is
             // also sharing this channel, we only turn it off rather than resetting so
@@ -1540,9 +1544,9 @@ void RCOutput::dma_deallocate(Shared_DMA *ctx)
 #endif
             dmaStreamFreeI(group.dma);
             group.dma = nullptr;
+            chSysUnlock();
         }
     }
-    chSysUnlock();
 }
 #endif // AP_HAL_SHARED_DMA_ENABLED
 
@@ -2229,7 +2233,7 @@ void RCOutput::serial_end(void)
 AP_HAL::Util::safety_state RCOutput::_safety_switch_state(void)
 {
 #if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_enabled()) {
+    if (iomcu_enabled) {
         safety_state = iomcu.get_safety_switch_state();
     }
 #endif
@@ -2245,7 +2249,7 @@ AP_HAL::Util::safety_state RCOutput::_safety_switch_state(void)
 bool RCOutput::force_safety_on(void)
 {
 #if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_enabled()) {
+    if (iomcu_enabled) {
         return iomcu.force_safety_on();
     }
 #endif
@@ -2259,7 +2263,7 @@ bool RCOutput::force_safety_on(void)
 void RCOutput::force_safety_off(void)
 {
 #if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_enabled()) {
+    if (iomcu_enabled) {
         iomcu.force_safety_off();
         return;
     }
@@ -2327,7 +2331,7 @@ void RCOutput::safety_update(void)
 void RCOutput::set_failsafe_pwm(uint32_t chmask, uint16_t period_us)
 {
 #if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_enabled()) {
+    if (iomcu_enabled) {
         iomcu.set_failsafe_pwm(chmask, period_us);
     }
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.h b/libraries/AP_HAL_ChibiOS/RCOutput.h
index d6c6c6a343d2f2..0b0a41b8115124 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.h
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.h
@@ -331,7 +331,9 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
             uint8_t stream_id;
             uint8_t channel;
         } dma_ch[4];
+#ifdef HAL_TIM_UP_SHARED
         bool shared_up_dma; // do we need to wait for TIMx_UP DMA to be finished after use
+#endif
 #endif
         uint8_t alt_functions[4];
         ioline_t pal_lines[4];
@@ -517,6 +519,13 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
     static pwm_group pwm_group_list[];
     static const uint8_t NUM_GROUPS;
 
+#if HAL_WITH_IO_MCU
+    // cached values of AP_BoardConfig::io_enabled() and AP_BoardConfig::io_dshot()
+    // in case the user changes them
+    bool iomcu_enabled;
+    bool iomcu_dshot;
+#endif
+
     // offset of first local channel
     uint8_t chan_offset;
 
@@ -668,7 +677,11 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
     void fill_DMA_buffer_dshot(dmar_uint_t *buffer, uint8_t stride, uint16_t packet, uint16_t clockmul);
 
     // event to allow dshot cascading
+#if defined(HAL_TIM_UP_SHARED)
     static const eventmask_t DSHOT_CASCADE = EVENT_MASK(16);
+#else
+    static const eventmask_t DSHOT_CASCADE = 0;
+#endif
     static const eventmask_t EVT_PWM_SEND  = EVENT_MASK(11);
     static const eventmask_t EVT_PWM_SYNTHETIC_SEND  = EVENT_MASK(13);
 
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
index 8817e0217e646e..43664570eb11c5 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
@@ -54,7 +54,7 @@ void RCOutput::set_bidir_dshot_mask(uint32_t mask)
 {
 #if HAL_WITH_IO_MCU
     const uint32_t iomcu_mask = ((1U<<chan_offset)-1);
-    if (AP_BoardConfig::io_dshot() && (mask & iomcu_mask)) {
+    if (iomcu_dshot && (mask & iomcu_mask)) {
         iomcu.set_bidir_dshot_mask(mask & iomcu_mask);
     }
 #endif
@@ -188,21 +188,21 @@ bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
  */
 void RCOutput::bdshot_ic_dma_allocate(Shared_DMA *ctx)
 {
-    chSysLock();
     for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
         pwm_group &group = pwm_group_list[i];
         for (uint8_t icuch = 0; icuch < 4; icuch++) {
             if (group.bdshot.ic_dma_handle[icuch] == ctx && group.bdshot.ic_dma[icuch] == nullptr) {
+                chSysLock();
                 group.bdshot.ic_dma[icuch] = dmaStreamAllocI(group.dma_ch[icuch].stream_id, 10, bdshot_dma_ic_irq_callback, &group);
 #if STM32_DMA_SUPPORTS_DMAMUX
                 if (group.bdshot.ic_dma[icuch]) {
                     dmaSetRequestSource(group.bdshot.ic_dma[icuch], group.dma_ch[icuch].channel);
                 }
 #endif
+                chSysUnlock();
             }
         }
     }
-    chSysUnlock();
 }
 
 /*
@@ -210,17 +210,17 @@ void RCOutput::bdshot_ic_dma_allocate(Shared_DMA *ctx)
  */
 void RCOutput::bdshot_ic_dma_deallocate(Shared_DMA *ctx)
 {
-    chSysLock();
     for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
         pwm_group &group = pwm_group_list[i];
         for (uint8_t icuch = 0; icuch < 4; icuch++) {
+            chSysLock();
             if (group.bdshot.ic_dma_handle[icuch] == ctx && group.bdshot.ic_dma[icuch] != nullptr) {
                 dmaStreamFreeI(group.bdshot.ic_dma[icuch]);
                 group.bdshot.ic_dma[icuch] = nullptr;
             }
+            chSysUnlock();
         }
     }
-    chSysUnlock();
 }
 
 // setup bdshot for sending and receiving the next pulse
@@ -238,7 +238,11 @@ void RCOutput::bdshot_prepare_for_next_pulse(pwm_group& group)
         } else {
             osalDbgAssert(!group.bdshot.curr_ic_dma_handle, "IC DMA handle has not been released");
             group.bdshot.curr_ic_dma_handle = group.bdshot.ic_dma_handle[group.bdshot.curr_telem_chan];
+#ifdef HAL_TIM_UP_SHARED
             osalDbgAssert(group.shared_up_dma || !group.bdshot.curr_ic_dma_handle->is_locked(), "IC DMA handle is already locked");
+#else
+            osalDbgAssert(!group.bdshot.curr_ic_dma_handle->is_locked(), "IC DMA handle is already locked");
+#endif
             group.bdshot.curr_ic_dma_handle->lock();
             group.bdshot.enabled = true;
         }
@@ -461,7 +465,7 @@ void RCOutput::bdshot_config_icu_dshot(stm32_tim_t* TIMx, uint8_t chan, uint8_t
         break;
     }
 }
-#endif
+#endif  // !defined(STM32F1)
 
 /*
   unlock DMA channel after a bi-directional dshot transaction completes
@@ -488,13 +492,14 @@ __RAMFUNC__ void RCOutput::bdshot_finish_dshot_gcr_transaction(virtual_timer_t*
     stm32_cacheBufferInvalidate(group->dma_buffer, group->bdshot.dma_tx_size);
     memcpy(group->bdshot.dma_buffer_copy, group->dma_buffer, sizeof(dmar_uint_t) * group->bdshot.dma_tx_size);
 
+#ifdef HAL_TIM_UP_SHARED
     // although it should be possible to start the next DMAR transaction concurrently with receiving 
     // telemetry, in practice it seems to interfere with the DMA engine
     if (group->shared_up_dma && group->bdshot.enabled) {
         // next dshot pulse can go out now
         chEvtSignalI(group->dshot_waiter, DSHOT_CASCADE);
     }
-
+#endif
     // if using input capture DMA and sharing the UP and CH channels then clean up
     // by assigning the source back to UP
 #if STM32_DMA_SUPPORTS_DMAMUX
@@ -508,6 +513,8 @@ __RAMFUNC__ void RCOutput::bdshot_finish_dshot_gcr_transaction(virtual_timer_t*
     // we will not get data from active channels
     group->bdshot.curr_telem_chan = bdshot_find_next_ic_channel(*group);
 
+    // dshot commands are issued without a response coming back, this allows
+    // us to handle the next packet correctly without it looking like a failure
     if (group->bdshot.dma_tx_size > 0) {
         group->dshot_state = DshotState::RECV_COMPLETE;
     } else {
@@ -738,7 +745,7 @@ bool RCOutput::bdshot_decode_telemetry_from_erpm(uint16_t encodederpm, uint8_t c
     uint8_t normalized_chan = chan;
 #endif
 #if HAL_WITH_IO_MCU
-    if (AP_BoardConfig::io_dshot()) {
+    if (iomcu_dshot) {
         normalized_chan = chan + chan_offset;
     }
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
index e45ce3c363511f..994485e4e91e15 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
@@ -68,7 +68,7 @@ void RCOutput::dshot_send_trampoline(void *p)
  */
 void RCOutput::rcout_thread() {
     // don't start outputting until fully configured
-    while (!hal.scheduler->is_system_initialized() || _dshot_period_us == 0) {
+    while (!hal.scheduler->is_system_initialized()) {
         hal.scheduler->delay_microseconds(1000);
     }
 
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
index 52c801e985f7c8..c8ca5156fb7ce2 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
@@ -100,7 +100,7 @@ void RCOutput::send_dshot_command(uint8_t command, uint8_t chan, uint32_t comman
     // not an FMU channel
     if (chan < chan_offset || chan == ALL_CHANNELS) {
 #if HAL_WITH_IO_MCU
-        if (AP_BoardConfig::io_dshot()) {
+        if (iomcu_dshot) {
             iomcu.send_dshot_command(command, chan, command_timeout_ms, repeat_count, priority);
         }
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/iomcu-f103-dshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/iomcu-f103-dshot/hwdef.dat
index 9f885359fe2ddb..10b71b35a9a0ad 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/iomcu-f103-dshot/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/iomcu-f103-dshot/hwdef.dat
@@ -19,7 +19,7 @@ undef PA0 PA1 PB8 PB9
 
 # the order is important here as it determines the order that timers are used to sending dshot
 # TIM4 needs to go first so that TIM4_UP can be freed up to be used by input capture for TIM2
-PB8 TIM4_CH3 TIM4 PWM(3) GPIO(103) BIDIR
+PB8 TIM4_CH3 TIM4 PWM(3) GPIO(103) BIDIR UP_SHARED
 PB9 TIM4_CH4 TIM4 PWM(4) GPIO(104)
 PA0 TIM2_CH1 TIM2 PWM(1) GPIO(101)
 PA1 TIM2_CH2 TIM2 PWM(2) GPIO(102) BIDIR # DMA channel 7, shared with TIM4_UP and USART2_TX
@@ -43,7 +43,6 @@ define STM32_TIM_TIM4_CH3_DMA_CHAN 1
 define STM32_TIM_TIM3_CH4_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
 define STM32_TIM_TIM3_CH4_DMA_CHAN 1
 
-define HAL_TIM4_UP_SHARED 1
 undef SHARED_DMA_MASK
 define SHARED_DMA_MASK (1U<<STM32_TIM_TIM4_UP_DMA_STREAM | 1U<<STM32_TIM_TIM2_CH2_DMA_STREAM | 1U<<STM32_UART_USART2_TX_DMA_STREAM)
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index a79367710cdca8..4f0d98d5b11eff 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -123,6 +123,9 @@ def __init__(self, bootloader=False, signed_fw=False, outdir=None, hwdef=[], def
         # integer defines
         self.intdefines = {}
 
+        # list of shared up timers
+        self.shared_up = []
+
     def is_int(self, str):
         '''check if a string is an integer'''
         try:
@@ -2067,6 +2070,7 @@ def write_PWM_config(self, f, ordered_timers):
         rc_in_int = None
         alarm = None
         bidir = None
+        up_shared = None
         pwm_out = []
         # start with the ordered list from the dma resolver
         pwm_timers = ordered_timers
@@ -2084,6 +2088,8 @@ def write_PWM_config(self, f, ordered_timers):
                         pwm_out.append(p)
                     if p.has_extra('BIDIR'):
                         bidir = p
+                    if p.has_extra('UP_SHARED'):
+                        up_shared = p
                     if p.type not in pwm_timers:
                         pwm_timers.append(p.type)
 
@@ -2170,6 +2176,10 @@ def write_PWM_config(self, f, ordered_timers):
         f.write('// PWM timer config\n')
         if bidir is not None:
             f.write('#define HAL_WITH_BIDIR_DSHOT\n')
+        if up_shared is not None:
+            f.write('#define HAL_TIM_UP_SHARED\n')
+            for t in self.shared_up:
+                f.write('#define HAL_%s_SHARED true\n' % t)
         for t in pwm_timers:
             n = int(t[3:])
             f.write('#define STM32_PWM_USE_TIM%u TRUE\n' % n)
@@ -2225,7 +2235,10 @@ def write_PWM_config(self, f, ordered_timers):
 # define HAL_IC%u_CH%u_DMA_CONFIG false, 0, 0
 #endif
 ''' % (n, i, n, i, n, i, n, i, n, i, n, i)
-                hal_icu_cfg += '}, HAL_TIM%u_UP_SHARED, \\' % n
+                if up_shared is not None:
+                    hal_icu_cfg += '}, HAL_TIM%u_UP_SHARED, \\' % n
+                else:
+                    hal_icu_cfg += '}, \\'
 
             f.write('''#if defined(STM32_TIM_TIM%u_UP_DMA_STREAM) && defined(STM32_TIM_TIM%u_UP_DMA_CHAN)
 # define HAL_PWM%u_DMA_CONFIG true, STM32_TIM_TIM%u_UP_DMA_STREAM, STM32_TIM_TIM%u_UP_DMA_CHAN
@@ -2738,6 +2751,7 @@ def write_hwdef_header(self, outfilename):
     def build_peripheral_list(self):
         '''build a list of peripherals for DMA resolver to work on'''
         peripherals = []
+        self.shared_up = []
         done = set()
         prefixes = ['SPI', 'USART', 'UART', 'I2C']
         periph_pins = self.allpins[:]
@@ -2788,6 +2802,8 @@ def build_peripheral_list(self):
                     (_, _, compl) = self.parse_timer(ch_label)
                     if ch_label not in peripherals and p.has_extra('BIDIR') and not compl:
                         peripherals.append(ch_label)
+                    if label not in self.shared_up and p.has_extra('UP_SHARED') and not compl:
+                        self.shared_up.append(label)
             done.add(type)
         return peripherals
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_iofirmware.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_iofirmware.h
index 7cd350f397347f..269610f5543523 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_iofirmware.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_iofirmware.h
@@ -41,3 +41,16 @@
 #ifndef AP_INTERNALERROR_ENABLED
 #define AP_INTERNALERROR_ENABLED 0
 #endif
+
+#ifndef HAL_TIM2_UP_SHARED
+#define HAL_TIM2_UP_SHARED 0
+#endif
+#ifndef HAL_TIM3_UP_SHARED
+#define HAL_TIM3_UP_SHARED 0
+#endif
+#ifndef HAL_TIM4_UP_SHARED
+#define HAL_TIM4_UP_SHARED 0
+#endif
+#ifndef HAL_TIM_UP_SHARED
+#define HAL_TIM_UP_SHARED (HAL_TIM2_UP_SHARED || HAL_TIM3_UP_SHARED || HAL_TIM4_UP_SHARED)
+#endif

From 43b6fc0dba6b59b89ba4e9e6ef58fbcce276accb Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 13 Nov 2023 19:58:36 +0000
Subject: [PATCH 0124/1335] AP_IOMCU: constrain PWM channels to 8, telem
 channels to 4 and RC channels to 16

make ADC readings interrupt driven
turn off iomcu updates when debugging
allow for correct number of telemetry channels
cycle between vservo and vrssi when reading adc
build adc with O2
---
 libraries/AP_IOMCU/AP_IOMCU.cpp              | 18 +++++++++---------
 libraries/AP_IOMCU/AP_IOMCU.h                |  2 +-
 libraries/AP_IOMCU/iofirmware/iofirmware.cpp | 20 ++++++++------------
 libraries/AP_IOMCU/iofirmware/iofirmware.h   |  2 +-
 libraries/AP_IOMCU/iofirmware/ioprotocol.h   |  9 ++++++---
 5 files changed, 25 insertions(+), 26 deletions(-)

diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp
index 2cf81c9165d599..b996aefbe4cba2 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.cpp
+++ b/libraries/AP_IOMCU/AP_IOMCU.cpp
@@ -78,12 +78,16 @@ void AP_IOMCU::init(void)
     uart.begin(1500*1000, 128, 128);
     uart.set_unbuffered_writes(true);
 
+#if IOMCU_DEBUG_ENABLE
+    crc_is_ok = true;
+#else
     AP_BoardConfig *boardconfig = AP_BoardConfig::get_singleton();
     if ((!boardconfig || boardconfig->io_enabled() == 1) && !hal.util->was_watchdog_reset()) {
         check_crc();
     } else {
         crc_is_ok = true;
     }
+#endif
 
     if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_IOMCU::thread_main, void), "IOMCU",
                                       1024, AP_HAL::Scheduler::PRIORITY_BOOST, 1)) {
@@ -407,7 +411,7 @@ void AP_IOMCU::read_erpm()
     if (blh) {
         motor_poles = blh->get_motor_poles();
     }
-    for (uint8_t i = 0; i < IOMCU_MAX_CHANNELS/4; i++) {
+    for (uint8_t i = 0; i < IOMCU_MAX_TELEM_CHANNELS/4; i++) {
         for (uint8_t j = 0; j < 4; j++) {
             const uint8_t esc_id = (i * 4 + j);
             if (dshot_erpm.update_mask & 1U<<esc_id) {
@@ -426,15 +430,11 @@ void AP_IOMCU::read_telem()
     uint16_t *r = (uint16_t *)telem;
     iopage page = PAGE_RAW_DSHOT_TELEM_1_4;
     switch (esc_group) {
+#if IOMCU_MAX_TELEM_CHANNELS > 4
     case 1:
         page = PAGE_RAW_DSHOT_TELEM_5_8;
         break;
-    case 2:
-        page = PAGE_RAW_DSHOT_TELEM_9_12;
-        break;
-    case 3:
-        page = PAGE_RAW_DSHOT_TELEM_13_16;
-        break;
+#endif
     default:
         break;
     }
@@ -450,7 +450,7 @@ void AP_IOMCU::read_telem()
         };
         update_telem_data(esc_group * 4 + i, t, telem->types[i]);
     }
-    esc_group = (esc_group + 1) % 4;
+    esc_group = (esc_group + 1) % (IOMCU_MAX_TELEM_CHANNELS / 4);
 }
 
 /*
@@ -874,7 +874,7 @@ bool AP_IOMCU::enable_sbus_out(uint16_t rate_hz)
 bool AP_IOMCU::check_rcinput(uint32_t &last_frame_us, uint8_t &num_channels, uint16_t *channels, uint8_t max_chan)
 {
     if (last_frame_us != uint32_t(rc_last_input_ms * 1000U)) {
-        num_channels = MIN(MIN(rc_input.count, IOMCU_MAX_CHANNELS), max_chan);
+        num_channels = MIN(MIN(rc_input.count, IOMCU_MAX_RC_CHANNELS), max_chan);
         memcpy(channels, rc_input.pwm, num_channels*2);
         last_frame_us = uint32_t(rc_last_input_ms * 1000U);
         return true;
diff --git a/libraries/AP_IOMCU/AP_IOMCU.h b/libraries/AP_IOMCU/AP_IOMCU.h
index 041c565f48f193..1c976d2d7399b7 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.h
+++ b/libraries/AP_IOMCU/AP_IOMCU.h
@@ -273,7 +273,7 @@ class AP_IOMCU
 
     // bi-directional dshot erpm values
     struct page_dshot_erpm dshot_erpm;
-    struct page_dshot_telem dshot_telem[IOMCU_MAX_CHANNELS/4];
+    struct page_dshot_telem dshot_telem[IOMCU_MAX_TELEM_CHANNELS/4];
     uint8_t esc_group;
 
     // queue of dshot commands that need sending
diff --git a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
index 87e2054e10a27c..76b9c11b41af88 100644
--- a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
+++ b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
@@ -468,7 +468,7 @@ void AP_IOMCU_FW::update()
         now - sbus_last_ms >= sbus_interval_ms) {
         // output a new SBUS frame
         sbus_last_ms = now;
-        sbus_out_write(reg_servo.pwm, IOMCU_MAX_CHANNELS);
+        sbus_out_write(reg_servo.pwm, IOMCU_MAX_RC_CHANNELS);
     }
     // handle FMU failsafe
     if (now - fmu_data_received_time > 200) {
@@ -583,7 +583,7 @@ void AP_IOMCU_FW::rcin_update()
         const auto &rc = AP::RC();
         rc_input.count = hal.rcin->num_channels();
         rc_input.flags_rc_ok = true;
-        hal.rcin->read(rc_input.pwm, IOMCU_MAX_CHANNELS);
+        hal.rcin->read(rc_input.pwm, IOMCU_MAX_RC_CHANNELS);
         rc_last_input_ms = last_ms;
         rc_input.rc_protocol = (uint16_t)rc.protocol_detected();
         rc_input.rssi = rc.get_RSSI();
@@ -606,7 +606,7 @@ void AP_IOMCU_FW::rcin_update()
     if (mixing.enabled &&
         mixing.rc_chan_override > 0 &&
         rc_input.flags_rc_ok &&
-        mixing.rc_chan_override <= IOMCU_MAX_CHANNELS) {
+        mixing.rc_chan_override <= IOMCU_MAX_RC_CHANNELS) {
         override_active = (rc_input.pwm[mixing.rc_chan_override-1] >= 1750);
     } else {
         override_active = false;
@@ -625,7 +625,7 @@ void AP_IOMCU_FW::erpm_update()
     uint32_t now_us = AP_HAL::micros();
 
     if (hal.rcout->new_erpm()) {
-        dshot_erpm.update_mask |= hal.rcout->read_erpm(dshot_erpm.erpm, IOMCU_MAX_CHANNELS);
+        dshot_erpm.update_mask |= hal.rcout->read_erpm(dshot_erpm.erpm, IOMCU_MAX_TELEM_CHANNELS);
         last_erpm_us = now_us;
     } else if (now_us - last_erpm_us > ESC_RPM_DATA_TIMEOUT_US) {
         dshot_erpm.update_mask = 0;
@@ -636,10 +636,10 @@ void AP_IOMCU_FW::telem_update()
 {
     uint32_t now_ms = AP_HAL::millis();
 
-    for (uint8_t i = 0; i < IOMCU_MAX_CHANNELS/4; i++) {
+    for (uint8_t i = 0; i < IOMCU_MAX_TELEM_CHANNELS/4; i++) {
         for (uint8_t j = 0; j < 4; j++) {
             const uint8_t esc_id = (i * 4 + j);
-            if (esc_id >= IOMCU_MAX_CHANNELS) {
+            if (esc_id >= IOMCU_MAX_TELEM_CHANNELS) {
                 continue;
             }
             dshot_telem[i].error_rate[j] = uint16_t(roundf(hal.rcout->get_erpm_error_rate(esc_id) * 100.0));
@@ -767,15 +767,11 @@ bool AP_IOMCU_FW::handle_code_read()
     case PAGE_RAW_DSHOT_TELEM_1_4:
         COPY_PAGE(dshot_telem[0]);
         break;
+#if IOMCU_MAX_TELEM_CHANNELS > 4
     case PAGE_RAW_DSHOT_TELEM_5_8:
         COPY_PAGE(dshot_telem[1]);
         break;
-    case PAGE_RAW_DSHOT_TELEM_9_12:
-        COPY_PAGE(dshot_telem[2]);
-        break;
-    case PAGE_RAW_DSHOT_TELEM_13_16:
-        COPY_PAGE(dshot_telem[3]);
-        break;
+#endif
 #endif
     case PAGE_STATUS:
         COPY_PAGE(reg_status);
diff --git a/libraries/AP_IOMCU/iofirmware/iofirmware.h b/libraries/AP_IOMCU/iofirmware/iofirmware.h
index ebc4f1713824cd..824a2238e4220c 100644
--- a/libraries/AP_IOMCU/iofirmware/iofirmware.h
+++ b/libraries/AP_IOMCU/iofirmware/iofirmware.h
@@ -141,7 +141,7 @@ class AP_IOMCU_FW {
 #ifdef HAL_WITH_BIDIR_DSHOT
     struct page_dshot_erpm dshot_erpm;
     uint32_t last_erpm_us;
-    struct page_dshot_telem dshot_telem[IOMCU_MAX_CHANNELS/4];
+    struct page_dshot_telem dshot_telem[IOMCU_MAX_TELEM_CHANNELS/4];
     uint32_t last_telem_ms;
 #if HAL_WITH_ESC_TELEM
     AP_ESC_Telem esc_telem;
diff --git a/libraries/AP_IOMCU/iofirmware/ioprotocol.h b/libraries/AP_IOMCU/iofirmware/ioprotocol.h
index b79f562fb190d3..01a29b15ff5f28 100644
--- a/libraries/AP_IOMCU/iofirmware/ioprotocol.h
+++ b/libraries/AP_IOMCU/iofirmware/ioprotocol.h
@@ -9,7 +9,9 @@
 
 // 22 is enough for the rc_input page in one transfer
 #define PKT_MAX_REGS 22
-#define IOMCU_MAX_CHANNELS 16
+#define IOMCU_MAX_RC_CHANNELS 16
+#define IOMCU_MAX_CHANNELS 8
+#define IOMCU_MAX_TELEM_CHANNELS 4
 
 //#define IOMCU_DEBUG
 
@@ -136,6 +138,7 @@ struct page_reg_status {
     uint8_t err_write;
     uint8_t err_uart;
     uint8_t err_lock;
+    uint8_t spare;
 };
 
 struct page_rc_input {
@@ -143,7 +146,7 @@ struct page_rc_input {
     uint8_t flags_failsafe:1;
     uint8_t flags_rc_ok:1;
     uint8_t rc_protocol;
-    uint16_t pwm[IOMCU_MAX_CHANNELS];
+    uint16_t pwm[IOMCU_MAX_RC_CHANNELS];
     int16_t rssi;
 };
 
@@ -206,7 +209,7 @@ struct page_dshot {
 };
 
 struct page_dshot_erpm {
-    uint16_t erpm[IOMCU_MAX_CHANNELS];
+    uint16_t erpm[IOMCU_MAX_TELEM_CHANNELS];
     uint32_t update_mask;
 };
 

From 2415c2998b278c6aa27ebe6f681880843ccf3a12 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 16 Nov 2023 16:27:16 +0000
Subject: [PATCH 0125/1335] AP_HAL_ChibiOS: allow dshot to be used even if
 bdshot was specified.

correct zero handling in bdshot decoding
---
 libraries/AP_HAL_ChibiOS/RCOutput.cpp         | 12 +++++----
 libraries/AP_HAL_ChibiOS/RCOutput.h           |  5 +++-
 libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp  | 26 ++++++++++++-------
 .../AP_HAL_ChibiOS/RCOutput_iofirmware.cpp    |  2 --
 4 files changed, 28 insertions(+), 17 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index d8c5a218a20030..1817c3e6813eb9 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -16,6 +16,7 @@
  * Bi-directional dshot based on Betaflight, code by Andy Piper and Siddharth Bharat Purohit
  * 
  * There really is no dshot reference. For information try these resources:
+ * https://brushlesswhoop.com/dshot-and-bidirectional-dshot/
  * https://blck.mn/2016/11/dshot-the-new-kid-on-the-block/
  * https://www.swallenhardware.io/battlebots/2019/4/20/a-developers-guide-to-dshot-escs
  */
@@ -981,10 +982,11 @@ bool RCOutput::setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_
 
 #ifdef HAL_WITH_BIDIR_DSHOT
     // configure input capture DMA if required
-    if (is_bidir_dshot_enabled()) {
+    if (is_bidir_dshot_enabled(group)) {
         if (!bdshot_setup_group_ic_DMA(group)) {
-            group.dma_handle->unlock();
-            return false;
+            _bdshot.mask &= ~group.ch_mask; // only use dshot on this group
+            _bdshot.disabled_mask |= group.ch_mask;
+            active_high = true;
         }
     }
 #endif
@@ -1115,7 +1117,7 @@ void RCOutput::set_group_mode(pwm_group &group)
     case MODE_PWM_DSHOT150 ... MODE_PWM_DSHOT1200: {
 #if HAL_DSHOT_ENABLED
         const uint32_t rate = protocol_bitrate(group.current_mode);
-        bool active_high = is_bidir_dshot_enabled() ? false : true;
+        bool active_high = is_bidir_dshot_enabled(group) ? false : true;
         bool at_least_freq = false;
         // calculate min time between pulses
         const uint32_t pulse_send_time_us = 1000000UL * dshot_bit_length / rate;
@@ -1131,7 +1133,7 @@ void RCOutput::set_group_mode(pwm_group &group)
             group.current_mode = MODE_PWM_NORMAL;
             break;
         }
-        if (is_bidir_dshot_enabled()) {
+        if (is_bidir_dshot_enabled(group)) {
             group.dshot_pulse_send_time_us = pulse_send_time_us;
             // to all intents and purposes the pulse time of send and receive are the same
             group.dshot_pulse_time_us = pulse_send_time_us + pulse_send_time_us + 30;
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.h b/libraries/AP_HAL_ChibiOS/RCOutput.h
index 0b0a41b8115124..037e656984d9f9 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.h
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.h
@@ -314,6 +314,8 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
     // input capture is expecting TELEM_IC_SAMPLE (16) ticks per transition (22) so the maximum
     // value of the counter in CCR registers is 16*22 == 352, so must be 16-bit
     static const uint16_t GCR_TELEMETRY_BUFFER_LEN = GCR_TELEMETRY_BIT_LEN*sizeof(dmar_uint_t);
+    static const uint16_t INVALID_ERPM = 0xffffU;
+    static const uint16_t ZERO_ERPM = 0x0fffU;
 
     struct pwm_group {
         // only advanced timers can do high clocks needed for more than 400Hz
@@ -551,6 +553,7 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
     // handling of bi-directional dshot
     struct {
         uint32_t mask;
+        uint32_t disabled_mask; // record of channels that were tried, but failed
         uint16_t erpm[max_channels];
         volatile uint32_t update_mask;
 #ifdef HAL_WITH_BIDIR_DSHOT
@@ -619,7 +622,7 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
 
     volatile bool _initialised;
 
-    bool is_bidir_dshot_enabled() const { return _bdshot.mask != 0; }
+    bool is_bidir_dshot_enabled(const pwm_group& group) const { return (_bdshot.mask & group.ch_mask) != 0; }
 
     static bool is_dshot_send_allowed(DshotState state) {
       return state == DshotState::IDLE || state == DshotState::RECV_COMPLETE || state == DshotState::RECV_FAILED;
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
index 43664570eb11c5..31a7d7f4c6cb65 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
@@ -58,11 +58,12 @@ void RCOutput::set_bidir_dshot_mask(uint32_t mask)
         iomcu.set_bidir_dshot_mask(mask & iomcu_mask);
     }
 #endif
-    _bdshot.mask = (mask >> chan_offset);
+    const uint32_t local_mask = (mask >> chan_offset) & ~_bdshot.disabled_mask;
+    _bdshot.mask = local_mask;
     // we now need to reconfigure the DMA channels since they are affected by the value of the mask
     for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
         pwm_group &group = pwm_group_list[i];
-        if (((group.ch_mask << chan_offset) & mask) == 0) {
+        if ((group.ch_mask & local_mask) == 0) {
             // this group is not affected
             continue;
         }
@@ -101,7 +102,7 @@ bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
                                                 FUNCTOR_BIND_MEMBER(&RCOutput::bdshot_ic_dma_deallocate, void, Shared_DMA *));
             }
             if (!group.bdshot.ic_dma_handle[i]) {
-                return false;
+                goto ic_dma_fail;
             }
         }
     }
@@ -149,11 +150,11 @@ bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
             if (!group.dma_ch[curr_chan].have_dma) {
                 // We can't find a DMA channel to use so
                 // return error
-                return false;
+                goto ic_dma_fail;
             }
             if (group.bdshot.ic_dma_handle[i]) {
                 INTERNAL_ERROR(AP_InternalError::error_t::dma_fail);
-                return false;
+                goto ic_dma_fail;
             }
             // share up channel if required
             if (group.dma_ch[curr_chan].stream_id == group.dma_up_stream_id) {
@@ -165,7 +166,7 @@ bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
                                             FUNCTOR_BIND_MEMBER(&RCOutput::bdshot_ic_dma_deallocate, void, Shared_DMA *));
             }
             if (!group.bdshot.ic_dma_handle[i]) {
-                return false;
+                goto ic_dma_fail;
             }
             group.bdshot.telem_tim_ch[i] = curr_chan;
             group.dma_ch[i] = group.dma_ch[curr_chan];
@@ -181,6 +182,15 @@ bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
     }
 
     return true;
+
+ic_dma_fail:
+    for (uint8_t i = 0; i < 4; i++) {
+        if (group.bdshot.ic_dma_handle[i] != group.dma_handle) {
+            delete group.bdshot.ic_dma_handle[i];
+        }
+        group.bdshot.ic_dma_handle[i] = nullptr;
+    }
+    return false;
 }
 
 /*
@@ -676,8 +686,6 @@ uint32_t RCOutput::bdshot_get_output_rate_hz(const enum output_mode mode)
     }
 }
 
-#define INVALID_ERPM 0xfffU
-
 // decode a telemetry packet from a GCR encoded stride buffer, take from betaflight decodeTelemetryPacket
 // see https://github.com/betaflight/betaflight/pull/8554#issuecomment-512507625 for a description of the protocol
 uint32_t RCOutput::bdshot_decode_telemetry_packet(dmar_uint_t* buffer, uint32_t count)
@@ -801,7 +809,7 @@ bool RCOutput::bdshot_decode_telemetry_from_erpm(uint16_t encodederpm, uint8_t c
 
     erpm = (1000000U * 60U / 100U + erpm / 2U) / erpm;
 
-    if (encodederpm == 0x0fff) { // the special 0 encoding
+    if (encodederpm == ZERO_ERPM) { // the special 0 encoding
         erpm = 0;
     }
 
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
index 994485e4e91e15..c8d535dc5b4559 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
@@ -353,8 +353,6 @@ void RCOutput::bdshot_config_icu_dshot_f1(stm32_tim_t* TIMx, uint8_t chan, uint8
     }
 }
 
-#define INVALID_ERPM 0xfffU
-
 // decode a telemetry packet from a GCR encoded stride buffer, take from betaflight decodeTelemetryPacket
 // see https://github.com/betaflight/betaflight/pull/8554#issuecomment-512507625 for a description of the protocol
 uint32_t RCOutput::bdshot_decode_telemetry_packet_f1(dmar_uint_t* buffer, uint32_t count, bool reversed)

From a8772ef5a2af47f2c89693809b2caad1d7b68da8 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 16 Nov 2023 17:44:00 +0000
Subject: [PATCH 0126/1335] AP_HAL: allow bdshot iomcu on non-bdshot fmu

---
 libraries/AP_HAL/AP_HAL_Boards.h | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index a6ef45740f161b..4831aeaf91840c 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -170,8 +170,12 @@
 #define HAL_WITH_IO_MCU 0
 #endif
 
+#ifndef HAL_WITH_IO_MCU_BIDIR_DSHOT
+#define HAL_WITH_IO_MCU_BIDIR_DSHOT 0
+#endif
+
 #ifndef HAL_WITH_IO_MCU_DSHOT
-#define HAL_WITH_IO_MCU_DSHOT 0
+#define HAL_WITH_IO_MCU_DSHOT HAL_WITH_IO_MCU_BIDIR_DSHOT
 #endif
 
 // this is used as a general mechanism to make a 'small' build by

From 6dec0c2da5d98934a28c66327bb3e438d826dcf3 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 16 Nov 2023 17:44:41 +0000
Subject: [PATCH 0127/1335] AP_BLHeli: allow bdshot iomcu on non-bdshot fmu

---
 libraries/AP_BLHeli/AP_BLHeli.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_BLHeli/AP_BLHeli.cpp b/libraries/AP_BLHeli/AP_BLHeli.cpp
index 66577622a7cd40..6d944f221bef88 100644
--- a/libraries/AP_BLHeli/AP_BLHeli.cpp
+++ b/libraries/AP_BLHeli/AP_BLHeli.cpp
@@ -134,7 +134,7 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
     // @RebootRequired: True
     AP_GROUPINFO("3DMASK",  10, AP_BLHeli, channel_reversible_mask, 0),
 
-#ifdef HAL_WITH_BIDIR_DSHOT
+#if defined(HAL_WITH_BIDIR_DSHOT) || HAL_WITH_IO_MCU_BIDIR_DSHOT
     // @Param: BDMASK
     // @DisplayName: BLHeli bitmask of bi-directional dshot channels
     // @Description: Mask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.
@@ -1409,6 +1409,8 @@ void AP_BLHeli::init(uint32_t mask, AP_HAL::RCOutput::output_mode otype)
 #ifdef HAL_WITH_BIDIR_DSHOT
     // possibly enable bi-directional dshot
     hal.rcout->set_motor_poles(motor_poles);
+#endif
+#if defined(HAL_WITH_BIDIR_DSHOT) || HAL_WITH_IO_MCU_BIDIR_DSHOT
     hal.rcout->set_bidir_dshot_mask(uint32_t(channel_bidir_dshot_mask.get()) & digital_mask);
 #endif
     // add motors from channel mask

From 92ef809e3b357c626d8e7fde8990d0279f1b3c71 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 16 Nov 2023 17:44:55 +0000
Subject: [PATCH 0128/1335] AP_IOMCU: allow bdshot iomcu on non-bdshot fmu

---
 libraries/AP_IOMCU/AP_IOMCU.cpp | 9 ++++++---
 libraries/AP_IOMCU/AP_IOMCU.h   | 3 ++-
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp
index b996aefbe4cba2..6be77ef637fbb6 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.cpp
+++ b/libraries/AP_IOMCU/AP_IOMCU.cpp
@@ -117,12 +117,13 @@ void AP_IOMCU::thread_main(void)
     uart.begin(1500*1000, 128, 128);
     uart.set_unbuffered_writes(true);
 
+#if HAL_WITH_IO_MCU_BIDIR_DSHOT
     AP_BLHeli* blh = AP_BLHeli::get_singleton();
     uint16_t erpm_period_ms = 10; // default 100Hz
     if (blh && blh->get_telemetry_rate() > 0) {
         erpm_period_ms = constrain_int16(1000 / blh->get_telemetry_rate(), 1, 1000);
     }
-
+#endif
     trigger_event(IOEVENT_INIT);
 
     while (!do_shutdown) {
@@ -317,7 +318,7 @@ void AP_IOMCU::thread_main(void)
             read_servo();
             last_servo_read_ms = AP_HAL::millis();
         }
-
+#if HAL_WITH_IO_MCU_BIDIR_DSHOT
         if (AP_BoardConfig::io_dshot() && now - last_erpm_read_ms > erpm_period_ms) {
             // read erpm at configured rate. A more efficient scheme might be to 
             // send erpm info back with the response from a PWM send, but that would
@@ -333,7 +334,7 @@ void AP_IOMCU::thread_main(void)
             read_telem();
             last_telem_read_ms = AP_HAL::millis();
         }
-
+#endif
         if (now - last_safety_option_check_ms > 1000) {
             update_safety_options();
             last_safety_option_check_ms = now;
@@ -397,6 +398,7 @@ void AP_IOMCU::read_rc_input()
     }
 }
 
+#if HAL_WITH_IO_MCU_BIDIR_DSHOT
 /*
   read dshot erpm
  */
@@ -452,6 +454,7 @@ void AP_IOMCU::read_telem()
     }
     esc_group = (esc_group + 1) % (IOMCU_MAX_TELEM_CHANNELS / 4);
 }
+#endif
 
 /*
   read status registers
diff --git a/libraries/AP_IOMCU/AP_IOMCU.h b/libraries/AP_IOMCU/AP_IOMCU.h
index 1c976d2d7399b7..24d19c32c344d0 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.h
+++ b/libraries/AP_IOMCU/AP_IOMCU.h
@@ -271,11 +271,12 @@ class AP_IOMCU
         uint16_t rate;
     } dshot_rate;
 
+#if HAL_WITH_IO_MCU_BIDIR_DSHOT
     // bi-directional dshot erpm values
     struct page_dshot_erpm dshot_erpm;
     struct page_dshot_telem dshot_telem[IOMCU_MAX_TELEM_CHANNELS/4];
     uint8_t esc_group;
-
+#endif
     // queue of dshot commands that need sending
     ObjectBuffer<page_dshot> dshot_command_queue{8};
 

From d2a48148dd3ad885a7a56eb22030bc5c4a2bdea3 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 16 Nov 2023 17:44:26 +0000
Subject: [PATCH 0129/1335] AP_HAL_ChibiOS: allow bdshot iomcu on non-bdshot
 fmu

---
 libraries/AP_HAL_ChibiOS/RCOutput.h           |  3 +--
 libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp  | 24 +++++++++++--------
 .../AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat  |  2 +-
 .../AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat  |  2 +-
 4 files changed, 17 insertions(+), 14 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.h b/libraries/AP_HAL_ChibiOS/RCOutput.h
index 037e656984d9f9..8fbfa6615b81f2 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.h
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.h
@@ -164,14 +164,13 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
      */
     void set_telem_request_mask(uint32_t mask) override;
 
-#ifdef HAL_WITH_BIDIR_DSHOT
     /*
       enable bi-directional telemetry request for a mask of channels. This is used
       with Dshot to get telemetry feedback
       The mask uses servo channel numbering
      */
     void set_bidir_dshot_mask(uint32_t mask) override;
-
+#ifdef HAL_WITH_BIDIR_DSHOT
     void set_motor_poles(uint8_t poles) override { _bdshot.motor_poles = poles; }
 #endif
 
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
index 31a7d7f4c6cb65..d8fd73fc8f7529 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
@@ -28,8 +28,6 @@
 extern AP_IOMCU iomcu;
 #endif
 
-#ifdef HAL_WITH_BIDIR_DSHOT
-
 #if defined(IOMCU_FW)
 #undef INTERNAL_ERROR
 #define INTERNAL_ERROR(x) do {} while (0)
@@ -39,25 +37,20 @@ using namespace ChibiOS;
 
 extern const AP_HAL::HAL& hal;
 
-#if RCOU_DSHOT_TIMING_DEBUG
-#define DEBUG_CHANNEL 1
-#define TOGGLE_PIN_CH_DEBUG(pin, channel) do { if (channel == DEBUG_CHANNEL) palToggleLine(HAL_GPIO_LINE_GPIO ## pin); } while (0)
-#else
-#define TOGGLE_PIN_CH_DEBUG(pin, channel) do {} while (0)
-#endif
-
+#if HAL_USE_PWM
 /*
  * enable bi-directional telemetry request for a mask of channels. This is used
  * with DShot to get telemetry feedback
  */
 void RCOutput::set_bidir_dshot_mask(uint32_t mask)
 {
-#if HAL_WITH_IO_MCU
+#if HAL_WITH_IO_MCU_BIDIR_DSHOT
     const uint32_t iomcu_mask = ((1U<<chan_offset)-1);
     if (iomcu_dshot && (mask & iomcu_mask)) {
         iomcu.set_bidir_dshot_mask(mask & iomcu_mask);
     }
 #endif
+#ifdef HAL_WITH_BIDIR_DSHOT
     const uint32_t local_mask = (mask >> chan_offset) & ~_bdshot.disabled_mask;
     _bdshot.mask = local_mask;
     // we now need to reconfigure the DMA channels since they are affected by the value of the mask
@@ -69,7 +62,18 @@ void RCOutput::set_bidir_dshot_mask(uint32_t mask)
         }
         set_group_mode(group);
     }
+#endif
 }
+#endif // HAL_USE_PWM
+
+#ifdef HAL_WITH_BIDIR_DSHOT
+
+#if RCOU_DSHOT_TIMING_DEBUG
+#define DEBUG_CHANNEL 1
+#define TOGGLE_PIN_CH_DEBUG(pin, channel) do { if (channel == DEBUG_CHANNEL) palToggleLine(HAL_GPIO_LINE_GPIO ## pin); } while (0)
+#else
+#define TOGGLE_PIN_CH_DEBUG(pin, channel) do {} while (0)
+#endif
 
 bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
 {
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
index 3103a5c72c75b1..a4b8e930d0f682 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
@@ -257,4 +257,4 @@ define HAL_OS_FATFS_IO 1
 ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_f103_lowpolh.bin
 # enable support for dshot on iomcu
 ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
-define HAL_WITH_IO_MCU_DSHOT 1
+define HAL_WITH_IO_MCU_BIDIR_DSHOT 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
index 1419ab5aa2e053..a67d7f9ab062f5 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
@@ -379,4 +379,4 @@ env BUILD_ABIN True
 
 # enable support for dshot on iomcu
 ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
-define HAL_WITH_IO_MCU_DSHOT 1
+define HAL_WITH_IO_MCU_BIDIR_DSHOT 1

From 5d9f9db2fed3d108c22c08e4a22a06b01c046b21 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Wed, 22 Nov 2023 09:23:21 +0000
Subject: [PATCH 0130/1335] AP_IOMCU: treat register_write() as a successful
 interaction

---
 libraries/AP_IOMCU/AP_IOMCU.cpp | 11 +++++++----
 libraries/AP_IOMCU/AP_IOMCU.h   |  2 +-
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp
index 6be77ef637fbb6..b77f4f94c9d006 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.cpp
+++ b/libraries/AP_IOMCU/AP_IOMCU.cpp
@@ -129,9 +129,9 @@ void AP_IOMCU::thread_main(void)
     while (!do_shutdown) {
         // check if we have lost contact with the IOMCU
         const uint32_t now_ms = AP_HAL::millis();
-        if (last_reg_read_ms != 0 && now_ms - last_reg_read_ms > 1000U) {
+        if (last_reg_access_ms != 0 && now_ms - last_reg_access_ms > 1000) {
             INTERNAL_ERROR(AP_InternalError::error_t::iomcu_reset);
-            last_reg_read_ms = 0;
+            last_reg_access_ms = 0;
         }
 
         eventmask_t mask = chEvtWaitAnyTimeout(~0, chTimeMS2I(10));
@@ -682,7 +682,7 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
     total_errors += protocol_fail_count;
     protocol_fail_count = 0;
     protocol_count++;
-    last_reg_read_ms = AP_HAL::millis();
+    last_reg_access_ms = AP_HAL::millis();
     return true;
 }
 
@@ -758,6 +758,9 @@ bool AP_IOMCU::write_registers(uint8_t page, uint8_t offset, uint8_t count, cons
     total_errors += protocol_fail_count;
     protocol_fail_count = 0;
     protocol_count++;
+
+    last_reg_access_ms = AP_HAL::millis();
+
     return true;
 }
 
@@ -1079,7 +1082,7 @@ bool AP_IOMCU::check_crc(void)
     write_registers(PAGE_SETUP, PAGE_REG_SETUP_REBOOT_BL, 1, &magic);
 
     // avoid internal error on fw upload delay
-    last_reg_read_ms = 0;
+    last_reg_access_ms = 0;
 
     if (!upload_fw()) {
         AP_ROMFS::free(fw);
diff --git a/libraries/AP_IOMCU/AP_IOMCU.h b/libraries/AP_IOMCU/AP_IOMCU.h
index 24d19c32c344d0..253b1b9890b457 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.h
+++ b/libraries/AP_IOMCU/AP_IOMCU.h
@@ -202,7 +202,7 @@ class AP_IOMCU
     uint32_t last_rc_read_ms;
     uint32_t last_servo_read_ms;
     uint32_t last_safety_option_check_ms;
-    uint32_t last_reg_read_ms;
+    uint32_t last_reg_access_ms;
     uint32_t last_erpm_read_ms;
     uint32_t last_telem_read_ms;
 

From 1fb62054397779bfb3a2a83f8e33d96531caf53d Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sat, 25 Nov 2023 15:47:55 +0000
Subject: [PATCH 0131/1335] AP_IOMCU: always run iofirmware loop at 1Khz to
 avoid uart races

don't look for multiple pages on single-page packets
---
 libraries/AP_IOMCU/iofirmware/iofirmware.cpp | 29 +++++++-------------
 1 file changed, 10 insertions(+), 19 deletions(-)

diff --git a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
index 76b9c11b41af88..55e67dd9978df0 100644
--- a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
+++ b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
@@ -411,13 +411,7 @@ static void stackCheck(uint16_t& mstack, uint16_t& pstack) {
 */
 void AP_IOMCU_FW::update()
 {
-#if CH_CFG_ST_FREQUENCY == 1000000
     eventmask_t mask = chEvtWaitAnyTimeout(IOEVENT_PWM | IOEVENT_TX_END | IOEVENT_TX_BEGIN, TIME_US2I(1000));
-#else
-    // we are not running any other threads, so we can use an
-    // immediate timeout here for lowest latency
-    eventmask_t mask = chEvtWaitAnyTimeout(IOEVENT_PWM | IOEVENT_TX_END, TIME_IMMEDIATE);
-#endif
 #ifdef HAL_GPIO_LINE_GPIO107
     TOGGLE_PIN_DEBUG(107);
 #endif
@@ -948,18 +942,17 @@ bool AP_IOMCU_FW::handle_code_write()
             // no input when override is active
             break;
         }
-        /* copy channel data */
-        uint16_t i = 0, offset = rx_io_packet.offset, num_values = rx_io_packet.count;
-        if (offset + num_values > sizeof(reg_direct_pwm.pwm)/2) {
+        if (rx_io_packet.count != sizeof(reg_direct_pwm.pwm)/2) {
             return false;
         }
-        while ((offset < IOMCU_MAX_CHANNELS) && (num_values > 0)) {
+        /* copy channel data */
+        uint16_t i = 0, num_values = rx_io_packet.count;
+        while ((i < IOMCU_MAX_CHANNELS) && (num_values > 0)) {
             /* XXX range-check value? */
             if (rx_io_packet.regs[i] != PWM_IGNORE_THIS_CHANNEL) {
-                reg_direct_pwm.pwm[offset] = rx_io_packet.regs[i];
+                reg_direct_pwm.pwm[i] = rx_io_packet.regs[i];
             }
 
-            offset++;
             num_values--;
             i++;
         }
@@ -968,7 +961,7 @@ bool AP_IOMCU_FW::handle_code_write()
         break;
     }
 
-    case PAGE_MIXING: {
+    case PAGE_MIXING: { // multi-packet message
         uint16_t offset = rx_io_packet.offset, num_values = rx_io_packet.count;
         if (offset + num_values > sizeof(mixing)/2) {
             return false;
@@ -978,11 +971,10 @@ bool AP_IOMCU_FW::handle_code_write()
     }
 
     case PAGE_FAILSAFE_PWM: {
-        uint16_t offset = rx_io_packet.offset, num_values = rx_io_packet.count;
-        if (offset + num_values > sizeof(reg_failsafe_pwm.pwm)/2) {
+        if (rx_io_packet.count != sizeof(reg_failsafe_pwm.pwm)/2) {
             return false;
         }
-        memcpy((&reg_failsafe_pwm.pwm[0])+offset, &rx_io_packet.regs[0], num_values*2);
+        memcpy((&reg_failsafe_pwm.pwm[0]), &rx_io_packet.regs[0], rx_io_packet.count*2);
         break;
     }
 
@@ -994,11 +986,10 @@ bool AP_IOMCU_FW::handle_code_write()
         break;
 
     case PAGE_DSHOT: {
-        uint16_t offset = rx_io_packet.offset, num_values = rx_io_packet.count;
-        if (offset + num_values > sizeof(dshot)/2) {
+        if (rx_io_packet.count != sizeof(dshot)/2) {
             return false;
         }
-        memcpy(((uint16_t *)&dshot)+offset, &rx_io_packet.regs[0], num_values*2);
+        memcpy(((uint16_t *)&dshot)+rx_io_packet.offset, &rx_io_packet.regs[0], rx_io_packet.count*2);
         if(dshot.telem_mask) {
             hal.rcout->set_telem_request_mask(dshot.telem_mask);
         }

From ea76c0bd0194b14b6e223392db101bc07baa4f0e Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sat, 16 Dec 2023 11:25:43 +0000
Subject: [PATCH 0132/1335] AP_HAL_ChibiOS: ensure dshot commands are send to
 all FMU channels when IOMCU is present

---
 libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
index c8ca5156fb7ce2..dc6824256a1322 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
@@ -151,7 +151,7 @@ void RCOutput::update_channel_masks() {
     }
 
 #if HAL_PWM_COUNT > 0
-    for (uint8_t i=0; i<HAL_PWM_COUNT; i++) {
+    for (uint8_t i=chan_offset; i<HAL_PWM_COUNT+chan_offset; i++) {
         switch (_dshot_esc_type) {
             case DSHOT_ESC_BLHELI:
             case DSHOT_ESC_BLHELI_S:

From d90224280e416d0475eaadd06648bbf0daab7f7d Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 11 Dec 2023 09:58:54 +0000
Subject: [PATCH 0133/1335] IO_Firmware: iofirmware for bdshot on f103.

---
 .../IO_Firmware/iofirmware_dshot_highpolh.bin | Bin 46996 -> 47164 bytes
 .../IO_Firmware/iofirmware_dshot_lowpolh.bin  | Bin 46996 -> 47164 bytes
 .../iofirmware_f103_8MHz_highpolh.bin         | Bin 40544 -> 40592 bytes
 .../iofirmware_f103_8MHz_lowpolh.bin          | Bin 40544 -> 40592 bytes
 .../iofirmware_f103_dshot_highpolh.bin        | Bin 46988 -> 52668 bytes
 .../iofirmware_f103_dshot_lowpolh.bin         | Bin 46988 -> 52668 bytes
 .../IO_Firmware/iofirmware_f103_highpolh.bin  | Bin 40544 -> 40592 bytes
 Tools/IO_Firmware/iofirmware_f103_lowpolh.bin | Bin 40544 -> 40592 bytes
 Tools/IO_Firmware/iofirmware_highpolh.bin     | Bin 40544 -> 40592 bytes
 Tools/IO_Firmware/iofirmware_lowpolh.bin      | Bin 40544 -> 40592 bytes
 10 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin
index 362fdf5ffa84648396d91b15c7e082d563589c74..817ba4fed0b98f46bc0e55683f6e77310ada1350 100755
GIT binary patch
delta 12736
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diff --git a/Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin
index e7b80111959f0543c0f274b6a416e17da7e2e77e..15a5f4dbf802a9bc5d7fa68be9050253a133f69b 100755
GIT binary patch
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diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_highpolh.bin
index a17db83ef58c18393e242a2a57a0747707953492..04a25723c84407f7d52dda07a0c8dde5e9cf4526 100755
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diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin
index 19002c9bbf3669ce640fa90cb6fcf69f030a996d..62ea558d394a36b86a856d490582b0cbdef7e09d 100755
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diff --git a/Tools/IO_Firmware/iofirmware_f103_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_dshot_highpolh.bin
index dcdc39f66d8b805e0bb85effbaf9bd894a20623d..c23f39a50f8c81fa437079fcb4bdc0e16e857989 100755
GIT binary patch
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diff --git a/Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
index 76b5c6d9742bb05bb54ff0735e654fff55e46682..30603776fedbc6e4731a62951df9771143ed338d 100755
GIT binary patch
delta 22408
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diff --git a/Tools/IO_Firmware/iofirmware_f103_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_highpolh.bin
index dd7261502f1a9a7482cad4bf32c59ba486c57857..463495e2d5c242eb8c48ffc9af3014d5730576a5 100755
GIT binary patch
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diff --git a/Tools/IO_Firmware/iofirmware_f103_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_lowpolh.bin
index df3d1554a3a13e0b6122f807557df5cbf47d7efb..d362bb53d8ce24209266f7930361847d1d2c36d5 100755
GIT binary patch
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diff --git a/Tools/IO_Firmware/iofirmware_lowpolh.bin b/Tools/IO_Firmware/iofirmware_lowpolh.bin
index a355bbdd2c3eb65e2dd1e0856f94652e4fb0c25e..3acc3a9d079fbce058442aaedf3b00cdfe2ed6fd 100755
GIT binary patch
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z3D{17X|KW;{JURfV*09;FQ`+NELgc9H*dj;1xx0W%tZFa9|u^1=HOAAi)!=m4{mT7
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zfo(q8gl)krlBD!Rp$95AKsLa5100!+oZ)(K3)go5|DRAJ<O9$In!!H!wLm&^*z!NE
z&G24?yak){kWP>`94l*4E&&&i^A{0!BlOL<zRJe{Sqs?!E`w>Xt$}VmxCH;JY}EdN
z{+>(G30hju6A`izP_|}&f#t?>gs=?D8a(!Zec%8%3@(9`e1s1g!4X_PfQ$miP`(VN
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z2VTm}{tM20IPcvB55Qy40$f0Gk|=uuAJC^uc8Afu#ssa!Is;Z=J;{Rfgq#MM3t~~8
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From de45437704e42e826162af47291e5c95dfbd4c84 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Wed, 15 Nov 2023 11:56:29 -0600
Subject: [PATCH 0134/1335] AP_HAL: use array of UART drivers instead of
 consecutive variables

Avoids UB-inducing assumption that UART drivers are consecutive in the
serial() function.
---
 libraries/AP_HAL/HAL.cpp |  5 ++---
 libraries/AP_HAL/HAL.h   | 38 +++++++++++++++-----------------------
 2 files changed, 17 insertions(+), 26 deletions(-)

diff --git a/libraries/AP_HAL/HAL.cpp b/libraries/AP_HAL/HAL.cpp
index a2d1216d2b389e..1cd4d5b36720cc 100644
--- a/libraries/AP_HAL/HAL.cpp
+++ b/libraries/AP_HAL/HAL.cpp
@@ -15,11 +15,10 @@ HAL::FunCallbacks::FunCallbacks(void (*setup_fun)(void), void (*loop_fun)(void))
 // access serial ports using SERIALn numbering
 AP_HAL::UARTDriver* AP_HAL::HAL::serial(uint8_t sernum) const
 {
-    UARTDriver **uart_array = const_cast<UARTDriver**>(&uartA);
     // this mapping captures the historical use of uartB as SERIAL3
     const uint8_t mapping[] = { 0, 2, 3, 1, 4, 5, 6, 7, 8, 9 };
-    static_assert(sizeof(mapping) == num_serial, "num_serial must match mapping");
-    if (sernum >= num_serial) {
+    static_assert(sizeof(mapping) == ARRAY_SIZE(uart_array), "array size must match mapping");
+    if (sernum >= ARRAY_SIZE(uart_array)) {
         return nullptr;
     }
     return uart_array[mapping[sernum]];
diff --git a/libraries/AP_HAL/HAL.h b/libraries/AP_HAL/HAL.h
index f8827444204f46..0695504fb510af 100644
--- a/libraries/AP_HAL/HAL.h
+++ b/libraries/AP_HAL/HAL.h
@@ -53,16 +53,17 @@ class AP_HAL::HAL {
         AP_HAL::CANIface** _can_ifaces)
 #endif
         :
-        uartA(_uartA),
-        uartB(_uartB),
-        uartC(_uartC),
-        uartD(_uartD),
-        uartE(_uartE),
-        uartF(_uartF),
-        uartG(_uartG),
-        uartH(_uartH),
-        uartI(_uartI),
-        uartJ(_uartJ),
+        uart_array{
+            _uartA,
+            _uartB,
+            _uartC,
+            _uartD,
+            _uartE,
+            _uartF,
+            _uartG,
+            _uartH,
+            _uartI,
+            _uartJ},
         i2c_mgr(_i2c_mgr),
         spi(_spi),
         wspi(_wspi),
@@ -112,19 +113,6 @@ class AP_HAL::HAL {
 
     virtual void run(int argc, char * const argv[], Callbacks* callbacks) const = 0;
 
-private:
-    // the uartX ports must be contiguous in ram for the serial() method to work
-    AP_HAL::UARTDriver* uartA;
-    AP_HAL::UARTDriver* uartB UNUSED_PRIVATE_MEMBER;
-    AP_HAL::UARTDriver* uartC UNUSED_PRIVATE_MEMBER;
-    AP_HAL::UARTDriver* uartD UNUSED_PRIVATE_MEMBER;
-    AP_HAL::UARTDriver* uartE UNUSED_PRIVATE_MEMBER;
-    AP_HAL::UARTDriver* uartF UNUSED_PRIVATE_MEMBER;
-    AP_HAL::UARTDriver* uartG UNUSED_PRIVATE_MEMBER;
-    AP_HAL::UARTDriver* uartH UNUSED_PRIVATE_MEMBER;
-    AP_HAL::UARTDriver* uartI UNUSED_PRIVATE_MEMBER;
-    AP_HAL::UARTDriver* uartJ UNUSED_PRIVATE_MEMBER;
-
 public:
     AP_HAL::I2CDeviceManager* i2c_mgr;
     AP_HAL::SPIDeviceManager* spi;
@@ -151,6 +139,10 @@ class AP_HAL::HAL {
 
     static constexpr uint8_t num_serial = 10;
 
+private:
+    AP_HAL::UARTDriver* uart_array[num_serial];
+
+public:
 #if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL
     AP_HAL::SIMState *simstate;
 #endif

From 8747ae539f405071ce08a2a3faac6adeaf2e1160 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 20 Nov 2023 20:04:06 -0600
Subject: [PATCH 0135/1335] AP_HAL: move serial re-mapping to driver array
 initialization

Saves a bit of flash and execution time.
---
 libraries/AP_HAL/HAL.cpp | 7 ++-----
 libraries/AP_HAL/HAL.h   | 9 +++++----
 2 files changed, 7 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_HAL/HAL.cpp b/libraries/AP_HAL/HAL.cpp
index 1cd4d5b36720cc..deef2581c3d76b 100644
--- a/libraries/AP_HAL/HAL.cpp
+++ b/libraries/AP_HAL/HAL.cpp
@@ -15,11 +15,8 @@ HAL::FunCallbacks::FunCallbacks(void (*setup_fun)(void), void (*loop_fun)(void))
 // access serial ports using SERIALn numbering
 AP_HAL::UARTDriver* AP_HAL::HAL::serial(uint8_t sernum) const
 {
-    // this mapping captures the historical use of uartB as SERIAL3
-    const uint8_t mapping[] = { 0, 2, 3, 1, 4, 5, 6, 7, 8, 9 };
-    static_assert(sizeof(mapping) == ARRAY_SIZE(uart_array), "array size must match mapping");
-    if (sernum >= ARRAY_SIZE(uart_array)) {
+    if (sernum >= ARRAY_SIZE(serial_array)) {
         return nullptr;
     }
-    return uart_array[mapping[sernum]];
+    return serial_array[sernum];
 }
diff --git a/libraries/AP_HAL/HAL.h b/libraries/AP_HAL/HAL.h
index 0695504fb510af..d56aeaa72485c1 100644
--- a/libraries/AP_HAL/HAL.h
+++ b/libraries/AP_HAL/HAL.h
@@ -53,11 +53,11 @@ class AP_HAL::HAL {
         AP_HAL::CANIface** _can_ifaces)
 #endif
         :
-        uart_array{
+        serial_array{
             _uartA,
-            _uartB,
-            _uartC,
+            _uartC, // ordering captures the historical use of uartB as SERIAL3
             _uartD,
+            _uartB,
             _uartE,
             _uartF,
             _uartG,
@@ -140,7 +140,8 @@ class AP_HAL::HAL {
     static constexpr uint8_t num_serial = 10;
 
 private:
-    AP_HAL::UARTDriver* uart_array[num_serial];
+    // UART drivers in SERIALn_ order
+    AP_HAL::UARTDriver* serial_array[num_serial];
 
 public:
 #if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL

From 6a6c3ce7a199f03de28315ead7ac834df70bd994 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 20 Nov 2023 20:20:07 -0600
Subject: [PATCH 0136/1335] AP_HAL: inline serial accessor function

Saves a bit more flash.
---
 libraries/AP_HAL/HAL.cpp | 9 ---------
 libraries/AP_HAL/HAL.h   | 9 +++++++++
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_HAL/HAL.cpp b/libraries/AP_HAL/HAL.cpp
index deef2581c3d76b..6f796c3ab9c6a2 100644
--- a/libraries/AP_HAL/HAL.cpp
+++ b/libraries/AP_HAL/HAL.cpp
@@ -11,12 +11,3 @@ HAL::FunCallbacks::FunCallbacks(void (*setup_fun)(void), void (*loop_fun)(void))
 }
 
 }
-
-// access serial ports using SERIALn numbering
-AP_HAL::UARTDriver* AP_HAL::HAL::serial(uint8_t sernum) const
-{
-    if (sernum >= ARRAY_SIZE(serial_array)) {
-        return nullptr;
-    }
-    return serial_array[sernum];
-}
diff --git a/libraries/AP_HAL/HAL.h b/libraries/AP_HAL/HAL.h
index d56aeaa72485c1..063871d064d1d1 100644
--- a/libraries/AP_HAL/HAL.h
+++ b/libraries/AP_HAL/HAL.h
@@ -155,3 +155,12 @@ class AP_HAL::HAL {
 #endif
 
 };
+
+// access serial ports using SERIALn numbering
+inline AP_HAL::UARTDriver* AP_HAL::HAL::serial(uint8_t sernum) const
+{
+    if (sernum >= ARRAY_SIZE(serial_array)) {
+        return nullptr;
+    }
+    return serial_array[sernum];
+}

From ebbcf42236ed57758b03c51e764c9bb291475f9f Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sun, 10 Dec 2023 11:03:27 -0600
Subject: [PATCH 0137/1335] AP_HAL: constructor now accepts UARTs in SERIALn
 order

---
 libraries/AP_HAL/HAL.h | 40 ++++++++++++++++++++--------------------
 1 file changed, 20 insertions(+), 20 deletions(-)

diff --git a/libraries/AP_HAL/HAL.h b/libraries/AP_HAL/HAL.h
index 063871d064d1d1..fdaee2c43357b8 100644
--- a/libraries/AP_HAL/HAL.h
+++ b/libraries/AP_HAL/HAL.h
@@ -20,16 +20,16 @@ class AP_Param;
 
 class AP_HAL::HAL {
 public:
-    HAL(AP_HAL::UARTDriver* _uartA, // console
-        AP_HAL::UARTDriver* _uartB, // 1st GPS
-        AP_HAL::UARTDriver* _uartC, // telem1
-        AP_HAL::UARTDriver* _uartD, // telem2
-        AP_HAL::UARTDriver* _uartE, // 2nd GPS
-        AP_HAL::UARTDriver* _uartF, // extra1
-        AP_HAL::UARTDriver* _uartG, // extra2
-        AP_HAL::UARTDriver* _uartH, // extra3
-        AP_HAL::UARTDriver* _uartI, // extra4
-        AP_HAL::UARTDriver* _uartJ, // extra5
+    HAL(AP_HAL::UARTDriver* _serial0, // console
+        AP_HAL::UARTDriver* _serial1, // telem1
+        AP_HAL::UARTDriver* _serial2, // telem2
+        AP_HAL::UARTDriver* _serial3, // 1st GPS
+        AP_HAL::UARTDriver* _serial4, // 2nd GPS
+        AP_HAL::UARTDriver* _serial5, // extra1
+        AP_HAL::UARTDriver* _serial6, // extra2
+        AP_HAL::UARTDriver* _serial7, // extra3
+        AP_HAL::UARTDriver* _serial8, // extra4
+        AP_HAL::UARTDriver* _serial9, // extra5
         AP_HAL::I2CDeviceManager* _i2c_mgr,
         AP_HAL::SPIDeviceManager* _spi,
         AP_HAL::WSPIDeviceManager* _wspi,
@@ -54,16 +54,16 @@ class AP_HAL::HAL {
 #endif
         :
         serial_array{
-            _uartA,
-            _uartC, // ordering captures the historical use of uartB as SERIAL3
-            _uartD,
-            _uartB,
-            _uartE,
-            _uartF,
-            _uartG,
-            _uartH,
-            _uartI,
-            _uartJ},
+            _serial0,
+            _serial1,
+            _serial2,
+            _serial3,
+            _serial4,
+            _serial5,
+            _serial6,
+            _serial7,
+            _serial8,
+            _serial9},
         i2c_mgr(_i2c_mgr),
         spi(_spi),
         wspi(_wspi),

From bcfad0d71259e6ab3e1bacddf6ce7cb173138163 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 11 Dec 2023 11:02:15 -0600
Subject: [PATCH 0138/1335] AP_HAL: remove references to legacy UART order

---
 libraries/AP_HAL/examples/UART_chargen/UART_chargen.cpp | 2 +-
 libraries/AP_HAL/examples/UART_test/UART_test.cpp       | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL/examples/UART_chargen/UART_chargen.cpp b/libraries/AP_HAL/examples/UART_chargen/UART_chargen.cpp
index 328da1698fac68..7a94258ab14c28 100644
--- a/libraries/AP_HAL/examples/UART_chargen/UART_chargen.cpp
+++ b/libraries/AP_HAL/examples/UART_chargen/UART_chargen.cpp
@@ -38,7 +38,7 @@ uint16_t buflen = 0;
 
 void setup(void)
 {
-    hal.scheduler->delay(1000); //Ensure that the uartA can be initialized
+    hal.scheduler->delay(1000); //Ensure that hal.serial(n) can be initialized
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
     uart = hal.serial(0);  //  console
diff --git a/libraries/AP_HAL/examples/UART_test/UART_test.cpp b/libraries/AP_HAL/examples/UART_test/UART_test.cpp
index 1af94cb3bdd914..1dd5d5ed011d8f 100644
--- a/libraries/AP_HAL/examples/UART_test/UART_test.cpp
+++ b/libraries/AP_HAL/examples/UART_test/UART_test.cpp
@@ -30,7 +30,7 @@ void setup(void)
       start all UARTs at 57600 with default buffer sizes
     */
 
-    hal.scheduler->delay(1000); //Ensure that the uartA can be initialized
+    hal.scheduler->delay(1000); //Ensure that hal.serial(n) can be initialized
 
     setup_uart(hal.serial(0), "SERIAL0");  // console
     setup_uart(hal.serial(1), "SERIAL1");  // telemetry 1

From 507ab623b23fda0043f0eba8bc5823ca9493062b Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sun, 10 Dec 2023 11:06:16 -0600
Subject: [PATCH 0139/1335] AP_HAL_ChibiOS: pass UARTs to AP_HAL in SERIALn
 order

---
 libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index 46b352e5649f50..a481977b02a57c 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -137,9 +137,9 @@ AP_IOMCU iomcu(uart_io);
 HAL_ChibiOS::HAL_ChibiOS() :
     AP_HAL::HAL(
         &uartADriver,
-        &uartBDriver,
-        &uartCDriver,
+        &uartCDriver, // ordering captures the historical use of uartB as SERIAL3
         &uartDDriver,
+        &uartBDriver,
         &uartEDriver,
         &uartFDriver,
         &uartGDriver,

From 90c14141a08e9dc74540a025fac7dcb3d742f154 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sun, 10 Dec 2023 11:08:50 -0600
Subject: [PATCH 0140/1335] AP_HAL_Empty: pass UARTs to AP_HAL in SERIALn order

---
 libraries/AP_HAL_Empty/HAL_Empty_Class.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp b/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
index 2045e9c2893ee5..a05acc59d08a12 100644
--- a/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
+++ b/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
@@ -26,9 +26,9 @@ static Flash flashDriver;
 HAL_Empty::HAL_Empty() :
     AP_HAL::HAL(
         &uartADriver,
-        &uartBDriver,
-        &uartCDriver,
+        &uartCDriver, // ordering captures the historical use of uartB as SERIAL3
         nullptr,            /* no uartD */
+        &uartBDriver,
         nullptr,            /* no uartE */
         nullptr,            /* no uartF */
         nullptr,            /* no uartG */

From 574c8016c3da41314580cde7a3ac6647c382bbad Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sun, 10 Dec 2023 11:10:38 -0600
Subject: [PATCH 0141/1335] AP_HAL_ESP32: pass UARTs to AP_HAL in SERIALn order

---
 libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp b/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
index 9a175a362f7a1d..096c8ab47ad803 100644
--- a/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
+++ b/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
@@ -73,9 +73,9 @@ extern const AP_HAL::HAL& hal;
 HAL_ESP32::HAL_ESP32() :
     AP_HAL::HAL(
         &cons, //Console/mavlink
-        &uartBDriver, //GPS 1
-        &uartCDriver, //Telem 1
+        &uartCDriver, //Telem 1, ordering captures the historical use of uartB as SERIAL3
         &uartDDriver, //Telem 2
+        &uartBDriver, //GPS 1
         &uartEDriver, //GPS 2
         &uartFDriver, //Extra 1
         &uartGDriver, //Extra 2

From 764b469e475f44e1dfd8bc262990d6322d10e684 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sun, 10 Dec 2023 11:12:06 -0600
Subject: [PATCH 0142/1335] AP_HAL_Linux: pass UARTs to AP_HAL in SERIALn order

---
 libraries/AP_HAL_Linux/HAL_Linux_Class.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index 6618e83bc3240b..e264ccbdb139a5 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -248,9 +248,9 @@ static CANIface* canDrivers[HAL_NUM_CAN_IFACES];
 HAL_Linux::HAL_Linux() :
     AP_HAL::HAL(
         &uartADriver,
-        &uartBDriver,
-        &uartCDriver,
+        &uartCDriver, // ordering captures the historical use of uartB as SERIAL3
         &uartDDriver,
+        &uartBDriver,
         &uartEDriver,
         &uartFDriver,
         &uartGDriver,

From c56599e210e6761d2f7ef46b4f54aa1ef4278e2b Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sun, 10 Dec 2023 11:15:39 -0600
Subject: [PATCH 0143/1335] AP_HAL_SITL: pass UARTs to AP_HAL in SERIALn order

---
 libraries/AP_HAL_SITL/HAL_SITL_Class.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
index bf8bc073510971..57d719875c66e6 100644
--- a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
+++ b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
@@ -82,9 +82,9 @@ static Empty::WSPIDeviceManager wspi_mgr_instance;
 HAL_SITL::HAL_SITL() :
     AP_HAL::HAL(
         &sitlUart0Driver,   /* uartA */
-        &sitlUart1Driver,   /* uartB */
-        &sitlUart2Driver,   /* uartC */
+        &sitlUart2Driver,   /* uartC */ // ordering captures the historical use of uartB as SERIAL3
         &sitlUart3Driver,   /* uartD */
+        &sitlUart1Driver,   /* uartB */
         &sitlUart4Driver,   /* uartE */
         &sitlUart5Driver,   /* uartF */
         &sitlUart6Driver,   /* uartG */

From dc4438d0e306f413319209cad648d4c7e2204fa6 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sun, 10 Dec 2023 22:55:15 -0600
Subject: [PATCH 0144/1335] AP_HAL_ChibiOS: eliminate legacy UART
 ordering/references

SERIAL_ORDER has been around for a few years now and UART_ORDER is
rejected by the hwdef script, so support for UART_ORDER and associated
processing in the hwdef script is removed, along with the order
conversion script.
---
 .../AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp      |  62 +++++-----
 libraries/AP_HAL_ChibiOS/UARTDriver.cpp       |  14 +--
 libraries/AP_HAL_ChibiOS/UARTDriver.h         |   6 +-
 .../hwdef/scripts/chibios_hwdef.py            | 107 +++++++-----------
 .../hwdef/scripts/convert_uart_order.py       |  37 ------
 5 files changed, 81 insertions(+), 145 deletions(-)
 delete mode 100755 libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_uart_order.py

diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index a481977b02a57c..65ebdfafdaace5 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -45,27 +45,27 @@
 #endif
 
 #ifndef HAL_NO_UARTDRIVER
-static HAL_UARTA_DRIVER;
-static HAL_UARTB_DRIVER;
-static HAL_UARTC_DRIVER;
-static HAL_UARTD_DRIVER;
-static HAL_UARTE_DRIVER;
-static HAL_UARTF_DRIVER;
-static HAL_UARTG_DRIVER;
-static HAL_UARTH_DRIVER;
-static HAL_UARTI_DRIVER;
-static HAL_UARTJ_DRIVER;
+static HAL_SERIAL0_DRIVER;
+static HAL_SERIAL1_DRIVER;
+static HAL_SERIAL2_DRIVER;
+static HAL_SERIAL3_DRIVER;
+static HAL_SERIAL4_DRIVER;
+static HAL_SERIAL5_DRIVER;
+static HAL_SERIAL6_DRIVER;
+static HAL_SERIAL7_DRIVER;
+static HAL_SERIAL8_DRIVER;
+static HAL_SERIAL9_DRIVER;
 #else
-static Empty::UARTDriver uartADriver;
-static Empty::UARTDriver uartBDriver;
-static Empty::UARTDriver uartCDriver;
-static Empty::UARTDriver uartDDriver;
-static Empty::UARTDriver uartEDriver;
-static Empty::UARTDriver uartFDriver;
-static Empty::UARTDriver uartGDriver;
-static Empty::UARTDriver uartHDriver;
-static Empty::UARTDriver uartIDriver;
-static Empty::UARTDriver uartJDriver;
+static Empty::UARTDriver serial0Driver;
+static Empty::UARTDriver serial1Driver;
+static Empty::UARTDriver serial2Driver;
+static Empty::UARTDriver serial3Driver;
+static Empty::UARTDriver serial4Driver;
+static Empty::UARTDriver serial5Driver;
+static Empty::UARTDriver serial6Driver;
+static Empty::UARTDriver serial7Driver;
+static Empty::UARTDriver serial8Driver;
+static Empty::UARTDriver serial9Driver;
 #endif
 
 #if HAL_USE_I2C == TRUE && defined(HAL_I2C_DEVICE_LIST)
@@ -136,16 +136,16 @@ AP_IOMCU iomcu(uart_io);
 
 HAL_ChibiOS::HAL_ChibiOS() :
     AP_HAL::HAL(
-        &uartADriver,
-        &uartCDriver, // ordering captures the historical use of uartB as SERIAL3
-        &uartDDriver,
-        &uartBDriver,
-        &uartEDriver,
-        &uartFDriver,
-        &uartGDriver,
-        &uartHDriver,
-        &uartIDriver,
-        &uartJDriver,
+        &serial0Driver,
+        &serial1Driver,
+        &serial2Driver,
+        &serial3Driver,
+        &serial4Driver,
+        &serial5Driver,
+        &serial6Driver,
+        &serial7Driver,
+        &serial8Driver,
+        &serial9Driver,
         &i2cDeviceManager,
         &spiDeviceManager,
 #if HAL_USE_WSPI == TRUE && defined(HAL_WSPI_DEVICE_LIST)
@@ -155,7 +155,7 @@ HAL_ChibiOS::HAL_ChibiOS() :
 #endif
         &analogIn,
         &storageDriver,
-        &uartADriver,
+        &serial0Driver,
         &gpioDriver,
         &rcinDriver,
         &rcoutDriver,
diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
index 911688f643e151..6593dffe7ee3c5 100644
--- a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
+++ b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
@@ -52,13 +52,13 @@ using namespace ChibiOS;
 extern ChibiOS::UARTDriver uart_io;
 #endif
 
-const UARTDriver::SerialDef UARTDriver::_serial_tab[] = { HAL_UART_DEVICE_LIST };
+const UARTDriver::SerialDef UARTDriver::_serial_tab[] = { HAL_SERIAL_DEVICE_LIST };
 
 // handle for UART handling thread
 thread_t* volatile UARTDriver::uart_rx_thread_ctx;
 
 // table to find UARTDrivers from serial number, used for event handling
-UARTDriver *UARTDriver::uart_drivers[UART_MAX_DRIVERS];
+UARTDriver *UARTDriver::serial_drivers[UART_MAX_DRIVERS];
 
 // event used to wake up waiting thread. This event number is for
 // caller threads
@@ -104,8 +104,8 @@ serial_num(_serial_num),
 sdef(_serial_tab[_serial_num]),
 _baudrate(57600)
 {
-    osalDbgAssert(serial_num < UART_MAX_DRIVERS, "too many UART drivers");
-    uart_drivers[serial_num] = this;
+    osalDbgAssert(serial_num < UART_MAX_DRIVERS, "too many SERIALn drivers");
+    serial_drivers[serial_num] = this;
 }
 
 /*
@@ -166,11 +166,11 @@ void UARTDriver::uart_rx_thread(void* arg)
         hal.scheduler->delay_microseconds(1000);
 
         for (uint8_t i=0; i<UART_MAX_DRIVERS; i++) {
-            if (uart_drivers[i] == nullptr) {
+            if (serial_drivers[i] == nullptr) {
                 continue;
             }
-            if (uart_drivers[i]->_rx_initialised) {
-                uart_drivers[i]->_rx_timer_tick();
+            if (serial_drivers[i]->_rx_initialised) {
+                serial_drivers[i]->_rx_timer_tick();
             }
         }
     }
diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.h b/libraries/AP_HAL_ChibiOS/UARTDriver.h
index 16cac8f8d0d2e1..1a045fa9e7e818 100644
--- a/libraries/AP_HAL_ChibiOS/UARTDriver.h
+++ b/libraries/AP_HAL_ChibiOS/UARTDriver.h
@@ -25,7 +25,7 @@
 #define RX_BOUNCE_BUFSIZE 64U
 #define TX_BOUNCE_BUFSIZE 64U
 
-// enough for uartA to uartJ, plus IOMCU
+// enough for serial0 to serial9, plus IOMCU
 #define UART_MAX_DRIVERS 11
 
 class ChibiOS::UARTDriver : public AP_HAL::UARTDriver {
@@ -148,13 +148,13 @@ class ChibiOS::UARTDriver : public AP_HAL::UARTDriver {
     static thread_t* volatile uart_rx_thread_ctx;
 
     // table to find UARTDrivers from serial number, used for event handling
-    static UARTDriver *uart_drivers[UART_MAX_DRIVERS];
+    static UARTDriver *serial_drivers[UART_MAX_DRIVERS];
     
     // thread used for writing and reading
     thread_t* volatile uart_thread_ctx;
     char uart_thread_name[6];
 
-    // index into uart_drivers table
+    // index into serial_drivers table
     uint8_t serial_num;
 
     uint32_t _baudrate;
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 4f0d98d5b11eff..dab87f0af3873b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -111,9 +111,6 @@ def __init__(self, bootloader=False, signed_fw=False, outdir=None, hwdef=[], def
 
         self.dma_exclude_pattern = []
 
-        # map from uart names to SERIALn numbers
-        self.uart_serial_num = {}
-
         self.mcu_type = None
         self.dual_USB_enabled = False
 
@@ -1817,75 +1814,51 @@ def get_extra_bylabel(self, label, name, default=None):
             return default
         return p.extra_value(name, type=str, default=default)
 
-    def get_UART_ORDER(self):
-        '''get UART_ORDER from SERIAL_ORDER option'''
-        if self.get_config('UART_ORDER', required=False, aslist=True) is not None:
-            self.error('Please convert UART_ORDER to SERIAL_ORDER')
-        serial_order = self.get_config('SERIAL_ORDER', required=False, aslist=True)
-        if serial_order is None:
-            return None
-        if args.bootloader:
-            # in bootloader SERIAL_ORDER is treated the same as UART_ORDER
-            return serial_order
-        map = [0, 3, 1, 2, 4, 5, 6, 7, 8, 9, 10, 11, 12]
-        while len(serial_order) < 4:
-            serial_order += ['EMPTY']
-        uart_order = []
-        for i in range(len(serial_order)):
-            uart_order.append(serial_order[map[i]])
-            self.uart_serial_num[serial_order[i]] = i
-        return uart_order
-
     def write_UART_config(self, f):
         '''write UART config defines'''
-        uart_list = self.get_UART_ORDER()
-        if uart_list is None:
+        serial_list = self.get_config('SERIAL_ORDER', required=False, aslist=True)
+        if serial_list is None:
             return
+        while len(serial_list) < 3: # enough ports for CrashCatcher UART discovery
+            serial_list += ['EMPTY']
         f.write('\n// UART configuration\n')
 
         # write out which serial ports we actually have
-        idx = 0
         nports = 0
-        serial_order = self.get_config('SERIAL_ORDER', required=False, aslist=True)
-        for serial in serial_order:
+        for idx, serial in enumerate(serial_list):
             if serial == 'EMPTY':
                 f.write('#define HAL_HAVE_SERIAL%u 0\n' % idx)
             else:
                 f.write('#define HAL_HAVE_SERIAL%u 1\n' % idx)
                 nports = nports + 1
-            idx += 1
         f.write('#define HAL_NUM_SERIAL_PORTS %u\n' % nports)
 
         # write out driver declarations for HAL_ChibOS_Class.cpp
-        devnames = "ABCDEFGHIJ"
         sdev = 0
-        idx = 0
-        for dev in uart_list:
+        for idx, dev in enumerate(serial_list):
             if dev == 'EMPTY':
-                f.write('#define HAL_UART%s_DRIVER Empty::UARTDriver uart%sDriver\n' %
-                        (devnames[idx], devnames[idx]))
+                f.write('#define HAL_SERIAL%s_DRIVER Empty::UARTDriver serial%sDriver\n' %
+                        (idx, idx))
                 sdev += 1
             else:
                 f.write(
-                    '#define HAL_UART%s_DRIVER ChibiOS::UARTDriver uart%sDriver(%u)\n'
-                    % (devnames[idx], devnames[idx], sdev))
+                    '#define HAL_SERIAL%s_DRIVER ChibiOS::UARTDriver serial%sDriver(%u)\n'
+                    % (idx, idx, sdev))
                 sdev += 1
-            idx += 1
-        for idx in range(len(uart_list), len(devnames)):
-            f.write('#define HAL_UART%s_DRIVER Empty::UARTDriver uart%sDriver\n' %
-                    (devnames[idx], devnames[idx]))
+        for idx in range(len(serial_list), 10):
+            f.write('#define HAL_SERIAL%s_DRIVER Empty::UARTDriver serial%sDriver\n' %
+                    (idx, idx))
 
         if 'IOMCU_UART' in self.config:
             if 'io_firmware.bin' not in self.romfs:
                 self.error("Need io_firmware.bin in ROMFS for IOMCU")
 
             f.write('#define HAL_WITH_IO_MCU 1\n')
-            idx = len(uart_list)
-            f.write('#define HAL_UART_IOMCU_IDX %u\n' % idx)
+            f.write('#define HAL_UART_IOMCU_IDX %u\n' % len(serial_list))
             f.write(
                 '#define HAL_UART_IO_DRIVER ChibiOS::UARTDriver uart_io(HAL_UART_IOMCU_IDX)\n'
             )
-            uart_list.append(self.config['IOMCU_UART'][0])
+            serial_list.append(self.config['IOMCU_UART'][0])
             f.write('#define HAL_HAVE_SERVO_VOLTAGE 1\n') # make the assumption that IO gurantees servo monitoring
             # all IOMCU capable boards have SBUS out
             f.write('#define AP_FEATURE_SBUS_OUT 1\n')
@@ -1900,17 +1873,17 @@ def write_UART_config(self, f):
         crash_uart = None
 
         # write config for CrashCatcher UART
-        if not uart_list[0].startswith('OTG') and not uart_list[0].startswith('EMPTY'):
-            crash_uart = uart_list[0]
-        elif not uart_list[2].startswith('OTG') and not uart_list[2].startswith('EMPTY'):
-            crash_uart = uart_list[2]
+        if not serial_list[0].startswith('OTG') and not serial_list[0].startswith('EMPTY'):
+            crash_uart = serial_list[0]
+        elif not serial_list[2].startswith('OTG') and not serial_list[2].startswith('EMPTY'):
+            crash_uart = serial_list[2]
 
         if crash_uart is not None and self.get_config('FLASH_SIZE_KB', type=int) >= 2048:
             f.write('#define HAL_CRASH_SERIAL_PORT %s\n' % crash_uart)
             f.write('#define IRQ_DISABLE_HAL_CRASH_SERIAL_PORT() nvicDisableVector(STM32_%s_NUMBER)\n' % crash_uart)
             f.write('#define RCC_RESET_HAL_CRASH_SERIAL_PORT() rccReset%s(); rccEnable%s(true)\n' % (crash_uart, crash_uart))
             f.write('#define HAL_CRASH_SERIAL_PORT_CLOCK STM32_%sCLK\n' % crash_uart)
-        for dev in uart_list:
+        for num, dev in enumerate(serial_list):
             if dev.startswith('UART'):
                 n = int(dev[4:])
             elif dev.startswith('USART'):
@@ -1921,7 +1894,7 @@ def write_UART_config(self, f):
                 devlist.append('{}')
                 continue
             else:
-                self.error("Invalid element %s in UART_ORDER" % dev)
+                self.error("Invalid element %s in SERIAL_ORDER" % dev)
             devlist.append('HAL_%s_CONFIG' % dev)
             tx_line = self.make_line(dev + '_TX')
             rx_line = self.make_line(dev + '_RX')
@@ -1929,12 +1902,12 @@ def write_UART_config(self, f):
             cts_line = self.make_line(dev + '_CTS')
             if rts_line != "0":
                 have_rts_cts = True
-                f.write('#define HAL_HAVE_RTSCTS_SERIAL%u\n' % self.uart_serial_num[dev])
+                f.write('#define HAL_HAVE_RTSCTS_SERIAL%u\n' % num)
 
             if dev.startswith('OTG2'):
                 f.write(
                     '#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU2, 2, true, false, 0, 0, false, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 2}\n' % dev)  # noqa
-                OTG2_index = uart_list.index(dev)
+                OTG2_index = serial_list.index(dev)
                 self.dual_USB_enabled = True
             elif dev.startswith('OTG'):
                 f.write(
@@ -1971,44 +1944,44 @@ def write_UART_config(self, f):
 #endif
 ''' % (OTG2_index, OTG2_index))
 
-        f.write('#define HAL_UART_DEVICE_LIST %s\n\n' % ','.join(devlist))
+        f.write('#define HAL_SERIAL_DEVICE_LIST %s\n\n' % ','.join(devlist))
         if not need_uart_driver and not args.bootloader:
             f.write('''
 #ifndef HAL_USE_SERIAL
 #define HAL_USE_SERIAL HAL_USE_SERIAL_USB
 #endif
 ''')
-        num_uarts = len(devlist)
+        num_ports = len(devlist)
         if 'IOMCU_UART' in self.config:
-            num_uarts -= 1
-        if num_uarts > 10:
-            self.error("Exceeded max num UARTs of 10 (%u)" % num_uarts)
-        f.write('#define HAL_UART_NUM_SERIAL_PORTS %u\n' % num_uarts)
+            num_ports -= 1
+        if num_ports > 10:
+            self.error("Exceeded max num SERIALs of 10 (%u)" % num_ports)
+        f.write('#define HAL_UART_NUM_SERIAL_PORTS %u\n' % num_ports)
 
     def write_UART_config_bootloader(self, f):
         '''write UART config defines'''
-        uart_list = self.get_UART_ORDER()
-        if uart_list is None:
+        serial_list = self.get_config('SERIAL_ORDER', required=False, aslist=True)
+        if serial_list is None:
             return
         f.write('\n// UART configuration\n')
         devlist = []
-        have_uart = False
+        have_serial = False
         OTG2_index = None
-        for u in uart_list:
-            if u.startswith('OTG2'):
+        for s in serial_list:
+            if s.startswith('OTG2'):
                 devlist.append('(BaseChannel *)&SDU2')
-                OTG2_index = uart_list.index(u)
-            elif u.startswith('OTG'):
+                OTG2_index = serial_list.index(s)
+            elif s.startswith('OTG'):
                 devlist.append('(BaseChannel *)&SDU1')
             else:
-                unum = int(u[-1])
-                devlist.append('(BaseChannel *)&SD%u' % unum)
-                have_uart = True
+                snum = int(s[-1])
+                devlist.append('(BaseChannel *)&SD%u' % snum)
+                have_serial = True
         if len(devlist) > 0:
             f.write('#define BOOTLOADER_DEV_LIST %s\n' % ','.join(devlist))
         if OTG2_index is not None:
             f.write('#define HAL_OTG2_UART_INDEX %d\n' % OTG2_index)
-        if not have_uart:
+        if not have_serial:
             f.write('''
 #ifndef HAL_USE_SERIAL
 #define HAL_USE_SERIAL FALSE
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_uart_order.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_uart_order.py
deleted file mode 100755
index d502d91f6113be..00000000000000
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_uart_order.py
+++ /dev/null
@@ -1,37 +0,0 @@
-#!/usr/bin/env python
-'''
-convert UART_ORDER in a hwdef.dat into a SERIAL_ORDER
-'''
-
-import sys, shlex
-
-def convert_file(fname):
-    lines = open(fname, 'r').readlines()
-    for i in range(len(lines)):
-        if lines[i].startswith('SERIAL_ORDER'):
-            print("Already has SERIAL_ORDER: %s" % fname)
-            return
-
-    for i in range(len(lines)):
-        line = lines[i]
-        if not line.startswith('UART_ORDER'):
-            continue
-        a = shlex.split(line, posix=False)
-        if a[0] != 'UART_ORDER':
-            continue
-        uart_order = a[1:]
-        if not fname.endswith('-bl.dat'):
-            while len(uart_order) < 4:
-                uart_order += ['EMPTY']
-                a += ['EMPTY']
-            map = [ 0, 2, 3, 1, 4, 5, 6, 7, 8, 9, 10, 11, 12 ]
-            for j in range(len(uart_order)):
-                a[j+1] = uart_order[map[j]]
-        a[0] = 'SERIAL_ORDER'
-        print("%s new order " % fname, a)
-        lines[i] = ' '.join(a) + '\n'
-    open(fname, 'w').write(''.join(lines))
-
-files=sys.argv[1:]
-for fname in files:
-    convert_file(fname)

From 2aa4ee8ba7c66f5e09ed0e1558a90e7c9eb28f96 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 11 Dec 2023 11:07:23 -0600
Subject: [PATCH 0145/1335] AP_HAL_ChibiOS: remove references to legacy UART
 order from hwdefs

---
 .../hwdef/CubeBlack-periph/hwdef-bl.dat       |  2 +-
 .../hwdef/CubeOrange-periph/hwdef-bl.dat      |  2 +-
 .../hwdef/CubeOrange/hwdef-bl.inc             |  2 +-
 .../AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc |  2 +-
 .../AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat | 19 ++++++++-----------
 .../hwdef/DrotekP3Pro/hwdef.dat               | 15 +++++++--------
 .../hwdef/PixPilot-C3/hwdef-bl.dat            |  2 +-
 .../hwdef/PixPilot-C3/hwdef.dat               | 15 +++++++--------
 .../hwdef/PixPilot-V3/hwdef.dat               | 15 +++++++--------
 .../hwdef/PixPilot-V6/hwdef-bl.dat            |  2 +-
 .../hwdef/PixSurveyA1-IND/hwdef.dat           | 15 +++++++--------
 .../hwdef/fmuv3-bdshot/hwdef.dat              |  2 +-
 .../AP_HAL_ChibiOS/hwdef/fmuv3/hwdef-bl.dat   |  2 +-
 .../AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat      |  2 +-
 .../AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat | 19 ++++++++-----------
 .../hwdef/thepeach-k1/hwdef.dat               |  2 +-
 .../hwdef/thepeach-r1/hwdef.dat               |  2 +-
 17 files changed, 55 insertions(+), 65 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef-bl.dat
index effd49fee7a162..ba2212fa9cb623 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef-bl.dat
@@ -27,7 +27,7 @@ define HAL_LED_ON 0
 # order of UARTs (and USB)
 SERIAL_ORDER OTG1 UART7
 
-# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
+# UART7 maps to SERIAL5.
 PE7 UART7_RX UART7
 PE8 UART7_TX UART7
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef-bl.dat
index 6d10b336b8f812..7a86058449d0db 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef-bl.dat
@@ -27,7 +27,7 @@ define HAL_LED_ON 0
 # order of UARTs (and USB)
 SERIAL_ORDER OTG1 UART7
 
-# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
+# UART7 maps to SERIAL5.
 PE7 UART7_RX UART7
 PE8 UART7_TX UART7
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef-bl.inc b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef-bl.inc
index 5da67a0bdfd8b7..f5219200982ed2 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef-bl.inc
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef-bl.inc
@@ -34,7 +34,7 @@ PD6 USART2_RX USART2
 PD8 USART3_TX USART3
 PD9 USART3_RX USART3
 
-# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
+# UART7 maps to SERIAL5.
 PE7 UART7_RX UART7
 PE8 UART7_TX UART7
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc
index cd7ef40d20a07e..cb5769d8d514b3 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.inc
@@ -195,7 +195,7 @@ PE6 SPI4_MOSI SPI4
 # means sensors off, then it is pulled HIGH in peripheral_power_enable()
 PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
 
-# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
+# UART7 maps to SERIAL5.
 PE7 UART7_RX UART7
 PE8 UART7_TX UART7
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat
index c3773bc7b89b80..afc44a107c6050 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/hwdef.dat
@@ -86,20 +86,17 @@ USB_STRING_MANUFACTURER "Hex/ProfiCNC"
 # order of I2C buses
 I2C_ORDER I2C2 I2C1
 
-# now the UART order. These map to the hal.uartA to hal.uartF
-# objects. If you use a shorter list then HAL_Empty::UARTDriver
-# objects are substituted for later UARTs, or you can leave a gap by
-# listing one or more of the uarts as EMPTY
-
-# the normal usage of this ordering is:
+# now the SERIALn order. These map to the hal.serial(n) objects. If you use a
+# shorter list then HAL_Empty::UARTDriver objects are substituted for later
+# UARTs, or you can leave a gap by listing one or more of the uarts as EMPTY
 # 1) SERIAL0: console (primary mavlink, usually USB)
-# 2) SERIAL3: primary GPS
-# 3) SERIAL1: telem1
-# 4) SERIAL2: telem2
+# 2) SERIAL1: telem1
+# 3) SERIAL2: telem2
+# 4) SERIAL3: primary GPS
 # 5) SERIAL4: GPS2
 # 6) SERIAL5: extra UART (usually RTOS debug console)
 
-# order of UARTs (and USB)
+# order of SERIALn (incl. USB)
 SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2
 
 # if the board has an IOMCU connected via a UART then this defines the
@@ -321,7 +318,7 @@ PE6 SPI4_MOSI SPI4
 # timing affecting sensor stability. We pull it high by default
 PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
 
-# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters)
+# UART7 maps to SERIAL5.
 PE7 UART7_RX UART7
 PE8 UART7_TX UART7
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat
index 93d2626c16acff..7b20d22a687957 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat
@@ -28,18 +28,17 @@ env OPTIMIZE -O2
 # order of I2C buses
 I2C_ORDER I2C1 I2C2
 
-# now the UART order. These map to the hal.uartA to hal.uartF
-# objects. If you use a shorter list then HAL_Empty::UARTDriver
-# objects are substituted for later UARTs, or you can leave a gap by
-# listing one or more of the uarts as EMPTY
+# now the SERIALn order. These map to the hal.serial(n) objects. If you use a
+# shorter list then HAL_Empty::UARTDriver objects are substituted for later
+# UARTs, or you can leave a gap by listing one or more of the uarts as EMPTY
 # 1) SERIAL0: console (primary mavlink, usually USB)
-# 2) SERIAL3: primary GPS
-# 3) SERIAL1: telem1
-# 4) SERIAL2: telem2
+# 2) SERIAL1: telem1
+# 3) SERIAL2: telem2
+# 4) SERIAL3: primary GPS
 # 5) SERIAL4: GPS2
 # 6) SERIAL5: extra UART (usually RTOS debug console)
 
-# order of UARTs (and USB)
+# order of SERIALn (incl. USB)
 SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7
 
 # UART for IOMCU
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-C3/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-C3/hwdef-bl.dat
index f0486e5b9ca53b..c39441ecb0e56d 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-C3/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-C3/hwdef-bl.dat
@@ -50,7 +50,7 @@ PD9 USART3_RX USART3
 PD11 USART3_CTS USART3
 PD12 USART3_RTS USART3
 
-# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters)
+# UART7 maps to SERIAL5.
 PE7 UART7_RX UART7
 PE8 UART7_TX UART7
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-C3/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-C3/hwdef.dat
index 8bec6df8eea62c..720f6b747c570a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-C3/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-C3/hwdef.dat
@@ -22,18 +22,17 @@ env OPTIMIZE -O2
 # order of I2C buses
 I2C_ORDER  I2C1 I2C2
 
-# now the UART order. These map to the hal.uartA to hal.uartF
-# objects. If you use a shorter list then HAL_Empty::UARTDriver
-# objects are substituted for later UARTs, or you can leave a gap by
-# listing one or more of the uarts as EMPTY
+# now the SERIALn order. These map to the hal.serial(n) objects. If you use a
+# shorter list then HAL_Empty::UARTDriver objects are substituted for later
+# UARTs, or you can leave a gap by listing one or more of the uarts as EMPTY
 # 1) SERIAL0: console (primary mavlink, usually USB)
-# 2) SERIAL3: primary GPS
-# 3) SERIAL1: telem1
-# 4) SERIAL2: telem2
+# 2) SERIAL1: telem1
+# 3) SERIAL2: telem2
+# 4) SERIAL3: primary GPS
 # 5) SERIAL4: GPS2
 # 6) SERIAL5: extra UART (usually RTOS debug console)
 
-# order of UARTs (and USB)
+# order of SERIALn (incl. USB)
 SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8  UART7
 
 # UART for IOMCU
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V3/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V3/hwdef.dat
index 4c95268d937f28..da84f273b9614c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V3/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V3/hwdef.dat
@@ -24,18 +24,17 @@ USB_STRING_MANUFACTURER "ArduPilot"
 # order of I2C buses
 I2C_ORDER I2C3 I2C2 I2C1
 
-# now the UART order. These map to the hal.uartA to hal.uartF
-# objects. If you use a shorter list then HAL_Empty::UARTDriver
-# objects are substituted for later UARTs, or you can leave a gap by
-# listing one or more of the uarts as EMPTY
+# now the SERIALn order. These map to the hal.serial(n) objects. If you use a
+# shorter list then HAL_Empty::UARTDriver objects are substituted for later
+# UARTs, or you can leave a gap by listing one or more of the uarts as EMPTY
 # 1) SERIAL0: console (primary mavlink, usually USB)
-# 2) SERIAL3: primary GPS
-# 3) SERIAL1: telem1
-# 4) SERIAL2: telem2
+# 2) SERIAL1: telem1
+# 3) SERIAL2: telem2
+# 4) SERIAL3: primary GPS
 # 5) SERIAL4: GPS2
 # 6) SERIAL5: extra UART (usually RTOS debug console)
 
-# order of UARTs (and USB)
+# order of SERIALn (incl. USB)
 SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8  UART7
 
 # UART for IOMCU
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V6/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V6/hwdef-bl.dat
index a833003a0c44d0..7bd549b00aa7ee 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V6/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V6/hwdef-bl.dat
@@ -35,7 +35,7 @@ PD6 USART2_RX USART2
 PD8 USART3_TX USART3
 PD9 USART3_RX USART3
 
-# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
+# UART7 maps to SERIAL5.
 PE7 UART7_RX UART7
 PE8 UART7_TX UART7
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/PixSurveyA1-IND/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/PixSurveyA1-IND/hwdef.dat
index 186fec11cecc93..00145bb34e56e7 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/PixSurveyA1-IND/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/PixSurveyA1-IND/hwdef.dat
@@ -23,18 +23,17 @@ env OPTIMIZE -O2
 # order of I2C buses
 I2C_ORDER I2C3 I2C2 I2C1
 
-# now the UART order. These map to the hal.uartA to hal.uartF
-# objects. If you use a shorter list then HAL_Empty::UARTDriver
-# objects are substituted for later UARTs, or you can leave a gap by
-# listing one or more of the uarts as EMPTY
+# now the SERIALn order. These map to the hal.serial(n) objects. If you use a
+# shorter list then HAL_Empty::UARTDriver objects are substituted for later
+# UARTs, or you can leave a gap by listing one or more of the uarts as EMPTY
 # 1) SERIAL0: console (primary mavlink, usually USB)
-# 2) SERIAL3: primary GPS
-# 3) SERIAL1: telem1
-# 4) SERIAL2: telem2
+# 2) SERIAL1: telem1
+# 3) SERIAL2: telem2
+# 4) SERIAL3: primary GPS
 # 5) SERIAL4: GPS2
 # 6) SERIAL5: extra UART (usually RTOS debug console)
 
-# order of UARTs (and USB)
+# order of SERIALn (incl. USB)
 SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8  UART7
 
 # UART for IOMCU
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3-bdshot/hwdef.dat
index 5af9e12d7a18b2..781cc6e59ff853 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3-bdshot/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3-bdshot/hwdef.dat
@@ -356,7 +356,7 @@ PE1 UART8_TX UART8
 # timing affecting sensor stability. We pull it high by default.
 PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
 
-# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
+# UART7 maps to SERIAL5.
 PE7 UART7_RX UART7
 PE8 UART7_TX UART7
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef-bl.dat
index 002fbad6143b3c..bd90c7351d11cf 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef-bl.dat
@@ -50,7 +50,7 @@ PD6 USART2_RX USART2
 PD3 USART2_CTS USART2
 PD4 USART2_RTS USART2
 
-# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters)
+# UART7 maps to SERIAL5.
 #PE7 UART7_RX UART7
 #PE8 UART7_TX UART7
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
index 96f0b2f3117a01..67e3ebf22edd11 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
@@ -356,7 +356,7 @@ PE6 SPI4_MOSI SPI4
 # timing affecting sensor stability. We pull it high by default.
 PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
 
-# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
+# UART7 maps to SERIAL5.
 PE7 UART7_RX UART7
 PE8 UART7_TX UART7
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat
index e3e4d983b95db0..7993d2e1fec0e1 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoX21-777/hwdef.dat
@@ -83,20 +83,17 @@ define HAL_I2C_INTERNAL_MASK 0
 # order of I2C buses
 I2C_ORDER I2C1
 
-# now the UART order. These map to the hal.uartA to hal.uartF
-# objects. If you use a shorter list then HAL_Empty::UARTDriver
-# objects are substituted for later UARTs, or you can leave a gap by
-# listing one or more of the uarts as EMPTY
-
-# the normal usage of this ordering is:
+# now the SERIALn order. These map to the hal.serial(n) objects. If you use a
+# shorter list then HAL_Empty::UARTDriver objects are substituted for later
+# UARTs, or you can leave a gap by listing one or more of the uarts as EMPTY
 # 1) SERIAL0: console (primary mavlink, usually USB)
-# 2) SERIAL3: primary GPS
-# 3) SERIAL1: telem1
-# 4) SERIAL2: telem2
+# 2) SERIAL1: telem1
+# 3) SERIAL2: telem2
+# 4) SERIAL3: primary GPS
 # 5) SERIAL4: GPS2
 # 6) SERIAL5: extra UART (usually RTOS debug console)
 
-# order of UARTs (and USB)
+# order of SERIALn (incl. USB)
 SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 OTG2
 
 # if the board has an IOMCU connected via a UART then this defines the
@@ -315,7 +312,7 @@ PE1 UART8_TX UART8
 # timing affecting sensor stability. We pull it high by default
 PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
 
-# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters)
+# UART7 maps to SERIAL5.
 PE7 UART7_RX UART7
 PE8 UART7_TX UART7
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/hwdef.dat
index 827c5ff9592282..d5c1c44015b91e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/thepeach-k1/hwdef.dat
@@ -209,7 +209,7 @@ PE1 UART8_TX UART8
 # timing affecting sensor stability. We pull it high by default.
 PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
 
-# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
+# UART7 maps to SERIAL5.
 PE7 UART7_RX UART7
 PE8 UART7_TX UART7
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/hwdef.dat
index 4122e0fa579919..4b128cb02b6565 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/thepeach-r1/hwdef.dat
@@ -209,7 +209,7 @@ PE1 UART8_TX UART8
 # timing affecting sensor stability. We pull it high by default.
 PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
 
-# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
+# UART7 maps to SERIAL5.
 PE7 UART7_RX UART7
 PE8 UART7_TX UART7
 

From 20ee5b2d3788d6c667baa7d779e7d7f3fda5c47f Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sun, 10 Dec 2023 11:29:32 -0600
Subject: [PATCH 0146/1335] AP_HAL_Empty: eliminate legacy UART
 ordering/references

Fourth serial port (SERIAL2) added purely for consistency.
---
 libraries/AP_HAL_Empty/HAL_Empty_Class.cpp | 29 +++++++++++-----------
 1 file changed, 15 insertions(+), 14 deletions(-)

diff --git a/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp b/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
index a05acc59d08a12..9d03bcabf78953 100644
--- a/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
+++ b/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
@@ -9,9 +9,10 @@
 
 using namespace Empty;
 
-static UARTDriver uartADriver;
-static UARTDriver uartBDriver;
-static UARTDriver uartCDriver;
+static UARTDriver serial0Driver;
+static UARTDriver serial1Driver;
+static UARTDriver serial2Driver;
+static UARTDriver serial3Driver;
 static SPIDeviceManager spiDeviceManager;
 static AnalogIn analogIn;
 static Storage storageDriver;
@@ -25,20 +26,20 @@ static Flash flashDriver;
 
 HAL_Empty::HAL_Empty() :
     AP_HAL::HAL(
-        &uartADriver,
-        &uartCDriver, // ordering captures the historical use of uartB as SERIAL3
-        nullptr,            /* no uartD */
-        &uartBDriver,
-        nullptr,            /* no uartE */
-        nullptr,            /* no uartF */
-        nullptr,            /* no uartG */
-        nullptr,            /* no uartH */
-        nullptr,            /* no uartI */
-        nullptr,            /* no uartJ */
+        &serial0Driver,
+        &serial1Driver,
+        &serial2Driver,
+        &serial3Driver,
+        nullptr,            /* no SERIAL4 */
+        nullptr,            /* no SERIAL5 */
+        nullptr,            /* no SERIAL6 */
+        nullptr,            /* no SERIAL7 */
+        nullptr,            /* no SERIAL8 */
+        nullptr,            /* no SERIAL9 */
         &spiDeviceManager,
         &analogIn,
         &storageDriver,
-        &uartADriver,
+        &serial0Driver,
         &gpioDriver,
         &rcinDriver,
         &rcoutDriver,

From 6b7934994716ed44b56776e40037eb0669207ca0 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sun, 10 Dec 2023 11:33:12 -0600
Subject: [PATCH 0147/1335] AP_HAL_ESP32: eliminate legacy UART
 ordering/references

---
 libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp | 41 +++++++++++-----------
 1 file changed, 20 insertions(+), 21 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp b/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
index 096c8ab47ad803..bedff42e98b7de 100644
--- a/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
+++ b/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
@@ -30,25 +30,24 @@
 #include "Util.h"
 
 
-static Empty::UARTDriver uartADriver;
 static ESP32::UARTDriver cons(0);
-static ESP32::UARTDriver uartBDriver(1);
 #ifdef HAL_ESP32_WIFI
 #if HAL_ESP32_WIFI == 1
-static ESP32::WiFiDriver uartCDriver; //tcp, client should connect to 192.168.4.1 port 5760
+static ESP32::WiFiDriver serial1Driver; //tcp, client should connect to 192.168.4.1 port 5760
 #elif HAL_ESP32_WIFI == 2
-static ESP32::WiFiUdpDriver uartCDriver; //udp
+static ESP32::WiFiUdpDriver serial1Driver; //udp
 #endif
 #else
-static Empty::UARTDriver uartCDriver;
+static Empty::UARTDriver serial1Driver;
 #endif
-static ESP32::UARTDriver uartDDriver(2);
-static Empty::UARTDriver uartEDriver;
-static Empty::UARTDriver uartFDriver;
-static Empty::UARTDriver uartGDriver;
-static Empty::UARTDriver uartHDriver;
-static Empty::UARTDriver uartIDriver;
-static Empty::UARTDriver uartJDriver;
+static ESP32::UARTDriver serial2Driver(2);
+static ESP32::UARTDriver serial3Driver(1);
+static Empty::UARTDriver serial4Driver;
+static Empty::UARTDriver serial5Driver;
+static Empty::UARTDriver serial6Driver;
+static Empty::UARTDriver serial7Driver;
+static Empty::UARTDriver serial8Driver;
+static Empty::UARTDriver serial9Driver;
 
 static Empty::DSP dspDriver;
 
@@ -73,15 +72,15 @@ extern const AP_HAL::HAL& hal;
 HAL_ESP32::HAL_ESP32() :
     AP_HAL::HAL(
         &cons, //Console/mavlink
-        &uartCDriver, //Telem 1, ordering captures the historical use of uartB as SERIAL3
-        &uartDDriver, //Telem 2
-        &uartBDriver, //GPS 1
-        &uartEDriver, //GPS 2
-        &uartFDriver, //Extra 1
-        &uartGDriver, //Extra 2
-        &uartHDriver, //Extra 3
-        &uartIDriver, //Extra 4
-        &uartJDriver, //Extra 5
+        &serial1Driver, //Telem 1
+        &serial2Driver, //Telem 2
+        &serial3Driver, //GPS 1
+        &serial4Driver, //GPS 2
+        &serial5Driver, //Extra 1
+        &serial6Driver, //Extra 2
+        &serial7Driver, //Extra 3
+        &serial8Driver, //Extra 4
+        &serial9Driver, //Extra 5
         &i2cDeviceManager,
         &spiDeviceManager,
         nullptr,

From f34034584f9a5f5ca9516a5aca8605f9148e7453 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sun, 10 Dec 2023 21:32:18 -0600
Subject: [PATCH 0148/1335] AP_HAL_Linux: eliminate internal legacy UART
 ordering/references

Leave the legacy command line arguments to avoid breaking users.
---
 libraries/AP_HAL_Linux/HAL_Linux_Class.cpp | 81 +++++++++++-----------
 1 file changed, 41 insertions(+), 40 deletions(-)

diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index e264ccbdb139a5..f51d8c4331a9d1 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -64,16 +64,17 @@ static UtilRPI utilInstance;
 static Util utilInstance;
 #endif
 
-// 9 serial ports on Linux
-static UARTDriver uartADriver(true);
-static UARTDriver uartCDriver(false);
-static UARTDriver uartDDriver(false);
-static UARTDriver uartEDriver(false);
-static UARTDriver uartFDriver(false);
-static UARTDriver uartGDriver(false);
-static UARTDriver uartHDriver(false);
-static UARTDriver uartIDriver(false);
-static UARTDriver uartJDriver(false);
+// 10 serial ports on Linux
+static UARTDriver serial0Driver(true);
+static UARTDriver serial1Driver(false);
+static UARTDriver serial2Driver(false);
+// serial3Driver declared below depending on board type
+static UARTDriver serial4Driver(false);
+static UARTDriver serial5Driver(false);
+static UARTDriver serial6Driver(false);
+static UARTDriver serial7Driver(false);
+static UARTDriver serial8Driver(false);
+static UARTDriver serial9Driver(false);
 
 static I2CDeviceManager i2c_mgr_instance;
 static SPIDeviceManager spi_mgr_instance;
@@ -81,9 +82,9 @@ static SPIDeviceManager spi_mgr_instance;
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
-static SPIUARTDriver uartBDriver;
+static SPIUARTDriver serial3Driver;
 #else
-static UARTDriver uartBDriver(false);
+static UARTDriver serial3Driver(false);
 #endif
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
@@ -247,22 +248,22 @@ static CANIface* canDrivers[HAL_NUM_CAN_IFACES];
 
 HAL_Linux::HAL_Linux() :
     AP_HAL::HAL(
-        &uartADriver,
-        &uartCDriver, // ordering captures the historical use of uartB as SERIAL3
-        &uartDDriver,
-        &uartBDriver,
-        &uartEDriver,
-        &uartFDriver,
-        &uartGDriver,
-        &uartHDriver,
-        &uartIDriver,
-        &uartJDriver,
+        &serial0Driver,
+        &serial1Driver,
+        &serial2Driver,
+        &serial3Driver,
+        &serial4Driver,
+        &serial5Driver,
+        &serial6Driver,
+        &serial7Driver,
+        &serial8Driver,
+        &serial9Driver,
         &i2c_mgr_instance,
         &spi_mgr_instance,
         &wspi_mgr_instance,
         &analogIn,
         &storageDriver,
-        &uartADriver,
+        &serial0Driver,
         &gpioDriver,
         &rcinDriver,
         &rcoutDriver,
@@ -281,16 +282,16 @@ HAL_Linux::HAL_Linux() :
 
 void _usage(void)
 {
-    printf("Usage: --serial0 serial0Path --serial1 serial2Path \n");
+    printf("Usage: --serial0 serial0Path --serial1 serial1Path \n");
     printf("Examples:\n");
     printf("\tserial (0 through 9 available):\n");
     printf("\t                  --serial0 /dev/ttyO4\n");
     printf("\t                  --serial3 /dev/ttyS1\n");
     printf("\tlegacy UART options still work, their mappings are:\n");
     printf("\t                  -A/--uartA is SERIAL0\n");
-    printf("\t                  -B/--uartB is SERIAL3\n");
     printf("\t                  -C/--uartC is SERIAL1\n");
     printf("\t                  -D/--uartD is SERIAL2\n");
+    printf("\t                  -B/--uartB is SERIAL3\n");
     printf("\t                  -E/--uartE is SERIAL4\n");
     printf("\t                  -F/--uartF is SERIAL5\n");
     printf("\t                  -G/--uartG is SERIAL6\n");
@@ -334,12 +335,12 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
     const struct GetOptLong::option options[] = {
         {"uartA",         true,  0, 'A'},
         {"serial0",       true,  0, 'A'},
-        {"uartB",         true,  0, 'B'},
-        {"serial3",       true,  0, 'B'},
-        {"uartC",         true,  0, 'C'},
+        {"uartC",         true,  0, 'C'}, // ordering captures the historical use of uartB as SERIAL3
         {"serial1",       true,  0, 'C'},
         {"uartD",         true,  0, 'D'},
         {"serial2",       true,  0, 'D'},
+        {"uartB",         true,  0, 'B'},
+        {"serial3",       true,  0, 'B'},
         {"uartE",         true,  0, 'E'},
         {"serial4",       true,  0, 'E'},
         {"uartF",         true,  0, 'F'},
@@ -371,34 +372,34 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
     while ((opt = gopt.getoption()) != -1) {
         switch (opt) {
         case 'A':
-            uartADriver.set_device_path(gopt.optarg);
-            break;
-        case 'B':
-            uartBDriver.set_device_path(gopt.optarg);
+            serial0Driver.set_device_path(gopt.optarg);
             break;
         case 'C':
-            uartCDriver.set_device_path(gopt.optarg);
+            serial1Driver.set_device_path(gopt.optarg);
             break;
         case 'D':
-            uartDDriver.set_device_path(gopt.optarg);
+            serial2Driver.set_device_path(gopt.optarg);
+            break;
+        case 'B':
+            serial3Driver.set_device_path(gopt.optarg);
             break;
         case 'E':
-            uartEDriver.set_device_path(gopt.optarg);
+            serial4Driver.set_device_path(gopt.optarg);
             break;
         case 'F':
-            uartFDriver.set_device_path(gopt.optarg);
+            serial5Driver.set_device_path(gopt.optarg);
             break;
         case 'G':
-            uartGDriver.set_device_path(gopt.optarg);
+            serial6Driver.set_device_path(gopt.optarg);
             break;
         case 'H':
-            uartHDriver.set_device_path(gopt.optarg);
+            serial7Driver.set_device_path(gopt.optarg);
             break;
         case 'I':
-            uartIDriver.set_device_path(gopt.optarg);
+            serial8Driver.set_device_path(gopt.optarg);
             break;
         case 'J':
-            uartJDriver.set_device_path(gopt.optarg);
+            serial9Driver.set_device_path(gopt.optarg);
             break;
         case 'l':
             utilInstance.set_custom_log_directory(gopt.optarg);

From 9044632315f9c25e7e4cf92ca2f583ba1b54056d Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sun, 10 Dec 2023 21:55:21 -0600
Subject: [PATCH 0149/1335] AP_HAL_SITL: eliminate internal legacy UART
 ordering/references

Legacy command line arguments are kept to avoid breaking users.

The vestigial `_tcp_client_addr` variable is removed.

Serial port status messages are updated to a slightly different format
to clarify the numbering scheme being used and prompt any external
consumers to update.
---
 libraries/AP_HAL_SITL/HAL_SITL_Class.cpp    | 42 ++++++-------
 libraries/AP_HAL_SITL/SITL_Periph_State.cpp |  6 +-
 libraries/AP_HAL_SITL/SITL_Periph_State.h   |  4 +-
 libraries/AP_HAL_SITL/SITL_State.h          |  4 +-
 libraries/AP_HAL_SITL/SITL_cmdline.cpp      | 70 +++++++--------------
 libraries/AP_HAL_SITL/UARTDriver.cpp        | 22 +++----
 libraries/AP_HAL_SITL/UARTDriver.h          |  3 -
 7 files changed, 61 insertions(+), 90 deletions(-)

diff --git a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
index 57d719875c66e6..0d79624ee6bcf3 100644
--- a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
+++ b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
@@ -53,16 +53,16 @@ static DSP dspDriver;
 static Empty::OpticalFlow emptyOpticalFlow;
 static Empty::Flash emptyFlash;
 
-static UARTDriver sitlUart0Driver(0, &sitlState);
-static UARTDriver sitlUart1Driver(1, &sitlState);
-static UARTDriver sitlUart2Driver(2, &sitlState);
-static UARTDriver sitlUart3Driver(3, &sitlState);
-static UARTDriver sitlUart4Driver(4, &sitlState);
-static UARTDriver sitlUart5Driver(5, &sitlState);
-static UARTDriver sitlUart6Driver(6, &sitlState);
-static UARTDriver sitlUart7Driver(7, &sitlState);
-static UARTDriver sitlUart8Driver(8, &sitlState);
-static UARTDriver sitlUart9Driver(9, &sitlState);
+static UARTDriver sitlSerial0Driver(0, &sitlState);
+static UARTDriver sitlSerial1Driver(1, &sitlState);
+static UARTDriver sitlSerial2Driver(2, &sitlState);
+static UARTDriver sitlSerial3Driver(3, &sitlState);
+static UARTDriver sitlSerial4Driver(4, &sitlState);
+static UARTDriver sitlSerial5Driver(5, &sitlState);
+static UARTDriver sitlSerial6Driver(6, &sitlState);
+static UARTDriver sitlSerial7Driver(7, &sitlState);
+static UARTDriver sitlSerial8Driver(8, &sitlState);
+static UARTDriver sitlSerial9Driver(9, &sitlState);
 
 static I2CDeviceManager i2c_mgr_instance;
 
@@ -81,22 +81,22 @@ static Empty::WSPIDeviceManager wspi_mgr_instance;
 
 HAL_SITL::HAL_SITL() :
     AP_HAL::HAL(
-        &sitlUart0Driver,   /* uartA */
-        &sitlUart2Driver,   /* uartC */ // ordering captures the historical use of uartB as SERIAL3
-        &sitlUart3Driver,   /* uartD */
-        &sitlUart1Driver,   /* uartB */
-        &sitlUart4Driver,   /* uartE */
-        &sitlUart5Driver,   /* uartF */
-        &sitlUart6Driver,   /* uartG */
-        &sitlUart7Driver,   /* uartH */
-        &sitlUart8Driver,   /* uartI */
-        &sitlUart9Driver,   /* uartJ */
+        &sitlSerial0Driver,
+        &sitlSerial1Driver,
+        &sitlSerial2Driver,
+        &sitlSerial3Driver,
+        &sitlSerial4Driver,
+        &sitlSerial5Driver,
+        &sitlSerial6Driver,
+        &sitlSerial7Driver,
+        &sitlSerial8Driver,
+        &sitlSerial9Driver,
         &i2c_mgr_instance,
         &spi_mgr_instance,  /* spi */
         &wspi_mgr_instance,
         &sitlAnalogIn,      /* analogin */
         &sitlStorage, /* storage */
-        &sitlUart0Driver,   /* console */
+        &sitlSerial0Driver, /* console */
         &sitlGPIO,          /* gpio */
         &sitlRCInput,       /* rcinput */
         &sitlRCOutput,      /* rcoutput */
diff --git a/libraries/AP_HAL_SITL/SITL_Periph_State.cpp b/libraries/AP_HAL_SITL/SITL_Periph_State.cpp
index 27f1b063c86a42..618f26a1aeabd7 100644
--- a/libraries/AP_HAL_SITL/SITL_Periph_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_Periph_State.cpp
@@ -83,11 +83,9 @@ void SITL_State::init(int argc, char * const argv[]) {
         case CMDLINE_SERIAL6:
         case CMDLINE_SERIAL7:
         case CMDLINE_SERIAL8:
-        case CMDLINE_SERIAL9: {
-            static const uint8_t mapping[] = { 0, 2, 3, 1, 4, 5, 6, 7, 8, 9 };
-            _uart_path[mapping[opt - CMDLINE_SERIAL0]] = gopt.optarg;
+        case CMDLINE_SERIAL9:
+            _serial_path[opt - CMDLINE_SERIAL0] = gopt.optarg;
             break;
-        }
         case CMDLINE_DEFAULTS:
             defaults_path = strdup(gopt.optarg);
             break;
diff --git a/libraries/AP_HAL_SITL/SITL_Periph_State.h b/libraries/AP_HAL_SITL/SITL_Periph_State.h
index b7e21d1491cc94..47bb61ee79639f 100644
--- a/libraries/AP_HAL_SITL/SITL_Periph_State.h
+++ b/libraries/AP_HAL_SITL/SITL_Periph_State.h
@@ -61,11 +61,11 @@ class HALSITL::SITL_State : public SITL_State_Common {
     }
 
     // paths for UART devices
-    const char *_uart_path[9] {
+    const char *_serial_path[9] {
         "none:0",
-        "GPS1",
         "none:1",
         "sim:adsb",
+        "GPS1",
         "udpclient:127.0.0.1:15550", // for CAN UART test
         "none:5",
         "none:6",
diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h
index 8ca5afd4526af9..461ff51d600bed 100644
--- a/libraries/AP_HAL_SITL/SITL_State.h
+++ b/libraries/AP_HAL_SITL/SITL_State.h
@@ -29,11 +29,11 @@ class HALSITL::SITL_State : public SITL_State_Common {
     }
     
     // paths for UART devices
-    const char *_uart_path[9] {
+    const char *_serial_path[9] {
         "tcp:0:wait",
-        "GPS1",
         "tcp:2",
         "tcp:3",
+        "GPS1",
         "GPS2",
         "tcp:5",
         "tcp:6",
diff --git a/libraries/AP_HAL_SITL/SITL_cmdline.cpp b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
index a413c3840c799c..5ca530e38b0727 100644
--- a/libraries/AP_HAL_SITL/SITL_cmdline.cpp
+++ b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
@@ -92,16 +92,16 @@ void SITL_State::_usage(void)
            "\t--gimbal                 enable simulated MAVLink gimbal\n"
            "\t--autotest-dir DIR       set directory for additional files\n"
            "\t--defaults path          set path to defaults file\n"
-           "\t--uartA device           set device string for UARTA\n"
-           "\t--uartB device           set device string for UARTB\n"
-           "\t--uartC device           set device string for UARTC\n"
-           "\t--uartD device           set device string for UARTD\n"
-           "\t--uartE device           set device string for UARTE\n"
-           "\t--uartF device           set device string for UARTF\n"
-           "\t--uartG device           set device string for UARTG\n"
-           "\t--uartH device           set device string for UARTH\n"
-           "\t--uartI device           set device string for UARTI\n"
-           "\t--uartJ device           set device string for UARTJ\n"
+           "\t--uartA device           set device string for SERIAL0\n"
+           "\t--uartB device           set device string for SERIAL3\n" // ordering captures the historical use of uartB as SERIAL3
+           "\t--uartC device           set device string for SERIAL1\n"
+           "\t--uartD device           set device string for SERIAL2\n"
+           "\t--uartE device           set device string for SERIAL4\n"
+           "\t--uartF device           set device string for SERIAL5\n"
+           "\t--uartG device           set device string for SERIAL6\n"
+           "\t--uartH device           set device string for SERIAL7\n"
+           "\t--uartI device           set device string for SERIAL8\n"
+           "\t--uartJ device           set device string for SERIAL9\n"
            "\t--serial0 device         set device string for SERIAL0\n"
            "\t--serial1 device         set device string for SERIAL1\n"
            "\t--serial2 device         set device string for SERIAL2\n"
@@ -246,17 +246,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         CMDLINE_FGVIEW,
         CMDLINE_AUTOTESTDIR,
         CMDLINE_DEFAULTS,
-        CMDLINE_UARTA,
-        CMDLINE_UARTB,
-        CMDLINE_UARTC,
-        CMDLINE_UARTD,
-        CMDLINE_UARTE,
-        CMDLINE_UARTF,
-        CMDLINE_UARTG,
-        CMDLINE_UARTH,
-        CMDLINE_UARTI,
-        CMDLINE_UARTJ,
-        CMDLINE_SERIAL0,
+        CMDLINE_SERIAL0, // must be in 0-9 order and numbered consecutively
         CMDLINE_SERIAL1,
         CMDLINE_SERIAL2,
         CMDLINE_SERIAL3,
@@ -305,16 +295,16 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         {"disable-fgview",  false,  0, CMDLINE_FGVIEW},
         {"autotest-dir",    true,   0, CMDLINE_AUTOTESTDIR},
         {"defaults",        true,   0, CMDLINE_DEFAULTS},
-        {"uartA",           true,   0, CMDLINE_UARTA},
-        {"uartB",           true,   0, CMDLINE_UARTB},
-        {"uartC",           true,   0, CMDLINE_UARTC},
-        {"uartD",           true,   0, CMDLINE_UARTD},
-        {"uartE",           true,   0, CMDLINE_UARTE},
-        {"uartF",           true,   0, CMDLINE_UARTF},
-        {"uartG",           true,   0, CMDLINE_UARTG},
-        {"uartH",           true,   0, CMDLINE_UARTH},
-        {"uartI",           true,   0, CMDLINE_UARTI},
-        {"uartJ",           true,   0, CMDLINE_UARTJ},
+        {"uartA",           true,   0, CMDLINE_SERIAL0},
+        {"uartB",           true,   0, CMDLINE_SERIAL3}, // ordering captures the historical use of uartB as SERIAL3
+        {"uartC",           true,   0, CMDLINE_SERIAL1},
+        {"uartD",           true,   0, CMDLINE_SERIAL2},
+        {"uartE",           true,   0, CMDLINE_SERIAL4},
+        {"uartF",           true,   0, CMDLINE_SERIAL5},
+        {"uartG",           true,   0, CMDLINE_SERIAL6},
+        {"uartH",           true,   0, CMDLINE_SERIAL7},
+        {"uartI",           true,   0, CMDLINE_SERIAL8},
+        {"uartJ",           true,   0, CMDLINE_SERIAL9},
         {"serial0",         true,   0, CMDLINE_SERIAL0},
         {"serial1",         true,   0, CMDLINE_SERIAL1},
         {"serial2",         true,   0, CMDLINE_SERIAL2},
@@ -449,18 +439,6 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         case CMDLINE_DEFAULTS:
             defaults_path = strdup(gopt.optarg);
             break;
-        case CMDLINE_UARTA:
-        case CMDLINE_UARTB:
-        case CMDLINE_UARTC:
-        case CMDLINE_UARTD:
-        case CMDLINE_UARTE:
-        case CMDLINE_UARTF:
-        case CMDLINE_UARTG:
-        case CMDLINE_UARTH:
-        case CMDLINE_UARTI:
-        case CMDLINE_UARTJ:
-            _uart_path[opt - CMDLINE_UARTA] = gopt.optarg;
-            break;
         case CMDLINE_SERIAL0:
         case CMDLINE_SERIAL1:
         case CMDLINE_SERIAL2:
@@ -470,11 +448,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         case CMDLINE_SERIAL6:
         case CMDLINE_SERIAL7:
         case CMDLINE_SERIAL8:
-        case CMDLINE_SERIAL9: {
-            static const uint8_t mapping[] = { 0, 2, 3, 1, 4, 5, 6, 7, 8, 9 };
-            _uart_path[mapping[opt - CMDLINE_SERIAL0]] = gopt.optarg;
+        case CMDLINE_SERIAL9:
+            _serial_path[opt - CMDLINE_SERIAL0] = gopt.optarg;
             break;
-        }
         case CMDLINE_RTSCTS:
             _use_rtscts = true;
             break;
diff --git a/libraries/AP_HAL_SITL/UARTDriver.cpp b/libraries/AP_HAL_SITL/UARTDriver.cpp
index 9c90928630dea3..900ef64ab61628 100644
--- a/libraries/AP_HAL_SITL/UARTDriver.cpp
+++ b/libraries/AP_HAL_SITL/UARTDriver.cpp
@@ -56,11 +56,11 @@ bool UARTDriver::_console;
 
 void UARTDriver::_begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
 {
-    if (_portNumber >= ARRAY_SIZE(_sitlState->_uart_path)) {
-        AP_HAL::panic("port number out of range; you may need to extend _sitlState->_uart_path");
+    if (_portNumber >= ARRAY_SIZE(_sitlState->_serial_path)) {
+        AP_HAL::panic("port number out of range; you may need to extend _sitlState->_serial_path");
     }
 
-    const char *path = _sitlState->_uart_path[_portNumber];
+    const char *path = _sitlState->_serial_path[_portNumber];
 
     if (baud != 0) {
         _uart_baudrate = baud;
@@ -95,11 +95,11 @@ void UARTDriver::_begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
         char *args1 = strtok_r(nullptr, ":", &saveptr);
         char *args2 = strtok_r(nullptr, ":", &saveptr);
 #if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane)
-        if (_portNumber == 2 && AP::sitl()->adsb_plane_count >= 0) {
+        if (_portNumber == 1 && AP::sitl()->adsb_plane_count >= 0) {
             // this is ordinarily port 5762.  The ADSB simulation assumed
             // this port, so if enabled we assume we'll be doing ADSB...
             // add sanity check here that we're doing mavlink on this port?
-            ::printf("SIM-ADSB connection on port %u\n", _portNumber);
+            ::printf("SIM-ADSB connection on SERIAL%u\n", _portNumber);
             _connected = true;
             _sim_serial_device = _sitlState->create_serial_sim("adsb", nullptr);
         } else
@@ -122,7 +122,7 @@ void UARTDriver::_begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
             _uart_start_connection();
         } else if (strcmp(devtype, "sim") == 0) {
             if (!_connected) {
-                ::printf("SIM connection %s:%s on port %u\n", args1, args2, _portNumber);
+                ::printf("SIM connection %s:%s on SERIAL%u\n", args1, args2, _portNumber);
                 _connected = true;
                 _sim_serial_device = _sitlState->create_serial_sim(args1, args2);
             }
@@ -334,7 +334,7 @@ void UARTDriver::_tcp_start_connection(uint16_t port, bool wait_for_connection)
             exit(1);
         }
 
-        fprintf(stderr, "bind port %u for %u\n",
+        fprintf(stderr, "bind port %u for SERIAL%u\n",
                 (unsigned)ntohs(_listen_sockaddr.sin_port),
                 (unsigned)_portNumber);
 
@@ -352,7 +352,7 @@ void UARTDriver::_tcp_start_connection(uint16_t port, bool wait_for_connection)
             exit(1);
         }
 
-        fprintf(stderr, "Serial port %u on TCP port %u\n", _portNumber,
+        fprintf(stderr, "SERIAL%u on TCP port %u\n", _portNumber,
                 (unsigned)ntohs(_listen_sockaddr.sin_port));
         fflush(stdout);
     }
@@ -630,7 +630,7 @@ void UARTDriver::_check_connection(void)
             setsockopt(_fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
             setsockopt(_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
             fcntl(_fd, F_SETFD, FD_CLOEXEC);
-            fprintf(stdout, "New connection on serial port %u\n", _portNumber);
+            fprintf(stdout, "New connection on SERIAL%u\n", _portNumber);
         }
     }
 }
@@ -917,7 +917,7 @@ void UARTDriver::handle_reading_from_device_to_readbuffer()
             close(_fd);
             _fd = -1;
             _connected = false;
-            fprintf(stdout, "Closed connection on serial port %u\n", _portNumber);
+            fprintf(stdout, "Closed connection on SERIAL%u\n", _portNumber);
             fflush(stdout);
 #if defined(__CYGWIN__) || defined(__CYGWIN64__) || defined(CYGWIN_BUILD)
             if (_portNumber == 0) {
@@ -990,7 +990,7 @@ ssize_t UARTDriver::get_system_outqueue_length() const
 uint32_t UARTDriver::bw_in_bytes_per_second() const
 {
     // if connected, assume at least a 10/100Mbps connection
-    const uint32_t bitrate = (_connected && _tcp_client_addr != nullptr) ? 10E6 : _uart_baudrate;
+    const uint32_t bitrate = _connected ? 10E6 : _uart_baudrate;
     return bitrate/10; // convert bits to bytes minus overhead
 };
 #endif // CONFIG_HAL_BOARD
diff --git a/libraries/AP_HAL_SITL/UARTDriver.h b/libraries/AP_HAL_SITL/UARTDriver.h
index d47378a8054dae..cac1dc4e7aa2c7 100644
--- a/libraries/AP_HAL_SITL/UARTDriver.h
+++ b/libraries/AP_HAL_SITL/UARTDriver.h
@@ -89,9 +89,6 @@ class HALSITL::UARTDriver : public AP_HAL::UARTDriver {
     const char *_uart_path;
     uint32_t _uart_baudrate;
 
-    // IPv4 address of target for uartC
-    const char *_tcp_client_addr;
-
     void _tcp_start_connection(uint16_t port, bool wait_for_connection);
     void _uart_start_connection(void);
     void _check_reconnect();

From f6ea8201b2c5243fd3c470e66f0eaf181137f750 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 11 Dec 2023 11:13:24 -0600
Subject: [PATCH 0150/1335] SITL: remove references to legacy UART order incl.
 sim arguments

---
 libraries/SITL/SIM_ADSB.cpp                     | 2 +-
 libraries/SITL/SIM_AIS.cpp                      | 2 +-
 libraries/SITL/SIM_AIS.h                        | 2 +-
 libraries/SITL/SIM_CRSF.h                       | 2 +-
 libraries/SITL/SIM_EFI_Hirth.h                  | 2 +-
 libraries/SITL/SIM_EFI_MegaSquirt.h             | 2 +-
 libraries/SITL/SIM_FETtecOneWireESC.h           | 2 +-
 libraries/SITL/SIM_Frsky_D.h                    | 2 +-
 libraries/SITL/SIM_GPS.h                        | 2 +-
 libraries/SITL/SIM_Gimbal.cpp                   | 2 +-
 libraries/SITL/SIM_IntelligentEnergy24.h        | 2 +-
 libraries/SITL/SIM_Morse.cpp                    | 2 +-
 libraries/SITL/SIM_PS_LightWare_SF45B.h         | 2 +-
 libraries/SITL/SIM_PS_RPLidar.h                 | 2 +-
 libraries/SITL/SIM_PS_RPLidarA1.h               | 2 +-
 libraries/SITL/SIM_PS_RPLidarA2.h               | 2 +-
 libraries/SITL/SIM_PS_TeraRangerTower.h         | 2 +-
 libraries/SITL/SIM_RF_BLping.h                  | 2 +-
 libraries/SITL/SIM_RF_Benewake_TF02.h           | 2 +-
 libraries/SITL/SIM_RF_Benewake_TF03.h           | 2 +-
 libraries/SITL/SIM_RF_Benewake_TFmini.h         | 2 +-
 libraries/SITL/SIM_RF_GYUS42v2.h                | 2 +-
 libraries/SITL/SIM_RF_JRE.h                     | 2 +-
 libraries/SITL/SIM_RF_Lanbao.h                  | 2 +-
 libraries/SITL/SIM_RF_LeddarOne.h               | 2 +-
 libraries/SITL/SIM_RF_LightWareSerial.h         | 2 +-
 libraries/SITL/SIM_RF_LightWareSerialBinary.h   | 2 +-
 libraries/SITL/SIM_RF_MAVLink.h                 | 2 +-
 libraries/SITL/SIM_RF_MaxsonarSerialLV.h        | 2 +-
 libraries/SITL/SIM_RF_NMEA.h                    | 2 +-
 libraries/SITL/SIM_RF_RDS02UF.h                 | 2 +-
 libraries/SITL/SIM_RF_TeraRanger_Serial.h       | 2 +-
 libraries/SITL/SIM_RF_USD1_v0.h                 | 2 +-
 libraries/SITL/SIM_RF_USD1_v1.h                 | 2 +-
 libraries/SITL/SIM_RF_Wasp.h                    | 2 +-
 libraries/SITL/SIM_RichenPower.h                | 2 +-
 libraries/SITL/SIM_VectorNav.h                  | 2 +-
 libraries/SITL/examples/Airsim/follow-copter.sh | 4 ++--
 libraries/SITL/examples/Airsim/multi_vehicle.sh | 4 ++--
 libraries/SITL/examples/Follow/plane_quad.sh    | 8 ++++----
 libraries/SITL/examples/Morse/start_follow.sh   | 4 ++--
 libraries/SITL/examples/follow-copter.sh        | 4 ++--
 42 files changed, 49 insertions(+), 49 deletions(-)

diff --git a/libraries/SITL/SIM_ADSB.cpp b/libraries/SITL/SIM_ADSB.cpp
index 784d032902642a..2168b922946e0c 100644
--- a/libraries/SITL/SIM_ADSB.cpp
+++ b/libraries/SITL/SIM_ADSB.cpp
@@ -164,7 +164,7 @@ void ADSB::send_report(const class Aircraft &aircraft)
 {
     if (AP_HAL::millis() < 10000) {
         // simulated aircraft don't appear until 10s after startup. This avoids a windows
-        // threading issue with non-blocking sockets and the initial wait on uartA
+        // threading issue with non-blocking sockets and the initial wait on SERIAL0
         return;
     }
 
diff --git a/libraries/SITL/SIM_AIS.cpp b/libraries/SITL/SIM_AIS.cpp
index 4372cabd5dd4f3..6aae9c3717331f 100644
--- a/libraries/SITL/SIM_AIS.cpp
+++ b/libraries/SITL/SIM_AIS.cpp
@@ -14,7 +14,7 @@
  */
 /*
     Dump logged AIS data to the serial port
-    ./Tools/autotest/sim_vehicle.py -v Rover -A --uartF=sim:AIS --custom-location 51.58689798356386,-3.9044570193067965,0,0
+    ./Tools/autotest/sim_vehicle.py -v Rover -A --serial5=sim:AIS --custom-location 51.58689798356386,-3.9044570193067965,0,0
 
     param set SERIAL5_PROTOCOL 40
     param set AIS_TYPE 1
diff --git a/libraries/SITL/SIM_AIS.h b/libraries/SITL/SIM_AIS.h
index 14bc6c90159f9f..395f0f11e5bec5 100644
--- a/libraries/SITL/SIM_AIS.h
+++ b/libraries/SITL/SIM_AIS.h
@@ -14,7 +14,7 @@
  */
 /*
     Dump logged AIS data to the serial port
-    ./Tools/autotest/sim_vehicle.py -v Rover --no-mavproxy -A --uartF=sim:AIS --custom-location 51.58689798356386,-3.9044570193067965,0,0
+    ./Tools/autotest/sim_vehicle.py -v Rover --no-mavproxy -A --serial5=sim:AIS --custom-location 51.58689798356386,-3.9044570193067965,0,0
 
     param set SERIAL5_PROTOCOL 40
     param set AIS_TYPE 1
diff --git a/libraries/SITL/SIM_CRSF.h b/libraries/SITL/SIM_CRSF.h
index bd02e92dded553..c4fcda7efabf87 100644
--- a/libraries/SITL/SIM_CRSF.h
+++ b/libraries/SITL/SIM_CRSF.h
@@ -15,7 +15,7 @@
 /*
   Simulated CRSF device
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:crsf --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:crsf --speedup=1
 
 param set SERIAL5_PROTOCOL 23
 reboot
diff --git a/libraries/SITL/SIM_EFI_Hirth.h b/libraries/SITL/SIM_EFI_Hirth.h
index cfc32517e6a76e..8ccbb8286a8ad2 100644
--- a/libraries/SITL/SIM_EFI_Hirth.h
+++ b/libraries/SITL/SIM_EFI_Hirth.h
@@ -15,7 +15,7 @@
 /*
   simulate Hirth EFI system
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduPlane -A --uartF=sim:hirth --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduPlane -A --serial5=sim:hirth --speedup=1
 param set SERIAL5_PROTOCOL 24
 param set SIM_EFI_TYPE 6
 param set EFI_TYPE 6
diff --git a/libraries/SITL/SIM_EFI_MegaSquirt.h b/libraries/SITL/SIM_EFI_MegaSquirt.h
index 813e22e5e65d90..352fbd44589eb3 100644
--- a/libraries/SITL/SIM_EFI_MegaSquirt.h
+++ b/libraries/SITL/SIM_EFI_MegaSquirt.h
@@ -15,7 +15,7 @@
 /*
   simulate MegaSquirt EFI system
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduPlane -A --uartF=sim:megasquirt --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduPlane -A --serial5=sim:megasquirt --speedup=1
 param set SERIAL5_PROTOCOL 24
 param set SIM_EFI_TYPE 1
 param set EFI_TYPE 1
diff --git a/libraries/SITL/SIM_FETtecOneWireESC.h b/libraries/SITL/SIM_FETtecOneWireESC.h
index 2d983e3b0e6cc5..a434d066987bf7 100644
--- a/libraries/SITL/SIM_FETtecOneWireESC.h
+++ b/libraries/SITL/SIM_FETtecOneWireESC.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the FETtecOneWire ESCs
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:fetteconewireesc --speedup=1 --console
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:fetteconewireesc --speedup=1 --console
 
 param set SERIAL5_PROTOCOL 38
 param set SERIAL5_BAUD 500000
diff --git a/libraries/SITL/SIM_Frsky_D.h b/libraries/SITL/SIM_Frsky_D.h
index 5d5c8fa96a36a8..eccd37db325a06 100644
--- a/libraries/SITL/SIM_Frsky_D.h
+++ b/libraries/SITL/SIM_Frsky_D.h
@@ -15,7 +15,7 @@
 /*
   Simulated Frsky D device
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:frsky-d --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:frsky-d --speedup=1
 
 param set SERIAL5_PROTOCOL 3
 reboot
diff --git a/libraries/SITL/SIM_GPS.h b/libraries/SITL/SIM_GPS.h
index 334ea2e0a077e7..87eafb00c43081 100644
--- a/libraries/SITL/SIM_GPS.h
+++ b/libraries/SITL/SIM_GPS.h
@@ -18,7 +18,7 @@
   Usage example:
 param set SERIAL5_PROTOCOL 5
 
-     sim_vehicle.py -D --console --map -A --uartB=sim:gps:2
+     sim_vehicle.py -D --console --map -A --serial5=sim:gps:2
 */
 
 #pragma once
diff --git a/libraries/SITL/SIM_Gimbal.cpp b/libraries/SITL/SIM_Gimbal.cpp
index a1997dd00fbd19..5aede11b3b40a3 100644
--- a/libraries/SITL/SIM_Gimbal.cpp
+++ b/libraries/SITL/SIM_Gimbal.cpp
@@ -258,7 +258,7 @@ void Gimbal::send_report(void)
     if (now < 10000) {
         // don't send gimbal reports until 10s after startup. This
         // avoids a windows threading issue with non-blocking sockets
-        // and the initial wait on uartA
+        // and the initial wait on SERIAL0
         return;
     }
     if (!mavlink.connected && mav_socket.connect(target_address, target_port)) {
diff --git a/libraries/SITL/SIM_IntelligentEnergy24.h b/libraries/SITL/SIM_IntelligentEnergy24.h
index 68d8782937f627..794addc7a9b033 100644
--- a/libraries/SITL/SIM_IntelligentEnergy24.h
+++ b/libraries/SITL/SIM_IntelligentEnergy24.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the IntelligentEnergy 2.4kW FuelCell
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:ie24 --speedup=1 --console
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:ie24 --speedup=1 --console
 
 param set SERIAL5_PROTOCOL 30  # Generator
 param set SERIAL5_BAUD 115200
diff --git a/libraries/SITL/SIM_Morse.cpp b/libraries/SITL/SIM_Morse.cpp
index 81ba8ce34972f7..221c6c1abe011c 100644
--- a/libraries/SITL/SIM_Morse.cpp
+++ b/libraries/SITL/SIM_Morse.cpp
@@ -602,7 +602,7 @@ void Morse::send_report(void)
     if (now < 10000) {
         // don't send lidar reports until 10s after startup. This
         // avoids a windows threading issue with non-blocking sockets
-        // and the initial wait on uartA
+        // and the initial wait on SERIAL0
         return;
     }
 #endif
diff --git a/libraries/SITL/SIM_PS_LightWare_SF45B.h b/libraries/SITL/SIM_PS_LightWare_SF45B.h
index 901a6c7988ebc5..16fd9955734efd 100644
--- a/libraries/SITL/SIM_PS_LightWare_SF45B.h
+++ b/libraries/SITL/SIM_PS_LightWare_SF45B.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the LightWare S45B proximity sensor
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:sf45b --speedup=1 -l 51.8752066,14.6487840,54.15,0
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:sf45b --speedup=1 -l 51.8752066,14.6487840,54.15,0
 
 param set SERIAL5_PROTOCOL 11  # proximity
 param set PRX1_TYPE 8  # s45b
diff --git a/libraries/SITL/SIM_PS_RPLidar.h b/libraries/SITL/SIM_PS_RPLidar.h
index bf2444f5cd5172..bb694a7bab31cb 100644
--- a/libraries/SITL/SIM_PS_RPLidar.h
+++ b/libraries/SITL/SIM_PS_RPLidar.h
@@ -17,7 +17,7 @@
 /*
   Simulator for the RPLidarA2 proximity sensor
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rplidara2 --speedup=1 -l 51.8752066,14.6487840,54.15,0 --map
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rplidara2 --speedup=1 -l 51.8752066,14.6487840,54.15,0 --map
 
 param set SERIAL5_PROTOCOL 11
 param set PRX1_TYPE 5
diff --git a/libraries/SITL/SIM_PS_RPLidarA1.h b/libraries/SITL/SIM_PS_RPLidarA1.h
index d374354e6b37aa..ca0b625270ea5f 100644
--- a/libraries/SITL/SIM_PS_RPLidarA1.h
+++ b/libraries/SITL/SIM_PS_RPLidarA1.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the RPLidarA2 proximity sensor
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rplidara1 --speedup=1 -l 51.8752066,14.6487840,0,0 --map
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rplidara1 --speedup=1 -l 51.8752066,14.6487840,0,0 --map
 
 param set SERIAL5_PROTOCOL 11
 param set PRX1_TYPE 5
diff --git a/libraries/SITL/SIM_PS_RPLidarA2.h b/libraries/SITL/SIM_PS_RPLidarA2.h
index b5beb50f3cf022..785c2bd6bce337 100644
--- a/libraries/SITL/SIM_PS_RPLidarA2.h
+++ b/libraries/SITL/SIM_PS_RPLidarA2.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the RPLidarA2 proximity sensor
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rplidara2 --speedup=1 -l 51.8752066,14.6487840,0,0 --map
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rplidara2 --speedup=1 -l 51.8752066,14.6487840,0,0 --map
 
 param set SERIAL5_PROTOCOL 11
 param set PRX1_TYPE 5
diff --git a/libraries/SITL/SIM_PS_TeraRangerTower.h b/libraries/SITL/SIM_PS_TeraRangerTower.h
index f17f491bceb67b..71b0798d52a355 100644
--- a/libraries/SITL/SIM_PS_TeraRangerTower.h
+++ b/libraries/SITL/SIM_PS_TeraRangerTower.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the TeraRangerTower proximity sensor
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:terarangertower --speedup=1 -l 51.8752066,14.6487840,54.15,0
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:terarangertower --speedup=1 -l 51.8752066,14.6487840,54.15,0
 
 param set SERIAL5_PROTOCOL 11
 param set PRX1_TYPE 3  # terarangertower
diff --git a/libraries/SITL/SIM_RF_BLping.h b/libraries/SITL/SIM_RF_BLping.h
index 7c76b31d1fc650..762e5de9611992 100644
--- a/libraries/SITL/SIM_RF_BLping.h
+++ b/libraries/SITL/SIM_RF_BLping.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the BLping rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduSub -A --uartF=sim:blping --speedup=1 -l 33.810313,-118.393867,0,185
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduSub -A --serial5=sim:blping --speedup=1 -l 33.810313,-118.393867,0,185
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 23
diff --git a/libraries/SITL/SIM_RF_Benewake_TF02.h b/libraries/SITL/SIM_RF_Benewake_TF02.h
index fac8443f6bf656..3d9604559c5ae0 100644
--- a/libraries/SITL/SIM_RF_Benewake_TF02.h
+++ b/libraries/SITL/SIM_RF_Benewake_TF02.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the Benewake TF02 RangeFinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:benewake_tf02 --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:benewake_tf02 --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 19
diff --git a/libraries/SITL/SIM_RF_Benewake_TF03.h b/libraries/SITL/SIM_RF_Benewake_TF03.h
index f8d86fdbd59d45..cd01419e3338c0 100644
--- a/libraries/SITL/SIM_RF_Benewake_TF03.h
+++ b/libraries/SITL/SIM_RF_Benewake_TF03.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the Benewake TF03 RangeFinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:benewake_tf03 --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:benewake_tf03 --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 27
diff --git a/libraries/SITL/SIM_RF_Benewake_TFmini.h b/libraries/SITL/SIM_RF_Benewake_TFmini.h
index b204fb6bf023f1..5589b5f303bc14 100644
--- a/libraries/SITL/SIM_RF_Benewake_TFmini.h
+++ b/libraries/SITL/SIM_RF_Benewake_TFmini.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the TFMini RangeFinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:benewake_tfmini --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:benewake_tfmini --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 20
diff --git a/libraries/SITL/SIM_RF_GYUS42v2.h b/libraries/SITL/SIM_RF_GYUS42v2.h
index 308123dd1813c8..7188cd30f9f92c 100644
--- a/libraries/SITL/SIM_RF_GYUS42v2.h
+++ b/libraries/SITL/SIM_RF_GYUS42v2.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the GY-US42-v2 serial rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:gyus42v2 --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:gyus42v2 --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 31
diff --git a/libraries/SITL/SIM_RF_JRE.h b/libraries/SITL/SIM_RF_JRE.h
index d10c77a5258909..4dbdbfe2c0ffdc 100644
--- a/libraries/SITL/SIM_RF_JRE.h
+++ b/libraries/SITL/SIM_RF_JRE.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the JAE JRE radio altimiter
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:jre --speedup=1 -L KalaupapaCliffs --map
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:jre --speedup=1 -L KalaupapaCliffs --map
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 38
diff --git a/libraries/SITL/SIM_RF_Lanbao.h b/libraries/SITL/SIM_RF_Lanbao.h
index a3bc74e87e05db..d773287a3ed45e 100644
--- a/libraries/SITL/SIM_RF_Lanbao.h
+++ b/libraries/SITL/SIM_RF_Lanbao.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the Lanbao rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:lanbao --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:lanbao --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 26
diff --git a/libraries/SITL/SIM_RF_LeddarOne.h b/libraries/SITL/SIM_RF_LeddarOne.h
index ad54ce38991441..21f74ac8a70cee 100644
--- a/libraries/SITL/SIM_RF_LeddarOne.h
+++ b/libraries/SITL/SIM_RF_LeddarOne.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the LeddarOne rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:leddarone --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:leddarone --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 12
diff --git a/libraries/SITL/SIM_RF_LightWareSerial.h b/libraries/SITL/SIM_RF_LightWareSerial.h
index 4591fa4a5c0ac8..686b448bcf2384 100644
--- a/libraries/SITL/SIM_RF_LightWareSerial.h
+++ b/libraries/SITL/SIM_RF_LightWareSerial.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the serial LightWare rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:lightwareserial --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:lightwareserial --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 8
diff --git a/libraries/SITL/SIM_RF_LightWareSerialBinary.h b/libraries/SITL/SIM_RF_LightWareSerialBinary.h
index 992a7b160aacad..0454fb28904f25 100644
--- a/libraries/SITL/SIM_RF_LightWareSerialBinary.h
+++ b/libraries/SITL/SIM_RF_LightWareSerialBinary.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the serial LightWare rangefinder - binary mode
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:lightwareserial-binary --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:lightwareserial-binary --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 8
diff --git a/libraries/SITL/SIM_RF_MAVLink.h b/libraries/SITL/SIM_RF_MAVLink.h
index 23b04bdaf0ea00..9d901ba75a4e65 100644
--- a/libraries/SITL/SIM_RF_MAVLink.h
+++ b/libraries/SITL/SIM_RF_MAVLink.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the NMEA serial rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rf_mavlink --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rf_mavlink --speedup=1
 
 param set SERIAL5_PROTOCOL 1
 param set RNGFND1_TYPE 10
diff --git a/libraries/SITL/SIM_RF_MaxsonarSerialLV.h b/libraries/SITL/SIM_RF_MaxsonarSerialLV.h
index 6397637f33ac40..d23a865f7f8fee 100644
--- a/libraries/SITL/SIM_RF_MaxsonarSerialLV.h
+++ b/libraries/SITL/SIM_RF_MaxsonarSerialLV.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the MaxsonarSerialLV rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:maxsonarseriallv --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:maxsonarseriallv --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 13
diff --git a/libraries/SITL/SIM_RF_NMEA.h b/libraries/SITL/SIM_RF_NMEA.h
index d9dbb8079bc3e3..4ba8feaf61244e 100644
--- a/libraries/SITL/SIM_RF_NMEA.h
+++ b/libraries/SITL/SIM_RF_NMEA.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the NMEA serial rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:nmea --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:nmea --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set SERIAL5_BAUD 9600
diff --git a/libraries/SITL/SIM_RF_RDS02UF.h b/libraries/SITL/SIM_RF_RDS02UF.h
index a96bb9b56564d0..44a387370db6b7 100644
--- a/libraries/SITL/SIM_RF_RDS02UF.h
+++ b/libraries/SITL/SIM_RF_RDS02UF.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the RDS02UF rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rds02uf --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rds02uf --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 36
diff --git a/libraries/SITL/SIM_RF_TeraRanger_Serial.h b/libraries/SITL/SIM_RF_TeraRanger_Serial.h
index 314460699fe083..31544f913826a3 100644
--- a/libraries/SITL/SIM_RF_TeraRanger_Serial.h
+++ b/libraries/SITL/SIM_RF_TeraRanger_Serial.h
@@ -12,7 +12,7 @@
  */
 /*
   Simulator for the TeraRanger NEO RangeFinder
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:teraranger_serial --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:teraranger_serial --speedup=1
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 35
 graph RANGEFINDER.distance
diff --git a/libraries/SITL/SIM_RF_USD1_v0.h b/libraries/SITL/SIM_RF_USD1_v0.h
index 866c5a8ea3f295..7a3498adb64311 100644
--- a/libraries/SITL/SIM_RF_USD1_v0.h
+++ b/libraries/SITL/SIM_RF_USD1_v0.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the USD1 v0 Serial RangeFinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:USD1_v0 --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:USD1_v0 --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 11
diff --git a/libraries/SITL/SIM_RF_USD1_v1.h b/libraries/SITL/SIM_RF_USD1_v1.h
index 2b3b4901d1c22b..d2982e2cb863b8 100644
--- a/libraries/SITL/SIM_RF_USD1_v1.h
+++ b/libraries/SITL/SIM_RF_USD1_v1.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the USD1 v1 Serial RangeFinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:USD1_v1 --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:USD1_v1 --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 11
diff --git a/libraries/SITL/SIM_RF_Wasp.h b/libraries/SITL/SIM_RF_Wasp.h
index e52d9aba989d46..a1e9b37acf5e5f 100644
--- a/libraries/SITL/SIM_RF_Wasp.h
+++ b/libraries/SITL/SIM_RF_Wasp.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the Wasp serial rangefinder
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:wasp --speedup=1
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:wasp --speedup=1
 
 param set SERIAL5_PROTOCOL 9
 param set RNGFND1_TYPE 18
diff --git a/libraries/SITL/SIM_RichenPower.h b/libraries/SITL/SIM_RichenPower.h
index f0d604c60528e3..1fa763fcf2778c 100644
--- a/libraries/SITL/SIM_RichenPower.h
+++ b/libraries/SITL/SIM_RichenPower.h
@@ -15,7 +15,7 @@
 /*
   Simulator for the RichenPower Hybrid generators
 
-./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:richenpower --speedup=1 --console
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:richenpower --speedup=1 --console
 
 param set SERIAL5_PROTOCOL 30
 param set SERIAL5_BAUD 9600
diff --git a/libraries/SITL/SIM_VectorNav.h b/libraries/SITL/SIM_VectorNav.h
index 436e19cd22d0b5..589539e5d9a8f3 100644
--- a/libraries/SITL/SIM_VectorNav.h
+++ b/libraries/SITL/SIM_VectorNav.h
@@ -20,7 +20,7 @@
      AHRS_EKF_TYPE = 11
      EAHRS_TYPE=1
 
-     sim_vehicle.py -D --console --map -A --uartF=sim:VectorNav
+     sim_vehicle.py -D --console --map -A --serial5=sim:VectorNav
 */
 
 #pragma once
diff --git a/libraries/SITL/examples/Airsim/follow-copter.sh b/libraries/SITL/examples/Airsim/follow-copter.sh
index 29fe62d0b7b64f..47625999c82c9e 100755
--- a/libraries/SITL/examples/Airsim/follow-copter.sh
+++ b/libraries/SITL/examples/Airsim/follow-copter.sh
@@ -46,7 +46,7 @@ BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm,$ROOTDIR/Tools
 }
 
 # start up main copter in the current directory
-$COPTER --model airsim-copter --uartA udpclient:$GCS_IP --uartC mcast:$MCAST_IP_PORT --defaults $BASE_DEFAULTS &
+$COPTER --model airsim-copter --serial0 udpclient:$GCS_IP --serial1 mcast:$MCAST_IP_PORT --defaults $BASE_DEFAULTS &
 
 # Set number of extra copters to be simulated, change this for increasing the count
 NCOPTERS="1"
@@ -71,7 +71,7 @@ FOLL_SYSID $FOLL_SYSID
 FOLL_DIST_MAX 1000
 EOF
     pushd copter$i
-    $COPTER --model airsim-copter --uartA tcp:0 --uartC mcast:$MCAST_IP_PORT --instance $i --defaults $BASE_DEFAULTS,follow.parm &
+    $COPTER --model airsim-copter --serial0 tcp:0 --serial1 mcast:$MCAST_IP_PORT --instance $i --defaults $BASE_DEFAULTS,follow.parm &
     popd
 done
 wait
diff --git a/libraries/SITL/examples/Airsim/multi_vehicle.sh b/libraries/SITL/examples/Airsim/multi_vehicle.sh
index 4fdd20301754b8..f02717e6fc3895 100755
--- a/libraries/SITL/examples/Airsim/multi_vehicle.sh
+++ b/libraries/SITL/examples/Airsim/multi_vehicle.sh
@@ -28,7 +28,7 @@ BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm,$ROOTDIR/Tools
 }
 
 # start up main copter in the current directory
-$COPTER --model airsim-copter --uartA udpclient:$GCS_IP:14550 --uartB tcp:0 --defaults $BASE_DEFAULTS &
+$COPTER --model airsim-copter --serial0 udpclient:$GCS_IP:14550 --serial3 tcp:0 --defaults $BASE_DEFAULTS &
 
 # Set number of "extra" copters to be simulated, change this for increasing the count
 NCOPTERS="1"
@@ -49,7 +49,7 @@ SYSID_THISMAV $SYSID
 EOF
 
     pushd copter$i
-    $COPTER --model airsim-copter --uartA udpclient:$GCS_IP:$UDP_PORT --uartB tcp:$i \
+    $COPTER --model airsim-copter --serial0 udpclient:$GCS_IP:$UDP_PORT --serial3 tcp:$i \
             --instance $i --defaults $BASE_DEFAULTS,identity.parm &
     popd
 done
diff --git a/libraries/SITL/examples/Follow/plane_quad.sh b/libraries/SITL/examples/Follow/plane_quad.sh
index 49dd4fd02aa46a..171bcdff20cbd6 100755
--- a/libraries/SITL/examples/Follow/plane_quad.sh
+++ b/libraries/SITL/examples/Follow/plane_quad.sh
@@ -13,14 +13,14 @@ PLANE=$ROOTDIR/build/sitl/bin/arduplane
 }
 
 # setup for either TCP or multicast
-#UARTA="tcp:0"
-UARTA="mcast:"
+#SERIAL0="tcp:0"
+SERIAL0="mcast:"
 
 PLANE_DEFAULTS="$ROOTDIR/Tools/autotest/models/plane.parm"
 COPTER_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm"
 
 mkdir -p swarm/plane swarm/copter
-(cd swarm/plane && $PLANE --model plane --uartA $UARTA --defaults $PLANE_DEFAULTS) &
+(cd swarm/plane && $PLANE --model plane --serial0 $SERIAL0 --defaults $PLANE_DEFAULTS) &
 
 # create default parameter file for the follower
 cat <<EOF > swarm/copter/follow.parm
@@ -32,5 +32,5 @@ FOLL_SYSID 1
 FOLL_DIST_MAX 1000
 EOF
 
-(cd swarm/copter && $COPTER --model quad --uartA $UARTA --instance 1 --defaults $COPTER_DEFAULTS,follow.parm) &
+(cd swarm/copter && $COPTER --model quad --serial0 $SERIAL0 --instance 1 --defaults $COPTER_DEFAULTS,follow.parm) &
 wait
diff --git a/libraries/SITL/examples/Morse/start_follow.sh b/libraries/SITL/examples/Morse/start_follow.sh
index 7e5300fcaa6cc5..e213eaeb8daadf 100755
--- a/libraries/SITL/examples/Morse/start_follow.sh
+++ b/libraries/SITL/examples/Morse/start_follow.sh
@@ -9,7 +9,7 @@ GCS_IP=192.168.2.48
 BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/rover.parm,$ROOTDIR/Tools/autotest/default_params/rover-skid.parm"
 
 # start up main rover in the current directory
-$ROVER --model morse-skid --uartA udpclient:$GCS_IP --uartC mcast: --defaults $BASE_DEFAULTS &
+$ROVER --model morse-skid --serial0 udpclient:$GCS_IP --serial1 mcast: --defaults $BASE_DEFAULTS &
 
 # now start 2 rovers to follow the first, using
 # a separate directory for each to keep the eeprom.bin
@@ -37,7 +37,7 @@ FOLL_SYSID $FOLL_SYSID
 FOLL_DIST_MAX 1000
 EOF
     pushd rov$i
-    $ROVER --model "morse-skid:127.0.0.1:$port1:$port2" --uartA tcp:0 --uartC mcast: --instance $i --defaults $BASE_DEFAULTS,follow.parm &
+    $ROVER --model "morse-skid:127.0.0.1:$port1:$port2" --serial0 tcp:0 --serial1 mcast: --instance $i --defaults $BASE_DEFAULTS,follow.parm &
     popd
 done
 wait
diff --git a/libraries/SITL/examples/follow-copter.sh b/libraries/SITL/examples/follow-copter.sh
index 88067001719521..8dbeebc75f0d68 100755
--- a/libraries/SITL/examples/follow-copter.sh
+++ b/libraries/SITL/examples/follow-copter.sh
@@ -75,7 +75,7 @@ AUTO_OPTIONS 7
 EOF
 
 pushd copter1
-$COPTER --model quad --home=$HOMELAT,$HOMELONG,$HOMEALT,0 --uartA udpclient:$GCS_IP --uartC mcast:$MCAST_IP_PORT --defaults $BASE_DEFAULTS,leader.parm &
+$COPTER --model quad --home=$HOMELAT,$HOMELONG,$HOMEALT,0 --serial0 udpclient:$GCS_IP --serial1 mcast:$MCAST_IP_PORT --defaults $BASE_DEFAULTS,leader.parm &
 popd
 
 # now start other copters to follow the first, using
@@ -103,7 +103,7 @@ EOF
     pushd copter$i
     LAT=$(echo "$HOMELAT + 0.0005*$i" | bc -l)
     LONG=$(echo "$HOMELONG + 0.0005*$i" | bc -l)
-    $COPTER --model quad --home=$LAT,$LONG,$HOMEALT,0 --uartA tcp:0 --uartC mcast:$MCAST_IP_PORT --instance $i --defaults $BASE_DEFAULTS,follow.parm &
+    $COPTER --model quad --home=$LAT,$LONG,$HOMEALT,0 --serial0 tcp:0 --serial1 mcast:$MCAST_IP_PORT --instance $i --defaults $BASE_DEFAULTS,follow.parm &
     popd
 done
 wait

From de5b46e028379845b96ebe7394e9c58d3d040403 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 11 Dec 2023 12:52:03 -0600
Subject: [PATCH 0151/1335] Tools: remove references to legacy UART order

Also delete some unused variables and update the completions.
---
 Tools/autotest/arducopter.py                  | 29 +++++++++---------
 Tools/autotest/arduplane.py                   |  4 +--
 Tools/autotest/pysim/util.py                  |  2 +-
 Tools/autotest/rover.py                       |  4 +--
 Tools/autotest/sim_vehicle.py                 | 17 +++++------
 Tools/autotest/vehicle_test_suite.py          | 24 +++++++--------
 Tools/completion/zsh/_ap_bin                  | 30 ++++++++++++-------
 Tools/ros2/README.md                          |  6 ++--
 .../test/ardupilot_dds_tests/conftest.py      |  2 +-
 .../ardupilot_sitl/config/copter_quad.yaml    |  2 --
 10 files changed, 63 insertions(+), 57 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 449b09064e06a2..991f088098d9c5 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -3052,7 +3052,7 @@ def VisionPosition(self):
         """Disable GPS navigation, enable Vicon input."""
         # scribble down a location we can set origin to:
 
-        self.customise_SITL_commandline(["--uartF=sim:vicon:"])
+        self.customise_SITL_commandline(["--serial5=sim:vicon:"])
         self.progress("Waiting for location")
         self.change_mode('LOITER')
         self.wait_ready_to_arm()
@@ -3153,7 +3153,7 @@ def BodyFrameOdom(self):
             # only tested on this EKF
             return
 
-        self.customise_SITL_commandline(["--uartF=sim:vicon:"])
+        self.customise_SITL_commandline(["--serial5=sim:vicon:"])
 
         if self.current_onboard_log_contains_message("XKFD"):
             raise NotAchievedException("Found unexpected XKFD message")
@@ -3293,7 +3293,7 @@ def InvalidJumpTags(self):
 
     def GPSViconSwitching(self):
         """Fly GPS and Vicon switching test"""
-        self.customise_SITL_commandline(["--uartF=sim:vicon:"])
+        self.customise_SITL_commandline(["--serial5=sim:vicon:"])
 
         """Setup parameters including switching to EKF3"""
         self.context_push()
@@ -7193,7 +7193,7 @@ def ProximitySensors(self):
             self.start_subtest("Testing %s" % name)
             self.set_parameter("PRX1_TYPE", prx_type)
             self.customise_SITL_commandline([
-                "--uartF=sim:%s:" % name,
+                "--serial5=sim:%s:" % name,
                 "--home", home_string,
             ])
             self.wait_ready_to_arm()
@@ -7630,7 +7630,7 @@ def RichenPower(self):
         })
         self.reboot_sitl()
         self.set_rc(9, 1000) # remember this is a switch position - stop
-        self.customise_SITL_commandline(["--uartF=sim:richenpower"])
+        self.customise_SITL_commandline(["--serial5=sim:richenpower"])
         self.wait_statustext("requested state is not RUN", timeout=60)
 
         self.set_message_rate_hz("GENERATOR_STATUS", 10)
@@ -7697,7 +7697,7 @@ def run_IE24(self, proto_ver):
             "LOG_DISARMED": 1,
         })
 
-        self.customise_SITL_commandline(["--uartF=sim:ie24"])
+        self.customise_SITL_commandline(["--serial5=sim:ie24"])
 
         self.start_subtest("Protocol %i: ensure that BATTERY_STATUS for electrical generator message looks right" % proto_ver)
         self.start_subsubtest("Protocol %i: Checking original voltage (electrical)" % proto_ver)
@@ -8182,7 +8182,7 @@ def fly_rangefinder_mavlink(self):
             "SERIAL5_PROTOCOL": 1,
             "RNGFND1_TYPE": 10,
         })
-        self.customise_SITL_commandline(['--uartF=sim:rf_mavlink'])
+        self.customise_SITL_commandline(['--serial5=sim:rf_mavlink'])
 
         self.change_mode('GUIDED')
         self.wait_ready_to_arm()
@@ -8329,17 +8329,16 @@ def RangeFinderDrivers(self):
             drivers = drivers[3:]
             command_line_args = []
             self.context_push()
-            for (offs, cmdline_argument, serial_num) in [(0, '--uartE', 4),
-                                                         (1, '--uartF', 5),
-                                                         (2, '--uartG', 6)]:
+            for offs in range(3):
+                serial_num = offs + 4
                 if len(do_drivers) > offs:
                     if len(do_drivers[offs]) > 2:
                         (sim_name, rngfnd_param_value, kwargs) = do_drivers[offs]
                     else:
                         (sim_name, rngfnd_param_value) = do_drivers[offs]
                         kwargs = {}
-                    command_line_args.append("%s=sim:%s" %
-                                             (cmdline_argument, sim_name))
+                    command_line_args.append("--serial%s=sim:%s" %
+                                             (serial_num, sim_name))
                     sets = {
                         "SERIAL%u_PROTOCOL" % serial_num: 9, # rangefinder
                         "RNGFND%u_TYPE" % (offs+1): rngfnd_param_value,
@@ -8380,7 +8379,7 @@ def RangeFinderDriversMaxAlt(self):
             "WPNAV_SPEED_UP": 1000,  # cm/s
         })
         self.customise_SITL_commandline([
-            "--uartE=sim:lightwareserial",
+            "--serial4=sim:lightwareserial",
         ])
         self.takeoff(95, mode='GUIDED', timeout=240, max_err=0.5)
         self.assert_rangefinder_distance_between(90, 100)
@@ -9776,7 +9775,7 @@ def FETtecESC(self):
             "SERVO8_FUNCTION": 36,
             "SIM_ESC_TELEM": 0,
         })
-        self.customise_SITL_commandline(["--uartF=sim:fetteconewireesc"])
+        self.customise_SITL_commandline(["--serial5=sim:fetteconewireesc"])
         self.FETtecESC_safety_switch()
         self.FETtecESC_esc_power_checks()
         self.FETtecESC_btw_mask_checks()
@@ -10251,7 +10250,7 @@ def test_rplidar(self, sim_device_name, expected_distances):
             "PRX1_TYPE": 5,
         })
         self.customise_SITL_commandline([
-            "--uartF=sim:%s:" % sim_device_name,
+            "--serial5=sim:%s:" % sim_device_name,
             "--home", "51.8752066,14.6487840,0,0",  # SITL has "posts" here
         ])
 
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 09041b17dab928..eb84112528a9da 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -3160,7 +3160,7 @@ def TerrainLoiter(self):
 
     def fly_external_AHRS(self, sim, eahrs_type, mission):
         """Fly with external AHRS (VectorNav)"""
-        self.customise_SITL_commandline(["--uartE=sim:%s" % sim])
+        self.customise_SITL_commandline(["--serial4=sim:%s" % sim])
 
         self.set_parameters({
             "EAHRS_TYPE": eahrs_type,
@@ -4218,7 +4218,7 @@ def EFITest(self, efi_type, name, sim_name, check_fuel_flow=True):
         })
 
         self.customise_SITL_commandline(
-            ["--uartF=sim:%s" % sim_name,
+            ["--serial5=sim:%s" % sim_name,
              ],
         )
         self.wait_ready_to_arm()
diff --git a/Tools/autotest/pysim/util.py b/Tools/autotest/pysim/util.py
index beed41e777c75c..fb20b0c61a942a 100644
--- a/Tools/autotest/pysim/util.py
+++ b/Tools/autotest/pysim/util.py
@@ -539,7 +539,7 @@ def start_SITL(binary,
         if unhide_parameters:
             cmd.extend(['--unhide-groups'])
         # somewhere for MAVProxy to connect to:
-        cmd.append('--uartC=tcp:2')
+        cmd.append('--serial1=tcp:2')
         if not enable_fgview_output:
             cmd.append("--disable-fgview")
 
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index f1eeb76c618015..2f0870b351c16e 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -6114,14 +6114,14 @@ def DepthFinder(self):
         '''Test mulitple depthfinders for boats'''
         # Setup rangefinders
         self.customise_SITL_commandline([
-            "--uartH=sim:nmea", # NMEA Rangefinder
+            "--serial7=sim:nmea", # NMEA Rangefinder
         ])
 
         # RANGEFINDER_INSTANCES = [0, 2, 5]
         self.set_parameters({
             "RNGFND1_TYPE" : 17,     # NMEA must attach uart to SITL
             "RNGFND1_ORIENT" : 25,   # Set to downward facing
-            "SERIAL7_PROTOCOL" : 9,  # Rangefinder on uartH
+            "SERIAL7_PROTOCOL" : 9,  # Rangefinder on serial7
             "SERIAL7_BAUD" : 9600,   # Rangefinder specific baudrate
 
             "RNGFND3_TYPE" : 2,      # MaxbotixI2C
diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py
index 065b5265c1c53f..5a0ccb5c5ddf3b 100755
--- a/Tools/autotest/sim_vehicle.py
+++ b/Tools/autotest/sim_vehicle.py
@@ -635,13 +635,13 @@ def run_in_terminal_window(name, cmd, **kw):
         subprocess.Popen(runme, **kw)
 
 
-tracker_uarta = None  # blemish
+tracker_serial0 = None  # blemish
 
 
 def start_antenna_tracker(opts):
     """Compile and run the AntennaTracker, add tracker to mavproxy"""
 
-    global tracker_uarta
+    global tracker_serial0
     progress("Preparing antenna tracker")
     tracker_home = find_location_by_name(opts.tracker_location)
     vehicledir = os.path.join(autotest_dir, "../../" + "AntennaTracker")
@@ -652,7 +652,7 @@ def start_antenna_tracker(opts):
     tracker_instance = 1
     oldpwd = os.getcwd()
     os.chdir(vehicledir)
-    tracker_uarta = "tcp:127.0.0.1:" + str(5760 + 10 * tracker_instance)
+    tracker_serial0 = "tcp:127.0.0.1:" + str(5760 + 10 * tracker_instance)
     binary_basedir = "build/sitl"
     exe = os.path.join(root_dir,
                        binary_basedir,
@@ -669,7 +669,6 @@ def start_antenna_tracker(opts):
 def start_CAN_Periph(opts, frame_info):
     """Compile and run the sitl_periph"""
 
-    global can_uarta
     progress("Preparing sitl_periph_gps")
     options = vinfo.options["sitl_periph_gps"]['frames']['gps']
     defaults_path = frame_info.get('periph_params_filename', None)
@@ -838,9 +837,9 @@ def start_vehicle(binary, opts, stuff, spawns=None):
         if spawns is not None:
             c.extend(["--home", spawns[i]])
         if opts.mcast:
-            c.extend(["--uartA", "mcast:"])
+            c.extend(["--serial0", "mcast:"])
         elif opts.udp:
-            c.extend(["--uartA", "udpclient:127.0.0.1:" + str(5760+i*10)])
+            c.extend(["--serial0", "udpclient:127.0.0.1:" + str(5760+i*10)])
         if opts.auto_sysid:
             if opts.sysid is not None:
                 raise ValueError("Can't use auto-sysid and sysid together")
@@ -901,12 +900,12 @@ def start_mavproxy(opts, stuff):
 
     if opts.tracker:
         cmd.extend(["--load-module", "tracker"])
-        global tracker_uarta
-        # tracker_uarta is set when we start the tracker...
+        global tracker_serial0
+        # tracker_serial0 is set when we start the tracker...
         extra_cmd += ("module load map;"
                       "tracker set port %s; "
                       "tracker start; "
-                      "tracker arm;" % (tracker_uarta,))
+                      "tracker arm;" % (tracker_serial0,))
 
     if opts.mavlink_gimbal:
         cmd.extend(["--load-module", "gimbal"])
diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index b94581334ae6fb..04ce66a804d472 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -2942,7 +2942,7 @@ def customise_SITL_commandline(self,
                                    wipe=False,
                                    set_streamrate_callback=None,
                                    binary=None):
-        '''customisations could be "--uartF=sim:nmea" '''
+        '''customisations could be "--serial5=sim:nmea" '''
         self.contexts[-1].sitl_commandline_customised = True
         self.mav.close()
         self.stop_SITL()
@@ -11939,8 +11939,8 @@ def NMEAOutput(self):
         self.set_parameter("GPS_TYPE2", 5) # GPS2 is NMEA
         port = self.spare_network_port()
         self.customise_SITL_commandline([
-            "--uartE=tcp:%u" % port, # GPS2 is NMEA....
-            "--uartF=tcpclient:127.0.0.1:%u" % port, # serial5 spews to localhost port
+            "--serial4=tcp:%u" % port, # GPS2 is NMEA....
+            "--serial5=tcpclient:127.0.0.1:%u" % port, # serial5 spews to localhost port
         ])
         self.do_timesync_roundtrip()
         self.wait_gps_fix_type_gte(3)
@@ -12556,7 +12556,7 @@ def FRSkyPassThroughStatustext(self):
         })
         port = self.spare_network_port()
         self.customise_SITL_commandline([
-            "--uartF=tcp:%u" % port # serial5 spews to localhost port
+            "--serial5=tcp:%u" % port # serial5 spews to localhost port
         ])
         frsky = FRSkyPassThrough(("127.0.0.1", port),
                                  get_time=self.get_sim_time_cached)
@@ -12647,7 +12647,7 @@ def FRSkyPassThroughSensorIDs(self):
         })
         port = self.spare_network_port()
         self.customise_SITL_commandline([
-            "--uartF=tcp:%u" % port # serial5 spews to localhost port
+            "--serial5=tcp:%u" % port # serial5 spews to localhost port
         ])
         frsky = FRSkyPassThrough(("127.0.0.1", port),
                                  get_time=self.get_sim_time_cached)
@@ -12802,7 +12802,7 @@ def FRSkyMAVlite(self):
         self.set_parameter("SERIAL5_PROTOCOL", 10) # serial5 is FRSky passthrough
         port = self.spare_network_port()
         self.customise_SITL_commandline([
-            "--uartF=tcp:%u" % port # serial5 spews to localhost port
+            "--serial5=tcp:%u" % port # serial5 spews to localhost port
         ])
         frsky = FRSkyPassThrough(("127.0.0.1", port))
         frsky.connect()
@@ -13077,7 +13077,7 @@ def FRSkySPort(self):
         self.set_parameter("RPM1_TYPE", 10) # enable SITL RPM sensor
         port = self.spare_network_port()
         self.customise_SITL_commandline([
-            "--uartF=tcp:%u" % port # serial5 spews to localhost port
+            "--serial5=tcp:%u" % port # serial5 spews to localhost port
         ])
         frsky = FRSkySPort(("127.0.0.1", port), verbose=True)
         self.wait_ready_to_arm()
@@ -13150,7 +13150,7 @@ def FRSkyD(self):
         self.set_parameter("SERIAL5_PROTOCOL", 3) # serial5 is FRSky output
         port = self.spare_network_port()
         self.customise_SITL_commandline([
-            "--uartF=tcp:%u" % port # serial5 spews to localhost port
+            "--serial5=tcp:%u" % port # serial5 spews to localhost port
         ])
         frsky = FRSkyD(("127.0.0.1", port))
         self.wait_ready_to_arm()
@@ -13269,7 +13269,7 @@ def LTM(self):
         self.set_parameter("SERIAL5_PROTOCOL", 25) # serial5 is LTM output
         port = self.spare_network_port()
         self.customise_SITL_commandline([
-            "--uartF=tcp:%u" % port  # serial5 spews to localhost port
+            "--serial5=tcp:%u" % port  # serial5 spews to localhost port
         ])
         ltm = LTM(("127.0.0.1", port))
         self.wait_ready_to_arm()
@@ -13312,7 +13312,7 @@ def DEVO(self):
         self.set_parameter("SERIAL5_PROTOCOL", 17) # serial5 is DEVO output
         port = self.spare_network_port()
         self.customise_SITL_commandline([
-            "--uartF=tcp:%u" % port  # serial5 spews to localhost port
+            "--serial5=tcp:%u" % port  # serial5 spews to localhost port
         ])
         devo = DEVO(("127.0.0.1", port))
         self.wait_ready_to_arm()
@@ -13385,7 +13385,7 @@ def MSP_DJI(self):
         self.set_parameter("MSP_OPTIONS", 1) # telemetry (unpolled) mode
         port = self.spare_network_port()
         self.customise_SITL_commandline([
-            "--uartF=tcp:%u" % port # serial5 spews to localhost port
+            "--serial5=tcp:%u" % port # serial5 spews to localhost port
         ])
         msp = MSP_DJI(("127.0.0.1", port))
         self.wait_ready_to_arm()
@@ -13413,7 +13413,7 @@ def CRSF(self):
             self.set_parameter("SERIAL5_PROTOCOL", 23) # serial5 is RCIN input
             port = self.spare_network_port()
             self.customise_SITL_commandline([
-                "--uartF=tcp:%u" % port # serial5 reads from to localhost port
+                "--serial5=tcp:%u" % port # serial5 reads from to localhost port
             ])
             crsf = CRSF(("127.0.0.1", port))
             crsf.connect()
diff --git a/Tools/completion/zsh/_ap_bin b/Tools/completion/zsh/_ap_bin
index cc5b7417f63657..67e1cdd867e01e 100644
--- a/Tools/completion/zsh/_ap_bin
+++ b/Tools/completion/zsh/_ap_bin
@@ -21,16 +21,26 @@ _ap_bin() {
     '--gimbal[enable simulated MAVLink gimbal]' \
     '--autotest-dir[set directory for additional files]:DIR:' \
     '--defaults[set path to defaults file]:PATH:' \
-    '--uartA[set device string for UARTA]:DEVICE:' \
-    '--uartB[set device string for UARTB]:DEVICE:' \
-    '--uartC[set device string for UARTC]:DEVICE:' \
-    '--uartD[set device string for UARTD]:DEVICE:' \
-    '--uartE[set device string for UARTE]:DEVICE:' \
-    '--uartF[set device string for UARTF]:DEVICE:' \
-    '--uartG[set device string for UARTG]:DEVICE:' \
-    '--uartH[set device string for UARTH]:DEVICE:' \
-    '--uartI[set device string for UARTI]:DEVICE:' \
-    '--uartJ[set device string for UARTJ]:DEVICE:' \
+    '--uartA[set device string for SERIAL0]:DEVICE:' \
+    '--uartC[set device string for SERIAL1]:DEVICE:' \
+    '--uartD[set device string for SERIAL2]:DEVICE:' \
+    '--uartB[set device string for SERIAL3]:DEVICE:' \
+    '--uartE[set device string for SERIAL4]:DEVICE:' \
+    '--uartF[set device string for SERIAL5]:DEVICE:' \
+    '--uartG[set device string for SERIAL6]:DEVICE:' \
+    '--uartH[set device string for SERIAL7]:DEVICE:' \
+    '--uartI[set device string for SERIAL8]:DEVICE:' \
+    '--uartJ[set device string for SERIAL9]:DEVICE:' \
+    '--serial0[set device string for SERIAL0]:DEVICE:' \
+    '--serial1[set device string for SERIAL1]:DEVICE:' \
+    '--serial2[set device string for SERIAL2]:DEVICE:' \
+    '--serial3[set device string for SERIAL3]:DEVICE:' \
+    '--serial4[set device string for SERIAL4]:DEVICE:' \
+    '--serial5[set device string for SERIAL5]:DEVICE:' \
+    '--serial6[set device string for SERIAL6]:DEVICE:' \
+    '--serial7[set device string for SERIAL7]:DEVICE:' \
+    '--serial8[set device string for SERIAL8]:DEVICE:' \
+    '--serial9[set device string for SERIAL9]:DEVICE:' \
     '--rtscts[enable rtscts on serial ports (default false)]' \
     '--base-port[set port num for base port(default 5670) must be before -I option]:PORT:' \
     '--rc-in-port[set port num for rc in]:PORT:' \
diff --git a/Tools/ros2/README.md b/Tools/ros2/README.md
index bdd055e3f13291..9832e412f999d5 100644
--- a/Tools/ros2/README.md
+++ b/Tools/ros2/README.md
@@ -187,7 +187,7 @@ ros2 run micro_ros_agent micro_ros_agent serial --baudrate 115200 --dev ./dev/tt
 ```
 
 ```bash
-arducopter --synthetic-clock --wipe --model quad --speedup 1 --slave 0 --instance 0 --uartC uart:./dev/ttyROS1 --defaults $(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_serial.parm --sim-address 127.0.0.1
+arducopter --synthetic-clock --wipe --model quad --speedup 1 --slave 0 --instance 0 --serial1 uart:./dev/ttyROS1 --defaults $(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_serial.parm --sim-address 127.0.0.1
 ```
 
 ```bash
@@ -205,7 +205,7 @@ ros2 launch ardupilot_sitl micro_ros_agent.launch.py transport:=serial refs:=$(r
 ```
 
 ```bash
-ros2 launch ardupilot_sitl sitl.launch.py synthetic_clock:=True wipe:=True model:=quad speedup:=1 slave:=0 instance:=0 uartC:=uart:./dev/ttyROS1 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_serial.parm sim_address:=127.0.0.1
+ros2 launch ardupilot_sitl sitl.launch.py synthetic_clock:=True wipe:=True model:=quad speedup:=1 slave:=0 instance:=0 serial1:=uart:./dev/ttyROS1 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_serial.parm sim_address:=127.0.0.1
 ```
 
 ```bash
@@ -231,7 +231,7 @@ model:=quad \
 speedup:=1 \
 slave:=0 \
 instance:=0 \
-uartC:=uart:./dev/ttyROS1 \
+serial1:=uart:./dev/ttyROS1 \
 defaults:=$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/copter.parm,$(ros2 pkg prefix ardupilot_sitl)/share/ardupilot_sitl/config/default_params/dds_serial.parm \
 sim_address:=127.0.0.1 \
 \
diff --git a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/conftest.py b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/conftest.py
index 66a71779fa28ff..f1a1a4532ea243 100644
--- a/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/conftest.py
+++ b/Tools/ros2/ardupilot_dds_tests/test/ardupilot_dds_tests/conftest.py
@@ -145,7 +145,7 @@ def sitl_copter_dds_serial(device_dir, virtual_ports, micro_ros_agent_serial, ma
             "speedup": "10",
             "slave": "0",
             "instance": "0",
-            "uartC": f"uart:{str(tty1)}",
+            "serial1": f"uart:{str(tty1)}",
             "defaults": str(
                 Path(
                     get_package_share_directory("ardupilot_sitl"),
diff --git a/Tools/ros2/ardupilot_sitl/config/copter_quad.yaml b/Tools/ros2/ardupilot_sitl/config/copter_quad.yaml
index 02ad121f3a9c95..9fa079957a9f8a 100644
--- a/Tools/ros2/ardupilot_sitl/config/copter_quad.yaml
+++ b/Tools/ros2/ardupilot_sitl/config/copter_quad.yaml
@@ -12,8 +12,6 @@
     # rate: 400
     # console: true
     # home: [lat, lon, alt, yaw]
-    # uartA: /dev/tty0
-    # uartB: /dev/tty1
     # serial0: /dev/usb0
     # serial1: /dev/usb1
     # sim_port_in: 5501

From a82d051140528bb0f2b7df58e69c7453c93bd1a6 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 11 Dec 2023 10:55:07 -0600
Subject: [PATCH 0152/1335] Tracker: remove references to legacy UART order

---
 AntennaTracker/Parameters.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/AntennaTracker/Parameters.h b/AntennaTracker/Parameters.h
index 972c36f52505e8..e43876f8ded8d5 100644
--- a/AntennaTracker/Parameters.h
+++ b/AntennaTracker/Parameters.h
@@ -44,8 +44,8 @@ class Parameters {
         k_param_format_version = 0,
         k_param_software_type,      // deprecated
 
-        k_param_gcs0 = 100,         // stream rates for uartA
-        k_param_gcs1,               // stream rates for uartC
+        k_param_gcs0 = 100,         // stream rates for SERIAL0
+        k_param_gcs1,               // stream rates for SERIAL1
         k_param_sysid_this_mav,
         k_param_sysid_my_gcs,
         k_param_serial0_baud,       // deprecated
@@ -60,7 +60,7 @@ class Parameters {
         k_param_sitl,
         k_param_pidPitch_old,   // deprecated
         k_param_pidYaw_old,     // deprecated
-        k_param_gcs2,               // stream rates for uartD
+        k_param_gcs2,               // stream rates for SERIAL2
         k_param_serial2_baud,       // deprecated
 
         k_param_yaw_slew_time,

From f20893259d28c48550e3ef5498c4c4cd649c3158 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 11 Dec 2023 10:56:09 -0600
Subject: [PATCH 0153/1335] Plane: remove references to legacy UART order

---
 ArduPlane/Parameters.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 7210bfe7771267..2a9a5ef0719868 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -159,14 +159,14 @@ class Parameters {
 
         // 110: Telemetry control
         //
-        k_param_gcs0 = 110,         // stream rates for uartA
-        k_param_gcs1,               // stream rates for uartC
+        k_param_gcs0 = 110,         // stream rates for SERIAL0
+        k_param_gcs1,               // stream rates for SERIAL1
         k_param_sysid_this_mav,
         k_param_sysid_my_gcs,
         k_param_serial1_baud_old,   // deprecated
         k_param_telem_delay,
         k_param_serial0_baud_old,   // deprecated
-        k_param_gcs2,               // stream rates for uartD
+        k_param_gcs2,               // stream rates for SERIAL2
         k_param_serial2_baud_old,   // deprecated
         k_param_serial2_protocol,   // deprecated
 

From 93724d9e757aebab71eef44eab35c7daf139b88c Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 11 Dec 2023 10:57:00 -0600
Subject: [PATCH 0154/1335] Rover: remove references to legacy UART order

---
 Rover/Parameters.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Rover/Parameters.h b/Rover/Parameters.h
index 035d16f4d0ffb4..b4b7b019845cd8 100644
--- a/Rover/Parameters.h
+++ b/Rover/Parameters.h
@@ -79,15 +79,15 @@ class Parameters {
 
         // 110: Telemetry control
         //
-        k_param_gcs0 = 110,         // stream rates for uartA
-        k_param_gcs1,               // stream rates for uartC
+        k_param_gcs0 = 110,         // stream rates for SERIAL0
+        k_param_gcs1,               // stream rates for SERIAL1
         k_param_sysid_this_mav,
         k_param_sysid_my_gcs,
         k_param_serial0_baud_old,   // unused
         k_param_serial1_baud_old,   // unused
         k_param_telem_delay,
         k_param_skip_gyro_cal,      // unused
-        k_param_gcs2,               // stream rates for uartD
+        k_param_gcs2,               // stream rates for SERIAL2
         k_param_serial2_baud_old,   // unused
         k_param_serial2_protocol,   // deprecated, can be deleted
         k_param_serial_manager,     // serial manager library

From 94888822be838df27612cf6c8e1b3abd89da694a Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 11 Dec 2023 10:59:20 -0600
Subject: [PATCH 0155/1335] GCS_MAVLink: correct comment about stream array

---
 libraries/GCS_MAVLink/GCS_MAVLink.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.h b/libraries/GCS_MAVLink/GCS_MAVLink.h
index 26a30d068d312c..36e0cd3fb0851b 100644
--- a/libraries/GCS_MAVLink/GCS_MAVLink.h
+++ b/libraries/GCS_MAVLink/GCS_MAVLink.h
@@ -43,7 +43,7 @@
 
 #include "include/mavlink/v2.0/mavlink_types.h"
 
-/// MAVLink stream used for uartA
+/// MAVLink streams used for each telemetry port
 extern AP_HAL::UARTDriver	*mavlink_comm_port[MAVLINK_COMM_NUM_BUFFERS];
 extern bool gcs_alternative_active[MAVLINK_COMM_NUM_BUFFERS];
 

From 8ee9dd13bedffb7b52648fe3c172b0d7b81f2007 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 11 Dec 2023 12:51:04 -0600
Subject: [PATCH 0156/1335] AP_Scripting: remove references to legacy UART
 order

---
 .../applets/Aerobatics/FixedWing/dual_plane.sh            | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh
index 64704f9cc70231..fa67876008e8e8 100755
--- a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh
+++ b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh
@@ -15,12 +15,12 @@ LOC2="-35.36274593,149.16516256,585,353.8"
 }
 
 # setup multicast
-#UARTA="tcp:0"
-UARTA="mcast:"
+#SERIAL0="tcp:0"
+SERIAL0="mcast:"
 
 PLANE_DEFAULTS="$ROOTDIR/Tools/autotest/models/plane-3d.parm"
 
-(cd ArduPlane/AeroBatics1 && $PLANE --instance 1 --home $LOC1 --model plane-3d --uartA $UARTA --defaults $PLANE_DEFAULTS) &
-(cd ArduPlane/AeroBatics2 && $PLANE --instance 2 --home $LOC2 --model plane-3d --uartA $UARTA --defaults $PLANE_DEFAULTS) &
+(cd ArduPlane/AeroBatics1 && $PLANE --instance 1 --home $LOC1 --model plane-3d --serial0 $SERIAL0 --defaults $PLANE_DEFAULTS) &
+(cd ArduPlane/AeroBatics2 && $PLANE --instance 2 --home $LOC2 --model plane-3d --serial0 $SERIAL0 --defaults $PLANE_DEFAULTS) &
 
 wait

From f0a92889fa0ffb565690f5e27a1eab0b2546f875 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 11 Dec 2023 13:21:14 -0600
Subject: [PATCH 0157/1335] AP_DDS: remove references to legacy UART order

---
 libraries/AP_DDS/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_DDS/README.md b/libraries/AP_DDS/README.md
index 1af0af6f6001a1..bbbe091d9412d6 100644
--- a/libraries/AP_DDS/README.md
+++ b/libraries/AP_DDS/README.md
@@ -189,7 +189,7 @@ Next, follow the associated section for your chosen transport, and finally you c
 - Run SITL (remember to kill any terminals running ardupilot SITL beforehand)
   ```console
   # assuming we are using /dev/pts/1 for Ardupilot SITL
-  sim_vehicle.py -v ArduPlane -DG --console --enable-dds -A "--uartC=uart:/dev/pts/1"
+  sim_vehicle.py -v ArduPlane -DG --console --enable-dds -A "--serial1=uart:/dev/pts/1"
   ```
 
 ## Use ROS 2 CLI

From ae7170501d249439501daa5411ba592487854a99 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 11 Dec 2023 13:32:53 -0600
Subject: [PATCH 0158/1335] AP_FETtecOneWire: remove references to legacy UART
 order

---
 libraries/AP_FETtecOneWire/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_FETtecOneWire/README.md b/libraries/AP_FETtecOneWire/README.md
index 482670b0fbf832..7f0d2549f02f44 100644
--- a/libraries/AP_FETtecOneWire/README.md
+++ b/libraries/AP_FETtecOneWire/README.md
@@ -30,7 +30,7 @@ For purchase, connection and configuration information please see the [ArduPilot
   - check that the ESCs are periodically sending telemetry data
 - re-init and configure an ESC(s) if not armed (motors not spinning) when
   - telemetry communication with the ESC(s) is lost
-- adds a serial simulator (--uartF=sim:fetteconewireesc) of FETtec OneWire ESCs
+- adds a serial simulator (--serial5=sim:fetteconewireesc) of FETtec OneWire ESCs
 - adds autotest (using the simulator) to:
   - simulate telemetry voltage, current, temperature, RPM data using SITL internal variables
   - test the safety switch functionality

From cc5b095d59f6044adeb54460eca31d00031322dc Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 11 Dec 2023 13:03:32 -0600
Subject: [PATCH 0159/1335] AP_SerialManager: clarify comment regarding legacy
 UART order

---
 libraries/AP_SerialManager/AP_SerialManager_config.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AP_SerialManager/AP_SerialManager_config.h b/libraries/AP_SerialManager/AP_SerialManager_config.h
index 801b52a163ae0a..386d15dbfbc4e7 100644
--- a/libraries/AP_SerialManager/AP_SerialManager_config.h
+++ b/libraries/AP_SerialManager/AP_SerialManager_config.h
@@ -27,8 +27,7 @@
 #if HAL_UART_NUM_SERIAL_PORTS >= 4
 #define SERIALMANAGER_NUM_PORTS HAL_UART_NUM_SERIAL_PORTS
 #else
-// we need a minimum of 4 to allow for a GPS due to the odd ordering
-// of hal.uartB as SERIAL3
+// we want a minimum of 4 as the default GPS port is SERIAL3
 #define SERIALMANAGER_NUM_PORTS 4
 #endif
 #else

From 14180b5b93843ac7d5a7c926458392ff5ac2dec0 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Tue, 12 Dec 2023 11:24:53 -0600
Subject: [PATCH 0160/1335] AP_HAL_SITL: deprecate and warn on legacy --uartX
 option use

---
 Tools/completion/zsh/_ap_bin           | 20 ++++----
 libraries/AP_HAL_SITL/SITL_cmdline.cpp | 71 ++++++++++++++++++--------
 2 files changed, 61 insertions(+), 30 deletions(-)

diff --git a/Tools/completion/zsh/_ap_bin b/Tools/completion/zsh/_ap_bin
index 67e1cdd867e01e..87352789163701 100644
--- a/Tools/completion/zsh/_ap_bin
+++ b/Tools/completion/zsh/_ap_bin
@@ -21,16 +21,16 @@ _ap_bin() {
     '--gimbal[enable simulated MAVLink gimbal]' \
     '--autotest-dir[set directory for additional files]:DIR:' \
     '--defaults[set path to defaults file]:PATH:' \
-    '--uartA[set device string for SERIAL0]:DEVICE:' \
-    '--uartC[set device string for SERIAL1]:DEVICE:' \
-    '--uartD[set device string for SERIAL2]:DEVICE:' \
-    '--uartB[set device string for SERIAL3]:DEVICE:' \
-    '--uartE[set device string for SERIAL4]:DEVICE:' \
-    '--uartF[set device string for SERIAL5]:DEVICE:' \
-    '--uartG[set device string for SERIAL6]:DEVICE:' \
-    '--uartH[set device string for SERIAL7]:DEVICE:' \
-    '--uartI[set device string for SERIAL8]:DEVICE:' \
-    '--uartJ[set device string for SERIAL9]:DEVICE:' \
+    '--uartA[(deprecated) set device string for SERIAL0]:DEVICE:' \
+    '--uartC[(deprecated) set device string for SERIAL1]:DEVICE:' \
+    '--uartD[(deprecated) set device string for SERIAL2]:DEVICE:' \
+    '--uartB[(deprecated) set device string for SERIAL3]:DEVICE:' \
+    '--uartE[(deprecated) set device string for SERIAL4]:DEVICE:' \
+    '--uartF[(deprecated) set device string for SERIAL5]:DEVICE:' \
+    '--uartG[(deprecated) set device string for SERIAL6]:DEVICE:' \
+    '--uartH[(deprecated) set device string for SERIAL7]:DEVICE:' \
+    '--uartI[(deprecated) set device string for SERIAL8]:DEVICE:' \
+    '--uartJ[(deprecated) set device string for SERIAL9]:DEVICE:' \
     '--serial0[set device string for SERIAL0]:DEVICE:' \
     '--serial1[set device string for SERIAL1]:DEVICE:' \
     '--serial2[set device string for SERIAL2]:DEVICE:' \
diff --git a/libraries/AP_HAL_SITL/SITL_cmdline.cpp b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
index 5ca530e38b0727..1daa760e8526ca 100644
--- a/libraries/AP_HAL_SITL/SITL_cmdline.cpp
+++ b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
@@ -92,16 +92,16 @@ void SITL_State::_usage(void)
            "\t--gimbal                 enable simulated MAVLink gimbal\n"
            "\t--autotest-dir DIR       set directory for additional files\n"
            "\t--defaults path          set path to defaults file\n"
-           "\t--uartA device           set device string for SERIAL0\n"
-           "\t--uartB device           set device string for SERIAL3\n" // ordering captures the historical use of uartB as SERIAL3
-           "\t--uartC device           set device string for SERIAL1\n"
-           "\t--uartD device           set device string for SERIAL2\n"
-           "\t--uartE device           set device string for SERIAL4\n"
-           "\t--uartF device           set device string for SERIAL5\n"
-           "\t--uartG device           set device string for SERIAL6\n"
-           "\t--uartH device           set device string for SERIAL7\n"
-           "\t--uartI device           set device string for SERIAL8\n"
-           "\t--uartJ device           set device string for SERIAL9\n"
+           "\t--uartA device           (deprecated) set device string for SERIAL0\n"
+           "\t--uartC device           (deprecated) set device string for SERIAL1\n" // ordering captures the historical use of uartB as SERIAL3
+           "\t--uartD device           (deprecated) set device string for SERIAL2\n"
+           "\t--uartB device           (deprecated) set device string for SERIAL3\n"
+           "\t--uartE device           (deprecated) set device string for SERIAL4\n"
+           "\t--uartF device           (deprecated) set device string for SERIAL5\n"
+           "\t--uartG device           (deprecated) set device string for SERIAL6\n"
+           "\t--uartH device           (deprecated) set device string for SERIAL7\n"
+           "\t--uartI device           (deprecated) set device string for SERIAL8\n"
+           "\t--uartJ device           (deprecated) set device string for SERIAL9\n"
            "\t--serial0 device         set device string for SERIAL0\n"
            "\t--serial1 device         set device string for SERIAL1\n"
            "\t--serial2 device         set device string for SERIAL2\n"
@@ -246,6 +246,16 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         CMDLINE_FGVIEW,
         CMDLINE_AUTOTESTDIR,
         CMDLINE_DEFAULTS,
+        CMDLINE_UARTA,  // must be in A-J order and numbered consecutively
+        CMDLINE_UARTB,
+        CMDLINE_UARTC,
+        CMDLINE_UARTD,
+        CMDLINE_UARTE,
+        CMDLINE_UARTF,
+        CMDLINE_UARTG,
+        CMDLINE_UARTH,
+        CMDLINE_UARTI,
+        CMDLINE_UARTJ,
         CMDLINE_SERIAL0, // must be in 0-9 order and numbered consecutively
         CMDLINE_SERIAL1,
         CMDLINE_SERIAL2,
@@ -295,16 +305,16 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         {"disable-fgview",  false,  0, CMDLINE_FGVIEW},
         {"autotest-dir",    true,   0, CMDLINE_AUTOTESTDIR},
         {"defaults",        true,   0, CMDLINE_DEFAULTS},
-        {"uartA",           true,   0, CMDLINE_SERIAL0},
-        {"uartB",           true,   0, CMDLINE_SERIAL3}, // ordering captures the historical use of uartB as SERIAL3
-        {"uartC",           true,   0, CMDLINE_SERIAL1},
-        {"uartD",           true,   0, CMDLINE_SERIAL2},
-        {"uartE",           true,   0, CMDLINE_SERIAL4},
-        {"uartF",           true,   0, CMDLINE_SERIAL5},
-        {"uartG",           true,   0, CMDLINE_SERIAL6},
-        {"uartH",           true,   0, CMDLINE_SERIAL7},
-        {"uartI",           true,   0, CMDLINE_SERIAL8},
-        {"uartJ",           true,   0, CMDLINE_SERIAL9},
+        {"uartA",           true,   0, CMDLINE_UARTA},
+        {"uartB",           true,   0, CMDLINE_UARTB},
+        {"uartC",           true,   0, CMDLINE_UARTC},
+        {"uartD",           true,   0, CMDLINE_UARTD},
+        {"uartE",           true,   0, CMDLINE_UARTE},
+        {"uartF",           true,   0, CMDLINE_UARTF},
+        {"uartG",           true,   0, CMDLINE_UARTG},
+        {"uartH",           true,   0, CMDLINE_UARTH},
+        {"uartI",           true,   0, CMDLINE_UARTI},
+        {"uartJ",           true,   0, CMDLINE_UARTJ},
         {"serial0",         true,   0, CMDLINE_SERIAL0},
         {"serial1",         true,   0, CMDLINE_SERIAL1},
         {"serial2",         true,   0, CMDLINE_SERIAL2},
@@ -439,6 +449,27 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         case CMDLINE_DEFAULTS:
             defaults_path = strdup(gopt.optarg);
             break;
+        case CMDLINE_UARTA:
+        case CMDLINE_UARTB:
+        case CMDLINE_UARTC:
+        case CMDLINE_UARTD:
+        case CMDLINE_UARTE:
+        case CMDLINE_UARTF:
+        case CMDLINE_UARTG:
+        case CMDLINE_UARTH:
+        case CMDLINE_UARTI:
+        case CMDLINE_UARTJ: {
+            int uart_idx = opt - CMDLINE_UARTA;
+            // ordering captures the historical use of uartB as SERIAL3
+            static const uint8_t mapping[] = { 0, 3, 1, 2, 4, 5, 6, 7, 8, 9 };
+            int serial_idx = mapping[uart_idx];
+            char uart_letter = (char)(uart_idx)+'A';
+            printf("WARNING: deprecated option --uart%c will be removed in a "
+                "future release. Use --serial%d instead.\n",
+                uart_letter, serial_idx);
+            _serial_path[serial_idx] = gopt.optarg;
+            break;
+        }
         case CMDLINE_SERIAL0:
         case CMDLINE_SERIAL1:
         case CMDLINE_SERIAL2:

From e460a19b1750049fa527706cdbbb84fb45d5223a Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Tue, 12 Dec 2023 11:43:50 -0600
Subject: [PATCH 0161/1335] AP_HAL_Linux: deprecate and warn on legacy --uartX
 option use

---
 libraries/AP_HAL_Linux/HAL_Linux_Class.cpp | 96 ++++++++++++++--------
 1 file changed, 62 insertions(+), 34 deletions(-)

diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index f51d8c4331a9d1..d89296b6a0feca 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -87,6 +87,19 @@ static SPIUARTDriver serial3Driver;
 static UARTDriver serial3Driver(false);
 #endif
 
+static UARTDriver* serialDrivers[] = {
+    &serial0Driver,
+    &serial1Driver,
+    &serial2Driver,
+    &serial3Driver,
+    &serial4Driver,
+    &serial5Driver,
+    &serial6Driver,
+    &serial7Driver,
+    &serial8Driver,
+    &serial9Driver,
+};
+
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
@@ -287,9 +300,9 @@ void _usage(void)
     printf("\tserial (0 through 9 available):\n");
     printf("\t                  --serial0 /dev/ttyO4\n");
     printf("\t                  --serial3 /dev/ttyS1\n");
-    printf("\tlegacy UART options still work, their mappings are:\n");
+    printf("\tlegacy UART options are deprecated, their mappings are:\n");
     printf("\t                  -A/--uartA is SERIAL0\n");
-    printf("\t                  -C/--uartC is SERIAL1\n");
+    printf("\t                  -C/--uartC is SERIAL1\n"); // ordering captures the historical use of uartB as SERIAL3
     printf("\t                  -D/--uartD is SERIAL2\n");
     printf("\t                  -B/--uartB is SERIAL3\n");
     printf("\t                  -E/--uartE is SERIAL4\n");
@@ -331,28 +344,41 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
     const char *module_path = AP_MODULE_DEFAULT_DIRECTORY;
 #endif
 
+    enum long_options {
+        CMDLINE_SERIAL0 = 1, // must be in 0-9 order and numbered consecutively
+        CMDLINE_SERIAL1,
+        CMDLINE_SERIAL2,
+        CMDLINE_SERIAL3,
+        CMDLINE_SERIAL4,
+        CMDLINE_SERIAL5,
+        CMDLINE_SERIAL6,
+        CMDLINE_SERIAL7,
+        CMDLINE_SERIAL8,
+        CMDLINE_SERIAL9,
+    };
+
     int opt;
     const struct GetOptLong::option options[] = {
         {"uartA",         true,  0, 'A'},
-        {"serial0",       true,  0, 'A'},
-        {"uartC",         true,  0, 'C'}, // ordering captures the historical use of uartB as SERIAL3
-        {"serial1",       true,  0, 'C'},
-        {"uartD",         true,  0, 'D'},
-        {"serial2",       true,  0, 'D'},
         {"uartB",         true,  0, 'B'},
-        {"serial3",       true,  0, 'B'},
+        {"uartC",         true,  0, 'C'},
+        {"uartD",         true,  0, 'D'},
         {"uartE",         true,  0, 'E'},
-        {"serial4",       true,  0, 'E'},
         {"uartF",         true,  0, 'F'},
-        {"serial5",       true,  0, 'F'},
         {"uartG",         true,  0, 'G'},
-        {"serial6",       true,  0, 'G'},
         {"uartH",         true,  0, 'H'},
-        {"serial7",       true,  0, 'H'},
         {"uartI",         true,  0, 'I'},
-        {"serial8",       true,  0, 'I'},
         {"uartJ",         true,  0, 'J'},
-        {"serial9",       true,  0, 'J'},
+        {"serial0",       true,  0, CMDLINE_SERIAL0},
+        {"serial1",       true,  0, CMDLINE_SERIAL1},
+        {"serial2",       true,  0, CMDLINE_SERIAL2},
+        {"serial3",       true,  0, CMDLINE_SERIAL3},
+        {"serial4",       true,  0, CMDLINE_SERIAL4},
+        {"serial5",       true,  0, CMDLINE_SERIAL5},
+        {"serial6",       true,  0, CMDLINE_SERIAL6},
+        {"serial7",       true,  0, CMDLINE_SERIAL7},
+        {"serial8",       true,  0, CMDLINE_SERIAL8},
+        {"serial9",       true,  0, CMDLINE_SERIAL9},
         {"log-directory",       true,  0, 'l'},
         {"terrain-directory",   true,  0, 't'},
         {"storage-directory",   true,  0, 's'},
@@ -372,34 +398,36 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
     while ((opt = gopt.getoption()) != -1) {
         switch (opt) {
         case 'A':
-            serial0Driver.set_device_path(gopt.optarg);
-            break;
+        case 'B':
         case 'C':
-            serial1Driver.set_device_path(gopt.optarg);
-            break;
         case 'D':
-            serial2Driver.set_device_path(gopt.optarg);
-            break;
-        case 'B':
-            serial3Driver.set_device_path(gopt.optarg);
-            break;
         case 'E':
-            serial4Driver.set_device_path(gopt.optarg);
-            break;
         case 'F':
-            serial5Driver.set_device_path(gopt.optarg);
-            break;
         case 'G':
-            serial6Driver.set_device_path(gopt.optarg);
-            break;
         case 'H':
-            serial7Driver.set_device_path(gopt.optarg);
-            break;
         case 'I':
-            serial8Driver.set_device_path(gopt.optarg);
+        case 'J': {
+            int uart_idx = opt - 'A';
+            // ordering captures the historical use of uartB as SERIAL3
+            static const uint8_t mapping[] = { 0, 3, 1, 2, 4, 5, 6, 7, 8, 9 };
+            int serial_idx = mapping[uart_idx];
+            printf("WARNING: deprecated option --uart%c/-%c will be removed in "
+                "a future release. Use --serial%d instead.\n",
+                (char)opt, (char)opt, serial_idx);
+            serialDrivers[serial_idx]->set_device_path(gopt.optarg);
             break;
-        case 'J':
-            serial9Driver.set_device_path(gopt.optarg);
+        }
+        case CMDLINE_SERIAL0:
+        case CMDLINE_SERIAL1:
+        case CMDLINE_SERIAL2:
+        case CMDLINE_SERIAL3:
+        case CMDLINE_SERIAL4:
+        case CMDLINE_SERIAL5:
+        case CMDLINE_SERIAL6:
+        case CMDLINE_SERIAL7:
+        case CMDLINE_SERIAL8:
+        case CMDLINE_SERIAL9:
+            serialDrivers[opt - CMDLINE_SERIAL0]->set_device_path(gopt.optarg);
             break;
         case 'l':
             utilInstance.set_custom_log_directory(gopt.optarg);

From 1d805555f571ff26f8e35965387e9ba63ce9a7c2 Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Sun, 17 Dec 2023 15:33:30 -0700
Subject: [PATCH 0162/1335] AP_ExternalAHRS: Fix typos in configuration for
 microstrain7

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp | 2 +-
 libraries/AP_ExternalAHRS/MicroStrain_common.cpp           | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp
index 5f2a066907bd04..09762f67d6aa88 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp
@@ -16,7 +16,7 @@
     $ sim_vehicle.py -v Plane -A "--serial3=uart:/dev/3dm-gq7" --console --map -DG
     $ ./Tools/autotest/sim_vehicle.py -v Plane -A "--serial3=uart:/dev/3dm-gq7" -DG
     param set AHRS_EKF_TYPE 11
-    param set EAHRS_TYPE 4
+    param set EAHRS_TYPE 7
     param set GPS_TYPE 21
     param set SERIAL3_BAUD 115
     param set SERIAL3_PROTOCOL 36
diff --git a/libraries/AP_ExternalAHRS/MicroStrain_common.cpp b/libraries/AP_ExternalAHRS/MicroStrain_common.cpp
index 66d324df99554a..19a6e22509c7e8 100644
--- a/libraries/AP_ExternalAHRS/MicroStrain_common.cpp
+++ b/libraries/AP_ExternalAHRS/MicroStrain_common.cpp
@@ -11,7 +11,7 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 /*
-  support for MicroStrain CX5/GX5-45 serially connected AHRS Systems
+  support for MicroStrain MIP parsing
  */
 
 #define ALLOW_DOUBLE_MATH_FUNCTIONS

From 368ec28ab6047644f00bf8388ad0da557c0563cc Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Tue, 26 Sep 2023 14:58:26 -0700
Subject: [PATCH 0163/1335] AP_Relay: Refactor to support RELAYx_FUNCTION

---
 libraries/AP_Relay/AP_Relay.cpp        | 255 +++++++++++++++++--------
 libraries/AP_Relay/AP_Relay.h          |  26 +--
 libraries/AP_Relay/AP_Relay_Params.cpp |  32 ++++
 libraries/AP_Relay/AP_Relay_Params.h   |  30 +++
 4 files changed, 255 insertions(+), 88 deletions(-)
 create mode 100644 libraries/AP_Relay/AP_Relay_Params.cpp
 create mode 100644 libraries/AP_Relay/AP_Relay_Params.h

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 1c4cb143f7b0fc..4ffe1d3562bef5 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -60,54 +60,37 @@
 
 
 const AP_Param::GroupInfo AP_Relay::var_info[] = {
-    // @Param: PIN
-    // @DisplayName: First Relay Pin
-    // @Description: Digital pin number for first relay control. This is the pin used for camera shutter control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
-    // @User: Standard
-    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,27:BBBMini Pin P8.17,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8
-    AP_GROUPINFO("PIN",  0, AP_Relay, _pin[0], RELAY1_PIN_DEFAULT),
-
-    // @Param: PIN2
-    // @DisplayName: Second Relay Pin
-    // @Description: Digital pin number for 2nd relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
-    // @User: Standard
-    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,65:BBBMini Pin P8.18,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8
-    AP_GROUPINFO("PIN2",  1, AP_Relay, _pin[1], RELAY2_PIN_DEFAULT),
-
-    // @Param: PIN3
-    // @DisplayName: Third Relay Pin
-    // @Description: Digital pin number for 3rd relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
-    // @User: Standard
-    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,22:BBBMini Pin P8.19,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8
-    AP_GROUPINFO("PIN3",  2, AP_Relay, _pin[2], RELAY3_PIN_DEFAULT),
-
-    // @Param: PIN4
-    // @DisplayName: Fourth Relay Pin
-    // @Description: Digital pin number for 4th relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
-    // @User: Standard
-    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,63:BBBMini Pin P8.34,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8
-    AP_GROUPINFO("PIN4",  3, AP_Relay, _pin[3], RELAY4_PIN_DEFAULT),
-
-    // @Param: DEFAULT
-    // @DisplayName: Default relay state
-    // @Description: The state of the relay on boot.
-    // @User: Standard
-    // @Values: 0:Off,1:On,2:NoChange
-    AP_GROUPINFO("DEFAULT",  4, AP_Relay, _default, 0),
-
-    // @Param: PIN5
-    // @DisplayName: Fifth Relay Pin
-    // @Description: Digital pin number for 5th relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
-    // @User: Standard
-    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,62:BBBMini Pin P8.13,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8
-    AP_GROUPINFO("PIN5",  5, AP_Relay, _pin[4], RELAY5_PIN_DEFAULT),
-
-    // @Param: PIN6
-    // @DisplayName: Sixth Relay Pin
-    // @Description: Digital pin number for 6th relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
-    // @User: Standard
-    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,37:BBBMini Pin P8.14,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8
-    AP_GROUPINFO("PIN6",  6, AP_Relay, _pin[5], RELAY6_PIN_DEFAULT),
+    // 0 was PIN
+    // 1 was PIN2
+    // 2 was PIN3
+    // 3 was PIN4
+    // 4 was DEFAULT
+    // 5 was PIN5
+    // 6 was PIN6
+
+    // @Group: 1_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[0], "1_", 7, AP_Relay, AP_Relay_Params),
+
+    // @Group: 2_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[1], "2_", 8, AP_Relay, AP_Relay_Params),
+
+    // @Group: 3_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[2], "3_", 9, AP_Relay, AP_Relay_Params),
+
+    // @Group: 4_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[3], "4_", 10, AP_Relay, AP_Relay_Params),
+
+    // @Group: 5_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[4], "5_", 11, AP_Relay, AP_Relay_Params),
+
+    // @Group: 6_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[5], "6_", 12, AP_Relay, AP_Relay_Params),
 
     AP_GROUPEND
 };
@@ -128,48 +111,147 @@ AP_Relay::AP_Relay(void)
     singleton = this;
 }
 
+void AP_Relay::convert_params()
+{
+    // Find old default param
+    int8_t default_state = 0; // off was the old behaviour
+    const bool have_default = AP_Param::get_param_by_index(this, 4, AP_PARAM_INT8, &default_state);
+
+    // grab the old values if they were set
+    for (uint8_t i = 0; i < MIN(AP_RELAY_NUM_RELAYS, 6); i++) {
+
+        uint8_t param_index = i;
+        if (i > 3) {
+            // Skip over the old DEFAULT parameter at index 4
+            param_index += 1;
+        }
+
+        int8_t pin = 0;
+        if (!_params[i].pin.configured() && AP_Param::get_param_by_index(this, param_index, AP_PARAM_INT8, &pin) && (pin >= 0)) {
+            // if the pin isn't negative we can assume the user might have been using it, map it to the old school relay interface
+            _params[i].pin.set_and_save(pin);
+            _params[i].function.set_and_save(int8_t(AP_Relay_Params::Function::relay));
+
+            if (have_default) {
+                _params[i].default_state.set_and_save(default_state);
+            }
+        }
+
+    }
+}
+
+void AP_Relay::set_defaults() {
+    const int8_t pins[] = { RELAY1_PIN_DEFAULT,
+                             RELAY2_PIN_DEFAULT,
+                             RELAY3_PIN_DEFAULT,
+                             RELAY4_PIN_DEFAULT,
+                             RELAY5_PIN_DEFAULT,
+                             RELAY6_PIN_DEFAULT };
+
+    for (uint8_t i = 0; i < MIN(uint8_t(AP_RELAY_NUM_RELAYS), ARRAY_SIZE(pins)); i++) {
+        // set the default
+        if (pins[i] != -1) {
+            _params[i].pin.set_default(pins[i]);
+        }
+    }
+}
 
 void AP_Relay::init()
 {
-    if (_default != 0 && _default != 1) {
+    set_defaults();
+
+    convert_params();
+
+    // setup the actual default values of all the pins
+    for (uint8_t instance = 0; instance < AP_RELAY_NUM_RELAYS; instance++) {
+        const int8_t pin = _params[instance].pin;
+        if (pin == -1) {
+            // no valid pin to set it on, skip it
+            continue;
+        }
+
+        const AP_Relay_Params::Function function = _params[instance].function;
+        if (function < AP_Relay_Params::Function::relay || function >= AP_Relay_Params::Function::num_functions) {
+            // invalid function, skip it
+            continue;
+        }
+
+        if (function == AP_Relay_Params::Function::relay) {
+            // relay by instance number, set the state to match our output
+            const AP_Relay_Params::DefaultState default_state = _params[instance].default_state;
+            if ((default_state == AP_Relay_Params::DefaultState::OFF) ||
+                (default_state == AP_Relay_Params::DefaultState::ON)) {
+
+                set_pin_by_instance(instance, (bool)default_state);
+            }
+        } else {
+            // all functions are supposed to be off by default
+            // this will need revisiting when we support inversion
+            set_pin_by_instance(instance, false);
+        }
+    }
+}
+
+void AP_Relay::set(const AP_Relay_Params::Function function, const bool value) {
+    if (function <= AP_Relay_Params::Function::none && function >= AP_Relay_Params::Function::num_functions) {
+        // invalid function
         return;
     }
-    for (uint8_t i=0; i<AP_RELAY_NUM_RELAYS; i++) {
-        set(i, _default);
+
+    for (uint8_t instance = 0; instance < AP_RELAY_NUM_RELAYS; instance++) {
+        if (function != _params[instance].function) {
+            continue;
+        }
+
+        set_pin_by_instance(instance, value);
     }
 }
 
-void AP_Relay::set(const uint8_t instance, const bool value)
+// set a pins output state by instance and log if required
+// this is an internal helper, instance must have already been validated to be in range
+void AP_Relay::set_pin_by_instance(uint8_t instance, bool value)
 {
-    if (instance >= AP_RELAY_NUM_RELAYS) {
+    const int8_t pin = _params[instance].pin;
+    if (pin == -1) {
+        // no valid pin to set it on, skip it
         return;
     }
-    if (_pin[instance] == -1) {
-        return;
-    }
-    const uint32_t now = AP_HAL::millis();
-    _pin_states = value ? _pin_states | (1U<<instance) : _pin_states & ~(1U<<instance);
-    if ((_pin_states != _last_logged_pin_states) && (now - _last_log_ms > 10)) {
-       AP::logger().Write("RELY", "TimeUS,State", "s-", "F-", "QB",
-                                        AP_HAL::micros64(),
-                                        _pin_states);
-       _last_log_ms = now;
-       _last_logged_pin_states = _pin_states;
-    }
+
 #if AP_SIM_ENABLED
     if (!(AP::sitl()->on_hardware_relay_enable_mask & (1U << instance))) {
         return;
     }
 #endif
-    hal.gpio->pinMode(_pin[instance], HAL_GPIO_OUTPUT);
-    hal.gpio->write(_pin[instance], value);
+
+    hal.gpio->pinMode(pin, HAL_GPIO_OUTPUT);
+    const bool initial_value = (bool)hal.gpio->read(pin);
+
+    if (initial_value != value) {
+        hal.gpio->write(pin, value);
+        AP::logger().Write("RELY", "TimeUS,Instance,State", "s#-", "F--", "QBB",
+                            AP_HAL::micros64(),
+                            instance,
+                            value);
+    }
+}
+
+void AP_Relay::set(const uint8_t instance, const bool value)
+{
+    if (instance >= AP_RELAY_NUM_RELAYS) {
+        return;
+    }
+
+    if (_params[instance].function != AP_Relay_Params::Function::relay) {
+        return;
+    }
+
+    set_pin_by_instance(instance, value);
 }
 
 void AP_Relay::toggle(uint8_t instance)
 {
-    if (instance < AP_RELAY_NUM_RELAYS && _pin[instance] != -1) {
-        bool ison = hal.gpio->read(_pin[instance]);
-        set(instance, !ison);
+    if (instance < AP_RELAY_NUM_RELAYS) {
+        set(instance, !get(instance));
     }
 }
 
@@ -177,12 +259,10 @@ void AP_Relay::toggle(uint8_t instance)
 bool AP_Relay::arming_checks(size_t buflen, char *buffer) const
 {
     for (uint8_t i=0; i<AP_RELAY_NUM_RELAYS; i++) {
-        int8_t pin = _pin[i].get();
+        const int8_t pin = _params[i].pin.get();
         if (pin != -1 && !hal.gpio->valid_pin(pin)) {
-            char param_name_buf[11] = "RELAY_PIN";
-            if (i > 0) {
-                hal.util->snprintf(param_name_buf, ARRAY_SIZE(param_name_buf), "RELAY_PIN%u", unsigned(i+1));
-            }
+            char param_name_buf[14];
+            hal.util->snprintf(param_name_buf, ARRAY_SIZE(param_name_buf), "RELAY%u_PIN", unsigned(i+1));
             uint8_t servo_ch;
             if (hal.gpio->pin_to_servo_channel(pin, servo_ch)) {
                 hal.util->snprintf(buffer, buflen, "%s=%d, set SERVO%u_FUNCTION=-1", param_name_buf, int(pin), unsigned(servo_ch+1));
@@ -195,6 +275,29 @@ bool AP_Relay::arming_checks(size_t buflen, char *buffer) const
     return true;
 }
 
+bool AP_Relay::get(uint8_t instance) const
+{
+    if (instance >= AP_RELAY_NUM_RELAYS) {
+        // invalid instance
+        return false;
+    }
+
+    const int8_t pin = _params[instance].pin.get();
+
+    if (pin < 0) {
+        // invalid pin
+        return false;
+    }
+
+    return (bool)hal.gpio->read(pin);
+}
+
+// see if the relay is enabled
+bool AP_Relay::enabled(uint8_t instance) const 
+{
+    // Must be a valid instance with function relay and pin set
+    return (instance < AP_RELAY_NUM_RELAYS) && (_params[instance].pin != -1) && (_params[instance].function == AP_Relay_Params::Function::relay);
+}
 
 #if AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
 // this method may only return false if there is no space in the
@@ -214,7 +317,7 @@ bool AP_Relay::send_relay_status(const GCS_MAVLINK &link) const
         const uint16_t relay_bit_mask = 1U << i;
         present_mask |= relay_bit_mask;
 
-        if (_pin_states & relay_bit_mask) {
+        if (get(i)) {
             on_mask |= relay_bit_mask;
         }
     }
diff --git a/libraries/AP_Relay/AP_Relay.h b/libraries/AP_Relay/AP_Relay.h
index c14e964c54ea47..5a5237d18cec5e 100644
--- a/libraries/AP_Relay/AP_Relay.h
+++ b/libraries/AP_Relay/AP_Relay.h
@@ -14,6 +14,8 @@
 #if AP_RELAY_ENABLED
 
 #include <AP_Param/AP_Param.h>
+#include <AP_Relay/AP_Relay_Params.h>
+#include <AP_Common/Bitmask.h>
 
 #define AP_RELAY_NUM_RELAYS 6
 
@@ -29,9 +31,6 @@ class AP_Relay {
     // setup the relay pin
     void        init();
 
-    // set relay to state
-    void set(uint8_t instance, bool value);
-
     // activate the relay
     void        on(uint8_t instance) { set(instance, true); }
 
@@ -39,12 +38,10 @@ class AP_Relay {
     void        off(uint8_t instance) { set(instance, false); }
 
     // get state of relay
-    uint8_t     get(uint8_t instance) const {
-        return instance < AP_RELAY_NUM_RELAYS ? _pin_states & (1U<<instance) : 0;
-    }
+    bool        get(uint8_t instance) const;
     
     // see if the relay is enabled
-    bool        enabled(uint8_t instance) const { return instance < AP_RELAY_NUM_RELAYS && _pin[instance] != -1; }
+    bool        enabled(uint8_t instance) const;
 
     // toggle the relay status
     void        toggle(uint8_t instance);
@@ -58,14 +55,19 @@ class AP_Relay {
 
     bool send_relay_status(const class GCS_MAVLINK &link) const;
 
+    void set(AP_Relay_Params::Function function, bool value);
+
 private:
     static AP_Relay *singleton;
 
-    AP_Int8 _pin[AP_RELAY_NUM_RELAYS];
-    AP_Int8 _default;
-    uint8_t _pin_states;
-    uint8_t _last_logged_pin_states;
-    uint32_t _last_log_ms;
+    AP_Relay_Params _params[AP_RELAY_NUM_RELAYS];
+
+    void set(uint8_t instance, bool value);
+
+    void set_defaults();
+    void convert_params();
+
+    void set_pin_by_instance(uint8_t instance, bool value);
 };
 
 namespace AP {
diff --git a/libraries/AP_Relay/AP_Relay_Params.cpp b/libraries/AP_Relay/AP_Relay_Params.cpp
new file mode 100644
index 00000000000000..01eb6374451e39
--- /dev/null
+++ b/libraries/AP_Relay/AP_Relay_Params.cpp
@@ -0,0 +1,32 @@
+#include <AP_Common/AP_Common.h>
+#include "AP_Relay_Params.h"
+
+const AP_Param::GroupInfo AP_Relay_Params::var_info[] = {
+    // @Param: FUNCTION
+    // @DisplayName: Relay function
+    // @Description: The function the relay channel is mapped to.
+    // @Values: 0:None,1:Relay,2:Ignition,3:Starter
+    // @User: Standard
+    AP_GROUPINFO_FLAGS("FUNCTION", 1, AP_Relay_Params, function, (float)Function::none, AP_PARAM_FLAG_ENABLE),
+
+    // @Param: PIN
+    // @DisplayName: Relay pin
+    // @Description: Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
+    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,62:BBBMini Pin P8.13,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8
+    // @User: Standard
+    AP_GROUPINFO("PIN", 2, AP_Relay_Params, pin, -1),
+    
+    // @Param: DEFAULT
+    // @DisplayName: Relay default state
+    // @Description: Should the relay default to on or off, this only applies to function Relay. All other uses will pick the appropriate default output state.
+    // @Values: 0: Off,1:On,2:NoChange
+    // @User: Standard
+    AP_GROUPINFO("DEFAULT", 3, AP_Relay_Params, default_state, (float)DefaultState::OFF),
+
+    AP_GROUPEND
+
+};
+
+AP_Relay_Params::AP_Relay_Params(void) {
+    AP_Param::setup_object_defaults(this, var_info);
+}
diff --git a/libraries/AP_Relay/AP_Relay_Params.h b/libraries/AP_Relay/AP_Relay_Params.h
new file mode 100644
index 00000000000000..cb1815156c0a21
--- /dev/null
+++ b/libraries/AP_Relay/AP_Relay_Params.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include <AP_Param/AP_Param.h>
+#include "AP_Relay_config.h"
+
+class AP_Relay_Params {
+public:
+    static const struct AP_Param::GroupInfo var_info[];
+
+    AP_Relay_Params(void);
+
+    /* Do not allow copies */
+    CLASS_NO_COPY(AP_Relay_Params);
+
+    enum class DefaultState : uint8_t {
+        OFF = 0,
+        ON = 1,
+        NO_CHANGE = 2,
+    };
+
+    enum class Function : uint8_t {
+        none     = 0,
+        relay    = 1,
+        num_functions // must be the last entry
+    };
+
+    AP_Enum<Function> function;            // relay function
+    AP_Int16 pin;                          // gpio pin number
+    AP_Enum<DefaultState> default_state;  // default state
+};

From 18ba0c5d2bfcf0343f3224be940e926de9e9f386 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Tue, 3 Oct 2023 17:17:23 -0700
Subject: [PATCH 0164/1335] Copter: Fix AP_Relay param naming

---
 ArduCopter/Parameters.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 80a79da030a7c5..f56ef3b0205554 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -451,9 +451,9 @@ const AP_Param::Info Copter::var_info[] = {
 #endif
 
 #if AP_RELAY_ENABLED
-    // @Group: RELAY_
+    // @Group: RELAY
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
-    GOBJECT(relay,                  "RELAY_", AP_Relay),
+    GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
 #if PARACHUTE == ENABLED

From 9aa0ceb9ddda45519f1d44064ee230cc3573ed32 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Tue, 3 Oct 2023 17:17:44 -0700
Subject: [PATCH 0165/1335] Plane: Fix AP_Relay param naming

---
 ArduPlane/Parameters.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index fbecd0ee40b6c4..bb4a2a86a5fbae 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -757,9 +757,9 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(arming,                 "ARMING_", AP_Arming_Plane),
 
 #if AP_RELAY_ENABLED
-    // @Group: RELAY_
+    // @Group: RELAY
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
-    GOBJECT(relay,                  "RELAY_", AP_Relay),
+    GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
 #if PARACHUTE == ENABLED

From 6dc891baf9c6c1465b5e0f3b636a0dc44456b4f1 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Tue, 3 Oct 2023 17:17:55 -0700
Subject: [PATCH 0166/1335] Sub: Fix AP_Relay param naming

---
 ArduSub/Parameters.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index d43b149820f740..5711f4fe31dc8e 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -476,9 +476,9 @@ const AP_Param::Info Sub::var_info[] = {
 #endif
 
 #if AP_RELAY_ENABLED
-    // @Group: RELAY_
+    // @Group: RELAY
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
-    GOBJECT(relay,                  "RELAY_", AP_Relay),
+    GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
     // @Group: COMPASS_

From 3937e96738a6207b2a743c911c9e8eb61399b324 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Tue, 3 Oct 2023 17:18:04 -0700
Subject: [PATCH 0167/1335] Rover: Fix AP_Relay param naming

---
 Rover/Parameters.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 5d4a84fc9b08b6..ac1bdb29abdc14 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -223,9 +223,9 @@ const AP_Param::Info Rover::var_info[] = {
     GOBJECT(barometer, "BARO", AP_Baro),
 
 #if AP_RELAY_ENABLED
-    // @Group: RELAY_
+    // @Group: RELAY
     // @Path: ../libraries/AP_Relay/AP_Relay.cpp
-    GOBJECT(relay,                  "RELAY_", AP_Relay),
+    GOBJECT(relay,                  "RELAY", AP_Relay),
 #endif
 
     // @Group: RCMAP_

From a45353b17fcf26d9430f3c05c372097aa40498fc Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Tue, 7 Nov 2023 09:42:15 -0700
Subject: [PATCH 0168/1335] autotest: Update tests for relay

---
 Tools/autotest/arduplane.py                   |  7 +++++--
 Tools/autotest/default_params/rover.parm      |  4 ++--
 .../default_params/vee-gull 005.param         |  5 +----
 Tools/autotest/rover.py                       | 20 ++++++++++++++++---
 4 files changed, 25 insertions(+), 11 deletions(-)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index eb84112528a9da..be66a0447821f3 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -1124,9 +1124,12 @@ def TestFlaps(self):
 
     def TestRCRelay(self):
         '''Test Relay RC Channel Option'''
-        self.set_parameter("RC12_OPTION", 28) # Relay On/Off
+        self.set_parameters({
+            "RELAY1_FUNCTION": 1, # Enable relay as a standard relay pin
+            "RC12_OPTION": 28 # Relay On/Off
+        })
         self.set_rc(12, 1000)
-        self.reboot_sitl() # needed for RC12_OPTION to take effect
+        self.reboot_sitl() # needed for RC12_OPTION and RELAY1_FUNCTION to take effect
 
         off = self.get_parameter("SIM_PIN_MASK")
         if off:
diff --git a/Tools/autotest/default_params/rover.parm b/Tools/autotest/default_params/rover.parm
index 9095f40720d5d8..58e064d81b3f5c 100644
--- a/Tools/autotest/default_params/rover.parm
+++ b/Tools/autotest/default_params/rover.parm
@@ -24,8 +24,8 @@ RC1_MAX 2000
 RC1_MIN 1000
 RC3_MAX 2000
 RC3_MIN 1000
-RELAY_PIN 1
-RELAY_PIN2 2
+RELAY1_PIN 1
+RELAY2_PIN 2
 SERVO1_MIN 1000
 SERVO1_MAX 2000
 SERVO3_MAX 2000
diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index 2ae334ae8b7fc1..6e5143632d452c 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -456,10 +456,7 @@ RCMAP_ROLL,1
 RCMAP_THROTTLE,3
 RCMAP_YAW,4
 RELAY_DEFAULT,0
-RELAY_PIN,13
-RELAY_PIN2,-1
-RELAY_PIN3,-1
-RELAY_PIN4,-1
+RELAY1_PIN,13
 RLL_RATE_D,0.000000
 RLL_RATE_FF,0.255000
 RLL_RATE_I,0.050000
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 2f0870b351c16e..8df67796676461 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -568,6 +568,13 @@ def ServoRelayEvents(self):
         '''Test ServoRelayEvents'''
         for method in self.run_cmd, self.run_cmd_int:
             self.context_push()
+
+            self.set_parameters({
+                "RELAY1_FUNCTION": 1, # Enable relay 1 as a standard relay pin
+                "RELAY2_FUNCTION": 1, # Enable relay 2 as a standard relay pin
+            })
+            self.reboot_sitl() # Needed for relay functions to take effect
+
             method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=0)
             off = self.get_parameter("SIM_PIN_MASK")
             method(mavutil.mavlink.MAV_CMD_DO_SET_RELAY, p1=0, p2=1)
@@ -602,8 +609,14 @@ def ServoRelayEvents(self):
                 "on": 0,
             })
 
-            # add another servo:
-            self.set_parameter("RELAY_PIN6", 14)
+            # add another relay and ensure that it changes the "present field"
+            self.set_parameters({
+                "RELAY6_FUNCTION": 1, # Enable relay 6 as a standard relay pin
+                "RELAY6_PIN": 14, # Set pin number
+            })
+            self.reboot_sitl() # Needed for relay function to take effect
+            self.set_message_rate_hz("RELAY_STATUS", 10) # Need to re-request the message since reboot
+
             self.assert_received_message_field_values('RELAY_STATUS', {
                 "present": 35,
                 "on": 0,
@@ -5352,7 +5365,8 @@ def test_scripting_auxfunc(self):
         self.context_collect("STATUSTEXT")
         self.set_parameters({
             "SCR_ENABLE": 1,
-            "RELAY_PIN": 1,
+            "RELAY1_FUNCTION": 1,
+            "RELAY1_PIN": 1
         })
         self.install_example_script_context("RCIN_test.lua")
         self.reboot_sitl()

From f26ff3ee5a1800502e96d6658c8eb279f4612394 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 8 Dec 2023 04:27:06 +0000
Subject: [PATCH 0169/1335] AP_LandingGear: remove unneeded relay include

---
 libraries/AP_LandingGear/AP_LandingGear.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/libraries/AP_LandingGear/AP_LandingGear.cpp b/libraries/AP_LandingGear/AP_LandingGear.cpp
index b7a7bc3ebb45bd..8f77d5e3df7501 100644
--- a/libraries/AP_LandingGear/AP_LandingGear.cpp
+++ b/libraries/AP_LandingGear/AP_LandingGear.cpp
@@ -2,7 +2,6 @@
 
 #if AP_LANDINGGEAR_ENABLED
 
-#include <AP_Relay/AP_Relay.h>
 #include <AP_Math/AP_Math.h>
 #include <SRV_Channel/SRV_Channel.h>
 #include <AP_HAL/AP_HAL.h>

From 8292c6ea9f9c5959a8483377735ad4d43b7b5bd2 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 8 Dec 2023 04:29:31 +0000
Subject: [PATCH 0170/1335] AP_Camera: move to new relay functions

---
 libraries/AP_Camera/AP_Camera.cpp       | 20 ++++++++++++++++++++
 libraries/AP_Camera/AP_Camera.h         |  3 +++
 libraries/AP_Camera/AP_Camera_Relay.cpp | 12 ++----------
 3 files changed, 25 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
index a44243c8caccaa..76f3524e22e2b0 100644
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@@ -771,6 +771,26 @@ void AP_Camera::convert_params()
     }
 }
 
+#if AP_RELAY_ENABLED
+// Return true and the relay index if relay camera backend is selected, used for conversion to relay functions
+bool AP_Camera::get_legacy_relay_index(int8_t &index) const
+{
+    // PARAMETER_CONVERSION - Added: Dec-2023
+
+    // Note that this assumes that the camera param conversion has already been done
+    // Copter, Plane, Sub and Rover all have both relay and camera and all init relay first
+    // This will only be a issue if the relay and camera conversion were done at once, if the user skipped 4.4
+    for (uint8_t i = 0; i < AP_CAMERA_MAX_INSTANCES; i++) {
+        if ((CameraType)_params[i].type.get() == CameraType::RELAY) {
+            // Camera was hard coded to relay 0
+            index = 0;
+            return true;
+        }
+    }
+    return false;
+}
+#endif
+
 // singleton instance
 AP_Camera *AP_Camera::_singleton;
 
diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h
index 356901ab262816..71ef3ffda4614a 100644
--- a/libraries/AP_Camera/AP_Camera.h
+++ b/libraries/AP_Camera/AP_Camera.h
@@ -182,6 +182,9 @@ class AP_Camera {
     bool get_state(uint8_t instance, camera_state_t& cam_state);
 #endif
 
+    // Return true and the relay index if relay camera backend is selected, used for conversion to relay functions
+    bool get_legacy_relay_index(int8_t &index) const;
+
     // allow threads to lock against AHRS update
     HAL_Semaphore &get_semaphore() { return _rsem; }
 
diff --git a/libraries/AP_Camera/AP_Camera_Relay.cpp b/libraries/AP_Camera/AP_Camera_Relay.cpp
index a48adeb348d51d..db8fc2adec4811 100644
--- a/libraries/AP_Camera/AP_Camera_Relay.cpp
+++ b/libraries/AP_Camera/AP_Camera_Relay.cpp
@@ -14,11 +14,7 @@ void AP_Camera_Relay::update()
         if (ap_relay == nullptr) {
             return;
         }
-        if (_params.relay_on) {
-            ap_relay->off(0);
-        } else {
-            ap_relay->on(0);
-        }
+        ap_relay->set(AP_Relay_Params::FUNCTION::CAMERA, !_params.relay_on);
     }
 
     // call parent update
@@ -39,11 +35,7 @@ bool AP_Camera_Relay::trigger_pic()
         return false;
     }
 
-    if (_params.relay_on) {
-        ap_relay->on(0);
-    } else {
-        ap_relay->off(0);
-    }
+    ap_relay->set(AP_Relay_Params::FUNCTION::CAMERA, _params.relay_on);
 
     // set counter to move servo to off position after this many iterations of update (assumes 50hz update rate)
     trigger_counter = constrain_float(_params.trigger_duration * 50, 0, UINT16_MAX);

From 8ce490d9856691a7445d3b25c7c5f4c19f67e3be Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 8 Dec 2023 04:30:34 +0000
Subject: [PATCH 0171/1335] AP_ICEngine: move to new relay functions

---
 libraries/AP_ICEngine/AP_ICEngine.cpp | 34 ++++++++++++++++-----------
 libraries/AP_ICEngine/AP_ICEngine.h   | 10 ++++----
 2 files changed, 25 insertions(+), 19 deletions(-)

diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp
index d7afd09e92fd8f..ad66e49ded7d07 100644
--- a/libraries/AP_ICEngine/AP_ICEngine.cpp
+++ b/libraries/AP_ICEngine/AP_ICEngine.cpp
@@ -165,14 +165,8 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
     AP_GROUPINFO("REDLINE_RPM", 17, AP_ICEngine, redline_rpm, 0),
 #endif
 
-#if AP_RELAY_ENABLED
-    // @Param: IGNITION_RLY
-    // @DisplayName: Ignition relay channel
-    // @Description: This is a a relay channel to use for ignition control
-    // @User: Standard
-    // @Values: 0:None,1:Relay1,2:Relay2,3:Relay3,4:Relay4,5:Relay5,6:Relay6
-    AP_GROUPINFO("IGNITION_RLY", 18, AP_ICEngine, ignition_relay, 0),
-#endif
+    // 18 was IGNITION_RLY
+
 
     AP_GROUPEND
 };
@@ -608,15 +602,14 @@ void AP_ICEngine::update_idle_governor(int8_t &min_throttle)
 void AP_ICEngine::set_ignition(bool on)
 {
     SRV_Channels::set_output_pwm(SRV_Channel::k_ignition, on? pwm_ignition_on : pwm_ignition_off);
+
 #if AP_RELAY_ENABLED
-    // optionally use a relay as well
-    if (ignition_relay > 0) {
-        auto *relay = AP::relay();
-        if (relay != nullptr) {
-            relay->set(ignition_relay-1, on);
-        }
+    AP_Relay *relay = AP::relay();
+    if (relay != nullptr) {
+        relay->set(AP_Relay_Params::FUNCTION::IGNITION, on);
     }
 #endif // AP_RELAY_ENABLED
+
 }
 
 /*
@@ -638,6 +631,19 @@ bool AP_ICEngine::allow_throttle_while_disarmed() const
         hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED;
 }
 
+#if AP_RELAY_ENABLED
+bool AP_ICEngine::get_legacy_ignition_relay_index(int8_t &num) 
+{
+    // PARAMETER_CONVERSION - Added: Dec-2023
+    if (!enable || !AP_Param::get_param_by_index(this, 18, AP_PARAM_INT8, &num)) {
+        return false;
+    }
+    // convert to zero indexed
+    num -= 1;
+    return true;
+}
+#endif
+
 // singleton instance. Should only ever be set in the constructor.
 AP_ICEngine *AP_ICEngine::_singleton;
 namespace AP {
diff --git a/libraries/AP_ICEngine/AP_ICEngine.h b/libraries/AP_ICEngine/AP_ICEngine.h
index 919e763b28201f..351302e7638f0f 100644
--- a/libraries/AP_ICEngine/AP_ICEngine.h
+++ b/libraries/AP_ICEngine/AP_ICEngine.h
@@ -66,6 +66,11 @@ class AP_ICEngine {
     // do we have throttle while disarmed enabled?
     bool allow_throttle_while_disarmed(void) const;
 
+#if AP_RELAY_ENABLED
+    // Needed for param conversion from relay numbers to functions
+    bool get_legacy_ignition_relay_index(int8_t &num);
+#endif
+
     static AP_ICEngine *get_singleton() { return _singleton; }
 
 private:
@@ -136,11 +141,6 @@ class AP_ICEngine {
     AP_Float idle_slew;
 #endif
 
-#if AP_RELAY_ENABLED
-    // relay number for ignition
-    AP_Int8 ignition_relay;
-#endif
-
     // height when we enter ICE_START_HEIGHT_DELAY
     float initial_height;
 

From 8ab6f01942cc40001b1f0dcb828d3c05a03bdff5 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 8 Dec 2023 04:36:03 +0000
Subject: [PATCH 0172/1335] AP_Relay: add enabled method by function

---
 libraries/AP_Relay/AP_Relay.cpp | 12 ++++++++++++
 libraries/AP_Relay/AP_Relay.h   |  3 +++
 2 files changed, 15 insertions(+)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 4ffe1d3562bef5..e5cdde29c0b23c 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -299,6 +299,18 @@ bool AP_Relay::enabled(uint8_t instance) const
     return (instance < AP_RELAY_NUM_RELAYS) && (_params[instance].pin != -1) && (_params[instance].function == AP_Relay_Params::Function::relay);
 }
 
+// see if the relay is enabled
+bool AP_Relay::enabled(AP_Relay_Params::Function function) const
+{
+    bool valid = false;
+    for (uint8_t instance = 0; instance < AP_RELAY_NUM_RELAYS; instance++) {
+        if ((_params[instance].function == function) && (_params[instance].pin != -1)) {
+            valid = true;
+        }
+    }
+    return valid;
+}
+
 #if AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
 // this method may only return false if there is no space in the
 // supplied link for the message.
diff --git a/libraries/AP_Relay/AP_Relay.h b/libraries/AP_Relay/AP_Relay.h
index 5a5237d18cec5e..a668e9144c71a1 100644
--- a/libraries/AP_Relay/AP_Relay.h
+++ b/libraries/AP_Relay/AP_Relay.h
@@ -57,6 +57,9 @@ class AP_Relay {
 
     void set(AP_Relay_Params::Function function, bool value);
 
+    // see if the relay is enabled
+    bool enabled(AP_Relay_Params::Function function) const;
+
 private:
     static AP_Relay *singleton;
 

From 5a5ee0c44c41ac1acbde18662281a1bbb9b6ab0f Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 8 Dec 2023 04:36:47 +0000
Subject: [PATCH 0173/1335] AP_Parachute: move to new relay functions

---
 libraries/AP_Parachute/AP_Parachute.cpp | 21 +++++++++++++++++----
 libraries/AP_Parachute/AP_Parachute.h   |  5 ++++-
 2 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_Parachute/AP_Parachute.cpp b/libraries/AP_Parachute/AP_Parachute.cpp
index 9b4075dc719642..6ed1618b1904aa 100644
--- a/libraries/AP_Parachute/AP_Parachute.cpp
+++ b/libraries/AP_Parachute/AP_Parachute.cpp
@@ -142,7 +142,7 @@ void AP_Parachute::update()
                 // set relay
                 AP_Relay*_relay = AP::relay();
                 if (_relay != nullptr) {
-                    _relay->on(_release_type);
+                    _relay->set(AP_Relay_Params::FUNCTION::PARACHUTE, true); 
                 }
 #endif
             }
@@ -159,7 +159,7 @@ void AP_Parachute::update()
             // set relay back to zero volts
             AP_Relay*_relay = AP::relay();
             if (_relay != nullptr) {
-                _relay->off(_release_type);
+                _relay->set(AP_Relay_Params::FUNCTION::PARACHUTE, false);
             }
 #endif
         }
@@ -218,8 +218,8 @@ bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
         } else {
 #if AP_RELAY_ENABLED
             AP_Relay*_relay = AP::relay();
-            if (_relay == nullptr || !_relay->enabled(_release_type)) {
-                hal.util->snprintf(buffer, buflen, "Chute invalid relay %d", int(_release_type));
+            if (_relay == nullptr || !_relay->enabled(AP_Relay_Params::FUNCTION::PARACHUTE)) {
+                hal.util->snprintf(buffer, buflen, "Chute has no relay");
                 return false;
             }
 #else
@@ -235,6 +235,19 @@ bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
     return true;
 }
 
+#if AP_RELAY_ENABLED
+// Return the relay index that would be used for param conversion to relay functions
+bool AP_Parachute::get_legacy_relay_index(int8_t &index) const
+{
+    // PARAMETER_CONVERSION - Added: Dec-2023
+    if (!enabled() || (_release_type > AP_PARACHUTE_TRIGGER_TYPE_RELAY_3)) {
+        return false;
+    }
+    index = _release_type; 
+    return true;
+}
+#endif
+
 // singleton instance
 AP_Parachute *AP_Parachute::_singleton;
 
diff --git a/libraries/AP_Parachute/AP_Parachute.h b/libraries/AP_Parachute/AP_Parachute.h
index 7793a202d23bbd..30005e7543067e 100644
--- a/libraries/AP_Parachute/AP_Parachute.h
+++ b/libraries/AP_Parachute/AP_Parachute.h
@@ -85,7 +85,10 @@ class AP_Parachute {
 
     // check settings are valid
     bool arming_checks(size_t buflen, char *buffer) const;
-    
+
+    // Return the relay index that would be used for param conversion to relay functions
+    bool get_legacy_relay_index(int8_t &index) const;
+
     static const struct AP_Param::GroupInfo        var_info[];
 
     // get singleton instance

From abcbc66c5cf3feb2dd303fb2d79aeec00f59a33d Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 8 Dec 2023 04:37:15 +0000
Subject: [PATCH 0174/1335] AP_Relay: param conversion from ICE, chute and
 camera

---
 libraries/AP_Relay/AP_Relay.cpp        | 69 +++++++++++++++++++++++---
 libraries/AP_Relay/AP_Relay_Params.cpp |  4 +-
 libraries/AP_Relay/AP_Relay_Params.h   |  3 ++
 3 files changed, 67 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index e5cdde29c0b23c..02b9816a089ae7 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -15,6 +15,10 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
 
+#include <AP_ICEngine/AP_ICEngine.h>
+#include <AP_Parachute/AP_Parachute.h>
+#include <AP_Camera/AP_Camera.h>
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
   #define RELAY1_PIN_DEFAULT 13
 
@@ -113,12 +117,45 @@ AP_Relay::AP_Relay(void)
 
 void AP_Relay::convert_params()
 {
+    // PARAMETER_CONVERSION - Added: Dec-2023
+
+    // Before converting local params we must find any relays being used by index from external libs
+    int8_t relay_index;
+
+    int8_t ice_relay = -1;
+#if AP_ICENGINE_ENABLED
+    AP_ICEngine *ice = AP::ice();
+    if (ice != nullptr && ice->get_legacy_ignition_relay_index(relay_index)) {
+        ice_relay = relay_index;
+    }
+#endif
+
+    int8_t chute_relay = -1;
+#if HAL_PARACHUTE_ENABLED
+    AP_Parachute *parachute = AP::parachute();
+    if (parachute != nullptr && parachute->get_legacy_relay_index(relay_index)) {
+        chute_relay = relay_index;
+    }
+#endif
+
+    int8_t cam_relay = -1;
+#if AP_CAMERA_ENABLED
+    AP_Camera *camera = AP::camera();
+    if ((camera != nullptr) && (camera->get_legacy_relay_index(relay_index))) {
+        cam_relay = relay_index;
+    }
+#endif
+
     // Find old default param
     int8_t default_state = 0; // off was the old behaviour
     const bool have_default = AP_Param::get_param_by_index(this, 4, AP_PARAM_INT8, &default_state);
 
     // grab the old values if they were set
     for (uint8_t i = 0; i < MIN(AP_RELAY_NUM_RELAYS, 6); i++) {
+        if (_params[i].function.configured()) {
+            // Conversion already done, or user has configured manually
+            continue;
+        }
 
         uint8_t param_index = i;
         if (i > 3) {
@@ -128,15 +165,34 @@ void AP_Relay::convert_params()
 
         int8_t pin = 0;
         if (!_params[i].pin.configured() && AP_Param::get_param_by_index(this, param_index, AP_PARAM_INT8, &pin) && (pin >= 0)) {
-            // if the pin isn't negative we can assume the user might have been using it, map it to the old school relay interface
+            // Copy old pin parameter
             _params[i].pin.set_and_save(pin);
+        }
+        if (_params[i].pin < 0) {
+            // Don't enable if pin is invalid
+            continue;
+        }
+        // Valid pin, this is either due to the param conversion or default value
+
+        // Work out what function this relay should be
+        if (i == chute_relay) {
+            _params[i].function.set_and_save(int8_t(AP_Relay_Params::Function::parachute));
+
+        } else if (i == ice_relay) {
+            _params[i].function.set_and_save(int8_t(AP_Relay_Params::Function::ignition));
+
+        } else if (i == cam_relay) {
+            _params[i].function.set_and_save(int8_t(AP_Relay_Params::Function::camera));
+
+        } else {
             _params[i].function.set_and_save(int8_t(AP_Relay_Params::Function::relay));
 
-            if (have_default) {
-                _params[i].default_state.set_and_save(default_state);
-            }
         }
 
+        // Set the default state
+        if (have_default) {
+            _params[i].default_state.set_and_save(default_state);
+        }
     }
 }
 
@@ -302,13 +358,12 @@ bool AP_Relay::enabled(uint8_t instance) const
 // see if the relay is enabled
 bool AP_Relay::enabled(AP_Relay_Params::Function function) const
 {
-    bool valid = false;
     for (uint8_t instance = 0; instance < AP_RELAY_NUM_RELAYS; instance++) {
         if ((_params[instance].function == function) && (_params[instance].pin != -1)) {
-            valid = true;
+            return true;
         }
     }
-    return valid;
+    return false;
 }
 
 #if AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
diff --git a/libraries/AP_Relay/AP_Relay_Params.cpp b/libraries/AP_Relay/AP_Relay_Params.cpp
index 01eb6374451e39..9ea593cea6f65d 100644
--- a/libraries/AP_Relay/AP_Relay_Params.cpp
+++ b/libraries/AP_Relay/AP_Relay_Params.cpp
@@ -5,7 +5,7 @@ const AP_Param::GroupInfo AP_Relay_Params::var_info[] = {
     // @Param: FUNCTION
     // @DisplayName: Relay function
     // @Description: The function the relay channel is mapped to.
-    // @Values: 0:None,1:Relay,2:Ignition,3:Starter
+    // @Values: 0:None,1:Relay,2:Ignition,3:Parachute,4:Camera
     // @User: Standard
     AP_GROUPINFO_FLAGS("FUNCTION", 1, AP_Relay_Params, function, (float)Function::none, AP_PARAM_FLAG_ENABLE),
 
@@ -15,7 +15,7 @@ const AP_Param::GroupInfo AP_Relay_Params::var_info[] = {
     // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,62:BBBMini Pin P8.13,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8
     // @User: Standard
     AP_GROUPINFO("PIN", 2, AP_Relay_Params, pin, -1),
-    
+
     // @Param: DEFAULT
     // @DisplayName: Relay default state
     // @Description: Should the relay default to on or off, this only applies to function Relay. All other uses will pick the appropriate default output state.
diff --git a/libraries/AP_Relay/AP_Relay_Params.h b/libraries/AP_Relay/AP_Relay_Params.h
index cb1815156c0a21..6e9105dbc7ddb5 100644
--- a/libraries/AP_Relay/AP_Relay_Params.h
+++ b/libraries/AP_Relay/AP_Relay_Params.h
@@ -21,6 +21,9 @@ class AP_Relay_Params {
     enum class Function : uint8_t {
         none     = 0,
         relay    = 1,
+        ignition = 2,
+        parachute = 3,
+        camera = 4,
         num_functions // must be the last entry
     };
 

From a0eb3396f85e667c2dd7b6767cafdb4da70862f7 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 9 Dec 2023 19:11:44 +0000
Subject: [PATCH 0175/1335] AR_Motors: Move to new relay functions

---
 libraries/AR_Motors/AP_MotorsUGV.cpp | 95 +++++++++++++++++++++++-----
 libraries/AR_Motors/AP_MotorsUGV.h   |  3 +
 2 files changed, 81 insertions(+), 17 deletions(-)

diff --git a/libraries/AR_Motors/AP_MotorsUGV.cpp b/libraries/AR_Motors/AP_MotorsUGV.cpp
index c1b2177a46b9e0..061c1b3a25bd90 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.cpp
+++ b/libraries/AR_Motors/AP_MotorsUGV.cpp
@@ -16,7 +16,7 @@
 #include <SRV_Channel/SRV_Channel.h>
 #include <GCS_MAVLink/GCS.h>
 #include "AP_MotorsUGV.h"
-#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
+#include <AP_Relay/AP_Relay.h>
 
 #define SERVO_MAX 4500  // This value represents 45 degrees and is just an arbitrary representation of servo max travel.
 
@@ -147,6 +147,33 @@ void AP_MotorsUGV::init(uint8_t frtype)
     }
 }
 
+bool AP_MotorsUGV::get_legacy_relay_index(int8_t &index1, int8_t &index2, int8_t &index3, int8_t &index4) const
+{
+    if (_pwm_type != PWM_TYPE_BRUSHED_WITH_RELAY) {
+        // Relays only used if PWM type is set to brushed with relay
+        return false;
+    }
+
+    // First relay is always used, throttle, throttle left or motor 1
+    index1 = 0;
+
+    // Second relay is used for right throttle on skid steer and motor 2 for omni
+    if (have_skid_steering()) {
+        index2 = 1;
+    }
+
+    // Omni can have a variable number of motors
+    if (is_omni()) {
+        // Omni has at least 3 motors
+        index2 = 2;
+        if (_motors_num >= 4) {
+            index2 = 3;
+        }
+    }
+
+    return true;
+}
+
 // setup output in case of main CPU failure
 void AP_MotorsUGV::setup_safety_output()
 {
@@ -457,10 +484,14 @@ bool AP_MotorsUGV::output_test_pwm(motor_test_order motor_seq, float pwm)
 //  returns true if checks pass, false if they fail.  report should be true to send text messages to GCS
 bool AP_MotorsUGV::pre_arm_check(bool report) const
 {
+    const bool have_throttle = SRV_Channels::function_assigned(SRV_Channel::k_throttle);
+    const bool have_throttle_left = SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft);
+    const bool have_throttle_right = SRV_Channels::function_assigned(SRV_Channel::k_throttleRight);
+
     // check that there's defined outputs, inc scripting and sail
-    if(!SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft) &&
-       !SRV_Channels::function_assigned(SRV_Channel::k_throttleRight) &&
-       !SRV_Channels::function_assigned(SRV_Channel::k_throttle) &&
+    if(!have_throttle_left &&
+       !have_throttle_right &&
+       !have_throttle &&
        !SRV_Channels::function_assigned(SRV_Channel::k_steering) &&
        !SRV_Channels::function_assigned(SRV_Channel::k_scripting1) &&
        !has_sail()) {
@@ -470,14 +501,14 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
         return false;
     }
     // check if only one of skid-steering output has been configured
-    if (SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft) != SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
+    if (have_throttle_left != have_throttle_right) {
         if (report) {
             GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PreArm: check skid steering config");
         }
         return false;
     }
     // check if only one of throttle or steering outputs has been configured, if has a sail allow no throttle
-    if ((has_sail() || SRV_Channels::function_assigned(SRV_Channel::k_throttle)) != SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
+    if ((has_sail() || have_throttle) != SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
         if (report) {
             GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PreArm: check steering and throttle config");
         }
@@ -493,6 +524,35 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
             return false;
         }
     }
+
+    // Check relays are configured for brushed with relay outputs
+#if AP_RELAY_ENABLED
+    AP_Relay*relay = AP::relay();
+    if ((_pwm_type == PWM_TYPE_BRUSHED_WITH_RELAY) && (relay != nullptr)) {
+        // If a output is configured its relay must be enabled
+        struct RelayTable {
+            bool output_assigned;
+            AP_Relay_Params::FUNCTION fun;
+        };
+
+        const RelayTable relay_table[] = {
+            { have_throttle || have_throttle_left || (SRV_Channels::function_assigned(SRV_Channel::k_motor1) && (_motors_num >= 1)), AP_Relay_Params::FUNCTION::BRUSHED_REVERSE_1 },
+            { have_throttle_right || (SRV_Channels::function_assigned(SRV_Channel::k_motor2) && (_motors_num >= 2)),                 AP_Relay_Params::FUNCTION::BRUSHED_REVERSE_2 },
+            { SRV_Channels::function_assigned(SRV_Channel::k_motor3) && (_motors_num >= 3),                                          AP_Relay_Params::FUNCTION::BRUSHED_REVERSE_3 },
+            { SRV_Channels::function_assigned(SRV_Channel::k_motor4) && (_motors_num >= 4),                                          AP_Relay_Params::FUNCTION::BRUSHED_REVERSE_4 },
+        };
+
+        for (uint8_t i=0; i<ARRAY_SIZE(relay_table); i++) {
+            if (relay_table[i].output_assigned && !relay->enabled(relay_table[i].fun)) {
+                if (report) {
+                    gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: relay function %u unassigned", uint8_t(relay_table[i].fun));
+                }
+                return false;
+            }
+        }
+    }
+#endif
+
     return true;
 }
 
@@ -918,9 +978,9 @@ void AP_MotorsUGV::output_throttle(SRV_Channel::Aux_servo_function_t function, f
     throttle = get_rate_controlled_throttle(function, throttle, dt);
 
     // set relay if necessary
-#if AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED
-    if (_pwm_type == PWM_TYPE_BRUSHED_WITH_RELAY) {
-        auto &_relayEvents { *AP::servorelayevents() };
+#if AP_RELAY_ENABLED
+    AP_Relay*relay = AP::relay();
+    if ((_pwm_type == PWM_TYPE_BRUSHED_WITH_RELAY) && (relay != nullptr)) {
 
         // find the output channel, if not found return
         const SRV_Channel *out_chan = SRV_Channels::get_channel_for(function);
@@ -930,30 +990,31 @@ void AP_MotorsUGV::output_throttle(SRV_Channel::Aux_servo_function_t function, f
         const int8_t reverse_multiplier = out_chan->get_reversed() ? -1 : 1;
         bool relay_high = is_negative(reverse_multiplier * throttle);
 
+        AP_Relay_Params::FUNCTION relay_function;
         switch (function) {
             case SRV_Channel::k_throttle:
             case SRV_Channel::k_throttleLeft:
             case SRV_Channel::k_motor1:
-                _relayEvents.do_set_relay(0, relay_high);
+            default:
+                relay_function = AP_Relay_Params::FUNCTION::BRUSHED_REVERSE_1;
                 break;
             case SRV_Channel::k_throttleRight:
             case SRV_Channel::k_motor2:
-                _relayEvents.do_set_relay(1, relay_high);
+                relay_function = AP_Relay_Params::FUNCTION::BRUSHED_REVERSE_2;
                 break;
             case SRV_Channel::k_motor3:
-                _relayEvents.do_set_relay(2, relay_high);
+                relay_function = AP_Relay_Params::FUNCTION::BRUSHED_REVERSE_3;
                 break;
             case SRV_Channel::k_motor4:
-                _relayEvents.do_set_relay(3, relay_high);
-                break;
-            default:
-                // do nothing
+                relay_function = AP_Relay_Params::FUNCTION::BRUSHED_REVERSE_4;
                 break;
         }
+        relay->set(relay_function, relay_high);
+
         // invert the output to always have positive value calculated by calc_pwm
         throttle = reverse_multiplier * fabsf(throttle);
     }
-#endif  // AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED
+#endif  // AP_RELAY_ENABLED
 
     // output to servo channel
     switch (function) {
diff --git a/libraries/AR_Motors/AP_MotorsUGV.h b/libraries/AR_Motors/AP_MotorsUGV.h
index df61e8734d974f..42c2df5377ae98 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.h
+++ b/libraries/AR_Motors/AP_MotorsUGV.h
@@ -114,6 +114,9 @@ class AP_MotorsUGV {
     // returns true if the vehicle is omni
     bool is_omni() const { return _frame_type != FRAME_TYPE_UNDEFINED && _motors_num > 0; }
 
+    // Return the relay index that would be used for param conversion to relay functions
+    bool get_legacy_relay_index(int8_t &index1, int8_t &index2, int8_t &index3, int8_t &index4) const;
+
     // structure for holding motor limit flags
     struct AP_MotorsUGV_limit {
         uint8_t steer_left      : 1; // we have reached the steering controller's left most limit

From f907694c6e3e71ffe95c22441061510630ce81a4 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 9 Dec 2023 19:12:10 +0000
Subject: [PATCH 0176/1335] AP_Relay: add rover motor reverse functions

---
 libraries/AP_Relay/AP_Relay.cpp        | 51 +++++++++++++++++++++-----
 libraries/AP_Relay/AP_Relay_Params.cpp | 11 +++++-
 libraries/AP_Relay/AP_Relay_Params.h   |  4 ++
 3 files changed, 55 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 02b9816a089ae7..f9c7cbfa35d5c5 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -19,6 +19,11 @@
 #include <AP_Parachute/AP_Parachute.h>
 #include <AP_Camera/AP_Camera.h>
 
+#include <AP_Vehicle/AP_Vehicle_Type.h>
+#if APM_BUILD_TYPE(APM_BUILD_Rover)
+#include <AR_Motors/AP_MotorsUGV.h>
+#endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
   #define RELAY1_PIN_DEFAULT 13
 
@@ -146,6 +151,14 @@ void AP_Relay::convert_params()
     }
 #endif
 
+#if APM_BUILD_TYPE(APM_BUILD_Rover)
+    int8_t rover_relay[] = { -1, -1, -1, -1 };
+    AP_MotorsUGV *motors = AP::motors_ugv();
+    if (motors != nullptr) {
+        motors->get_legacy_relay_index(rover_relay[0], rover_relay[1], rover_relay[2], rover_relay[3]);
+    }
+#endif
+
     // Find old default param
     int8_t default_state = 0; // off was the old behaviour
     const bool have_default = AP_Param::get_param_by_index(this, 4, AP_PARAM_INT8, &default_state);
@@ -165,29 +178,47 @@ void AP_Relay::convert_params()
 
         int8_t pin = 0;
         if (!_params[i].pin.configured() && AP_Param::get_param_by_index(this, param_index, AP_PARAM_INT8, &pin) && (pin >= 0)) {
-            // Copy old pin parameter
+            // Copy old pin parameter if valid
             _params[i].pin.set_and_save(pin);
         }
-        if (_params[i].pin < 0) {
-            // Don't enable if pin is invalid
-            continue;
-        }
-        // Valid pin, this is either due to the param conversion or default value
 
         // Work out what function this relay should be
+        AP_Relay_Params::Function new_fun;
         if (i == chute_relay) {
-            _params[i].function.set_and_save(int8_t(AP_Relay_Params::Function::parachute));
+            new_fun = AP_Relay_Params::Function::parachute;
 
         } else if (i == ice_relay) {
-            _params[i].function.set_and_save(int8_t(AP_Relay_Params::Function::ignition));
+            new_fun = AP_Relay_Params::Function::ignition;
 
         } else if (i == cam_relay) {
-            _params[i].function.set_and_save(int8_t(AP_Relay_Params::Function::camera));
+            new_fun = AP_Relay_Params::Function::camera;
+
+#if APM_BUILD_TYPE(APM_BUILD_Rover)
+        } else if (i == rover_relay[0]) {
+            new_fun = AP_Relay_Params::Function::brushed_reverse_1;
+
+        } else if (i == rover_relay[1]) {
+            new_fun = AP_Relay_Params::Function::brushed_reverse_2;
+
+        } else if (i == rover_relay[2]) {
+            new_fun = AP_Relay_Params::Function::brushed_reverse_3;
+
+        } else if (i == rover_relay[3]) {
+            new_fun = AP_Relay_Params::Function::brushed_reverse_4;
+#endif
 
         } else {
-            _params[i].function.set_and_save(int8_t(AP_Relay_Params::Function::relay));
+            if (_params[i].pin < 0) {
+                // Don't enable as numbered relay if pin is invalid
+                // Other functions should be enabled with a invalid pin
+                // This will result in a pre-arm promoting the user to resolve
+                continue;
+            }
+            new_fun = AP_Relay_Params::Function::relay;
 
         }
+        _params[i].function.set_and_save(int8_t(new_fun));
+
 
         // Set the default state
         if (have_default) {
diff --git a/libraries/AP_Relay/AP_Relay_Params.cpp b/libraries/AP_Relay/AP_Relay_Params.cpp
index 9ea593cea6f65d..37b04e89d34be2 100644
--- a/libraries/AP_Relay/AP_Relay_Params.cpp
+++ b/libraries/AP_Relay/AP_Relay_Params.cpp
@@ -5,7 +5,16 @@ const AP_Param::GroupInfo AP_Relay_Params::var_info[] = {
     // @Param: FUNCTION
     // @DisplayName: Relay function
     // @Description: The function the relay channel is mapped to.
-    // @Values: 0:None,1:Relay,2:Ignition,3:Parachute,4:Camera
+    // @Values: 0:None
+    // @Values: 1:Relay
+    // @Values{Plane}: 2:Ignition
+    // @Values{Plane, Copter}: 3:Parachute
+    // @Values: 4:Camera
+    // @Values{Rover}: 5:Bushed motor reverse 1 throttle or throttle-left or omni motor 1
+    // @Values{Rover}: 6:Bushed motor reverse 2 throttle-right or omni motor 2
+    // @Values{Rover}: 7:Bushed motor reverse 3 omni motor 3
+    // @Values{Rover}: 8:Bushed motor reverse 4 omni motor 4
+
     // @User: Standard
     AP_GROUPINFO_FLAGS("FUNCTION", 1, AP_Relay_Params, function, (float)Function::none, AP_PARAM_FLAG_ENABLE),
 
diff --git a/libraries/AP_Relay/AP_Relay_Params.h b/libraries/AP_Relay/AP_Relay_Params.h
index 6e9105dbc7ddb5..29161adf329113 100644
--- a/libraries/AP_Relay/AP_Relay_Params.h
+++ b/libraries/AP_Relay/AP_Relay_Params.h
@@ -24,6 +24,10 @@ class AP_Relay_Params {
         ignition = 2,
         parachute = 3,
         camera = 4,
+        brushed_reverse_1 = 5,
+        brushed_reverse_2 = 6,
+        brushed_reverse_3 = 7,
+        brushed_reverse_4 = 8,
         num_functions // must be the last entry
     };
 

From c917480cde61b98c3fc90224d34baef8792431ef Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 12 Dec 2023 14:02:14 +0000
Subject: [PATCH 0177/1335] AP_Relay: capitalize function enum

---
 libraries/AP_Relay/AP_Relay.cpp        | 34 +++++++++++++-------------
 libraries/AP_Relay/AP_Relay.h          |  4 +--
 libraries/AP_Relay/AP_Relay_Params.cpp |  2 +-
 libraries/AP_Relay/AP_Relay_Params.h   | 24 +++++++++---------
 4 files changed, 32 insertions(+), 32 deletions(-)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index f9c7cbfa35d5c5..8c4f3f08bc31be 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -183,28 +183,28 @@ void AP_Relay::convert_params()
         }
 
         // Work out what function this relay should be
-        AP_Relay_Params::Function new_fun;
+        AP_Relay_Params::FUNCTION new_fun;
         if (i == chute_relay) {
-            new_fun = AP_Relay_Params::Function::parachute;
+            new_fun = AP_Relay_Params::FUNCTION::PARACHUTE;
 
         } else if (i == ice_relay) {
-            new_fun = AP_Relay_Params::Function::ignition;
+            new_fun = AP_Relay_Params::FUNCTION::IGNITION;
 
         } else if (i == cam_relay) {
-            new_fun = AP_Relay_Params::Function::camera;
+            new_fun = AP_Relay_Params::FUNCTION::CAMERA;
 
 #if APM_BUILD_TYPE(APM_BUILD_Rover)
         } else if (i == rover_relay[0]) {
-            new_fun = AP_Relay_Params::Function::brushed_reverse_1;
+            new_fun = AP_Relay_Params::FUNCTION::BRUSHED_REVERSE_1;
 
         } else if (i == rover_relay[1]) {
-            new_fun = AP_Relay_Params::Function::brushed_reverse_2;
+            new_fun = AP_Relay_Params::FUNCTION::BRUSHED_REVERSE_2;
 
         } else if (i == rover_relay[2]) {
-            new_fun = AP_Relay_Params::Function::brushed_reverse_3;
+            new_fun = AP_Relay_Params::FUNCTION::BRUSHED_REVERSE_3;
 
         } else if (i == rover_relay[3]) {
-            new_fun = AP_Relay_Params::Function::brushed_reverse_4;
+            new_fun = AP_Relay_Params::FUNCTION::BRUSHED_REVERSE_4;
 #endif
 
         } else {
@@ -214,7 +214,7 @@ void AP_Relay::convert_params()
                 // This will result in a pre-arm promoting the user to resolve
                 continue;
             }
-            new_fun = AP_Relay_Params::Function::relay;
+            new_fun = AP_Relay_Params::FUNCTION::RELAY;
 
         }
         _params[i].function.set_and_save(int8_t(new_fun));
@@ -257,13 +257,13 @@ void AP_Relay::init()
             continue;
         }
 
-        const AP_Relay_Params::Function function = _params[instance].function;
-        if (function < AP_Relay_Params::Function::relay || function >= AP_Relay_Params::Function::num_functions) {
+        const AP_Relay_Params::FUNCTION function = _params[instance].function;
+        if (function <= AP_Relay_Params::FUNCTION::NONE || function >= AP_Relay_Params::FUNCTION::NUM_FUNCTIONS) {
             // invalid function, skip it
             continue;
         }
 
-        if (function == AP_Relay_Params::Function::relay) {
+        if (function == AP_Relay_Params::FUNCTION::RELAY) {
             // relay by instance number, set the state to match our output
             const AP_Relay_Params::DefaultState default_state = _params[instance].default_state;
             if ((default_state == AP_Relay_Params::DefaultState::OFF) ||
@@ -279,8 +279,8 @@ void AP_Relay::init()
     }
 }
 
-void AP_Relay::set(const AP_Relay_Params::Function function, const bool value) {
-    if (function <= AP_Relay_Params::Function::none && function >= AP_Relay_Params::Function::num_functions) {
+void AP_Relay::set(const AP_Relay_Params::FUNCTION function, const bool value) {
+    if (function <= AP_Relay_Params::FUNCTION::NONE && function >= AP_Relay_Params::FUNCTION::NUM_FUNCTIONS) {
         // invalid function
         return;
     }
@@ -328,7 +328,7 @@ void AP_Relay::set(const uint8_t instance, const bool value)
         return;
     }
 
-    if (_params[instance].function != AP_Relay_Params::Function::relay) {
+    if (_params[instance].function != AP_Relay_Params::FUNCTION::RELAY) {
         return;
     }
 
@@ -383,11 +383,11 @@ bool AP_Relay::get(uint8_t instance) const
 bool AP_Relay::enabled(uint8_t instance) const 
 {
     // Must be a valid instance with function relay and pin set
-    return (instance < AP_RELAY_NUM_RELAYS) && (_params[instance].pin != -1) && (_params[instance].function == AP_Relay_Params::Function::relay);
+    return (instance < AP_RELAY_NUM_RELAYS) && (_params[instance].pin != -1) && (_params[instance].function == AP_Relay_Params::FUNCTION::RELAY);
 }
 
 // see if the relay is enabled
-bool AP_Relay::enabled(AP_Relay_Params::Function function) const
+bool AP_Relay::enabled(AP_Relay_Params::FUNCTION function) const
 {
     for (uint8_t instance = 0; instance < AP_RELAY_NUM_RELAYS; instance++) {
         if ((_params[instance].function == function) && (_params[instance].pin != -1)) {
diff --git a/libraries/AP_Relay/AP_Relay.h b/libraries/AP_Relay/AP_Relay.h
index a668e9144c71a1..51e08a4015a01d 100644
--- a/libraries/AP_Relay/AP_Relay.h
+++ b/libraries/AP_Relay/AP_Relay.h
@@ -55,10 +55,10 @@ class AP_Relay {
 
     bool send_relay_status(const class GCS_MAVLINK &link) const;
 
-    void set(AP_Relay_Params::Function function, bool value);
+    void set(AP_Relay_Params::FUNCTION function, bool value);
 
     // see if the relay is enabled
-    bool enabled(AP_Relay_Params::Function function) const;
+    bool enabled(AP_Relay_Params::FUNCTION function) const;
 
 private:
     static AP_Relay *singleton;
diff --git a/libraries/AP_Relay/AP_Relay_Params.cpp b/libraries/AP_Relay/AP_Relay_Params.cpp
index 37b04e89d34be2..afce285cd4fe4b 100644
--- a/libraries/AP_Relay/AP_Relay_Params.cpp
+++ b/libraries/AP_Relay/AP_Relay_Params.cpp
@@ -16,7 +16,7 @@ const AP_Param::GroupInfo AP_Relay_Params::var_info[] = {
     // @Values{Rover}: 8:Bushed motor reverse 4 omni motor 4
 
     // @User: Standard
-    AP_GROUPINFO_FLAGS("FUNCTION", 1, AP_Relay_Params, function, (float)Function::none, AP_PARAM_FLAG_ENABLE),
+    AP_GROUPINFO_FLAGS("FUNCTION", 1, AP_Relay_Params, function, (float)FUNCTION::NONE, AP_PARAM_FLAG_ENABLE),
 
     // @Param: PIN
     // @DisplayName: Relay pin
diff --git a/libraries/AP_Relay/AP_Relay_Params.h b/libraries/AP_Relay/AP_Relay_Params.h
index 29161adf329113..7239dda9c9106c 100644
--- a/libraries/AP_Relay/AP_Relay_Params.h
+++ b/libraries/AP_Relay/AP_Relay_Params.h
@@ -18,20 +18,20 @@ class AP_Relay_Params {
         NO_CHANGE = 2,
     };
 
-    enum class Function : uint8_t {
-        none     = 0,
-        relay    = 1,
-        ignition = 2,
-        parachute = 3,
-        camera = 4,
-        brushed_reverse_1 = 5,
-        brushed_reverse_2 = 6,
-        brushed_reverse_3 = 7,
-        brushed_reverse_4 = 8,
-        num_functions // must be the last entry
+    enum class FUNCTION : uint8_t {
+        NONE     = 0,
+        RELAY    = 1,
+        IGNITION = 2,
+        PARACHUTE = 3,
+        CAMERA = 4,
+        BRUSHED_REVERSE_1 = 5,
+        BRUSHED_REVERSE_2 = 6,
+        BRUSHED_REVERSE_3 = 7,
+        BRUSHED_REVERSE_4 = 8,
+        NUM_FUNCTIONS // must be the last entry
     };
 
-    AP_Enum<Function> function;            // relay function
+    AP_Enum<FUNCTION> function;            // relay function
     AP_Int16 pin;                          // gpio pin number
     AP_Enum<DefaultState> default_state;  // default state
 };

From a77faaf125f1299afd191eb76d3ef788db8b4714 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 18 Dec 2023 03:24:09 +0000
Subject: [PATCH 0178/1335] AP_Relay: move from using AP_RELAY_NUM_RELAYS to
 ARRAY_SIZE(_params)

---
 libraries/AP_Relay/AP_Relay.cpp | 22 +++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 8c4f3f08bc31be..921163fbd6262f 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -164,7 +164,7 @@ void AP_Relay::convert_params()
     const bool have_default = AP_Param::get_param_by_index(this, 4, AP_PARAM_INT8, &default_state);
 
     // grab the old values if they were set
-    for (uint8_t i = 0; i < MIN(AP_RELAY_NUM_RELAYS, 6); i++) {
+    for (uint8_t i = 0; i < MIN(ARRAY_SIZE(_params), 6U); i++) {
         if (_params[i].function.configured()) {
             // Conversion already done, or user has configured manually
             continue;
@@ -235,7 +235,7 @@ void AP_Relay::set_defaults() {
                              RELAY5_PIN_DEFAULT,
                              RELAY6_PIN_DEFAULT };
 
-    for (uint8_t i = 0; i < MIN(uint8_t(AP_RELAY_NUM_RELAYS), ARRAY_SIZE(pins)); i++) {
+    for (uint8_t i = 0; i < MIN(ARRAY_SIZE(_params), ARRAY_SIZE(pins)); i++) {
         // set the default
         if (pins[i] != -1) {
             _params[i].pin.set_default(pins[i]);
@@ -250,7 +250,7 @@ void AP_Relay::init()
     convert_params();
 
     // setup the actual default values of all the pins
-    for (uint8_t instance = 0; instance < AP_RELAY_NUM_RELAYS; instance++) {
+    for (uint8_t instance = 0; instance < ARRAY_SIZE(_params); instance++) {
         const int8_t pin = _params[instance].pin;
         if (pin == -1) {
             // no valid pin to set it on, skip it
@@ -285,7 +285,7 @@ void AP_Relay::set(const AP_Relay_Params::FUNCTION function, const bool value) {
         return;
     }
 
-    for (uint8_t instance = 0; instance < AP_RELAY_NUM_RELAYS; instance++) {
+    for (uint8_t instance = 0; instance < ARRAY_SIZE(_params); instance++) {
         if (function != _params[instance].function) {
             continue;
         }
@@ -324,7 +324,7 @@ void AP_Relay::set_pin_by_instance(uint8_t instance, bool value)
 
 void AP_Relay::set(const uint8_t instance, const bool value)
 {
-    if (instance >= AP_RELAY_NUM_RELAYS) {
+    if (instance >= ARRAY_SIZE(_params)) {
         return;
     }
 
@@ -337,7 +337,7 @@ void AP_Relay::set(const uint8_t instance, const bool value)
 
 void AP_Relay::toggle(uint8_t instance)
 {
-    if (instance < AP_RELAY_NUM_RELAYS) {
+    if (instance < ARRAY_SIZE(_params)) {
         set(instance, !get(instance));
     }
 }
@@ -345,7 +345,7 @@ void AP_Relay::toggle(uint8_t instance)
 // check settings are valid
 bool AP_Relay::arming_checks(size_t buflen, char *buffer) const
 {
-    for (uint8_t i=0; i<AP_RELAY_NUM_RELAYS; i++) {
+    for (uint8_t i=0; i<ARRAY_SIZE(_params); i++) {
         const int8_t pin = _params[i].pin.get();
         if (pin != -1 && !hal.gpio->valid_pin(pin)) {
             char param_name_buf[14];
@@ -364,7 +364,7 @@ bool AP_Relay::arming_checks(size_t buflen, char *buffer) const
 
 bool AP_Relay::get(uint8_t instance) const
 {
-    if (instance >= AP_RELAY_NUM_RELAYS) {
+    if (instance >= ARRAY_SIZE(_params)) {
         // invalid instance
         return false;
     }
@@ -383,13 +383,13 @@ bool AP_Relay::get(uint8_t instance) const
 bool AP_Relay::enabled(uint8_t instance) const 
 {
     // Must be a valid instance with function relay and pin set
-    return (instance < AP_RELAY_NUM_RELAYS) && (_params[instance].pin != -1) && (_params[instance].function == AP_Relay_Params::FUNCTION::RELAY);
+    return (instance < ARRAY_SIZE(_params)) && (_params[instance].pin != -1) && (_params[instance].function == AP_Relay_Params::FUNCTION::RELAY);
 }
 
 // see if the relay is enabled
 bool AP_Relay::enabled(AP_Relay_Params::FUNCTION function) const
 {
-    for (uint8_t instance = 0; instance < AP_RELAY_NUM_RELAYS; instance++) {
+    for (uint8_t instance = 0; instance < ARRAY_SIZE(_params); instance++) {
         if ((_params[instance].function == function) && (_params[instance].pin != -1)) {
             return true;
         }
@@ -408,7 +408,7 @@ bool AP_Relay::send_relay_status(const GCS_MAVLINK &link) const
 
     uint16_t present_mask = 0;
     uint16_t on_mask = 0;
-    for (auto i=0; i<AP_RELAY_NUM_RELAYS; i++) {
+    for (uint8_t i=0; i<ARRAY_SIZE(_params); i++) {
         if (!enabled(i)) {
             continue;
         }

From 287e9726d7772be685bf5b648eb493ee3c5e723b Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 13 Dec 2023 02:52:56 +0000
Subject: [PATCH 0179/1335] AP_Motors: Heli: RotorControlState to enum class

---
 libraries/AP_Motors/AP_MotorsHeli.cpp        |  2 +-
 libraries/AP_Motors/AP_MotorsHeli.h          |  2 +-
 libraries/AP_Motors/AP_MotorsHeli_Dual.cpp   | 12 ++++++------
 libraries/AP_Motors/AP_MotorsHeli_Dual.h     |  2 +-
 libraries/AP_Motors/AP_MotorsHeli_Quad.cpp   | 12 ++++++------
 libraries/AP_Motors/AP_MotorsHeli_Quad.h     |  2 +-
 libraries/AP_Motors/AP_MotorsHeli_RSC.cpp    |  6 +++---
 libraries/AP_Motors/AP_MotorsHeli_RSC.h      | 14 +++++++-------
 libraries/AP_Motors/AP_MotorsHeli_Single.cpp | 12 ++++++------
 libraries/AP_Motors/AP_MotorsHeli_Single.h   |  2 +-
 10 files changed, 33 insertions(+), 33 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
index 52176330bac8b3..0e246ded6bd2ea 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli.cpp
@@ -190,7 +190,7 @@ void AP_MotorsHeli::output_min()
     // move swash to mid
     move_actuators(0.0f,0.0f,0.5f,0.0f);
 
-    update_motor_control(ROTOR_CONTROL_STOP);
+    update_motor_control(AP_MotorsHeli_RSC::RotorControlState::STOP);
 
     // override limits flags
     set_limit_flag_pitch_roll_yaw(true);
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index 7cf311a84ca50d..82287f9b1ea5a4 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -189,7 +189,7 @@ class AP_MotorsHeli : public AP_Motors {
     AP_MotorsHeli_RSC   _main_rotor;            // main rotor
 
     // update_motor_controls - sends commands to motor controllers
-    virtual void update_motor_control(RotorControlState state) = 0;
+    virtual void update_motor_control(AP_MotorsHeli_RSC::RotorControlState state) = 0;
 
     // run spool logic
     void                output_logic();
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
index 06abef19c2f76b..18a916e4ae0250 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
@@ -360,12 +360,12 @@ void AP_MotorsHeli_Dual::mix_intermeshing(float pitch_input, float roll_input, f
 }
 
 // update_motor_controls - sends commands to motor controllers
-void AP_MotorsHeli_Dual::update_motor_control(RotorControlState state)
+void AP_MotorsHeli_Dual::update_motor_control(AP_MotorsHeli_RSC::RotorControlState state)
 {
     // Send state update to motors
     _main_rotor.output(state);
 
-    if (state == ROTOR_CONTROL_STOP) {
+    if (state == AP_MotorsHeli_RSC::RotorControlState::STOP) {
         // set engine run enable aux output to not run position to kill engine when disarmed
         SRV_Channels::set_output_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::Limit::MIN);
     } else {
@@ -528,20 +528,20 @@ void AP_MotorsHeli_Dual::output_to_motors()
     switch (_spool_state) {
         case SpoolState::SHUT_DOWN:
             // sends minimum values out to the motors
-            update_motor_control(ROTOR_CONTROL_STOP);
+            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::STOP);
             break;
         case SpoolState::GROUND_IDLE:
             // sends idle output to motors when armed. rotor could be static or turning (autorotation)
-            update_motor_control(ROTOR_CONTROL_IDLE);
+            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
             break;
         case SpoolState::SPOOLING_UP:
         case SpoolState::THROTTLE_UNLIMITED:
             // set motor output based on thrust requests
-            update_motor_control(ROTOR_CONTROL_ACTIVE);
+            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::ACTIVE);
             break;
         case SpoolState::SPOOLING_DOWN:
             // sends idle output to motors and wait for rotor to stop
-            update_motor_control(ROTOR_CONTROL_IDLE);
+            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
             break;
     }
 }
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.h b/libraries/AP_Motors/AP_MotorsHeli_Dual.h
index 22b2d2502fff4e..46672faddb3004 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Dual.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.h
@@ -65,7 +65,7 @@ class AP_MotorsHeli_Dual : public AP_MotorsHeli {
     void init_outputs () override;
 
     // update_motor_controls - sends commands to motor controllers
-    void update_motor_control(RotorControlState state) override;
+    void update_motor_control(AP_MotorsHeli_RSC::RotorControlState state) override;
 
     // get_swashplate - calculate movement of each swashplate based on configuration
     float get_swashplate(int8_t swash_num, int8_t swash_axis, float pitch_input, float roll_input, float yaw_input, float coll_input);
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
index 2b0fd53083c23b..27ea78b251f4aa 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
@@ -145,12 +145,12 @@ void AP_MotorsHeli_Quad::calculate_roll_pitch_collective_factors()
 }
 
 // update_motor_controls - sends commands to motor controllers
-void AP_MotorsHeli_Quad::update_motor_control(RotorControlState state)
+void AP_MotorsHeli_Quad::update_motor_control(AP_MotorsHeli_RSC::RotorControlState state)
 {
     // Send state update to motors
     _main_rotor.output(state);
 
-    if (state == ROTOR_CONTROL_STOP) {
+    if (state == AP_MotorsHeli_RSC::RotorControlState::STOP) {
         // set engine run enable aux output to not run position to kill engine when disarmed
         SRV_Channels::set_output_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::Limit::MIN);
     } else {
@@ -276,20 +276,20 @@ void AP_MotorsHeli_Quad::output_to_motors()
     switch (_spool_state) {
         case SpoolState::SHUT_DOWN:
             // sends minimum values out to the motors
-            update_motor_control(ROTOR_CONTROL_STOP);
+            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::STOP);
             break;
         case SpoolState::GROUND_IDLE:
             // sends idle output to motors when armed. rotor could be static or turning (autorotation)
-            update_motor_control(ROTOR_CONTROL_IDLE);
+            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
             break;
         case SpoolState::SPOOLING_UP:
         case SpoolState::THROTTLE_UNLIMITED:
             // set motor output based on thrust requests
-            update_motor_control(ROTOR_CONTROL_ACTIVE);
+            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::ACTIVE);
             break;
         case SpoolState::SPOOLING_DOWN:
             // sends idle output to motors and wait for rotor to stop
-            update_motor_control(ROTOR_CONTROL_IDLE);
+            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
             break;
     }
 }
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Quad.h b/libraries/AP_Motors/AP_MotorsHeli_Quad.h
index 3644255b1cb4b7..a67cb409116eb5 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Quad.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Quad.h
@@ -49,7 +49,7 @@ class AP_MotorsHeli_Quad : public AP_MotorsHeli {
     void init_outputs () override;
 
     // update_motor_controls - sends commands to motor controllers
-    void update_motor_control(RotorControlState state) override;
+    void update_motor_control(AP_MotorsHeli_RSC::RotorControlState state) override;
 
     // calculate_roll_pitch_collective_factors - setup rate factors
     void calculate_roll_pitch_collective_factors ();
diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
index bb5a1ba4f88ec3..a54c583d6a0da7 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
@@ -275,7 +275,7 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
     }
 
     switch (state) {
-    case ROTOR_CONTROL_STOP:
+    case RotorControlState::STOP:
         // set rotor ramp to decrease speed to zero, this happens instantly inside update_rotor_ramp()
         update_rotor_ramp(0.0f, dt);
 
@@ -296,7 +296,7 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
         _idle_throttle = get_idle_output();
         break;
 
-    case ROTOR_CONTROL_IDLE:
+    case RotorControlState::IDLE:
         // set rotor ramp to decrease speed to zero
         update_rotor_ramp(0.0f, dt);
 
@@ -348,7 +348,7 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
         _control_output = _idle_throttle;
         break;
 
-    case ROTOR_CONTROL_ACTIVE:
+    case RotorControlState::ACTIVE:
         // set main rotor ramp to increase to full speed
         update_rotor_ramp(1.0f, dt);
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.h b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
index 5d06b37b43a2ea..276728ca4d1dc3 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.h
@@ -30,13 +30,6 @@
 // RSC governor defaults
 #define AP_MOTORS_HELI_RSC_GOVERNOR_RANGE_DEFAULT     100
 
-// rotor controller states
-enum RotorControlState {
-    ROTOR_CONTROL_STOP = 0,
-    ROTOR_CONTROL_IDLE,
-    ROTOR_CONTROL_ACTIVE
-};
-
 // rotor control modes
 enum RotorControlMode {
     ROTOR_CONTROL_MODE_DISABLED = 0,
@@ -60,6 +53,13 @@ class AP_MotorsHeli_RSC {
         AP_Param::setup_object_defaults(this, var_info);
     };
 
+    // rotor controller states
+    enum class RotorControlState {
+        STOP = 0,
+        IDLE,
+        ACTIVE
+    };
+
     // init_servo - servo initialization on start-up
     void        init_servo();
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index 30f10cda24bc37..f9ba47407a2d9f 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -347,13 +347,13 @@ uint32_t AP_MotorsHeli_Single::get_motor_mask()
 }
 
 // update_motor_controls - sends commands to motor controllers
-void AP_MotorsHeli_Single::update_motor_control(RotorControlState state)
+void AP_MotorsHeli_Single::update_motor_control(AP_MotorsHeli_RSC::RotorControlState state)
 {
     // Send state update to motors
     _tail_rotor.output(state);
     _main_rotor.output(state);
 
-    if (state == ROTOR_CONTROL_STOP){
+    if (state == AP_MotorsHeli_RSC::RotorControlState::STOP){
         // set engine run enable aux output to not run position to kill engine when disarmed
         SRV_Channels::set_output_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::Limit::MIN);
     } else {
@@ -504,20 +504,20 @@ void AP_MotorsHeli_Single::output_to_motors()
     switch (_spool_state) {
         case SpoolState::SHUT_DOWN:
             // sends minimum values out to the motors
-            update_motor_control(ROTOR_CONTROL_STOP);
+            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::STOP);
             break;
         case SpoolState::GROUND_IDLE:
             // sends idle output to motors when armed. rotor could be static or turning (autorotation)
-            update_motor_control(ROTOR_CONTROL_IDLE);
+            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
             break;
         case SpoolState::SPOOLING_UP:
         case SpoolState::THROTTLE_UNLIMITED:
             // set motor output based on thrust requests
-            update_motor_control(ROTOR_CONTROL_ACTIVE);
+            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::ACTIVE);
             break;
         case SpoolState::SPOOLING_DOWN:
             // sends idle output to motors and wait for rotor to stop
-            update_motor_control(ROTOR_CONTROL_IDLE);
+            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
             break;
     }
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.h b/libraries/AP_Motors/AP_MotorsHeli_Single.h
index 870d4801c96050..61e6588a5ab9fb 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.h
@@ -86,7 +86,7 @@ class AP_MotorsHeli_Single : public AP_MotorsHeli {
     void init_outputs() override;
 
     // update_motor_controls - sends commands to motor controllers
-    void update_motor_control(RotorControlState state) override;
+    void update_motor_control(AP_MotorsHeli_RSC::RotorControlState state) override;
 
     // heli_move_actuators - moves swash plate and tail rotor
     void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out) override;

From 1bcf69e0c7f55139ee0d9a5bb16577428016336a Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 13 Dec 2023 03:06:29 +0000
Subject: [PATCH 0180/1335] AP_Motors: Heli: add helper to convert from
 AP_Motors::SpoolState to AP_MotorsHeli_RSC::RotorControlState

---
 libraries/AP_Motors/AP_MotorsHeli.cpp        | 23 ++++++++++++++++++++
 libraries/AP_Motors/AP_MotorsHeli.h          |  3 +++
 libraries/AP_Motors/AP_MotorsHeli_Dual.cpp   | 21 ++----------------
 libraries/AP_Motors/AP_MotorsHeli_Quad.cpp   | 21 ++----------------
 libraries/AP_Motors/AP_MotorsHeli_Single.cpp | 20 +----------------
 5 files changed, 31 insertions(+), 57 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsHeli.cpp b/libraries/AP_Motors/AP_MotorsHeli.cpp
index 0e246ded6bd2ea..fc93264ed5d7f9 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli.cpp
@@ -590,3 +590,26 @@ void AP_MotorsHeli::set_desired_rotor_speed(float desired_speed)
 {
     _main_rotor.set_desired_speed(desired_speed);
 }
+
+// Converts AP_Motors::SpoolState from _spool_state variable to AP_MotorsHeli_RSC::RotorControlState
+AP_MotorsHeli_RSC::RotorControlState AP_MotorsHeli::get_rotor_control_state() const
+{
+    switch (_spool_state) {
+        case SpoolState::SHUT_DOWN:
+            // sends minimum values out to the motors
+            return AP_MotorsHeli_RSC::RotorControlState::STOP;
+        case SpoolState::GROUND_IDLE:
+            // sends idle output to motors when armed. rotor could be static or turning (autorotation)
+            return AP_MotorsHeli_RSC::RotorControlState::IDLE;
+        case SpoolState::SPOOLING_UP:
+        case SpoolState::THROTTLE_UNLIMITED:
+            // set motor output based on thrust requests
+            return AP_MotorsHeli_RSC::RotorControlState::ACTIVE;
+        case SpoolState::SPOOLING_DOWN:
+            // sends idle output to motors and wait for rotor to stop
+            return AP_MotorsHeli_RSC::RotorControlState::IDLE;
+    }
+
+    // Should be unreachable, but needed to keep the compiler happy
+    return AP_MotorsHeli_RSC::RotorControlState::STOP;
+}
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index 82287f9b1ea5a4..f2a8ce6100400b 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -191,6 +191,9 @@ class AP_MotorsHeli : public AP_Motors {
     // update_motor_controls - sends commands to motor controllers
     virtual void update_motor_control(AP_MotorsHeli_RSC::RotorControlState state) = 0;
 
+    // Converts AP_Motors::SpoolState from _spool_state variable to AP_MotorsHeli_RSC::RotorControlState
+    AP_MotorsHeli_RSC::RotorControlState get_rotor_control_state() const;
+
     // run spool logic
     void                output_logic();
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
index 18a916e4ae0250..ddbcedc896e44f 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
@@ -525,25 +525,8 @@ void AP_MotorsHeli_Dual::output_to_motors()
     _swashplate1.output();
     _swashplate2.output();
 
-    switch (_spool_state) {
-        case SpoolState::SHUT_DOWN:
-            // sends minimum values out to the motors
-            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::STOP);
-            break;
-        case SpoolState::GROUND_IDLE:
-            // sends idle output to motors when armed. rotor could be static or turning (autorotation)
-            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
-            break;
-        case SpoolState::SPOOLING_UP:
-        case SpoolState::THROTTLE_UNLIMITED:
-            // set motor output based on thrust requests
-            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::ACTIVE);
-            break;
-        case SpoolState::SPOOLING_DOWN:
-            // sends idle output to motors and wait for rotor to stop
-            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
-            break;
-    }
+    update_motor_control(get_rotor_control_state());
+
 }
 
 // servo_test - move servos through full range of movement
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
index 27ea78b251f4aa..515ec063e0f2c0 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
@@ -273,25 +273,8 @@ void AP_MotorsHeli_Quad::output_to_motors()
         rc_write_angle(AP_MOTORS_MOT_1+i, _out[i] * QUAD_SERVO_MAX_ANGLE);
     }
 
-    switch (_spool_state) {
-        case SpoolState::SHUT_DOWN:
-            // sends minimum values out to the motors
-            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::STOP);
-            break;
-        case SpoolState::GROUND_IDLE:
-            // sends idle output to motors when armed. rotor could be static or turning (autorotation)
-            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
-            break;
-        case SpoolState::SPOOLING_UP:
-        case SpoolState::THROTTLE_UNLIMITED:
-            // set motor output based on thrust requests
-            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::ACTIVE);
-            break;
-        case SpoolState::SPOOLING_DOWN:
-            // sends idle output to motors and wait for rotor to stop
-            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
-            break;
-    }
+    update_motor_control(get_rotor_control_state());
+
 }
 
 // servo_test - move servos through full range of movement
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index f9ba47407a2d9f..6fcefd60048846 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -501,25 +501,7 @@ void AP_MotorsHeli_Single::output_to_motors()
     _swashplate.output();
 
     // Output main rotor
-    switch (_spool_state) {
-        case SpoolState::SHUT_DOWN:
-            // sends minimum values out to the motors
-            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::STOP);
-            break;
-        case SpoolState::GROUND_IDLE:
-            // sends idle output to motors when armed. rotor could be static or turning (autorotation)
-            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
-            break;
-        case SpoolState::SPOOLING_UP:
-        case SpoolState::THROTTLE_UNLIMITED:
-            // set motor output based on thrust requests
-            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::ACTIVE);
-            break;
-        case SpoolState::SPOOLING_DOWN:
-            // sends idle output to motors and wait for rotor to stop
-            update_motor_control(AP_MotorsHeli_RSC::RotorControlState::IDLE);
-            break;
-    }
+    update_motor_control(get_rotor_control_state());
 
     // Output tail rotor
     switch (get_tail_type()) {

From c98bdd155aaa2cb1b8288a2932bfaceb9c915b1c Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 15 Dec 2023 01:37:11 +0000
Subject: [PATCH 0181/1335] Plane: Quadplane: log tailsitter speed scailing in
 TSIT msg

---
 ArduPlane/Log.cpp        | 19 +++++++++++++++++--
 ArduPlane/defines.h      |  1 +
 ArduPlane/quadplane.cpp  |  1 -
 ArduPlane/quadplane.h    |  1 -
 ArduPlane/tailsitter.cpp | 26 +++++++++++++++++++++++---
 ArduPlane/tailsitter.h   | 22 +++++++++++++++++++++-
 6 files changed, 62 insertions(+), 8 deletions(-)

diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index 55d5ab4c46b495..a5e97fe2ae4970 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -33,6 +33,9 @@ void Plane::Log_Write_Attitude(void)
         logger.Write_PID(LOG_PIQP_MSG, quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
         logger.Write_PID(LOG_PIQY_MSG, quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
         logger.Write_PID(LOG_PIQA_MSG, quadplane.pos_control->get_accel_z_pid().get_pid_info() );
+
+        // Write tailsitter specific log at same rate as PIDs
+        quadplane.tailsitter.write_log();
     }
     if (quadplane.in_vtol_mode() && quadplane.pos_control->is_active_xy()) {
         logger.Write_PID(LOG_PIDN_MSG, quadplane.pos_control->get_vel_xy_pid().get_pid_info_x());
@@ -383,12 +386,11 @@ const struct LogStructure Plane::log_structure[] = {
 // @Field: DCRt: desired climb rate
 // @Field: CRt: climb rate
 // @Field: TMix: transition throttle mix value
-// @Field: Sscl: speed scalar for tailsitter control surfaces
 // @Field: Trn: Transition state: 0-AirspeedWait,1-Timer,2-Done / TailSitter: 0-FW Wait,1-VTOL Wait,2-Done
 // @Field: Ast: Q assist active
 #if HAL_QUADPLANE_ENABLED
     { LOG_QTUN_MSG, sizeof(QuadPlane::log_QControl_Tuning),
-      "QTUN", "QffffffeccffBB", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DCRt,CRt,TMix,Sscl,Trn,Ast", "s----mmmnn----", "F----00000-0--" , true },
+      "QTUN", "QffffffeccfBB", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DCRt,CRt,TMix,Trn,Ast", "s----mmmnn---", "F----00000---" , true },
 #endif
 
 // @LoggerMessage: PIQR,PIQP,PIQY,PIQA
@@ -406,6 +408,7 @@ const struct LogStructure Plane::log_structure[] = {
 // @Field: SRate: slew rate
 // @Field: Flags: bitmask of PID state flags
 // @FieldBitmaskEnum: Flags: log_PID_Flags
+#if HAL_QUADPLANE_ENABLED
     { LOG_PIQR_MSG, sizeof(log_PID),
       "PIQR", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS , true },
     { LOG_PIQP_MSG, sizeof(log_PID),
@@ -414,6 +417,18 @@ const struct LogStructure Plane::log_structure[] = {
       "PIQY", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS , true },
     { LOG_PIQA_MSG, sizeof(log_PID),
       "PIQA", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS , true },
+#endif
+
+// @LoggerMessage: TSIT
+// @Description: tailsitter speed scailing values
+// @Field: TimeUS: Time since system startup
+// @Field: Ts: throttle scailing used for tilt motors
+// @Field: Ss: speed scailing used for control surfaces method from Q_TAILSIT_GSCMSK
+// @Field: Tmin: minimum output throttle caculated from disk thoery gain scale with Q_TAILSIT_MIN_VO
+#if HAL_QUADPLANE_ENABLED
+    { LOG_TSIT_MSG, sizeof(Tailsitter::log_tailsitter),
+      "TSIT", "Qfff",  "TimeUS,Ts,Ss,Tmin", "s---", "F---" , true },
+#endif
 
 // @LoggerMessage: PIDG
 // @Description: Plane Proportional/Integral/Derivative gain values for Heading when using COMMAND_INT control.
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index c7389daf49bdca..a480162eff722e 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -102,6 +102,7 @@ enum log_messages {
     LOG_PIDG_MSG,
     LOG_AETR_MSG,
     LOG_OFG_MSG,
+    LOG_TSIT_MSG,
 };
 
 #define MASK_LOG_ATTITUDE_FAST          (1<<0)
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index db7df54d9b7313..06e18814c5a59a 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -3663,7 +3663,6 @@ void QuadPlane::Log_Write_QControl_Tuning()
         target_climb_rate   : target_climb_rate_cms,
         climb_rate          : int16_t(inertial_nav.get_velocity_z_up_cms()),
         throttle_mix        : attitude_control->get_throttle_mix(),
-        speed_scaler        : tailsitter.log_spd_scaler,
         transition_state    : transition->get_log_transition_state(),
         assist              : assisted_flight,
     };
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index ad5e6251af2df8..2c5a624ff4a4e4 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -156,7 +156,6 @@ class QuadPlane
         int16_t  target_climb_rate;
         int16_t  climb_rate;
         float    throttle_mix;
-        float    speed_scaler;
         uint8_t  transition_state;
         uint8_t  assist;
     };
diff --git a/ArduPlane/tailsitter.cpp b/ArduPlane/tailsitter.cpp
index f40fa33d1f26eb..a94e4cb8c5ea0a 100644
--- a/ArduPlane/tailsitter.cpp
+++ b/ArduPlane/tailsitter.cpp
@@ -755,9 +755,6 @@ void Tailsitter::speed_scaling(void)
         spd_scaler /= plane.barometer.get_air_density_ratio();
     }
 
-    // record for QTUN log
-    log_spd_scaler = spd_scaler;
-
     const SRV_Channel::Aux_servo_function_t functions[] = {
         SRV_Channel::Aux_servo_function_t::k_aileron,
         SRV_Channel::Aux_servo_function_t::k_elevator,
@@ -778,6 +775,29 @@ void Tailsitter::speed_scaling(void)
     if (tailsitter_motors != nullptr) {
         tailsitter_motors->set_min_throttle(disk_loading_min_throttle);
     }
+
+    // Record for log
+    log_data.throttle_scaler = throttle_scaler;
+    log_data.speed_scaler = spd_scaler;
+    log_data.min_throttle = disk_loading_min_throttle;
+
+}
+
+// Write tailsitter specific log
+void Tailsitter::write_log()
+{
+    if (!enabled()) {
+        return;
+    }
+
+    struct log_tailsitter pkt = {
+        LOG_PACKET_HEADER_INIT(LOG_TSIT_MSG),
+        time_us             : AP_HAL::micros64(),
+        throttle_scaler     : log_data.throttle_scaler,
+        speed_scaler        : log_data.speed_scaler,
+        min_throttle        : log_data.min_throttle,
+    };
+    plane.logger.WriteBlock(&pkt, sizeof(pkt));
 }
 
 // return true if pitch control should be relaxed
diff --git a/ArduPlane/tailsitter.h b/ArduPlane/tailsitter.h
index 4f2ff33c3ba370..fbf26702f8ca9f 100644
--- a/ArduPlane/tailsitter.h
+++ b/ArduPlane/tailsitter.h
@@ -17,6 +17,7 @@
 #include <AP_Param/AP_Param.h>
 #include "transition.h"
 #include <AP_Motors/AP_MotorsTailsitter.h>
+#include <AP_Logger/LogStructure.h>
 
 class QuadPlane;
 class AP_MotorsMulticopter;
@@ -66,9 +67,11 @@ friend class Plane;
     // return true if pitch control should be relaxed
     bool relax_pitch();
 
+    // Write tailsitter specific log
+    void write_log();
+
     // tailsitter speed scaler
     float last_spd_scaler = 1.0f; // used to slew rate limiting with TAILSITTER_GSCL_ATT_THR option
-    float log_spd_scaler; // for QTUN log
 
     static const struct AP_Param::GroupInfo var_info[];
 
@@ -112,6 +115,23 @@ friend class Plane;
 
 private:
 
+    // Tailsitter specific log message
+    struct PACKED log_tailsitter {
+        LOG_PACKET_HEADER;
+        uint64_t time_us;
+        float throttle_scaler;
+        float speed_scaler;
+        float min_throttle;
+    };
+
+    // Data to be logged
+    struct {
+        float throttle_scaler;
+        float speed_scaler;
+        float min_throttle;
+    } log_data;
+
+
     bool setup_complete;
 
     // true when flying a tilt-vectored tailsitter

From e33f0269d304f5da518530d50c847627bccf02de Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 18 Dec 2023 09:17:32 +1100
Subject: [PATCH 0182/1335] Tools: improved benchmarking of time functions

---
 Tools/CPUInfo/CPUInfo.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/Tools/CPUInfo/CPUInfo.cpp b/Tools/CPUInfo/CPUInfo.cpp
index a20db4924d95d6..4929cc51a759b9 100644
--- a/Tools/CPUInfo/CPUInfo.cpp
+++ b/Tools/CPUInfo/CPUInfo.cpp
@@ -15,6 +15,7 @@
 
 #if HAL_WITH_DSP && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 #include <arm_math.h>
+#include <hrt.h>
 #endif
 
 void setup();
@@ -129,6 +130,13 @@ static void show_timings(void)
     TIMEIT("millis16()", AP_HAL::millis16(), 200);
     TIMEIT("micros64()", AP_HAL::micros64(), 200);
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+    TIMEIT("hrt_micros32()", hrt_micros32(), 200);
+    TIMEIT("hrt_micros64()", hrt_micros64(), 200);
+    TIMEIT("hrt_millis32()", hrt_millis32(), 200);
+    TIMEIT("hrt_millis64()", hrt_millis64(), 200);
+#endif
+    
     TIMEIT("fadd", v_out += v_f, 100);
     TIMEIT("fsub", v_out -= v_f, 100);
     TIMEIT("fmul", v_out *= v_f, 100);

From 6dbc3b6a70ad15a5d0d80411f408d1fb0e7d6ea9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 18 Dec 2023 12:15:35 +1100
Subject: [PATCH 0183/1335] HAL_ChibiOS: speed up millis(), micros64() etc

these use faster primitives and an assembly division by 1000 to get
between 2x and 3x speedup on these critical calls
---
 libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c | 82 +++++++++++++++------
 libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h | 38 ++++++++++
 libraries/AP_HAL_ChibiOS/system.cpp         |  5 +-
 3 files changed, 101 insertions(+), 24 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
index 6c481475dab5de..f99110f08093b4 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
@@ -37,7 +37,7 @@
   boot in microseconds, and which wraps at 0xFFFFFFFF.
 
   On top of this base function we build get_systime_us32() which has
-  the same property, but which also maintains timer_base_us64 to allow
+  the same property, but which allows for a startup offset
   for micros64()
 */
 
@@ -68,48 +68,84 @@ static uint32_t system_time_u32_us(void)
 #error "unsupported timer resolution"
 #endif
 
-// offset for micros64()
-static uint64_t timer_base_us64;
-
 static uint32_t get_systime_us32(void)
 {
-    static uint32_t last_us32;
     uint32_t now = system_time_u32_us();
 #ifdef AP_BOARD_START_TIME
     now += AP_BOARD_START_TIME;
 #endif
-    if (now < last_us32) {
-        const uint64_t dt_us = 0x100000000ULL;
-        timer_base_us64 += dt_us;
-    }
-    last_us32 = now;
     return now;
 }
 
 /*
-  for the exposed functions we use chSysGetStatusAndLockX() to prevent
-  an interrupt changing the globals while allowing this call from any
-  context
+  for the exposed functions we use chVTGetTimeStampI which handles
+  wrap and directly gives a uint64_t (aka systimestamp_t)
 */
 
+uint64_t hrt_micros64I()
+{
+#ifdef AP_BOARD_START_TIME
+    return chVTGetTimeStampI() + AP_BOARD_START_TIME;
+#endif
+    return chVTGetTimeStampI();
+}
+
+static inline bool is_locked(void) {
+    return !port_irq_enabled(port_get_irq_status());
+}
+
 uint64_t hrt_micros64()
 {
-    syssts_t sts = chSysGetStatusAndLockX();
-    uint32_t now = get_systime_us32();
-    uint64_t ret = timer_base_us64 + now;
-    chSysRestoreStatusX(sts);
-    return ret;
+    if (is_locked()) {
+        return chVTGetTimeStampI();
+    } else if (port_is_isr_context()) {
+        uint64_t ret;
+        chSysLockFromISR();
+        ret = chVTGetTimeStampI();
+        chSysUnlockFromISR();
+        return ret;
+    } else {
+        uint64_t ret;
+        chSysLock();
+        ret = chVTGetTimeStampI();
+        chSysUnlock();
+        return ret;
+    }
 }
 
 uint32_t hrt_micros32()
 {
-    syssts_t sts = chSysGetStatusAndLockX();
-    uint32_t ret = get_systime_us32();
-    chSysRestoreStatusX(sts);
-    return ret;
+#if CH_CFG_ST_RESOLUTION == 16
+    // boards with 16 bit timers need to call get_systime_us32() in a
+    // lock state because on those boards we have local static
+    // variables that need protection
+    if (is_locked()) {
+        return get_systime_us32();
+    } else if (port_is_isr_context()) {
+        uint32_t ret;
+        chSysLockFromISR();
+        ret = get_systime_us32();
+        chSysUnlockFromISR();
+        return ret;
+    } else {
+        uint32_t ret;
+        chSysLock();
+        ret = get_systime_us32();
+        chSysUnlock();
+        return ret;
+    }
+#else
+    return get_systime_us32();
+#endif
 }
 
+uint32_t hrt_millis64()
+{
+    return _hrt_div1000(hrt_micros64());
+}
+        
 uint32_t hrt_millis32()
 {
-    return (uint32_t)(hrt_micros64() / 1000U);
+    return (uint32_t)(hrt_millis64());
 }
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h
index 9ecfd9a373c812..c11637ec12e3e5 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h
@@ -4,10 +4,48 @@
 #ifdef __cplusplus
 extern "C" {
 #endif
+
 void hrt_init(void);
 uint64_t hrt_micros64(void);
+uint64_t hrt_micros64I(void); // from locked context
+uint64_t hrt_micros64_from_ISR(void); // from an ISR
 uint32_t hrt_micros32(void);
 uint32_t hrt_millis32(void);
+uint32_t hrt_millis32I(void); // from locked context
+uint32_t hrt_millis32_from_ISR(void); // from an ISR
+uint32_t hrt_millis64(void);
+
+/*
+  thanks to:
+  https://0x414b.com/2021/04/16/arm-division.html
+ */
+static inline uint64_t _hrt_umul64x64hi(uint32_t b, uint32_t a, uint32_t d, uint32_t c)
+{
+    __asm__ ("\n\
+umull   r4, r5, %[b], %[d]   \n\
+umull   %[d], r4, %[a], %[d]    \n\
+adds    r5, %[d]         \n\
+umull   %[d], %[a], %[a], %[c]  \n\
+adcs    r4, %[d]        \n\
+adc     %[a], #0        \n\
+umull   %[c], %[b], %[b], %[c]  \n\
+adds    r5, %[c]        \n\
+adcs    %[b], r4        \n\
+adc     %[a], #0        \n\
+"   : [a] "+r" (a), [b] "+r" (b), [c] "+r" (c), [d] "+r" (d) : : "r4", "r5");
+    return (uint64_t) a << 32 | b;
+}
+
+/*
+  return x / 1000
+  faster than the gcc implementation using _hrt_umul64x64hi() by about 3x
+*/
+static inline uint64_t _hrt_div1000(uint64_t x)
+{
+    x >>= 3U;
+    return _hrt_umul64x64hi((uint32_t)x, x >> 32U, 0xe353f7cfU, 0x20c49ba5U) >> 4U;
+}
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/system.cpp b/libraries/AP_HAL_ChibiOS/system.cpp
index d58b069f7b73f7..183484c4280b31 100644
--- a/libraries/AP_HAL_ChibiOS/system.cpp
+++ b/libraries/AP_HAL_ChibiOS/system.cpp
@@ -30,6 +30,9 @@
 #include "hal.h"
 #include <hrt.h>
 
+// we rely on systimestamp_t for 64 bit timestamps
+static_assert(sizeof(uint64_t) == sizeof(systimestamp_t), "unexpected systimestamp_t size");
+
 #if CH_CFG_ST_RESOLUTION == 16
 static_assert(sizeof(systime_t) == 2, "expected 16 bit systime_t");
 #elif CH_CFG_ST_RESOLUTION == 32
@@ -385,7 +388,7 @@ __FASTRAMFUNC__ uint64_t micros64()
 
 __FASTRAMFUNC__ uint64_t millis64()
 {
-    return hrt_micros64() / 1000U;
+    return hrt_millis64();
 }
 
 

From 388fab1ef8e2290eaca09643e528859a2a60c14e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 18 Dec 2023 12:15:52 +1100
Subject: [PATCH 0184/1335] Tools: added testing of _hrt_div1000()

---
 Tools/CPUInfo/CPUInfo.cpp | 43 +++++++++++++++++++++++++++++++++++++--
 1 file changed, 41 insertions(+), 2 deletions(-)

diff --git a/Tools/CPUInfo/CPUInfo.cpp b/Tools/CPUInfo/CPUInfo.cpp
index 4929cc51a759b9..2b2ee927527340 100644
--- a/Tools/CPUInfo/CPUInfo.cpp
+++ b/Tools/CPUInfo/CPUInfo.cpp
@@ -13,10 +13,13 @@
 #include <AP_ESC_Telem/AP_ESC_Telem.h>
 #include "EKF_Maths.h"
 
-#if HAL_WITH_DSP && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#if HAL_WITH_DSP
 #include <arm_math.h>
-#include <hrt.h>
 #endif
+#include <hrt.h>
+#include <ch.h>
+#endif // HAL_BOARD_CHIBIOS
 
 void setup();
 void loop();
@@ -202,11 +205,47 @@ static void show_timings(void)
     TIMEIT("SEM", { WITH_SEMAPHORE(sem); v_out_32 += v_32;}, 100);
 }
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+static void test_div1000(void)
+{
+    hal.console->printf("Testing div1000\n");
+    for (uint32_t i=0; i<2000000; i++) {
+        uint64_t v;
+        hal.util->get_random_vals((uint8_t*)&v, sizeof(v));
+        uint64_t v1 = v / 1000ULL;
+        uint64_t v2 = _hrt_div1000(v);
+        if (v1 != v2) {
+            AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx\n",
+                          (unsigned long long)v, (unsigned long long)v1, (unsigned long long)v2);
+            return;
+        }
+    }
+    // test from locked context
+    for (uint32_t i=0; i<2000000; i++) {
+        uint64_t v;
+        hal.util->get_random_vals((uint8_t*)&v, sizeof(v));
+        chSysLock();
+        uint64_t v1 = v / 1000ULL;
+        uint64_t v2 = _hrt_div1000(v);
+        chSysUnlock();
+        if (v1 != v2) {
+            AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx\n",
+                          (unsigned long long)v, (unsigned long long)v1, (unsigned long long)v2);
+            return;
+        }
+    }
+    hal.console->printf("div1000 OK\n");
+}
+#endif
+
 void loop()
 {
     show_sizes();
     hal.console->printf("\n");
     show_timings();
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+    test_div1000();
+#endif
     hal.console->printf("\n");
     hal.scheduler->delay(3000);
 }

From 6fa2829ad42cbf99a2b6d30906d6bba7b20ffdcf Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 18 Dec 2023 19:42:20 +0900
Subject: [PATCH 0185/1335] Rover: 4.4.0 release notes

---
 Rover/release-notes.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt
index 96c3a1ca40427a..5d6c5cae88c073 100644
--- a/Rover/release-notes.txt
+++ b/Rover/release-notes.txt
@@ -1,6 +1,6 @@
 Rover Release Notes:
 ------------------------------------------------------------------
-Rover 4.4.0-beta11 05-Dec-2023
+Rover 4.4.0 19-Dec-2023 / Rover 4.4.0-beta11 05-Dec-2023
 Changes from 4.4.0-beta10
 1) Autopilot related enhancement and fixes
     - CubeOrange Sim-on-hardware compilation fix

From d78cd222858b35ddb08aefd1af3bdc9ffedd4aeb Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 18 Dec 2023 19:42:48 +0900
Subject: [PATCH 0186/1335] Copter: 4.4.4 release notes

---
 ArduCopter/ReleaseNotes.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index 62b8ca786a0e61..6ccc0923aa6fe0 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@@ -1,6 +1,6 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
-Copter 4.4.4 05-Dec-2023
+Copter 4.4.4 19-Dec-2023 / 4.4.4-beta1 05-Dec-2023
 Changes from 4.4.3
 1) Autopilot related enhancement and fixes
     - CubeOrange Sim-on-hardware compilation fix

From 0ec994c46b76a365ed839f8a608bc377b5ff23b9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 19 Dec 2023 15:05:45 +1100
Subject: [PATCH 0187/1335] Plane: release notes for 4.4.4

---
 ArduPlane/ReleaseNotes.txt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
index 7c1d1f296ad642..9f965c9b002398 100644
--- a/ArduPlane/ReleaseNotes.txt
+++ b/ArduPlane/ReleaseNotes.txt
@@ -1,5 +1,5 @@
-Release 4.4.4-beta1 5th December 2023
--------------------------------------
+Release 4.4.4 19th December 2023
+--------------------------------
 
 Changes from 4.4.3:
 

From 23e67f7b535dcf12447ba803089be4dcd5daaf89 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 16 Dec 2023 08:43:37 +1100
Subject: [PATCH 0188/1335] waf: enable CAN deadlines in AP_Periph

---
 Tools/ardupilotwaf/boards.py  | 28 +++++++++++++++-------------
 Tools/ardupilotwaf/chibios.py | 16 ++++++++++++++++
 2 files changed, 31 insertions(+), 13 deletions(-)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index c7644558e979a4..d785c6161b82d6 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -438,22 +438,24 @@ def configure_env(self, cfg, env):
                 '-Wl,--gc-sections',
             ]
 
-        if self.with_can and not cfg.env.AP_PERIPH:
-            env.AP_LIBRARIES += [
-                'AP_DroneCAN',
-                'modules/DroneCAN/libcanard/*.c',
-                ]
-            if cfg.options.enable_dronecan_tests:
+        if self.with_can:
+            # for both AP_Perip and main fw enable deadlines
+            env.DEFINES.update(CANARD_ENABLE_DEADLINE = 1)
+
+            if not cfg.env.AP_PERIPH:
+                env.AP_LIBRARIES += [
+                    'AP_DroneCAN',
+                    'modules/DroneCAN/libcanard/*.c',
+                    ]
+                if cfg.options.enable_dronecan_tests:
+                    env.DEFINES.update(AP_TEST_DRONECAN_DRIVERS = 1)
+
                 env.DEFINES.update(
-                    AP_TEST_DRONECAN_DRIVERS = 1
+                    DRONECAN_CXX_WRAPPERS = 1,
+                    USE_USER_HELPERS = 1,
+                    CANARD_ALLOCATE_SEM=1
                 )
 
-            env.DEFINES.update(
-                DRONECAN_CXX_WRAPPERS = 1,
-                USE_USER_HELPERS = 1,
-                CANARD_ENABLE_DEADLINE = 1,
-                CANARD_ALLOCATE_SEM=1
-            )
 
 
         if cfg.options.build_dates:
diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index 0262eeecffa021..dbc6c9b18779e8 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -468,6 +468,20 @@ def setup_canmgr_build(cfg):
 
     cfg.get_board().with_can = True
 
+def setup_canperiph_build(cfg):
+    '''enable CAN build for peripherals'''
+    env = cfg.env
+    env.DEFINES += [
+        'CANARD_ENABLE_DEADLINE=1',
+        ]
+
+    if cfg.env.HAL_CANFD_SUPPORTED:
+        env.DEFINES += ['UAVCAN_SUPPORT_CANFD=1']
+    else:
+        env.DEFINES += ['UAVCAN_SUPPORT_CANFD=0']
+
+    cfg.get_board().with_can = True
+    
 def load_env_vars(env):
     '''optionally load extra environment variables from env.py in the build directory'''
     print("Checking for env.py")
@@ -578,6 +592,8 @@ def bldpath(path):
     load_env_vars(cfg.env)
     if env.HAL_NUM_CAN_IFACES and not env.AP_PERIPH:
         setup_canmgr_build(cfg)
+    if env.HAL_NUM_CAN_IFACES and env.AP_PERIPH and not env.BOOTLOADER:
+        setup_canperiph_build(cfg)
     if env.HAL_NUM_CAN_IFACES and env.AP_PERIPH and int(env.HAL_NUM_CAN_IFACES)>1 and not env.BOOTLOADER:
         env.DEFINES += [ 'CANARD_MULTI_IFACE=1' ]
     setup_optimization(cfg.env)

From cd72dcb73f914f19f3fd06ac019dee1a46e3463c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 16 Dec 2023 08:44:25 +1100
Subject: [PATCH 0189/1335] AP_Periph: use a 1s deadline for packets

this fixes an issue with early discard of packets on MCUs with small
number of transmit slots and higher packet send count
---
 Tools/AP_Periph/AP_Periph.h |  14 ++-
 Tools/AP_Periph/can.cpp     | 206 ++++++++++++++++++------------------
 Tools/AP_Periph/gps.cpp     |  44 +++-----
 3 files changed, 126 insertions(+), 138 deletions(-)

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index b0e0839d6f08c9..26468de8c1e6a5 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -424,8 +424,16 @@ class AP_Periph_FW {
                           uint16_t data_type_id,
                           uint8_t priority,
                           const void* payload,
-                          uint16_t payload_len);
-
+                          uint16_t payload_len,
+                          uint8_t iface_mask=0);
+
+    bool canard_respond(CanardInstance* canard_instance,
+                        CanardRxTransfer* transfer,
+                        uint64_t data_type_signature,
+                        uint16_t data_type_id,
+                        const uint8_t *payload,
+                        uint16_t payload_len);
+    
     void onTransferReceived(CanardInstance* canard_instance,
                             CanardRxTransfer* transfer);
     bool shouldAcceptTransfer(const CanardInstance* canard_instance,
@@ -473,7 +481,7 @@ class AP_Periph_FW {
 #if HAL_PERIPH_CAN_MIRROR
     void processMirror(void);
 #endif // HAL_PERIPH_CAN_MIRROR
-    void cleanup_stale_transactions(uint64_t &timestamp_usec);
+    void cleanup_stale_transactions(uint64_t timestamp_usec);
     void update_rx_protocol_stats(int16_t res);
     void node_status_send(void);
     bool can_do_dna();
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 89611c5cac5477..4cb0d495ed90c3 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -62,6 +62,9 @@ extern AP_Periph_FW periph;
 #endif
 #endif
 
+// timeout all frames at 1s
+#define CAN_FRAME_TIMEOUT 1000000ULL
+
 #define DEBUG_PKTS 0
 
 #if HAL_PERIPH_CAN_MIRROR
@@ -207,25 +210,12 @@ void AP_Periph_FW::handle_get_node_info(CanardInstance* canard_instance,
 
     uint16_t total_size = uavcan_protocol_GetNodeInfoResponse_encode(&pkt, buffer, !canfdout());
 
-    const int16_t resp_res = canardRequestOrRespond(canard_instance,
-                                                    transfer->source_node_id,
-                                                    UAVCAN_PROTOCOL_GETNODEINFO_SIGNATURE,
-                                                    UAVCAN_PROTOCOL_GETNODEINFO_ID,
-                                                    &transfer->transfer_id,
-                                                    transfer->priority,
-                                                    CanardResponse,
-                                                    &buffer[0],
-                                                    total_size
-#if CANARD_MULTI_IFACE
-                                                    , IFACE_ALL
-#endif
-#if HAL_CANFD_SUPPORTED
-                                                    , canfdout()
-#endif
-);
-    if (resp_res <= 0) {
-        printf("Could not respond to GetNodeInfo: %d\n", resp_res);
-    }
+    canard_respond(canard_instance,
+                   transfer,
+                   UAVCAN_PROTOCOL_GETNODEINFO_SIGNATURE,
+                   UAVCAN_PROTOCOL_GETNODEINFO_ID,
+                   &buffer[0],
+                   total_size);
 }
 
 /*
@@ -316,23 +306,12 @@ void AP_Periph_FW::handle_param_getset(CanardInstance* canard_instance, CanardRx
     uint8_t buffer[UAVCAN_PROTOCOL_PARAM_GETSET_RESPONSE_MAX_SIZE] {};
     uint16_t total_size = uavcan_protocol_param_GetSetResponse_encode(&pkt, buffer, !canfdout());
 
-    canardRequestOrRespond(canard_instance,
-                           transfer->source_node_id,
-                           UAVCAN_PROTOCOL_PARAM_GETSET_SIGNATURE,
-                           UAVCAN_PROTOCOL_PARAM_GETSET_ID,
-                           &transfer->transfer_id,
-                           transfer->priority,
-                           CanardResponse,
-                           &buffer[0],
-                           total_size
-#if CANARD_MULTI_IFACE
-                            , IFACE_ALL
-#endif
-#if HAL_CANFD_SUPPORTED
-                           ,canfdout()
-#endif
-);
-
+    canard_respond(canard_instance,
+                   transfer,
+                   UAVCAN_PROTOCOL_PARAM_GETSET_SIGNATURE,
+                   UAVCAN_PROTOCOL_PARAM_GETSET_ID,
+                   &buffer[0],
+                   total_size);
 }
 
 /*
@@ -376,22 +355,12 @@ void AP_Periph_FW::handle_param_executeopcode(CanardInstance* canard_instance, C
     uint8_t buffer[UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_RESPONSE_MAX_SIZE] {};
     uint16_t total_size = uavcan_protocol_param_ExecuteOpcodeResponse_encode(&pkt, buffer, !canfdout());
 
-    canardRequestOrRespond(canard_instance,
-                           transfer->source_node_id,
-                           UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_SIGNATURE,
-                           UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID,
-                           &transfer->transfer_id,
-                           transfer->priority,
-                           CanardResponse,
-                           &buffer[0],
-                           total_size
-#if CANARD_MULTI_IFACE
-                            , IFACE_ALL
-#endif
-#if HAL_CANFD_SUPPORTED
-                           ,canfdout()
-#endif
-);
+    canard_respond(canard_instance,
+                   transfer,
+                   UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_SIGNATURE,
+                   UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID,
+                   &buffer[0],
+                   total_size);
 }
 
 void AP_Periph_FW::handle_begin_firmware_update(CanardInstance* canard_instance, CanardRxTransfer* transfer)
@@ -419,22 +388,12 @@ void AP_Periph_FW::handle_begin_firmware_update(CanardInstance* canard_instance,
     reply.error = UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_RESPONSE_ERROR_OK;
 
     uint32_t total_size = uavcan_protocol_file_BeginFirmwareUpdateResponse_encode(&reply, buffer, !canfdout());
-    canardRequestOrRespond(canard_instance,
-                           transfer->source_node_id,
-                           UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_SIGNATURE,
-                           UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_ID,
-                           &transfer->transfer_id,
-                           transfer->priority,
-                           CanardResponse,
-                           &buffer[0],
-                           total_size
-#if CANARD_MULTI_IFACE
-                            ,IFACE_ALL
-#endif
-#if HAL_CANFD_SUPPORTED
-                           ,canfdout()
-#endif
-);
+    canard_respond(canard_instance,
+                   transfer,
+                   UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_SIGNATURE,
+                   UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_ID,
+                   &buffer[0],
+                   total_size);
     uint8_t count = 50;
     while (count--) {
         processTx();
@@ -1015,7 +974,7 @@ static bool shouldAcceptTransfer_trampoline(const CanardInstance* canard_instanc
     return fw->shouldAcceptTransfer(canard_instance, out_data_type_signature, data_type_id, transfer_type, source_node_id);
 }
 
-void AP_Periph_FW::cleanup_stale_transactions(uint64_t &timestamp_usec)
+void AP_Periph_FW::cleanup_stale_transactions(uint64_t timestamp_usec)
 {
     canardCleanupStaleTransfers(&dronecan.canard, timestamp_usec);
 }
@@ -1058,9 +1017,11 @@ bool AP_Periph_FW::canard_broadcast(uint64_t data_type_signature,
                                     uint16_t data_type_id,
                                     uint8_t priority,
                                     const void* payload,
-                                    uint16_t payload_len)
+                                    uint16_t payload_len,
+                                    uint8_t iface_mask)
 {
-    if (canardGetLocalNodeID(&dronecan.canard) == CANARD_BROADCAST_NODE_ID) {
+    const bool is_dna = data_type_id == UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID;
+    if (!is_dna && canardGetLocalNodeID(&dronecan.canard) == CANARD_BROADCAST_NODE_ID) {
         return false;
     }
 
@@ -1069,21 +1030,69 @@ bool AP_Periph_FW::canard_broadcast(uint64_t data_type_signature,
         return false;
     }
 
-    const int16_t res = canardBroadcast(&dronecan.canard,
-                    data_type_signature,
-                    data_type_id,
-                    tid_ptr,
-                    priority,
-                    payload,
-                    payload_len
+    // create transfer object
+    CanardTxTransfer transfer_object = {
+        .transfer_type = CanardTransferTypeBroadcast,
+        .data_type_signature = data_type_signature,
+        .data_type_id = data_type_id,
+        .inout_transfer_id = tid_ptr,
+        .priority = priority,
+        .payload = (uint8_t*)payload,
+        .payload_len = payload_len,
+#if CANARD_ENABLE_CANFD
+        .canfd = is_dna? false : canfdout(),
+#endif
+        .deadline_usec = AP_HAL::micros64()+CAN_FRAME_TIMEOUT,
 #if CANARD_MULTI_IFACE
-                    , IFACE_ALL // send over all ifaces
+        .iface_mask = iface_mask==0 ? uint8_t(IFACE_ALL) : iface_mask,
 #endif
-#if HAL_CANFD_SUPPORTED
-                    , canfdout()
+    };
+    const int16_t res = canardBroadcastObj(&dronecan.canard, &transfer_object);
+
+#if DEBUG_PKTS
+    if (res < 0) {
+        can_printf("Tx error %d\n", res);
+    }
+#endif
+#if HAL_ENABLE_SENDING_STATS
+    if (res <= 0) {
+        protocol_stats.tx_errors++;
+    } else {
+        protocol_stats.tx_frames += res;
+    }
 #endif
-                    );
+    return res > 0;
+}
 
+/*
+  send a response
+ */
+bool AP_Periph_FW::canard_respond(CanardInstance* canard_instance,
+                                  CanardRxTransfer *transfer,
+                                  uint64_t data_type_signature,
+                                  uint16_t data_type_id,
+                                  const uint8_t *payload,
+                                  uint16_t payload_len)
+{
+    CanardTxTransfer transfer_object = {
+        .transfer_type = CanardTransferTypeResponse,
+        .data_type_signature = data_type_signature,
+        .data_type_id = data_type_id,
+        .inout_transfer_id = &transfer->transfer_id,
+        .priority = transfer->priority,
+        .payload = payload,
+        .payload_len = payload_len,
+#if CANARD_ENABLE_CANFD
+        .canfd = canfdout(),
+#endif
+        .deadline_usec = AP_HAL::micros64()+CAN_FRAME_TIMEOUT,
+#if CANARD_MULTI_IFACE
+        .iface_mask = IFACE_ALL,
+#endif
+    };
+    const auto res = canardRequestOrRespondObj(canard_instance,
+                                               transfer->source_node_id,
+                                               &transfer_object);
 #if DEBUG_PKTS
     if (res < 0) {
         can_printf("Tx error %d\n", res);
@@ -1151,15 +1160,17 @@ void AP_Periph_FW::processTx(void)
             canardPopTxQueue(&dronecan.canard);
             dronecan.tx_fail_count = 0;
         } else {
-            // just exit and try again later. If we fail 8 times in a row
-            // then start discarding to prevent the pool filling up
+            // exit and try again later. If we fail 8 times in a row
+            // then cleanup any stale transfers to keep the queue from
+            // filling
             if (dronecan.tx_fail_count < 8) {
                 dronecan.tx_fail_count++;
             } else {
 #if HAL_ENABLE_SENDING_STATS
                 protocol_stats.tx_errors++;
 #endif
-                canardPopTxQueue(&dronecan.canard);
+                dronecan.tx_fail_count = 0;
+                cleanup_stale_transactions(now_us);
             }
             break;
         }
@@ -1490,8 +1501,6 @@ bool AP_Periph_FW::can_do_dna()
 
     const uint32_t now = AP_HAL::millis();
 
-    static uint8_t node_id_allocation_transfer_id = 0;
-
     if (AP_Periph_FW::no_iface_finished_dna) {
         printf("Waiting for dynamic node ID allocation %x... (pool %u)\n",  IFACE_ALL, pool_peak_percent());
     }
@@ -1525,24 +1534,11 @@ bool AP_Periph_FW::can_do_dna()
     memmove(&allocation_request[1], &my_unique_id[dronecan.node_id_allocation_unique_id_offset], uid_size);
 
     // Broadcasting the request
-    const int16_t bcast_res = canardBroadcast(&dronecan.canard,
-                                                UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_SIGNATURE,
-                                                UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID,
-                                                &node_id_allocation_transfer_id,
-                                                CANARD_TRANSFER_PRIORITY_LOW,
-                                                &allocation_request[0],
-                                                (uint16_t) (uid_size + 1)
-#if CANARD_MULTI_IFACE
-                                                ,(1U << dronecan.dna_interface)
-#endif
-#if HAL_CANFD_SUPPORTED
-                                                // always send allocation request as non-FD
-                                                ,false
-#endif
-                                                );
-    if (bcast_res < 0) {
-        printf("Could not broadcast ID allocation req; error %d\n", bcast_res);
-    }
+    canard_broadcast(UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_SIGNATURE,
+                     UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID,
+                     CANARD_TRANSFER_PRIORITY_LOW,
+                     &allocation_request[0],
+                     (uint16_t) (uid_size + 1));
 
     // Preparing for timeout; if response is received, this value will be updated from the callback.
     dronecan.node_id_allocation_unique_id_offset = 0;
diff --git a/Tools/AP_Periph/gps.cpp b/Tools/AP_Periph/gps.cpp
index e8262e2efb4345..029676f26d1b8a 100644
--- a/Tools/AP_Periph/gps.cpp
+++ b/Tools/AP_Periph/gps.cpp
@@ -163,10 +163,10 @@ void AP_Periph_FW::can_gps_update(void)
         uint16_t total_size = uavcan_equipment_gnss_Fix2_encode(&pkt, buffer, !canfdout());
 
         canard_broadcast(UAVCAN_EQUIPMENT_GNSS_FIX2_SIGNATURE,
-                        UAVCAN_EQUIPMENT_GNSS_FIX2_ID,
-                        CANARD_TRANSFER_PRIORITY_LOW,
-                        &buffer[0],
-                        total_size);
+                         UAVCAN_EQUIPMENT_GNSS_FIX2_ID,
+                         CANARD_TRANSFER_PRIORITY_LOW,
+                         &buffer[0],
+                         total_size);
     }
     
     /*
@@ -258,34 +258,18 @@ void AP_Periph_FW::send_moving_baseline_msg()
     uint8_t buffer[ARDUPILOT_GNSS_MOVINGBASELINEDATA_MAX_SIZE] {};
     const uint16_t total_size = ardupilot_gnss_MovingBaselineData_encode(&mbldata, buffer, !canfdout());
 
-#if HAL_NUM_CAN_IFACES >= 2
+    uint8_t iface_mask = 0;
+#if HAL_NUM_CAN_IFACES >= 2 && CANARD_MULTI_IFACE
     if (gps_mb_can_port != -1 && (gps_mb_can_port < HAL_NUM_CAN_IFACES)) {
-        uint8_t *tid_ptr = get_tid_ptr(MAKE_TRANSFER_DESCRIPTOR(ARDUPILOT_GNSS_MOVINGBASELINEDATA_SIGNATURE, ARDUPILOT_GNSS_MOVINGBASELINEDATA_ID, 0, CANARD_BROADCAST_NODE_ID));
-        canardBroadcast(&dronecan.canard,
-                        ARDUPILOT_GNSS_MOVINGBASELINEDATA_SIGNATURE,
-                        ARDUPILOT_GNSS_MOVINGBASELINEDATA_ID,
-                        tid_ptr,
-                        CANARD_TRANSFER_PRIORITY_LOW,
-                        &buffer[0],
-                        total_size
-#if CANARD_MULTI_IFACE
-                        ,(1U<<gps_mb_can_port)
-#endif
-#if HAL_CANFD_SUPPORTED
-                       ,canfdout()
-#endif
-                        );
-    } else 
-#endif
-    {
-        // we use MEDIUM priority on this data as we need to get all
-        // the data through for RTK moving baseline yaw to work
-        canard_broadcast(ARDUPILOT_GNSS_MOVINGBASELINEDATA_SIGNATURE,
-                        ARDUPILOT_GNSS_MOVINGBASELINEDATA_ID,
-                        CANARD_TRANSFER_PRIORITY_MEDIUM,
-                        &buffer[0],
-                        total_size);
+        iface_mask = 1U<<gps_mb_can_port;
     }
+#endif
+    canard_broadcast(ARDUPILOT_GNSS_MOVINGBASELINEDATA_SIGNATURE,
+                     ARDUPILOT_GNSS_MOVINGBASELINEDATA_ID,
+                     CANARD_TRANSFER_PRIORITY_LOW,
+                     &buffer[0],
+                     total_size,
+                     iface_mask);
     gps.clear_RTCMV3();
 #endif // GPS_MOVING_BASELINE
 }

From da976300d18118554cff835cf254fbaef27038e8 Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Wed, 6 Dec 2023 23:49:01 -0700
Subject: [PATCH 0190/1335] AP_DDS: add REP-147 Global Position Control

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 libraries/AP_DDS/AP_DDS_Client.cpp            | 16 +++++
 libraries/AP_DDS/AP_DDS_Client.h              |  4 ++
 libraries/AP_DDS/AP_DDS_ExternalControl.cpp   | 63 +++++++++++++++++++
 libraries/AP_DDS/AP_DDS_ExternalControl.h     |  8 +++
 libraries/AP_DDS/AP_DDS_Topic_Table.h         | 11 ++++
 .../Idl/ardupilot_msgs/msg/GlobalPosition.idl | 60 ++++++++++++++++++
 libraries/AP_DDS/README.md                    |  5 ++
 libraries/AP_DDS/dds_xrce_profile.xml         | 15 +++++
 8 files changed, 182 insertions(+)
 create mode 100644 libraries/AP_DDS/Idl/ardupilot_msgs/msg/GlobalPosition.idl

diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
index 43dd37f7887094..b743ed8aa01510 100644
--- a/libraries/AP_DDS/AP_DDS_Client.cpp
+++ b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -44,6 +44,7 @@ static constexpr uint16_t DELAY_PING_MS = 500;
 sensor_msgs_msg_Joy AP_DDS_Client::rx_joy_topic {};
 tf2_msgs_msg_TFMessage AP_DDS_Client::rx_dynamic_transforms_topic {};
 geometry_msgs_msg_TwistStamped AP_DDS_Client::rx_velocity_control_topic {};
+ardupilot_msgs_msg_GlobalPosition AP_DDS_Client::rx_global_position_control_topic {};
 
 
 const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
@@ -391,6 +392,8 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg)
     if (ahrs.get_location(loc)) {
         msg.pose.position.latitude = loc.lat * 1E-7;
         msg.pose.position.longitude = loc.lng * 1E-7;
+        // TODO this is assumed to be absolute frame in WGS-84 as per the GeoPose message definition in ROS.
+        // Use loc.get_alt_frame() to convert if necessary.
         msg.pose.position.altitude = loc.alt * 0.01; // Transform from cm to m
     }
 
@@ -502,6 +505,19 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin
         if (!AP_DDS_External_Control::handle_velocity_control(rx_velocity_control_topic)) {
             // TODO #23430 handle velocity control failure through rosout, throttled.
         }
+#endif // AP_EXTERNAL_CONTROL_ENABLED
+        break;
+    }
+    case topics[to_underlying(TopicIndex::GLOBAL_POSITION_SUB)].dr_id.id: {
+        const bool success = ardupilot_msgs_msg_GlobalPosition_deserialize_topic(ub, &rx_global_position_control_topic);
+        if (success == false) {
+            break;
+        }
+
+#if AP_EXTERNAL_CONTROL_ENABLED
+        if (!AP_DDS_External_Control::handle_global_position_control(rx_global_position_control_topic)) {
+            // TODO #23430 handle global position control failure through rosout, throttled.
+        }
 #endif // AP_EXTERNAL_CONTROL_ENABLED
         break;
     }
diff --git a/libraries/AP_DDS/AP_DDS_Client.h b/libraries/AP_DDS/AP_DDS_Client.h
index 19d20c3017d244..3751a697e8c1bd 100644
--- a/libraries/AP_DDS/AP_DDS_Client.h
+++ b/libraries/AP_DDS/AP_DDS_Client.h
@@ -4,6 +4,8 @@
 
 #include "uxr/client/client.h"
 #include "ucdr/microcdr.h"
+
+#include "ardupilot_msgs/msg/GlobalPosition.h"
 #include "builtin_interfaces/msg/Time.h"
 
 #include "sensor_msgs/msg/NavSatFix.h"
@@ -65,6 +67,8 @@ class AP_DDS_Client
     static sensor_msgs_msg_Joy rx_joy_topic;
     // incoming REP147 velocity control
     static geometry_msgs_msg_TwistStamped rx_velocity_control_topic;
+    // incoming REP147 goal interface global position
+    static ardupilot_msgs_msg_GlobalPosition rx_global_position_control_topic;
     // outgoing transforms
     tf2_msgs_msg_TFMessage tx_static_transforms_topic;
     tf2_msgs_msg_TFMessage tx_dynamic_transforms_topic;
diff --git a/libraries/AP_DDS/AP_DDS_ExternalControl.cpp b/libraries/AP_DDS/AP_DDS_ExternalControl.cpp
index a72536d6ffde84..fcc6fc5d306a14 100644
--- a/libraries/AP_DDS/AP_DDS_ExternalControl.cpp
+++ b/libraries/AP_DDS/AP_DDS_ExternalControl.cpp
@@ -6,6 +6,49 @@
 
 #include <AP_ExternalControl/AP_ExternalControl.h>
 
+// These are the Goal Interface constants. Because microxrceddsgen does not expose
+// them in the generated code, they are manually maintained
+// Position ignore flags
+static constexpr uint16_t TYPE_MASK_IGNORE_LATITUDE = 1;
+static constexpr uint16_t TYPE_MASK_IGNORE_LONGITUDE = 2;
+static constexpr uint16_t TYPE_MASK_IGNORE_ALTITUDE = 4;
+
+bool AP_DDS_External_Control::handle_global_position_control(ardupilot_msgs_msg_GlobalPosition& cmd_pos)
+{
+    auto *external_control = AP::externalcontrol();
+    if (external_control == nullptr) {
+        return false;
+    }
+
+    if (strcmp(cmd_pos.header.frame_id, MAP_FRAME) == 0) {
+        // Narrow the altitude
+        const int32_t alt_cm  = static_cast<int32_t>(cmd_pos.altitude * 100);
+
+        Location::AltFrame alt_frame;
+        if (!convert_alt_frame(cmd_pos.coordinate_frame, alt_frame)) {
+            return false;
+        }
+
+        constexpr uint32_t MASK_POS_IGNORE =
+            TYPE_MASK_IGNORE_LATITUDE |
+            TYPE_MASK_IGNORE_LONGITUDE |
+            TYPE_MASK_IGNORE_ALTITUDE;
+
+        if (!(cmd_pos.type_mask & MASK_POS_IGNORE)) {
+            Location loc(cmd_pos.latitude * 1E7, cmd_pos.longitude * 1E7, alt_cm, alt_frame);
+            if (!external_control->set_global_position(loc)) {
+                return false; // Don't try sending other commands if this fails
+            }
+        }
+
+        // TODO add velocity and accel handling
+
+        return true;
+    }
+
+    return false;
+}
+
 bool AP_DDS_External_Control::handle_velocity_control(geometry_msgs_msg_TwistStamped& cmd_vel)
 {
     auto *external_control = AP::externalcontrol();
@@ -40,5 +83,25 @@ bool AP_DDS_External_Control::handle_velocity_control(geometry_msgs_msg_TwistSta
     return false;
 }
 
+bool AP_DDS_External_Control::convert_alt_frame(const uint8_t frame_in,  Location::AltFrame& frame_out)
+{
+
+    // Specified in ROS REP-147; only some are supported.
+    switch (frame_in) {
+    case 5: // FRAME_GLOBAL_INT
+        frame_out = Location::AltFrame::ABSOLUTE;
+        break;
+    case 6: // FRAME_GLOBAL_REL_ALT
+        frame_out = Location::AltFrame::ABOVE_HOME;
+        break;
+    case 11: // FRAME_GLOBAL_TERRAIN_ALT
+        frame_out = Location::AltFrame::ABOVE_TERRAIN;
+        break;
+    default:
+        return false;
+    }
+    return true;
+}
+
 
 #endif // AP_DDS_ENABLED
\ No newline at end of file
diff --git a/libraries/AP_DDS/AP_DDS_ExternalControl.h b/libraries/AP_DDS/AP_DDS_ExternalControl.h
index dbffafdd81ad1c..3986ef63774aa6 100644
--- a/libraries/AP_DDS/AP_DDS_ExternalControl.h
+++ b/libraries/AP_DDS/AP_DDS_ExternalControl.h
@@ -1,11 +1,19 @@
 #pragma once
 
 #if AP_DDS_ENABLED
+#include "ardupilot_msgs/msg/GlobalPosition.h"
 #include "geometry_msgs/msg/TwistStamped.h"
 
+#include <AP_Common/Location.h>
+
 class AP_DDS_External_Control
 {
 public:
+    // REP-147 Goal Interface Global Position Control
+    // https://ros.org/reps/rep-0147.html#goal-interface
+    static bool handle_global_position_control(ardupilot_msgs_msg_GlobalPosition& cmd_pos);
     static bool handle_velocity_control(geometry_msgs_msg_TwistStamped& cmd_vel);
+private:
+    static bool convert_alt_frame(const uint8_t frame_in,  Location::AltFrame& frame_out);
 };
 #endif // AP_DDS_ENABLED
diff --git a/libraries/AP_DDS/AP_DDS_Topic_Table.h b/libraries/AP_DDS/AP_DDS_Topic_Table.h
index 8ce9507d08005d..8df056d484fc71 100644
--- a/libraries/AP_DDS/AP_DDS_Topic_Table.h
+++ b/libraries/AP_DDS/AP_DDS_Topic_Table.h
@@ -22,6 +22,7 @@ enum class TopicIndex: uint8_t {
     JOY_SUB,
     DYNAMIC_TRANSFORMS_SUB,
     VELOCITY_CONTROL_SUB,
+    GLOBAL_POSITION_SUB,
 };
 
 static inline constexpr uint8_t to_underlying(const TopicIndex index)
@@ -142,4 +143,14 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
         .dw_profile_label = "",
         .dr_profile_label = "velocitycontrol__dr",
     },
+    {
+        .topic_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
+        .pub_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
+        .sub_id = to_underlying(TopicIndex::GLOBAL_POSITION_SUB),
+        .dw_id = uxrObjectId{.id=to_underlying(TopicIndex::GLOBAL_POSITION_SUB), .type=UXR_DATAWRITER_ID},
+        .dr_id = uxrObjectId{.id=to_underlying(TopicIndex::GLOBAL_POSITION_SUB), .type=UXR_DATAREADER_ID},
+        .topic_profile_label = "globalposcontrol__t",
+        .dw_profile_label = "",
+        .dr_profile_label = "globalposcontrol__dr",
+    },
 };
diff --git a/libraries/AP_DDS/Idl/ardupilot_msgs/msg/GlobalPosition.idl b/libraries/AP_DDS/Idl/ardupilot_msgs/msg/GlobalPosition.idl
new file mode 100644
index 00000000000000..7b6325d9e02019
--- /dev/null
+++ b/libraries/AP_DDS/Idl/ardupilot_msgs/msg/GlobalPosition.idl
@@ -0,0 +1,60 @@
+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from ardupilot_msgs/msg/GlobalPosition.msg
+// generated code does not contain a copyright notice
+
+#include "geometry_msgs/msg/Twist.idl"
+#include "std_msgs/msg/Header.idl"
+
+module ardupilot_msgs {
+  module msg {
+    module GlobalPosition_Constants {
+      const uint8 FRAME_GLOBAL_INT = 5;
+      const uint8 FRAME_GLOBAL_REL_ALT = 6;
+      const uint8 FRAME_GLOBAL_TERRAIN_ALT = 11;
+      @verbatim (language="comment", text=
+        "Position ignore flags")
+      const uint16 IGNORE_LATITUDE = 1;
+      const uint16 IGNORE_LONGITUDE = 2;
+      const uint16 IGNORE_ALTITUDE = 4;
+      @verbatim (language="comment", text=
+        "Velocity vector ignore flags")
+      const uint16 IGNORE_VX = 8;
+      const uint16 IGNORE_VY = 16;
+      const uint16 IGNORE_VZ = 32;
+      @verbatim (language="comment", text=
+        "Acceleration/Force vector ignore flags")
+      const uint16 IGNORE_AFX = 64;
+      const uint16 IGNORE_AFY = 128;
+      const uint16 IGNORE_AFZ = 256;
+      @verbatim (language="comment", text=
+        "Force in af vector flag")
+      const uint16 FORCE = 512;
+      const uint16 IGNORE_YAW = 1024;
+      const uint16 IGNORE_YAW_RATE = 2048;
+    };
+    @verbatim (language="comment", text=
+      "Experimental REP-147 Goal Interface" "\n"
+      "https://ros.org/reps/rep-0147.html#goal-interface")
+    struct GlobalPosition {
+      std_msgs::msg::Header header;
+
+      uint8 coordinate_frame;
+
+      uint16 type_mask;
+
+      double latitude;
+
+      double longitude;
+
+      @verbatim (language="comment", text=
+        "in meters, AMSL or above terrain")
+      float altitude;
+
+      geometry_msgs::msg::Twist velocity;
+
+      geometry_msgs::msg::Twist acceleration_or_force;
+
+      float yaw;
+    };
+  };
+};
diff --git a/libraries/AP_DDS/README.md b/libraries/AP_DDS/README.md
index bbbe091d9412d6..252a6075fba43c 100644
--- a/libraries/AP_DDS/README.md
+++ b/libraries/AP_DDS/README.md
@@ -216,6 +216,7 @@ Published topics:
  * /rosout [rcl_interfaces/msg/Log] 1 publisher
 
 Subscribed topics:
+ * /ap/cmd_gps_pose [ardupilot_msgs/msg/GlobalPosition] 1 subscriber
  * /ap/cmd_vel [geometry_msgs/msg/TwistStamped] 1 subscriber
  * /ap/joy [sensor_msgs/msg/Joy] 1 subscriber
  * /ap/tf [tf2_msgs/msg/TFMessage] 1 subscriber
@@ -311,6 +312,10 @@ cp /opt/ros/humble/share/builtin_interfaces/msg/Time.idl libraries/AP_DDS/Idl/bu
 # Build the code again with the `--enable-dds` flag as described above
 ```
 
+If the message is custom for ardupilot, first create the ROS message in `Tools/ros2/ardupilot_msgs/msg/GlobalPosition.msg`.
+Then, build ardupilot_msgs with colcon.
+Finally, copy the IDL folder from the install directory into the source tree.
+
 ### Rules for adding topics and services to `dds_xrce_profile.xml`
 
 Topics and services available from `AP_DDS` are automatically mapped into ROS 2
diff --git a/libraries/AP_DDS/dds_xrce_profile.xml b/libraries/AP_DDS/dds_xrce_profile.xml
index abfa47779e9abc..b8e80c6e49e6cc 100644
--- a/libraries/AP_DDS/dds_xrce_profile.xml
+++ b/libraries/AP_DDS/dds_xrce_profile.xml
@@ -276,4 +276,19 @@
     <request_topic_name>rq/ap/mode_switchRequest</request_topic_name>
     <reply_topic_name>rr/ap/mode_switchReply</reply_topic_name>
   </replier>
+  <topic profile_name="globalposcontrol__t">
+    <name>rt/ap/cmd_gps_pose</name>
+    <dataType>ardupilot_msgs::msg::dds_::GlobalPosition_</dataType>
+    <historyQos>
+      <kind>KEEP_LAST</kind>
+      <depth>5</depth>
+    </historyQos>
+  </topic>
+  <data_reader profile_name="globalposcontrol__dr">
+    <topic>
+      <kind>NO_KEY</kind>
+      <name>rt/ap/cmd_gps_pose</name>
+      <dataType>ardupilot_msgs::msg::dds_::GlobalPosition_</dataType>
+    </topic>
+  </data_reader>
 </profiles>

From c22a3439d445df877bdc186f96feec38b977008c Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Wed, 6 Dec 2023 23:49:02 -0700
Subject: [PATCH 0191/1335] AP_ExternalControl: add REP-147 Global Position
 Control

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 ArduPlane/AP_ExternalControl_Plane.cpp        | 22 +++++++++++++++++++
 .../AP_ExternalControl/AP_ExternalControl.h   | 10 +++++++++
 2 files changed, 32 insertions(+)
 create mode 100644 ArduPlane/AP_ExternalControl_Plane.cpp

diff --git a/ArduPlane/AP_ExternalControl_Plane.cpp b/ArduPlane/AP_ExternalControl_Plane.cpp
new file mode 100644
index 00000000000000..c5afabf5843216
--- /dev/null
+++ b/ArduPlane/AP_ExternalControl_Plane.cpp
@@ -0,0 +1,22 @@
+/*
+  external control library for plane
+ */
+
+
+#include "AP_ExternalControl_Plane.h"
+#if AP_EXTERNAL_CONTROL_ENABLED
+
+#include "Plane.h"
+
+/*
+  Sets the target global position for a loiter point.
+*/
+bool AP_ExternalControl_Plane::set_global_position(const Location& loc)
+{
+
+    // set_target_location already checks if plane is ready for external control.
+    // It doesn't check if flying or armed, just that it's in guided mode.
+    return plane.set_target_location(loc);
+}
+
+#endif // AP_EXTERNAL_CONTROL_ENABLED
diff --git a/libraries/AP_ExternalControl/AP_ExternalControl.h b/libraries/AP_ExternalControl/AP_ExternalControl.h
index b72190d9c4da81..34228e2b7ab4ff 100644
--- a/libraries/AP_ExternalControl/AP_ExternalControl.h
+++ b/libraries/AP_ExternalControl/AP_ExternalControl.h
@@ -8,6 +8,7 @@
 
 #if AP_EXTERNAL_CONTROL_ENABLED
 
+#include <AP_Common/Location.h>
 #include <AP_Math/AP_Math.h>
 
 class AP_ExternalControl
@@ -24,9 +25,18 @@ class AP_ExternalControl
         return false;
     }
 
+    /*
+        Sets the target global position with standard guided mode behavior.
+    */
+    virtual bool set_global_position(const Location& loc) WARN_IF_UNUSED {
+        return false;
+    }
+
     static AP_ExternalControl *get_singleton(void) WARN_IF_UNUSED {
         return singleton;
     }
+protected:
+    ~AP_ExternalControl() {}
 
 private:
     static AP_ExternalControl *singleton;

From 003c50a13c917f1705be0416959cd6afafd50ccf Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Wed, 6 Dec 2023 23:49:02 -0700
Subject: [PATCH 0192/1335] ArduPlane: add REP-147 Global Position Control

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 ArduPlane/AP_ExternalControl_Plane.h | 21 +++++++++++++++++++++
 ArduPlane/Plane.h                    | 10 +++++++---
 2 files changed, 28 insertions(+), 3 deletions(-)
 create mode 100644 ArduPlane/AP_ExternalControl_Plane.h

diff --git a/ArduPlane/AP_ExternalControl_Plane.h b/ArduPlane/AP_ExternalControl_Plane.h
new file mode 100644
index 00000000000000..71308780d55fdb
--- /dev/null
+++ b/ArduPlane/AP_ExternalControl_Plane.h
@@ -0,0 +1,21 @@
+
+/*
+  external control library for plane
+ */
+#pragma once
+
+#include <AP_ExternalControl/AP_ExternalControl.h>
+
+#if AP_EXTERNAL_CONTROL_ENABLED
+
+#include <AP_Common/Location.h>
+
+class AP_ExternalControl_Plane : public AP_ExternalControl {
+public:
+    /*
+        Sets the target global position for a loiter point.
+    */
+    bool set_global_position(const Location& loc) override WARN_IF_UNUSED;
+};
+
+#endif // AP_EXTERNAL_CONTROL_ENABLED
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index b40ab6a1321723..3a91aea65afd36 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -85,7 +85,7 @@
 #include <AP_Follow/AP_Follow.h>
 #include <AP_ExternalControl/AP_ExternalControl_config.h>
 #if AP_EXTERNAL_CONTROL_ENABLED
-#include <AP_ExternalControl/AP_ExternalControl.h>
+#include "AP_ExternalControl_Plane.h"
 #endif
 
 #include "GCS_Mavlink.h"
@@ -167,6 +167,10 @@ class Plane : public AP_Vehicle {
     friend class ModeThermal;
     friend class ModeLoiterAltQLand;
 
+#if AP_EXTERNAL_CONTROL_ENABLED
+    friend class AP_ExternalControl_Plane;
+#endif
+
     Plane(void);
 
 private:
@@ -776,9 +780,9 @@ class Plane : public AP_Vehicle {
 
     AP_Param param_loader {var_info};
 
-    // dummy implementation of external control
+    // external control library
 #if AP_EXTERNAL_CONTROL_ENABLED
-    AP_ExternalControl external_control;
+    AP_ExternalControl_Plane external_control;
 #endif
 
     static const AP_Scheduler::Task scheduler_tasks[];

From 7f9992dd2460afdfca4962e1ae3e832a498ff7cd Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Wed, 6 Dec 2023 23:49:02 -0700
Subject: [PATCH 0193/1335] Tools: add REP-147 Global Position Control

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 .../plane_waypoint_follower.py                | 213 ++++++++++++++++++
 Tools/ros2/ardupilot_dds_tests/package.xml    |   3 +
 Tools/ros2/ardupilot_dds_tests/setup.py       |   1 +
 Tools/ros2/ardupilot_msgs/CMakeLists.txt      |   4 +
 .../ardupilot_msgs/msg/GlobalPosition.msg     |  30 +++
 Tools/ros2/ardupilot_msgs/package.xml         |   3 +
 6 files changed, 254 insertions(+)
 create mode 100755 Tools/ros2/ardupilot_dds_tests/ardupilot_dds_tests/plane_waypoint_follower.py
 create mode 100644 Tools/ros2/ardupilot_msgs/msg/GlobalPosition.msg

diff --git a/Tools/ros2/ardupilot_dds_tests/ardupilot_dds_tests/plane_waypoint_follower.py b/Tools/ros2/ardupilot_dds_tests/ardupilot_dds_tests/plane_waypoint_follower.py
new file mode 100755
index 00000000000000..27de6f272f2ed8
--- /dev/null
+++ b/Tools/ros2/ardupilot_dds_tests/ardupilot_dds_tests/plane_waypoint_follower.py
@@ -0,0 +1,213 @@
+#!/usr/bin/env python3
+# Copyright 2023 ArduPilot.org.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+"""
+Run a single-waypoint mission on Plane.
+
+Warning - This is NOT production code; it's a simple demo of capability.
+"""
+
+import math
+import rclpy
+import time
+import errno
+
+from rclpy.node import Node
+from builtin_interfaces.msg import Time
+from ardupilot_msgs.msg import GlobalPosition
+from geographic_msgs.msg import GeoPoseStamped
+from geopy import distance
+from geopy import point
+from ardupilot_msgs.srv import ArmMotors
+from ardupilot_msgs.srv import ModeSwitch
+
+
+PLANE_MODE_TAKEOFF = 13
+PLANE_MODE_GUIDED = 15
+
+FRAME_GLOBAL_INT = 5
+
+# Hard code some known locations
+# Note - Altitude in geopy is in km!
+GRAYHOUND_TRACK = point.Point(latitude=-35.345996, longitude=149.159017, altitude=0.575)
+CMAC = point.Point(latitude=-35.3627010, longitude=149.1651513, altitude=0.585)
+
+
+class PlaneWaypointFollower(Node):
+    """Plane follow waypoints using guided control."""
+
+    def __init__(self):
+        """Initialise the node."""
+        super().__init__("plane_waypoint_follower")
+
+        self.declare_parameter("arm_topic", "/ap/arm_motors")
+        self._arm_topic = self.get_parameter("arm_topic").get_parameter_value().string_value
+        self._client_arm = self.create_client(ArmMotors, self._arm_topic)
+        while not self._client_arm.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('arm service not available, waiting again...')
+
+        self.declare_parameter("mode_topic", "/ap/mode_switch")
+        self._mode_topic = self.get_parameter("mode_topic").get_parameter_value().string_value
+        self._client_mode_switch = self.create_client(ModeSwitch, self._mode_topic)
+        while not self._client_mode_switch.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('mode switch service not available, waiting again...')
+
+        self.declare_parameter("global_position_topic", "/ap/cmd_gps_pose")
+        self._global_pos_topic = self.get_parameter("global_position_topic").get_parameter_value().string_value
+        self._global_pos_pub = self.create_publisher(GlobalPosition, self._global_pos_topic, 1)
+
+        # Create subscriptions after services are up
+        self.declare_parameter("geopose_topic", "/ap/geopose/filtered")
+        self._geopose_topic = self.get_parameter("geopose_topic").get_parameter_value().string_value
+        qos = rclpy.qos.QoSProfile(
+            reliability=rclpy.qos.ReliabilityPolicy.BEST_EFFORT, durability=rclpy.qos.DurabilityPolicy.VOLATILE, depth=1
+        )
+
+        self._subscription_geopose = self.create_subscription(GeoPoseStamped, self._geopose_topic, self.geopose_cb, qos)
+        self._cur_geopose = GeoPoseStamped()
+
+    def geopose_cb(self, msg: GeoPoseStamped):
+        """Process a GeoPose message."""
+        stamp = msg.header.stamp
+        if stamp.sec:
+            self.get_logger().info("From AP : Geopose [sec:{}, nsec: {}]".format(stamp.sec, stamp.nanosec))
+
+            # Store current state
+            self._cur_geopose = msg
+
+    def arm(self):
+        req = ArmMotors.Request()
+        req.arm = True
+        future = self._client_arm.call_async(req)
+        rclpy.spin_until_future_complete(self, future)
+        return future.result()
+
+    def arm_with_timeout(self, timeout: rclpy.duration.Duration):
+        """Try to arm. Returns true on success, or false if arming fails or times out."""
+        armed = False
+        start = self.get_clock().now()
+        while not armed and self.get_clock().now() - start < timeout:
+            armed = self.arm().result
+            time.sleep(1)
+        return armed
+
+    def switch_mode(self, mode):
+        req = ModeSwitch.Request()
+        assert mode in [PLANE_MODE_TAKEOFF, PLANE_MODE_GUIDED]
+        req.mode = mode
+        future = self._client_mode_switch.call_async(req)
+        rclpy.spin_until_future_complete(self, future)
+        return future.result()
+
+    def switch_mode_with_timeout(self, desired_mode: int, timeout: rclpy.duration.Duration):
+        """Try to switch mode. Returns true on success, or false if mode switch fails or times out."""
+        is_in_desired_mode = False
+        start = self.get_clock().now()
+        while not is_in_desired_mode:
+            result = self.switch_mode(desired_mode)
+            # Handle successful switch or the case that the vehicle is already in expected mode
+            is_in_desired_mode = result.status or result.curr_mode == desired_mode
+            time.sleep(1)
+
+        return is_in_desired_mode
+
+    def get_cur_geopose(self):
+        """Return latest geopose."""
+        return self._cur_geopose
+
+    def send_goal_position(self, goal_global_pos):
+        """Send goal position. Must be in guided for this to work."""
+        self._global_pos_pub.publish(goal_global_pos)
+
+
+def achieved_goal(goal_global_pos, cur_geopose):
+    """Return true if the current position (LLH) is close enough to the goal (within the orbit radius)."""
+    # Use 3D geopy distance calculation
+    # https://geopy.readthedocs.io/en/stable/#module-geopy.distance
+    goal_lat = goal_global_pos
+
+    p1 = (goal_global_pos.latitude, goal_global_pos.longitude, goal_global_pos.altitude)
+    cur_pos = cur_geopose.pose.position
+    p2 = (cur_pos.latitude, cur_pos.longitude, cur_pos.altitude)
+
+    flat_distance = distance.distance(p1[:2], p2[:2]).m
+    euclidian_distance = math.sqrt(flat_distance**2 + (p2[2] - p1[2]) ** 2)
+    print(f"Goal is {euclidian_distance} meters away")
+    return euclidian_distance < 150
+
+
+def main(args=None):
+    """Node entry point."""
+    rclpy.init(args=args)
+    node = PlaneWaypointFollower()
+    try:
+        # Block till armed, which will wait for EKF3 to initialize
+        if not node.arm_with_timeout(rclpy.duration.Duration(seconds=30)):
+            raise RuntimeError("Unable to arm")
+
+        # Block till in takeoff
+        if not node.switch_mode_with_timeout(PLANE_MODE_TAKEOFF, rclpy.duration.Duration(seconds=20)):
+            raise RuntimeError("Unable to switch to takeoff mode")
+
+        is_ascending_to_takeoff_alt = True
+        while is_ascending_to_takeoff_alt:
+            rclpy.spin_once(node)
+            time.sleep(1.0)
+
+            # Hard code waiting in takeoff to reach operating altitude of 630m
+            # This is just a hack because geopose is reported with absolute rather than relative altitude,
+            # and this node doesn't have access to the terrain data
+            is_ascending_to_takeoff_alt = node.get_cur_geopose().pose.position.altitude < CMAC.altitude * 1000 + 45
+
+        if is_ascending_to_takeoff_alt:
+            raise RuntimeError("Failed to reach takeoff altitude")
+
+        if not node.switch_mode_with_timeout(PLANE_MODE_GUIDED, rclpy.duration.Duration(seconds=20)):
+            raise RuntimeError("Unable to switch to guided mode")
+
+        # Send a guided WP with location, frame ID, alt frame
+        goal_pos = GlobalPosition()
+        goal_pos.latitude = GRAYHOUND_TRACK.latitude
+        goal_pos.longitude = GRAYHOUND_TRACK.longitude
+        DESIRED_AGL = 60
+        goal_pos.altitude = GRAYHOUND_TRACK.altitude * 1000 + DESIRED_AGL
+        goal_pos.coordinate_frame = FRAME_GLOBAL_INT
+        goal_pos.header.frame_id = "map"
+
+        node.send_goal_position(goal_pos)
+
+        start = node.get_clock().now()
+        has_achieved_goal = False
+        while not has_achieved_goal and node.get_clock().now() - start < rclpy.duration.Duration(seconds=120):
+            rclpy.spin_once(node)
+            has_achieved_goal = achieved_goal(goal_pos, node.get_cur_geopose())
+            time.sleep(1.0)
+
+        if not has_achieved_goal:
+            raise RuntimeError("Unable to achieve goal location")
+
+        print("Goal achieved")
+
+    except KeyboardInterrupt:
+        pass
+
+    # Destroy the node explicitly.
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/Tools/ros2/ardupilot_dds_tests/package.xml b/Tools/ros2/ardupilot_dds_tests/package.xml
index 7b44fbffdcbf94..b4cc9fa2a0e358 100644
--- a/Tools/ros2/ardupilot_dds_tests/package.xml
+++ b/Tools/ros2/ardupilot_dds_tests/package.xml
@@ -8,11 +8,13 @@
   <license>GLP-3.0</license>
 
   <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>ardupilot_msgs</exec_depend>
   <exec_depend>ardupilot_sitl</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_pytest</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>micro_ros_msgs</exec_depend>
+  <exec_depend>python3-geopy</exec_depend>
   <exec_depend>python3-pytest</exec_depend>
   <exec_depend>rclpy</exec_depend>
   <exec_depend>socat</exec_depend>
@@ -23,6 +25,7 @@
   <test_depend>ament_uncrustify</test_depend>
   <test_depend>ament_xmllint</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ardupilot_msgs</test_depend>
   <test_depend>ardupilot_sitl</test_depend>
   <test_depend>launch</test_depend>
   <test_depend>launch_pytest</test_depend>
diff --git a/Tools/ros2/ardupilot_dds_tests/setup.py b/Tools/ros2/ardupilot_dds_tests/setup.py
index 3d2039beb5c0fd..bbe11e6a5c8123 100644
--- a/Tools/ros2/ardupilot_dds_tests/setup.py
+++ b/Tools/ros2/ardupilot_dds_tests/setup.py
@@ -25,6 +25,7 @@
     entry_points={
         'console_scripts': [
             "time_listener = ardupilot_dds_tests.time_listener:main",
+            "plane_waypoint_follower = ardupilot_dds_tests.plane_waypoint_follower:main",
         ],
     },
 )
diff --git a/Tools/ros2/ardupilot_msgs/CMakeLists.txt b/Tools/ros2/ardupilot_msgs/CMakeLists.txt
index 8096431370687c..d066a2d32b2e43 100644
--- a/Tools/ros2/ardupilot_msgs/CMakeLists.txt
+++ b/Tools/ros2/ardupilot_msgs/CMakeLists.txt
@@ -5,14 +5,18 @@ project(ardupilot_msgs)
 # Find dependencies.
 
 find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 # --------------------------------------------------------------------------- #
 # Generate and export message interfaces.
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/GlobalPosition.msg"
   "srv/ArmMotors.srv"
   "srv/ModeSwitch.srv"
+  DEPENDENCIES geometry_msgs std_msgs
   ADD_LINTER_TESTS
 )
 
diff --git a/Tools/ros2/ardupilot_msgs/msg/GlobalPosition.msg b/Tools/ros2/ardupilot_msgs/msg/GlobalPosition.msg
new file mode 100644
index 00000000000000..f34b84c3ea34e8
--- /dev/null
+++ b/Tools/ros2/ardupilot_msgs/msg/GlobalPosition.msg
@@ -0,0 +1,30 @@
+# Experimental REP-147 Goal Interface
+# https://ros.org/reps/rep-0147.html#goal-interface
+
+std_msgs/Header header
+
+uint8 coordinate_frame
+uint8 FRAME_GLOBAL_INT = 5
+uint8 FRAME_GLOBAL_REL_ALT = 6
+uint8 FRAME_GLOBAL_TERRAIN_ALT = 11
+
+uint16 type_mask
+uint16 IGNORE_LATITUDE = 1 # Position ignore flags
+uint16 IGNORE_LONGITUDE = 2
+uint16 IGNORE_ALTITUDE = 4
+uint16 IGNORE_VX = 8  # Velocity vector ignore flags
+uint16 IGNORE_VY = 16
+uint16 IGNORE_VZ = 32
+uint16 IGNORE_AFX = 64 # Acceleration/Force vector ignore flags
+uint16 IGNORE_AFY = 128
+uint16 IGNORE_AFZ = 256
+uint16 FORCE = 512 # Force in af vector flag
+uint16 IGNORE_YAW = 1024
+uint16 IGNORE_YAW_RATE = 2048
+
+float64 latitude
+float64 longitude
+float32 altitude # in meters, AMSL or above terrain
+geometry_msgs/Twist velocity
+geometry_msgs/Twist acceleration_or_force
+float32 yaw
diff --git a/Tools/ros2/ardupilot_msgs/package.xml b/Tools/ros2/ardupilot_msgs/package.xml
index 08e92bf1df7d99..2e2a118fa5ae2c 100644
--- a/Tools/ros2/ardupilot_msgs/package.xml
+++ b/Tools/ros2/ardupilot_msgs/package.xml
@@ -11,6 +11,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_cmake_copyright</test_depend>

From 76861eaa9b207b0dbf62865d911749583024acf9 Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Thu, 7 Dec 2023 00:10:04 -0700
Subject: [PATCH 0194/1335] AP_Common: Define units for locatoin data members

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 libraries/AP_Common/Location.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Common/Location.h b/libraries/AP_Common/Location.h
index 134a27e590af36..eab834e2d427f3 100644
--- a/libraries/AP_Common/Location.h
+++ b/libraries/AP_Common/Location.h
@@ -15,9 +15,9 @@ class Location
     uint8_t loiter_xtrack : 1;          // 0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location
 
     // note that mission storage only stores 24 bits of altitude (~ +/- 83km)
-    int32_t alt;
-    int32_t lat;
-    int32_t lng;
+    int32_t alt; // in cm
+    int32_t lat; // in 1E7 degrees
+    int32_t lng; // in 1E7 degrees
 
     /// enumeration of possible altitude types
     enum class AltFrame {

From faa8ac0085d8ff556e847fa8085e7a6119df83f4 Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Tue, 12 Dec 2023 21:31:29 -0700
Subject: [PATCH 0195/1335] AP_Vehicle: Set position target depends on ext
 control

* Used to depend on scripting but now it's used in AP_ExternalControl

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 libraries/AP_Vehicle/AP_Vehicle.h | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 1ccbe4d5500140..b8d98d2377d519 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -34,6 +34,7 @@
 #include <AP_Button/AP_Button.h>
 #include <AP_Compass/AP_Compass.h>
 #include <AP_EFI/AP_EFI.h>
+#include <AP_ExternalControl/AP_ExternalControl_config.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Generator/AP_Generator.h>
 #include <AP_Notify/AP_Notify.h>                    // Notify library
@@ -155,12 +156,15 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     // returns true if the vehicle has crashed
     virtual bool is_crashed() const;
 
+#if AP_EXTERNAL_CONTROL_ENABLED
+    // Method to control vehicle position for use by external control
+    virtual bool set_target_location(const Location& target_loc) { return false; }
+#endif // AP_EXTERNAL_CONTROL_ENABLED
 #if AP_SCRIPTING_ENABLED
     /*
       methods to control vehicle for use by scripting
     */
     virtual bool start_takeoff(float alt) { return false; }
-    virtual bool set_target_location(const Location& target_loc) { return false; }
     virtual 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 terrain_alt) { return false; }
     virtual bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) { return false; }
     virtual 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) { return false; }

From 2e393bbbc6a5c0e73ad00cd02d7bd4ca997e066c Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Tue, 12 Dec 2023 21:32:43 -0700
Subject: [PATCH 0196/1335] ArduPlane: Make set position tgt depend on ext ctrl

* Set position target used to just be used in scripting, now it's used
  by DDS in external control

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 ArduPlane/ArduPlane.cpp | 6 ++++--
 ArduPlane/Plane.h       | 4 +++-
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 36bc4f5b53e091..02dcd401eb2dda 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -798,8 +798,8 @@ bool Plane::get_wp_crosstrack_error_m(float &xtrack_error) const
     return true;
 }
 
-#if AP_SCRIPTING_ENABLED
-// set target location (for use by scripting)
+#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
+// set target location (for use by external control and scripting)
 bool Plane::set_target_location(const Location &target_loc)
 {
     Location loc{target_loc};
@@ -816,7 +816,9 @@ bool Plane::set_target_location(const Location &target_loc)
     plane.set_guided_WP(loc);
     return true;
 }
+#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
 
+#if AP_SCRIPTING_ENABLED
 // set target location (for use by scripting)
 bool Plane::get_target_location(Location& target_loc)
 {
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 3a91aea65afd36..b0baf16706a72b 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -1245,8 +1245,10 @@ class Plane : public AP_Vehicle {
     void failsafe_check(void);
     bool is_landing() const override;
     bool is_taking_off() const override;
-#if AP_SCRIPTING_ENABLED
+#if AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
     bool set_target_location(const Location& target_loc) override;
+#endif //AP_SCRIPTING_ENABLED || AP_EXTERNAL_CONTROL_ENABLED
+#if AP_SCRIPTING_ENABLED
     bool get_target_location(Location& target_loc) override;
     bool update_target_location(const Location &old_loc, const Location &new_loc) override;
     bool set_velocity_match(const Vector2f &velocity) override;

From ab0755d0d8ec55d23816b14b09d875c33ecc5774 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 16 Dec 2023 17:23:56 +0000
Subject: [PATCH 0197/1335] Plane: rework forward throttle votlage compensation
 into sub class and split min/max from throttle

---
 ArduPlane/Parameters.cpp |  6 ++---
 ArduPlane/Parameters.h   | 23 ++++++++++++++---
 ArduPlane/Plane.h        |  1 -
 ArduPlane/servos.cpp     | 54 ++++++++++++++++++++++++++++++----------
 4 files changed, 64 insertions(+), 20 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index bb4a2a86a5fbae..fd5288223d8f8b 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1175,7 +1175,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Units: V
     // @Increment: 0.1
     // @User: Advanced
-    AP_GROUPINFO("FWD_BAT_VOLT_MAX", 23, ParametersG2, fwd_thr_batt_voltage_max, 0.0f),
+    AP_GROUPINFO("FWD_BAT_VOLT_MAX", 23, ParametersG2, fwd_batt_cmp.batt_voltage_max, 0.0f),
 
     // @Param: FWD_BAT_VOLT_MIN
     // @DisplayName: Forward throttle battery voltage compensation minimum voltage
@@ -1184,14 +1184,14 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Units: V
     // @Increment: 0.1
     // @User: Advanced
-    AP_GROUPINFO("FWD_BAT_VOLT_MIN", 24, ParametersG2, fwd_thr_batt_voltage_min, 0.0f),
+    AP_GROUPINFO("FWD_BAT_VOLT_MIN", 24, ParametersG2, fwd_batt_cmp.batt_voltage_min, 0.0f),
 
     // @Param: FWD_BAT_IDX
     // @DisplayName: Forward throttle battery compensation index
     // @Description: Which battery monitor should be used for doing compensation for the forward throttle
     // @Values: 0:First battery, 1:Second battery
     // @User: Advanced
-    AP_GROUPINFO("FWD_BAT_IDX", 25, ParametersG2, fwd_thr_batt_idx, 0),
+    AP_GROUPINFO("FWD_BAT_IDX", 25, ParametersG2, fwd_batt_cmp.batt_idx, 0),
 
     // @Param: FS_EKF_THRESH
     // @DisplayName: EKF failsafe variance threshold
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 2a9a5ef0719868..ef126900dfccf1 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -542,9 +542,26 @@ class ParametersG2 {
     AP_Int8 crow_flap_aileron_matching;
 
     // Forward throttle battery voltage compensation
-    AP_Float fwd_thr_batt_voltage_max;
-    AP_Float fwd_thr_batt_voltage_min;
-    AP_Int8  fwd_thr_batt_idx;
+    class FWD_BATT_CMP {
+    public:
+        // Calculate the throttle scale to compensate for battery voltage drop
+        void update();
+
+        // Apply throttle scale to min and max limits
+        void apply_min_max(int8_t &min_throttle, int8_t &max_throttle) const;
+
+        // Apply throttle scale to throttle demand
+        float apply_throttle(float throttle) const;
+
+        AP_Float batt_voltage_max;
+        AP_Float batt_voltage_min;
+        AP_Int8  batt_idx;
+
+    private:
+        bool enabled;
+        float ratio;
+    } fwd_batt_cmp;
+
 
 #if OFFBOARD_GUIDED == ENABLED
     // guided yaw heading PID
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index b0baf16706a72b..8dcb90e47d8dd0 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -1107,7 +1107,6 @@ class Plane : public AP_Vehicle {
     void servos_auto_trim(void);
     void servos_twin_engine_mix();
     void force_flare();
-    void throttle_voltage_comp(int8_t &min_throttle, int8_t &max_throttle) const;
     void throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle);
     void throttle_slew_limit(SRV_Channel::Aux_servo_function_t func);
     bool suppress_throttle(void);
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 35dc8b08017280..c8f03bb8968486 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -384,23 +384,26 @@ void Plane::set_servos_idle(void)
 
 
 /*
-  Scale the throttle to conpensate for battery voltage drop
+  Calculate the throttle scale to compensate for battery voltage drop
  */
-void Plane::throttle_voltage_comp(int8_t &min_throttle, int8_t &max_throttle) const
+void ParametersG2::FWD_BATT_CMP::update()
 {
+    // Assume disabled
+    enabled = false;
+
     // return if not enabled, or setup incorrectly
-    if (!is_positive(g2.fwd_thr_batt_voltage_min) || g2.fwd_thr_batt_voltage_min >= g2.fwd_thr_batt_voltage_max) {
+    if (!is_positive(batt_voltage_min) || batt_voltage_min >= batt_voltage_max) {
         return;
     }
 
-    float batt_voltage_resting_estimate = AP::battery().voltage_resting_estimate(g2.fwd_thr_batt_idx);
+    float batt_voltage_resting_estimate = AP::battery().voltage_resting_estimate(batt_idx);
     // Return for a very low battery
-    if (batt_voltage_resting_estimate < 0.25f * g2.fwd_thr_batt_voltage_min) {
+    if (batt_voltage_resting_estimate < 0.25f * batt_voltage_min) {
         return;
     }
 
     // constrain read voltage to min and max params
-    batt_voltage_resting_estimate = constrain_float(batt_voltage_resting_estimate,g2.fwd_thr_batt_voltage_min,g2.fwd_thr_batt_voltage_max);
+    batt_voltage_resting_estimate = constrain_float(batt_voltage_resting_estimate, batt_voltage_min, batt_voltage_max);
 
     // don't apply compensation if the voltage is excessively low
     if (batt_voltage_resting_estimate < 1) {
@@ -409,14 +412,38 @@ void Plane::throttle_voltage_comp(int8_t &min_throttle, int8_t &max_throttle) co
 
     // Scale the throttle up to compensate for voltage drop
     // Ratio = 1 when voltage = voltage max, ratio increases as voltage drops
-    const float ratio = g2.fwd_thr_batt_voltage_max / batt_voltage_resting_estimate;
+    ratio = batt_voltage_max / batt_voltage_resting_estimate;
+
+    // Got this far then ratio is valid
+    enabled = true;
+}
+
+// Apply throttle scale to min and max limits
+void ParametersG2::FWD_BATT_CMP::apply_min_max(int8_t &min_throttle, int8_t &max_throttle) const
+{
+    // return if not enabled
+    if (!enabled) {
+        return;
+    }
 
     // Scale the throttle limits to prevent subsequent clipping
+    // Ratio will always be >= 1, ensure still within max limits
     min_throttle = int8_t(MAX((ratio * (float)min_throttle), -100));
     max_throttle = int8_t(MIN((ratio * (float)max_throttle),  100));
 
-    SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,
-                                        constrain_float(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * ratio, -100, 100));
+}
+
+// Apply throttle scale to throttle demand
+float ParametersG2::FWD_BATT_CMP::apply_throttle(float throttle) const
+{
+    // return if not enabled
+    if (!enabled) {
+        return throttle;
+    }
+
+    // Ratio will always be >= 1, ensure still within max limits
+    return constrain_float(throttle * ratio, -100, 100);
+
 }
 
 /*
@@ -504,7 +531,8 @@ void Plane::set_throttle(void)
     }
 
     // compensate for battery voltage drop
-    throttle_voltage_comp(min_throttle, max_throttle);
+    g2.fwd_batt_cmp.update();
+    g2.fwd_batt_cmp.apply_min_max(min_throttle, max_throttle);
 
 #if AP_BATTERY_WATT_MAX_ENABLED
     // apply watt limiter
@@ -573,9 +601,9 @@ void Plane::set_throttle(void)
 #endif  // HAL_QUADPLANE_ENABLED
 
     } else {
-        // Apply min/max limits to throttle output from flight mode
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,
-                                        constrain_float(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle), min_throttle, max_throttle));
+        // Apply min/max limits and voltage compensation to throttle output from flight mode
+        const float throttle = g2.fwd_batt_cmp.apply_throttle(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_float(throttle, min_throttle, max_throttle));
     }
 
 }

From 86a199c1bf6c2414d1d7367e848742d6e66b0918 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 19 Dec 2023 02:13:25 +0000
Subject: [PATCH 0198/1335] AP_ICEngine: add support for starter relay

---
 libraries/AP_ICEngine/AP_ICEngine.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp
index ad66e49ded7d07..b5202ea7220cb5 100644
--- a/libraries/AP_ICEngine/AP_ICEngine.cpp
+++ b/libraries/AP_ICEngine/AP_ICEngine.cpp
@@ -622,6 +622,13 @@ void AP_ICEngine::set_starter(bool on)
 #if AP_ICENGINE_TCA9554_STARTER_ENABLED
     tca9554_starter.set_starter(on);
 #endif
+
+#if AP_RELAY_ENABLED
+    AP_Relay *relay = AP::relay();
+    if (relay != nullptr) {
+        relay->set(AP_Relay_Params::FUNCTION::ICE_STARTER, on);
+    }
+#endif // AP_RELAY_ENABLED
 }
 
 

From 46dd402a1ab32b0dc23e1bc25d7c40c3561a845d Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 19 Dec 2023 02:15:12 +0000
Subject: [PATCH 0199/1335] AP_Relay: add ICE_STARTER function

---
 libraries/AP_Relay/AP_Relay_Params.cpp | 1 +
 libraries/AP_Relay/AP_Relay_Params.h   | 1 +
 2 files changed, 2 insertions(+)

diff --git a/libraries/AP_Relay/AP_Relay_Params.cpp b/libraries/AP_Relay/AP_Relay_Params.cpp
index afce285cd4fe4b..c5381188068f21 100644
--- a/libraries/AP_Relay/AP_Relay_Params.cpp
+++ b/libraries/AP_Relay/AP_Relay_Params.cpp
@@ -14,6 +14,7 @@ const AP_Param::GroupInfo AP_Relay_Params::var_info[] = {
     // @Values{Rover}: 6:Bushed motor reverse 2 throttle-right or omni motor 2
     // @Values{Rover}: 7:Bushed motor reverse 3 omni motor 3
     // @Values{Rover}: 8:Bushed motor reverse 4 omni motor 4
+    // @Values{Plane}: 9:ICE Starter
 
     // @User: Standard
     AP_GROUPINFO_FLAGS("FUNCTION", 1, AP_Relay_Params, function, (float)FUNCTION::NONE, AP_PARAM_FLAG_ENABLE),
diff --git a/libraries/AP_Relay/AP_Relay_Params.h b/libraries/AP_Relay/AP_Relay_Params.h
index 7239dda9c9106c..c5c783677143e0 100644
--- a/libraries/AP_Relay/AP_Relay_Params.h
+++ b/libraries/AP_Relay/AP_Relay_Params.h
@@ -28,6 +28,7 @@ class AP_Relay_Params {
         BRUSHED_REVERSE_2 = 6,
         BRUSHED_REVERSE_3 = 7,
         BRUSHED_REVERSE_4 = 8,
+        ICE_STARTER = 9,
         NUM_FUNCTIONS // must be the last entry
     };
 

From a94484d770c993cd49ca8bd77bea1cdd36818a00 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Dec 2023 06:06:02 +1100
Subject: [PATCH 0200/1335] HAL_ChibiOS: fixed SPI build on F1xx

F1 does not have palReadLineMode()
---
 libraries/AP_HAL_ChibiOS/SPIDevice.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/SPIDevice.h b/libraries/AP_HAL_ChibiOS/SPIDevice.h
index c082b4f7283a2a..5845e0448c81eb 100644
--- a/libraries/AP_HAL_ChibiOS/SPIDevice.h
+++ b/libraries/AP_HAL_ChibiOS/SPIDevice.h
@@ -26,7 +26,7 @@
 #include "Device.h"
 
 #ifndef HAL_SPI_SCK_SAVE_RESTORE
-#define HAL_SPI_SCK_SAVE_RESTORE TRUE
+#define HAL_SPI_SCK_SAVE_RESTORE !defined(STM32F1)
 #endif
 
 namespace ChibiOS {

From 65cae116a2b52f070b44335c5cf6546914e1e3aa Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Dec 2023 06:12:20 +1100
Subject: [PATCH 0201/1335] hwdef: fixed build of CarbonixL496

---
 libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
index c621a9f58bd269..807e790e303287 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
@@ -139,3 +139,5 @@ define HAL_PERIPH_ADSB_BAUD_DEFAULT 57600
 
 BARO MS56XX I2C:0:0x76
 COMPASS QMC5883P I2C:0:0x2C false ROTATION_YAW_180
+
+define AP_COMPASS_QMC5883P_ENABLED 1

From cf481a895294090d00718b106bd5277d17eb83f2 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Fri, 18 Aug 2023 16:29:30 +1000
Subject: [PATCH 0202/1335] AP_HAL_ChibiOS: allow option to enable scripting on
 CubeRedSecondary

---
 libraries/AP_HAL_ChibiOS/hwdef/CubeRedSecondary/hwdef.dat | 2 --
 1 file changed, 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedSecondary/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedSecondary/hwdef.dat
index 82c5ad28103c86..19fe6a4e3cee64 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedSecondary/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedSecondary/hwdef.dat
@@ -152,8 +152,6 @@ define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_RCIN
 define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_Sbus1
 define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_RCIN
 
-define AP_SCRIPTING_ENABLED 0
-
 # only use pulse input for PPM, other protocols
 # are on serial
 define HAL_RCIN_PULSE_PPM_ONLY

From 49c3536ca7ab2686788702aaee5e526e079337d3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Dec 2023 14:26:12 +1100
Subject: [PATCH 0203/1335] AP_Math: added uint64_div1000()

and test suite
---
 libraries/AP_Math/div1000.h           | 26 ++++++++++++++++++++++++++
 libraries/AP_Math/tests/test_math.cpp | 12 ++++++++++++
 2 files changed, 38 insertions(+)
 create mode 100644 libraries/AP_Math/div1000.h

diff --git a/libraries/AP_Math/div1000.h b/libraries/AP_Math/div1000.h
new file mode 100644
index 00000000000000..e80a52d542180d
--- /dev/null
+++ b/libraries/AP_Math/div1000.h
@@ -0,0 +1,26 @@
+/*
+  return 64 bit x / 1000
+  faster than the normal gcc implementation using by about 3x
+  With thanks to https://0x414b.com/2021/04/16/arm-division.html
+  and https://stackoverflow.com/questions/74765410/multiply-two-uint64-ts-and-store-result-to-uint64-t-doesnt-seem-to-work
+*/
+static inline uint64_t uint64_div1000(uint64_t x)
+{
+    x >>= 3U;
+    uint64_t a_lo = (uint32_t)x;
+    uint64_t a_hi = x >> 32;
+    const uint64_t b_lo = 0xe353f7cfU;
+    const uint64_t b_hi = 0x20c49ba5U;
+
+    uint64_t a_x_b_hi = a_hi * b_hi;
+    uint64_t a_x_b_mid = a_hi * b_lo;
+    uint64_t b_x_a_mid = b_hi * a_lo;
+    uint32_t a_x_b_lo = (a_lo * b_lo)>>32;
+
+    // 64-bit product + two 32-bit values
+    uint64_t middle = a_x_b_mid + a_x_b_lo + (uint32_t)b_x_a_mid;
+
+    // 64-bit product + two 32-bit values
+    uint64_t r = a_x_b_hi + (middle >> 32) + (b_x_a_mid >> 32);
+    return r >> 4U;
+}
diff --git a/libraries/AP_Math/tests/test_math.cpp b/libraries/AP_Math/tests/test_math.cpp
index 0043a38c5b1b14..afd8a164c829f3 100644
--- a/libraries/AP_Math/tests/test_math.cpp
+++ b/libraries/AP_Math/tests/test_math.cpp
@@ -7,6 +7,7 @@
 #include <AP_gtest.h>
 
 #include <AP_Math/AP_Math.h>
+#include <AP_Math/div1000.h>
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
@@ -692,6 +693,17 @@ TEST(CRCTest, parity)
     EXPECT_EQ(parity(0b11111111), 0);
 }
 
+TEST(MathTest, div1000)
+{
+    for (uint32_t i=0; i<1000000; i++) {
+        uint64_t v;
+        EXPECT_EQ(hal.util->get_random_vals((uint8_t*)&v, sizeof(v)), true);
+        uint64_t v1 = v / 1000ULL;
+        uint64_t v2 = uint64_div1000(v);
+        EXPECT_EQ(v1, v2);
+    }
+}
+
 AP_GTEST_PANIC()
 AP_GTEST_MAIN()
 

From 4a59097b5e211a5789ba34e33dd3972ccc4f60a1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Dec 2023 14:26:48 +1100
Subject: [PATCH 0204/1335] HAL_ChibiOS: use C implemention of div1000

---
 libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c |  6 ++--
 libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h | 33 +--------------------
 2 files changed, 5 insertions(+), 34 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
index f99110f08093b4..c7ea3bdff5fe3f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
@@ -25,6 +25,8 @@
 
 #pragma GCC optimize("O2")
 
+#include "../../../AP_Math/div1000.h"
+
 /*
   we have 4 possible configurations of boards, made up of boards that
   have the following properties:
@@ -139,9 +141,9 @@ uint32_t hrt_micros32()
 #endif
 }
 
-uint32_t hrt_millis64()
+uint64_t hrt_millis64()
 {
-    return _hrt_div1000(hrt_micros64());
+    return uint64_div1000(hrt_micros64());
 }
         
 uint32_t hrt_millis32()
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h
index c11637ec12e3e5..ac1cf915d8b094 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h
@@ -13,38 +13,7 @@ uint32_t hrt_micros32(void);
 uint32_t hrt_millis32(void);
 uint32_t hrt_millis32I(void); // from locked context
 uint32_t hrt_millis32_from_ISR(void); // from an ISR
-uint32_t hrt_millis64(void);
-
-/*
-  thanks to:
-  https://0x414b.com/2021/04/16/arm-division.html
- */
-static inline uint64_t _hrt_umul64x64hi(uint32_t b, uint32_t a, uint32_t d, uint32_t c)
-{
-    __asm__ ("\n\
-umull   r4, r5, %[b], %[d]   \n\
-umull   %[d], r4, %[a], %[d]    \n\
-adds    r5, %[d]         \n\
-umull   %[d], %[a], %[a], %[c]  \n\
-adcs    r4, %[d]        \n\
-adc     %[a], #0        \n\
-umull   %[c], %[b], %[b], %[c]  \n\
-adds    r5, %[c]        \n\
-adcs    %[b], r4        \n\
-adc     %[a], #0        \n\
-"   : [a] "+r" (a), [b] "+r" (b), [c] "+r" (c), [d] "+r" (d) : : "r4", "r5");
-    return (uint64_t) a << 32 | b;
-}
-
-/*
-  return x / 1000
-  faster than the gcc implementation using _hrt_umul64x64hi() by about 3x
-*/
-static inline uint64_t _hrt_div1000(uint64_t x)
-{
-    x >>= 3U;
-    return _hrt_umul64x64hi((uint32_t)x, x >> 32U, 0xe353f7cfU, 0x20c49ba5U) >> 4U;
-}
+uint64_t hrt_millis64(void);
 
 #ifdef __cplusplus
 }

From f3303c92725d10e6da0727b97be9148d22a489d1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Dec 2023 16:24:27 +1100
Subject: [PATCH 0205/1335] HAL_SITL: use uint64_div1000()

match ChibiOS
---
 libraries/AP_HAL_SITL/system.cpp | 14 ++------------
 1 file changed, 2 insertions(+), 12 deletions(-)

diff --git a/libraries/AP_HAL_SITL/system.cpp b/libraries/AP_HAL_SITL/system.cpp
index 138ee2a7c2bef6..1e4a59be2019ec 100644
--- a/libraries/AP_HAL_SITL/system.cpp
+++ b/libraries/AP_HAL_SITL/system.cpp
@@ -9,6 +9,7 @@
 #include <AP_HAL/system.h>
 
 #include "Scheduler.h"
+#include <AP_Math/div1000.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -179,18 +180,7 @@ uint64_t micros64()
 
 uint64_t millis64()
 {
-    const HALSITL::Scheduler* scheduler = HALSITL::Scheduler::from(hal.scheduler);
-    uint64_t stopped_usec = scheduler->stopped_clock_usec();
-    if (stopped_usec) {
-        return stopped_usec / 1000;
-    }
-
-    struct timeval tp;
-    gettimeofday(&tp, nullptr);
-    uint64_t ret = 1.0e3*((tp.tv_sec + (tp.tv_usec*1.0e-6)) -
-                          (state.start_time.tv_sec +
-                           (state.start_time.tv_usec*1.0e-6)));
-    return ret;
+    return uint64_div1000(micros64());
 }
 
 } // namespace AP_HAL

From ff22c103b2fcbb223399221f8ddca89e820e2c58 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Dec 2023 14:28:23 +1100
Subject: [PATCH 0206/1335] Tools: allow div1000 testing on all boards

---
 Tools/CPUInfo/CPUInfo.cpp | 25 +++++++++++++++----------
 1 file changed, 15 insertions(+), 10 deletions(-)

diff --git a/Tools/CPUInfo/CPUInfo.cpp b/Tools/CPUInfo/CPUInfo.cpp
index 2b2ee927527340..05409f1418df5e 100644
--- a/Tools/CPUInfo/CPUInfo.cpp
+++ b/Tools/CPUInfo/CPUInfo.cpp
@@ -10,6 +10,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
+#include <AP_Math/div1000.h>
 #include <AP_ESC_Telem/AP_ESC_Telem.h>
 #include "EKF_Maths.h"
 
@@ -205,28 +206,34 @@ static void show_timings(void)
     TIMEIT("SEM", { WITH_SEMAPHORE(sem); v_out_32 += v_32;}, 100);
 }
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 static void test_div1000(void)
 {
     hal.console->printf("Testing div1000\n");
     for (uint32_t i=0; i<2000000; i++) {
-        uint64_t v;
-        hal.util->get_random_vals((uint8_t*)&v, sizeof(v));
+        uint64_t v = 0;
+        if (!hal.util->get_random_vals((uint8_t*)&v, sizeof(v))) {
+            AP_HAL::panic("ERROR: div1000 no random\n");
+            break;
+        }
         uint64_t v1 = v / 1000ULL;
-        uint64_t v2 = _hrt_div1000(v);
+        uint64_t v2 = uint64_div1000(v);
         if (v1 != v2) {
             AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx\n",
                           (unsigned long long)v, (unsigned long long)v1, (unsigned long long)v2);
             return;
         }
     }
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     // test from locked context
     for (uint32_t i=0; i<2000000; i++) {
-        uint64_t v;
-        hal.util->get_random_vals((uint8_t*)&v, sizeof(v));
+        uint64_t v = 0;
+        if (!hal.util->get_random_vals((uint8_t*)&v, sizeof(v))) {
+            AP_HAL::panic("ERROR: div1000 no random\n");
+            break;
+        }
         chSysLock();
         uint64_t v1 = v / 1000ULL;
-        uint64_t v2 = _hrt_div1000(v);
+        uint64_t v2 = uint64_div1000(v);
         chSysUnlock();
         if (v1 != v2) {
             AP_HAL::panic("ERROR: 0x%llx v1=0x%llx v2=0x%llx\n",
@@ -234,18 +241,16 @@ static void test_div1000(void)
             return;
         }
     }
+#endif
     hal.console->printf("div1000 OK\n");
 }
-#endif
 
 void loop()
 {
     show_sizes();
     hal.console->printf("\n");
     show_timings();
-#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     test_div1000();
-#endif
     hal.console->printf("\n");
     hal.scheduler->delay(3000);
 }

From 5c1ed968b18ea196b8376cdd6cc7aeae9b3085c4 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Sat, 25 Nov 2023 19:15:03 -0600
Subject: [PATCH 0207/1335] AP_Motors:expand heli tail param metadata

---
 libraries/AP_Motors/AP_MotorsHeli_Single.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index 6fcefd60048846..1c73e10f5082ac 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -28,8 +28,8 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
 
     // @Param: TAIL_TYPE
     // @DisplayName: Tail Type
-    // @Description: Tail type selection.  Simpler yaw controller used if external gyro is selected. Direct Drive Variable Pitch is used for tails that have a motor that is governed at constant speed by an ESC.  Tail pitch is still accomplished with a servo.  Direct Drive Fixed Pitch (DDFP) CW is used for helicopters with a rotor that spins clockwise when viewed from above. Direct Drive Fixed Pitch (DDFP) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above. In both DDFP cases, no servo is used for the tail and the tail motor esc is controlled by the yaw axis.
-    // @Values: 0:Servo only,1:Servo with ExtGyro,2:DirectDrive VarPitch,3:DirectDrive FixedPitch CW,4:DirectDrive FixedPitch CCW,5:DDVP with external governor
+    // @Description: Tail type selection. Servo Only uses tail rotor pitch to provide yaw control (including stabilization) via an output assigned to Motor4.  Servo with External Gyro uses an external gyro to control tail rotor pitch via a servo.  Yaw control without stabilization is passed to the external gyro via the output assigned to Motor4.  Direct Drive Variable Pitch(DDVP) is used for tails that have a motor whose ESC is connected to an output with function HeliTailRSC. Tail pitch is still accomplished with a servo on an output assigned to Motor4 function.  Direct Drive Fixed Pitch (DDFP) CW is used for helicopters with a rotor that spins clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4. Direct Drive Fixed Pitch (DDFP) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above with a motor whose ESC is controlled by an output whose function is Motor4. In both DDFP cases, no servo is used for the tail and the tail motor esc on Motor4 output is used to control the yaw axis using motor speed.
+    // @Values: 0:Servo only,1:Servo with ExtGyro,2:DirectDrive VarPitch,3:DirectDrive FixedPitch CW,4:DirectDrive FixedPitch CCW
     // @User: Standard
     AP_GROUPINFO("TAIL_TYPE", 4, AP_MotorsHeli_Single, _tail_type, float(TAIL_TYPE::SERVO)),
 
@@ -37,7 +37,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
 
     // @Param: GYR_GAIN
     // @DisplayName: External Gyro Gain
-    // @Description: PWM in microseconds sent to external gyro on ch7 when tail type is Servo w/ ExtGyro
+    // @Description: PWM in microseconds sent to external gyro on an servo/output whose function is Motor7 when tail type is Servo w/ ExtGyro
     // @Range: 0 1000
     // @Units: PWM
     // @Increment: 1
@@ -57,7 +57,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
 
     // @Param: TAIL_SPEED
     // @DisplayName: DDVP Tail ESC speed
-    // @Description: Direct drive, variable pitch tail ESC speed in percent output to the tail motor esc (HeliTailRSC Servo) when motor interlock enabled (throttle hold off).
+    // @Description: Direct drive, variable pitch tail ESC speed in percent output to the tail motor esc (HeliTailRSC Servo) when motor interlock enabled (throttle hold off) and speed fully ramped up after spoolup.
     // @Range: 0 100
     // @Units: %
     // @Increment: 1
@@ -66,7 +66,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
 
     // @Param: GYR_GAIN_ACRO
     // @DisplayName: ACRO External Gyro Gain
-    // @Description: PWM in microseconds sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN
+    // @Description: PWM in microseconds sent to external gyro on an servo/output whose function is Motor7 when tail type is Servo w/ ExtGyro in mode ACRO instead of H_GYR_GAIN. A value of zero means to use H_GYR_GAIN
     // @Range: 0 1000
     // @Units: PWM
     // @Increment: 1

From d2d2067f1ce3e76374b9c5bc5a983057ba98268b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 24 Dec 2023 09:28:21 +1100
Subject: [PATCH 0208/1335] HAL_ChibiOS: fixed micros and millis on boards
 without 1MHz clock

---
 libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c | 16 ++++++++++------
 libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h |  1 -
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
index c7ea3bdff5fe3f..f1e510ccebd07e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.c
@@ -84,12 +84,16 @@ static uint32_t get_systime_us32(void)
   wrap and directly gives a uint64_t (aka systimestamp_t)
 */
 
-uint64_t hrt_micros64I()
+static uint64_t hrt_micros64I(void)
 {
+    uint64_t ret = chVTGetTimeStampI();
+#if CH_CFG_ST_FREQUENCY != 1000000U
+    ret *= 1000000U/CH_CFG_ST_FREQUENCY;
+#endif
 #ifdef AP_BOARD_START_TIME
-    return chVTGetTimeStampI() + AP_BOARD_START_TIME;
+    ret += AP_BOARD_START_TIME;
 #endif
-    return chVTGetTimeStampI();
+    return ret;
 }
 
 static inline bool is_locked(void) {
@@ -99,17 +103,17 @@ static inline bool is_locked(void) {
 uint64_t hrt_micros64()
 {
     if (is_locked()) {
-        return chVTGetTimeStampI();
+        return hrt_micros64I();
     } else if (port_is_isr_context()) {
         uint64_t ret;
         chSysLockFromISR();
-        ret = chVTGetTimeStampI();
+        ret = hrt_micros64I();
         chSysUnlockFromISR();
         return ret;
     } else {
         uint64_t ret;
         chSysLock();
-        ret = chVTGetTimeStampI();
+        ret = hrt_micros64I();
         chSysUnlock();
         return ret;
     }
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h
index ac1cf915d8b094..e8ca91ef724423 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/hrt.h
@@ -7,7 +7,6 @@ extern "C" {
 
 void hrt_init(void);
 uint64_t hrt_micros64(void);
-uint64_t hrt_micros64I(void); // from locked context
 uint64_t hrt_micros64_from_ISR(void); // from an ISR
 uint32_t hrt_micros32(void);
 uint32_t hrt_millis32(void);

From 57ac86edd916ded485f5c0ee962897f044e63fe6 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 21 Dec 2023 15:06:36 +0000
Subject: [PATCH 0209/1335] AP_IOMCU: fix occasional startup internal errors
 with mixing

allow DIRECT_PWM pages to be smaller than max channels
correct some over-eager register clearing in the global interrupt handler (NFC)
only sent TX events when using shared DMA (NFC)
zero out rx packet code and size to prevent errors with spurious callbacks
add a comment and check for offsets that are codes
---
 libraries/AP_IOMCU/AP_IOMCU.cpp              |  5 +-
 libraries/AP_IOMCU/iofirmware/iofirmware.cpp | 59 +++++++++++++-------
 libraries/AP_IOMCU/iofirmware/ioprotocol.h   |  1 +
 3 files changed, 44 insertions(+), 21 deletions(-)

diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp
index b77f4f94c9d006..4768ec6e2fb925 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.cpp
+++ b/libraries/AP_IOMCU/AP_IOMCU.cpp
@@ -691,7 +691,10 @@ bool AP_IOMCU::read_registers(uint8_t page, uint8_t offset, uint8_t count, uint1
 */
 bool AP_IOMCU::write_registers(uint8_t page, uint8_t offset, uint8_t count, const uint16_t *regs)
 {
-    while (count > PKT_MAX_REGS) {
+    // The use of offset is very, very evil - it can either be a command within the page
+    // or a genuine offset, offsets within PAGE_SETUP are assumed to be commands, otherwise to be an
+    // actual offset
+    while (page != PAGE_SETUP && count > PKT_MAX_REGS) {
         if (!write_registers(page, offset, PKT_MAX_REGS, regs)) {
             return false;
         }
diff --git a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
index 55e67dd9978df0..2b1e65d145a1ab 100644
--- a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
+++ b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
@@ -51,6 +51,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 */
 #define IOMCU_ENABLE_RESET_TEST 0
 
+//#define IOMCU_LOOP_TIMING_DEBUG
 // enable timing GPIO pings
 #ifdef IOMCU_LOOP_TIMING_DEBUG
 #undef TOGGLE_PIN_DEBUG
@@ -103,9 +104,6 @@ static void dma_rx_end_cb(hal_uart_driver *uart)
     chSysLockFromISR();
     uart->usart->CR3 &= ~USART_CR3_DMAR;
 
-    (void)uart->usart->SR;  // sequence to clear IDLE status
-    (void)uart->usart->DR;
-    (void)uart->usart->DR;
     dmaStreamDisable(uart->dmarx);
 
     iomcu.process_io_packet();
@@ -139,8 +137,11 @@ static void dma_tx_end_cb(hal_uart_driver *uart)
     TOGGLE_PIN_DEBUG(108);
     TOGGLE_PIN_DEBUG(108);
 #endif
-
+#if AP_HAL_SHARED_DMA_ENABLED
+    chSysLockFromISR();
     chEvtSignalI(iomcu.thread_ctx, IOEVENT_TX_END);
+    chSysUnlockFromISR();
+#endif
 }
 
 /* replacement for ChibiOS uart_lld_serve_interrupt() */
@@ -154,41 +155,44 @@ static void idle_rx_handler(hal_uart_driver *uart)
               USART_SR_NE |		/* noise error - we have lost a byte due to noise */
               USART_SR_FE |
               USART_SR_PE)) {		/* framing error - start/stop bit lost or line break */
+
+        (void)uart->usart->DR;  /* SR reset step 2 - clear ORE | FE.*/
+
         /* send a line break - this will abort transmission/reception on the other end */
         chSysLockFromISR();
-
         uart->usart->SR = ~USART_SR_LBD;
         uart->usart->CR1 = cr1 | USART_CR1_SBK;
+
         iomcu.reg_status.num_errors++;
         iomcu.reg_status.err_uart++;
 
+        /* disable RX DMA */
         uart->usart->CR3 &= ~USART_CR3_DMAR;
 
-        (void)uart->usart->SR;  // clears ORE | FE
-        (void)uart->usart->DR;
-        (void)uart->usart->DR;
         setup_rx_dma(uart);
 
         chSysUnlockFromISR();
-        return;
     }
 
     if ((sr & USART_SR_TC) && (cr1 & USART_CR1_TCIE)) {
-        chSysLockFromISR();
-
         /* TC interrupt cleared and disabled.*/
         uart->usart->SR &= ~USART_SR_TC;
         uart->usart->CR1 = cr1 & ~USART_CR1_TCIE;
-
+#ifdef HAL_GPIO_LINE_GPIO105
+        TOGGLE_PIN_DEBUG(105);
+        TOGGLE_PIN_DEBUG(105);
+#endif
         /* End of transmission, a callback is generated.*/
-        _uart_tx2_isr_code(uart);
-
-        chSysUnlockFromISR();
+        dma_tx_end_cb(uart);
     }
 
-    if (sr & USART_SR_IDLE) {
+    if ((sr & USART_SR_IDLE) && (cr1 & USART_CR1_IDLEIE)) {
+        (void)uart->usart->DR;  /* SR reset step 2 - clear IDLE.*/
+
         /* the DMA size is the maximum packet size, but smaller packets are perfectly possible leading to 
            an IDLE ISR. The data still must be processed. */
+
+        /* End of receive, a callback is generated.*/
         dma_rx_end_cb(uart);
     }
 }
@@ -248,9 +252,9 @@ static UARTConfig uart_cfg = {
     dma_tx_end_cb,
     dma_rx_end_cb,
     nullptr,
-    nullptr,
-    idle_rx_handler,
-    nullptr,
+    nullptr,            // error
+    idle_rx_handler,    // global irq
+    nullptr,            // idle
     1500000,      //1.5MBit
     USART_CR1_IDLEIE,
     0,
@@ -660,6 +664,12 @@ void AP_IOMCU_FW::process_io_packet()
 {
     iomcu.reg_status.total_pkts++;
 
+    if (rx_io_packet.code == CODE_NOOP) {
+        iomcu.reg_status.num_errors++;
+        iomcu.reg_status.err_bad_opcode++;
+        return;
+    }
+
     uint8_t rx_crc = rx_io_packet.crc;
     uint8_t calc_crc;
     rx_io_packet.crc = 0;
@@ -714,9 +724,18 @@ void AP_IOMCU_FW::process_io_packet()
     default: {
         iomcu.reg_status.num_errors++;
         iomcu.reg_status.err_bad_opcode++;
+        rx_io_packet.code = CODE_NOOP;
+        rx_io_packet.count = 0;
+        return;
     }
     break;
     }
+
+    // prevent a spurious DMA callback from doing anything bad
+    rx_io_packet.code = CODE_NOOP;
+    rx_io_packet.count = 0;
+
+    return;
 }
 
 /*
@@ -942,7 +961,7 @@ bool AP_IOMCU_FW::handle_code_write()
             // no input when override is active
             break;
         }
-        if (rx_io_packet.count != sizeof(reg_direct_pwm.pwm)/2) {
+        if (rx_io_packet.count > sizeof(reg_direct_pwm.pwm)/2) {
             return false;
         }
         /* copy channel data */
diff --git a/libraries/AP_IOMCU/iofirmware/ioprotocol.h b/libraries/AP_IOMCU/iofirmware/ioprotocol.h
index 01a29b15ff5f28..9e13fafc48478f 100644
--- a/libraries/AP_IOMCU/iofirmware/ioprotocol.h
+++ b/libraries/AP_IOMCU/iofirmware/ioprotocol.h
@@ -37,6 +37,7 @@ enum iocode {
     // read types
     CODE_READ = 0,
     CODE_WRITE = 1,
+    CODE_NOOP = 2,
 
     // reply codes
     CODE_SUCCESS = 0,

From da1066124e4893061c7b0f853a213834e36cc2dc Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 21 Dec 2023 15:09:55 +0000
Subject: [PATCH 0210/1335] IO_Firmware: fix occasional internal errors on
 startup

---
 .../IO_Firmware/iofirmware_dshot_highpolh.bin | Bin 47164 -> 47260 bytes
 .../IO_Firmware/iofirmware_dshot_lowpolh.bin  | Bin 47164 -> 47260 bytes
 .../iofirmware_f103_8MHz_highpolh.bin         | Bin 40592 -> 40600 bytes
 .../iofirmware_f103_8MHz_lowpolh.bin          | Bin 40592 -> 40600 bytes
 .../iofirmware_f103_dshot_highpolh.bin        | Bin 52668 -> 52756 bytes
 .../iofirmware_f103_dshot_lowpolh.bin         | Bin 52668 -> 52756 bytes
 .../IO_Firmware/iofirmware_f103_highpolh.bin  | Bin 40592 -> 40592 bytes
 Tools/IO_Firmware/iofirmware_f103_lowpolh.bin | Bin 40592 -> 40592 bytes
 Tools/IO_Firmware/iofirmware_highpolh.bin     | Bin 40592 -> 40600 bytes
 Tools/IO_Firmware/iofirmware_lowpolh.bin      | Bin 40592 -> 40600 bytes
 10 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin
index 817ba4fed0b98f46bc0e55683f6e77310ada1350..5934290788ad07b8b5c953e7b309c95443a8c4ef 100755
GIT binary patch
delta 7750
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diff --git a/Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin
index 15a5f4dbf802a9bc5d7fa68be9050253a133f69b..c65751281d15ac8135d3597a067783fae524d3d1 100755
GIT binary patch
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diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_highpolh.bin
index 04a25723c84407f7d52dda07a0c8dde5e9cf4526..adbf98f090cde56c90c61ec90d7e209182f8ae6a 100755
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diff --git a/Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin
index 62ea558d394a36b86a856d490582b0cbdef7e09d..fce01bb26c29e6cf4388b436311c9614d946eadc 100755
GIT binary patch
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diff --git a/Tools/IO_Firmware/iofirmware_f103_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_dshot_highpolh.bin
index c23f39a50f8c81fa437079fcb4bdc0e16e857989..2ba418de0788feba4179ae4860e390cdc9f52d89 100755
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diff --git a/Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
index 30603776fedbc6e4731a62951df9771143ed338d..1a0426c5761b65fb228d5fad58608d905fab956d 100755
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diff --git a/Tools/IO_Firmware/iofirmware_f103_highpolh.bin b/Tools/IO_Firmware/iofirmware_f103_highpolh.bin
index 463495e2d5c242eb8c48ffc9af3014d5730576a5..af9d068cd5ea5783a1c53df815f555281ed96437 100755
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diff --git a/Tools/IO_Firmware/iofirmware_f103_lowpolh.bin b/Tools/IO_Firmware/iofirmware_f103_lowpolh.bin
index d362bb53d8ce24209266f7930361847d1d2c36d5..8db3cfaad172de3f9f2d3aab4316d639fd0c58b0 100755
GIT binary patch
delta 8448
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diff --git a/Tools/IO_Firmware/iofirmware_highpolh.bin b/Tools/IO_Firmware/iofirmware_highpolh.bin
index d0b687bf3b7dd13cad3a582f835556c9c99ba4ad..988375fa5d73c229007b8dd296e60dd4b102e95a 100755
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diff --git a/Tools/IO_Firmware/iofirmware_lowpolh.bin b/Tools/IO_Firmware/iofirmware_lowpolh.bin
index 3acc3a9d079fbce058442aaedf3b00cdfe2ed6fd..059048670ef3f500e6a0dbbb88b998b9bc9df041 100755
GIT binary patch
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zn&B4&8B)xC`Sy#2X&Vq1I9iH-5<+(3jl&838t8rj_eb+V(4)%GB=jB7osbm1_aQ4G
z_rrD&^uXW4GV3OfP1%So1*j`11TqN3ZDg<1Rate<Vz4$L4wzbi9h?E@Ko8hdj#yD1
z1kU3+1hNpe3()U_O6XT0uYpdG^bGn8TM}r7o(l}nZ=&oLpwQ2tjc(|7HxetagJBn(
z!XTpnM>WICg4mI>??Hf#;0hQnm=8S-Wqy!_U<>q3koSQf^Z>{p&;h;km#7cAH)E@W
zEd+#tB~Nd7dgJq~f6p(9tN)YmV-6EO6hr|dhyznW3YZ15K+cdH4r6#v$;94M1a@Hm
z*aB&QtW>W-CiHEr`M3MxI(K3Ofo>N@7SaQ{!4+@@1i`-AM96b&%icHU*fw~r6gTqX
u3xwA@ct^h|JlKi<8iq|VgSzFLu|z)<RDV1r7qx^m{0`q1o0hzj&HXp%i1H`^


From 2842166b06c2d499e264f71515b098de756cc87b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 7 Dec 2023 15:27:16 +1100
Subject: [PATCH 0211/1335] AP_ExternalAHRS: avoid uart owner issue

ensure we own uart before read
---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp | 2 ++
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp    | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
index 0ab6857f63ca39..a20beb13c0e920 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
@@ -156,6 +156,8 @@ bool AP_ExternalAHRS_InertialLabs::check_uart()
     if (!setup_complete) {
         return false;
     }
+    // ensure we own the uart
+    uart->begin(0);
     uint32_t n = uart->available();
     if (n == 0) {
         return false;
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
index 13acaf4fc993c3..66c20f05590e22 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
@@ -208,6 +208,8 @@ bool AP_ExternalAHRS_VectorNav::check_uart()
         return false;
     }
     WITH_SEMAPHORE(state.sem);
+    // ensure we own the uart
+    uart->begin(0);
     uint32_t n = uart->available();
     if (n == 0) {
         return false;

From 74c2855be383e68ebd3c46e0c53257926a50ff40 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 19 Dec 2023 09:53:32 +1100
Subject: [PATCH 0212/1335] HAL_SITL: implement begin(0) on UARTs

the begin(0) is used to claim a uart for the current thread in
ChibiOS, we need to ignore it on SITL and not change baudrate
---
 libraries/AP_HAL_SITL/UARTDriver.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/libraries/AP_HAL_SITL/UARTDriver.cpp b/libraries/AP_HAL_SITL/UARTDriver.cpp
index 900ef64ab61628..401fb17a0ce395 100644
--- a/libraries/AP_HAL_SITL/UARTDriver.cpp
+++ b/libraries/AP_HAL_SITL/UARTDriver.cpp
@@ -56,6 +56,12 @@ bool UARTDriver::_console;
 
 void UARTDriver::_begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
 {
+    if (baud == 0 && rxSpace == 0 && txSpace == 0) {
+        // this is a claim of the uart for the current thread, which
+        // is currently not implemented in SITL
+        return;
+    }
+
     if (_portNumber >= ARRAY_SIZE(_sitlState->_serial_path)) {
         AP_HAL::panic("port number out of range; you may need to extend _sitlState->_serial_path");
     }

From 813c732a839e8a889a3e0237541b644869c18a96 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@krausaerospace.com>
Date: Wed, 6 Dec 2023 15:01:07 -0800
Subject: [PATCH 0213/1335] AP_Baro: slow down Baro offset slew

---
 libraries/AP_Baro/AP_Baro.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 874f4e054ad405..5435ae060c86cc 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -899,7 +899,7 @@ void AP_Baro::update(void)
     if (fabsf(_alt_offset - _alt_offset_active) > 0.01f) {
         // If there's more than 1cm difference then slowly slew to it via LPF.
         // The EKF does not like step inputs so this keeps it happy.
-        _alt_offset_active = (0.95f*_alt_offset_active) + (0.05f*_alt_offset);
+        _alt_offset_active = (0.98f*_alt_offset_active) + (0.02f*_alt_offset);
     } else {
         _alt_offset_active = _alt_offset;
     }

From 7a9c6eea9cc59fa0be11e7e1f8a281a6bc4a9b34 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@krausaerospace.com>
Date: Tue, 19 Dec 2023 15:55:00 -0800
Subject: [PATCH 0214/1335] AP_Landing: move wind helper functions to AP_AHRS

---
 libraries/AP_Landing/AP_Landing.cpp       | 27 -----------------------
 libraries/AP_Landing/AP_Landing.h         |  2 --
 libraries/AP_Landing/AP_Landing_Slope.cpp |  2 +-
 3 files changed, 1 insertion(+), 30 deletions(-)

diff --git a/libraries/AP_Landing/AP_Landing.cpp b/libraries/AP_Landing/AP_Landing.cpp
index 8a5800d3179d74..211ecdd46f1da3 100644
--- a/libraries/AP_Landing/AP_Landing.cpp
+++ b/libraries/AP_Landing/AP_Landing.cpp
@@ -548,33 +548,6 @@ bool AP_Landing::get_target_altitude_location(Location &location)
     }
 }
 
-/*
- * Determine how aligned heading_deg is with the wind. Return result
- * is 1.0 when perfectly aligned heading into wind, -1 when perfectly
- * aligned with-wind, and zero when perfect cross-wind. There is no
- * distinction between a left or right cross-wind. Wind speed is ignored
- */
-float AP_Landing::wind_alignment(const float heading_deg)
-{
-    const Vector3f wind = ahrs.wind_estimate();
-    const float wind_heading_rad = atan2f(-wind.y, -wind.x);
-    return cosf(wind_heading_rad - radians(heading_deg));
-}
-
-/*
- * returns head-wind in m/s, 0 for tail-wind.
- */
-float AP_Landing::head_wind(void)
-{
-    const float alignment = wind_alignment(ahrs.yaw_sensor*0.01f);
-
-    if (alignment <= 0) {
-        return 0;
-    }
-
-    return alignment * ahrs.wind_estimate().length();
-}
-
 /*
  * returns target airspeed in cm/s depending on flight stage
  */
diff --git a/libraries/AP_Landing/AP_Landing.h b/libraries/AP_Landing/AP_Landing.h
index b9cfc80e888a9e..5022412d9552df 100644
--- a/libraries/AP_Landing/AP_Landing.h
+++ b/libraries/AP_Landing/AP_Landing.h
@@ -91,8 +91,6 @@ class AP_Landing {
 
     // helper functions
     bool restart_landing_sequence(void);
-    float wind_alignment(const float heading_deg);
-    float head_wind(void);
     int32_t get_target_airspeed_cm(void);
 
     // accessor functions for the params and states
diff --git a/libraries/AP_Landing/AP_Landing_Slope.cpp b/libraries/AP_Landing/AP_Landing_Slope.cpp
index 7c7a9da3253b2a..4ec0c7cfa7c15d 100644
--- a/libraries/AP_Landing/AP_Landing_Slope.cpp
+++ b/libraries/AP_Landing/AP_Landing_Slope.cpp
@@ -368,7 +368,7 @@ int32_t AP_Landing::type_slope_get_target_airspeed_cm(void)
 
     // when landing, add half of head-wind.
     const float head_wind_comp = constrain_float(wind_comp, 0.0f, 100.0f)*0.01;
-    const int32_t head_wind_compensation_cm = head_wind() * head_wind_comp * 100;
+    const int32_t head_wind_compensation_cm = ahrs.head_wind() * head_wind_comp * 100;
 
     const uint32_t max_airspeed_cm = AP_Landing::allow_max_airspeed_on_land() ? aparm.airspeed_max*100 : aparm.airspeed_cruise_cm;
     

From 39e7209e33e7688304eecde7ee79f3f20126cdab Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@krausaerospace.com>
Date: Tue, 19 Dec 2023 15:55:33 -0800
Subject: [PATCH 0215/1335] AP_AHRS: move wind helper functions from AP_Landing

---
 libraries/AP_AHRS/AP_AHRS.cpp | 26 ++++++++++++++++++++++++++
 libraries/AP_AHRS/AP_AHRS.h   |  9 +++++++++
 2 files changed, 35 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index c48b06bfd3773d..efec6b0e9de96c 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -812,6 +812,32 @@ bool AP_AHRS::_wind_estimate(Vector3f &wind) const
     return false;
 }
 
+
+/*
+ * Determine how aligned heading_deg is with the wind. Return result
+ * is 1.0 when perfectly aligned heading into wind, -1 when perfectly
+ * aligned with-wind, and zero when perfect cross-wind. There is no
+ * distinction between a left or right cross-wind. Wind speed is ignored
+ */
+float AP_AHRS::wind_alignment(const float heading_deg) const
+{
+    Vector3f wind;
+    if (!wind_estimate(wind)) {
+        return 0;
+    }
+    const float wind_heading_rad = atan2f(-wind.y, -wind.x);
+    return cosf(wind_heading_rad - radians(heading_deg));
+}
+
+/*
+ * returns forward head-wind component in m/s. Negative means tail-wind.
+ */
+float AP_AHRS::head_wind(void) const
+{
+    const float alignment = wind_alignment(yaw_sensor*0.01f);
+    return alignment * wind_estimate().xy().length();
+}
+
 /*
   return true if the current AHRS airspeed estimate is directly derived from an airspeed sensor
  */
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 1d6841a28a0dde..f8c87da36fd49f 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -114,6 +114,15 @@ class AP_AHRS {
     // return a wind estimation vector, in m/s; returns 0,0,0 on failure
     bool wind_estimate(Vector3f &wind) const;
 
+    // Determine how aligned heading_deg is with the wind. Return result
+    // is 1.0 when perfectly aligned heading into wind, -1 when perfectly
+    // aligned with-wind, and zero when perfect cross-wind. There is no
+    // distinction between a left or right cross-wind. Wind speed is ignored
+    float wind_alignment(const float heading_deg) const;
+
+    // returns forward head-wind component in m/s. Negative means tail-wind
+    float head_wind(void) const;
+
     // instruct DCM to update its wind estimate:
     void estimate_wind() {
 #if AP_AHRS_DCM_ENABLED

From 47fdf2295cbc742676f5b1b04e2137c9ce3b0c59 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@krausaerospace.com>
Date: Tue, 19 Dec 2023 17:41:28 -0800
Subject: [PATCH 0216/1335] AP_Scripting: add bindings for ahrs.wind_alignment
 and ahrs.head_wind

---
 libraries/AP_Scripting/docs/docs.lua                 | 12 ++++++++++++
 .../AP_Scripting/generator/description/bindings.desc |  2 ++
 2 files changed, 14 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 7e3be1f487dba4..8bded69e237c33 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -3008,6 +3008,18 @@ function ahrs:groundspeed_vector() end
 ---@return Vector3f_ud
 function ahrs:wind_estimate() end
 
+-- Determine how aligned heading_deg is with the wind. Return result
+-- is 1.0 when perfectly aligned heading into wind, -1 when perfectly
+-- aligned with-wind, and zero when perfect cross-wind. There is no
+-- distinction between a left or right cross-wind. Wind speed is ignored
+---@param heading_deg number
+---@return number
+function ahrs:wind_alignment(heading_deg) end
+
+-- Forward head-wind component in m/s. Negative means tail-wind
+---@return number
+function ahrs:head_wind() end
+
 -- desc
 ---@return number|nil
 function ahrs:get_hagl() end
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 94557841c84a0e..1ce091781525cf 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -38,6 +38,8 @@ singleton AP_AHRS method get_gyro Vector3f
 singleton AP_AHRS method get_accel Vector3f
 singleton AP_AHRS method get_hagl boolean float'Null
 singleton AP_AHRS method wind_estimate Vector3f
+singleton AP_AHRS method wind_alignment float'skip_check float'skip_check
+singleton AP_AHRS method head_wind float'skip_check
 singleton AP_AHRS method groundspeed_vector Vector2f
 singleton AP_AHRS method get_velocity_NED boolean Vector3f'Null
 singleton AP_AHRS method get_relative_position_NED_home boolean Vector3f'Null

From 1f78cb29b43d65e32f55e4af219da5fb35a683c1 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Tue, 19 Dec 2023 11:24:08 -0600
Subject: [PATCH 0217/1335] Plane: correct TKOFF_LVL_ALT metadata

---
 ArduPlane/mode_takeoff.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp
index db212361c398e8..c303d459b27ff3 100644
--- a/ArduPlane/mode_takeoff.cpp
+++ b/ArduPlane/mode_takeoff.cpp
@@ -17,7 +17,7 @@ const AP_Param::GroupInfo ModeTakeoff::var_info[] = {
 
     // @Param: LVL_ALT
     // @DisplayName: Takeoff mode altitude level altitude
-    // @Description: This is the altitude below which the wings are held level for TAKEOFF and AUTO modes. Below this altitude, roll demand is restricted to LEVEL_ROLL_LIMIT. Normal-flight roll restriction resumes above TKOFF_LVL_ALT*2 or TKOFF_ALT, whichever is lower. Roll limits are scaled while between those altitudes for a smooth transition.
+    // @Description: This is the altitude below which the wings are held level for TAKEOFF and AUTO modes. Below this altitude, roll demand is restricted to LEVEL_ROLL_LIMIT. Normal-flight roll restriction resumes above TKOFF_LVL_ALT*3 or TKOFF_ALT, whichever is lower. Roll limits are scaled while between TKOFF_LVL_ALT and those altitudes for a smooth transition.
     // @Range: 0 50
     // @Increment: 1
     // @Units: m

From ea3dc78a9656d0487feef8b2ff3493be5f1f1c8e Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Sun, 24 Dec 2023 08:57:43 -0600
Subject: [PATCH 0218/1335] AP_Relay:correct function param metadata

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
---
 libraries/AP_Relay/AP_Relay_Params.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Relay/AP_Relay_Params.cpp b/libraries/AP_Relay/AP_Relay_Params.cpp
index c5381188068f21..c6734fb9b93501 100644
--- a/libraries/AP_Relay/AP_Relay_Params.cpp
+++ b/libraries/AP_Relay/AP_Relay_Params.cpp
@@ -5,11 +5,11 @@ const AP_Param::GroupInfo AP_Relay_Params::var_info[] = {
     // @Param: FUNCTION
     // @DisplayName: Relay function
     // @Description: The function the relay channel is mapped to.
-    // @Values: 0:None
-    // @Values: 1:Relay
+    // @Values{Copter, Rover, Plane, Blimp,Sub}: 0:None
+    // @Values{Copter, Rover, Plane, Blimp,Sub}: 1:Relay
     // @Values{Plane}: 2:Ignition
     // @Values{Plane, Copter}: 3:Parachute
-    // @Values: 4:Camera
+    // @Values{Copter, Rover, Plane, Blimp,Sub}: 4:Camera
     // @Values{Rover}: 5:Bushed motor reverse 1 throttle or throttle-left or omni motor 1
     // @Values{Rover}: 6:Bushed motor reverse 2 throttle-right or omni motor 2
     // @Values{Rover}: 7:Bushed motor reverse 3 omni motor 3
@@ -28,7 +28,7 @@ const AP_Param::GroupInfo AP_Relay_Params::var_info[] = {
 
     // @Param: DEFAULT
     // @DisplayName: Relay default state
-    // @Description: Should the relay default to on or off, this only applies to function Relay. All other uses will pick the appropriate default output state.
+    // @Description: Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters.
     // @Values: 0: Off,1:On,2:NoChange
     // @User: Standard
     AP_GROUPINFO("DEFAULT", 3, AP_Relay_Params, default_state, (float)DefaultState::OFF),

From 46171a7c79637c57d44223c85de6ac2364b3e0b6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Dec 2023 07:40:51 +1100
Subject: [PATCH 0219/1335] hwdef: give a more useful error message on no
 bootloader

---
 libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index dab87f0af3873b..cec867a6dc6934 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -2430,8 +2430,10 @@ def embed_bootloader(self, f):
 
         bp = self.bootloader_path()
         if not os.path.exists(bp):
-            self.error("Bootloader (%s) does not exist and AP_BOOTLOADER_FLASHING_ENABLED" %
-                       (bp,))
+            self.error('''Bootloader (%s) does not exist and AP_BOOTLOADER_FLASHING_ENABLED
+Please run: Tools/scripts/build_bootloaders.py %s
+''' %
+                       (bp,os.path.basename(os.path.dirname(args.hwdef[0]))))
 
         bp = os.path.realpath(bp)
 

From 6c2a7b8cfdbd017ca22a539e275457b1b7e71ec3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Dec 2023 09:03:01 +1100
Subject: [PATCH 0220/1335] AP_SerialManager: expose HAVE_SERIAL_xxx in config

---
 .../AP_SerialManager/AP_SerialManager.cpp     | 31 -------------------
 .../AP_SerialManager_config.h                 | 31 +++++++++++++++++++
 2 files changed, 31 insertions(+), 31 deletions(-)

diff --git a/libraries/AP_SerialManager/AP_SerialManager.cpp b/libraries/AP_SerialManager/AP_SerialManager.cpp
index 5b961da0722eac..24a694e2d074b4 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.cpp
+++ b/libraries/AP_SerialManager/AP_SerialManager.cpp
@@ -28,37 +28,6 @@
 #include "AP_SerialManager.h"
 #include <GCS_MAVLink/GCS.h>
 
-#ifndef HAL_HAVE_SERIAL0
-#define HAL_HAVE_SERIAL0 HAL_NUM_SERIAL_PORTS > 0
-#endif
-#ifndef HAL_HAVE_SERIAL1
-#define HAL_HAVE_SERIAL1 HAL_NUM_SERIAL_PORTS > 1
-#endif
-#ifndef HAL_HAVE_SERIAL2
-#define HAL_HAVE_SERIAL2 HAL_NUM_SERIAL_PORTS > 2
-#endif
-#ifndef HAL_HAVE_SERIAL3
-#define HAL_HAVE_SERIAL3 HAL_NUM_SERIAL_PORTS > 3
-#endif
-#ifndef HAL_HAVE_SERIAL4
-#define HAL_HAVE_SERIAL4 HAL_NUM_SERIAL_PORTS > 4
-#endif
-#ifndef HAL_HAVE_SERIAL5
-#define HAL_HAVE_SERIAL5 HAL_NUM_SERIAL_PORTS > 5
-#endif
-#ifndef HAL_HAVE_SERIAL6
-#define HAL_HAVE_SERIAL6 HAL_NUM_SERIAL_PORTS > 6
-#endif
-#ifndef HAL_HAVE_SERIAL7
-#define HAL_HAVE_SERIAL7 HAL_NUM_SERIAL_PORTS > 7
-#endif
-#ifndef HAL_HAVE_SERIAL8
-#define HAL_HAVE_SERIAL8 HAL_NUM_SERIAL_PORTS > 8
-#endif
-#ifndef HAL_HAVE_SERIAL9
-#define HAL_HAVE_SERIAL9 HAL_NUM_SERIAL_PORTS > 9
-#endif
-
 extern const AP_HAL::HAL& hal;
 
 #ifndef DEFAULT_SERIAL0_PROTOCOL
diff --git a/libraries/AP_SerialManager/AP_SerialManager_config.h b/libraries/AP_SerialManager/AP_SerialManager_config.h
index 386d15dbfbc4e7..88bf3ccaa3c7db 100644
--- a/libraries/AP_SerialManager/AP_SerialManager_config.h
+++ b/libraries/AP_SerialManager/AP_SerialManager_config.h
@@ -136,3 +136,34 @@
 #define AP_SERIALMANAGER_IMUOUT_BAUD           921600
 #define AP_SERIALMANAGER_IMUOUT_BUFSIZE_RX     128
 #define AP_SERIALMANAGER_IMUOUT_BUFSIZE_TX     2048
+
+#ifndef HAL_HAVE_SERIAL0
+#define HAL_HAVE_SERIAL0 HAL_NUM_SERIAL_PORTS > 0
+#endif
+#ifndef HAL_HAVE_SERIAL1
+#define HAL_HAVE_SERIAL1 HAL_NUM_SERIAL_PORTS > 1
+#endif
+#ifndef HAL_HAVE_SERIAL2
+#define HAL_HAVE_SERIAL2 HAL_NUM_SERIAL_PORTS > 2
+#endif
+#ifndef HAL_HAVE_SERIAL3
+#define HAL_HAVE_SERIAL3 HAL_NUM_SERIAL_PORTS > 3
+#endif
+#ifndef HAL_HAVE_SERIAL4
+#define HAL_HAVE_SERIAL4 HAL_NUM_SERIAL_PORTS > 4
+#endif
+#ifndef HAL_HAVE_SERIAL5
+#define HAL_HAVE_SERIAL5 HAL_NUM_SERIAL_PORTS > 5
+#endif
+#ifndef HAL_HAVE_SERIAL6
+#define HAL_HAVE_SERIAL6 HAL_NUM_SERIAL_PORTS > 6
+#endif
+#ifndef HAL_HAVE_SERIAL7
+#define HAL_HAVE_SERIAL7 HAL_NUM_SERIAL_PORTS > 7
+#endif
+#ifndef HAL_HAVE_SERIAL8
+#define HAL_HAVE_SERIAL8 HAL_NUM_SERIAL_PORTS > 8
+#endif
+#ifndef HAL_HAVE_SERIAL9
+#define HAL_HAVE_SERIAL9 HAL_NUM_SERIAL_PORTS > 9
+#endif

From 83cfcd841bae3c8b9fba6d00c4accbd23266d189 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Dec 2023 07:40:30 +1100
Subject: [PATCH 0221/1335] AP_Periph: added support for SERIAL_OPTIONS

allows for options and flow control per serial port
---
 Tools/AP_Periph/AP_Periph.cpp          |   4 +
 Tools/AP_Periph/AP_Periph.h            |   5 ++
 Tools/AP_Periph/Parameters.cpp         |   6 ++
 Tools/AP_Periph/Parameters.h           |   1 +
 Tools/AP_Periph/serial_options.cpp     | 110 +++++++++++++++++++++++++
 Tools/AP_Periph/serial_options.h       |  30 +++++++
 Tools/AP_Periph/serial_options_dev.cpp |  47 +++++++++++
 7 files changed, 203 insertions(+)
 create mode 100644 Tools/AP_Periph/serial_options.cpp
 create mode 100644 Tools/AP_Periph/serial_options.h
 create mode 100644 Tools/AP_Periph/serial_options_dev.cpp

diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
index 4d5cfdcbea1558..85672d9d62f636 100644
--- a/Tools/AP_Periph/AP_Periph.cpp
+++ b/Tools/AP_Periph/AP_Periph.cpp
@@ -140,6 +140,10 @@ void AP_Periph_FW::init()
     node_stats.init();
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_SERIAL_OPTIONS
+    serial_options.init();
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_GPS
     if (gps.get_type(0) != AP_GPS::GPS_Type::GPS_TYPE_NONE && g.gps_port >= 0) {
         serial_manager.set_protocol_and_baud(g.gps_port, AP_SerialManager::SerialProtocol_GPS, AP_SERIALMANAGER_GPS_BAUD);
diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index 26468de8c1e6a5..97c89cdd3b5b24 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -36,6 +36,7 @@
 #include "rc_in.h"
 #include "batt_balance.h"
 #include "networking.h"
+#include "serial_options.h"
 
 #include <AP_NMEA_Output/AP_NMEA_Output.h>
 #if HAL_NMEA_OUTPUT_ENABLED && !(HAL_GCS_ENABLED && defined(HAL_PERIPH_ENABLE_GPS))
@@ -331,6 +332,10 @@ class AP_Periph_FW {
     void batt_balance_update();
     BattBalance battery_balance;
 #endif
+
+#ifdef HAL_PERIPH_ENABLE_SERIAL_OPTIONS
+    SerialOptions serial_options;
+#endif
     
 #if AP_TEMPERATURE_SENSOR_ENABLED
     AP_TemperatureSensor temperature_sensor;
diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
index 27c985a3bf6218..2faf850167d598 100644
--- a/Tools/AP_Periph/Parameters.cpp
+++ b/Tools/AP_Periph/Parameters.cpp
@@ -610,6 +610,12 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(battery_balance, "BAL",  BattBalance),
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_SERIAL_OPTIONS
+    // @Group: UART
+    // @Path: serial_options.cpp
+    GOBJECT(serial_options, "UART",  SerialOptions),
+#endif
+    
     // NOTE: sim parameters should go last
 #if AP_SIM_ENABLED
     // @Group: SIM_
diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
index ff64f16d1e9508..9ff079217a22ec 100644
--- a/Tools/AP_Periph/Parameters.h
+++ b/Tools/AP_Periph/Parameters.h
@@ -88,6 +88,7 @@ class Parameters {
         k_param_can_terminate0,
         k_param_can_terminate1,
         k_param_can_terminate2,
+        k_param_serial_options,
     };
 
     AP_Int16 format_version;
diff --git a/Tools/AP_Periph/serial_options.cpp b/Tools/AP_Periph/serial_options.cpp
new file mode 100644
index 00000000000000..cc480eee5b7f77
--- /dev/null
+++ b/Tools/AP_Periph/serial_options.cpp
@@ -0,0 +1,110 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  serial options support, for serial over DroneCAN
+ */
+
+#include "AP_Periph.h"
+
+#ifdef HAL_PERIPH_ENABLE_SERIAL_OPTIONS
+
+#include "serial_options.h"
+#include <AP_SerialManager/AP_SerialManager_config.h>
+
+extern const AP_HAL::HAL &hal;
+
+const AP_Param::GroupInfo SerialOptions::var_info[] {
+
+#if HAL_HAVE_SERIAL0
+    // @Group: 0_
+    // @Path: serial_options_dev.cpp
+    AP_SUBGROUPINFO(devs[0], "0_",  1, SerialOptions, SerialOptionsDev),
+#endif
+
+#if HAL_HAVE_SERIAL1
+    // @Group: 1_
+    // @Path: serial_options_dev.cpp
+    AP_SUBGROUPINFO(devs[1], "1_",  2, SerialOptions, SerialOptionsDev),
+#endif
+
+#if HAL_HAVE_SERIAL2
+    // @Group: 2_
+    // @Path: serial_options_dev.cpp
+    AP_SUBGROUPINFO(devs[2], "2_",  3, SerialOptions, SerialOptionsDev),
+#endif
+
+#if HAL_HAVE_SERIAL3
+    // @Group: 3_
+    // @Path: serial_options_dev.cpp
+    AP_SUBGROUPINFO(devs[3], "3_",  4, SerialOptions, SerialOptionsDev),
+#endif
+
+#if HAL_HAVE_SERIAL4
+    // @Group: 4_
+    // @Path: serial_options_dev.cpp
+    AP_SUBGROUPINFO(devs[4], "4_",  5, SerialOptions, SerialOptionsDev),
+#endif
+
+#if HAL_HAVE_SERIAL5
+    // @Group: 5_
+    // @Path: serial_options_dev.cpp
+    AP_SUBGROUPINFO(devs[5], "5_",  6, SerialOptions, SerialOptionsDev),
+#endif
+
+#if HAL_HAVE_SERIAL6
+    // @Group: 6_
+    // @Path: serial_options_dev.cpp
+    AP_SUBGROUPINFO(devs[6], "6_",  7, SerialOptions, SerialOptionsDev),
+#endif
+
+#if HAL_HAVE_SERIAL7
+    // @Group: 7_
+    // @Path: serial_options_dev.cpp
+    AP_SUBGROUPINFO(devs[7], "7_",  8, SerialOptions, SerialOptionsDev),
+#endif
+
+#if HAL_HAVE_SERIAL8
+    // @Group: 8_
+    // @Path: serial_options_dev.cpp
+    AP_SUBGROUPINFO(devs[8], "8_",  9, SerialOptions, SerialOptionsDev),
+#endif
+
+#if HAL_HAVE_SERIAL9
+    // @Group: 9_
+    // @Path: serial_options_dev.cpp
+    AP_SUBGROUPINFO(devs[9], "9_",  10, SerialOptions, SerialOptionsDev),
+#endif
+        
+    AP_GROUPEND
+};
+
+SerialOptions::SerialOptions(void)
+{
+    AP_Param::setup_object_defaults(this, var_info);
+}
+
+void SerialOptions::init(void)
+{
+    for (uint8_t i=0; i<ARRAY_SIZE(devs); i++) {
+        auto *uart = hal.serial(i);
+        if (uart != nullptr) {
+            auto &d = devs[i];
+            uart->set_options(d.options);
+            uart->set_flow_control(AP_HAL::UARTDriver::flow_control(d.rtscts.get()));
+        }
+    }
+}
+
+#endif  // HAL_PERIPH_ENABLE_SERIAL_OPTIONS
diff --git a/Tools/AP_Periph/serial_options.h b/Tools/AP_Periph/serial_options.h
new file mode 100644
index 00000000000000..d71bdf43138117
--- /dev/null
+++ b/Tools/AP_Periph/serial_options.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#ifdef HAL_PERIPH_ENABLE_SERIAL_OPTIONS
+
+#ifndef HAL_UART_NUM_SERIAL_PORTS
+#define HAL_UART_NUM_SERIAL_PORTS AP_HAL::HAL::num_serial
+#endif
+
+class SerialOptionsDev {
+public:
+    SerialOptionsDev(void);
+    static const struct AP_Param::GroupInfo var_info[];
+    AP_Int32 options;
+    AP_Int8 rtscts;
+};
+
+class SerialOptions {
+public:
+    friend class AP_Periph_FW;
+    SerialOptions(void);
+    void init(void);
+
+    static const struct AP_Param::GroupInfo var_info[];
+
+private:
+    SerialOptionsDev devs[HAL_UART_NUM_SERIAL_PORTS];
+};
+
+
+#endif // HAL_PERIPH_ENABLE_SERIAL_OPTIONS
diff --git a/Tools/AP_Periph/serial_options_dev.cpp b/Tools/AP_Periph/serial_options_dev.cpp
new file mode 100644
index 00000000000000..26ba2bb137453c
--- /dev/null
+++ b/Tools/AP_Periph/serial_options_dev.cpp
@@ -0,0 +1,47 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  serial options support, for serial over DroneCAN
+ */
+
+#include "AP_Periph.h"
+
+#ifdef HAL_PERIPH_ENABLE_SERIAL_OPTIONS
+
+#include "serial_options.h"
+
+SerialOptionsDev::SerialOptionsDev(void)
+{
+    AP_Param::setup_object_defaults(this, var_info);
+}
+
+const AP_Param::GroupInfo SerialOptionsDev::var_info[] {
+
+    // @Param: OPTIONS
+    // @DisplayName: Serial options
+    // @Description: Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
+    // @Bitmask: 0:InvertRX, 1:InvertTX, 2:HalfDuplex, 3:SwapTXRX, 4: RX_PullDown, 5: RX_PullUp, 6: TX_PullDown, 7: TX_PullUp, 8: RX_NoDMA, 9: TX_NoDMA, 10: Don't forward mavlink to/from, 11: DisableFIFO, 12: Ignore Streamrate
+    AP_GROUPINFO("OPTIONS", 1, SerialOptionsDev, options, 0),
+
+    // @Param: RTSCTS
+    // @DisplayName: Serial1 flow control
+    // @Description: Enable flow control. You must have the RTS and CTS pins available on the port. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
+    // @Values: 0:Disabled,1:Enabled,2:Auto
+    AP_GROUPINFO("RTSCTS",  2, SerialOptionsDev, rtscts, float(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE)),
+
+    AP_GROUPEND
+};
+
+#endif  // HAL_PERIPH_ENABLE_SERIAL_OPTIONS

From e94ab529cc3cc074ae6c1c1fba10d06b8d7ddb06 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Dec 2023 07:41:09 +1100
Subject: [PATCH 0222/1335] waf: enable periph serial options in SITL periph

---
 Tools/ardupilotwaf/boards.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index d785c6161b82d6..2c9432d85eb652 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -849,6 +849,7 @@ def configure_env(self, cfg, env):
             HAL_PERIPH_ENABLE_RPM = 1,
             HAL_PERIPH_ENABLE_RC_OUT = 1,
             HAL_PERIPH_ENABLE_ADSB = 1,
+            HAL_PERIPH_ENABLE_SERIAL_OPTIONS = 1,
             AP_ICENGINE_ENABLED = 0,
             AP_AIRSPEED_ENABLED = 1,
             AP_AIRSPEED_AUTOCAL_ENABLE = 0,

From e5f1c6e27de785f06a8600e67e789bfaa3e7ecc8 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Dec 2023 09:03:50 +1100
Subject: [PATCH 0223/1335] Tools: added MatekL431-Serial bootloader

---
 Tools/bootloaders/MatekL431-Serial_bl.bin | Bin 0 -> 17668 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100755 Tools/bootloaders/MatekL431-Serial_bl.bin

diff --git a/Tools/bootloaders/MatekL431-Serial_bl.bin b/Tools/bootloaders/MatekL431-Serial_bl.bin
new file mode 100755
index 0000000000000000000000000000000000000000..80b78370907fa835cf3efa8e324d91e8898dc12b
GIT binary patch
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o!2iKg_b-V1zBQ}R_f%D62tr(3Br!6BA!kvR4qA-X{6CBSCtx#7n*aa+

literal 0
HcmV?d00001


From 1e626a70cba53a575e88c47d6501aed0c78ccd2f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 20 Dec 2023 09:04:32 +1100
Subject: [PATCH 0224/1335] hwdef: added MatekL431-Serial

---
 .../hwdef/MatekL431-Serial/hwdef-bl.dat       |  2 ++
 .../hwdef/MatekL431-Serial/hwdef.dat          | 19 +++++++++++++++++++
 .../hwdef/scripts/defaults_periph.h           |  2 +-
 3 files changed, 22 insertions(+), 1 deletion(-)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Serial/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Serial/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Serial/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Serial/hwdef-bl.dat
new file mode 100644
index 00000000000000..b9005f84941a6a
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Serial/hwdef-bl.dat
@@ -0,0 +1,2 @@
+include ../MatekL431/hwdef-bl.inc
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Serial/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Serial/hwdef.dat
new file mode 100644
index 00000000000000..e9ace8923ddcb2
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-Serial/hwdef.dat
@@ -0,0 +1,19 @@
+include ../MatekL431/hwdef.inc
+
+define HAL_PERIPH_ENABLE_SERIAL_OPTIONS
+
+# enable serial3 port with DMA
+undef PB10
+undef PB11
+PB10  USART3_TX USART3 SPEED_HIGH
+PB11  USART3_RX USART3 SPEED_HIGH
+
+# larger CAN pool for faster serial
+undef HAL_CAN_POOL_SIZE
+define HAL_CAN_POOL_SIZE 12000
+
+define HAL_USE_ADC FALSE
+
+# make the UARTn numbers in parameters match the silkscreen
+undef SERIAL_ORDER
+SERIAL_ORDER EMPTY USART1 USART2 USART3
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
index 3a0a8c372330d5..e0b0f894a666a9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
@@ -335,7 +335,7 @@
 #endif
 
 #ifndef AP_UART_MONITOR_ENABLED
-#define AP_UART_MONITOR_ENABLED defined(HAL_PERIPH_ENABLE_GPS) && (GPS_MOVING_BASELINE || BOARD_FLASH_SIZE>=256)
+#define AP_UART_MONITOR_ENABLED defined(HAL_PERIPH_ENABLE_SERIAL_OPTIONS) || (defined(HAL_PERIPH_ENABLE_GPS) && (GPS_MOVING_BASELINE || BOARD_FLASH_SIZE>=256))
 #endif
 
 #ifndef HAL_BOARD_LOG_DIRECTORY

From d01a330588d9d38a496938ee66fc2812ba95a21c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 14 Dec 2023 10:36:43 +0900
Subject: [PATCH 0225/1335] AC_Avoidance: constify get_shortest_path_point

---
 libraries/AC_Avoidance/AP_OADijkstra.cpp | 2 +-
 libraries/AC_Avoidance/AP_OADijkstra.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AC_Avoidance/AP_OADijkstra.cpp b/libraries/AC_Avoidance/AP_OADijkstra.cpp
index 749cb140ee24a1..8a0913c63b57e0 100644
--- a/libraries/AC_Avoidance/AP_OADijkstra.cpp
+++ b/libraries/AC_Avoidance/AP_OADijkstra.cpp
@@ -934,7 +934,7 @@ bool AP_OADijkstra::calc_shortest_path(const Location &origin, const Location &d
 }
 
 // return point from final path as an offset (in cm) from the ekf origin
-bool AP_OADijkstra::get_shortest_path_point(uint8_t point_num, Vector2f& pos)
+bool AP_OADijkstra::get_shortest_path_point(uint8_t point_num, Vector2f& pos) const
 {
     if ((_path_numpoints == 0) || (point_num >= _path_numpoints)) {
         return false;
diff --git a/libraries/AC_Avoidance/AP_OADijkstra.h b/libraries/AC_Avoidance/AP_OADijkstra.h
index 48e91f6cc1269c..b37b644c44dcf3 100644
--- a/libraries/AC_Avoidance/AP_OADijkstra.h
+++ b/libraries/AC_Avoidance/AP_OADijkstra.h
@@ -182,7 +182,7 @@ class AP_OADijkstra {
     Vector2f _path_destination;                         // destination position used in shortest path calculations (offset in cm from EKF origin)
 
     // return point from final path as an offset (in cm) from the ekf origin
-    bool get_shortest_path_point(uint8_t point_num, Vector2f& pos);
+    bool get_shortest_path_point(uint8_t point_num, Vector2f& pos) const;
 
     // find the position of a node as an offset (in cm) from the ekf origin
     // returns true if successful and pos is updated

From bf2b0f890fa22e3fd5ff685fb59ac5669550189d Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 1 Dec 2023 17:10:34 +0900
Subject: [PATCH 0226/1335] AC_WPNav: record next destination

This allows AC_WPNav_OA to completely restore the path on deactivation
---
 libraries/AC_WPNav/AC_WPNav.cpp | 4 ++++
 libraries/AC_WPNav/AC_WPNav.h   | 1 +
 2 files changed, 5 insertions(+)

diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index 116e85911c0e2f..03200a463ef62f 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -350,6 +350,7 @@ bool AC_WPNav::set_wp_destination(const Vector3f& destination, bool terrain_alt)
 
     _this_leg_is_spline = false;
     _scurve_next_leg.init();
+    _next_destination.zero();       // clear next destination
     _flags.fast_waypoint = false;   // default waypoint back to slow
     _flags.reached_destination = false;
 
@@ -380,6 +381,9 @@ bool AC_WPNav::set_wp_destination_next(const Vector3f& destination, bool terrain
     // next destination provided so fast waypoint
     _flags.fast_waypoint = true;
 
+    // record next destination
+    _next_destination = destination;
+
     return true;
 }
 
diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
index e4563f7ce6de16..c060498263dd01 100644
--- a/libraries/AC_WPNav/AC_WPNav.h
+++ b/libraries/AC_WPNav/AC_WPNav.h
@@ -273,6 +273,7 @@ class AC_WPNav
     float       _wp_desired_speed_xy_cms;   // desired wp speed in cm/sec
     Vector3f    _origin;                // starting point of trip to next waypoint in cm from ekf origin
     Vector3f    _destination;           // target destination in cm from ekf origin
+    Vector3f    _next_destination;      // next target destination in cm from ekf origin
     float       _track_scalar_dt;       // time compression multiplier to slow the progress along the track
     float       _offset_vel;            // horizontal velocity reference used to slow the aircraft for pause and to ensure the aircraft can maintain height above terrain
     float       _offset_accel;          // horizontal acceleration reference used to slow the aircraft for pause and to ensure the aircraft can maintain height above terrain

From 8546dfaf4de29d8f4554f63193f247037d59b9ab Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 18 Dec 2023 13:20:32 +0900
Subject: [PATCH 0227/1335] AC_WPNav: add force_stop_at_next_wp

---
 libraries/AC_WPNav/AC_WPNav.cpp | 23 +++++++++++++++++++++++
 libraries/AC_WPNav/AC_WPNav.h   |  5 +++++
 2 files changed, 28 insertions(+)

diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index 03200a463ef62f..e2163264e01abf 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -627,6 +627,29 @@ bool AC_WPNav::is_active() const
     return (AP_HAL::millis() - _wp_last_update) < 200;
 }
 
+// force stopping at next waypoint.  Used by Dijkstra's object avoidance when path from destination to next destination is not clear
+// only affects regular (e.g. non-spline) waypoints
+// returns true if this had any affect on the path
+bool AC_WPNav::force_stop_at_next_wp()
+{
+    // exit immediately if vehicle was going to stop anyway
+    if (!_flags.fast_waypoint) {
+        return false;
+    }
+
+    _flags.fast_waypoint = false;
+
+    // update this_leg's final velocity and next leg's initial velocity to zero
+    if (!_this_leg_is_spline) {
+        _scurve_this_leg.set_destination_speed_max(0);
+    }
+    if (!_next_leg_is_spline) {
+        _scurve_next_leg.init();
+    }
+
+    return true;
+}
+
 // get terrain's altitude (in cm above the ekf origin) at the current position (+ve means terrain below vehicle is above ekf origin's altitude)
 bool AC_WPNav::get_terrain_offset(float& offset_cm)
 {
diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
index c060498263dd01..74bd95075c92af 100644
--- a/libraries/AC_WPNav/AC_WPNav.h
+++ b/libraries/AC_WPNav/AC_WPNav.h
@@ -163,6 +163,11 @@ class AC_WPNav
     // returns true if update_wpnav has been run very recently
     bool is_active() const;
 
+    // force stopping at next waypoint.  Used by Dijkstra's object avoidance when path from destination to next destination is not clear
+    // only affects regular (e.g. non-spline) waypoints
+    // returns true if this had any affect on the path
+    bool force_stop_at_next_wp();
+
     ///
     /// spline methods
     ///

From 0c8f427d42d756b704f4f594f51ef03b64258f09 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 1 Dec 2023 17:11:44 +0900
Subject: [PATCH 0228/1335] AC_WPNav: OA handles failure to set wp on
 deactivation

This may never happen in practice but just in case
---
 libraries/AC_WPNav/AC_WPNav_OA.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/AC_WPNav/AC_WPNav_OA.cpp b/libraries/AC_WPNav/AC_WPNav_OA.cpp
index 10e56d51ecfb95..d46e3745010b12 100644
--- a/libraries/AC_WPNav/AC_WPNav_OA.cpp
+++ b/libraries/AC_WPNav/AC_WPNav_OA.cpp
@@ -91,7 +91,10 @@ bool AC_WPNav_OA::update_wpnav()
         case AP_OAPathPlanner::OA_NOT_REQUIRED:
             if (_oa_state != oa_retstate) {
                 // object avoidance has become inactive so reset target to original destination
-                set_wp_destination(_destination_oabak, _terrain_alt_oabak);
+                if (!set_wp_destination(_destination_oabak, _terrain_alt_oabak)) {
+                    // trigger terrain failsafe
+                    return false;
+                }
                 _oa_state = oa_retstate;
             }
             break;

From 6fed0dbc7aa03419abfe84082299ddb7a788d12a Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 1 Dec 2023 17:14:04 +0900
Subject: [PATCH 0229/1335] AC_WPNav: OA supports fast waypoints with dijkstras

---
 libraries/AC_WPNav/AC_WPNav_OA.cpp | 51 ++++++++++++++++++++++++++++--
 libraries/AC_WPNav/AC_WPNav_OA.h   |  2 ++
 2 files changed, 50 insertions(+), 3 deletions(-)

diff --git a/libraries/AC_WPNav/AC_WPNav_OA.cpp b/libraries/AC_WPNav/AC_WPNav_OA.cpp
index d46e3745010b12..b0ab5502b39a93 100644
--- a/libraries/AC_WPNav/AC_WPNav_OA.cpp
+++ b/libraries/AC_WPNav/AC_WPNav_OA.cpp
@@ -77,14 +77,25 @@ bool AC_WPNav_OA::update_wpnav()
             _origin_oabak = _origin;
             _destination_oabak = _destination;
             _terrain_alt_oabak = _terrain_alt;
+            _next_destination_oabak = _next_destination;
         }
 
-        // convert origin and destination to Locations and pass into oa
+        // convert origin, destination and next_destination to Locations and pass into oa
         const Location origin_loc(_origin_oabak, _terrain_alt_oabak ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
         const Location destination_loc(_destination_oabak, _terrain_alt_oabak ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
-        Location oa_origin_new, oa_destination_new;
+        const Location next_destination_loc(_next_destination_oabak, _terrain_alt_oabak ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
+        Location oa_origin_new, oa_destination_new, oa_next_destination_new;
+        bool dest_to_next_dest_clear = true;
         AP_OAPathPlanner::OAPathPlannerUsed path_planner_used = AP_OAPathPlanner::OAPathPlannerUsed::None;
-        const AP_OAPathPlanner::OA_RetState oa_retstate = oa_ptr->mission_avoidance(current_loc, origin_loc, destination_loc, oa_origin_new, oa_destination_new, path_planner_used);
+        const AP_OAPathPlanner::OA_RetState oa_retstate = oa_ptr->mission_avoidance(current_loc,
+                                                                                    origin_loc,
+                                                                                    destination_loc,
+                                                                                    next_destination_loc,
+                                                                                    oa_origin_new,
+                                                                                    oa_destination_new,
+                                                                                    oa_next_destination_new,
+                                                                                    dest_to_next_dest_clear,
+                                                                                    path_planner_used);
 
         switch (oa_retstate) {
 
@@ -95,11 +106,31 @@ bool AC_WPNav_OA::update_wpnav()
                     // trigger terrain failsafe
                     return false;
                 }
+
+                // if path from destination to next_destination is clear
+                if (dest_to_next_dest_clear && (oa_ptr->get_options() & AP_OAPathPlanner::OA_OPTION_FAST_WAYPOINTS)) {
+                    // set next destination if non-zero
+                    if (!_next_destination_oabak.is_zero()) {
+                        set_wp_destination_next(_next_destination_oabak);
+                    }
+                }
                 _oa_state = oa_retstate;
             }
+
+            // ensure we stop at next waypoint
+            // Note that this check is run on every iteration even if the path planner is not active
+            if (!dest_to_next_dest_clear) {
+                force_stop_at_next_wp();
+            }
             break;
 
         case AP_OAPathPlanner::OA_PROCESSING:
+            if (oa_ptr->get_options() & AP_OAPathPlanner::OA_OPTION_FAST_WAYPOINTS) {
+                // if fast waypoint option is set, proceed during processing
+                break;
+            }
+            FALLTHROUGH;
+
         case AP_OAPathPlanner::OA_ERROR:
             // during processing or in case of error stop the vehicle
             // by setting the oa_destination to a stopping point
@@ -108,6 +139,7 @@ bool AC_WPNav_OA::update_wpnav()
                 Vector3f stopping_point;
                 get_wp_stopping_point(stopping_point);
                 _oa_destination = Location(stopping_point, Location::AltFrame::ABOVE_ORIGIN);
+                _oa_next_destination.zero();
                 if (set_wp_destination(stopping_point, false)) {
                     _oa_state = oa_retstate;
                 }
@@ -130,6 +162,8 @@ bool AC_WPNav_OA::update_wpnav()
                     Location origin_oabak_loc(_origin_oabak, _terrain_alt_oabak ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
                     Location destination_oabak_loc(_destination_oabak, _terrain_alt_oabak ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
                     oa_destination_new.linearly_interpolate_alt(origin_oabak_loc, destination_oabak_loc);
+
+                    // set new OA adjusted destination
                     if (!set_wp_destination_loc(oa_destination_new)) {
                         // trigger terrain failsafe
                         return false;
@@ -137,6 +171,17 @@ bool AC_WPNav_OA::update_wpnav()
                     // if new target set successfully, update oa state and destination
                     _oa_state = oa_retstate;
                     _oa_destination = oa_destination_new;
+
+                    // if a next destination was provided then use it
+                    if ((oa_ptr->get_options() & AP_OAPathPlanner::OA_OPTION_FAST_WAYPOINTS) && !oa_next_destination_new.is_zero()) {
+                        // calculate oa_next_destination_new's altitude using linear interpolation between original origin and destination
+                        // this "next destination" is still an intermediate point between the origin and destination
+                        Location next_destination_oabak_loc(_next_destination_oabak, _terrain_alt_oabak ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
+                        oa_next_destination_new.linearly_interpolate_alt(origin_oabak_loc, destination_oabak_loc);
+                        if (set_wp_destination_next_loc(oa_next_destination_new)) {
+                            _oa_next_destination = oa_next_destination_new;
+                        }
+                    }
                 }
                 break;
 
diff --git a/libraries/AC_WPNav/AC_WPNav_OA.h b/libraries/AC_WPNav/AC_WPNav_OA.h
index cf532de016c124..2687c925521fc9 100644
--- a/libraries/AC_WPNav/AC_WPNav_OA.h
+++ b/libraries/AC_WPNav/AC_WPNav_OA.h
@@ -40,6 +40,8 @@ class AC_WPNav_OA : public AC_WPNav
     AP_OAPathPlanner::OA_RetState _oa_state;    // state of object avoidance, if OA_SUCCESS we use _oa_destination to avoid obstacles
     Vector3f    _origin_oabak;          // backup of _origin so it can be restored when oa completes
     Vector3f    _destination_oabak;     // backup of _destination so it can be restored when oa completes
+    Vector3f    _next_destination_oabak;// backup of _next_destination so it can be restored when oa completes
     bool        _terrain_alt_oabak;     // true if backup origin and destination z-axis are terrain altitudes
     Location    _oa_destination;        // intermediate destination during avoidance
+    Location    _oa_next_destination;   // intermediate next destination during avoidance
 };

From 82984577d2d67411acc9c205c553fa50472ab4c4 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 18 Dec 2023 14:39:38 +0900
Subject: [PATCH 0230/1335] AC_Avoidance: path planner avoids timeout when
 first activated

---
 libraries/AC_Avoidance/AP_OAPathPlanner.cpp | 8 +++++++-
 libraries/AC_Avoidance/AP_OAPathPlanner.h   | 4 +++-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
index 3913cc71921022..95ad4a1b07b29a 100644
--- a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
+++ b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
@@ -199,7 +199,13 @@ AP_OAPathPlanner::OA_RetState AP_OAPathPlanner::mission_avoidance(const Location
         return OA_NOT_REQUIRED;
     }
 
+    // check if just activated to avoid initial timeout error
     const uint32_t now = AP_HAL::millis();
+    if (now - _last_update_ms > 200) {
+        _activated_ms = now;
+    }
+    _last_update_ms = now;
+
     WITH_SEMAPHORE(_rsem);
 
     // place new request for the thread to work on
@@ -213,7 +219,7 @@ AP_OAPathPlanner::OA_RetState AP_OAPathPlanner::mission_avoidance(const Location
     const bool destination_matches = (destination.lat == avoidance_result.destination.lat) && (destination.lng == avoidance_result.destination.lng);
 
     // check results have not timed out
-    const bool timed_out = now - avoidance_result.result_time_ms > OA_TIMEOUT_MS;
+    const bool timed_out = (now - avoidance_result.result_time_ms > OA_TIMEOUT_MS) && (now - _activated_ms > OA_TIMEOUT_MS);
 
     // return results from background thread's latest checks
     if (destination_matches && !timed_out) {
diff --git a/libraries/AC_Avoidance/AP_OAPathPlanner.h b/libraries/AC_Avoidance/AP_OAPathPlanner.h
index ae8b0aff7dc323..3e3e49d370f064 100644
--- a/libraries/AC_Avoidance/AP_OAPathPlanner.h
+++ b/libraries/AC_Avoidance/AP_OAPathPlanner.h
@@ -115,7 +115,9 @@ class AP_OAPathPlanner {
     AP_OABendyRuler *_oabendyruler; // Bendy Ruler algorithm
     AP_OADijkstra *_oadijkstra;     // Dijkstra's algorithm
     AP_OADatabase _oadatabase;      // Database of dynamic objects to avoid
-    uint32_t avoidance_latest_ms;   // last time Dijkstra's or BendyRuler algorithms ran
+    uint32_t avoidance_latest_ms;   // last time Dijkstra's or BendyRuler algorithms ran (in the avoidance thread)
+    uint32_t _last_update_ms;       // system time that mission_avoidance was called in main thread
+    uint32_t _activated_ms;         // system time that object avoidance was most recently activated (used to avoid timeout error on first run)
 
     bool proximity_only = true;
     static AP_OAPathPlanner *_singleton;

From 5aeabc57793967ddd87247c6ba33a02954a60b1d Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 14 Dec 2023 15:19:51 +0900
Subject: [PATCH 0231/1335] AC_Avoidance: path planner accepts next destination

---
 libraries/AC_Avoidance/AP_OAPathPlanner.cpp | 49 ++++++++++++++++++---
 libraries/AC_Avoidance/AP_OAPathPlanner.h   | 10 ++++-
 2 files changed, 51 insertions(+), 8 deletions(-)

diff --git a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
index 95ad4a1b07b29a..48595b4fb42802 100644
--- a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
+++ b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
@@ -186,12 +186,17 @@ AP_OAPathPlanner::OAPathPlannerUsed AP_OAPathPlanner::map_bendytype_to_pathplann
 }
 
 // provides an alternative target location if path planning around obstacles is required
-// returns true and updates result_loc with an intermediate location
+// returns true and updates result_origin, result_destination, result_next_destination with an intermediate path
+// result_dest_to_next_dest_clear is set to true if the path from result_destination to result_next_destination is clear (only supported by Dijkstras)
+// path_planner_used updated with which path planner produced the result
 AP_OAPathPlanner::OA_RetState AP_OAPathPlanner::mission_avoidance(const Location &current_loc,
                                          const Location &origin,
                                          const Location &destination,
+                                         const Location &next_destination,
                                          Location &result_origin,
                                          Location &result_destination,
+                                         Location &result_next_destination,
+                                         bool &result_dest_to_next_dest_clear,
                                          OAPathPlannerUsed &path_planner_used)
 {
     // exit immediately if disabled or thread is not running from a failed init
@@ -212,20 +217,25 @@ AP_OAPathPlanner::OA_RetState AP_OAPathPlanner::mission_avoidance(const Location
     avoidance_request.current_loc = current_loc;
     avoidance_request.origin = origin;
     avoidance_request.destination = destination;
+    avoidance_request.next_destination = next_destination;
     avoidance_request.ground_speed_vec = AP::ahrs().groundspeed_vector();
     avoidance_request.request_time_ms = now;
 
-    // check result's destination matches our request
-    const bool destination_matches = (destination.lat == avoidance_result.destination.lat) && (destination.lng == avoidance_result.destination.lng);
+    // check result's destination and next_destination matches our request
+    // e.g. check this result was using our current inputs and not from an old request
+    const bool destination_matches = destination.same_latlon_as(avoidance_result.destination);
+    const bool next_destination_matches = next_destination.same_latlon_as(avoidance_result.next_destination);
 
     // check results have not timed out
     const bool timed_out = (now - avoidance_result.result_time_ms > OA_TIMEOUT_MS) && (now - _activated_ms > OA_TIMEOUT_MS);
 
     // return results from background thread's latest checks
-    if (destination_matches && !timed_out) {
+    if (destination_matches && next_destination_matches && !timed_out) {
         // we have a result from the thread
         result_origin = avoidance_result.origin_new;
         result_destination = avoidance_result.destination_new;
+        result_next_destination = avoidance_result.next_destination_new;
+        result_dest_to_next_dest_clear = avoidance_result.dest_to_next_dest_clear;
         path_planner_used = avoidance_result.path_planner_used;
         return avoidance_result.ret_state;
     }
@@ -270,8 +280,11 @@ void AP_OAPathPlanner::avoidance_thread()
 
         _oadatabase.update();
 
+        // values returned by path planners
         Location origin_new;
         Location destination_new;
+        Location next_destination_new;
+        bool dest_to_next_dest_clear = false;
         {
             WITH_SEMAPHORE(_rsem);
             if (now - avoidance_request.request_time_ms > OA_TIMEOUT_MS) {
@@ -282,9 +295,10 @@ void AP_OAPathPlanner::avoidance_thread()
             // copy request to avoid conflict with main thread
             avoidance_request2 = avoidance_request;
 
-            // store passed in origin and destination so we can return it if object avoidance is not required
+            // store passed in origin, destination and next_destination so we can return it if object avoidance is not required
             origin_new = avoidance_request.origin;
             destination_new = avoidance_request.destination;
+            next_destination_new = avoidance_request.next_destination;
         }
 
         // run background task looking for best alternative destination
@@ -313,7 +327,13 @@ void AP_OAPathPlanner::avoidance_thread()
                 continue;
             }
             _oadijkstra->set_fence_margin(_margin_max);
-            const AP_OADijkstra::AP_OADijkstra_State dijkstra_state = _oadijkstra->update(avoidance_request2.current_loc, avoidance_request2.destination, origin_new, destination_new);
+            const AP_OADijkstra::AP_OADijkstra_State dijkstra_state = _oadijkstra->update(avoidance_request2.current_loc,
+                                                                                          avoidance_request2.destination,
+                                                                                          avoidance_request2.next_destination,
+                                                                                          origin_new,
+                                                                                          destination_new,
+                                                                                          next_destination_new,
+                                                                                          dest_to_next_dest_clear);
             switch (dijkstra_state) {
             case AP_OADijkstra::DIJKSTRA_STATE_NOT_REQUIRED:
                 res = OA_NOT_REQUIRED;
@@ -354,7 +374,13 @@ void AP_OAPathPlanner::avoidance_thread()
             }
 #if AP_FENCE_ENABLED
             _oadijkstra->set_fence_margin(_margin_max);
-            const AP_OADijkstra::AP_OADijkstra_State dijkstra_state = _oadijkstra->update(avoidance_request2.current_loc, avoidance_request2.destination, origin_new, destination_new);
+            const AP_OADijkstra::AP_OADijkstra_State dijkstra_state = _oadijkstra->update(avoidance_request2.current_loc,
+                                                                                          avoidance_request2.destination,
+                                                                                          avoidance_request2.next_destination,
+                                                                                          origin_new,
+                                                                                          destination_new,
+                                                                                          next_destination_new,
+                                                                                          dest_to_next_dest_clear);
             switch (dijkstra_state) {
             case AP_OADijkstra::DIJKSTRA_STATE_NOT_REQUIRED:
                 res = OA_NOT_REQUIRED;
@@ -376,9 +402,18 @@ void AP_OAPathPlanner::avoidance_thread()
         {
             // give the main thread the avoidance result
             WITH_SEMAPHORE(_rsem);
+
+            // place the destination and next destination used into the result (used by the caller to verify the result matches their request)
             avoidance_result.destination = avoidance_request2.destination;
+            avoidance_result.next_destination = avoidance_request2.next_destination;
+            avoidance_result.dest_to_next_dest_clear = dest_to_next_dest_clear;
+
+            // fill the result structure with the intermediate path
             avoidance_result.origin_new = (res == OA_SUCCESS) ? origin_new : avoidance_result.origin_new;
             avoidance_result.destination_new = (res == OA_SUCCESS) ? destination_new : avoidance_result.destination;
+            avoidance_result.next_destination_new = (res == OA_SUCCESS) ? next_destination_new : avoidance_result.next_destination;
+
+            // create new avoidance result.dest_to_next_dest_clear field.  fill in with results from dijkstras or leave as unknown
             avoidance_result.result_time_ms = AP_HAL::millis();
             avoidance_result.path_planner_used = path_planner_used;
             avoidance_result.ret_state = res;
diff --git a/libraries/AC_Avoidance/AP_OAPathPlanner.h b/libraries/AC_Avoidance/AP_OAPathPlanner.h
index 3e3e49d370f064..b6f57b16e6e5d6 100644
--- a/libraries/AC_Avoidance/AP_OAPathPlanner.h
+++ b/libraries/AC_Avoidance/AP_OAPathPlanner.h
@@ -48,13 +48,17 @@ class AP_OAPathPlanner {
     };
 
     // provides an alternative target location if path planning around obstacles is required
-    // returns true and updates result_origin and result_destination with an intermediate path
+    // returns true and updates result_origin, result_destination and result_next_destination with an intermediate path
+    // result_dest_to_next_dest_clear is set to true if the path from result_destination to result_next_destination is clear  (only supported by Dijkstras)
     // path_planner_used updated with which path planner produced the result
     OA_RetState mission_avoidance(const Location &current_loc,
                            const Location &origin,
                            const Location &destination,
+                           const Location &next_destination,
                            Location &result_origin,
                            Location &result_destination,
+                           Location &result_next_destination,
+                           bool &result_dest_to_next_dest_clear,
                            OAPathPlannerUsed &path_planner_used) WARN_IF_UNUSED;
 
     // enumerations for _TYPE parameter
@@ -90,6 +94,7 @@ class AP_OAPathPlanner {
         Location current_loc;
         Location origin;
         Location destination;
+        Location next_destination;
         Vector2f ground_speed_vec;
         uint32_t request_time_ms;
     } avoidance_request, avoidance_request2;
@@ -97,8 +102,11 @@ class AP_OAPathPlanner {
     // an avoidance result from the avoidance thread
     struct {
         Location destination;       // destination vehicle is trying to get to (also used to verify the result matches a recent request)
+        Location next_destination;  // next destination vehicle is trying to get to (also used to verify the result matches a recent request)
         Location origin_new;        // intermediate origin.  The start of line segment that vehicle should follow
         Location destination_new;   // intermediate destination vehicle should move towards
+        Location next_destination_new; // intermediate next destination vehicle should move towards
+        bool dest_to_next_dest_clear; // true if the path from destination_new to next_destination_new is clear and does not require path planning  (only supported by Dijkstras)
         uint32_t result_time_ms;    // system time the result was calculated (used to verify the result is recent)
         OAPathPlannerUsed path_planner_used;    // path planner that produced the result
         OA_RetState ret_state;      // OA_SUCCESS if the vehicle should move along the path from origin_new to destination_new

From cb1853b9bb9cf203750c202fc6a146edcca3b18b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 14 Dec 2023 10:36:14 +0900
Subject: [PATCH 0232/1335] AC_Avoidance: Dijkstra's returns control when clear
 of obstacles

---
 libraries/AC_Avoidance/AP_OADijkstra.cpp | 58 +++++++++++++++++++++---
 libraries/AC_Avoidance/AP_OADijkstra.h   | 17 ++++++-
 2 files changed, 67 insertions(+), 8 deletions(-)

diff --git a/libraries/AC_Avoidance/AP_OADijkstra.cpp b/libraries/AC_Avoidance/AP_OADijkstra.cpp
index 8a0913c63b57e0..0083f64795c82d 100644
--- a/libraries/AC_Avoidance/AP_OADijkstra.cpp
+++ b/libraries/AC_Avoidance/AP_OADijkstra.cpp
@@ -40,19 +40,30 @@ AP_OADijkstra::AP_OADijkstra(AP_Int16 &options) :
 }
 
 // calculate a destination to avoid fences
-// returns DIJKSTRA_STATE_SUCCESS and populates origin_new and destination_new if avoidance is required
-AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current_loc, const Location &destination, Location& origin_new, Location& destination_new)
+// returns DIJKSTRA_STATE_SUCCESS and populates origin_new, destination_new and next_destination_new if avoidance is required
+// next_destination_new will be non-zero if there is a next destination
+// dest_to_next_dest_clear will be set to true if the path from (the input) destination to (input) next_destination is clear
+AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current_loc,
+                                                         const Location &destination,
+                                                         const Location &next_destination,
+                                                         Location& origin_new,
+                                                         Location& destination_new,
+                                                         Location& next_destination_new,
+                                                         bool& dest_to_next_dest_clear)
 {
     WITH_SEMAPHORE(AP::fence()->polyfence().get_loaded_fence_semaphore());
 
     // avoidance is not required if no fences
     if (!some_fences_enabled()) {
+        dest_to_next_dest_clear = _dest_to_next_dest_clear = true;
         Write_OADijkstra(DIJKSTRA_STATE_NOT_REQUIRED, 0, 0, 0, destination, destination);
         return DIJKSTRA_STATE_NOT_REQUIRED;
     }
 
     // no avoidance required if destination is same as current location
     if (current_loc.same_latlon_as(destination)) {
+        // we do not check path to next destination so conservatively set to false
+        dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
         Write_OADijkstra(DIJKSTRA_STATE_NOT_REQUIRED, 0, 0, 0, destination, destination);
         return DIJKSTRA_STATE_NOT_REQUIRED;
     }
@@ -83,6 +94,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
     if (!_inclusion_polygon_with_margin_ok) {
         _inclusion_polygon_with_margin_ok = create_inclusion_polygon_with_margin(_polyfence_margin * 100.0f, error_id);
         if (!_inclusion_polygon_with_margin_ok) {
+            dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
             report_error(error_id);
             Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
@@ -93,6 +105,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
     if (!_exclusion_polygon_with_margin_ok) {
         _exclusion_polygon_with_margin_ok = create_exclusion_polygon_with_margin(_polyfence_margin * 100.0f, error_id);
         if (!_exclusion_polygon_with_margin_ok) {
+            dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
             report_error(error_id);
             Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
@@ -103,6 +116,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
     if (!_exclusion_circle_with_margin_ok) {
         _exclusion_circle_with_margin_ok = create_exclusion_circle_with_margin(_polyfence_margin * 100.0f, error_id);
         if (!_exclusion_circle_with_margin_ok) {
+            dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
             report_error(error_id);
             Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
@@ -114,6 +128,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
         _polyfence_visgraph_ok = create_fence_visgraph(error_id);
         if (!_polyfence_visgraph_ok) {
             _shortest_path_ok = false;
+            dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
             report_error(error_id);
             Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
@@ -133,9 +148,10 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
         }
     }
 
-    // rebuild path if destination has changed
-    if (!destination.same_latlon_as(_destination_prev)) {
+    // rebuild path if destination or next_destination has changed
+    if (!destination.same_latlon_as(_destination_prev) || !next_destination.same_latlon_as(_next_destination_prev)) {
         _destination_prev = destination;
+        _next_destination_prev = next_destination;
         _shortest_path_ok = false;
     }
 
@@ -143,17 +159,28 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
     if (!_shortest_path_ok) {
         _shortest_path_ok = calc_shortest_path(current_loc, destination, error_id);
         if (!_shortest_path_ok) {
+            dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
             report_error(error_id);
             Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
         }
         // start from 2nd point on path (first is the original origin)
         _path_idx_returned = 1;
+
+        // check if path from destination to next_destination intersects with a fence
+        _dest_to_next_dest_clear = false;
+        if (!next_destination.is_zero()) {
+            Vector2f seg_start, seg_end;
+            if (destination.get_vector_xy_from_origin_NE(seg_start) && next_destination.get_vector_xy_from_origin_NE(seg_end)) {
+                _dest_to_next_dest_clear = !intersects_fence(seg_start, seg_end);
+            }
+        }
     }
 
     // path has been created, return latest point
     Vector2f dest_pos;
-    if (get_shortest_path_point(_path_idx_returned, dest_pos)) {
+    uint8_t path_length = get_shortest_path_numpoints() > 0 ? (get_shortest_path_numpoints() - 1) : 0;
+    if ((_path_idx_returned < path_length) && get_shortest_path_point(_path_idx_returned, dest_pos)) {
 
         // for the first point return origin as current_loc
         Vector2f origin_pos;
@@ -172,6 +199,23 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
         destination_new.lat = temp_loc.lat;
         destination_new.lng = temp_loc.lng;
 
+        // if present also provide next destination if present to allow smooth cornering
+        next_destination_new.zero();
+        Vector2f next_dest_pos;
+        if ((_path_idx_returned + 1 < path_length) && get_shortest_path_point(_path_idx_returned + 1, next_dest_pos)) {
+            // convert offset from ekf origin to Location
+            Location next_loc(Vector3f{next_dest_pos.x, next_dest_pos.y, 0.0}, Location::AltFrame::ABOVE_ORIGIN);
+            next_destination_new = destination;
+            next_destination_new.lat = next_loc.lat;
+            next_destination_new.lng = next_loc.lng;
+        } else {
+            // return destination as next_destination
+            next_destination_new = destination;
+        }
+
+        // path to next destination clear state is still valid from previous calcs (was calced along with shortest path)
+        dest_to_next_dest_clear = _dest_to_next_dest_clear;
+
         // check if we should advance to next point for next iteration
         const bool near_oa_wp = current_loc.get_distance(destination_new) <= 2.0f;
         const bool past_oa_wp = current_loc.past_interval_finish_line(origin_new, destination_new);
@@ -179,11 +223,13 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
             _path_idx_returned++;
         }
         // log success
-        Write_OADijkstra(DIJKSTRA_STATE_SUCCESS, 0, _path_idx_returned, _path_numpoints, destination, destination_new);
+        Write_OADijkstra(DIJKSTRA_STATE_SUCCESS, 0, _path_idx_returned, get_shortest_path_numpoints(), destination, destination_new);
         return DIJKSTRA_STATE_SUCCESS;
     }
 
     // we have reached the destination so avoidance is no longer required
+    // path to next destination clear state is still valid from previous calcs
+    dest_to_next_dest_clear = _dest_to_next_dest_clear;
     Write_OADijkstra(DIJKSTRA_STATE_NOT_REQUIRED, 0, 0, 0, destination, destination);
     return DIJKSTRA_STATE_NOT_REQUIRED;
 }
diff --git a/libraries/AC_Avoidance/AP_OADijkstra.h b/libraries/AC_Avoidance/AP_OADijkstra.h
index b37b644c44dcf3..97c832a78a2515 100644
--- a/libraries/AC_Avoidance/AP_OADijkstra.h
+++ b/libraries/AC_Avoidance/AP_OADijkstra.h
@@ -30,8 +30,16 @@ class AP_OADijkstra {
     };
 
     // calculate a destination to avoid the polygon fence
-    // returns DIJKSTRA_STATE_SUCCESS and populates origin_new and destination_new if avoidance is required
-    AP_OADijkstra_State update(const Location &current_loc, const Location &destination, Location& origin_new, Location& destination_new);
+    // returns DIJKSTRA_STATE_SUCCESS and populates origin_new, destination_new and next_destination_new if avoidance is required
+    // next_destination_new will be non-zero if there is a next destination
+    // dest_to_next_dest_clear will be set to true if the path from (the input) destination to (input) next_destination is clear
+    AP_OADijkstra_State update(const Location &current_loc,
+                               const Location &destination,
+                               const Location &next_destination,
+                               Location& origin_new,
+                               Location& destination_new,
+                               Location& next_destination_new,
+                               bool& dest_to_next_dest_clear);
 
 private:
 
@@ -124,7 +132,9 @@ class AP_OADijkstra {
     bool _shortest_path_ok;
 
     Location _destination_prev;     // destination of previous iterations (used to determine if path should be re-calculated)
+    Location _next_destination_prev;// next_destination of previous iterations (used to determine if path should be re-calculated)
     uint8_t _path_idx_returned;     // index into _path array which gives location vehicle should be currently moving towards
+    bool _dest_to_next_dest_clear;  // true if path from dest to next_dest is clear (i.e. does not intersects a fence)
 
     // inclusion polygon (with margin) related variables
     float _polyfence_margin = 10;           // margin around polygon defaults to 10m but is overriden with set_fence_margin
@@ -181,6 +191,9 @@ class AP_OADijkstra {
     Vector2f _path_source;                              // source point used in shortest path calculations (offset in cm from EKF origin)
     Vector2f _path_destination;                         // destination position used in shortest path calculations (offset in cm from EKF origin)
 
+    // return number of points on path
+    uint8_t get_shortest_path_numpoints() const { return _path_numpoints; }
+
     // return point from final path as an offset (in cm) from the ekf origin
     bool get_shortest_path_point(uint8_t point_num, Vector2f& pos) const;
 

From a1e03cbbe103c4c437d54ca057351d52abe85fd2 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 15 Dec 2023 14:04:48 +0900
Subject: [PATCH 0233/1335] AC_Avoidance: bendy ruler comment update

---
 libraries/AC_Avoidance/AP_OABendyRuler.cpp | 4 ++--
 libraries/AC_Avoidance/AP_OABendyRuler.h   | 5 +++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/libraries/AC_Avoidance/AP_OABendyRuler.cpp b/libraries/AC_Avoidance/AP_OABendyRuler.cpp
index 673dd552766971..de7f42fce20fb4 100644
--- a/libraries/AC_Avoidance/AP_OABendyRuler.cpp
+++ b/libraries/AC_Avoidance/AP_OABendyRuler.cpp
@@ -78,8 +78,8 @@ AP_OABendyRuler::AP_OABendyRuler()
     _bearing_prev = FLT_MAX;
 }
 
-// run background task to find best path and update avoidance_results
-// returns true and updates origin_new and destination_new if a best path has been found
+// run background task to find best path
+// returns true and updates origin_new and destination_new if a best path has been found.  returns false if OA is not required
 // bendy_type is set to the type of BendyRuler used
 bool AP_OABendyRuler::update(const Location& current_loc, const Location& destination, const Vector2f &ground_speed_vec, Location &origin_new, Location &destination_new, OABendyType &bendy_type, bool proximity_only)
 {
diff --git a/libraries/AC_Avoidance/AP_OABendyRuler.h b/libraries/AC_Avoidance/AP_OABendyRuler.h
index e282e647221942..1b480bdbcfcab5 100644
--- a/libraries/AC_Avoidance/AP_OABendyRuler.h
+++ b/libraries/AC_Avoidance/AP_OABendyRuler.h
@@ -22,8 +22,9 @@ class AP_OABendyRuler {
         OA_BENDY_VERTICAL   = 2,
     };
 
-    // run background task to find best path and update avoidance_results
-    // returns true and populates origin_new and destination_new if OA is required.  returns false if OA is not required
+    // run background task to find best path
+    // returns true and updates origin_new and destination_new if a best path has been found.  returns false if OA is not required
+    // bendy_type is set to the type of BendyRuler used
     bool update(const Location& current_loc, const Location& destination, const Vector2f &ground_speed_vec, Location &origin_new, Location &destination_new, OABendyType &bendy_type, bool proximity_only);
 
     static const struct AP_Param::GroupInfo var_info[];

From 607fa40431e835078803f267499ef462b9f293c3 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 14 Dec 2023 15:40:28 +0900
Subject: [PATCH 0234/1335] AR_WPNav: send next destination to OA

---
 libraries/AR_WPNav/AR_WPNav.h      |  1 +
 libraries/AR_WPNav/AR_WPNav_OA.cpp | 17 ++++++++++++++---
 libraries/AR_WPNav/AR_WPNav_OA.h   |  2 ++
 3 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/libraries/AR_WPNav/AR_WPNav.h b/libraries/AR_WPNav/AR_WPNav.h
index 1bfb2864aaf9b9..64bbeb9a25e057 100644
--- a/libraries/AR_WPNav/AR_WPNav.h
+++ b/libraries/AR_WPNav/AR_WPNav.h
@@ -168,6 +168,7 @@ class AR_WPNav {
     uint32_t _last_update_ms;       // system time of last call to update
     Location _origin;               // origin Location (vehicle will travel from the origin to the destination)
     Location _destination;          // destination Location when in Guided_WP
+    Location _next_destination;     // next destination Location when in Guided_WP
     bool _orig_and_dest_valid;      // true if the origin and destination have been set
     bool _reversed;                 // execute the mission by backing up
     enum class NavControllerType {
diff --git a/libraries/AR_WPNav/AR_WPNav_OA.cpp b/libraries/AR_WPNav/AR_WPNav_OA.cpp
index 0ecdc22c95ffe3..f1fd9886ff8810 100644
--- a/libraries/AR_WPNav/AR_WPNav_OA.cpp
+++ b/libraries/AR_WPNav/AR_WPNav_OA.cpp
@@ -39,17 +39,28 @@ void AR_WPNav_OA::update(float dt)
     // run path planning around obstacles
     bool stop_vehicle = false;
 
-    // backup _origin and _destination when not doing oa
+    // backup _origin, _destination and _next_destination when not doing oa
     if (!_oa_active) {
         _origin_oabak = _origin;
         _destination_oabak = _destination;
+        _next_destination_oabak = _next_destination;
     }
 
     AP_OAPathPlanner *oa = AP_OAPathPlanner::get_singleton();
     if (oa != nullptr) {
-        Location oa_origin_new, oa_destination_new;
+        Location oa_origin_new, oa_destination_new, oa_next_destination_new;
         AP_OAPathPlanner::OAPathPlannerUsed path_planner_used;
-        const AP_OAPathPlanner::OA_RetState oa_retstate = oa->mission_avoidance(current_loc, _origin_oabak, _destination_oabak, oa_origin_new, oa_destination_new, path_planner_used);
+        bool dest_to_next_dest_clear;
+        const AP_OAPathPlanner::OA_RetState oa_retstate = oa->mission_avoidance(current_loc,
+                                                                                _origin_oabak,
+                                                                                _destination_oabak,
+                                                                                _next_destination_oabak,
+                                                                                oa_origin_new,
+                                                                                oa_destination_new,
+                                                                                oa_next_destination_new,
+                                                                                dest_to_next_dest_clear,
+                                                                                path_planner_used);
+
         switch (oa_retstate) {
 
         case AP_OAPathPlanner::OA_NOT_REQUIRED:
diff --git a/libraries/AR_WPNav/AR_WPNav_OA.h b/libraries/AR_WPNav/AR_WPNav_OA.h
index 195ed3028f2815..2130579eebaa97 100644
--- a/libraries/AR_WPNav/AR_WPNav_OA.h
+++ b/libraries/AR_WPNav/AR_WPNav_OA.h
@@ -36,8 +36,10 @@ class AR_WPNav_OA : public AR_WPNav {
     bool _oa_active;                // true if we should use alternative destination to avoid obstacles
     Location _origin_oabak;         // backup of _origin so it can be restored when oa completes
     Location _destination_oabak;    // backup of _desitnation so it can be restored when oa completes
+    Location _next_destination_oabak; // backup of _next_destination so it can be restored when oa completes
     Location _oa_origin;            // intermediate origin during avoidance
     Location _oa_destination;       // intermediate destination during avoidance
+    Location _oa_next_destination;  // intermediate next destination during avoidance
     float _oa_distance_to_destination; // OA (object avoidance) distance from vehicle to _oa_destination in meters
     float _oa_wp_bearing_cd;        // OA adjusted heading to _oa_destination in centi-degrees
 };

From 58b64298934ba60b497c8238eb22856bc516835d Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 18 Dec 2023 16:26:40 +0900
Subject: [PATCH 0235/1335] AC_Avoidance: oapathplanner gets fast-waypoint
 option

---
 libraries/AC_Avoidance/AP_OAPathPlanner.cpp | 2 +-
 libraries/AC_Avoidance/AP_OAPathPlanner.h   | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
index 48595b4fb42802..5e2b0f7e6c0026 100644
--- a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
+++ b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
@@ -59,7 +59,7 @@ const AP_Param::GroupInfo AP_OAPathPlanner::var_info[] = {
     // @DisplayName: Options while recovering from Object Avoidance
     // @Description: Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).   
     // @Bitmask{Rover}: 0: Reset the origin of the waypoint to the present location, 1: log Dijkstra points
-    // @Bitmask{Copter}: 1: log Dijkstra points
+    // @Bitmask{Copter}: 1:log Dijkstra points, 2:Allow fast waypoints (Dijkastras only)
     // @User: Standard
     AP_GROUPINFO("OPTIONS", 5, AP_OAPathPlanner, _options, OA_OPTIONS_DEFAULT),
 
diff --git a/libraries/AC_Avoidance/AP_OAPathPlanner.h b/libraries/AC_Avoidance/AP_OAPathPlanner.h
index b6f57b16e6e5d6..3c08dc4b7690d8 100644
--- a/libraries/AC_Avoidance/AP_OAPathPlanner.h
+++ b/libraries/AC_Avoidance/AP_OAPathPlanner.h
@@ -74,6 +74,7 @@ class AP_OAPathPlanner {
         OA_OPTION_DISABLED = 0,
         OA_OPTION_WP_RESET = (1 << 0),
         OA_OPTION_LOG_DIJKSTRA_POINTS = (1 << 1),
+        OA_OPTION_FAST_WAYPOINTS = (1 << 2),
     };
 
     uint16_t get_options() const { return _options;}

From 6c24f80669e613ac0174dbdca5b577931066e50d Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 27 Dec 2023 11:42:31 +0900
Subject: [PATCH 0236/1335] AC_Avoidance: Dijsktras comment and const fix

---
 libraries/AC_Avoidance/AP_OADijkstra.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AC_Avoidance/AP_OADijkstra.cpp b/libraries/AC_Avoidance/AP_OADijkstra.cpp
index 0083f64795c82d..f5150cd6ea32cb 100644
--- a/libraries/AC_Avoidance/AP_OADijkstra.cpp
+++ b/libraries/AC_Avoidance/AP_OADijkstra.cpp
@@ -179,7 +179,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
 
     // path has been created, return latest point
     Vector2f dest_pos;
-    uint8_t path_length = get_shortest_path_numpoints() > 0 ? (get_shortest_path_numpoints() - 1) : 0;
+    const uint8_t path_length = get_shortest_path_numpoints() > 0 ? (get_shortest_path_numpoints() - 1) : 0;
     if ((_path_idx_returned < path_length) && get_shortest_path_point(_path_idx_returned, dest_pos)) {
 
         // for the first point return origin as current_loc
@@ -199,7 +199,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
         destination_new.lat = temp_loc.lat;
         destination_new.lng = temp_loc.lng;
 
-        // if present also provide next destination if present to allow smooth cornering
+        // provide next destination to allow smooth cornering
         next_destination_new.zero();
         Vector2f next_dest_pos;
         if ((_path_idx_returned + 1 < path_length) && get_shortest_path_point(_path_idx_returned + 1, next_dest_pos)) {

From 1d0fc4e87c6cacb782cbbdead6f759e37f411186 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 28 Dec 2023 09:29:57 +1100
Subject: [PATCH 0237/1335] AP_ExternalAHRS: fixed InertialLabs gyro/accel data

this fixes a flapping CI test
---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
index a20beb13c0e920..ebf844f32493bf 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
@@ -438,6 +438,8 @@ bool AP_ExternalAHRS_InertialLabs::check_uart()
     if (GOT_MSG(ACCEL_DATA_HR) &&
         GOT_MSG(GYRO_DATA_HR)) {
         AP::ins().handle_external(ins_data);
+        state.accel = ins_data.accel;
+        state.gyro = ins_data.gyro;
     }
     if (GOT_MSG(GPS_INS_TIME_MS) &&
         GOT_MSG(NUM_SATS) &&

From 6fb99d6b1ebc5bf3bbd8edef199fd0bc8b34100f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 29 Dec 2023 09:45:38 +1100
Subject: [PATCH 0238/1335] AP_Scripting: fixed use after free bug

found with valgrind
---
 libraries/AP_Scripting/lua_scripts.cpp | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_Scripting/lua_scripts.cpp b/libraries/AP_Scripting/lua_scripts.cpp
index d1c8badff71d95..b1b60a29c8a711 100644
--- a/libraries/AP_Scripting/lua_scripts.cpp
+++ b/libraries/AP_Scripting/lua_scripts.cpp
@@ -402,19 +402,18 @@ void lua_scripts::remove_script(lua_State *L, script_info *script) {
         }
     }
 
+    {
+        // Remove from running checksum
+        WITH_SEMAPHORE(crc_sem);
+        running_checksum ^= script->crc;
+    }
+    
     if (L != nullptr) {
         // state could be null if we are force killing all scripts
         luaL_unref(L, LUA_REGISTRYINDEX, script->lua_ref);
     }
     _heap.deallocate(script->name);
     _heap.deallocate(script);
-
-    {
-        // Remove from running checksum
-        WITH_SEMAPHORE(crc_sem);
-        running_checksum ^= script->crc;
-    }
-
 }
 
 void lua_scripts::reschedule_script(script_info *script) {

From e2f82ed9bcbff37c87ca2bc5f5605dc602664bf8 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 29 Dec 2023 17:21:09 +1100
Subject: [PATCH 0239/1335] HAL_ESP32: added esp32s3empty target

---
 libraries/AP_HAL_ESP32/Util.cpp               | 18 +---
 libraries/AP_HAL_ESP32/Util.h                 |  4 +-
 libraries/AP_HAL_ESP32/boards/esp32s3empty.h  | 89 +++++++++++++++++++
 .../AP_HAL_ESP32/hwdef/esp32s3empty/hwdef.dat |  0
 .../targets/esp32/esp-idf/sdkconfig           | 30 +------
 .../targets/esp32s3/esp-idf/sdkconfig         | 28 +-----
 6 files changed, 98 insertions(+), 71 deletions(-)
 create mode 100644 libraries/AP_HAL_ESP32/boards/esp32s3empty.h
 create mode 100644 libraries/AP_HAL_ESP32/hwdef/esp32s3empty/hwdef.dat

diff --git a/libraries/AP_HAL_ESP32/Util.cpp b/libraries/AP_HAL_ESP32/Util.cpp
index fa0e6060b62b20..d232ff890765e5 100644
--- a/libraries/AP_HAL_ESP32/Util.cpp
+++ b/libraries/AP_HAL_ESP32/Util.cpp
@@ -33,6 +33,7 @@
 #include "esp_log.h"
 #include "esp_system.h"
 #include "esp_heap_caps.h"
+#include <AP_Common/ExpandingString.h>
 
 
 extern const AP_HAL::HAL& hal;
@@ -268,28 +269,17 @@ bool Util::was_watchdog_reset() const
            || reason == ESP_RST_WDT;
 }
 
-#if CH_DBG_ENABLE_STACK_CHECK == TRUE
 /*
   display stack usage as text buffer for @SYS/threads.txt
  */
-size_t Util::thread_info(char *buf, size_t bufsize)
+void Util::thread_info(ExpandingString &str)
 {
-    thread_t *tp;
-    size_t total = 0;
-
     // a header to allow for machine parsers to determine format
-    int n = snprintf(buf, bufsize, "ThreadsV1\n");
-    if (n <= 0) {
-        return 0;
-    }
+    str.printf("ThreadsV1\n");
 
     //    char buffer[1024];
     //    vTaskGetRunTimeStats(buffer);
     //    snprintf(buf, bufsize,"\n\n%s\n", buffer);
-
-    // total = ..
-
-    return total;
 }
-#endif // CH_DBG_ENABLE_STACK_CHECK == TRUE
+
 
diff --git a/libraries/AP_HAL_ESP32/Util.h b/libraries/AP_HAL_ESP32/Util.h
index 15cf1a72a25d0b..3360e1ad5a1974 100644
--- a/libraries/AP_HAL_ESP32/Util.h
+++ b/libraries/AP_HAL_ESP32/Util.h
@@ -62,10 +62,8 @@ class ESP32::Util : public AP_HAL::Util
     // return true if the reason for the reboot was a watchdog reset
     bool was_watchdog_reset() const override;
 
-#if CH_DBG_ENABLE_STACK_CHECK == TRUE
     // request information on running threads
-    size_t thread_info(char *buf, size_t bufsize) override;
-#endif
+    void thread_info(ExpandingString &str) override;
 
 private:
 #ifdef HAL_PWM_ALARM
diff --git a/libraries/AP_HAL_ESP32/boards/esp32s3empty.h b/libraries/AP_HAL_ESP32/boards/esp32s3empty.h
new file mode 100644
index 00000000000000..d8f2af7f76cd8a
--- /dev/null
+++ b/libraries/AP_HAL_ESP32/boards/esp32s3empty.h
@@ -0,0 +1,89 @@
+/*
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_ESP32_S3EMPTY
+// make sensor selection clearer
+
+//- these are missing from esp-idf......will not be needed later
+#define RTC_WDT_STG_SEL_OFF             0
+#define RTC_WDT_STG_SEL_INT             1
+#define RTC_WDT_STG_SEL_RESET_CPU       2
+#define RTC_WDT_STG_SEL_RESET_SYSTEM    3
+#define RTC_WDT_STG_SEL_RESET_RTC       4
+
+#define HAL_ESP32_BOARD_NAME "esp32s3empty"
+
+#define HAL_ESP32_RMT_RX_PIN_NUMBER GPIO_NUM_14
+
+// no sensors
+#define HAL_INS_DEFAULT HAL_INS_NONE
+
+#define HAL_BARO_ALLOW_INIT_NO_BARO 1
+
+#define AP_COMPASS_ENABLE_DEFAULT 0
+#define ALLOW_ARM_NO_COMPASS
+#define AP_AIRSPEED_ENABLED 0
+#define AP_AIRSPEED_ANALOG_ENABLED 0
+#define AP_AIRSPEED_BACKEND_DEFAULT_ENABLED 0
+
+// no ADC
+#define HAL_DISABLE_ADC_DRIVER 1
+#define HAL_USE_ADC 0
+
+// 2 use udp, 1 use tcp...  for udp,client needs to connect as UDPCL in missionplanner etc to 192.168.4.1 port 14550
+#define HAL_ESP32_WIFI 1
+
+// see boards.py
+#ifndef ENABLE_HEAP
+#define ENABLE_HEAP 1
+#endif
+
+#define WIFI_SSID "ardupilot123"
+#define WIFI_PWD "ardupilot123"
+
+//RCOUT which pins are used?
+
+#define HAL_ESP32_RCOUT { GPIO_NUM_11,GPIO_NUM_10, GPIO_NUM_9, GPIO_NUM_8, GPIO_NUM_7, GPIO_NUM_6 }
+
+// SPI BUS setup, including gpio, dma, etc
+// note... we use 'vspi' for the bmp280 and mpu9250
+#define HAL_ESP32_SPI_BUSES {}
+
+// SPI per-device setup, including speeds, etc.
+#define HAL_ESP32_SPI_DEVICES {}
+
+//I2C bus list
+#define HAL_ESP32_I2C_BUSES {.port=I2C_NUM_0, .sda=GPIO_NUM_13, .scl=GPIO_NUM_14, .speed=400*KHZ, .internal=true, .soft=true}
+
+// rcin on what pin?
+#define HAL_ESP32_RCIN GPIO_NUM_14
+
+
+//HARDWARE UARTS
+#define HAL_ESP32_UART_DEVICES \
+  {.port=UART_NUM_0, .rx=GPIO_NUM_44, .tx=GPIO_NUM_43 },{.port=UART_NUM_1, .rx=GPIO_NUM_17, .tx=GPIO_NUM_18 }
+
+#define HAL_LOGGING_FILESYSTEM_ENABLED 0
+#define HAL_LOGGING_DATAFLASH_ENABLED 0
+#define HAL_LOGGING_MAVLINK_ENABLED 0
+
+#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS"
+#define HAL_BOARD_STORAGE_DIRECTORY "/SDCARD/APM/STORAGE"
+#define HAL_BOARD_LOG_DIRECTORY "/SDCARD/APM/LOGS"
+#define HAL_BOARD_TERRAIN_DIRECTORY "/SDCARD/APM/TERRAIN"
+
+#define HAL_LOGGING_BACKENDS_DEFAULT 1
+
diff --git a/libraries/AP_HAL_ESP32/hwdef/esp32s3empty/hwdef.dat b/libraries/AP_HAL_ESP32/hwdef/esp32s3empty/hwdef.dat
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig
index 397f554e1c4135..cbdbc78de6d03c 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig
+++ b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig
@@ -203,7 +203,6 @@ CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
 # CONFIG_TWAI_ERRATA_FIX_TX_INTR_LOST is not set
 # CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID is not set
 # CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT is not set
-# CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM is not set
 # end of TWAI configuration
 
 #
@@ -248,16 +247,9 @@ CONFIG_EFUSE_MAX_BLK_LEN=192
 #
 CONFIG_ESP32_REV_MIN_0=y
 # CONFIG_ESP32_REV_MIN_1 is not set
-# CONFIG_ESP32_REV_MIN_1_1 is not set
 # CONFIG_ESP32_REV_MIN_2 is not set
 # CONFIG_ESP32_REV_MIN_3 is not set
-# CONFIG_ESP32_REV_MIN_3_1 is not set
 CONFIG_ESP32_REV_MIN=0
-CONFIG_ESP32_REV_MIN_FULL=0
-CONFIG_ESP_REV_MIN_FULL=0
-CONFIG_ESP32_REV_MAX_FULL_STR_OPT=y
-CONFIG_ESP32_REV_MAX_FULL=399
-CONFIG_ESP_REV_MAX_FULL=399
 CONFIG_ESP32_DPORT_WORKAROUND=y
 # CONFIG_ESP32_DEFAULT_CPU_FREQ_80 is not set
 # CONFIG_ESP32_DEFAULT_CPU_FREQ_160 is not set
@@ -359,7 +351,6 @@ CONFIG_ESP_MAC_ADDR_UNIVERSE_BT=y
 CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_TWO=y
 # CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_FOUR is not set
 CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES=2
-# CONFIG_ESP_MAC_IGNORE_MAC_CRC_ERROR is not set
 # end of MAC Config
 
 #
@@ -369,7 +360,6 @@ CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES=2
 CONFIG_ESP_SLEEP_RTC_BUS_ISO_WORKAROUND=y
 # CONFIG_ESP_SLEEP_GPIO_RESET_WORKAROUND is not set
 CONFIG_ESP_SLEEP_FLASH_LEAKAGE_WORKAROUND=y
-# CONFIG_ESP_SLEEP_MSPI_NEED_ALL_IO_PU is not set
 # end of Sleep Config
 
 #
@@ -414,13 +404,6 @@ CONFIG_PM_ENABLE=y
 # CONFIG_PM_TRACE is not set
 # end of Power Management
 
-#
-# ESP Ringbuf
-#
-# CONFIG_RINGBUF_PLACE_FUNCTIONS_INTO_FLASH is not set
-# CONFIG_RINGBUF_PLACE_ISR_FUNCTIONS_INTO_FLASH is not set
-# end of ESP Ringbuf
-
 #
 # ESP System Settings
 #
@@ -502,8 +485,6 @@ CONFIG_ESP32_WIFI_ENABLE_WPA3_SAE=y
 # CONFIG_ESP_WIFI_STA_DISCONNECTED_PM_ENABLE is not set
 # CONFIG_ESP_WIFI_GMAC_SUPPORT is not set
 CONFIG_ESP_WIFI_SOFTAP_SUPPORT=y
-# CONFIG_ESP_WIFI_SLP_BEACON_LOST_OPT is not set
-CONFIG_ESP_WIFI_ESPNOW_MAX_ENCRYPT_NUM=7
 # end of Wi-Fi
 
 #
@@ -519,7 +500,6 @@ CONFIG_ESP_COREDUMP_CHECKSUM_CRC32=y
 CONFIG_ESP_COREDUMP_ENABLE=y
 CONFIG_ESP_COREDUMP_MAX_TASKS_NUM=64
 CONFIG_ESP_COREDUMP_UART_DELAY=0
-CONFIG_ESP_COREDUMP_STACK_SIZE=0
 CONFIG_ESP_COREDUMP_DECODE_INFO=y
 # CONFIG_ESP_COREDUMP_DECODE_DISABLE is not set
 CONFIG_ESP_COREDUMP_DECODE="info"
@@ -653,7 +633,6 @@ CONFIG_LOG_TIMESTAMP_SOURCE_RTOS=y
 CONFIG_LWIP_LOCAL_HOSTNAME="espressif"
 # CONFIG_LWIP_NETIF_API is not set
 # CONFIG_LWIP_TCPIP_CORE_LOCKING is not set
-# CONFIG_LWIP_CHECK_THREAD_SAFETY is not set
 CONFIG_LWIP_DNS_SUPPORT_MDNS_QUERIES=y
 # CONFIG_LWIP_L2_TO_L3_COPY is not set
 # CONFIG_LWIP_IRAM_OPTIMIZATION is not set
@@ -674,15 +653,12 @@ CONFIG_LWIP_IP6_FRAG=y
 # CONFIG_LWIP_ETHARP_TRUST_IP_MAC is not set
 CONFIG_LWIP_ESP_GRATUITOUS_ARP=y
 CONFIG_LWIP_GARP_TMR_INTERVAL=60
-CONFIG_LWIP_ESP_MLDV6_REPORT=y
-CONFIG_LWIP_MLDV6_TMR_INTERVAL=40
 CONFIG_LWIP_TCPIP_RECVMBOX_SIZE=32
 CONFIG_LWIP_DHCP_DOES_ARP_CHECK=y
 # CONFIG_LWIP_DHCP_DISABLE_CLIENT_ID is not set
 CONFIG_LWIP_DHCP_DISABLE_VENDOR_CLASS_ID=y
 # CONFIG_LWIP_DHCP_RESTORE_LAST_IP is not set
 CONFIG_LWIP_DHCP_OPTIONS_LEN=68
-CONFIG_LWIP_DHCP_COARSE_TIMER_SECS=1
 
 #
 # DHCP server
@@ -712,7 +688,6 @@ CONFIG_LWIP_TCP_SYNMAXRTX=6
 CONFIG_LWIP_TCP_MSS=1436
 CONFIG_LWIP_TCP_TMR_INTERVAL=250
 CONFIG_LWIP_TCP_MSL=60000
-CONFIG_LWIP_TCP_FIN_WAIT_TIMEOUT=20000
 CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5744
 CONFIG_LWIP_TCP_WND_DEFAULT=5744
 CONFIG_LWIP_TCP_RECVMBOX_SIZE=6
@@ -828,7 +803,6 @@ CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set
 # CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set
-CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200
 # end of Certificate Bundle
 
 # CONFIG_MBEDTLS_ECP_RESTARTABLE is not set
@@ -947,7 +921,6 @@ CONFIG_NEWLIB_STDIN_LINE_ENDING_CR=y
 #
 # NVS
 #
-# CONFIG_NVS_ASSERT_ERROR_CHECK is not set
 # end of NVS
 
 #
@@ -1016,6 +989,7 @@ CONFIG_VFS_SUPPORT_TERMIOS=y
 # Host File System I/O (Semihosting)
 #
 CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS=1
+CONFIG_VFS_SEMIHOSTFS_HOST_PATH_MAX_LEN=128
 # end of Host File System I/O (Semihosting)
 # end of Virtual file system
 
@@ -1157,7 +1131,6 @@ CONFIG_ESP32_COREDUMP_CHECKSUM_CRC32=y
 CONFIG_ESP32_ENABLE_COREDUMP=y
 CONFIG_ESP32_CORE_DUMP_MAX_TASKS_NUM=64
 CONFIG_ESP32_CORE_DUMP_UART_DELAY=0
-CONFIG_ESP32_CORE_DUMP_STACK_SIZE=0
 CONFIG_ESP32_CORE_DUMP_DECODE_INFO=y
 # CONFIG_ESP32_CORE_DUMP_DECODE_DISABLE is not set
 CONFIG_ESP32_CORE_DUMP_DECODE="info"
@@ -1203,4 +1176,5 @@ CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ABORTS=y
 CONFIG_SUPPRESS_SELECT_DEBUG_OUTPUT=y
 CONFIG_SUPPORT_TERMIOS=y
 CONFIG_SEMIHOSTFS_MAX_MOUNT_POINTS=1
+CONFIG_SEMIHOSTFS_HOST_PATH_MAX_LEN=128
 # End of deprecated options
diff --git a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig
index ecac3313a903da..3c88fb833feaef 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig
+++ b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig
@@ -189,7 +189,6 @@ CONFIG_APPTRACE_LOCK_ENABLE=y
 #
 # CONFIG_ADC_FORCE_XPD_FSM is not set
 CONFIG_ADC_DISABLE_DAC=y
-# CONFIG_ADC_CONTINUOUS_FORCE_USE_ADC2_ON_C3_S3 is not set
 # end of ADC configuration
 
 #
@@ -211,7 +210,6 @@ CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
 # TWAI configuration
 #
 # CONFIG_TWAI_ISR_IN_IRAM is not set
-# CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM is not set
 # end of TWAI configuration
 
 #
@@ -239,14 +237,6 @@ CONFIG_EFUSE_MAX_BLK_LEN=256
 #
 # ESP32S3-Specific
 #
-CONFIG_ESP32S3_REV_MIN_0=y
-# CONFIG_ESP32S3_REV_MIN_1 is not set
-# CONFIG_ESP32S3_REV_MIN_2 is not set
-CONFIG_ESP32S3_REV_MIN_FULL=0
-CONFIG_ESP_REV_MIN_FULL=0
-CONFIG_ESP32S3_REV_MAX_FULL_STR_OPT=y
-CONFIG_ESP32S3_REV_MAX_FULL=99
-CONFIG_ESP_REV_MAX_FULL=99
 # CONFIG_ESP32S3_DEFAULT_CPU_FREQ_80 is not set
 CONFIG_ESP32S3_DEFAULT_CPU_FREQ_160=y
 # CONFIG_ESP32S3_DEFAULT_CPU_FREQ_240 is not set
@@ -411,13 +401,6 @@ CONFIG_PM_POWER_DOWN_CPU_IN_LIGHT_SLEEP=y
 CONFIG_PM_POWER_DOWN_TAGMEM_IN_LIGHT_SLEEP=y
 # end of Power Management
 
-#
-# ESP Ringbuf
-#
-# CONFIG_RINGBUF_PLACE_FUNCTIONS_INTO_FLASH is not set
-# CONFIG_RINGBUF_PLACE_ISR_FUNCTIONS_INTO_FLASH is not set
-# end of ESP Ringbuf
-
 #
 # ESP System Settings
 #
@@ -507,8 +490,6 @@ CONFIG_ESP32_WIFI_ENABLE_WPA3_SAE=y
 # CONFIG_ESP_WIFI_GCMP_SUPPORT is not set
 # CONFIG_ESP_WIFI_GMAC_SUPPORT is not set
 CONFIG_ESP_WIFI_SOFTAP_SUPPORT=y
-# CONFIG_ESP_WIFI_SLP_BEACON_LOST_OPT is not set
-CONFIG_ESP_WIFI_ESPNOW_MAX_ENCRYPT_NUM=7
 # end of Wi-Fi
 
 #
@@ -645,7 +626,6 @@ CONFIG_LOG_TIMESTAMP_SOURCE_RTOS=y
 CONFIG_LWIP_LOCAL_HOSTNAME="espressif"
 # CONFIG_LWIP_NETIF_API is not set
 # CONFIG_LWIP_TCPIP_CORE_LOCKING is not set
-# CONFIG_LWIP_CHECK_THREAD_SAFETY is not set
 CONFIG_LWIP_DNS_SUPPORT_MDNS_QUERIES=y
 # CONFIG_LWIP_L2_TO_L3_COPY is not set
 # CONFIG_LWIP_IRAM_OPTIMIZATION is not set
@@ -666,15 +646,12 @@ CONFIG_LWIP_IP6_FRAG=y
 # CONFIG_LWIP_ETHARP_TRUST_IP_MAC is not set
 CONFIG_LWIP_ESP_GRATUITOUS_ARP=y
 CONFIG_LWIP_GARP_TMR_INTERVAL=60
-CONFIG_LWIP_ESP_MLDV6_REPORT=y
-CONFIG_LWIP_MLDV6_TMR_INTERVAL=40
 CONFIG_LWIP_TCPIP_RECVMBOX_SIZE=32
 CONFIG_LWIP_DHCP_DOES_ARP_CHECK=y
 # CONFIG_LWIP_DHCP_DISABLE_CLIENT_ID is not set
 CONFIG_LWIP_DHCP_DISABLE_VENDOR_CLASS_ID=y
 # CONFIG_LWIP_DHCP_RESTORE_LAST_IP is not set
 CONFIG_LWIP_DHCP_OPTIONS_LEN=68
-CONFIG_LWIP_DHCP_COARSE_TIMER_SECS=1
 
 #
 # DHCP server
@@ -704,7 +681,6 @@ CONFIG_LWIP_TCP_SYNMAXRTX=12
 CONFIG_LWIP_TCP_MSS=1440
 CONFIG_LWIP_TCP_TMR_INTERVAL=250
 CONFIG_LWIP_TCP_MSL=60000
-CONFIG_LWIP_TCP_FIN_WAIT_TIMEOUT=20000
 CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5744
 CONFIG_LWIP_TCP_WND_DEFAULT=5744
 CONFIG_LWIP_TCP_RECVMBOX_SIZE=6
@@ -815,7 +791,6 @@ CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set
 # CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set
-CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200
 # end of Certificate Bundle
 
 # CONFIG_MBEDTLS_ECP_RESTARTABLE is not set
@@ -932,7 +907,6 @@ CONFIG_NEWLIB_STDIN_LINE_ENDING_CR=y
 #
 # NVS
 #
-# CONFIG_NVS_ASSERT_ERROR_CHECK is not set
 # end of NVS
 
 #
@@ -1003,6 +977,7 @@ CONFIG_VFS_SUPPORT_TERMIOS=y
 # Host File System I/O (Semihosting)
 #
 CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS=1
+CONFIG_VFS_SEMIHOSTFS_HOST_PATH_MAX_LEN=128
 # end of Host File System I/O (Semihosting)
 # end of Virtual file system
 
@@ -1156,4 +1131,5 @@ CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ABORTS=y
 CONFIG_SUPPRESS_SELECT_DEBUG_OUTPUT=y
 CONFIG_SUPPORT_TERMIOS=y
 CONFIG_SEMIHOSTFS_MAX_MOUNT_POINTS=1
+CONFIG_SEMIHOSTFS_HOST_PATH_MAX_LEN=128
 # End of deprecated options

From e79f0201bd1864e09fd290abb401623cf8c1fc7b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 29 Dec 2023 17:21:43 +1100
Subject: [PATCH 0240/1335] AP_HAL: added esp32s3empty

---
 libraries/AP_HAL/AP_HAL_Boards.h | 1 +
 libraries/AP_HAL/board/esp32.h   | 4 ++++
 2 files changed, 5 insertions(+)

diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 4831aeaf91840c..254895827266d3 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -68,6 +68,7 @@
 #define HAL_BOARD_SUBTYPE_ESP32_TOMTE76         6005
 #define HAL_BOARD_SUBTYPE_ESP32_NICK            6006
 #define HAL_BOARD_SUBTYPE_ESP32_S3DEVKIT        6007
+#define HAL_BOARD_SUBTYPE_ESP32_S3EMPTY         6008
 
 /* InertialSensor driver types */
 #define HAL_INS_NONE         0
diff --git a/libraries/AP_HAL/board/esp32.h b/libraries/AP_HAL/board/esp32.h
index 02a39cfc7ad537..5aa515e6149af0 100644
--- a/libraries/AP_HAL/board/esp32.h
+++ b/libraries/AP_HAL/board/esp32.h
@@ -15,6 +15,10 @@
 #include "esp32nick.h" //Nick K. on discord
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_S3DEVKIT
 #include "esp32s3devkit.h" //Nick K. on discord
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_S3EMPTY
+#include "esp32s3empty.h"
+#else
+#error "Invalid CONFIG_HAL_BOARD_SUBTYPE for esp32"
 #endif
 
 #define HAL_BOARD_NAME "ESP32"

From 990b10bbca9eb4c41fa9963dd0a700d1feb4e4e5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 29 Dec 2023 17:22:05 +1100
Subject: [PATCH 0241/1335] Tools: added esp32s3empty and gdb startup file for
 esp32

---
 Tools/debug/gdb-openocd-esp32.init     | 13 +++++++++++++
 Tools/scripts/size_compare_branches.py |  1 +
 2 files changed, 14 insertions(+)
 create mode 100644 Tools/debug/gdb-openocd-esp32.init

diff --git a/Tools/debug/gdb-openocd-esp32.init b/Tools/debug/gdb-openocd-esp32.init
new file mode 100644
index 00000000000000..b4e10495a0a9e1
--- /dev/null
+++ b/Tools/debug/gdb-openocd-esp32.init
@@ -0,0 +1,13 @@
+# copy this file to .gdbinit in your Firmware tree
+
+# this sets up gdb to use openocd. You must start openocd first
+target extended-remote :3333
+
+set print pretty
+set remote hardware-watchpoint-limit 2
+mon reset halt
+maintenance flush register-cache
+thb app_main
+b AP_HAL::panic
+set confirm off
+c
diff --git a/Tools/scripts/size_compare_branches.py b/Tools/scripts/size_compare_branches.py
index 08751595854634..9749569d87bb2a 100755
--- a/Tools/scripts/size_compare_branches.py
+++ b/Tools/scripts/size_compare_branches.py
@@ -208,6 +208,7 @@ def esp32_board_names(self):
             'esp32tomte76',
             'esp32nick',
             'esp32s3devkit',
+            'esp32s3empty',
             'esp32icarous',
             'esp32diy',
         ]

From 4b908077c2efea47274133964631e53384dbad19 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 29 Dec 2023 17:29:32 +1100
Subject: [PATCH 0242/1335] HAL_ESP32: push S3 to 500Hz

---
 libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig
index 3c88fb833feaef..4ec0f241db1a68 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig
+++ b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig
@@ -544,7 +544,7 @@ CONFIG_FREERTOS_TICK_SUPPORT_SYSTIMER=y
 CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL1=y
 # CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL3 is not set
 CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER=y
-CONFIG_FREERTOS_HZ=100
+CONFIG_FREERTOS_HZ=500
 CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y
 # CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE is not set
 # CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set

From 564041f59229e3720e3de58cbbc4af70811e57eb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 29 Dec 2023 15:49:40 +1100
Subject: [PATCH 0243/1335] waf: added WAF_BUILD_TARGET for esp32 build

---
 Tools/ardupilotwaf/esp32.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/ardupilotwaf/esp32.py b/Tools/ardupilotwaf/esp32.py
index 20a9528860de18..5e30e39ce3a8ef 100644
--- a/Tools/ardupilotwaf/esp32.py
+++ b/Tools/ardupilotwaf/esp32.py
@@ -62,6 +62,7 @@ def pre_build(self):
     """Configure esp-idf as lib target"""
     lib_vars = OrderedDict()
     lib_vars['ARDUPILOT_CMD'] = self.cmd
+    lib_vars['WAF_BUILD_TARGET'] = self.targets
     lib_vars['ARDUPILOT_LIB'] = self.bldnode.find_or_declare('lib/').abspath()
     lib_vars['ARDUPILOT_BIN'] = self.bldnode.find_or_declare('lib/bin').abspath()
     target = self.env.ESP32_TARGET

From 687c5887af0752016964b85486fdf9b8f0994098 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 29 Dec 2023 15:51:20 +1100
Subject: [PATCH 0244/1335] HAL_ESP32: allow for building of examples and tool
 firmware on ESP32

use waf build target to find the right library name
---
 .../targets/esp32/esp-idf/CMakeLists.txt      | 26 +++++++++-------
 .../targets/esp32s3/esp-idf/CMakeLists.txt    | 30 +++++++++----------
 2 files changed, 31 insertions(+), 25 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt
index 07f1a4df7e8e77..5c03820e3f827e 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt
+++ b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt
@@ -34,25 +34,31 @@ if(NOT DEFINED ARDUPILOT_CMD)
     set(ARDUPILOT_CMD "none")
 endif()
 
-IF(${ARDUPILOT_CMD} STREQUAL "plane")
+message("ARDUPILOT_CMD=${ARDUPILOT_CMD}")
+message("WAF_BUILD_TARGET=${WAF_BUILD_TARGET}")
+
+string(REGEX MATCH "^(examples|tool)/" IS_EXAMPLE "${WAF_BUILD_TARGET}")
+
+if (IS_EXAMPLE)
+    string(REPLACE "/" ";" A ${WAF_BUILD_TARGET})
+    list(GET A 0 EXAMPLE_BASE)
+    list(GET A 1 EXAMPLE_NAME)
+    message("Building ${EXAMPLE_BASE} ${EXAMPLE_NAME}")
+    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/${EXAMPLE_BASE}/lib${EXAMPLE_NAME}.a")
+    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libap.a")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "plane")
     message("Building for plane")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libarduplane.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduPlane_libs.a")
-ENDIF()
-
-IF(${ARDUPILOT_CMD} STREQUAL "copter")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "copter")
     message("Building for copter")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libarducopter.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduCopter_libs.a")
-ENDIF()
-
-IF(${ARDUPILOT_CMD} STREQUAL "rover")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "rover")
     message("Building for rover")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libardurover.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libRover_libs.a")
-ENDIF()
-
-IF(${ARDUPILOT_CMD} STREQUAL "sub")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "sub")
     message("Building for submarine")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libardusub.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduSub_libs.a")
diff --git a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt
index 7cf8efb64a3e54..4e0fafb3eac05f 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt
+++ b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt
@@ -34,35 +34,35 @@ if(NOT DEFINED ARDUPILOT_CMD)
     set(ARDUPILOT_CMD "none")
 endif()
 
-IF(${ARDUPILOT_CMD} STREQUAL "plane")
+message("WAF_BUILD_TARGET=${WAF_BUILD_TARGET}")
+
+string(REGEX MATCH "^(examples|tool)/" IS_EXAMPLE "${WAF_BUILD_TARGET}")
+
+if (IS_EXAMPLE)
+    string(REPLACE "/" ";" A ${WAF_BUILD_TARGET})
+    list(GET A 0 EXAMPLE_BASE)
+    list(GET A 1 EXAMPLE_NAME)
+    message("Building ${EXAMPLE_BASE} ${EXAMPLE_NAME}")
+    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/${EXAMPLE_BASE}/lib${EXAMPLE_NAME}.a")
+    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libap.a")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "plane")
     message("Building for plane")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libarduplane.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduPlane_libs.a")
-ENDIF()
-
-IF(${ARDUPILOT_CMD} STREQUAL "copter")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "copter")
     message("Building for copter")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libarducopter.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduCopter_libs.a")
-ENDIF()
-
-IF(${ARDUPILOT_CMD} STREQUAL "rover")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "rover")
     message("Building for rover")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libardurover.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libRover_libs.a")
-ENDIF()
-
-IF(${ARDUPILOT_CMD} STREQUAL "sub")
+ELSEIF(${ARDUPILOT_CMD} STREQUAL "sub")
     message("Building for submarine")
     target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libardusub.a")
     target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libArduSub_libs.a")
 ENDIF()
 
-IF(${ARDUPILOT_CMD} STREQUAL "antennatracker")
-    message("Building AntennaTracker")
-    target_link_libraries(${elf_file} "${ARDUPILOT_BIN}/libantennatracker.a")
-    target_link_libraries(${elf_file} "${ARDUPILOT_LIB}/libAntennaTracker_libs.a")
-ENDIF()
 add_custom_target(showinc ALL
         COMMAND echo -e
         "$<TARGET_PROPERTY:${elf_file},INCLUDE_DIRECTORIES>"

From b13632cc94f9e730231e016a7f0eba58b53b84bc Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 30 Dec 2023 15:47:44 +0000
Subject: [PATCH 0245/1335] Tools: Scripts: decode_ICSR: use
 decoder_m4_pendsvset function

---
 Tools/scripts/decode_ICSR.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/scripts/decode_ICSR.py b/Tools/scripts/decode_ICSR.py
index 4e705a058b3c6c..0f7e785197527d 100755
--- a/Tools/scripts/decode_ICSR.py
+++ b/Tools/scripts/decode_ICSR.py
@@ -28,7 +28,7 @@ def __init__(self):
             ("25", "PENDSTCLR", self.decoder_m4_pendstclr),
             ("26", "PENDSTSET", self.decoder_m4_pendstset),
             ("27", "PENDSVCLR", self.decoder_m4_pendsvclr),
-            ("28", "PENDSVSET", self.decoder_m4_pendstset),
+            ("28", "PENDSVSET", self.decoder_m4_pendsvset),
             ("29-30", "RESERVED4", None),
             ("31", "NMIPENDSET", self.decoder_m4_nmipendset),
         ]

From 81d4804d531fc2099a853c2032d75da629389b3a Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 22 Dec 2023 14:27:40 +0000
Subject: [PATCH 0246/1335] AP_Scripting: examples: update examples for fixed
 io.open behaviour

---
 libraries/AP_Scripting/examples/SN-GCJA5-particle-sensor.lua | 3 +++
 libraries/AP_Scripting/examples/mission-save.lua             | 3 +++
 2 files changed, 6 insertions(+)

diff --git a/libraries/AP_Scripting/examples/SN-GCJA5-particle-sensor.lua b/libraries/AP_Scripting/examples/SN-GCJA5-particle-sensor.lua
index 08a1f2ad8d27e1..163ae6ca8aa85e 100644
--- a/libraries/AP_Scripting/examples/SN-GCJA5-particle-sensor.lua
+++ b/libraries/AP_Scripting/examples/SN-GCJA5-particle-sensor.lua
@@ -14,6 +14,9 @@ local file_name
 while true do
   file_name = string.format('Particle %i.csv',index)
   local file = io.open(file_name)
+  if file == nil then
+    break
+  end
   local first_line = file:read(1) -- try and read the first character
   io.close(file)
   if first_line == nil then
diff --git a/libraries/AP_Scripting/examples/mission-save.lua b/libraries/AP_Scripting/examples/mission-save.lua
index 559d9199923468..84d19da296f49b 100644
--- a/libraries/AP_Scripting/examples/mission-save.lua
+++ b/libraries/AP_Scripting/examples/mission-save.lua
@@ -14,6 +14,9 @@ local function save_to_SD()
   while true do
     file_name = string.format('%i.waypoints',index)
     local file = io.open(file_name)
+    if file == nil then
+      break
+    end
     local first_line = file:read(1) -- try and read the first character
     io.close(file)
     if first_line == nil then

From 03ae94706ebf05934826906e28fef052ab3e3a46 Mon Sep 17 00:00:00 2001
From: njwhite <n.j.white@gmail.com>
Date: Tue, 5 Dec 2023 10:04:41 +0200
Subject: [PATCH 0247/1335] AP_AHRS: Don't Switch to DCM to get Better GPS if
 DCM Isn't Using GPS

Look at the parameter to see if DCM uses GPS; if not don't prefer DCM for using GPS.
---
 libraries/AP_AHRS/AP_AHRS.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index efec6b0e9de96c..61255e7b060533 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -1974,6 +1974,7 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
         
         // Handle loss of global position when we still have a GPS fix
         if (hal.util->get_soft_armed() &&
+            (_gps_use != GPSUse::Disable) &&
             should_use_gps &&
             AP::gps().status() >= AP_GPS::GPS_OK_FIX_3D &&
             (!filt_state.flags.using_gps || !filt_state.flags.horiz_pos_abs)) {

From e9f51a96cba242b714e5c7a9ab48d12bd0179751 Mon Sep 17 00:00:00 2001
From: alexklimaj <alex@arkelectron.com>
Date: Tue, 26 Dec 2023 23:35:25 -0700
Subject: [PATCH 0248/1335] hwdef: ARKV6X add USART6 to serial list

---
 libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef.dat | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef.dat
index b9f1429dd39fab..f107450d24c8c9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef.dat
@@ -27,8 +27,11 @@ FLASH_SIZE_KB 2048
 
 env OPTIMIZE -O2
 
-# order of UARTs (and USB)
-SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 OTG2
+# order of UARTs (and USB) no IO MCU
+SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 USART6 OTG2
+
+# order of UARTs (and USB) with IO MCU
+# SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 OTG2
 
 # default to all pins low to avoid ESD issues
 DEFAULTGPIO OUTPUT LOW PULLDOWN

From 319202a2336d3db91243e935d65f0f0af15124c4 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Sun, 24 Dec 2023 07:13:13 -0600
Subject: [PATCH 0249/1335] AP_ExternalAHRS: add InertialLabs to type parameter

---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index 0bb0d0af22acb8..9b15e6135bfe21 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -56,7 +56,7 @@ const AP_Param::GroupInfo AP_ExternalAHRS::var_info[] = {
     // @Param: _TYPE
     // @DisplayName: AHRS type
     // @Description: Type of AHRS device
-    // @Values: 0:None,1:VectorNav,2:MicroStrain5,7:MicroStrain7
+    // @Values: 0:None,1:VectorNav,2:MicroStrain5,5:InertialLabs,7:MicroStrain7
     // @User: Standard
     AP_GROUPINFO_FLAGS("_TYPE", 1, AP_ExternalAHRS, devtype, HAL_EXTERNAL_AHRS_DEFAULT, AP_PARAM_FLAG_ENABLE),
 

From 7b5b1ba59f3f0130ca8dfe4f04564d3b53447a33 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:29:23 +1100
Subject: [PATCH 0250/1335] AP_HAL: fixed build without MSG_NOSIGNAL

for older MacOSX
---
 libraries/AP_HAL/utility/Socket.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index b27a3195d0a661..363b144d6720b3 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -29,6 +29,10 @@
 #define CALL_PREFIX(x) ::x
 #endif
 
+#ifndef MSG_NOSIGNAL
+#define MSG_NOSIGNAL 0
+#endif
+
 /*
   constructor
  */

From 9428e4130116360ef8dd6341a9257c84c6258ff1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:36:18 +1100
Subject: [PATCH 0251/1335] SITL: fixed running example firmwares

don't call model update with no sitl instance
---
 libraries/SITL/SIM_Aircraft.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
index 07d0f6064e66ec..c718d76bd0db5f 100644
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@@ -607,7 +607,11 @@ void Aircraft::update_home()
 void Aircraft::update_model(const struct sitl_input &input)
 {
     local_ground_level = 0.0f;
-    update(input);
+    if (sitl != nullptr) {
+        update(input);
+    } else {
+        time_advance();
+    }
 }
 
 /*

From ce9c7dfdd15f7454cfc873f215b530ecc99ca08a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:32:05 +1100
Subject: [PATCH 0252/1335] AP_ADSB: fixed a crash in ADSB when baro not
 healthy

zero pressure leads to a floating point exception
---
 libraries/AP_ADSB/AP_ADSB.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_ADSB/AP_ADSB.cpp b/libraries/AP_ADSB/AP_ADSB.cpp
index 2acbd81b62189f..a36a1849b2e090 100644
--- a/libraries/AP_ADSB/AP_ADSB.cpp
+++ b/libraries/AP_ADSB/AP_ADSB.cpp
@@ -365,7 +365,9 @@ void AP_ADSB::update(void)
 
     // Altitude difference between sea level pressure and current
     // pressure (in metres)
-    loc.baro_alt_press_diff_sea_level = baro.get_altitude_difference(SSL_AIR_PRESSURE, baro.get_pressure());
+    if (loc.baro_is_healthy) {
+        loc.baro_alt_press_diff_sea_level = baro.get_altitude_difference(SSL_AIR_PRESSURE, baro.get_pressure());
+    }
 
     update(loc);
 }

From 15d3ec31137b47d2968694fc54903f467c1fb006 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:33:06 +1100
Subject: [PATCH 0253/1335] AP_ESC_Telem: allow IOMCU to work in example fw

example firmwares don't instantate AP_ESC_Telem
---
 libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp
index 0048571452f230..46f5aa61459964 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp
@@ -20,14 +20,19 @@
 #if HAL_WITH_ESC_TELEM
 
 #include <AP_Math/AP_Math.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 
 extern const AP_HAL::HAL& hal;
 
 AP_ESC_Telem_Backend::AP_ESC_Telem_Backend() {
     _frontend = AP_ESC_Telem::_singleton;
+#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
+    // we allow for no frontend in example fw and tools to make it
+    // possible to run them on hardware with IOMCU
     if (_frontend == nullptr) {
         AP_HAL::panic("No ESC frontend");
     }
+#endif
 }
 
 // callback to update the rpm in the frontend, should be called by the driver when new data is available

From ac49480f6a90661c1a8303810fd0594e3c444072 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 23 Dec 2023 16:07:26 +1100
Subject: [PATCH 0254/1335] HAL_SITL: disable FG view by default

---
 libraries/AP_HAL_SITL/SITL_cmdline.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL_SITL/SITL_cmdline.cpp b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
index 1daa760e8526ca..96ec46d879d993 100644
--- a/libraries/AP_HAL_SITL/SITL_cmdline.cpp
+++ b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
@@ -88,7 +88,7 @@ void SITL_State::_usage(void)
            "\t--model|-M MODEL         set simulation model\n"
            "\t--config string          set additional simulation config string\n"
            "\t--fg|-F ADDRESS          set Flight Gear view address, defaults to 127.0.0.1\n"
-           "\t--disable-fgview         disable Flight Gear view\n"
+           "\t--enable-fgview          enable Flight Gear view\n"
            "\t--gimbal                 enable simulated MAVLink gimbal\n"
            "\t--autotest-dir DIR       set directory for additional files\n"
            "\t--defaults path          set path to defaults file\n"
@@ -213,7 +213,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
     const char *home_str = nullptr;
     const char *model_str = nullptr;
     const char *vehicle_str = SKETCH;
-    _use_fg_view = true;
+    _use_fg_view = false;
     char *autotest_dir = nullptr;
     _fg_address = "127.0.0.1";
     const char* config = "";
@@ -302,7 +302,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         {"config",          true,   0, 'c'},
         {"fg",              true,   0, 'F'},
         {"gimbal",          false,  0, CMDLINE_GIMBAL},
-        {"disable-fgview",  false,  0, CMDLINE_FGVIEW},
+        {"enable-fgview",   false,  0, CMDLINE_FGVIEW},
         {"autotest-dir",    true,   0, CMDLINE_AUTOTESTDIR},
         {"defaults",        true,   0, CMDLINE_DEFAULTS},
         {"uartA",           true,   0, CMDLINE_UARTA},
@@ -441,7 +441,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
             enable_gimbal = true;
             break;
         case CMDLINE_FGVIEW:
-            _use_fg_view = false;
+            _use_fg_view = true;
             break;
         case CMDLINE_AUTOTESTDIR:
             autotest_dir = strdup(gopt.optarg);

From f5bc7f02a8fccebdab0b91f45e992074358a492c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 08:48:58 +1100
Subject: [PATCH 0255/1335] Tools: changed to --enable-fgview

---
 Tools/autotest/pysim/util.py | 4 ++--
 Tools/completion/zsh/_ap_bin | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Tools/autotest/pysim/util.py b/Tools/autotest/pysim/util.py
index fb20b0c61a942a..fca158dc844fcc 100644
--- a/Tools/autotest/pysim/util.py
+++ b/Tools/autotest/pysim/util.py
@@ -540,8 +540,8 @@ def start_SITL(binary,
             cmd.extend(['--unhide-groups'])
         # somewhere for MAVProxy to connect to:
         cmd.append('--serial1=tcp:2')
-        if not enable_fgview_output:
-            cmd.append("--disable-fgview")
+        if enable_fgview_output:
+            cmd.append("--enable-fgview")
 
     if defaults_filepath is not None:
         if isinstance(defaults_filepath, list):
diff --git a/Tools/completion/zsh/_ap_bin b/Tools/completion/zsh/_ap_bin
index 87352789163701..543bc72c34ecaf 100644
--- a/Tools/completion/zsh/_ap_bin
+++ b/Tools/completion/zsh/_ap_bin
@@ -17,7 +17,7 @@ _ap_bin() {
     '(-M --model)'{-M,--model}'[set simulation model]' \
     '--config[set additional simulation config string]:CONFIG' \
     '(-F --fg)'{-F,--fg}'[set Flight Gear view address, defaults to 127.0.0.1]:ADDRESS' \
-    '--disable-fgview[disable Flight Gear view]' \
+    '--enable-fgview[disable Flight Gear view]' \
     '--gimbal[enable simulated MAVLink gimbal]' \
     '--autotest-dir[set directory for additional files]:DIR:' \
     '--defaults[set path to defaults file]:PATH:' \

From c1016ae52ee4de3181b2c0a07369e51f05eb46f7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 23 Dec 2023 16:07:40 +1100
Subject: [PATCH 0256/1335] HAL_SITL: cope with no _sitl state

---
 libraries/AP_HAL_SITL/SITL_State.cpp | 34 +++++++++++++---------------
 1 file changed, 16 insertions(+), 18 deletions(-)

diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index 361b837cf1dbef..7bc5dab806afdc 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -327,12 +327,13 @@ void SITL_State::_output_to_flightgear(void)
  */
 void SITL_State::_fdm_input_local(void)
 {
+    if (_sitl == nullptr) {
+        return;
+    }
     struct sitl_input input;
 
     // check for direct RC input
-    if (_sitl != nullptr) {
-        _check_rc_input();
-    }
+    _check_rc_input();
 
     // construct servos structure for FDM
     _simulator_servos(input);
@@ -350,19 +351,17 @@ void SITL_State::_fdm_input_local(void)
     sitl_model->update_model(input);
 
     // get FDM output from the model
-    if (_sitl) {
-        sitl_model->fill_fdm(_sitl->state);
+    sitl_model->fill_fdm(_sitl->state);
 
 #if HAL_NUM_CAN_IFACES
-        if (CANIface::num_interfaces() > 0) {
-            multicast_state_send();
-        }
+    if (CANIface::num_interfaces() > 0) {
+        multicast_state_send();
+    }
 #endif
 
-        if (_sitl->rc_fail == SITL::SIM::SITL_RCFail_None) {
-            for (uint8_t i=0; i< _sitl->state.rcin_chan_count; i++) {
-                pwm_input[i] = 1000 + _sitl->state.rcin[i]*1000;
-            }
+    if (_sitl->rc_fail == SITL::SIM::SITL_RCFail_None) {
+        for (uint8_t i=0; i< _sitl->state.rcin_chan_count; i++) {
+            pwm_input[i] = 1000 + _sitl->state.rcin[i]*1000;
         }
     }
 
@@ -373,16 +372,12 @@ void SITL_State::_fdm_input_local(void)
 
     sim_update();
 
-    if (_sitl && _use_fg_view) {
+    if (_use_fg_view) {
         _output_to_flightgear();
     }
 
     // update simulation time
-    if (_sitl) {
-        hal.scheduler->stop_clock(_sitl->state.timestamp_us);
-    } else {
-        hal.scheduler->stop_clock(AP_HAL::micros64()+100);
-    }
+    hal.scheduler->stop_clock(_sitl->state.timestamp_us);
 
     set_height_agl();
 
@@ -395,6 +390,9 @@ void SITL_State::_fdm_input_local(void)
  */
 void SITL_State::_simulator_servos(struct sitl_input &input)
 {
+    if (_sitl == nullptr) {
+        return;
+    }
     static uint32_t last_update_usec;
 
     /* this maps the registers used for PWM outputs. The RC

From 0a8faa83d992ba88375913d0ed7957e47ef7f74a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 29 Dec 2023 07:27:02 +1100
Subject: [PATCH 0257/1335] HAL_ChibiOS: allow for up to 12.5MBps on H7 UARTs

use 8x oversampling instead of 16x oversampling
---
 libraries/AP_HAL_ChibiOS/UARTDriver.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
index 6593dffe7ee3c5..a04537fdbddafb 100644
--- a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
+++ b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
@@ -430,6 +430,18 @@ void UARTDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
             sercfg.cr2 = _cr2_options;
             sercfg.cr3 = _cr3_options;
 
+#if defined(STM32H7)
+            /*
+              H7 defaults to 16x oversampling. To get the highest
+              possible baudrates we need to drop back to 8x
+              oversampling. The H7 UART clock is 100MHz. This allows
+              for up to 12.5MBps on H7 UARTs
+             */
+            if (_baudrate > 100000000UL / 16U) {
+                sercfg.cr1 |= USART_CR1_OVER8;
+            }
+#endif
+
 #ifndef HAL_UART_NODMA
             if (rx_dma_enabled) {
                 sercfg.cr1 |= USART_CR1_IDLEIE;

From cfa28c52463d56a0b6399915e7ffa6ba7c8c5e99 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 13:34:57 +1100
Subject: [PATCH 0258/1335] HAL_SITL: fixed unbuffered UART writes in SITL

this was causing PPP to slow down by about 1000x due to duplicate
writes
---
 libraries/AP_HAL_SITL/UARTDriver.cpp | 1 +
 libraries/AP_HAL_SITL/UARTDriver.h   | 2 ++
 2 files changed, 3 insertions(+)

diff --git a/libraries/AP_HAL_SITL/UARTDriver.cpp b/libraries/AP_HAL_SITL/UARTDriver.cpp
index 401fb17a0ce395..b30dad3e796021 100644
--- a/libraries/AP_HAL_SITL/UARTDriver.cpp
+++ b/libraries/AP_HAL_SITL/UARTDriver.cpp
@@ -787,6 +787,7 @@ uint16_t UARTDriver::read_from_async_csv(uint8_t *buffer, uint16_t space)
 
 void UARTDriver::handle_writing_from_writebuffer_to_device()
 {
+    WITH_SEMAPHORE(write_mtx);
     if (!_connected) {
         _check_reconnect();
         return;
diff --git a/libraries/AP_HAL_SITL/UARTDriver.h b/libraries/AP_HAL_SITL/UARTDriver.h
index cac1dc4e7aa2c7..45c00de18b3ac9 100644
--- a/libraries/AP_HAL_SITL/UARTDriver.h
+++ b/libraries/AP_HAL_SITL/UARTDriver.h
@@ -110,6 +110,8 @@ class HALSITL::UARTDriver : public AP_HAL::UARTDriver {
     uint32_t last_read_tick_us;
     uint32_t last_write_tick_us;
 
+    HAL_Semaphore write_mtx;
+
     SITL::SerialDevice *_sim_serial_device;
 
     struct {

From f02973b454e0c4cb8757c03d2c3ce70f5813b948 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Thu, 21 Dec 2023 15:17:59 -0600
Subject: [PATCH 0259/1335] AC_Fence:expand FENCE_AUTOENABLE description

---
 libraries/AC_Fence/AC_Fence.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp
index aaec44932bd4ed..b537085e42113f 100644
--- a/libraries/AC_Fence/AC_Fence.cpp
+++ b/libraries/AC_Fence/AC_Fence.cpp
@@ -128,7 +128,7 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
 
     // @Param{Plane}: AUTOENABLE
     // @DisplayName: Fence Auto-Enable
-    // @Description: Auto-enable of fence
+    // @Description: Auto-enable of fences. AutoEnableOnTakeoff enables all configured fences after autotakeoffs reach altitude. During autolandings the fences will be disabled.  AutoEnableDisableFloorOnLanding enables all configured fences after autotakeoffs reach altitude. During autolandings only the Minimum Altitude fence will be disabled. AutoEnableOnlyWhenArmed enables all configured fences, but no fences are disabled during autolandings. However, fence breaches are ignored while executing prior breach recovery actions which may include autolandings.
     // @Values: 0:AutoEnableOff,1:AutoEnableOnTakeoff,2:AutoEnableDisableFloorOnLanding,3:AutoEnableOnlyWhenArmed
     // @Range: 0 3
     // @Increment: 1

From 9cd85f2a2fac314ebbc5330bd23e9cd38d504fe2 Mon Sep 17 00:00:00 2001
From: Mirko Denecke <mirkix@gmail.com>
Date: Sun, 31 Dec 2023 14:35:12 +0100
Subject: [PATCH 0260/1335] AR_Motors: fix support for omni vehicles

---
 libraries/AR_Motors/AP_MotorsUGV.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AR_Motors/AP_MotorsUGV.cpp b/libraries/AR_Motors/AP_MotorsUGV.cpp
index 061c1b3a25bd90..c9e351b2be03af 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.cpp
+++ b/libraries/AR_Motors/AP_MotorsUGV.cpp
@@ -142,7 +142,7 @@ void AP_MotorsUGV::init(uint8_t frtype)
     setup_safety_output();
 
     // setup for omni vehicles
-    if (is_omni()) {
+    if (_frame_type != FRAME_TYPE_UNDEFINED) {
         setup_omni();
     }
 }

From 2cc63f52a1d61424584f06c504374e33c8d2c9a0 Mon Sep 17 00:00:00 2001
From: Peter Mullen <ptrmu@outlook.com>
Date: Sat, 25 Nov 2023 21:03:55 -0800
Subject: [PATCH 0261/1335] AP_RangeFinder: Add LUA interface to access Range
 Finder state

---
 .../AP_RangeFinder/AP_RangeFinder_Backend.cpp | 31 +++++++-----
 .../AP_RangeFinder/AP_RangeFinder_Backend.h   | 14 ++++--
 .../AP_RangeFinder/AP_RangeFinder_Lua.cpp     | 48 +++++++++++++------
 libraries/AP_RangeFinder/AP_RangeFinder_Lua.h |  3 +-
 4 files changed, 64 insertions(+), 32 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.cpp
index 0809cd516a49a9..bd0e9be2945ace 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.cpp
@@ -53,30 +53,39 @@ bool AP_RangeFinder_Backend::has_data() const {
 }
 
 // update status based on distance measurement
-void AP_RangeFinder_Backend::update_status()
+void AP_RangeFinder_Backend::update_status(RangeFinder::RangeFinder_State &state_arg) const
 {
     // check distance
-    if (state.distance_m > max_distance_cm() * 0.01f) {
-        set_status(RangeFinder::Status::OutOfRangeHigh);
-    } else if (state.distance_m < min_distance_cm() * 0.01f) {
-        set_status(RangeFinder::Status::OutOfRangeLow);
+    if (state_arg.distance_m > max_distance_cm() * 0.01f) {
+        set_status(state_arg, RangeFinder::Status::OutOfRangeHigh);
+    } else if (state_arg.distance_m < min_distance_cm() * 0.01f) {
+        set_status(state_arg, RangeFinder::Status::OutOfRangeLow);
     } else {
-        set_status(RangeFinder::Status::Good);
+        set_status(state_arg, RangeFinder::Status::Good);
     }
 }
 
 // set status and update valid count
-void AP_RangeFinder_Backend::set_status(RangeFinder::Status _status)
+void AP_RangeFinder_Backend::set_status(RangeFinder::RangeFinder_State &state_arg, RangeFinder::Status _status)
 {
-    state.status = _status;
+    state_arg.status = _status;
 
     // update valid count
     if (_status == RangeFinder::Status::Good) {
-        if (state.range_valid_count < 10) {
-            state.range_valid_count++;
+        if (state_arg.range_valid_count < 10) {
+            state_arg.range_valid_count++;
         }
     } else {
-        state.range_valid_count = 0;
+        state_arg.range_valid_count = 0;
     }
 }
 
+#if AP_SCRIPTING_ENABLED
+// get a copy of state structure
+void AP_RangeFinder_Backend::get_state(RangeFinder::RangeFinder_State &state_arg)
+{
+    WITH_SEMAPHORE(_sem);
+    state_arg = state;
+}
+#endif
+
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
index 86f487364ba342..ca2decd044e309 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
@@ -36,9 +36,11 @@ class AP_RangeFinder_Backend
     virtual void handle_msg(const mavlink_message_t &msg) { return; }
 
 #if AP_SCRIPTING_ENABLED
-    // Returns false if scripting backing hasn't been setup
-    // Get distance from lua script
-    virtual bool handle_script_msg(float dist_m) { return false; }
+    void get_state(RangeFinder::RangeFinder_State &state_arg);
+
+    // Returns false if scripting backing hasn't been setup.
+    virtual bool handle_script_msg(float dist_m) { return false; } // legacy interface
+    virtual bool handle_script_msg(const RangeFinder::RangeFinder_State &state_arg) { return false; }
 #endif
 
 #if HAL_MSP_RANGEFINDER_ENABLED
@@ -80,10 +82,12 @@ class AP_RangeFinder_Backend
 protected:
 
     // update status based on distance measurement
-    void update_status();
+    void update_status(RangeFinder::RangeFinder_State &state_arg) const;
+    void update_status() { update_status(state); }
 
     // set status and update valid_count
-    void set_status(RangeFinder::Status status);
+    static void set_status(RangeFinder::RangeFinder_State &state_arg, RangeFinder::Status status);
+    void set_status(RangeFinder::Status status) { set_status(state, status); }
 
     RangeFinder::RangeFinder_State &state;
     AP_RangeFinder_Params &params;
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp
index cd024575136d27..75e22b2aaba5f4 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp
@@ -24,31 +24,49 @@
 AP_RangeFinder_Lua::AP_RangeFinder_Lua(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
     AP_RangeFinder_Backend(_state, _params)
 {
-    set_status(RangeFinder::Status::NoData);
 }
 
 
-// Set the distance based on a Lua Script
-bool AP_RangeFinder_Lua::handle_script_msg(float dist_m)
+// Process range finder data from a lua driver. The state structure needs to be completely
+// filled in by the lua script. The data passed to this method is copied to a pending_state
+// structure. The update() method periodically copies data from pending_state to state. The get_state()
+// method returns data from state.
+bool AP_RangeFinder_Lua::handle_script_msg(const RangeFinder::RangeFinder_State &state_arg)
 {
-    state.last_reading_ms = AP_HAL::millis();
-    _distance_m = dist_m;
+    WITH_SEMAPHORE(_sem);
+    _state_pending = state_arg;
     return true;
 }
 
+// Process range finder data from a lua driver - legacy interface. This method takes
+// a distance measurement and fills in the pending state structure. In this legacy mode
+// the lua script only passes in a distance measurement and does not manage the rest
+// of the fields in the state structure.
+bool AP_RangeFinder_Lua::handle_script_msg(float dist_m) {
 
-// update the state of the sensor
-void AP_RangeFinder_Lua::update(void)
-{
-    //Time out on incoming data; if we don't get new
-    //data in 500ms, dump it
-    if (AP_HAL::millis() - state.last_reading_ms > AP_RANGEFINDER_LUA_TIMEOUT_MS) {
-        set_status(RangeFinder::Status::NoData);
-        state.distance_m = 0.0f;
+    const uint32_t now = AP_HAL::millis();
+
+    WITH_SEMAPHORE(_sem);
+
+    // Time out on incoming data; if we don't get new data in 500ms, dump it
+    if (now - _state_pending.last_reading_ms > AP_RANGEFINDER_LUA_TIMEOUT_MS) {
+        set_status(_state_pending, RangeFinder::Status::NoData);
     } else {
-        state.distance_m = _distance_m;
-        update_status();
+        _state_pending.last_reading_ms = now;
+        _state_pending.distance_m = dist_m;
+        _state_pending.signal_quality_pct = RangeFinder::SIGNAL_QUALITY_UNKNOWN;
+        _state_pending.voltage_mv = 0;
+        update_status(_state_pending);
     }
+
+    return true;
+}
+
+// Update the state of the sensor
+void AP_RangeFinder_Lua::update(void)
+{
+    WITH_SEMAPHORE(_sem);
+    state = _state_pending;
 }
 
 #endif  // AP_RANGEFINDER_LUA_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Lua.h b/libraries/AP_RangeFinder/AP_RangeFinder_Lua.h
index 12e5fad3675a23..0bd7f7a1acb6b7 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Lua.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Lua.h
@@ -21,6 +21,7 @@ class AP_RangeFinder_Lua : public AP_RangeFinder_Backend
 
     // Get update from Lua script
     bool handle_script_msg(float dist_m) override;
+    bool handle_script_msg(const RangeFinder::RangeFinder_State &state_arg) override;
 
     MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
         return MAV_DISTANCE_SENSOR_UNKNOWN;
@@ -28,7 +29,7 @@ class AP_RangeFinder_Lua : public AP_RangeFinder_Backend
 
 private:
 
-    float _distance_m;   // stored data from lua script:
+    RangeFinder::RangeFinder_State _state_pending = {};
 };
 
 #endif  // AP_RANGEFINDER_LUA_ENABLED

From 948ee94ceebfe2b13cb993e0ab63c8d82ad33fd7 Mon Sep 17 00:00:00 2001
From: Peter Mullen <ptrmu@outlook.com>
Date: Sat, 25 Nov 2023 21:05:10 -0800
Subject: [PATCH 0262/1335] Tools/autotest: Add LUA interface to access Range
 Finder state

---
 Tools/autotest/ardusub.py | 39 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)

diff --git a/Tools/autotest/ardusub.py b/Tools/autotest/ardusub.py
index 40eb081cfb3825..6d234c8ebfd669 100644
--- a/Tools/autotest/ardusub.py
+++ b/Tools/autotest/ardusub.py
@@ -166,6 +166,44 @@ def AltitudeHold(self):
         self.watch_altitude_maintained()
         self.disarm_vehicle()
 
+    def RngfndQuality(self):
+        """Check lua Range Finder quality information flow"""
+        self.context_push()
+        self.context_collect('STATUSTEXT')
+
+        ex = None
+        try:
+            self.set_parameters({
+                "SCR_ENABLE": 1,
+                "RNGFND1_TYPE": 36,
+                "RNGFND1_ORIENT": 25,
+                "RNGFND1_MIN_CM": 10,
+                "RNGFND1_MAX_CM": 5000,
+            })
+
+            self.install_example_script_context("rangefinder_quality_test.lua")
+
+            # These string must match those sent by the lua test script.
+            complete_str = "#complete#"
+            failure_str = "!!failure!!"
+
+            self.reboot_sitl()
+
+            self.wait_statustext(complete_str, timeout=20, check_context=True)
+            found_failure = self.statustext_in_collections(failure_str)
+
+            if found_failure is not None:
+                raise NotAchievedException("RngfndQuality test failed: " + found_failure.text)
+
+        except Exception as e:
+            self.print_exception_caught(e)
+            ex = e
+
+        self.context_pop()
+
+        if ex:
+            raise ex
+
     def ModeChanges(self, delta=0.2):
         """Check if alternating between ALTHOLD, STABILIZE and POSHOLD affects altitude"""
         self.wait_ready_to_arm()
@@ -524,6 +562,7 @@ def tests(self):
         ret.extend([
             self.DiveManual,
             self.AltitudeHold,
+            self.RngfndQuality,
             self.PositionHold,
             self.ModeChanges,
             self.DiveMission,

From a83ed6b730e6d1e17d715f1f4e734a9a807bce8e Mon Sep 17 00:00:00 2001
From: Peter Mullen <ptrmu@outlook.com>
Date: Sat, 25 Nov 2023 21:05:45 -0800
Subject: [PATCH 0263/1335] AP_Scripting: Add LUA interface to access Range
 Finder state

---
 libraries/AP_Scripting/docs/docs.lua          |  77 ++++-
 .../examples/rangefinder_quality_test.lua     | 304 ++++++++++++++++++
 .../generator/description/bindings.desc       |  19 +-
 libraries/AP_Scripting/lua_bindings.cpp       |  26 ++
 libraries/AP_Scripting/lua_bindings.h         |   1 +
 5 files changed, 423 insertions(+), 4 deletions(-)
 create mode 100644 libraries/AP_Scripting/examples/rangefinder_quality_test.lua

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 8bded69e237c33..34ea6336d44169 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -2517,14 +2517,71 @@ function terrain:status() end
 ---@return boolean
 function terrain:enabled() end
 
+
+-- RangeFinder state structure
+---@class RangeFinder_State_ud
+local RangeFinder_State_ud = {}
+
+---@return RangeFinder_State_ud
+function RangeFinder_State() end
+
+-- get system time (ms) of last successful update from sensor
+---@return number
+function RangeFinder_State_ud:last_reading() end
+
+-- set system time (ms) of last successful update from sensor
+---@param value number
+function RangeFinder_State_ud:last_reading(value) end
+
+-- get sensor status
+---@return number
+function RangeFinder_State_ud:status() end
+
+-- set sensor status
+---@param value number
+function RangeFinder_State_ud:status(value) end
+
+-- get number of consecutive valid readings (max out at 10)
+---@return number
+function RangeFinder_State_ud:range_valid_count() end
+
+-- set number of consecutive valid readings (max out at 10)
+---@param value number
+function RangeFinder_State_ud:range_valid_count(value) end
+
+-- get distance in meters
+---@return number
+function RangeFinder_State_ud:distance() end
+
+-- set distance in meters
+---@param value number
+function RangeFinder_State_ud:distance(value) end
+
+-- get measurement quality in percent 0-100, -1 -> quality is unknown
+---@return number
+function RangeFinder_State_ud:signal_quality() end
+
+-- set measurement quality in percent 0-100, -1 -> quality is unknown
+---@param value number
+function RangeFinder_State_ud:signal_quality(value) end
+
+-- get voltage in millivolts, if applicable, otherwise 0
+---@return number
+function RangeFinder_State_ud:voltage() end
+
+-- set voltage in millivolts, if applicable, otherwise 0
+---@param value number
+function RangeFinder_State_ud:voltage(value) end
+
+
 -- RangeFinder backend
 ---@class AP_RangeFinder_Backend_ud
 local AP_RangeFinder_Backend_ud = {}
 
--- Send distance to lua rangefinder backend. Returns false if failed
----@param distance number
+-- Send range finder measurement to lua rangefinder backend. Returns false if failed
+---@param state RangeFinder_State_ud|number
 ---@return boolean
-function AP_RangeFinder_Backend_ud:handle_script_msg(distance) end
+function AP_RangeFinder_Backend_ud:handle_script_msg(state) end
 
 -- Status of this rangefinder instance
 ---@return integer
@@ -2542,6 +2599,15 @@ function AP_RangeFinder_Backend_ud:orientation() end
 ---@return number
 function AP_RangeFinder_Backend_ud:distance() end
 
+-- Current distance measurement signal_quality of the sensor instance
+---@return number
+function AP_RangeFinder_Backend_ud:signal_quality() end
+
+-- State of most recent range finder measurment
+---@return RangeFinder_State_ud
+function AP_RangeFinder_Backend_ud:get_state() end
+
+
 -- desc
 ---@class rangefinder
 rangefinder = {}
@@ -2586,6 +2652,11 @@ function rangefinder:max_distance_cm_orient(orientation) end
 ---@return integer
 function rangefinder:distance_cm_orient(orientation) end
 
+-- Current distance measurement signal quality for range finder at this orientation
+---@param orientation integer
+---@return integer
+function rangefinder:signal_quality_pct_orient(orientation) end
+
 -- desc
 ---@param orientation integer
 ---@return boolean
diff --git a/libraries/AP_Scripting/examples/rangefinder_quality_test.lua b/libraries/AP_Scripting/examples/rangefinder_quality_test.lua
new file mode 100644
index 00000000000000..28c78e7ff25156
--- /dev/null
+++ b/libraries/AP_Scripting/examples/rangefinder_quality_test.lua
@@ -0,0 +1,304 @@
+
+-- This test uses the Range Finder driver interface to simulate Range Finder
+-- hardware and uses the Range Finder client interface to simulate a
+-- client of the driver. The test sends distance data through the driver
+-- interface and validates that it can be read through the client interface.
+
+-- Parameters should be set as follows before this test is loaded.
+-- "RNGFND1_TYPE": 36,
+-- "RNGFND1_ORIENT": 25,
+-- "RNGFND1_MIN_CM": 10,
+-- "RNGFND1_MAX_CM": 5000,
+
+-- UPDATE_PERIOD_MS is the time between when a distance is set and
+-- when it is read. There is a periodic task that copies the set distance to
+-- the state structure that it is read from. If UPDATE_PERIOD_MS is too short this periodic
+-- task might not get a chance to run. A value of 25 seems to be too quick for sub.
+local UPDATE_PERIOD_MS = 50
+local TIMEOUT_MS = 5000
+
+-- These strings must match the strings used by the test driver for interpreting the output from this test.
+local TEST_ID_STR = "RQTL"
+local COMPLETE_STR = "#complete#"
+local SUCCESS_STR = "!!success!!"
+local FAILURE_STR = "!!failure!!"
+
+
+-- Copied from libraries/AP_Math/rotation.h enum Rotation {}.
+local RNGFND_ORIENTATION_DOWN = 25
+local RNGFND_ORIENTATION_FORWARD = 0
+-- Copied from libraries/AP_RangeFinder/AP_RanggeFinder.h enum RangeFinder::Type {}.
+local RNGFND_TYPE_LUA = 36.0
+-- Copied from libraries/AP_RangeFinder/AP_RangeFinder.h enum RangeFinder::Status {}.
+local RNDFND_STATUS_NOT_CONNECTED = 0
+local RNDFND_STATUS_OUT_OF_RANGE_LOW = 2
+local RNDFND_STATUS_OUT_OF_RANGE_HIGH = 3
+local RNDFND_STATUS_GOOD = 4
+-- Copied from libraries/AP_RangeFinder/AP_RangeFinder.h
+local SIGNAL_QUALITY_MIN = 0
+local SIGNAL_QUALITY_MAX = 100
+local SIGNAL_QUALITY_UNKNOWN = -1
+
+-- Read parameters for min and max valid range finder ranges.
+local RNGFND1_MIN_CM = Parameter("RNGFND1_MIN_CM"):get()
+local RNGFND1_MAX_CM = Parameter("RNGFND1_MAX_CM"):get()
+
+local function send(str)
+    gcs:send_text(3, string.format("%s %s", TEST_ID_STR, str))
+end
+
+
+-- The range finder backend is initialized in the update_prepare function.
+---@type AP_RangeFinder_Backend_ud
+local rngfnd_backend
+
+
+local function test_dist_equal(dist_m_in, dist_in_factor, dist_out, signal_quality_pct_in, signal_quality_pct_out)
+    if math.abs(dist_out - dist_m_in * dist_in_factor) > 1.0e-3 then
+        return false
+    end
+    if signal_quality_pct_in < 0 and signal_quality_pct_out == -1 then
+        return true
+    end
+    if signal_quality_pct_in > 100 and signal_quality_pct_out == -1 then
+        return true
+    end
+    if signal_quality_pct_in == signal_quality_pct_out then
+        return true
+    end
+    return false
+end
+
+local function get_and_eval(test_idx, dist_m_in, signal_quality_pct_in, status_expected)
+    local status_actual = rangefinder:status_orient(RNGFND_ORIENTATION_DOWN)
+
+    -- Check that the status is as expected
+    if status_expected ~= status_actual then
+        return string.format("Status test %i status incorrect - expected %i, actual %i", test_idx, status_expected, status_actual)
+    end
+
+    -- Not more checks if the status is poor
+    if status_actual ~= RNDFND_STATUS_GOOD then
+        send(string.format("Status test %i status correct - expected: %i actual: %i", test_idx, status_expected, status_actual))
+        return nil
+    end
+
+    -- L U A   I N T E R F A C E   T E S T
+    -- Check that the distance and signal_quality from the frontend are as expected
+    local distance1_cm_out = rangefinder:distance_cm_orient(RNGFND_ORIENTATION_DOWN)
+    local signal_quality1_pct_out = rangefinder:signal_quality_pct_orient(RNGFND_ORIENTATION_DOWN)
+
+    -- Make sure data was returned
+    if not distance1_cm_out or not signal_quality1_pct_out then
+        return "No data returned from rangefinder:distance_cm_orient()"
+    end
+
+    send(string.format("Frontend test %i dist in_m: %.2f out_cm: %.2f, signal_quality_pct in: %.1f out: %.1f",
+        test_idx, dist_m_in, distance1_cm_out, signal_quality_pct_in, signal_quality1_pct_out))
+
+    if not test_dist_equal(dist_m_in, 100.0, distance1_cm_out, signal_quality_pct_in, signal_quality1_pct_out) then
+        return "Frontend expected and actual do not match"
+    end
+
+    -- L U A   I N T E R F A C E   T E S T
+    -- Check that the distance and signal_quality from the backend are as expected
+    local disttance2_m_out = rngfnd_backend:distance()
+    local signal_quality2_pct_out = rngfnd_backend:signal_quality()
+
+    send(string.format("Backend test %i dist in_m: %.2f out_m: %.2f, signal_quality_pct in: %.1f out: %.1f",
+        test_idx, dist_m_in, disttance2_m_out, signal_quality_pct_in, signal_quality2_pct_out))
+
+    if not test_dist_equal(dist_m_in, 1.0, disttance2_m_out, signal_quality_pct_in, signal_quality2_pct_out) then
+        return "Backend expected and actual do not match"
+    end
+
+    -- L U A   I N T E R F A C E   T E S T
+    -- Check that the state from the backend is as expected
+    local rf_state = rngfnd_backend:get_state()
+    local distance3_m_out = rf_state:distance()
+    local signal_quality3_pct_out = rf_state:signal_quality()
+
+    send(string.format("State test %i dist in_m: %.2f out_m: %.2f, signal_quality_pct in: %.1f out: %.1f",
+        test_idx, dist_m_in, distance3_m_out, signal_quality_pct_in, signal_quality3_pct_out))
+
+    if not test_dist_equal(dist_m_in, 1.0, distance3_m_out, signal_quality_pct_in, signal_quality3_pct_out) then
+        return "State expected and actual do not match"
+    end
+
+    return nil
+end
+
+-- Test various status states
+local function do_status_tests()
+    send("Test initial status")
+    local status_actual = rangefinder:status_orient(RNGFND_ORIENTATION_DOWN)
+    if status_actual ~= RNDFND_STATUS_NOT_CONNECTED then
+        return string.format("DOWN Status '%i' not NOT_CONNECTED on initialization.", status_actual)
+    end
+    status_actual = rangefinder:status_orient(RNGFND_ORIENTATION_FORWARD)
+    if status_actual ~= RNDFND_STATUS_NOT_CONNECTED then
+        return string.format("FORWARD Status '%i' not NOT_CONNECTED on initialization.", status_actual)
+    end
+    return nil
+end
+
+
+local test_data = {
+    {20.0, -1, RNDFND_STATUS_GOOD},
+    {20.5, -2, RNDFND_STATUS_GOOD},
+    {21.0, 0, RNDFND_STATUS_GOOD},
+    {22.0, 50, RNDFND_STATUS_GOOD},
+    {23.0, 100, RNDFND_STATUS_GOOD},
+    {24.0, 101, RNDFND_STATUS_GOOD},
+    {25.0, -3, RNDFND_STATUS_GOOD},
+    {26.0, 127, RNDFND_STATUS_GOOD},
+    {27.0, 3, RNDFND_STATUS_GOOD},
+    {28.0, 100, RNDFND_STATUS_GOOD},
+    {29.0, 99, RNDFND_STATUS_GOOD},
+    {100.0, 100, RNDFND_STATUS_OUT_OF_RANGE_HIGH},
+    {0.0, 100, RNDFND_STATUS_OUT_OF_RANGE_LOW},
+    {100.0, -2, RNDFND_STATUS_OUT_OF_RANGE_HIGH},
+    {0.0, -2, RNDFND_STATUS_OUT_OF_RANGE_LOW},
+}
+
+-- Record the start time so we can timeout if initialization takes too long.
+local time_start_ms = millis():tofloat()
+local test_idx = 0
+
+
+-- Called when tests are completed.
+local function complete(error_str)
+    -- Send a message indicating the success or failure of the test
+    local status_str
+    if not error_str or #error_str == 0 then
+        status_str = SUCCESS_STR
+    else
+        send(error_str)
+        status_str = FAILURE_STR
+    end
+    send(string.format("%s: %s", COMPLETE_STR, status_str))
+
+    -- Returning nil will not queue an update routine so the test will stop running.
+end
+
+
+-- A state machine of update functions. The states progress:
+--  prepare, wait, begin_test, eval_test, begin_test, eval_test, ... complete
+
+local update_prepare
+local update_wait
+local update_begin_test
+local update_eval_test
+
+local function _update_prepare()
+    if Parameter('RNGFND1_TYPE'):get() ~= RNGFND_TYPE_LUA then
+        return complete("LUA range finder driver not enabled")
+    end
+    if rangefinder:num_sensors() < 1 then
+        return complete("LUA range finder driver not connected")
+    end
+    rngfnd_backend = rangefinder:get_backend(0)
+    if not rngfnd_backend then
+        return complete("Range Finder 1 does not exist")
+    end
+    if (rngfnd_backend:type() ~= RNGFND_TYPE_LUA) then
+        return complete("Range Finder 1 is not a LUA driver")
+    end
+
+    return update_wait()
+end
+
+local function _update_wait()
+    -- Check for timeout while initializing
+    if millis():tofloat() - time_start_ms > TIMEOUT_MS then
+        return complete("Timeout while trying to initialize")
+    end
+
+    -- Wait until the prearm check passes. This ensures that the system is mostly initialized
+    -- before starting the tests.
+    if not arming:pre_arm_checks() then
+        return update_wait, UPDATE_PERIOD_MS
+    end
+
+    -- Do some one time tests
+    local error_str = do_status_tests()
+    if error_str then
+        return complete(error_str)
+    end
+
+    -- Continue on to the main list of tests.
+    return update_begin_test()
+end
+
+local function _update_begin_test()
+    test_idx = test_idx + 1
+    if test_idx > #test_data then
+        return complete()
+    end
+
+    local dist_m_in = test_data[test_idx][1]
+    local signal_quality_pct_in = test_data[test_idx][2]
+
+    -- L U A   I N T E R F A C E   T E S T
+    -- Use the driver interface to simulate a data measurement being received and being passed to AP.
+    local result
+    -- -2 => use legacy interface
+    if signal_quality_pct_in == -2 then
+        result = rngfnd_backend:handle_script_msg(dist_m_in) -- number as arg (compatibility mode)
+
+    else
+        -- The full state udata must be initialized.
+        local rf_state = RangeFinder_State()
+        -- Set the status
+        if dist_m_in < RNGFND1_MIN_CM * 0.01 then
+            rf_state:status(RNDFND_STATUS_OUT_OF_RANGE_LOW)
+        elseif dist_m_in > RNGFND1_MAX_CM * 0.01 then
+            rf_state:status(RNDFND_STATUS_OUT_OF_RANGE_HIGH)
+        else
+            rf_state:status(RNDFND_STATUS_GOOD)
+        end
+        -- Sanitize signal_quality_pct_in
+        if signal_quality_pct_in < SIGNAL_QUALITY_MIN or signal_quality_pct_in > SIGNAL_QUALITY_MAX then
+            signal_quality_pct_in = SIGNAL_QUALITY_UNKNOWN
+        end
+        rf_state:last_reading(millis():toint())
+        rf_state:range_valid_count(10)
+        rf_state:distance(dist_m_in)
+        rf_state:signal_quality(signal_quality_pct_in)
+        rf_state:voltage(0)
+        result = rngfnd_backend:handle_script_msg(rf_state) -- state as arg
+    end
+
+    if not result then
+        return complete(string.format("Test %i, dist_m: %.2f, quality_pct: %3i failed to handle_script_msg2",
+            test_idx, dist_m_in, signal_quality_pct_in))
+    end
+
+    return update_eval_test, UPDATE_PERIOD_MS
+end
+
+local function _update_eval_test()
+    local dist_m_in = test_data[test_idx][1]
+    local signal_quality_pct_in = test_data[test_idx][2]
+    local status_expected = test_data[test_idx][3]
+
+    -- Use the client interface to get distance data and ensure it matches the distance data
+    -- that was sent through the driver interface.
+    local error_str = get_and_eval(test_idx, dist_m_in, signal_quality_pct_in, status_expected)
+    if error_str then
+        return complete(string.format("Test %i, dist_m: %.2f, quality_pct: %3i failed because %s",
+            test_idx, dist_m_in, signal_quality_pct_in, error_str))
+    end
+
+    -- Move to the next test in the list.
+    return update_begin_test()
+end
+
+update_prepare = _update_prepare
+update_wait = _update_wait
+update_begin_test = _update_begin_test
+update_eval_test = _update_eval_test
+
+send("Loaded rangefinder_quality_test.lua")
+
+return update_prepare, 0
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 1ce091781525cf..f0608bfcb39265 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -200,18 +200,35 @@ singleton AP_Proximity method get_backend AP_Proximity_Backend uint8_t'skip_chec
 include AP_RangeFinder/AP_RangeFinder.h
 include AP_RangeFinder/AP_RangeFinder_Backend.h
 
+userdata RangeFinder::RangeFinder_State depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_RANGEFINDER))
+userdata RangeFinder::RangeFinder_State rename RangeFinder_State
+userdata RangeFinder::RangeFinder_State field last_reading_ms uint32_t'skip_check read write
+userdata RangeFinder::RangeFinder_State field last_reading_ms rename last_reading
+userdata RangeFinder::RangeFinder_State field status RangeFinder::Status'enum read write RangeFinder::Status::NotConnected RangeFinder::Status::Good
+userdata RangeFinder::RangeFinder_State field range_valid_count uint8_t'skip_check read write
+userdata RangeFinder::RangeFinder_State field distance_m float'skip_check read write
+userdata RangeFinder::RangeFinder_State field distance_m rename distance
+userdata RangeFinder::RangeFinder_State field signal_quality_pct int8_t'skip_check read write
+userdata RangeFinder::RangeFinder_State field signal_quality_pct rename signal_quality
+userdata RangeFinder::RangeFinder_State field voltage_mv uint16_t'skip_check read write
+userdata RangeFinder::RangeFinder_State field voltage_mv rename voltage
+
 ap_object AP_RangeFinder_Backend depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_RANGEFINDER))
 ap_object AP_RangeFinder_Backend method distance float
+ap_object AP_RangeFinder_Backend method signal_quality_pct float
+ap_object AP_RangeFinder_Backend method signal_quality_pct rename signal_quality
 ap_object AP_RangeFinder_Backend method orientation Rotation'enum
 ap_object AP_RangeFinder_Backend method type uint8_t
 ap_object AP_RangeFinder_Backend method status uint8_t
-ap_object AP_RangeFinder_Backend method handle_script_msg boolean float'skip_check
+ap_object AP_RangeFinder_Backend manual handle_script_msg lua_range_finder_handle_script_msg 1
+ap_object AP_RangeFinder_Backend method get_state void RangeFinder::RangeFinder_State'Ref
 
 singleton RangeFinder depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_RANGEFINDER))
 singleton RangeFinder rename rangefinder
 singleton RangeFinder method num_sensors uint8_t
 singleton RangeFinder method has_orientation boolean Rotation'enum ROTATION_NONE ROTATION_MAX-1
 singleton RangeFinder method distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
+singleton RangeFinder method signal_quality_pct_orient int8_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
 singleton RangeFinder method max_distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
 singleton RangeFinder method min_distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
 singleton RangeFinder method ground_clearance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index a8637ed380547a..eb884eb275cd87 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -950,4 +950,30 @@ int lua_print(lua_State *L) {
     return 0;
 }
 
+#if (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_RANGEFINDER))
+int lua_range_finder_handle_script_msg(lua_State *L) {
+    // Arg 1 => self (an instance of rangefinder_backend)
+    // Arg 2 => a float distance or a RangeFinder_State user data
+    binding_argcheck(L, 2);
+
+    // check_AP_RangeFinder_Backend aborts if not found. No need to check for null
+    AP_RangeFinder_Backend * ud = *check_AP_RangeFinder_Backend(L, 1);
+
+    bool result = false;
+
+    // Check to see if the first argument is the state structure.
+    const void *state_arg = luaL_testudata(L, 2, "RangeFinder_State");
+    if (state_arg != nullptr) {
+        result = ud->handle_script_msg(*static_cast<const RangeFinder::RangeFinder_State *>(state_arg));
+
+    } else {
+        // Otherwise assume the argument is a number and set the measurement.
+        result = ud->handle_script_msg(luaL_checknumber(L, 2));
+    }
+
+    lua_pushboolean(L, result);
+    return 1;
+}
+#endif
+
 #endif  // AP_SCRIPTING_ENABLED
diff --git a/libraries/AP_Scripting/lua_bindings.h b/libraries/AP_Scripting/lua_bindings.h
index 99e4f8a3747727..add40faa0a7bd8 100644
--- a/libraries/AP_Scripting/lua_bindings.h
+++ b/libraries/AP_Scripting/lua_bindings.h
@@ -26,3 +26,4 @@ int lua_mavlink_register_rx_msgid(lua_State *L);
 int lua_mavlink_send_chan(lua_State *L);
 int lua_mavlink_block_command(lua_State *L);
 int lua_print(lua_State *L);
+int lua_range_finder_handle_script_msg(lua_State *L);

From 816e3fae3e90aba9773ededf2308bed5c1755eef Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 1 Jan 2024 08:37:52 +1100
Subject: [PATCH 0264/1335] autotest: fixed flapping sub log download test

the log being downloaded can be very large, and times out. Setting
LOG_DISARMED=1 gives us a small log to download
---
 Tools/autotest/vehicle_test_suite.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index 04ce66a804d472..be0cecc95fee4b 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -4273,6 +4273,7 @@ def TestLogDownloadMAVProxyNetwork(self, upload_logs=False):
         self.context_push()
         self.set_parameters({
             "NET_ENABLED": 1,
+            "LOG_DISARMED": 1,
             "LOG_DARM_RATEMAX": 2, # make small logs
             # UDP client
             "NET_P1_TYPE": 1,

From c9b8be7213c10bf2dfb4c3e56f2ba55c6070833c Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Thu, 28 Dec 2023 16:48:32 -0600
Subject: [PATCH 0265/1335] AP_Parachute:upate metadata in line with new relay
 functions

---
 libraries/AP_Parachute/AP_Parachute.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Parachute/AP_Parachute.cpp b/libraries/AP_Parachute/AP_Parachute.cpp
index 6ed1618b1904aa..4cdf7ce692443c 100644
--- a/libraries/AP_Parachute/AP_Parachute.cpp
+++ b/libraries/AP_Parachute/AP_Parachute.cpp
@@ -24,8 +24,9 @@ const AP_Param::GroupInfo AP_Parachute::var_info[] = {
 
     // @Param: TYPE
     // @DisplayName: Parachute release mechanism type (relay or servo)
-    // @Description: Parachute release mechanism type (relay or servo)
-    // @Values: 0:First Relay,1:Second Relay,2:Third Relay,3:Fourth Relay,10:Servo
+    // @Description: Parachute release mechanism type (relay number in versions prior to 4.5, or servo). Values 0-3 all are relay. Relay number used for release is set by RELAYx_FUNCTION in 4.5 or later. 
+    // @Values: 0: Relay,10:Servo 
+
     // @User: Standard
     AP_GROUPINFO("TYPE", 1, AP_Parachute, _release_type, AP_PARACHUTE_TRIGGER_TYPE_RELAY_0),
 

From c53d3ae09babf5323948e4856d022b5dd134b86a Mon Sep 17 00:00:00 2001
From: alexklimaj <alex@arkelectron.com>
Date: Wed, 20 Dec 2023 11:49:26 -0700
Subject: [PATCH 0266/1335] hwdef: ARK_CANNODE add rangefinder

---
 libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat
index 8fa2061e0ab906..006fe14d9cf036 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_CANNODE/hwdef.dat
@@ -125,3 +125,8 @@ define CAN_APP_NODE_NAME "org.ardupilot.ARK_CANNODE"
 define HAL_SUPPORT_RCOUT_SERIAL 1
 define HAL_WITH_ESC_TELEM 1
 define AP_SERIALLED_ENABLED 1
+
+# Rangefinder
+define HAL_PERIPH_ENABLE_RANGEFINDER
+# disable rangefinder by default
+define AP_PERIPH_RANGEFINDER_PORT_DEFAULT -1

From 0a5407a1a785eed1f8a6639944c19d3ce6506fa6 Mon Sep 17 00:00:00 2001
From: Brad Bosch <brad112358@gmail.com>
Date: Sun, 3 Dec 2023 14:38:35 -0600
Subject: [PATCH 0267/1335] AP_VideoTX: Restore use of the VTX_MAX_POWER
 parameter

This functionality was lost when a significant rewrite of this code was done in commit 0658f060301c9230c5b170bbad005dee68fbcd8a
---
 libraries/AP_VideoTX/AP_VideoTX.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_VideoTX/AP_VideoTX.cpp b/libraries/AP_VideoTX/AP_VideoTX.cpp
index 8bfa7c14ca6462..ac57aade8319cf 100644
--- a/libraries/AP_VideoTX/AP_VideoTX.cpp
+++ b/libraries/AP_VideoTX/AP_VideoTX.cpp
@@ -515,7 +515,7 @@ void AP_VideoTX::change_power(int8_t position)
     // first find out how many possible levels there are
     uint8_t num_active_levels = 0;
     for (uint8_t i = 0; i < VTX_MAX_POWER_LEVELS; i++) {
-        if (_power_levels[i].active != PowerActive::Inactive) {
+        if (_power_levels[i].active != PowerActive::Inactive && _power_levels[i].mw <= _max_power_mw) {
             num_active_levels++;
         }
     }

From 4b692b470f9406488eacf3455caf907299208e6b Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Sun, 24 Dec 2023 12:41:29 -0600
Subject: [PATCH 0268/1335] add note about Qmode FS switches to FS actions)

---
 ArduPlane/Parameters.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index fd5288223d8f8b..dd55010d46adce 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -417,7 +417,7 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: FS_SHORT_ACTN
     // @DisplayName: Short failsafe action
-    // @Description: The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe event can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause a change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, a change to FBWA mode with zero throttle if FS_SHORT_ACTN is 2, and a change to FBWB mode if FS_SHORT_ACTN is 4. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change if FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1, will change to FBWA mode with zero throttle if set to 2, or will change to FBWB if set to 4. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe.
+    // @Description: The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe event can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause a change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, a change to FBWA mode with zero throttle if FS_SHORT_ACTN is 2, and a change to FBWB mode if FS_SHORT_ACTN is 4. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change if FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1, will change to FBWA mode with zero throttle if set to 2, or will change to FBWB if set to 4. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe. This parameter only applies to failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5(QRTL) or 20(RTL) are set.
     // @Values: 0:CIRCLE/no change(if already in AUTO|GUIDED|LOITER),1:CIRCLE,2:FBWA at zero throttle,3:Disable,4:FBWB
     // @User: Standard
     GSCALAR(fs_action_short,        "FS_SHORT_ACTN",  FS_ACTION_SHORT_BESTGUESS),
@@ -433,7 +433,7 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: FS_LONG_ACTN
     // @DisplayName: Long failsafe action
-    // @Description: The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTN is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). If FS_LONG_ACTN is set to 4 the aircraft will switch to mode AUTO with the current waypoint if it is not already in mode AUTO, unless it is in the middle of a landing sequence.
+    // @Description: The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTN is set to 3, the parachute will be deployed (make sure the chute is configured and enabled). If FS_LONG_ACTN is set to 4 the aircraft will switch to mode AUTO with the current waypoint if it is not already in mode AUTO, unless it is in the middle of a landing sequence. This parameter only applies to failsafes during fixed wing modes. Quadplane modes will switch to QLAND unless Q_OPTIONS bit 5 (QRTL) or 20(RTL) are set.
     // @Values: 0:Continue,1:ReturnToLaunch,2:Glide,3:Deploy Parachute,4:Auto
     // @User: Standard
     GSCALAR(fs_action_long,         "FS_LONG_ACTN",   FS_ACTION_LONG_CONTINUE),

From 467daeb4a69601e03521c7631260a62dac597465 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 2 Jan 2024 11:00:44 +1100
Subject: [PATCH 0269/1335] hwdef: tidy checking of is-bootloader-build

---
 .../hwdef/scripts/chibios_hwdef.py            | 50 +++++++++----------
 1 file changed, 25 insertions(+), 25 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index cec867a6dc6934..d129a0dcf2b6cc 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -735,7 +735,7 @@ def enable_can(self, f):
             f.write('#define CAN1_BASE CAN_BASE\n')
         self.env_vars['HAL_NUM_CAN_IFACES'] = str(len(base_list))
 
-        if self.mcu_series.startswith("STM32H7") and not args.bootloader:
+        if self.mcu_series.startswith("STM32H7") and not self.is_bootloader_fw():
             # set maximum supported canfd bit rate in MBits/sec
             canfd_supported = int(self.get_config('CANFD_SUPPORTED', 0, default=4, required=False))
             f.write('#define HAL_CANFD_SUPPORTED %d\n' % canfd_supported)
@@ -756,7 +756,7 @@ def get_ram_map(self):
         '''get RAM_MAP. May be different for bootloader'''
         if 'APP_RAM_START' not in self.env_vars:
             self.env_vars['APP_RAM_START'] = None
-        if args.bootloader:
+        if self.is_bootloader_fw():
             ram_map = self.get_mcu_config('RAM_MAP_BOOTLOADER', False)
             if ram_map is not None:
                 app_ram_map = self.get_mcu_config('RAM_MAP', False)
@@ -854,7 +854,7 @@ def get_storage_flash_page(self):
         storage_flash_page = self.get_config('STORAGE_FLASH_PAGE', default=None, type=int, required=False)
         if storage_flash_page is not None:
             return storage_flash_page
-        if args.bootloader and args.hwdef[0].find("-bl") != -1:
+        if self.is_bootloader_fw() and args.hwdef[0].find("-bl") != -1:
             hwdefdat = args.hwdef[0].replace("-bl", "")
             if os.path.exists(hwdefdat):
                 ret = None
@@ -1044,7 +1044,7 @@ def write_mcu_config(self, f):
         f.write('\n// location of loaded firmware\n')
         f.write('#define FLASH_LOAD_ADDRESS 0x%08x\n' % (0x08000000 + flash_reserve_start*1024))
         # can be no persistent parameters if no space allocated for them
-        if not args.bootloader and flash_reserve_start == 0:
+        if not self.is_bootloader_fw() and flash_reserve_start == 0:
             f.write('#define HAL_ENABLE_SAVE_PERSISTENT_PARAMS 0\n')
 
         f.write('#define EXT_FLASH_SIZE_MB %u\n' % self.get_config('EXT_FLASH_SIZE_MB', default=0, type=int))
@@ -1053,7 +1053,7 @@ def write_mcu_config(self, f):
 
         self.env_vars['EXT_FLASH_SIZE_MB'] = self.get_config('EXT_FLASH_SIZE_MB', default=0, type=int)
         self.env_vars['INT_FLASH_PRIMARY'] = self.get_config('INT_FLASH_PRIMARY', default=False, type=bool)
-        if self.env_vars['EXT_FLASH_SIZE_MB'] and not args.bootloader and not self.env_vars['INT_FLASH_PRIMARY']:
+        if self.env_vars['EXT_FLASH_SIZE_MB'] and not self.is_bootloader_fw() and not self.env_vars['INT_FLASH_PRIMARY']:
             f.write('#define CRT0_AREAS_NUMBER 4\n')
             f.write('#define __FASTRAMFUNC__ __attribute__ ((__section__(".fastramfunc")))\n')
             f.write('#define __RAMFUNC__ __attribute__ ((__section__(".ramfunc")))\n')
@@ -1071,7 +1071,7 @@ def write_mcu_config(self, f):
         storage_flash_page = self.get_storage_flash_page()
         flash_reserve_end = self.get_config('FLASH_RESERVE_END_KB', default=0, type=int)
         if storage_flash_page is not None:
-            if not args.bootloader:
+            if not self.is_bootloader_fw():
                 f.write('#define STORAGE_FLASH_PAGE %u\n' % storage_flash_page)
                 self.validate_flash_storage_size()
             elif self.get_config('FLASH_RESERVE_END_KB', type=int, required=False) is None:
@@ -1082,14 +1082,14 @@ def write_mcu_config(self, f):
                 if offset > bl_offset:
                     flash_reserve_end = flash_size - offset
 
-        crashdump_enabled = bool(self.intdefines.get('AP_CRASHDUMP_ENABLED', (flash_size >= 2048 and not args.bootloader)))
+        crashdump_enabled = bool(self.intdefines.get('AP_CRASHDUMP_ENABLED', (flash_size >= 2048 and not self.is_bootloader_fw())))  # noqa
         # lets pick a flash sector for Crash log
         f.write('#ifndef AP_CRASHDUMP_ENABLED\n')
         f.write('#define AP_CRASHDUMP_ENABLED %u\n' % crashdump_enabled)
         f.write('#endif\n')
         self.env_vars['ENABLE_CRASHDUMP'] = crashdump_enabled
 
-        if args.bootloader:
+        if self.is_bootloader_fw():
             if self.env_vars['EXT_FLASH_SIZE_MB'] and not self.env_vars['INT_FLASH_PRIMARY']:
                 f.write('\n// location of loaded firmware in external flash\n')
                 f.write('#define APP_START_ADDRESS 0x%08x\n' % (0x90000000 + self.get_config(
@@ -1188,13 +1188,13 @@ def write_mcu_config(self, f):
 
         self.env_vars['CORTEX'] = cortex
 
-        if not args.bootloader:
+        if not self.is_bootloader_fw():
             if cortex == 'cortex-m4':
                 self.env_vars['CPU_FLAGS'].append('-DARM_MATH_CM4')
             elif cortex == 'cortex-m7':
                 self.env_vars['CPU_FLAGS'].append('-DARM_MATH_CM7')
 
-        if not self.mcu_series.startswith("STM32F1") and not args.bootloader:
+        if not self.mcu_series.startswith("STM32F1") and not self.is_bootloader_fw():
             self.env_vars['CPU_FLAGS'].append('-u_printf_float')
             build_info['ENV_UDEFS'] = "-DCHPRINTF_USE_FLOAT=1"
 
@@ -1203,7 +1203,7 @@ def write_mcu_config(self, f):
             self.build_flags.append('%s=%s' % (v, build_info[v]))
 
         # setup for bootloader build
-        if args.bootloader:
+        if self.is_bootloader_fw():
             if self.get_config('FULL_CHIBIOS_BOOTLOADER', required=False, default=False):
                 # we got enough space to fit everything so we enable almost everything
                 f.write('''
@@ -1283,10 +1283,10 @@ def write_mcu_config(self, f):
         if self.env_vars.get('ROMFS_UNCOMPRESSED', False):
             f.write('#define HAL_ROMFS_UNCOMPRESSED\n')
 
-        if not args.bootloader:
+        if not self.is_bootloader_fw():
             f.write('''#define STM32_DMA_REQUIRED TRUE\n\n''')
 
-        if args.bootloader:
+        if self.is_bootloader_fw():
             # do not enable flash protection in bootloader, even if hwdef
             # requests it:
             f.write('''
@@ -1364,7 +1364,7 @@ def write_ldscript(self, fname):
         ext_flash_size = self.get_config('EXT_FLASH_SIZE_MB', default=0, type=int)
         int_flash_primary = self.get_config('INT_FLASH_PRIMARY', default=False, type=int)
 
-        if not args.bootloader:
+        if not self.is_bootloader_fw():
             flash_length = flash_size - (flash_reserve_start + flash_reserve_end)
             ext_flash_length = ext_flash_size * 1024 - (ext_flash_reserve_start + ext_flash_reserve_end)
         else:
@@ -1386,7 +1386,7 @@ def write_ldscript(self, fname):
             ram_reserve_start = self.get_ram_reserve_start()
             ram0_start += ram_reserve_start
             ram0_len -= ram_reserve_start
-        if ext_flash_length == 0 or args.bootloader:
+        if ext_flash_length == 0 or self.is_bootloader_fw():
             self.env_vars['HAS_EXTERNAL_FLASH_SECTIONS'] = 0
             f.write('''/* generated ldscript.ld */
 MEMORY
@@ -1429,7 +1429,7 @@ def write_ldscript(self, fname):
     def copy_common_linkerscript(self, outdir):
         dirpath = os.path.dirname(os.path.realpath(__file__))
 
-        if args.bootloader:
+        if self.is_bootloader_fw():
             linker = 'common.ld'
         else:
             linker = self.get_mcu_config('LINKER_CONFIG')
@@ -1467,10 +1467,10 @@ def write_USB_config(self, f):
         f.write('#define HAL_USB_STRING_MANUFACTURER %s\n' %
                 self.get_config("USB_STRING_MANUFACTURER", default="\"ArduPilot\""))
         default_product = "%BOARD%"
-        if args.bootloader:
+        if self.is_bootloader_fw():
             default_product += "-BL"
         product_string = self.get_config("USB_STRING_PRODUCT", default="\"%s\"" % default_product)
-        if args.bootloader and args.signed_fw:
+        if self.is_bootloader_fw() and args.signed_fw:
             product_string = product_string.replace("-BL", "-Secure-BL-v10")
         f.write('#define HAL_USB_STRING_PRODUCT %s\n' % product_string)
 
@@ -1580,7 +1580,7 @@ def write_WSPI_config(self, f):
         # only the bootloader must run the hal lld (and QSPI clock) otherwise it is not possible to
         # bootstrap into external flash
         for t in list(self.bytype.keys()) + list(self.alttype.keys()):
-            if (t.startswith('QUADSPI') or t.startswith('OCTOSPI')) and not args.bootloader:
+            if (t.startswith('QUADSPI') or t.startswith('OCTOSPI')) and not self.is_bootloader_fw():
                 f.write('#define HAL_XIP_ENABLED TRUE\n')
 
         if len(self.wspidev) == 0:
@@ -1945,7 +1945,7 @@ def write_UART_config(self, f):
 ''' % (OTG2_index, OTG2_index))
 
         f.write('#define HAL_SERIAL_DEVICE_LIST %s\n\n' % ','.join(devlist))
-        if not need_uart_driver and not args.bootloader:
+        if not need_uart_driver and not self.is_bootloader_fw():
             f.write('''
 #ifndef HAL_USE_SERIAL
 #define HAL_USE_SERIAL HAL_USE_SERIAL_USB
@@ -2433,7 +2433,7 @@ def embed_bootloader(self, f):
             self.error('''Bootloader (%s) does not exist and AP_BOOTLOADER_FLASHING_ENABLED
 Please run: Tools/scripts/build_bootloaders.py %s
 ''' %
-                       (bp,os.path.basename(os.path.dirname(args.hwdef[0]))))
+                       (bp, os.path.basename(os.path.dirname(args.hwdef[0]))))
 
         bp = os.path.realpath(bp)
 
@@ -2595,7 +2595,7 @@ def write_hwdef_header(self, outfilename):
                 dma_noshare=self.dma_noshare
             )
 
-        if not args.bootloader:
+        if not self.is_bootloader_fw():
             self.write_PWM_config(f, ordered_timers)
             self.write_I2C_config(f)
             self.write_UART_config(f)
@@ -2854,7 +2854,7 @@ def romfs_add_dir(self, subdirs):
         '''add a filesystem directory to ROMFS'''
         for dirname in subdirs:
             romfs_dir = os.path.join(os.path.dirname(args.hwdef[0]), dirname)
-            if not args.bootloader and os.path.exists(romfs_dir):
+            if not self.is_bootloader_fw() and os.path.exists(romfs_dir):
                 for root, d, files in os.walk(romfs_dir):
                     for f in files:
                         if fnmatch.fnmatch(f, '*~'):
@@ -3069,7 +3069,7 @@ def add_apperiph_defaults(self, f):
         self.add_firmware_defaults_from_file(f, "defaults_periph.h", "AP_Periph")
 
     def is_bootloader_fw(self):
-        return args.bootloader
+        return self.bootloader
 
     def add_bootloader_defaults(self, f):
         '''add default defines for peripherals'''
@@ -3159,7 +3159,7 @@ def run(self):
         # exist in the same directory as the ldscript.ld file we generate.
         self.copy_common_linkerscript(self.outdir)
 
-        if not args.bootloader:
+        if not self.is_bootloader_fw():
             self.write_processed_defaults_file(os.path.join(self.outdir, "processed_defaults.parm"))
 
         self.write_env_py(os.path.join(self.outdir, "env.py"))

From e855c9f46a9781af7563a306bb38cdd99471e6f1 Mon Sep 17 00:00:00 2001
From: Oleksiy Protas <elfy.ua@gmail.com>
Date: Mon, 18 Dec 2023 18:09:58 +0200
Subject: [PATCH 0270/1335] AP_HAL_SITL: ensure stdint include

---
 libraries/AP_HAL_SITL/CANSocketIface.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_HAL_SITL/CANSocketIface.cpp b/libraries/AP_HAL_SITL/CANSocketIface.cpp
index abe9330acf1959..ad8b10f37b86cf 100644
--- a/libraries/AP_HAL_SITL/CANSocketIface.cpp
+++ b/libraries/AP_HAL_SITL/CANSocketIface.cpp
@@ -35,6 +35,7 @@
 #include <sys/ioctl.h>
 #include <net/if.h>
 #include <cstring>
+#include <cstdint>
 #include "Scheduler.h"
 #include <AP_CANManager/AP_CANManager.h>
 #include <AP_Common/ExpandingString.h>

From 81ab6a946160b29255ed9d4b1c8d38ddc15bf745 Mon Sep 17 00:00:00 2001
From: Aleksey Ploskov <ploskov-ai@yandex.ru>
Date: Fri, 29 Dec 2023 05:09:50 +0300
Subject: [PATCH 0271/1335] AP_NMEA_Output: fix time format

---
 libraries/AP_NMEA_Output/AP_NMEA_Output.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_NMEA_Output/AP_NMEA_Output.cpp b/libraries/AP_NMEA_Output/AP_NMEA_Output.cpp
index bc7d0ff2ef898d..d114efc3e2d4ac 100644
--- a/libraries/AP_NMEA_Output/AP_NMEA_Output.cpp
+++ b/libraries/AP_NMEA_Output/AP_NMEA_Output.cpp
@@ -111,8 +111,8 @@ void AP_NMEA_Output::update()
     struct tm* tm = gmtime(&time_sec);
 
     // format time string
-    char tstring[11];
-    snprintf(tstring, sizeof(tstring), "%02u%02u%06.2f", tm->tm_hour, tm->tm_min, tm->tm_sec + (time_usec % 1000000) * 1.0e-6);
+    char tstring[10];
+    snprintf(tstring, sizeof(tstring), "%02u%02u%05.2f", tm->tm_hour, tm->tm_min, tm->tm_sec + (time_usec % 1000000) * 1.0e-6);
 
     Location loc;
     const auto &gps = AP::gps();

From 4dae077787047e0bc9f50a19f720bbb52368dfcf Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 27 Nov 2023 07:56:37 +1100
Subject: [PATCH 0272/1335] GCS_MAVLink: return MAV_RESULT_COMMAND_INT_ONLY if
 command-long support not compiled in

---
 libraries/GCS_MAVLink/GCS.h          |   6 +-
 libraries/GCS_MAVLink/GCS_Common.cpp | 106 ++++++++++++++++-----------
 2 files changed, 67 insertions(+), 45 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 867ec889031087..ccea42410f86ab 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -657,8 +657,6 @@ class GCS_MAVLINK
     MAV_RESULT handle_command_mag_cal(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_fixed_mag_cal_yaw(const mavlink_command_int_t &packet);
 
-    virtual bool mav_frame_for_command_long(MAV_FRAME &fame, MAV_CMD packet_command) const;
-    MAV_RESULT try_command_long_as_command_int(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
     MAV_RESULT handle_command_camera(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_do_set_roi(const mavlink_command_int_t &packet);
     virtual MAV_RESULT handle_command_do_set_roi(const Location &roi_loc);
@@ -730,12 +728,16 @@ class GCS_MAVLINK
      */
     uint32_t correct_offboard_timestamp_usec_to_ms(uint64_t offboard_usec, uint16_t payload_size);
 
+#if AP_MAVLINK_COMMAND_LONG_ENABLED
     // converts a COMMAND_LONG packet to a COMMAND_INT packet, where
     // the command-long packet is assumed to be in the supplied frame.
     // If location is not present in the command then just omit frame.
     // this method ensures the passed-in structure is entirely
     // initialised.
     virtual void convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out, MAV_FRAME frame = MAV_FRAME_GLOBAL_RELATIVE_ALT);
+    virtual bool mav_frame_for_command_long(MAV_FRAME &fame, MAV_CMD packet_command) const;
+    MAV_RESULT try_command_long_as_command_int(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
+#endif
 
     // methods to extract a Location object from a command_int
     bool location_from_command_t(const mavlink_command_int_t &in, Location &out);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index f2fb1c5bb04c3e..f7ead3489f9830 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4757,6 +4757,49 @@ MAV_RESULT GCS_MAVLINK::handle_command_component_arm_disarm(const mavlink_comman
     return MAV_RESULT_UNSUPPORTED;
 }
 
+bool GCS_MAVLINK::location_from_command_t(const mavlink_command_int_t &in, Location &out)
+{
+    if (!command_long_stores_location((MAV_CMD)in.command)) {
+        return false;
+    }
+
+    // integer storage imposes limits on the altitudes we can accept:
+    if (isnan(in.z) || fabsf(in.z) > LOCATION_ALT_MAX_M) {
+        return false;
+    }
+
+    Location::AltFrame frame;
+    if (!mavlink_coordinate_frame_to_location_alt_frame((MAV_FRAME)in.frame, frame)) {
+        // unknown coordinate frame
+        return false;
+    }
+
+    out.lat = in.x;
+    out.lng = in.y;
+
+    out.set_alt_cm(int32_t(in.z * 100), frame);
+
+    return true;
+}
+
+bool GCS_MAVLINK::command_long_stores_location(const MAV_CMD command)
+{
+    switch(command) {
+    case MAV_CMD_DO_SET_HOME:
+    case MAV_CMD_DO_SET_ROI:
+    case MAV_CMD_DO_SET_ROI_LOCATION:
+    // case MAV_CMD_NAV_TAKEOFF:  // technically yes, but we don't do lat/lng
+    // case MAV_CMD_NAV_VTOL_TAKEOFF:
+    case MAV_CMD_DO_REPOSITION:
+    case MAV_CMD_EXTERNAL_POSITION_ESTIMATE:
+        return true;
+    default:
+        return false;
+    }
+    return false;
+}
+
+#if AP_MAVLINK_COMMAND_LONG_ENABLED
 // when conveyed via COMMAND_LONG, a command doesn't come with an
 // explicit frame.  When conveying a location they do have an assumed
 // frame in ArduPilot, and this function returns that frame.
@@ -4801,49 +4844,6 @@ MAV_RESULT GCS_MAVLINK::try_command_long_as_command_int(const mavlink_command_lo
     return handle_command_int_packet(command_int, msg);
 }
 
-bool GCS_MAVLINK::location_from_command_t(const mavlink_command_int_t &in, Location &out)
-{
-    if (!command_long_stores_location((MAV_CMD)in.command)) {
-        return false;
-    }
-
-    // integer storage imposes limits on the altitudes we can accept:
-    if (isnan(in.z) || fabsf(in.z) > LOCATION_ALT_MAX_M) {
-        return false;
-    }
-
-    Location::AltFrame frame;
-    if (!mavlink_coordinate_frame_to_location_alt_frame((MAV_FRAME)in.frame, frame)) {
-        // unknown coordinate frame
-        return false;
-    }
-
-    out.lat = in.x;
-    out.lng = in.y;
-
-    out.set_alt_cm(int32_t(in.z * 100), frame);
-
-    return true;
-}
-
-#if AP_MAVLINK_COMMAND_LONG_ENABLED
-bool GCS_MAVLINK::command_long_stores_location(const MAV_CMD command)
-{
-    switch(command) {
-    case MAV_CMD_DO_SET_HOME:
-    case MAV_CMD_DO_SET_ROI:
-    case MAV_CMD_DO_SET_ROI_LOCATION:
-    // case MAV_CMD_NAV_TAKEOFF:  // technically yes, but we don't do lat/lng
-    // case MAV_CMD_NAV_VTOL_TAKEOFF:
-    case MAV_CMD_DO_REPOSITION:
-    case MAV_CMD_EXTERNAL_POSITION_ESTIMATE:
-        return true;
-    default:
-        return false;
-    }
-    return false;
-}
-
 // returns a value suitable for COMMAND_INT.x or y based on a value
 // coming in from COMMAND_LONG.p5 or p6:
 static int32_t convert_COMMAND_LONG_loc_param(float param, bool stores_location)
@@ -4909,6 +4909,26 @@ void GCS_MAVLINK::handle_command_long(const mavlink_message_t &msg)
 
     hal.util->persistent_data.last_mavlink_cmd = 0;
 }
+
+#else
+void GCS_MAVLINK::handle_command_long(const mavlink_message_t &msg)
+{
+    // decode packet
+    mavlink_command_long_t packet;
+    mavlink_msg_command_long_decode(&msg, &packet);
+
+    // send ACK or NAK
+    mavlink_msg_command_ack_send(
+        chan,
+        packet.command,
+        MAV_RESULT_COMMAND_INT_ONLY,
+        0,
+        0,
+        msg.sysid,
+        msg.compid
+   );
+
+}
 #endif  // AP_MAVLINK_COMMAND_LONG_ENABLED
 
 MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi(const Location &roi_loc)

From 6c105d264949605be6242079468dcbf77aba8e77 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 27 Nov 2023 08:08:23 +1100
Subject: [PATCH 0273/1335] PLane: return MAV_RESULT_COMMAND_INT_ONLY if
 command-long support not compiled in

---
 ArduPlane/GCS_Mavlink.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 9427b99e0cdac9..3715776f77ab64 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1095,6 +1095,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_DO_CHANGE_SPEED(const mavlink_comma
 }
 
 #if HAL_QUADPLANE_ENABLED
+#if AP_MAVLINK_COMMAND_LONG_ENABLED
 void GCS_MAVLINK_Plane::convert_MAV_CMD_NAV_TAKEOFF_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out)
 {
     // convert to MAV_FRAME_LOCAL_OFFSET_NED, "NED local tangent frame
@@ -1115,7 +1116,6 @@ void GCS_MAVLINK_Plane::convert_MAV_CMD_NAV_TAKEOFF_to_COMMAND_INT(const mavlink
     out.z = -in.param7;  // up -> down
 }
 
-#if AP_MAVLINK_COMMAND_LONG_ENABLED
 void GCS_MAVLINK_Plane::convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out, MAV_FRAME frame)
 {
     switch (in.command) {

From 85537c2e9754c331ae527c1ef432297e4c8bfabb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 2 Jan 2024 17:46:55 +1100
Subject: [PATCH 0274/1335] AP_NMEA_Output: fixed NMEA output altitude

the key fix is to multiply hdop by 0.01. It was being passed as a
uint16_t which led to it being swallowed by the %f in the format
string
---
 libraries/AP_NMEA_Output/AP_NMEA_Output.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_NMEA_Output/AP_NMEA_Output.cpp b/libraries/AP_NMEA_Output/AP_NMEA_Output.cpp
index d114efc3e2d4ac..6e2ab5c9d20fdc 100644
--- a/libraries/AP_NMEA_Output/AP_NMEA_Output.cpp
+++ b/libraries/AP_NMEA_Output/AP_NMEA_Output.cpp
@@ -112,7 +112,7 @@ void AP_NMEA_Output::update()
 
     // format time string
     char tstring[10];
-    snprintf(tstring, sizeof(tstring), "%02u%02u%05.2f", tm->tm_hour, tm->tm_min, tm->tm_sec + (time_usec % 1000000) * 1.0e-6);
+    hal.util->snprintf(tstring, sizeof(tstring), "%02u%02u%05.2f", tm->tm_hour, tm->tm_min, tm->tm_sec + (time_usec % 1000000) * 1.0e-6);
 
     Location loc;
     const auto &gps = AP::gps();
@@ -131,7 +131,7 @@ void AP_NMEA_Output::update()
     char lat_string[13];
     double deg = fabs(loc.lat * 1.0e-7f);
     double min_dec = ((fabs(loc.lat) - (unsigned)deg * 1.0e7)) * 60 * 1.e-7f;
-    snprintf(lat_string,
+    hal.util->snprintf(lat_string,
             sizeof(lat_string),
             "%02u%08.5f,%c",
             (unsigned) deg,
@@ -142,7 +142,7 @@ void AP_NMEA_Output::update()
     char lng_string[14];
     deg = fabs(loc.lng * 1.0e-7f);
     min_dec = ((fabs(loc.lng) - (unsigned)deg * 1.0e7)) * 60 * 1.e-7f; 
-    snprintf(lng_string,
+    hal.util->snprintf(lng_string,
             sizeof(lng_string),
             "%03u%08.5f,%c",
             (unsigned) deg,
@@ -208,7 +208,7 @@ void AP_NMEA_Output::update()
                                     lng_string,
                                     fix_quality,
                                     gps.num_sats(),
-                                    gps.get_hdop(),
+                                    gps.get_hdop()*0.01,
                                     loc.alt * 0.01f);
 
         space_required += gga_length;
@@ -219,7 +219,7 @@ void AP_NMEA_Output::update()
     if ((_message_enable_bitmask.get() & static_cast<int16_t>(Enabled_Messages::GPRMC)) != 0) {
         // format date string
         char dstring[7];
-        snprintf(dstring, sizeof(dstring), "%02u%02u%02u", tm->tm_mday, tm->tm_mon+1, tm->tm_year % 100);
+        hal.util->snprintf(dstring, sizeof(dstring), "%02u%02u%02u", tm->tm_mday, tm->tm_mon+1, tm->tm_year % 100);
 
         // get speed
 #if AP_AHRS_ENABLED

From d1fcb76c9f950ade12c47e7a66b6a0e316013a77 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 2 Jan 2024 17:47:25 +1100
Subject: [PATCH 0275/1335] AP_HAL: ensure all UARTDriver implementations have
 receive_time_constraint_us

this fixes NMEA over network ports
---
 libraries/AP_HAL/UARTDriver.cpp | 11 +++++++++++
 libraries/AP_HAL/UARTDriver.h   |  4 +---
 2 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_HAL/UARTDriver.cpp b/libraries/AP_HAL/UARTDriver.cpp
index 40819c9900c41d..b3d06c4f450ff2 100644
--- a/libraries/AP_HAL/UARTDriver.cpp
+++ b/libraries/AP_HAL/UARTDriver.cpp
@@ -152,3 +152,14 @@ bool AP_HAL::UARTDriver::discard_input()
     }
     return _discard_input();
 }
+
+/*
+  default implementation of receive_time_constraint_us() will be used
+  for subclasses that don't implement the call (eg. network
+  sockets). Best we can do is to use the current timestamp as we don't
+  know the transport delay
+ */
+uint64_t AP_HAL::UARTDriver::receive_time_constraint_us(uint16_t nbytes)
+{
+    return AP_HAL::micros64();
+}
diff --git a/libraries/AP_HAL/UARTDriver.h b/libraries/AP_HAL/UARTDriver.h
index b3e890b7199d11..a7e0c61ef2f628 100644
--- a/libraries/AP_HAL/UARTDriver.h
+++ b/libraries/AP_HAL/UARTDriver.h
@@ -137,10 +137,8 @@ class AP_HAL::UARTDriver : public AP_HAL::BetterStream {
       This takes account of the baudrate of the link. For transports
       that have no baudrate (such as USB) the time estimate may be
       less accurate.
-
-      A return value of zero means the HAL does not support this API
      */
-    virtual uint64_t receive_time_constraint_us(uint16_t nbytes) { return 0; }
+    virtual uint64_t receive_time_constraint_us(uint16_t nbytes);
 
     virtual uint32_t bw_in_bytes_per_second() const {
         return 5760;

From a52c71f3806f5ea818f362ed47501961fd0b4a29 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:29:46 +1100
Subject: [PATCH 0276/1335] AP_HAL: implement BinarySemaphore

and removed event handles
---
 libraries/AP_HAL/AP_HAL.h           |  1 -
 libraries/AP_HAL/AP_HAL_Namespace.h |  3 +-
 libraries/AP_HAL/CANIface.h         |  2 +-
 libraries/AP_HAL/EventHandle.cpp    | 33 ----------------------
 libraries/AP_HAL/EventHandle.h      | 44 -----------------------------
 libraries/AP_HAL/Semaphores.h       | 25 ++++++++++++++++
 libraries/AP_HAL/board/chibios.h    |  4 +--
 libraries/AP_HAL/board/empty.h      |  1 +
 libraries/AP_HAL/board/esp32.h      |  3 +-
 libraries/AP_HAL/board/linux.h      |  3 +-
 libraries/AP_HAL/board/sitl.h       |  4 +--
 11 files changed, 33 insertions(+), 90 deletions(-)
 delete mode 100644 libraries/AP_HAL/EventHandle.cpp
 delete mode 100644 libraries/AP_HAL/EventHandle.h

diff --git a/libraries/AP_HAL/AP_HAL.h b/libraries/AP_HAL/AP_HAL.h
index 64198b63d00e3e..49aab05996f6b9 100644
--- a/libraries/AP_HAL/AP_HAL.h
+++ b/libraries/AP_HAL/AP_HAL.h
@@ -16,7 +16,6 @@
 #include "RCOutput.h"
 #include "Scheduler.h"
 #include "Semaphores.h"
-#include "EventHandle.h"
 #include "Util.h"
 #include "OpticalFlow.h"
 #include "Flash.h"
diff --git a/libraries/AP_HAL/AP_HAL_Namespace.h b/libraries/AP_HAL/AP_HAL_Namespace.h
index aca8e02293763a..9782b9fb2c4e6c 100644
--- a/libraries/AP_HAL/AP_HAL_Namespace.h
+++ b/libraries/AP_HAL/AP_HAL_Namespace.h
@@ -27,9 +27,8 @@ namespace AP_HAL {
     class RCInput;
     class RCOutput;
     class Scheduler;
-    class EventHandle;
-    class EventSource;
     class Semaphore;
+    class BinarySemaphore;
     class OpticalFlow;
     class DSP;
 
diff --git a/libraries/AP_HAL/CANIface.h b/libraries/AP_HAL/CANIface.h
index 06b4f7dffbf848..1b2e88fb33f236 100644
--- a/libraries/AP_HAL/CANIface.h
+++ b/libraries/AP_HAL/CANIface.h
@@ -187,7 +187,7 @@ class AP_HAL::CANIface
         return false;
     }
 
-    virtual bool set_event_handle(EventHandle* evt_handle)
+    virtual bool set_event_handle(AP_HAL::BinarySemaphore *sem_handle)
     {
         return true;
     }
diff --git a/libraries/AP_HAL/EventHandle.cpp b/libraries/AP_HAL/EventHandle.cpp
deleted file mode 100644
index d0dab77d9245e1..00000000000000
--- a/libraries/AP_HAL/EventHandle.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-#include "EventHandle.h"
-#include <AP_HAL/AP_HAL.h>
-
-
-bool AP_HAL::EventHandle::register_event(uint32_t evt_mask)
-{
-    WITH_SEMAPHORE(sem);
-    evt_mask_ |= evt_mask;
-    return true;
-}
-
-bool AP_HAL::EventHandle::unregister_event(uint32_t evt_mask)
-{
-    WITH_SEMAPHORE(sem);
-    evt_mask_ &= ~evt_mask;
-    return true;
-}
-
-bool AP_HAL::EventHandle::wait(uint16_t duration_us)
-{
-    if (evt_src_ == nullptr) {
-        return false;
-    }
-    return evt_src_->wait(duration_us, this);
-}
-
-bool AP_HAL::EventHandle::set_source(AP_HAL::EventSource* src)
-{
-    WITH_SEMAPHORE(sem);
-    evt_src_ = src;
-    evt_mask_ = 0;
-    return true;
-}
diff --git a/libraries/AP_HAL/EventHandle.h b/libraries/AP_HAL/EventHandle.h
deleted file mode 100644
index c5c676c389a907..00000000000000
--- a/libraries/AP_HAL/EventHandle.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#pragma once
-
-#include "AP_HAL_Namespace.h"
-#include <stdint.h>
-#include "AP_HAL_Boards.h"
-
-class AP_HAL::EventSource {
-public:
-    // generate event from thread context
-    virtual void signal(uint32_t evt_mask) = 0;
-
-    // generate event from interrupt context
-    virtual void signalI(uint32_t evt_mask) { signal(evt_mask); }
-
-
-    // Wait on an Event handle, method for internal use by EventHandle
-    virtual bool wait(uint16_t duration_us, AP_HAL::EventHandle* evt_handle) = 0;
-};
-
-class AP_HAL::EventHandle {
-public:
-    //Set event source
-    virtual bool set_source(AP_HAL::EventSource* src);
-
-    AP_HAL::EventSource* get_source() { return evt_src_; }
-
-    // return true if event type was successfully registered
-    virtual bool register_event(uint32_t evt_mask);
-
-    // return true if event type was successfully unregistered
-    virtual bool unregister_event(uint32_t evt_mask);
-
-    // return true if event was triggered within the duration
-    virtual bool wait(uint16_t duration_us);
-
-    virtual uint32_t get_evt_mask() const { return evt_mask_; }
-
-private:
-    // Mask of events to be handeled,
-    // Max 32 events can be handled per event handle
-    uint32_t evt_mask_;
-    AP_HAL::EventSource *evt_src_;
-    HAL_Semaphore sem;
-};
diff --git a/libraries/AP_HAL/Semaphores.h b/libraries/AP_HAL/Semaphores.h
index 3c5bca94b13bb3..34e8ff93fb86a5 100644
--- a/libraries/AP_HAL/Semaphores.h
+++ b/libraries/AP_HAL/Semaphores.h
@@ -55,3 +55,28 @@ class WithSemaphore {
 
 #define JOIN( sem, line, counter ) _DO_JOIN( sem, line, counter )
 #define _DO_JOIN( sem, line, counter ) WithSemaphore _getsem ## counter(sem, line)
+
+/*
+  a binary semaphore
+ */
+class AP_HAL::BinarySemaphore {
+public:
+    /*
+      create a binary semaphore. initial_state determines if a wait()
+      immediately after creation would block. If initial_state is true
+      then it won't block, if initial_state is false it will block
+     */
+    BinarySemaphore(bool initial_state=false) {}
+
+    // do not allow copying
+    CLASS_NO_COPY(BinarySemaphore);
+
+    virtual bool wait(uint32_t timeout_us) WARN_IF_UNUSED = 0 ;
+    virtual bool wait_blocking() = 0;
+    virtual bool wait_nonblocking() { return wait(0); }
+
+    virtual void signal() = 0;
+    virtual void signal_ISR() { signal(); }
+    
+    virtual ~BinarySemaphore(void) {}
+};
diff --git a/libraries/AP_HAL/board/chibios.h b/libraries/AP_HAL/board/chibios.h
index b06642742d0fb9..9d1b940f310029 100644
--- a/libraries/AP_HAL/board/chibios.h
+++ b/libraries/AP_HAL/board/chibios.h
@@ -63,9 +63,7 @@
 // allow for static semaphores
 #include <AP_HAL_ChibiOS/Semaphores.h>
 #define HAL_Semaphore ChibiOS::Semaphore
-
-#include <AP_HAL/EventHandle.h>
-#define HAL_EventHandle AP_HAL::EventHandle
+#define HAL_BinarySemaphore ChibiOS::BinarySemaphore
 #endif
 
 /* string names for well known SPI devices */
diff --git a/libraries/AP_HAL/board/empty.h b/libraries/AP_HAL/board/empty.h
index 6e33c9a81b103e..0dc26bdf23c149 100644
--- a/libraries/AP_HAL/board/empty.h
+++ b/libraries/AP_HAL/board/empty.h
@@ -16,3 +16,4 @@
 #define HAL_HAVE_SAFETY_SWITCH 1
 
 #define HAL_Semaphore Empty::Semaphore
+#define HAL_BinarySemaphore Empty::BinarySemaphore
diff --git a/libraries/AP_HAL/board/esp32.h b/libraries/AP_HAL/board/esp32.h
index 5aa515e6149af0..1fc82f841bdfa7 100644
--- a/libraries/AP_HAL/board/esp32.h
+++ b/libraries/AP_HAL/board/esp32.h
@@ -39,6 +39,7 @@
 // allow for static semaphores
 #include <AP_HAL_ESP32/Semaphores.h>
 #define HAL_Semaphore ESP32::Semaphore
+#define HAL_BinarySemaphore ESP32::BinarySemaphore
 #endif
 
 #define HAL_NUM_CAN_IFACES 0
@@ -114,4 +115,4 @@
 
 // other big things..
 #define HAL_QUADPLANE_ENABLED 0
-#define HAL_GYROFFT_ENABLED 0
\ No newline at end of file
+#define HAL_GYROFFT_ENABLED 0
diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index 76cea1a112982e..65ce66d2a10e40 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -398,8 +398,7 @@
 #ifdef __cplusplus
 #include <AP_HAL_Linux/Semaphores.h>
 #define HAL_Semaphore Linux::Semaphore
-#include <AP_HAL/EventHandle.h>
-#define HAL_EventHandle AP_HAL::EventHandle
+#define HAL_BinarySemaphore Linux::BinarySemaphore
 #endif
 
 #ifndef HAL_HAVE_HARDWARE_DOUBLE
diff --git a/libraries/AP_HAL/board/sitl.h b/libraries/AP_HAL/board/sitl.h
index aa2799f09abc63..a4b3bba71dfbe0 100644
--- a/libraries/AP_HAL/board/sitl.h
+++ b/libraries/AP_HAL/board/sitl.h
@@ -54,9 +54,7 @@
 // allow for static semaphores
 #include <AP_HAL_SITL/Semaphores.h>
 #define HAL_Semaphore HALSITL::Semaphore
-
-#include <AP_HAL/EventHandle.h>
-#define HAL_EventHandle AP_HAL::EventHandle
+#define HAL_BinarySemaphore HALSITL::BinarySemaphore
 #endif
 
 #ifndef HAL_NUM_CAN_IFACES

From c2011570f742ad8d47b523afaa4e04231bd54885 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:52:44 +1100
Subject: [PATCH 0277/1335] HAL_ChibiOS: use chSysLock for CAN critical section

this avoids an assert in some code paths that combine with hrt
functions
---
 libraries/AP_HAL_ChibiOS/CANFDIface.h | 4 ++--
 libraries/AP_HAL_ChibiOS/CANIface.h   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.h b/libraries/AP_HAL_ChibiOS/CANFDIface.h
index 9b214441617207..81815fdaa09ece 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.h
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.h
@@ -73,11 +73,11 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
     struct CriticalSectionLocker {
         CriticalSectionLocker()
         {
-            chSysSuspend();
+            chSysLock();
         }
         ~CriticalSectionLocker()
         {
-            chSysEnable();
+            chSysUnlock();
         }
     };
 
diff --git a/libraries/AP_HAL_ChibiOS/CANIface.h b/libraries/AP_HAL_ChibiOS/CANIface.h
index 47809fa79b35a3..b85ed4e538ac74 100644
--- a/libraries/AP_HAL_ChibiOS/CANIface.h
+++ b/libraries/AP_HAL_ChibiOS/CANIface.h
@@ -69,11 +69,11 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
     struct CriticalSectionLocker {
         CriticalSectionLocker()
         {
-            chSysSuspend();
+            chSysLock();
         }
         ~CriticalSectionLocker()
         {
-            chSysEnable();
+            chSysUnlock();
         }
     };
 

From 8a027eddb0db262967b5048b9fc51f83133e8abb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:30:22 +1100
Subject: [PATCH 0278/1335] HAL_ChibiOS: implement BinarySemaphore

and removed event handles
---
 .../AP_HAL_ChibiOS/AP_HAL_ChibiOS_Namespace.h |  2 +-
 libraries/AP_HAL_ChibiOS/EventSource.cpp      | 35 ------------
 libraries/AP_HAL_ChibiOS/EventSource.h        | 26 ---------
 libraries/AP_HAL_ChibiOS/Semaphores.cpp       | 55 +++++++++++++++++++
 libraries/AP_HAL_ChibiOS/Semaphores.h         | 18 ++++++
 5 files changed, 74 insertions(+), 62 deletions(-)
 delete mode 100644 libraries/AP_HAL_ChibiOS/EventSource.cpp
 delete mode 100644 libraries/AP_HAL_ChibiOS/EventSource.h

diff --git a/libraries/AP_HAL_ChibiOS/AP_HAL_ChibiOS_Namespace.h b/libraries/AP_HAL_ChibiOS/AP_HAL_ChibiOS_Namespace.h
index 9d559a561c4e64..4b62fcb9286a0b 100644
--- a/libraries/AP_HAL_ChibiOS/AP_HAL_ChibiOS_Namespace.h
+++ b/libraries/AP_HAL_ChibiOS/AP_HAL_ChibiOS_Namespace.h
@@ -17,7 +17,7 @@ namespace ChibiOS {
     class RCOutput;
     class Scheduler;
     class Semaphore;
-    class EventSource;
+    class BinarySemaphore;
     class SPIBus;
     class SPIDesc;
     class SPIDevice;
diff --git a/libraries/AP_HAL_ChibiOS/EventSource.cpp b/libraries/AP_HAL_ChibiOS/EventSource.cpp
deleted file mode 100644
index f1821bca000b89..00000000000000
--- a/libraries/AP_HAL_ChibiOS/EventSource.cpp
+++ /dev/null
@@ -1,35 +0,0 @@
-#include "EventSource.h"
-#include <AP_Math/AP_Math.h>
-
-using namespace ChibiOS;
-
-#if CH_CFG_USE_EVENTS == TRUE
-
-bool EventSource::wait(uint16_t duration_us, AP_HAL::EventHandle *evt_handle)
-{
-    chibios_rt::EventListener evt_listener;
-    eventmask_t evt_mask = evt_handle->get_evt_mask();
-    msg_t ret = msg_t();
-    ch_evt_src_.registerMask(&evt_listener, evt_mask);
-    if (duration_us == 0) {
-        ret = chEvtWaitAnyTimeout(evt_mask, TIME_IMMEDIATE);
-    } else {
-        const sysinterval_t wait_us = MIN(TIME_MAX_INTERVAL, MAX(CH_CFG_ST_TIMEDELTA, chTimeUS2I(duration_us)));
-        ret = chEvtWaitAnyTimeout(evt_mask, wait_us);
-    }
-    ch_evt_src_.unregister(&evt_listener);
-    return ret == MSG_OK;
-}
-
-void EventSource::signal(uint32_t evt_mask)
-{
-    ch_evt_src_.broadcastFlags(evt_mask);
-}
-
-__RAMFUNC__ void EventSource::signalI(uint32_t evt_mask)
-{
-    chSysLockFromISR();
-    ch_evt_src_.broadcastFlagsI(evt_mask);
-    chSysUnlockFromISR();
-}
-#endif //#if CH_CFG_USE_EVENTS == TRUE
diff --git a/libraries/AP_HAL_ChibiOS/EventSource.h b/libraries/AP_HAL_ChibiOS/EventSource.h
deleted file mode 100644
index a1dda78b2e3208..00000000000000
--- a/libraries/AP_HAL_ChibiOS/EventSource.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#pragma once
-#include <AP_HAL/AP_HAL.h>
-
-#include <stdint.h>
-#include <AP_HAL/AP_HAL_Boards.h>
-#include <AP_HAL/AP_HAL_Macros.h>
-#include <AP_HAL/EventHandle.h>
-#include "AP_HAL_ChibiOS_Namespace.h"
-#include <ch.hpp>
-
-#if CH_CFG_USE_EVENTS == TRUE
-class ChibiOS::EventSource : public AP_HAL::EventSource {
-    // Single event source to be shared across multiple users
-    chibios_rt::EventSource ch_evt_src_;
-
-public:
-    // generate event from thread context
-    void signal(uint32_t evt_mask) override;
-
-    // generate event from interrupt context
-    void signalI(uint32_t evt_mask) override;
-
-    // Wait on an Event handle, method for internal use by EventHandle
-    bool wait(uint16_t duration_us, AP_HAL::EventHandle* evt_handle) override;
-};
-#endif //#if CH_CFG_USE_EVENTS == TRUE
diff --git a/libraries/AP_HAL_ChibiOS/Semaphores.cpp b/libraries/AP_HAL_ChibiOS/Semaphores.cpp
index 49493399774eb2..47e24348aff111 100644
--- a/libraries/AP_HAL_ChibiOS/Semaphores.cpp
+++ b/libraries/AP_HAL_ChibiOS/Semaphores.cpp
@@ -18,7 +18,9 @@
 #include <AP_HAL/AP_HAL.h>
 #include "Semaphores.h"
 #include <hal.h>
+#include <chsem.h>
 #include "AP_HAL_ChibiOS.h"
+#include <AP_Math/AP_Math.h>
 
 #if CH_CFG_USE_MUTEXES == TRUE
 
@@ -78,4 +80,57 @@ void Semaphore::assert_owner(void)
     osalDbgAssert(check_owner(), "owner");
 }
 
+#if CH_CFG_USE_SEMAPHORES == TRUE
+BinarySemaphore::BinarySemaphore(bool initial_state) :
+    AP_HAL::BinarySemaphore(initial_state)
+{
+    static_assert(sizeof(_lock) >= sizeof(semaphore_t), "invalid semaphore_t size");
+    auto *sem = (binary_semaphore_t *)_lock;
+    /*
+      the initial_state in ChibiOS binary semaphores is 'taken', so we
+      need to negate it for the ArduPilot semantics
+     */
+    chBSemObjectInit(sem, !initial_state);
+}
+
+bool BinarySemaphore::wait(uint32_t timeout_us)
+{
+    auto *sem = (binary_semaphore_t *)_lock;
+    if (timeout_us == 0) {
+        return chBSemWaitTimeout(sem, TIME_IMMEDIATE) == MSG_OK;
+    }
+    // loop waiting for 60ms at a time. This ensures we can wait for
+    // any amount of time even on systems with a 16 bit timer
+    while (timeout_us > 0) {
+        const uint32_t us = MIN(timeout_us, 60000U);
+        if (chBSemWaitTimeout(sem, TIME_US2I(us)) == MSG_OK) {
+            return true;
+        }
+        timeout_us -= us;
+    }
+    return false;
+}
+
+bool BinarySemaphore::wait_blocking(void)
+{
+    auto *sem = (binary_semaphore_t *)_lock;
+    return chBSemWait(sem) == MSG_OK;
+}
+
+void BinarySemaphore::signal(void)
+{
+    auto *sem = (binary_semaphore_t *)_lock;
+    chBSemSignal(sem);
+}
+
+void BinarySemaphore::signal_ISR(void)
+{
+    auto *sem = (binary_semaphore_t *)_lock;
+    chSysLockFromISR();
+    chBSemSignalI(sem);
+    chSysUnlockFromISR();
+}
+
+#endif // CH_CFG_USE_SEMAPHORES == TRUE
+
 #endif // CH_CFG_USE_MUTEXES
diff --git a/libraries/AP_HAL_ChibiOS/Semaphores.h b/libraries/AP_HAL_ChibiOS/Semaphores.h
index 484570d0869da4..49f258366bcfff 100644
--- a/libraries/AP_HAL_ChibiOS/Semaphores.h
+++ b/libraries/AP_HAL_ChibiOS/Semaphores.h
@@ -37,3 +37,21 @@ class ChibiOS::Semaphore : public AP_HAL::Semaphore {
     // we declare the lock as a uint32_t array, and cast inside the cpp file
     uint32_t _lock[5];
 };
+
+/*
+  BinarySemaphore implementation
+ */
+class ChibiOS::BinarySemaphore : public AP_HAL::BinarySemaphore {
+public:
+    BinarySemaphore(bool initial_state=false);
+
+    CLASS_NO_COPY(BinarySemaphore);
+
+    bool wait(uint32_t timeout_us) override;
+    bool wait_blocking(void) override;
+    void signal(void) override;
+    void signal_ISR(void) override;
+
+protected:
+    uint32_t _lock[5];
+};

From c0d0aeee8686d7df3a3597c01d0c3985c948dd89 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:30:41 +1100
Subject: [PATCH 0279/1335] HAL_ChibiOS: reimplement CAN with BinarySemaphore

---
 libraries/AP_HAL_ChibiOS/CANFDIface.cpp | 31 +++++++++----------------
 libraries/AP_HAL_ChibiOS/CANFDIface.h   | 11 +++------
 libraries/AP_HAL_ChibiOS/CANIface.h     | 12 ++++------
 libraries/AP_HAL_ChibiOS/CanIface.cpp   | 31 ++++++++++---------------
 4 files changed, 30 insertions(+), 55 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
index eaefd34324c69c..08c532e46d1a56 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
@@ -812,11 +812,9 @@ void CANIface::handleTxCompleteInterrupt(const uint64_t timestamp_us)
                 rx_item.flags = AP_HAL::CANIface::Loopback;
                 add_to_rx_queue(rx_item);
             }
-            if (event_handle_ != nullptr) {
-                stats.num_events++;
-#if CH_CFG_USE_EVENTS == TRUE
-                evt_src_.signalI(1 << self_index_);
-#endif
+            stats.num_events++;
+            if (sem_handle != nullptr) {
+                sem_handle->signal_ISR();
             }
         }
     }
@@ -925,11 +923,9 @@ void CANIface::handleRxInterrupt(uint8_t fifo_index)
     while (readRxFIFO(fifo_index)) {
         had_activity_ = true;
     }
-    if (event_handle_ != nullptr) {
-        stats.num_events++;
-#if CH_CFG_USE_EVENTS == TRUE
-        evt_src_.signalI(1 << self_index_);
-#endif
+    stats.num_events++;
+    if (sem_handle != nullptr) {
+        sem_handle->signal_ISR();
     }
 }
 
@@ -995,16 +991,11 @@ uint32_t CANIface::getErrorCount() const
            stats.tx_timedout;
 }
 
-#if CH_CFG_USE_EVENTS == TRUE
-ChibiOS::EventSource CANIface::evt_src_;
-bool CANIface::set_event_handle(AP_HAL::EventHandle* handle)
+bool CANIface::set_event_handle(AP_HAL::BinarySemaphore *handle)
 {
-    CriticalSectionLocker lock;
-    event_handle_ = handle;
-    event_handle_->set_source(&evt_src_);
-    return event_handle_->register_event(1 << self_index_);
+    sem_handle = handle;
+    return true;
 }
-#endif
 
 bool CANIface::isRxBufferEmpty() const
 {
@@ -1075,10 +1066,10 @@ bool CANIface::select(bool &read, bool &write,
         return true;
     }
     while (time < blocking_deadline) {
-        if (event_handle_ == nullptr) {
+        if (sem_handle == nullptr) {
             break;
         }
-        event_handle_->wait(blocking_deadline - time); // Block until timeout expires or any iface updates
+        IGNORE_RETURN(sem_handle->wait(blocking_deadline - time)); // Block until timeout expires or any iface updates
         checkAvailable(read, write, pending_tx);  // Check what we got
         if ((read && in_read) || (write && in_write)) {
             return true;
diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.h b/libraries/AP_HAL_ChibiOS/CANFDIface.h
index 81815fdaa09ece..f7ff133392bbdb 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.h
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.h
@@ -41,7 +41,6 @@
 #pragma once
 
 #include "AP_HAL_ChibiOS.h"
-#include "EventSource.h"
 
 #if HAL_NUM_CAN_IFACES
 
@@ -120,10 +119,8 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
     bool irq_init_;
     bool initialised_;
     bool had_activity_;
-    AP_HAL::EventHandle* event_handle_;
-#if CH_CFG_USE_EVENTS == TRUE
-    static ChibiOS::EventSource evt_src_;
-#endif
+    AP_HAL::BinarySemaphore *sem_handle;
+
     const uint8_t self_index_;
 
     bool computeTimings(uint32_t target_bitrate, Timings& out_timings);
@@ -224,10 +221,8 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
                 const AP_HAL::CANFrame* const pending_tx,
                 uint64_t blocking_deadline) override;
 
-#if CH_CFG_USE_EVENTS == TRUE
     // setup event handle for waiting on events
-    bool set_event_handle(AP_HAL::EventHandle* handle) override;
-#endif
+    bool set_event_handle(AP_HAL::BinarySemaphore *handle) override;
 
 #if !defined(HAL_BOOTLOADER_BUILD)
     // fetch stats text and return the size of the same,
diff --git a/libraries/AP_HAL_ChibiOS/CANIface.h b/libraries/AP_HAL_ChibiOS/CANIface.h
index b85ed4e538ac74..363c002d491ec8 100644
--- a/libraries/AP_HAL_ChibiOS/CANIface.h
+++ b/libraries/AP_HAL_ChibiOS/CANIface.h
@@ -46,7 +46,6 @@
 # else
 #if HAL_NUM_CAN_IFACES
 #include "bxcan.hpp"
-#include "EventSource.h"
 
 #ifndef HAL_CAN_RX_QUEUE_SIZE
 #define HAL_CAN_RX_QUEUE_SIZE 128
@@ -109,10 +108,8 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
     bool irq_init_:1;
     bool initialised_:1;
     bool had_activity_:1;
-#if CH_CFG_USE_EVENTS == TRUE
-    AP_HAL::EventHandle* event_handle_;
-    static ChibiOS::EventSource evt_src_;
-#endif
+    AP_HAL::BinarySemaphore *sem_handle;
+
     const uint8_t self_index_;
 
     bool computeTimings(uint32_t target_bitrate, Timings& out_timings);
@@ -210,10 +207,9 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
                 const AP_HAL::CANFrame* const pending_tx,
                 uint64_t blocking_deadline) override;
     
-#if CH_CFG_USE_EVENTS == TRUE
     // setup event handle for waiting on events
-    bool set_event_handle(AP_HAL::EventHandle* handle) override;
-#endif
+    bool set_event_handle(AP_HAL::BinarySemaphore *handle) override;
+
 #if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
     // fetch stats text and return the size of the same,
     // results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt 
diff --git a/libraries/AP_HAL_ChibiOS/CanIface.cpp b/libraries/AP_HAL_ChibiOS/CanIface.cpp
index 97cd8acf2ad1be..f6704b6438d09d 100644
--- a/libraries/AP_HAL_ChibiOS/CanIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CanIface.cpp
@@ -522,12 +522,11 @@ void CANIface::handleTxInterrupt(const uint64_t utc_usec)
         handleTxMailboxInterrupt(2, txok, utc_usec);
     }
 
-#if CH_CFG_USE_EVENTS == TRUE
-    if (event_handle_ != nullptr) {
+    if (sem_handle != nullptr) {
         PERF_STATS(stats.num_events);
-        evt_src_.signalI(1 << self_index_);
+        sem_handle->signal_ISR();
     }
-#endif
+
     pollErrorFlagsFromISR();
 }
 
@@ -590,12 +589,11 @@ void CANIface::handleRxInterrupt(uint8_t fifo_index, uint64_t timestamp_us)
 
     had_activity_ = true;
 
-#if CH_CFG_USE_EVENTS == TRUE
-    if (event_handle_ != nullptr) {
+    if (sem_handle != nullptr) {
         PERF_STATS(stats.num_events);
-        evt_src_.signalI(1 << self_index_);
+        sem_handle->signal_ISR();
     }
-#endif
+
     pollErrorFlagsFromISR();
 }
 
@@ -702,17 +700,12 @@ uint32_t CANIface::getErrorCount() const
 
 #endif // #if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
 
-#if CH_CFG_USE_EVENTS == TRUE
-ChibiOS::EventSource CANIface::evt_src_;
-bool CANIface::set_event_handle(AP_HAL::EventHandle* handle)
+bool CANIface::set_event_handle(AP_HAL::BinarySemaphore *handle)
 {
-    CriticalSectionLocker lock;
-    event_handle_ = handle;
-    event_handle_->set_source(&evt_src_);
-    return event_handle_->register_event(1 << self_index_);
+    sem_handle = handle;
+    return true;
 }
 
-#endif // #if CH_CFG_USE_EVENTS == TRUE
 
 void CANIface::checkAvailable(bool& read, bool& write, const AP_HAL::CANFrame* pending_tx) const
 {
@@ -745,13 +738,13 @@ bool CANIface::select(bool &read, bool &write,
         return true;
     }
 
-#if CH_CFG_USE_EVENTS == TRUE
+#if !defined(HAL_BUILD_AP_PERIPH) && !defined(HAL_BOOTLOADER_BUILD)
     // we don't support blocking select in AP_Periph and bootloader
     while (time < blocking_deadline) {
-        if (event_handle_ == nullptr) {
+        if (sem_handle == nullptr) {
             break;
         }
-        event_handle_->wait(blocking_deadline - time); // Block until timeout expires or any iface updates
+        IGNORE_RETURN(sem_handle->wait(blocking_deadline - time)); // Block until timeout expires or any iface updates
         checkAvailable(read, write, pending_tx);  // Check what we got
         if ((read && in_read) || (write && in_write)) {
             return true;

From bdb8a08724a8654adec75e4bf74c27cbcac46805 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:30:57 +1100
Subject: [PATCH 0280/1335] HAL_Linux: implement BinarySemaphore

---
 libraries/AP_HAL_Linux/Semaphores.cpp | 53 +++++++++++++++++++++++++++
 libraries/AP_HAL_Linux/Semaphores.h   | 16 ++++++++
 2 files changed, 69 insertions(+)

diff --git a/libraries/AP_HAL_Linux/Semaphores.cpp b/libraries/AP_HAL_Linux/Semaphores.cpp
index dcc0e7af41d353..502648877d8752 100644
--- a/libraries/AP_HAL_Linux/Semaphores.cpp
+++ b/libraries/AP_HAL_Linux/Semaphores.cpp
@@ -44,3 +44,56 @@ bool Semaphore::take_nonblocking()
     return pthread_mutex_trylock(&_lock) == 0;
 }
 
+/*
+  binary semaphore using pthread condition variables
+ */
+
+BinarySemaphore::BinarySemaphore(bool initial_state) :
+    AP_HAL::BinarySemaphore(initial_state)
+{
+    pthread_cond_init(&cond, NULL);
+    pending = initial_state;
+}
+
+bool BinarySemaphore::wait(uint32_t timeout_us)
+{
+    WITH_SEMAPHORE(mtx);
+    if (!pending) {
+        struct timespec ts;
+        if (clock_gettime(CLOCK_REALTIME, &ts) != 0) {
+            return false;
+        }
+        ts.tv_sec += timeout_us/1000000UL;
+        ts.tv_nsec += (timeout_us % 1000000U) * 1000UL;
+        if (ts.tv_nsec >= 1000000000L) {
+            ts.tv_sec++;
+            ts.tv_nsec -= 1000000000L;
+        }
+        if (pthread_cond_timedwait(&cond, &mtx._lock, &ts) != 0) {
+            return false;
+        }
+    }
+    pending = false;
+    return true;
+}
+
+bool BinarySemaphore::wait_blocking(void)
+{
+    WITH_SEMAPHORE(mtx);
+    if (!pending) {
+        if (pthread_cond_wait(&cond, &mtx._lock) != 0) {
+            return false;
+        }
+    }
+    pending = false;
+    return true;
+}
+
+void BinarySemaphore::signal(void)
+{
+    WITH_SEMAPHORE(mtx);
+    if (!pending) {
+        pending = true;
+        pthread_cond_signal(&cond);
+    }
+}
diff --git a/libraries/AP_HAL_Linux/Semaphores.h b/libraries/AP_HAL_Linux/Semaphores.h
index 90655871ec1aa5..e10af8116927b0 100644
--- a/libraries/AP_HAL_Linux/Semaphores.h
+++ b/libraries/AP_HAL_Linux/Semaphores.h
@@ -10,6 +10,7 @@ namespace Linux {
 
 class Semaphore : public AP_HAL::Semaphore {
 public:
+    friend class BinarySemaphore;
     Semaphore();
     bool give() override;
     bool take(uint32_t timeout_ms) override;
@@ -18,4 +19,19 @@ class Semaphore : public AP_HAL::Semaphore {
     pthread_mutex_t _lock;
 };
 
+
+class BinarySemaphore : public AP_HAL::BinarySemaphore {
+public:
+    BinarySemaphore(bool initial_state=false);
+
+    bool wait(uint32_t timeout_us) override;
+    bool wait_blocking(void) override;
+    void signal(void) override;
+
+protected:
+    Semaphore mtx;
+    pthread_cond_t cond;
+    bool pending;
+};
+    
 }

From 8f8048e4cd08b1d635d25172612850eb6e16bae9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:31:09 +1100
Subject: [PATCH 0281/1335] HAL_Linux: reimplement CAN with BinarySemaphore

---
 libraries/AP_HAL_Linux/CANSocketIface.cpp | 70 +++--------------------
 libraries/AP_HAL_Linux/CANSocketIface.h   | 15 +----
 2 files changed, 11 insertions(+), 74 deletions(-)

diff --git a/libraries/AP_HAL_Linux/CANSocketIface.cpp b/libraries/AP_HAL_Linux/CANSocketIface.cpp
index 03f3be88da8c59..05a02280ce9cec 100644
--- a/libraries/AP_HAL_Linux/CANSocketIface.cpp
+++ b/libraries/AP_HAL_Linux/CANSocketIface.cpp
@@ -51,8 +51,6 @@ using namespace Linux;
 #define Debug(fmt, args...)
 #endif
 
-CANIface::CANSocketEventSource CANIface::evt_can_socket[HAL_NUM_CAN_IFACES];
-
 static can_frame makeSocketCanFrame(const AP_HAL::CANFrame& uavcan_frame)
 {
     can_frame sockcan_frame { uavcan_frame.id& AP_HAL::CANFrame::MaskExtID, uavcan_frame.dlc, { } };
@@ -193,6 +191,9 @@ int16_t CANIface::receive(AP_HAL::CANFrame& out_frame, uint64_t& out_timestamp_u
         out_flags        = rx.flags;
     }
     (void)_rx_queue.pop();
+    if (sem_handle != nullptr) {
+        sem_handle->signal();
+    }
     return AP_HAL::CANIface::receive(out_frame, out_timestamp_us, out_flags);
 }
 
@@ -507,8 +508,9 @@ bool CANIface::select(bool &read_select, bool &write_select,
                 stats.num_tx_poll_req++;
             }
         }
-        if (_evt_handle != nullptr && blocking_deadline > AP_HAL::micros64()) {
-            _evt_handle->wait(blocking_deadline - AP_HAL::micros64());
+        const uint64_t now_us = AP_HAL::micros64();
+        if (sem_handle != nullptr && blocking_deadline > now_us) {
+            IGNORE_RETURN(sem_handle->wait(blocking_deadline - now_us));
         }
     }
 
@@ -528,67 +530,13 @@ bool CANIface::select(bool &read_select, bool &write_select,
     return true;
 }
 
-bool CANIface::set_event_handle(AP_HAL::EventHandle* handle) {
-    _evt_handle = handle;
-    evt_can_socket[_self_index]._ifaces[_self_index] = this;
-    _evt_handle->set_source(&evt_can_socket[_self_index]);
-    return true;
-}
-
-
-bool CANIface::CANSocketEventSource::wait(uint16_t duration_us, AP_HAL::EventHandle* evt_handle)
+bool CANIface::set_event_handle(AP_HAL::BinarySemaphore *handle)
 {
-    if (evt_handle == nullptr) {
-        return false;
-    }
-    pollfd pollfds[HAL_NUM_CAN_IFACES] {};
-    uint8_t pollfd_iface_map[HAL_NUM_CAN_IFACES] {};
-    unsigned long int num_pollfds = 0;
-    
-    // Poll FD set setup
-    for (unsigned i = 0; i < HAL_NUM_CAN_IFACES; i++) {
-        if (_ifaces[i] == nullptr) {
-            continue;
-        }
-        if (_ifaces[i]->_down) {
-            continue;
-        }
-        pollfds[num_pollfds] = _ifaces[i]->_pollfd;
-        pollfd_iface_map[num_pollfds] = i;
-        num_pollfds++;
-        _ifaces[i]->stats.num_poll_waits++;
-    }
-
-    if (num_pollfds == 0) {
-        return true;
-    }
-
-    // Timeout conversion
-    auto ts = timespec();
-    ts.tv_sec = 0;
-    ts.tv_nsec = duration_us * 1000UL;
-
-    // Blocking here
-    const int res = ppoll(pollfds, num_pollfds, &ts, nullptr);
-
-    if (res < 0) {
-        return false;
-    }
-
-    // Handling poll output
-    for (unsigned i = 0; i < num_pollfds; i++) {
-        if (_ifaces[pollfd_iface_map[i]] == nullptr) {
-            continue;
-        }
-        _ifaces[pollfd_iface_map[i]]->_updateDownStatusFromPollResult(pollfds[i]);
-
-        const bool poll_read  = pollfds[i].revents & POLLIN;
-        const bool poll_write = pollfds[i].revents & POLLOUT;
-        _ifaces[pollfd_iface_map[i]]->_poll(poll_read, poll_write);
-    }
+    sem_handle = handle;
     return true;
 }
 
+
 void CANIface::get_stats(ExpandingString &str)
 {
     str.printf("tx_requests:    %u\n"
diff --git a/libraries/AP_HAL_Linux/CANSocketIface.h b/libraries/AP_HAL_Linux/CANSocketIface.h
index a7e85f45753c6f..1e4d01a7b4666f 100644
--- a/libraries/AP_HAL_Linux/CANSocketIface.h
+++ b/libraries/AP_HAL_Linux/CANSocketIface.h
@@ -109,22 +109,12 @@ class CANIface: public AP_HAL::CANIface {
                 uint64_t blocking_deadline) override;
     
     // setup event handle for waiting on events
-    bool set_event_handle(AP_HAL::EventHandle* handle) override;
+    bool set_event_handle(AP_HAL::BinarySemaphore *handle) override;
 
     // fetch stats text and return the size of the same,
     // results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt 
     void get_stats(ExpandingString &str) override;
 
-    class CANSocketEventSource : public AP_HAL::EventSource {
-        friend class CANIface;
-        CANIface *_ifaces[HAL_NUM_CAN_IFACES];
-        
-    public:
-        // we just poll fd, no signaling is done
-        void signal(uint32_t evt_mask) override { return; }
-        bool wait(uint16_t duration_us, AP_HAL::EventHandle* evt_handle) override;
-    };
-
 private:
     void _pollWrite();
 
@@ -164,8 +154,7 @@ class CANIface: public AP_HAL::CANIface {
     const unsigned _max_frames_in_socket_tx_queue;
     unsigned _frames_in_socket_tx_queue;
     uint32_t _tx_frame_counter;
-    AP_HAL::EventHandle *_evt_handle;
-    static CANSocketEventSource evt_can_socket[HAL_NUM_CAN_IFACES];
+    AP_HAL::BinarySemaphore *sem_handle;
 
     pollfd _pollfd;
     std::map<SocketCanError, uint64_t> _errors;

From 5d1eb145cded21b848102fc3b45b58882fb5e9a7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:31:21 +1100
Subject: [PATCH 0282/1335] HAL_ESP32: implement BinarySemaphore

---
 libraries/AP_HAL_ESP32/HAL_ESP32_Namespace.h |  1 +
 libraries/AP_HAL_ESP32/Semaphores.cpp        | 43 ++++++++++++++++++++
 libraries/AP_HAL_ESP32/Semaphores.h          | 19 +++++++++
 3 files changed, 63 insertions(+)

diff --git a/libraries/AP_HAL_ESP32/HAL_ESP32_Namespace.h b/libraries/AP_HAL_ESP32/HAL_ESP32_Namespace.h
index d59f080c0c7249..fbd28b5dc6259e 100644
--- a/libraries/AP_HAL_ESP32/HAL_ESP32_Namespace.h
+++ b/libraries/AP_HAL_ESP32/HAL_ESP32_Namespace.h
@@ -15,6 +15,7 @@ class RCInput;
 class Util;
 class Semaphore;
 class Semaphore_Recursive;
+class BinarySemaphore;
 class GPIO;
 class DigitalSource;
 class Storage;
diff --git a/libraries/AP_HAL_ESP32/Semaphores.cpp b/libraries/AP_HAL_ESP32/Semaphores.cpp
index a397a53b183b88..d76ca820aeae18 100644
--- a/libraries/AP_HAL_ESP32/Semaphores.cpp
+++ b/libraries/AP_HAL_ESP32/Semaphores.cpp
@@ -73,3 +73,46 @@ bool Semaphore::check_owner()
 {
     return xSemaphoreGetMutexHolder((QueueHandle_t)handle) == xTaskGetCurrentTaskHandle();
 }
+
+
+/*
+  BinarySemaphore implementation
+ */
+BinarySemaphore::BinarySemaphore(bool initial_state)
+{
+    _sem = xSemaphoreCreateBinary();
+    if (initial_state) {
+        xSemaphoreGive(_sem);
+    }
+}
+
+bool BinarySemaphore::wait(uint32_t timeout_us)
+{
+    TickType_t ticks = pdMS_TO_TICKS(timeout_us / 1000U);
+    return xSemaphoreTake(_sem, ticks) == pdTRUE;
+}
+
+bool BinarySemaphore::wait_blocking()
+{
+    return xSemaphoreTake(_sem, portMAX_DELAY) == pdTRUE;
+}
+
+void BinarySemaphore::signal()
+{
+    xSemaphoreGive(_sem);
+}
+
+void BinarySemaphore::signal_ISR()
+{
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    xSemaphoreGiveFromISR(_sem, &xHigherPriorityTaskWoken);
+    portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+}
+
+BinarySemaphore::~BinarySemaphore(void)
+{
+    if (_sem != nullptr) {
+        vSemaphoreDelete(_sem);
+    }
+    _sem = nullptr;
+}
diff --git a/libraries/AP_HAL_ESP32/Semaphores.h b/libraries/AP_HAL_ESP32/Semaphores.h
index 844fd1b271d7b7..0a950f7a106208 100644
--- a/libraries/AP_HAL_ESP32/Semaphores.h
+++ b/libraries/AP_HAL_ESP32/Semaphores.h
@@ -20,6 +20,8 @@
 #include <AP_HAL/AP_HAL_Macros.h>
 #include <AP_HAL/Semaphores.h>
 #include "HAL_ESP32_Namespace.h"
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
 
 class ESP32::Semaphore : public AP_HAL::Semaphore
 {
@@ -34,3 +36,20 @@ class ESP32::Semaphore : public AP_HAL::Semaphore
 protected:
     void*  handle;
 };
+
+class ESP32::BinarySemaphore : public AP_HAL::BinarySemaphore {
+public:
+    BinarySemaphore(bool initial_state=false);
+    ~BinarySemaphore(void);
+
+    CLASS_NO_COPY(BinarySemaphore);
+
+    bool wait(uint32_t timeout_us) override;
+    bool wait_blocking(void) override;
+    void signal(void) override;
+    void signal_ISR(void) override;
+
+protected:
+    SemaphoreHandle_t _sem;
+};
+

From e22e07fbbd164e93c221f113bec4bd90bcec99f1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:32:20 +1100
Subject: [PATCH 0283/1335] AP_CANManager: reimplement with BinarySemaphore

---
 libraries/AP_CANManager/AP_CANSensor.cpp  | 2 +-
 libraries/AP_CANManager/AP_CANSensor.h    | 2 +-
 libraries/AP_CANManager/AP_SLCANIface.cpp | 4 ++--
 libraries/AP_CANManager/AP_SLCANIface.h   | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_CANManager/AP_CANSensor.cpp b/libraries/AP_CANManager/AP_CANSensor.cpp
index 025dfd8036e2f8..8e300eba0921bb 100644
--- a/libraries/AP_CANManager/AP_CANSensor.cpp
+++ b/libraries/AP_CANManager/AP_CANSensor.cpp
@@ -127,7 +127,7 @@ bool CANSensor::add_interface(AP_HAL::CANIface* can_iface)
         return false;
     }
 
-    if (!_can_iface->set_event_handle(&_event_handle)) {
+    if (!_can_iface->set_event_handle(&sem_handle)) {
         debug_can(AP_CANManager::LOG_ERROR, "Cannot add event handle");
         return false;
     }
diff --git a/libraries/AP_CANManager/AP_CANSensor.h b/libraries/AP_CANManager/AP_CANSensor.h
index e340b71facdd09..2cd775f4c39f78 100644
--- a/libraries/AP_CANManager/AP_CANSensor.h
+++ b/libraries/AP_CANManager/AP_CANSensor.h
@@ -77,7 +77,7 @@ class CANSensor : public AP_CANDriver {
     bool is_aux_11bit_driver;
 
     AP_CANDriver *_can_driver;
-    HAL_EventHandle _event_handle;
+    HAL_BinarySemaphore sem_handle;
     AP_HAL::CANIface* _can_iface;
 
 #ifdef HAL_BUILD_AP_PERIPH
diff --git a/libraries/AP_CANManager/AP_SLCANIface.cpp b/libraries/AP_CANManager/AP_SLCANIface.cpp
index dcd04dcff12f1a..496e8850ed2c1e 100644
--- a/libraries/AP_CANManager/AP_SLCANIface.cpp
+++ b/libraries/AP_CANManager/AP_SLCANIface.cpp
@@ -561,11 +561,11 @@ void SLCAN::CANIface::update_slcan_port()
     }
 }
 
-bool SLCAN::CANIface::set_event_handle(AP_HAL::EventHandle* evt_handle)
+bool SLCAN::CANIface::set_event_handle(AP_HAL::BinarySemaphore *sem_handle)
 {
     // When in passthrough mode methods is handled through can iface
     if (_can_iface) {
-        return _can_iface->set_event_handle(evt_handle);
+        return _can_iface->set_event_handle(sem_handle);
     }
     return false;
 }
diff --git a/libraries/AP_CANManager/AP_SLCANIface.h b/libraries/AP_CANManager/AP_SLCANIface.h
index 2f3f35382cdceb..a15ac4f5886c50 100644
--- a/libraries/AP_CANManager/AP_SLCANIface.h
+++ b/libraries/AP_CANManager/AP_SLCANIface.h
@@ -111,7 +111,7 @@ class CANIface: public AP_HAL::CANIface
     void reset_params();
 
     // Overriden methods
-    bool set_event_handle(AP_HAL::EventHandle* evt_handle) override;
+    bool set_event_handle(AP_HAL::BinarySemaphore *sem_handle) override;
     uint16_t getNumFilters() const override;
     uint32_t getErrorCount() const override;
     void get_stats(ExpandingString &) override;

From 036ae93cbbcb73675a03fb59b344d57cbb659f48 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:32:31 +1100
Subject: [PATCH 0284/1335] AP_DroneCAN: reimplement with BinarySemaphore

---
 libraries/AP_DroneCAN/AP_Canard_iface.cpp | 7 +++----
 libraries/AP_DroneCAN/AP_Canard_iface.h   | 2 +-
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_DroneCAN/AP_Canard_iface.cpp b/libraries/AP_DroneCAN/AP_Canard_iface.cpp
index 86bedca40e680d..ebece8962676ac 100644
--- a/libraries/AP_DroneCAN/AP_Canard_iface.cpp
+++ b/libraries/AP_DroneCAN/AP_Canard_iface.cpp
@@ -406,10 +406,9 @@ void CanardInterface::process(uint32_t duration_ms) {
             WITH_SEMAPHORE(_sem_tx);
             canardCleanupStaleTransfers(&canard, AP_HAL::micros64());
         }
-        uint64_t now = AP_HAL::micros64();
+        const uint64_t now = AP_HAL::micros64();
         if (now < deadline) {
-            _event_handle.wait(MIN(UINT16_MAX - 2U, deadline - now));
-            hal.scheduler->delay_microseconds(50);
+            IGNORE_RETURN(sem_handle.wait(deadline - now));
         } else {
             break;
         }
@@ -436,7 +435,7 @@ bool CanardInterface::add_interface(AP_HAL::CANIface *can_iface)
         AP::can().log_text(AP_CANManager::LOG_ERROR, LOG_TAG, "DroneCANIfaceMgr: Can't alloc uavcan::iface\n");
         return false;
     }
-    if (!can_iface->set_event_handle(&_event_handle)) {
+    if (!can_iface->set_event_handle(&sem_handle)) {
         AP::can().log_text(AP_CANManager::LOG_ERROR, LOG_TAG, "DroneCANIfaceMgr: Setting event handle failed\n");
         return false;
     }
diff --git a/libraries/AP_DroneCAN/AP_Canard_iface.h b/libraries/AP_DroneCAN/AP_Canard_iface.h
index ce9b75ee923d79..43d786639fdf05 100644
--- a/libraries/AP_DroneCAN/AP_Canard_iface.h
+++ b/libraries/AP_DroneCAN/AP_Canard_iface.h
@@ -72,7 +72,7 @@ class CanardInterface : public Canard::Interface {
     static CanardInterface test_iface;
 #endif
     uint8_t num_ifaces;
-    HAL_EventHandle _event_handle;
+    HAL_BinarySemaphore sem_handle;
     bool initialized;
     HAL_Semaphore _sem_tx;
     HAL_Semaphore _sem_rx;

From 7059f980b887913596293b095e370408ab8d0cbb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:33:21 +1100
Subject: [PATCH 0285/1335] HAL_SITL: implement BinarySemaphore

---
 libraries/AP_HAL_SITL/AP_HAL_SITL_Namespace.h |  1 +
 libraries/AP_HAL_SITL/Semaphores.cpp          | 73 +++++++++++++++++++
 libraries/AP_HAL_SITL/Semaphores.h            | 18 +++++
 3 files changed, 92 insertions(+)

diff --git a/libraries/AP_HAL_SITL/AP_HAL_SITL_Namespace.h b/libraries/AP_HAL_SITL/AP_HAL_SITL_Namespace.h
index 5a360cbf591140..f5924ebd8de17f 100644
--- a/libraries/AP_HAL_SITL/AP_HAL_SITL_Namespace.h
+++ b/libraries/AP_HAL_SITL/AP_HAL_SITL_Namespace.h
@@ -15,6 +15,7 @@ class ADCSource;
 class RCInput;
 class Util;
 class Semaphore;
+class BinarySemaphore;
 class GPIO;
 class DigitalSource;
 class DSP;
diff --git a/libraries/AP_HAL_SITL/Semaphores.cpp b/libraries/AP_HAL_SITL/Semaphores.cpp
index 216c1d98ee39df..0067fd9c148f18 100644
--- a/libraries/AP_HAL_SITL/Semaphores.cpp
+++ b/libraries/AP_HAL_SITL/Semaphores.cpp
@@ -76,4 +76,77 @@ bool Semaphore::take_nonblocking()
     return false;
 }
 
+
+/*
+  binary semaphore using pthread condition variables
+ */
+
+BinarySemaphore::BinarySemaphore(bool initial_state) :
+    AP_HAL::BinarySemaphore(initial_state)
+{
+    pthread_cond_init(&cond, NULL);
+    pending = initial_state;
+}
+
+bool BinarySemaphore::wait(uint32_t timeout_us)
+{
+    WITH_SEMAPHORE(mtx);
+    if (!pending) {
+        if (hal.scheduler->in_main_thread() ||
+            Scheduler::from(hal.scheduler)->semaphore_wait_hack_required()) {
+            /*
+              when in the main thread we need to do a busy wait to ensure
+              the clock advances
+            */
+            uint64_t end_us = AP_HAL::micros64() + timeout_us;
+            struct timespec ts {};
+            do {
+                if (pthread_cond_timedwait(&cond, &mtx._lock, &ts) == 0) {
+                    pending = false;
+                    return true;
+                }
+                hal.scheduler->delay_microseconds(10);
+            } while (AP_HAL::micros64() < end_us);
+            return false;
+        }
+
+        struct timespec ts;
+        if (clock_gettime(CLOCK_REALTIME, &ts) != 0) {
+            return false;
+        }
+        ts.tv_sec += timeout_us/1000000UL;
+        ts.tv_nsec += (timeout_us % 1000000U) * 1000UL;
+        if (ts.tv_nsec >= 1000000000L) {
+            ts.tv_sec++;
+            ts.tv_nsec -= 1000000000L;
+        }
+        if (pthread_cond_timedwait(&cond, &mtx._lock, &ts) != 0) {
+            return false;
+        }
+    }
+    pending = false;
+    return true;
+}
+
+bool BinarySemaphore::wait_blocking(void)
+{
+    WITH_SEMAPHORE(mtx);
+    if (!pending) {
+        if (pthread_cond_wait(&cond, &mtx._lock) != 0) {
+            return false;
+        }
+    }
+    pending = false;
+    return true;
+}
+
+void BinarySemaphore::signal(void)
+{
+    WITH_SEMAPHORE(mtx);
+    if (!pending) {
+        pending = true;
+        pthread_cond_signal(&cond);
+    }
+}
+
 #endif  // CONFIG_HAL_BOARD
diff --git a/libraries/AP_HAL_SITL/Semaphores.h b/libraries/AP_HAL_SITL/Semaphores.h
index 63aa57f2f5b6f3..c88d76854f3d8d 100644
--- a/libraries/AP_HAL_SITL/Semaphores.h
+++ b/libraries/AP_HAL_SITL/Semaphores.h
@@ -9,6 +9,7 @@
 
 class HALSITL::Semaphore : public AP_HAL::Semaphore {
 public:
+    friend class HALSITL::BinarySemaphore;
     Semaphore();
     bool give() override;
     bool take(uint32_t timeout_ms) override;
@@ -24,3 +25,20 @@ class HALSITL::Semaphore : public AP_HAL::Semaphore {
     // semaphore once we're done with it
     uint8_t take_count;
 };
+
+
+class HALSITL::BinarySemaphore : public AP_HAL::BinarySemaphore {
+public:
+    BinarySemaphore(bool initial_state=false);
+
+    CLASS_NO_COPY(BinarySemaphore);
+
+    bool wait(uint32_t timeout_us) override;
+    bool wait_blocking(void) override;
+    void signal(void) override;
+
+private:
+    HALSITL::Semaphore mtx;
+    pthread_cond_t cond;
+    bool pending;
+};

From f0aa2a65e466001d0725aaabd819c598790643b5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:33:48 +1100
Subject: [PATCH 0286/1335] HAL_SITL: reimplement CAN with BinarySemaphore

---
 libraries/AP_HAL_SITL/CANSocketIface.cpp | 74 ++++--------------------
 libraries/AP_HAL_SITL/CANSocketIface.h   | 15 +----
 libraries/AP_HAL_SITL/CAN_Multicast.cpp  |  4 ++
 libraries/AP_HAL_SITL/CAN_Multicast.h    |  1 +
 libraries/AP_HAL_SITL/CAN_SocketCAN.cpp  |  4 ++
 libraries/AP_HAL_SITL/CAN_Transport.h    |  7 +++
 libraries/AP_HAL_SITL/SITL_State.cpp     |  8 ++-
 7 files changed, 35 insertions(+), 78 deletions(-)

diff --git a/libraries/AP_HAL_SITL/CANSocketIface.cpp b/libraries/AP_HAL_SITL/CANSocketIface.cpp
index ad8b10f37b86cf..af8fc068759256 100644
--- a/libraries/AP_HAL_SITL/CANSocketIface.cpp
+++ b/libraries/AP_HAL_SITL/CANSocketIface.cpp
@@ -52,8 +52,6 @@ using namespace HALSITL;
 #define Debug(fmt, args...)
 #endif
 
-CANIface::CANSocketEventSource CANIface::evt_can_socket[HAL_NUM_CAN_IFACES];
-
 uint8_t CANIface::_num_interfaces;
 
 bool CANIface::is_initialized() const
@@ -233,6 +231,9 @@ bool CANIface::init(const uint32_t bitrate, const OperatingMode mode)
         transport = nullptr;
         return false;
     }
+    if (sem_handle != nullptr) {
+        transport->set_event_handle(sem_handle);
+    }
     return true;
 }
 
@@ -256,8 +257,9 @@ bool CANIface::select(bool &read_select, bool &write_select,
         _pollfd.fd = transport->get_read_fd();
         _pollfd.events |= POLLIN;
     }
-    if (_evt_handle != nullptr && blocking_deadline > AP_HAL::micros64()) {
-        _evt_handle->wait(blocking_deadline - AP_HAL::micros64());
+    const uint64_t now_us = AP_HAL::micros64();
+    if (sem_handle != nullptr && blocking_deadline > now_us) {
+        IGNORE_RETURN(sem_handle->wait(blocking_deadline - now_us));
     }
 
     // Writing the output masks
@@ -267,70 +269,16 @@ bool CANIface::select(bool &read_select, bool &write_select,
     return true;
 }
 
-bool CANIface::set_event_handle(AP_HAL::EventHandle* handle)
-{
-    _evt_handle = handle;
-    evt_can_socket[_self_index]._ifaces[_self_index] = this;
-    _evt_handle->set_source(&evt_can_socket[_self_index]);
-    return true;
-}
-
-
-bool CANIface::CANSocketEventSource::wait(uint16_t duration_us, AP_HAL::EventHandle* evt_handle)
+bool CANIface::set_event_handle(AP_HAL::BinarySemaphore *handle)
 {
-    if (evt_handle == nullptr) {
-        return false;
-    }
-    pollfd pollfds[HAL_NUM_CAN_IFACES] {};
-    uint8_t pollfd_iface_map[HAL_NUM_CAN_IFACES] {};
-    unsigned long int num_pollfds = 0;
-    
-    // Poll FD set setup
-    for (unsigned i = 0; i < HAL_NUM_CAN_IFACES; i++) {
-        if (_ifaces[i] == nullptr) {
-            continue;
-        }
-        pollfds[num_pollfds] = _ifaces[i]->_pollfd;
-        pollfd_iface_map[num_pollfds] = i;
-        num_pollfds++;
-    }
-
-    if (num_pollfds == 0) {
-        return true;
-    }
-
-    const uint32_t start_us = AP_HAL::micros();
-    do {
-        uint16_t wait_us = MIN(100, duration_us);
-
-        // check FD for input
-        const int res = poll(pollfds, num_pollfds, wait_us/1000U);
-
-        if (res < 0) {
-            return false;
-        }
-        if (res > 0) {
-            break;
-        }
-        
-        // ensure simulator runs
-        hal.scheduler->delay_microseconds(wait_us);
-    } while (AP_HAL::micros() - start_us < duration_us);
-
-
-    // Handling poll output
-    for (unsigned i = 0; i < num_pollfds; i++) {
-        if (_ifaces[pollfd_iface_map[i]] == nullptr) {
-            continue;
-        }
-
-        const bool poll_read  = pollfds[i].revents & POLLIN;
-        const bool poll_write = pollfds[i].revents & POLLOUT;
-        _ifaces[pollfd_iface_map[i]]->_poll(poll_read, poll_write);
+    sem_handle = handle;
+    if (transport != nullptr) {
+        transport->set_event_handle(handle);
     }
     return true;
 }
 
+
 void CANIface::get_stats(ExpandingString &str)
 {
     str.printf("tx_requests:    %u\n"
diff --git a/libraries/AP_HAL_SITL/CANSocketIface.h b/libraries/AP_HAL_SITL/CANSocketIface.h
index c6f012a38d19da..5876217ecc4c4b 100644
--- a/libraries/AP_HAL_SITL/CANSocketIface.h
+++ b/libraries/AP_HAL_SITL/CANSocketIface.h
@@ -88,7 +88,7 @@ class CANIface: public AP_HAL::CANIface {
                 uint64_t blocking_deadline) override;
     
     // setup event handle for waiting on events
-    bool set_event_handle(AP_HAL::EventHandle* handle) override;
+    bool set_event_handle(AP_HAL::BinarySemaphore *handle) override;
 
     // fetch stats text and return the size of the same,
     // results available via @SYS/can0_stats.txt or @SYS/can1_stats.txt 
@@ -101,16 +101,6 @@ class CANIface: public AP_HAL::CANIface {
         return &stats;
     }
     
-    class CANSocketEventSource : public AP_HAL::EventSource {
-        friend class CANIface;
-        CANIface *_ifaces[HAL_NUM_CAN_IFACES];
-        
-    public:
-        // we just poll fd, no signaling is done
-        void signal(uint32_t evt_mask) override { return; }
-        bool wait(uint16_t duration_us, AP_HAL::EventHandle* evt_handle) override;
-    };
-
 private:
     void _pollWrite();
 
@@ -134,8 +124,7 @@ class CANIface: public AP_HAL::CANIface {
 
     unsigned _frames_in_socket_tx_queue;
     uint32_t _tx_frame_counter;
-    AP_HAL::EventHandle *_evt_handle;
-    static CANSocketEventSource evt_can_socket[HAL_NUM_CAN_IFACES];
+    AP_HAL::BinarySemaphore *sem_handle;
 
     pollfd _pollfd;
     std::priority_queue<CanTxItem> _tx_queue;
diff --git a/libraries/AP_HAL_SITL/CAN_Multicast.cpp b/libraries/AP_HAL_SITL/CAN_Multicast.cpp
index fe843473241a37..8b7b7652167095 100644
--- a/libraries/AP_HAL_SITL/CAN_Multicast.cpp
+++ b/libraries/AP_HAL_SITL/CAN_Multicast.cpp
@@ -84,6 +84,10 @@ bool CAN_Multicast::receive(AP_HAL::CANFrame &frame)
     // run constructor to initialise
     new(&frame) AP_HAL::CANFrame(pkt.message_id, pkt.data, ret-10, (pkt.flags & MCAST_FLAG_CANFD) != 0);
 
+    if (sem_handle != nullptr) {
+        sem_handle->signal();
+    }
+
     return true;
 }
 
diff --git a/libraries/AP_HAL_SITL/CAN_Multicast.h b/libraries/AP_HAL_SITL/CAN_Multicast.h
index d3725458e3d4fc..07b39982a7640c 100644
--- a/libraries/AP_HAL_SITL/CAN_Multicast.h
+++ b/libraries/AP_HAL_SITL/CAN_Multicast.h
@@ -9,6 +9,7 @@
 
 class CAN_Multicast : public CAN_Transport {
 public:
+
     bool init(uint8_t instance) override;
     bool send(const AP_HAL::CANFrame &frame) override;
     bool receive(AP_HAL::CANFrame &frame) override;
diff --git a/libraries/AP_HAL_SITL/CAN_SocketCAN.cpp b/libraries/AP_HAL_SITL/CAN_SocketCAN.cpp
index 09df128ba374be..44c3447d8c8b9d 100644
--- a/libraries/AP_HAL_SITL/CAN_SocketCAN.cpp
+++ b/libraries/AP_HAL_SITL/CAN_SocketCAN.cpp
@@ -85,6 +85,10 @@ bool CAN_SocketCAN::receive(AP_HAL::CANFrame &frame)
 
     // run constructor to initialise
     new(&frame) AP_HAL::CANFrame(receive_frame.can_id, receive_frame.data, receive_frame.can_dlc, false);
+
+    if (sem_handle != nullptr) {
+        sem_handle->signal();
+    }
     return true;
 }
 
diff --git a/libraries/AP_HAL_SITL/CAN_Transport.h b/libraries/AP_HAL_SITL/CAN_Transport.h
index 52307c4c95799f..76346109e30e6b 100644
--- a/libraries/AP_HAL_SITL/CAN_Transport.h
+++ b/libraries/AP_HAL_SITL/CAN_Transport.h
@@ -16,6 +16,13 @@ class CAN_Transport {
     virtual bool send(const AP_HAL::CANFrame &frame) = 0;
     virtual bool receive(AP_HAL::CANFrame &frame) = 0;
     virtual int get_read_fd(void) const = 0;
+
+    void set_event_handle(AP_HAL::BinarySemaphore *handle) {
+        sem_handle = handle;
+    }
+
+protected:
+    AP_HAL::BinarySemaphore *sem_handle;
 };
 
 #endif // HAL_NUM_CAN_IFACES
diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index 7bc5dab806afdc..19fce2e7e78402 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -336,7 +336,9 @@ void SITL_State::_fdm_input_local(void)
     _check_rc_input();
 
     // construct servos structure for FDM
-    _simulator_servos(input);
+    if (_sitl != nullptr) {
+        _simulator_servos(input);
+    }
 
 #if HAL_SIM_JSON_MASTER_ENABLED
     // read servo inputs from ride along flight controllers
@@ -344,7 +346,9 @@ void SITL_State::_fdm_input_local(void)
 #endif
 
     // replace outputs from multicast
-    multicast_servo_update(input);
+    if (_sitl != nullptr) {
+        multicast_servo_update(input);
+    }
 
     // update the model
     sitl_model->update_home();

From 9c1e145c8fff1e27df24f84d734fc0fc6b623a0d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:34:00 +1100
Subject: [PATCH 0287/1335] AP_PiccoloCAN: reimplement with BinarySemaphore

---
 libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp | 2 +-
 libraries/AP_PiccoloCAN/AP_PiccoloCAN.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
index 1cd68ac08aa0a2..ef07781772cec2 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
@@ -140,7 +140,7 @@ bool AP_PiccoloCAN::add_interface(AP_HAL::CANIface* can_iface) {
         return false;
     }
 
-    if (!_can_iface->set_event_handle(&_event_handle)) {
+    if (!_can_iface->set_event_handle(&sem_handle)) {
         debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: Cannot add event handle\n\r");
         return false;
     }
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
index 906cb772d09b6b..770f05dcf53bf6 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
@@ -114,7 +114,7 @@ class AP_PiccoloCAN : public AP_CANDriver, public AP_ESC_Telem_Backend
     char _thread_name[16];
     uint8_t _driver_index;
     AP_HAL::CANIface* _can_iface;
-    HAL_EventHandle _event_handle;
+    HAL_BinarySemaphore sem_handle;
 
     AP_PiccoloCAN_Servo _servos[PICCOLO_CAN_MAX_NUM_SERVO];
     AP_PiccoloCAN_ESC _escs[PICCOLO_CAN_MAX_NUM_ESC];

From 635c764c6fccb16334ad0075b5a23b96c1b94bda Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Dec 2023 08:56:24 +1100
Subject: [PATCH 0288/1335] AP_HAL: added BinarySemaphore test

---
 .../AP_HAL/examples/BinarySem/BinarySem.cpp   | 91 +++++++++++++++++++
 libraries/AP_HAL/examples/BinarySem/wscript   |  7 ++
 2 files changed, 98 insertions(+)
 create mode 100644 libraries/AP_HAL/examples/BinarySem/BinarySem.cpp
 create mode 100644 libraries/AP_HAL/examples/BinarySem/wscript

diff --git a/libraries/AP_HAL/examples/BinarySem/BinarySem.cpp b/libraries/AP_HAL/examples/BinarySem/BinarySem.cpp
new file mode 100644
index 00000000000000..885933ded9fa9d
--- /dev/null
+++ b/libraries/AP_HAL/examples/BinarySem/BinarySem.cpp
@@ -0,0 +1,91 @@
+/*
+  test of HAL_BinarySemaphore
+ */
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/Semaphores.h>
+
+#include <stdio.h>
+
+void setup();
+void loop();
+
+const AP_HAL::HAL& hal = AP_HAL::get_HAL();
+
+class BinarySemTest {
+public:
+    HAL_BinarySemaphore sem1{1};
+    HAL_BinarySemaphore sem2{0};
+
+    void setup(void);
+    void thread1(void);
+    void thread2(void);
+    void update(bool ok);
+
+    uint32_t ops, timeouts;
+    uint32_t last_print_us;
+    HAL_Semaphore mtx;
+};
+
+void BinarySemTest::setup(void)
+{
+    hal.scheduler->thread_create(
+        FUNCTOR_BIND_MEMBER(&BinarySemTest::thread1, void), "thd1", 2048, AP_HAL::Scheduler::PRIORITY_IO, 0);
+    hal.scheduler->thread_create(
+        FUNCTOR_BIND_MEMBER(&BinarySemTest::thread2, void), "thd2", 2048, AP_HAL::Scheduler::PRIORITY_IO, 0);
+    ::printf("Setup threads\n");
+}
+
+void BinarySemTest::thread2(void)
+{
+    while (true) {
+        bool ok = sem2.wait(50000);
+        sem1.signal();
+        update(ok);
+    }
+}
+
+void BinarySemTest::thread1(void)
+{
+    while (true) {
+        bool ok = sem1.wait(50000);
+        sem2.signal();
+        update(ok);
+    }
+}
+
+void BinarySemTest::update(bool ok)
+{
+    WITH_SEMAPHORE(mtx);
+    if (ok) {
+        ops++;
+    } else {
+        timeouts++;
+    }
+    uint32_t now_us = AP_HAL::micros();
+    float dt = (now_us - last_print_us)*1.0e-6;
+    if (dt >= 1.0) {
+        last_print_us = now_us;
+        ::printf("tick %u %.3f ops/s %.3f timeouts/s\n",
+                 unsigned(AP_HAL::millis()),
+                 ops/dt,
+                 timeouts/dt);
+        ops = 0;
+        timeouts = 0;
+    }
+}
+
+static BinarySemTest *ct;
+
+void setup(void)
+{
+    ct = new BinarySemTest;
+    ct->setup();
+}
+
+void loop(void)
+{
+    hal.scheduler->delay(1000);
+}
+
+AP_HAL_MAIN();
diff --git a/libraries/AP_HAL/examples/BinarySem/wscript b/libraries/AP_HAL/examples/BinarySem/wscript
new file mode 100644
index 00000000000000..719ec151ba9d4b
--- /dev/null
+++ b/libraries/AP_HAL/examples/BinarySem/wscript
@@ -0,0 +1,7 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+def build(bld):
+    bld.ap_example(
+        use='ap',
+    )

From 3bd8f1a3dfb5b548d62ec760e4158f30a7a7df4d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 4 Sep 2023 17:01:18 +1000
Subject: [PATCH 0289/1335] AP_Periph: rename rx-protocol-stats ins local to
 avoid conflict with ins singleton

---
 Tools/AP_Periph/can.cpp | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 4cb0d495ed90c3..dc3aa334ed0c5e 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -1225,19 +1225,19 @@ void AP_Periph_FW::update_rx_protocol_stats(int16_t res)
 void AP_Periph_FW::processRx(void)
 {
     AP_HAL::CANFrame rxmsg;
-    for (auto &ins : instances) {
-        if (ins.iface == NULL) {
+    for (auto &instance : instances) {
+        if (instance.iface == NULL) {
             continue;
         }
 #if HAL_NUM_CAN_IFACES >= 2
-        if (can_protocol_cached[ins.index] != AP_CAN::Protocol::DroneCAN) {
+        if (can_protocol_cached[instance.index] != AP_CAN::Protocol::DroneCAN) {
             continue;
         }
 #endif
         while (true) {
             bool read_select = true;
             bool write_select = false;
-            ins.iface->select(read_select, write_select, nullptr, 0);
+            instance.iface->select(read_select, write_select, nullptr, 0);
             if (!read_select) { // No data pending
                 break;
             }
@@ -1246,7 +1246,7 @@ void AP_Periph_FW::processRx(void)
             //palToggleLine(HAL_GPIO_PIN_LED);
             uint64_t timestamp;
             AP_HAL::CANIface::CanIOFlags flags;
-            if (ins.iface->receive(rxmsg, timestamp, flags) <= 0) {
+            if (instance.iface->receive(rxmsg, timestamp, flags) <= 0) {
                 break;
             }
 #if HAL_PERIPH_CAN_MIRROR
@@ -1267,7 +1267,7 @@ void AP_Periph_FW::processRx(void)
 #endif
             rx_frame.id = rxmsg.id;
 #if CANARD_MULTI_IFACE
-            rx_frame.iface_id = ins.index;
+            rx_frame.iface_id = instance.index;
 #endif
 
             const int16_t res = canardHandleRxFrame(&dronecan.canard, &rx_frame, timestamp);
@@ -1362,14 +1362,14 @@ void AP_Periph_FW::node_status_send(void)
                                     buffer,
                                     len);
         }
-        for (auto &ins : instances) {
+        for (auto &instance : instances) {
             uint8_t buffer[DRONECAN_PROTOCOL_CANSTATS_MAX_SIZE];
             dronecan_protocol_CanStats can_stats;
-            const AP_HAL::CANIface::bus_stats_t *bus_stats = ins.iface->get_statistics();
+            const AP_HAL::CANIface::bus_stats_t *bus_stats = instance.iface->get_statistics();
             if (bus_stats == nullptr) {
                 return;
             }
-            can_stats.interface = ins.index;
+            can_stats.interface = instance.index;
             can_stats.tx_requests = bus_stats->tx_requests;
             can_stats.tx_rejected = bus_stats->tx_rejected;
             can_stats.tx_overflow = bus_stats->tx_overflow;

From f83b56156653ae79f9551a74da53aa2b5faca462 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 14 Sep 2023 21:05:58 +1000
Subject: [PATCH 0290/1335] AP_HAL_SITL: guard against DSP being compiled out
 of code

---
 libraries/AP_HAL_SITL/DSP.cpp            | 4 ++++
 libraries/AP_HAL_SITL/DSP.h              | 5 +++++
 libraries/AP_HAL_SITL/HAL_SITL_Class.cpp | 4 ++++
 3 files changed, 13 insertions(+)

diff --git a/libraries/AP_HAL_SITL/DSP.cpp b/libraries/AP_HAL_SITL/DSP.cpp
index c67223bfe7ec4b..2bb4d8131ad34a 100644
--- a/libraries/AP_HAL_SITL/DSP.cpp
+++ b/libraries/AP_HAL_SITL/DSP.cpp
@@ -17,6 +17,8 @@
 
 #include <AP_HAL/AP_HAL.h>
 
+#if HAL_WITH_DSP
+
 #include "AP_HAL_SITL.h"
 #include <AP_Math/AP_Math.h>
 #include <GCS_MAVLink/GCS.h>
@@ -209,3 +211,5 @@ void DSP::calculate_fft(complexf *samples, uint16_t fftlen)
         istep <<= 1;
     }
 }
+
+#endif
diff --git a/libraries/AP_HAL_SITL/DSP.h b/libraries/AP_HAL_SITL/DSP.h
index 9813fe4bfe5fb2..c8acab8ed416d5 100644
--- a/libraries/AP_HAL_SITL/DSP.h
+++ b/libraries/AP_HAL_SITL/DSP.h
@@ -17,6 +17,9 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
+
+#if HAL_WITH_DSP
+
 #include "AP_HAL_SITL.h"
 
 #include <complex>
@@ -55,3 +58,5 @@ class HALSITL::DSP : public AP_HAL::DSP {
     void vector_add_float(const float* vin1, const float* vin2, float* vout, uint16_t len) const override;
     void calculate_fft(complexf* f, uint16_t length);
 };
+
+#endif
diff --git a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
index 0d79624ee6bcf3..88b19026f7785a 100644
--- a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
+++ b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
@@ -46,7 +46,9 @@ static Empty::RCInput  sitlRCInput;
 static RCOutput sitlRCOutput(&sitlState);
 static GPIO sitlGPIO(&sitlState);
 static AnalogIn sitlAnalogIn(&sitlState);
+#if HAL_WITH_DSP
 static DSP dspDriver;
+#endif
 
 
 // use the Empty HAL for hardware we don't emulate
@@ -104,7 +106,9 @@ HAL_SITL::HAL_SITL() :
         &utilInstance,      /* util */
         &emptyOpticalFlow,  /* onboard optical flow */
         &emptyFlash,        /* flash driver */
+#if HAL_WITH_DSP
         &dspDriver,         /* dsp driver */
+#endif
 #if HAL_NUM_CAN_IFACES
         (AP_HAL::CANIface**)canDrivers
 #else

From 9e5edefc4a86aa77d920f765af5ce2fd2da60bf3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 14 Sep 2023 21:21:37 +1000
Subject: [PATCH 0291/1335] AP_HAL: guard against DSP being compiled out of
 code

---
 libraries/AP_HAL/HAL.h | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL/HAL.h b/libraries/AP_HAL/HAL.h
index fdaee2c43357b8..cb71ca5ec833f3 100644
--- a/libraries/AP_HAL/HAL.h
+++ b/libraries/AP_HAL/HAL.h
@@ -46,7 +46,9 @@ class AP_HAL::HAL {
 #if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL
         class AP_HAL::SIMState*   _simstate,
 #endif
+#if HAL_WITH_DSP
         AP_HAL::DSP*        _dsp,
+#endif
 #if HAL_NUM_CAN_IFACES > 0
         AP_HAL::CANIface* _can_ifaces[HAL_NUM_CAN_IFACES])
 #else
@@ -76,11 +78,13 @@ class AP_HAL::HAL {
         scheduler(_scheduler),
         util(_util),
         opticalflow(_opticalflow),
-        flash(_flash),
+#if HAL_WITH_DSP
+        dsp(_dsp),
+#endif
 #if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL
         simstate(_simstate),
 #endif
-        dsp(_dsp)
+        flash(_flash)
     {
 #if HAL_NUM_CAN_IFACES > 0
         if (_can_ifaces == nullptr) {

From d5ddbad27f0c606571d54427a5f1cab04b05aa85 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 1 Oct 2023 08:17:34 +1100
Subject: [PATCH 0292/1335] HAL_ChibiOS_Class: adjust for dsp disappearing from
 HAL constructor

---
 libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index 65ebdfafdaace5..2355fe4be5815e 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -110,8 +110,6 @@ static AP_HAL::SIMState xsimstate;
 
 #if HAL_WITH_DSP
 static ChibiOS::DSP dspDriver;
-#else
-static Empty::DSP dspDriver;
 #endif
 
 #ifndef HAL_NO_FLASH_SUPPORT
@@ -166,7 +164,9 @@ HAL_ChibiOS::HAL_ChibiOS() :
 #if AP_SIM_ENABLED
         &xsimstate,
 #endif
+#if HAL_WITH_DSP
         &dspDriver,
+#endif
 #if HAL_NUM_CAN_IFACES
         (AP_HAL::CANIface**)canDrivers
 #else

From 75ebef32cf66027cf5b4dd1815683d7a0a2bb221 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 2 Jan 2024 12:49:00 +1100
Subject: [PATCH 0293/1335] AP_HAL_ESP32: cope with HAL_WITH_DSP being false

---
 libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp b/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
index bedff42e98b7de..d4057a9af3422d 100644
--- a/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
+++ b/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
@@ -49,7 +49,9 @@ static Empty::UARTDriver serial7Driver;
 static Empty::UARTDriver serial8Driver;
 static Empty::UARTDriver serial9Driver;
 
+#if HAL_WITH_DSP
 static Empty::DSP dspDriver;
+#endif
 
 static ESP32::I2CDeviceManager i2cDeviceManager;
 static ESP32::SPIDeviceManager spiDeviceManager;
@@ -94,7 +96,9 @@ HAL_ESP32::HAL_ESP32() :
         &utilInstance,
         &opticalFlowDriver,
         &flashDriver,
+#if HAL_WITH_DSP
         &dspDriver,
+#endif
         nullptr
     )
 {}

From 7e51811a24362f34e72f39552122f4254acc0593 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 2 Jan 2024 12:49:00 +1100
Subject: [PATCH 0294/1335] AP_HAL_Linux: cope with HAL_WITH_DSP being false

---
 libraries/AP_HAL_Linux/HAL_Linux_Class.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index d89296b6a0feca..4b2cd90e28fa68 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -251,7 +251,9 @@ static OpticalFlow_Onboard opticalFlow;
 static Empty::OpticalFlow opticalFlow;
 #endif
 
+#if HAL_WITH_DSP
 static Empty::DSP dspDriver;
+#endif
 static Empty::Flash flashDriver;
 static Empty::WSPIDeviceManager wspi_mgr_instance;
 
@@ -284,7 +286,9 @@ HAL_Linux::HAL_Linux() :
         &utilInstance,
         &opticalFlow,
         &flashDriver,
+#if HAL_WITH_DSP
         &dspDriver,
+#endif
 #if HAL_NUM_CAN_IFACES
         (AP_HAL::CANIface**)canDrivers
 #else

From f8fcc9610345d43501dc79eebf811ba3d0a1adcf Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 2 Jan 2024 09:59:57 +1100
Subject: [PATCH 0295/1335] Tools: don't check all files if no files-to-check
 supplied

---
 Tools/scripts/run_flake8.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Tools/scripts/run_flake8.py b/Tools/scripts/run_flake8.py
index acfde4e4e52f63..22df522e00199d 100755
--- a/Tools/scripts/run_flake8.py
+++ b/Tools/scripts/run_flake8.py
@@ -25,6 +25,8 @@ def progress(self, string):
         print("****** %s" % (string,))
 
     def check(self):
+        if len(self.files_to_check) == 0:
+            return
         for path in self.files_to_check:
             self.progress("Checking (%s)" % path)
         ret = subprocess.run(["flake8", "--show-source"] + self.files_to_check,

From a5fee135b0dcca4242ea2646427b8b18fc03166d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 10 Dec 2023 07:10:41 +1100
Subject: [PATCH 0296/1335] waf: added paths for PPP build

---
 Tools/ardupilotwaf/chibios.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index dbc6c9b18779e8..c31479c270c904 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -692,6 +692,7 @@ def build(bld):
     common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.[ch]')
     common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.mk')
     common_src += bld.path.ant_glob('modules/ChibiOS/ext/lwip/src/**/*.[ch]')
+    common_src += bld.path.ant_glob('modules/ChibiOS/ext/lwip/src/netif/**/*.[ch]')
     common_src += bld.path.ant_glob('modules/ChibiOS/ext/lwip/src/core/**/*.[ch]')
     if bld.env.ROMFS_FILES:
         common_src += [bld.bldnode.find_or_declare('ap_romfs_embedded.h')]

From 2cb177ef7260d5877bbe6c79c8112c677a076c3b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 10 Dec 2023 07:11:24 +1100
Subject: [PATCH 0297/1335] AP_SerialManager: added PPP serial type

---
 libraries/AP_SerialManager/AP_SerialManager.cpp      | 9 ++++++++-
 libraries/AP_SerialManager/AP_SerialManager.h        | 1 +
 libraries/AP_SerialManager/AP_SerialManager_config.h | 5 +++++
 3 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_SerialManager/AP_SerialManager.cpp b/libraries/AP_SerialManager/AP_SerialManager.cpp
index 24a694e2d074b4..3d2ed06f5a061d 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.cpp
+++ b/libraries/AP_SerialManager/AP_SerialManager.cpp
@@ -580,7 +580,14 @@ void AP_SerialManager::init()
                     uart->set_unbuffered_writes(true);
                     break;
 #endif
-
+#if AP_NETWORKING_BACKEND_PPP
+                case SerialProtocol_PPP:
+                    uart->begin(state[i].baudrate(),
+                                         AP_SERIALMANAGER_PPP_BUFSIZE_RX,
+                                         AP_SERIALMANAGER_PPP_BUFSIZE_TX);
+                    break;
+#endif
+                    
                 default:
                     uart->begin(state[i].baudrate());
             }
diff --git a/libraries/AP_SerialManager/AP_SerialManager.h b/libraries/AP_SerialManager/AP_SerialManager.h
index 30bae549f6b879..d569d1f066d43a 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.h
+++ b/libraries/AP_SerialManager/AP_SerialManager.h
@@ -81,6 +81,7 @@ class AP_SerialManager {
         SerialProtocol_DDS_XRCE = 45,
         SerialProtocol_IMUOUT = 46,
         // Reserving Serial Protocol 47 for SerialProtocol_IQ
+        SerialProtocol_PPP = 48,
         SerialProtocol_NumProtocols                    // must be the last value
     };
 
diff --git a/libraries/AP_SerialManager/AP_SerialManager_config.h b/libraries/AP_SerialManager/AP_SerialManager_config.h
index 88bf3ccaa3c7db..a09a2995a09f2e 100644
--- a/libraries/AP_SerialManager/AP_SerialManager_config.h
+++ b/libraries/AP_SerialManager/AP_SerialManager_config.h
@@ -137,6 +137,11 @@
 #define AP_SERIALMANAGER_IMUOUT_BUFSIZE_RX     128
 #define AP_SERIALMANAGER_IMUOUT_BUFSIZE_TX     2048
 
+// PPP protocol
+#define AP_SERIALMANAGER_PPP_BAUD           921600
+#define AP_SERIALMANAGER_PPP_BUFSIZE_RX     4096
+#define AP_SERIALMANAGER_PPP_BUFSIZE_TX     4096
+
 #ifndef HAL_HAVE_SERIAL0
 #define HAL_HAVE_SERIAL0 HAL_NUM_SERIAL_PORTS > 0
 #endif

From 1627f7f61aa842542b4ab97370e6ccc57b0998dc Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 10 Dec 2023 07:11:35 +1100
Subject: [PATCH 0298/1335] AP_OSD: added PPP

---
 libraries/AP_OSD/AP_OSD_ParamSetting.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_OSD/AP_OSD_ParamSetting.cpp b/libraries/AP_OSD/AP_OSD_ParamSetting.cpp
index 6c3d7723a67b92..9efdef9b3659a9 100644
--- a/libraries/AP_OSD/AP_OSD_ParamSetting.cpp
+++ b/libraries/AP_OSD/AP_OSD_ParamSetting.cpp
@@ -117,7 +117,7 @@ static const char* SERIAL_PROTOCOL_VALUES[] = {
     "FSKY_TX", "LID360", "", "BEACN", "VOLZ", "SBUS", "ESC_TLM", "DEV_TLM", "OPTFLW", "RBTSRV",
     "NMEA", "WNDVNE", "SLCAN", "RCIN", "MGSQRT", "LTM", "RUNCAM", "HOT_TLM", "SCRIPT", "CRSF",
     "GEN", "WNCH", "MSP", "DJI", "AIRSPD", "ADSB", "AHRS", "AUDIO", "FETTEC", "TORQ",
-    "AIS", "CD_ESC", "MSP_DP", "MAV_HL", "TRAMP", "DDS", "IMUOUT",
+    "AIS", "CD_ESC", "MSP_DP", "MAV_HL", "TRAMP", "DDS", "IMUOUT", "IQ", "PPP",
 };
 static_assert(AP_SerialManager::SerialProtocol_NumProtocols == ARRAY_SIZE(SERIAL_PROTOCOL_VALUES), "Wrong size SerialProtocol_NumProtocols");
 

From e2dac53fca8e58419e6c0746d222e671c3cf1d2f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 9 Dec 2023 20:23:15 +1100
Subject: [PATCH 0299/1335] AP_Networking: added SLIP support

---
 libraries/AP_Networking/AP_Networking.cpp     | 24 ++++-
 .../AP_Networking/AP_Networking_Backend.h     |  2 +-
 .../AP_Networking/AP_Networking_Config.h      |  5 +
 libraries/AP_Networking/AP_Networking_SITL.h  |  1 -
 .../AP_Networking/AP_Networking_SLIP.cpp      | 99 +++++++++++++++++++
 libraries/AP_Networking/AP_Networking_SLIP.h  | 27 +++++
 6 files changed, 152 insertions(+), 6 deletions(-)
 create mode 100644 libraries/AP_Networking/AP_Networking_SLIP.cpp
 create mode 100644 libraries/AP_Networking/AP_Networking_SLIP.h

diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp
index 95856166fd17f5..c4cca2e6bd60d1 100644
--- a/libraries/AP_Networking/AP_Networking.cpp
+++ b/libraries/AP_Networking/AP_Networking.cpp
@@ -14,6 +14,7 @@ extern const AP_HAL::HAL& hal;
 
 #if AP_NETWORKING_BACKEND_CHIBIOS
 #include "AP_Networking_ChibiOS.h"
+#include "AP_Networking_SLIP.h"
 #include <hal_mii.h>
 #include <lwip/sockets.h>
 #else
@@ -22,6 +23,10 @@ extern const AP_HAL::HAL& hal;
 
 #include <AP_HAL/utility/Socket.h>
 
+#if AP_NETWORKING_BACKEND_SLIP
+#include "AP_Networking_SLIP.h"
+#endif
+
 #if AP_NETWORKING_BACKEND_SITL
 #include "AP_Networking_SITL.h"
 #endif
@@ -124,11 +129,21 @@ void AP_Networking::init()
     }
 #endif
 
+#if AP_NETWORKING_BACKEND_SLIP
+    if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_SLIP, 0)) {
+        backend = new AP_Networking_SLIP(*this);
+    }
+#endif
+
 #if AP_NETWORKING_BACKEND_CHIBIOS
-    backend = new AP_Networking_ChibiOS(*this);
+    if (backend == nullptr) {
+        backend = new AP_Networking_ChibiOS(*this);
+    }
 #endif
 #if AP_NETWORKING_BACKEND_SITL
-    backend = new AP_Networking_SITL(*this);
+    if (backend == nullptr) {
+        backend = new AP_Networking_SITL(*this);
+    }
 #endif
 
     if (backend == nullptr) {
@@ -374,15 +389,16 @@ AP_Networking &network()
  */
 int ap_networking_printf(const char *fmt, ...)
 {
-#ifdef AP_NETWORKING_LWIP_DEBUG_PORT
+#if AP_NETWORKING_LWIP_DEBUG_PORT >= 0
     static AP_HAL::UARTDriver *uart;
     if (uart == nullptr) {
         uart = hal.serial(AP_NETWORKING_LWIP_DEBUG_PORT);
         if (uart == nullptr) {
             return -1;
         }
-        uart->begin(921600, 0, 50000);
+        uart->begin(AP_NETWORKING_LWIP_DEBUG_BAUD, 1000, 50000);
     }
+    uart->begin(0);
     va_list ap;
     va_start(ap, fmt);
     uart->vprintf(fmt, ap);
diff --git a/libraries/AP_Networking/AP_Networking_Backend.h b/libraries/AP_Networking/AP_Networking_Backend.h
index 9233442c44da67..7fe0d21322802d 100644
--- a/libraries/AP_Networking/AP_Networking_Backend.h
+++ b/libraries/AP_Networking/AP_Networking_Backend.h
@@ -19,7 +19,7 @@ class AP_Networking_Backend
     CLASS_NO_COPY(AP_Networking_Backend);
 
     virtual bool init() = 0;
-    virtual void update() = 0;
+    virtual void update() {};
 
 protected:
     AP_Networking &frontend;
diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index 00ba6d50c1e60e..bbdbf5b37b729b 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -22,6 +22,11 @@
 // ---------------------------
 #ifndef AP_NETWORKING_BACKEND_CHIBIOS
 #define AP_NETWORKING_BACKEND_CHIBIOS (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
+#define AP_NETWORKING_BACKEND_SLIP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
+#endif
+
+#ifndef AP_NETWORKING_BACKEND_SLIP
+#define AP_NETWORKING_BACKEND_SLIP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
 #endif
 
 #ifndef AP_NETWORKING_BACKEND_SITL
diff --git a/libraries/AP_Networking/AP_Networking_SITL.h b/libraries/AP_Networking/AP_Networking_SITL.h
index 915e43f5f73413..d4e9a8c65be536 100644
--- a/libraries/AP_Networking/AP_Networking_SITL.h
+++ b/libraries/AP_Networking/AP_Networking_SITL.h
@@ -16,7 +16,6 @@ class AP_Networking_SITL : public AP_Networking_Backend
     bool init() override {
         return true;
     }
-    void update() override {}
 };
 
 #endif // AP_NETWORKING_BACKEND_SITL
diff --git a/libraries/AP_Networking/AP_Networking_SLIP.cpp b/libraries/AP_Networking/AP_Networking_SLIP.cpp
new file mode 100644
index 00000000000000..088bd024c810ae
--- /dev/null
+++ b/libraries/AP_Networking/AP_Networking_SLIP.cpp
@@ -0,0 +1,99 @@
+
+#include "AP_Networking_Config.h"
+
+#if AP_NETWORKING_BACKEND_SLIP
+
+#include "AP_Networking_SLIP.h"
+#include <GCS_MAVLink/GCS.h>
+
+#include <lwipthread.h>
+#include <lwip/udp.h>
+#include <lwip/ip_addr.h>
+#include <lwip/sio.h>
+#include <lwip/tcpip.h>
+
+#include <netif/slipif.h>
+
+extern const AP_HAL::HAL& hal;
+AP_HAL::UARTDriver *AP_Networking_SLIP::uart;
+
+/*
+  initialise SLIP network backend using LWIP
+ */
+bool AP_Networking_SLIP::init()
+{
+    uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_SLIP, 0);
+    if (uart == nullptr) {
+        return false;
+    }
+    uart->set_unbuffered_writes(true);
+    
+    slipif = new netif;
+    if (slipif == nullptr) {
+        return false;
+    }
+
+    // no dynamic IPs for SLIP
+    activeSettings.ip = frontend.get_ip_param();
+    activeSettings.gw = frontend.get_gateway_param();
+    activeSettings.nm = frontend.get_netmask_param();
+    activeSettings.last_change_ms = AP_HAL::millis();
+    
+    const ip4_addr_t ipaddr {htonl(activeSettings.ip)};
+    const ip4_addr_t netmask {htonl(activeSettings.nm)};
+    const ip4_addr_t gw {htonl(activeSettings.gw)};
+
+    tcpip_init(NULL, NULL);
+    hal.scheduler->delay(100);
+    
+    netif_add(slipif,
+              &ipaddr, &netmask, &gw,
+              &num_slip, slipif_init, ip_input);
+    netif_set_default(slipif);
+    slipif->mtu = 296;
+    netif_set_link_up(slipif);
+    netif_set_up(slipif);
+    
+    hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking_SLIP::slip_loop, void),
+                                 "slip",
+                                 8192, AP_HAL::Scheduler::PRIORITY_UART, -1);
+    
+    return true;
+}
+
+/*
+  main loop for SLIP
+ */
+void AP_Networking_SLIP::slip_loop(void)
+{
+    uart->begin(0);
+    hal.scheduler->delay(100);
+    while (true) {
+        slipif_poll(slipif);
+        hal.scheduler->delay_microseconds(100);
+    }
+}
+
+void sio_send(uint8_t c, void *fd)
+{
+    auto *uart = (AP_HAL::UARTDriver *)fd;
+    uart->write(c);
+}
+
+sio_fd_t sio_open(uint8_t dev)
+{
+    return AP_Networking_SLIP::uart;
+}
+
+u32_t sio_tryread(sio_fd_t fd, u8_t *data, u32_t len)
+{
+    auto *uart = (AP_HAL::UARTDriver *)fd;
+    uart->begin(0);
+    const auto ret = uart->read(data, len);
+    if (ret <= 0) {
+        return 0;
+    }
+    return ret;
+}
+
+#endif // AP_NETWORKING_BACKEND_SLIP
diff --git a/libraries/AP_Networking/AP_Networking_SLIP.h b/libraries/AP_Networking/AP_Networking_SLIP.h
new file mode 100644
index 00000000000000..a6c61d4f32ff01
--- /dev/null
+++ b/libraries/AP_Networking/AP_Networking_SLIP.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "AP_Networking_Config.h"
+
+#ifdef AP_NETWORKING_BACKEND_SLIP
+#include "AP_Networking_Backend.h"
+
+class AP_Networking_SLIP : public AP_Networking_Backend
+{
+public:
+    using AP_Networking_Backend::AP_Networking_Backend;
+
+    /* Do not allow copies */
+    CLASS_NO_COPY(AP_Networking_SLIP);
+
+    bool init() override;
+
+    static AP_HAL::UARTDriver *uart;
+    
+private:
+    void slip_loop(void);
+
+    struct netif *slipif;
+    uint8_t num_slip;
+};
+
+#endif // AP_NETWORKING_BACKEND_SLIP

From 896b95654cbf58211f1d77be8cd3c3f6b9cb2d78 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 10 Dec 2023 07:10:16 +1100
Subject: [PATCH 0300/1335] AP_Networking: added PPP support

---
 libraries/AP_Networking/AP_Networking.cpp     |  13 +-
 .../AP_Networking/AP_Networking_Config.h      |   5 +-
 libraries/AP_Networking/AP_Networking_PPP.cpp | 181 ++++++++++++++++++
 libraries/AP_Networking/AP_Networking_PPP.h   |  29 +++
 4 files changed, 226 insertions(+), 2 deletions(-)
 create mode 100644 libraries/AP_Networking/AP_Networking_PPP.cpp
 create mode 100644 libraries/AP_Networking/AP_Networking_PPP.h

diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp
index c4cca2e6bd60d1..66786f92fa23a2 100644
--- a/libraries/AP_Networking/AP_Networking.cpp
+++ b/libraries/AP_Networking/AP_Networking.cpp
@@ -15,6 +15,7 @@ extern const AP_HAL::HAL& hal;
 #if AP_NETWORKING_BACKEND_CHIBIOS
 #include "AP_Networking_ChibiOS.h"
 #include "AP_Networking_SLIP.h"
+#include "AP_Networking_PPP.h"
 #include <hal_mii.h>
 #include <lwip/sockets.h>
 #else
@@ -27,6 +28,10 @@ extern const AP_HAL::HAL& hal;
 #include "AP_Networking_SLIP.h"
 #endif
 
+#if AP_NETWORKING_BACKEND_PPP
+#include "AP_Networking_PPP.h"
+#endif
+
 #if AP_NETWORKING_BACKEND_SITL
 #include "AP_Networking_SITL.h"
 #endif
@@ -129,8 +134,14 @@ void AP_Networking::init()
     }
 #endif
 
+#if AP_NETWORKING_BACKEND_PPP
+    if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_PPP, 0)) {
+        backend = new AP_Networking_PPP(*this);
+    }
+#endif
+
 #if AP_NETWORKING_BACKEND_SLIP
-    if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_SLIP, 0)) {
+    if (backend == nullptr && AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_SLIP, 0)) {
         backend = new AP_Networking_SLIP(*this);
     }
 #endif
diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index bbdbf5b37b729b..d3567709555e2c 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -22,7 +22,10 @@
 // ---------------------------
 #ifndef AP_NETWORKING_BACKEND_CHIBIOS
 #define AP_NETWORKING_BACKEND_CHIBIOS (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
-#define AP_NETWORKING_BACKEND_SLIP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
+#endif
+
+#ifndef AP_NETWORKING_BACKEND_PPP
+#define AP_NETWORKING_BACKEND_PPP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
 #endif
 
 #ifndef AP_NETWORKING_BACKEND_SLIP
diff --git a/libraries/AP_Networking/AP_Networking_PPP.cpp b/libraries/AP_Networking/AP_Networking_PPP.cpp
new file mode 100644
index 00000000000000..ef4128871ff600
--- /dev/null
+++ b/libraries/AP_Networking/AP_Networking_PPP.cpp
@@ -0,0 +1,181 @@
+
+#include "AP_Networking_Config.h"
+
+#if AP_NETWORKING_BACKEND_PPP
+
+#include "AP_Networking_PPP.h"
+#include <GCS_MAVLink/GCS.h>
+
+#include <lwipthread.h>
+#include <lwip/udp.h>
+#include <lwip/ip_addr.h>
+#include <netif/ppp/ppp_opts.h>
+#include <netif/ppp/pppapi.h>
+#include <netif/ppp/pppos.h>
+#include <lwip/tcpip.h>
+
+
+extern const AP_HAL::HAL& hal;
+
+/*
+  uint32_t timestamp in smallest available units
+ */
+uint32_t sys_jiffies(void)
+{
+    return AP_HAL::micros();
+}
+
+/*
+  output some data to the uart
+ */
+uint32_t AP_Networking_PPP::ppp_output_cb(ppp_pcb *pcb, const void *data, uint32_t len, void *ctx)
+{
+    auto &driver = *(AP_Networking_PPP *)ctx;
+    LWIP_UNUSED_ARG(pcb);
+    uint32_t remaining = len;
+    uint8_t *ptr = const_cast<uint8_t*>((const uint8_t *)data);
+    while (remaining > 0) {
+        auto n = driver.uart->write(ptr, remaining);
+        if (n > 0) {
+            remaining -= n;
+            ptr += n;
+        } else {
+            hal.scheduler->delay_microseconds(100);
+        }
+    }
+    return len;
+}
+
+/*
+  callback on link status change
+ */
+void AP_Networking_PPP::ppp_status_callback(struct ppp_pcb_s *pcb, int code, void *ctx)
+{
+    auto &driver = *(AP_Networking_PPP *)ctx;
+    struct netif *pppif = ppp_netif(pcb);
+    const char *msg = nullptr;
+
+    switch (code) {
+    case PPPERR_NONE: {
+        // got addresses
+        driver.activeSettings.ip = ntohl(netif_ip4_addr(pppif)->addr);
+        driver.activeSettings.gw = ntohl(netif_ip4_gw(pppif)->addr);
+        driver.activeSettings.nm = ntohl(netif_ip4_netmask(pppif)->addr);
+        driver.activeSettings.last_change_ms = AP_HAL::millis();
+
+        break;
+    }
+    case PPPERR_PARAM: {           /* Invalid parameter. */
+        msg = "PPPERR_PARAM";
+        break;
+    }
+    case PPPERR_OPEN: {            /* Unable to open PPP session. */
+        msg = "PPPERR_OPEN";
+        break;
+    }
+    case PPPERR_DEVICE: {          /* Invalid I/O device for PPP. */
+        msg = "PPPERR_DEVICE";
+        break;
+    }
+    case PPPERR_ALLOC: {           /* Unable to allocate resources. */
+        msg = "PPPERR_ALLOC";
+        break;
+    }
+    case PPPERR_USER: {            /* User interrupt. */
+        msg = "PPPERR_USER";
+        break;
+    }
+    case PPPERR_CONNECT: {         /* Connection lost. */
+        msg = "PPPERR_CONNECT";
+        break;
+    }
+    case PPPERR_AUTHFAIL: {        /* Failed authentication challenge. */
+        msg = "PPPERR_AUTHFAIL";
+        break;
+    }
+    case PPPERR_PROTOCOL: {        /* Failed to meet protocol. */
+        msg = "PPPERR_PROTOCOL";
+        break;
+    }
+    case PPPERR_PEERDEAD: {        /* Connection timeout */
+        msg = "PPPERR_PEERDEAD";
+        break;
+    }
+    case PPPERR_IDLETIMEOUT: {     /* Idle Timeout */
+        msg = "PPPERR_IDLETIMEOUT";
+        break;
+    }
+    case PPPERR_CONNECTTIME: {     /* Max connect time reached */
+        msg = "PPPERR_CONNECTTIME";
+        break;
+    }
+    case PPPERR_LOOPBACK: {        /* Loopback detected */
+        msg = "PPPERR_LOOPBACK";
+        break;
+    }
+    }
+    if (msg != nullptr) {
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: %s", msg);
+    }
+}
+
+
+/*
+  initialise PPP network backend using LWIP
+ */
+bool AP_Networking_PPP::init()
+{
+    uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_PPP, 0);
+    if (uart == nullptr) {
+        return false;
+    }
+    uart->set_unbuffered_writes(true);
+    
+    pppif = new netif;
+    if (pppif == nullptr) {
+        return false;
+    }
+
+    // initialise TCP/IP thread
+    tcpip_init(NULL, NULL);
+    hal.scheduler->delay(100);
+    
+    // create ppp connection
+    ppp = pppos_create(pppif, ppp_output_cb, ppp_status_callback, this);
+    if (ppp == nullptr) {
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: failed to create link");
+        return false;
+    }
+
+    // connect and set as default route
+    ppp_connect(ppp, 0);
+    netif_set_default(pppif);
+
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: started");
+    hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking_PPP::ppp_loop, void),
+                                 "ppp",
+                                 8192, AP_HAL::Scheduler::PRIORITY_UART, 0);
+
+    return true;
+}
+
+/*
+  main loop for PPP
+ */
+void AP_Networking_PPP::ppp_loop(void)
+{
+    // ensure this thread owns the uart
+    uart->begin(0);
+
+    while (true) {
+        uint8_t buf[1024];
+        auto n = uart->read(buf, sizeof(buf));
+        if (n > 0) {
+            pppos_input(ppp, buf, n);
+        } else {
+            hal.scheduler->delay_microseconds(100);
+        }
+    }
+}
+
+#endif // AP_NETWORKING_BACKEND_PPP
diff --git a/libraries/AP_Networking/AP_Networking_PPP.h b/libraries/AP_Networking/AP_Networking_PPP.h
new file mode 100644
index 00000000000000..e04b9ec2345a36
--- /dev/null
+++ b/libraries/AP_Networking/AP_Networking_PPP.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#include "AP_Networking_Config.h"
+
+#ifdef AP_NETWORKING_BACKEND_PPP
+#include "AP_Networking_Backend.h"
+
+class AP_Networking_PPP : public AP_Networking_Backend
+{
+public:
+    using AP_Networking_Backend::AP_Networking_Backend;
+
+    /* Do not allow copies */
+    CLASS_NO_COPY(AP_Networking_PPP);
+
+    bool init() override;
+
+private:
+    void ppp_loop(void);
+
+    AP_HAL::UARTDriver *uart;
+    struct netif *pppif;
+    struct ppp_pcb_s *ppp;
+
+    static void ppp_status_callback(struct ppp_pcb_s *pcb, int code, void *ctx);
+    static uint32_t ppp_output_cb(struct ppp_pcb_s *pcb, const void *data, uint32_t len, void *ctx);
+};
+
+#endif // AP_NETWORKING_BACKEND_PPP

From e53729f33133b27e6ba4988b97cc27dd99935a80 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 12 Dec 2023 19:02:42 +1100
Subject: [PATCH 0301/1335] AP_HAL: make Socket.cpp safe for lwip and SITL
 usage

---
 libraries/AP_HAL/utility/Socket.cpp | 43 ++++++++++++++++++++---------
 libraries/AP_HAL/utility/Socket.h   | 23 +++++++--------
 2 files changed, 40 insertions(+), 26 deletions(-)

diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index 363b144d6720b3..0bad1ba6a99f29 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -21,9 +21,23 @@
 #if AP_NETWORKING_SOCKETS_ENABLED
 
 #include "Socket.h"
+#if AP_NETWORKING_BACKEND_CHIBIOS || AP_NETWORKING_BACKEND_PPP
+#include <lwip/sockets.h>
+#else
+// SITL or Linux
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netinet/tcp.h>
+#include <arpa/inet.h>
+#include <sys/select.h>
+#endif
+
 #include <errno.h>
 
-#if AP_NETWORKING_BACKEND_CHIBIOS
+#if AP_NETWORKING_BACKEND_CHIBIOS || AP_NETWORKING_BACKEND_PPP
 #define CALL_PREFIX(x) ::lwip_##x
 #else
 #define CALL_PREFIX(x) ::x
@@ -33,6 +47,8 @@
 #define MSG_NOSIGNAL 0
 #endif
 
+static_assert(sizeof(last_in_addr) == sizeof(struct sockaddr_in), "last_in_addr must match sockaddr_in size");
+
 /*
   constructor
  */
@@ -185,7 +201,7 @@ bool SocketAPM::connect_timeout(const char *address, uint16_t port, uint32_t tim
     }
     int sock_error = 0;
     socklen_t len = sizeof(sock_error);
-    if (getsockopt(fd, SOL_SOCKET, SO_ERROR, (void*)&sock_error, &len) != 0) {
+    if (CALL_PREFIX(getsockopt)(fd, SOL_SOCKET, SO_ERROR, (void*)&sock_error, &len) != 0) {
         return false;
     }
     connected = sock_error == 0;
@@ -294,10 +310,10 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
         errno = EWOULDBLOCK;
         return -1;
     }
-    socklen_t len = sizeof(in_addr);
+    socklen_t len = sizeof(last_in_addr);
     int fin = get_read_fd();
     ssize_t ret;
-    ret = CALL_PREFIX(recvfrom)(fin, buf, size, MSG_DONTWAIT, (sockaddr *)&in_addr, &len);
+    ret = CALL_PREFIX(recvfrom)(fin, buf, size, MSG_DONTWAIT, (sockaddr *)&last_in_addr, &len);
     if (ret <= 0) {
         if (!datagram && connected && ret == 0) {
             // remote host has closed connection
@@ -314,9 +330,9 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
         if (CALL_PREFIX(getsockname)(fd, (struct sockaddr *)&send_addr, &send_len) != 0) {
             return -1;
         }
-        if (in_addr.sin_port == send_addr.sin_port &&
-            in_addr.sin_family == send_addr.sin_family &&
-            in_addr.sin_addr.s_addr == send_addr.sin_addr.s_addr) {
+        if (last_in_addr.sin_port == send_addr.sin_port &&
+            last_in_addr.sin_family == send_addr.sin_family &&
+            last_in_addr.sin_addr.s_addr == send_addr.sin_addr.s_addr) {
             // discard packets from ourselves
             return -1;
         }
@@ -329,8 +345,9 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
  */
 void SocketAPM::last_recv_address(const char *&ip_addr, uint16_t &port) const
 {
-    ip_addr = inet_ntoa(in_addr.sin_addr);
-    port = ntohs(in_addr.sin_port);
+    static char buf[16];
+    auto *str = last_recv_address(buf, sizeof(buf), port);
+    ip_addr = str;
 }
 
 /*
@@ -338,11 +355,11 @@ void SocketAPM::last_recv_address(const char *&ip_addr, uint16_t &port) const
  */
 const char *SocketAPM::last_recv_address(char *ip_addr_buf, uint8_t buflen, uint16_t &port) const
 {
-    const char *ret = inet_ntop(AF_INET, (void*)&in_addr.sin_addr, ip_addr_buf, buflen);
+    const char *ret = CALL_PREFIX(inet_ntop)(AF_INET, (void*)&last_in_addr.sin_addr, ip_addr_buf, buflen);
     if (ret == nullptr) {
         return nullptr;
     }
-    port = ntohs(in_addr.sin_port);
+    port = ntohs(last_in_addr.sin_port);
     return ret;
 }
 
@@ -427,8 +444,8 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
         return nullptr;
     }
 
-    socklen_t len = sizeof(in_addr);
-    int newfd = CALL_PREFIX(accept)(fd, (sockaddr *)&in_addr, &len);
+    socklen_t len = sizeof(last_in_addr);
+    int newfd = CALL_PREFIX(accept)(fd, (sockaddr *)&last_in_addr, &len);
     if (newfd == -1) {
         return nullptr;
     }
diff --git a/libraries/AP_HAL/utility/Socket.h b/libraries/AP_HAL/utility/Socket.h
index a7bbf45e5ba1cf..480281b5d7af96 100644
--- a/libraries/AP_HAL/utility/Socket.h
+++ b/libraries/AP_HAL/utility/Socket.h
@@ -19,22 +19,12 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Networking/AP_Networking_Config.h>
+
 #if AP_NETWORKING_SOCKETS_ENABLED
 
 #if HAL_OS_SOCKETS
 
-#include <fcntl.h>
-#include <unistd.h>
-#include <sys/ioctl.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <netinet/tcp.h>
-#include <arpa/inet.h>
-#include <sys/select.h>
-#elif AP_NETWORKING_BACKEND_CHIBIOS
-#include <AP_Networking/AP_Networking_ChibiOS.h>
-#include <lwip/sockets.h>
-#endif
+struct sockaddr_in;
 
 class SocketAPM {
 public:
@@ -91,7 +81,13 @@ class SocketAPM {
 
 private:
     bool datagram;
-    struct sockaddr_in in_addr {};
+    struct {
+        uint16_t sin_family;
+        uint16_t sin_port;
+        struct {
+            uint32_t s_addr;
+        } sin_addr;
+    } last_in_addr;
     bool is_multicast_address(struct sockaddr_in &addr) const;
 
     int fd = -1;
@@ -104,4 +100,5 @@ class SocketAPM {
     void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
 };
 
+#endif // HAL_OS_SOCKETS
 #endif // AP_NETWORKING_SOCKETS_ENABLED

From 671bcdad18ae06de427f606553ab0dc4b812ab61 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 12 Dec 2023 19:04:09 +1100
Subject: [PATCH 0302/1335] HAL_SITL: avoid socket headers in .h files

this makes mixing SITL and lwip sockets possible
---
 libraries/AP_HAL_SITL/HAL_SITL_Class.cpp  |  3 +++
 libraries/AP_HAL_SITL/SITL_State.cpp      | 31 +++++++++++++----------
 libraries/AP_HAL_SITL/SITL_State.h        |  3 ++-
 libraries/AP_HAL_SITL/SITL_State_common.h |  4 ---
 libraries/AP_HAL_SITL/Scheduler.cpp       |  5 ++++
 libraries/AP_HAL_SITL/UARTDriver.cpp      | 12 +++++++++
 libraries/AP_HAL_SITL/UARTDriver.h        |  1 -
 libraries/AP_HAL_SITL/Util.cpp            |  3 +++
 8 files changed, 43 insertions(+), 19 deletions(-)

diff --git a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
index 88b19026f7785a..ab4a67dd83fe26 100644
--- a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
+++ b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
@@ -6,6 +6,9 @@
 #include <errno.h>
 #include <signal.h>
 #include <stdio.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
 
 #include "AP_HAL_SITL.h"
 #include "AP_HAL_SITL_Namespace.h"
diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index 19fce2e7e78402..29cc02156ce7fd 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -14,7 +14,12 @@
 #include <unistd.h>
 #include <stdlib.h>
 #include <errno.h>
+#include <sys/types.h>
 #include <sys/select.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <fcntl.h>
 
 #include <AP_Param/AP_Param.h>
 #include <SITL/SIM_JSBSim.h>
@@ -108,28 +113,25 @@ void SITL_State::_sitl_setup()
 /*
   setup a SITL FDM listening UDP port
  */
-void SITL_State::_setup_fdm(void)
+bool SITL_State::_setup_fdm(void)
 {
+    if (_rc_in_started) {
+        return true;
+    }
     if (!_sitl_rc_in.reuseaddress()) {
-        fprintf(stderr, "SITL: socket reuseaddress failed on RC in port: %d - %s\n", _rcin_port, strerror(errno));
-        fprintf(stderr, "Aborting launch...\n");
-        exit(1);
+        return false;
     }
     if (!_sitl_rc_in.bind("0.0.0.0", _rcin_port)) {
-        fprintf(stderr, "SITL: socket bind failed on RC in port : %d - %s\n", _rcin_port, strerror(errno));
-        fprintf(stderr, "Aborting launch...\n");
-        exit(1);
+        return false;
     }
     if (!_sitl_rc_in.set_blocking(false)) {
-        fprintf(stderr, "SITL: socket set_blocking(false) failed on RC in port: %d - %s\n", _rcin_port, strerror(errno));
-        fprintf(stderr, "Aborting launch...\n");
-        exit(1);
+        return false;
     }
     if (!_sitl_rc_in.set_cloexec()) {
-        fprintf(stderr, "SITL: socket set_cloexec() failed on RC in port: %d - %s\n", _rcin_port, strerror(errno));
-        fprintf(stderr, "Aborting launch...\n");
-        exit(1);
+        return false;
     }
+    _rc_in_started = true;
+    return true;
 }
 
 
@@ -244,6 +246,9 @@ bool SITL_State::_read_rc_sitl_input()
         uint16_t pwm[16];
     } pwm_pkt;
 
+    if (!_setup_fdm()) {
+        return false;
+    }
     const ssize_t size = _sitl_rc_in.recv(&pwm_pkt, sizeof(pwm_pkt), 0);
 
     // if we are simulating no pulses RC failure, do not update pwm_input
diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h
index 461ff51d600bed..5e5ce885b1f11b 100644
--- a/libraries/AP_HAL_SITL/SITL_State.h
+++ b/libraries/AP_HAL_SITL/SITL_State.h
@@ -59,7 +59,7 @@ class HALSITL::SITL_State : public SITL_State_Common {
     void _set_param_default(const char *parm);
     void _usage(void);
     void _sitl_setup();
-    void _setup_fdm(void);
+    bool _setup_fdm(void);
     void _setup_timer(void);
     void _setup_adc(void);
 
@@ -86,6 +86,7 @@ class HALSITL::SITL_State : public SITL_State_Common {
     Scheduler *_scheduler;
 
     SocketAPM _sitl_rc_in{true};
+    bool _rc_in_started;
     uint16_t _rcin_port;
     uint16_t _fg_view_port;
     uint16_t _irlock_port;
diff --git a/libraries/AP_HAL_SITL/SITL_State_common.h b/libraries/AP_HAL_SITL/SITL_State_common.h
index 5d5ea6999db603..509391760cd312 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.h
+++ b/libraries/AP_HAL_SITL/SITL_State_common.h
@@ -56,10 +56,6 @@
 #include "RCInput.h"
 
 #include <sys/types.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <netinet/udp.h>
-#include <arpa/inet.h>
 #include <vector>
 
 #include <AP_Baro/AP_Baro.h>
diff --git a/libraries/AP_HAL_SITL/Scheduler.cpp b/libraries/AP_HAL_SITL/Scheduler.cpp
index 2531722d710142..93fed42129d0b5 100644
--- a/libraries/AP_HAL_SITL/Scheduler.cpp
+++ b/libraries/AP_HAL_SITL/Scheduler.cpp
@@ -377,6 +377,11 @@ bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_
     if (pthread_create(&thread, &a->attr, thread_create_trampoline, a) != 0) {
         goto failed;
     }
+
+#if !defined(__APPLE__)
+    pthread_setname_np(thread, name);
+#endif
+
     a->next = threads;
     threads = a;
     return true;
diff --git a/libraries/AP_HAL_SITL/UARTDriver.cpp b/libraries/AP_HAL_SITL/UARTDriver.cpp
index b30dad3e796021..9b7516af6938bb 100644
--- a/libraries/AP_HAL_SITL/UARTDriver.cpp
+++ b/libraries/AP_HAL_SITL/UARTDriver.cpp
@@ -36,6 +36,7 @@
 #include <sys/select.h>
 #include <termios.h>
 #include <sys/time.h>
+#include <arpa/inet.h>
 
 #include "UARTDriver.h"
 #include "SITL_State.h"
@@ -161,6 +162,16 @@ void UARTDriver::_begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
                 AP_HAL::panic("Failed to open (%s): %m", args1);
             }
             _connected = true;
+        } else if (strcmp(devtype, "outfile") == 0) {
+            if (_connected) {
+                AP::FS().close(_fd);
+            }
+            ::printf("FILE output connection %s\n", args1);
+            _fd = AP::FS().open(args1, O_WRONLY|O_CREAT|O_TRUNC, 0644);
+            if (_fd == -1) {
+                AP_HAL::panic("Failed to open (%s): %m", args1);
+            }
+            _connected = true;
         } else if (strcmp(devtype, "logic_async_csv") == 0) {
             if (_connected) {
                 AP::FS().close(_fd);
@@ -290,6 +301,7 @@ void UARTDriver::_tcp_start_connection(uint16_t port, bool wait_for_connection)
 {
     int one=1;
     int ret;
+    struct sockaddr_in _listen_sockaddr {};
 
     if (_connected) {
         return;
diff --git a/libraries/AP_HAL_SITL/UARTDriver.h b/libraries/AP_HAL_SITL/UARTDriver.h
index 45c00de18b3ac9..bf875b7abf3bcd 100644
--- a/libraries/AP_HAL_SITL/UARTDriver.h
+++ b/libraries/AP_HAL_SITL/UARTDriver.h
@@ -76,7 +76,6 @@ class HALSITL::UARTDriver : public AP_HAL::UARTDriver {
     bool _connected = false; // true if a client has connected
     bool _use_send_recv = false;
     int _listen_fd;  // socket we are listening on
-    struct sockaddr_in _listen_sockaddr;
     int _serial_port;
     static bool _console;
     ByteBuffer _readbuffer{16384};
diff --git a/libraries/AP_HAL_SITL/Util.cpp b/libraries/AP_HAL_SITL/Util.cpp
index 5404bf35ff6951..958f2809564f0b 100644
--- a/libraries/AP_HAL_SITL/Util.cpp
+++ b/libraries/AP_HAL_SITL/Util.cpp
@@ -2,6 +2,9 @@
 #include <sys/time.h>
 #include <AP_Param/AP_Param.h>
 #include "RCOutput.h"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
 
 extern const AP_HAL::HAL& hal;
 

From da7c556f77e1a749d7c1c9773fa3d47a8e7765e2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 12 Dec 2023 19:04:45 +1100
Subject: [PATCH 0303/1335] AP_InertialSensor: avoid fcntl.h

allows mixing of lwip and sockets
---
 libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
index 49a691b6061eb7..583ad75a42a953 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
@@ -2,7 +2,7 @@
 #include "AP_InertialSensor_SITL.h"
 #include <AP_Logger/AP_Logger.h>
 #include <SITL/SITL.h>
-#include <fcntl.h>
+#include <AP_Filesystem/AP_Filesystem.h>
 
 #if AP_SIM_INS_ENABLED
 
@@ -410,7 +410,7 @@ void AP_InertialSensor_SITL::read_gyro_from_file()
     if (gyro_fd == -1) {
         char namebuf[32];
         snprintf(namebuf, 32, "/tmp/gyro%d.dat", gyro_instance);
-        gyro_fd = open(namebuf, O_RDONLY|O_CLOEXEC);
+        gyro_fd = AP::FS().open(namebuf, O_RDONLY);
         if (gyro_fd == -1) {
             AP_HAL::panic("gyro data file %s not found", namebuf);
         }

From b72b4b5bc0b47a278f4a52bb1fcc8b31344ef85b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 12 Dec 2023 19:05:16 +1100
Subject: [PATCH 0304/1335] SITL: added required headers with new SITL header
 structure

---
 libraries/SITL/SIM_GPS_FILE.cpp | 3 +++
 libraries/SITL/SIM_JEDEC.cpp    | 3 +++
 libraries/SITL/SIM_RAMTRON.cpp  | 3 +++
 3 files changed, 9 insertions(+)

diff --git a/libraries/SITL/SIM_GPS_FILE.cpp b/libraries/SITL/SIM_GPS_FILE.cpp
index e4c096f1eba7c8..60868d4355cb6a 100644
--- a/libraries/SITL/SIM_GPS_FILE.cpp
+++ b/libraries/SITL/SIM_GPS_FILE.cpp
@@ -6,6 +6,9 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include <SITL/SITL.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/SITL/SIM_JEDEC.cpp b/libraries/SITL/SIM_JEDEC.cpp
index 9b4255f78139c1..9db090b7b665e8 100644
--- a/libraries/SITL/SIM_JEDEC.cpp
+++ b/libraries/SITL/SIM_JEDEC.cpp
@@ -4,6 +4,9 @@
 
 #include <errno.h>
 #include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
 
 #include <AP_HAL_SITL/AP_HAL_SITL.h>
 
diff --git a/libraries/SITL/SIM_RAMTRON.cpp b/libraries/SITL/SIM_RAMTRON.cpp
index dee0fca6b784a0..9706dee62a318e 100644
--- a/libraries/SITL/SIM_RAMTRON.cpp
+++ b/libraries/SITL/SIM_RAMTRON.cpp
@@ -4,6 +4,9 @@
 
 #include <errno.h>
 #include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
 
 #include <AP_HAL_SITL/AP_HAL_SITL.h>
 

From 1bceee18633dd801842af295d0483b0fa9391020 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 12 Dec 2023 19:05:46 +1100
Subject: [PATCH 0305/1335] AP_Scripting: added WEB_SENDFILE_MIN parameter

allows for sendfile tuning and disable
---
 libraries/AP_Scripting/applets/net_webserver.lua | 14 +++++++++++++-
 1 file changed, 13 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/applets/net_webserver.lua b/libraries/AP_Scripting/applets/net_webserver.lua
index 4355fa6006e878..cccbc6eb0c36fc 100644
--- a/libraries/AP_Scripting/applets/net_webserver.lua
+++ b/libraries/AP_Scripting/applets/net_webserver.lua
@@ -62,6 +62,15 @@ local WEB_BLOCK_SIZE = bind_add_param('BLOCK_SIZE', 4, 10240)
 --]]
 local WEB_TIMEOUT = bind_add_param('TIMEOUT', 5, 2.0)
 
+--[[
+  // @Param: WEB_SENDFILE_MIN
+  // @DisplayName: web server minimum file size for sendfile
+  // @Description: sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
+  // @Range: 0 10000000
+  // @User: Advanced
+--]]
+local WEB_SENDFILE_MIN = bind_add_param('SENDFILE_MIN', 6, 100000)
+
 if WEB_ENABLE:get() ~= 1 then
    gcs:send_text(MAV_SEVERITY.INFO, "WebServer: disabled")
    return
@@ -775,7 +784,10 @@ local function Client(_sock, _idx)
       elseif cgi_processing then
          DEBUG(string.format("%u: CGI processing %s", idx, path))
          run = self.send_cgi
-      elseif sock:sendfile(file) then
+      elseif stat and
+         WEB_SENDFILE_MIN:get() > 0 and
+         stat:size() >= WEB_SENDFILE_MIN:get() and
+         sock:sendfile(file) then
          return true
       else
          run = self.send_file

From 8e132e44cf78f1eb075e960bf4a8b92c40481d3b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 17 Dec 2023 14:40:46 +1100
Subject: [PATCH 0306/1335] AP_HAL: improved sockaddr_in compatibility

---
 libraries/AP_HAL/utility/Socket.cpp | 31 +++++++++++++++++++----------
 libraries/AP_HAL/utility/Socket.h   | 18 ++++++-----------
 2 files changed, 27 insertions(+), 22 deletions(-)

diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index 0bad1ba6a99f29..57aa2bd74f6a2e 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -55,7 +55,9 @@ static_assert(sizeof(last_in_addr) == sizeof(struct sockaddr_in), "last_in_addr
 SocketAPM::SocketAPM(bool _datagram) :
     SocketAPM(_datagram, 
               CALL_PREFIX(socket)(AF_INET, _datagram?SOCK_DGRAM:SOCK_STREAM, 0))
-{}
+{
+    static_assert(sizeof(SocketAPM::last_in_addr) >= sizeof(struct sockaddr_in), "last_in_addr must be at least sockaddr_in size");
+}
 
 SocketAPM::SocketAPM(bool _datagram, int _fd) :
     datagram(_datagram),
@@ -310,10 +312,10 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
         errno = EWOULDBLOCK;
         return -1;
     }
-    socklen_t len = sizeof(last_in_addr);
+    socklen_t len = sizeof(struct sockaddr_in);
     int fin = get_read_fd();
     ssize_t ret;
-    ret = CALL_PREFIX(recvfrom)(fin, buf, size, MSG_DONTWAIT, (sockaddr *)&last_in_addr, &len);
+    ret = CALL_PREFIX(recvfrom)(fin, buf, size, MSG_DONTWAIT, (sockaddr *)&last_in_addr[0], &len);
     if (ret <= 0) {
         if (!datagram && connected && ret == 0) {
             // remote host has closed connection
@@ -330,9 +332,10 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
         if (CALL_PREFIX(getsockname)(fd, (struct sockaddr *)&send_addr, &send_len) != 0) {
             return -1;
         }
-        if (last_in_addr.sin_port == send_addr.sin_port &&
-            last_in_addr.sin_family == send_addr.sin_family &&
-            last_in_addr.sin_addr.s_addr == send_addr.sin_addr.s_addr) {
+        const struct sockaddr_in &sin = *(struct sockaddr_in *)&last_in_addr[0];
+        if (sin.sin_port == send_addr.sin_port &&
+            sin.sin_family == send_addr.sin_family &&
+            sin.sin_addr.s_addr == send_addr.sin_addr.s_addr) {
             // discard packets from ourselves
             return -1;
         }
@@ -355,11 +358,13 @@ void SocketAPM::last_recv_address(const char *&ip_addr, uint16_t &port) const
  */
 const char *SocketAPM::last_recv_address(char *ip_addr_buf, uint8_t buflen, uint16_t &port) const
 {
-    const char *ret = CALL_PREFIX(inet_ntop)(AF_INET, (void*)&last_in_addr.sin_addr, ip_addr_buf, buflen);
+    const struct sockaddr_in &sin = *(struct sockaddr_in *)&last_in_addr[0];
+
+    const char *ret = inet_addr_to_str((void*)&sin.sin_addr, ip_addr_buf, buflen);
     if (ret == nullptr) {
         return nullptr;
     }
-    port = ntohs(last_in_addr.sin_port);
+    port = ntohs(sin.sin_port);
     return ret;
 }
 
@@ -444,8 +449,9 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
         return nullptr;
     }
 
-    socklen_t len = sizeof(last_in_addr);
-    int newfd = CALL_PREFIX(accept)(fd, (sockaddr *)&last_in_addr, &len);
+    struct sockaddr_in &sin = *(struct sockaddr_in *)&last_in_addr[0];
+    socklen_t len = sizeof(sin);
+    int newfd = CALL_PREFIX(accept)(fd, (sockaddr *)&sin, &len);
     if (newfd == -1) {
         return nullptr;
     }
@@ -497,4 +503,9 @@ SocketAPM *SocketAPM::duplicate(void)
     return ret;
 }
 
+const char *SocketAPM::inet_addr_to_str(const void *src, char *dst, uint16_t len)
+{
+    return CALL_PREFIX(inet_ntop)(AF_INET, src, dst, len);
+}
+
 #endif // AP_NETWORKING_BACKEND_ANY
diff --git a/libraries/AP_HAL/utility/Socket.h b/libraries/AP_HAL/utility/Socket.h
index 480281b5d7af96..82c0ee2604c4c5 100644
--- a/libraries/AP_HAL/utility/Socket.h
+++ b/libraries/AP_HAL/utility/Socket.h
@@ -22,10 +22,6 @@
 
 #if AP_NETWORKING_SOCKETS_ENABLED
 
-#if HAL_OS_SOCKETS
-
-struct sockaddr_in;
-
 class SocketAPM {
 public:
     SocketAPM(bool _datagram);
@@ -79,15 +75,14 @@ class SocketAPM {
         return connected;
     }
 
+    // access to inet_ntop
+    static const char *inet_addr_to_str(const void *src, char *dst, uint16_t len);
+
 private:
     bool datagram;
-    struct {
-        uint16_t sin_family;
-        uint16_t sin_port;
-        struct {
-            uint32_t s_addr;
-        } sin_addr;
-    } last_in_addr;
+    // we avoid using struct sockaddr_in here to keep support for
+    // mixing native sockets and lwip sockets in SITL
+    uint32_t last_in_addr[4];
     bool is_multicast_address(struct sockaddr_in &addr) const;
 
     int fd = -1;
@@ -100,5 +95,4 @@ class SocketAPM {
     void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
 };
 
-#endif // HAL_OS_SOCKETS
 #endif // AP_NETWORKING_SOCKETS_ENABLED

From 94ea22d16f455cb75f250e7f1cbd942d3042bf94 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 06:26:47 +1100
Subject: [PATCH 0307/1335] AP_Networking: separate thread for sendfile

---
 libraries/AP_Networking/AP_Networking.cpp | 103 ++++++++++++----------
 libraries/AP_Networking/AP_Networking.h   |   6 ++
 2 files changed, 63 insertions(+), 46 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp
index 66786f92fa23a2..32bbf51de50c96 100644
--- a/libraries/AP_Networking/AP_Networking.cpp
+++ b/libraries/AP_Networking/AP_Networking.cpp
@@ -14,14 +14,14 @@ extern const AP_HAL::HAL& hal;
 
 #if AP_NETWORKING_BACKEND_CHIBIOS
 #include "AP_Networking_ChibiOS.h"
-#include "AP_Networking_SLIP.h"
-#include "AP_Networking_PPP.h"
 #include <hal_mii.h>
-#include <lwip/sockets.h>
-#else
-#include <arpa/inet.h>
 #endif
 
+#include <lwipopts.h>
+#include <errno.h>
+#include <lwip/sockets.h>
+
+
 #include <AP_HAL/utility/Socket.h>
 
 #if AP_NETWORKING_BACKEND_SLIP
@@ -179,9 +179,6 @@ void AP_Networking::init()
 
     // init network mapped serialmanager ports
     ports_init();
-
-    // register sendfile handler
-    hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Networking::sendfile_check, void));
 }
 
 /*
@@ -239,7 +236,7 @@ uint8_t AP_Networking::convert_netmask_ip_to_bitcount(const uint32_t netmask_ip)
 uint32_t AP_Networking::convert_str_to_ip(const char* ip_str)
 {
     uint32_t ip = 0;
-    inet_pton(AF_INET, ip_str, &ip);
+    lwip_inet_pton(AF_INET, ip_str, &ip);
     return ntohl(ip);
 }
 
@@ -247,7 +244,7 @@ const char* AP_Networking::convert_ip_to_str(uint32_t ip)
 {
     ip = htonl(ip);
     static char _str_buffer[20];
-    inet_ntop(AF_INET, &ip, _str_buffer, sizeof(_str_buffer));
+    lwip_inet_ntop(AF_INET, &ip, _str_buffer, sizeof(_str_buffer));
     return _str_buffer;
 }
 
@@ -326,6 +323,14 @@ bool AP_Networking::sendfile(SocketAPM *sock, int fd)
             return false;
         }
     }
+    if (!sendfile_thread_started) {
+        if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking::sendfile_check, void),
+                                          "sendfile",
+                                          2048, AP_HAL::Scheduler::PRIORITY_UART, 0)) {
+            return false;
+        }
+        sendfile_thread_started = true;
+    }
     for (auto &s : sendfiles) {
         if (s.sock == nullptr) {
             s.sock = sock->duplicate();
@@ -352,37 +357,37 @@ void AP_Networking::SendFile::close(void)
  */
 void AP_Networking::sendfile_check(void)
 {
-    if (sendfile_buf == nullptr) {
-        return;
-    }
-    WITH_SEMAPHORE(sem);
-    bool none_active = true;
-    for (auto &s : sendfiles) {
-        if (s.sock == nullptr) {
-            continue;
-        }
-        none_active = false;
-        if (!s.sock->pollout(0)) {
-            continue;
-        }
-        const auto nread = AP::FS().read(s.fd, sendfile_buf, AP_NETWORKING_SENDFILE_BUFSIZE);
-        if (nread <= 0) {
-            s.close();
-            continue;
-        }
-        const auto nsent = s.sock->send(sendfile_buf, nread);
-        if (nsent <= 0) {
-            s.close();
-            continue;
+    while (true) {
+        hal.scheduler->delay(1);
+        WITH_SEMAPHORE(sem);
+        bool none_active = true;
+        for (auto &s : sendfiles) {
+            if (s.sock == nullptr) {
+                continue;
+            }
+            none_active = false;
+            if (!s.sock->pollout(0)) {
+                continue;
+            }
+            const auto nread = AP::FS().read(s.fd, sendfile_buf, AP_NETWORKING_SENDFILE_BUFSIZE);
+            if (nread <= 0) {
+                s.close();
+                continue;
+            }
+            const auto nsent = s.sock->send(sendfile_buf, nread);
+            if (nsent <= 0) {
+                s.close();
+                continue;
+            }
+            if (nsent < nread) {
+                AP::FS().lseek(s.fd, nsent - nread, SEEK_CUR);
+            }
         }
-        if (nsent < nread) {
-            AP::FS().lseek(s.fd, nsent - nread, SEEK_CUR);
+        if (none_active) {
+            free(sendfile_buf);
+            sendfile_buf = nullptr;
         }
     }
-    if (none_active) {
-        free(sendfile_buf);
-        sendfile_buf = nullptr;
-    }
 }
 
 AP_Networking *AP_Networking::singleton;
@@ -400,19 +405,18 @@ AP_Networking &network()
  */
 int ap_networking_printf(const char *fmt, ...)
 {
-#if AP_NETWORKING_LWIP_DEBUG_PORT >= 0
-    static AP_HAL::UARTDriver *uart;
-    if (uart == nullptr) {
-        uart = hal.serial(AP_NETWORKING_LWIP_DEBUG_PORT);
-        if (uart == nullptr) {
+    WITH_SEMAPHORE(AP::network().get_semaphore());
+#ifdef AP_NETWORKING_LWIP_DEBUG_FILE
+    static int fd = -1;
+    if (fd == -1) {
+        fd = AP::FS().open(AP_NETWORKING_LWIP_DEBUG_FILE, O_WRONLY|O_CREAT|O_TRUNC, 0644);
+        if (fd == -1) {
             return -1;
         }
-        uart->begin(AP_NETWORKING_LWIP_DEBUG_BAUD, 1000, 50000);
     }
-    uart->begin(0);
     va_list ap;
     va_start(ap, fmt);
-    uart->vprintf(fmt, ap);
+    vdprintf(fd, fmt, ap);
     va_end(ap);
 #else
     va_list ap;
@@ -423,4 +427,11 @@ int ap_networking_printf(const char *fmt, ...)
     return 0;
 }
 
+#ifdef LWIP_PLATFORM_ASSERT
+void ap_networking_platform_assert(const char *msg, int line, const char *file)
+{
+    AP_HAL::panic("LWIP: %s: %s:%u", msg, file, line);
+}
+#endif
+
 #endif // AP_NETWORKING_ENABLED
diff --git a/libraries/AP_Networking/AP_Networking.h b/libraries/AP_Networking/AP_Networking.h
index 5ed32329244073..005a521997833e 100644
--- a/libraries/AP_Networking/AP_Networking.h
+++ b/libraries/AP_Networking/AP_Networking.h
@@ -45,6 +45,11 @@ class AP_Networking
         return singleton;
     }
 
+    HAL_Semaphore &get_semaphore(void)
+    {
+        return sem;
+    }
+    
     // Networking interface is enabled and initialized
     bool is_healthy() const
     {
@@ -325,6 +330,7 @@ class AP_Networking
 
     uint8_t *sendfile_buf;
     void sendfile_check(void);
+    bool sendfile_thread_started;
 
     void ports_init(void);
 };

From 1d9d599bb051958e93abfe9930e0768e6db87e90 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 06:27:13 +1100
Subject: [PATCH 0308/1335] AP_Networking: allow for PPP on ChibiOS

---
 .../AP_Networking/AP_Networking_Config.h      | 11 +++--
 libraries/AP_Networking/AP_Networking_PPP.cpp | 41 +++++++++++++++----
 .../AP_Networking/AP_Networking_SLIP.cpp      |  1 -
 .../AP_Networking/AP_Networking_address.cpp   |  4 +-
 4 files changed, 41 insertions(+), 16 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index d3567709555e2c..dcecd2be3a9333 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -21,22 +21,25 @@
 // Backends
 // ---------------------------
 #ifndef AP_NETWORKING_BACKEND_CHIBIOS
-#define AP_NETWORKING_BACKEND_CHIBIOS (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
+#ifndef HAL_USE_MAC
+#define HAL_USE_MAC 0
+#endif
+#define AP_NETWORKING_BACKEND_CHIBIOS (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS) && HAL_USE_MAC)
 #endif
 
 #ifndef AP_NETWORKING_BACKEND_PPP
-#define AP_NETWORKING_BACKEND_PPP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
+#define AP_NETWORKING_BACKEND_PPP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED)
 #endif
 
 #ifndef AP_NETWORKING_BACKEND_SLIP
-#define AP_NETWORKING_BACKEND_SLIP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
+#define AP_NETWORKING_BACKEND_SLIP 0
 #endif
 
 #ifndef AP_NETWORKING_BACKEND_SITL
 #define AP_NETWORKING_BACKEND_SITL (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_SITL))
 #endif
 
-#define AP_NETWORKING_SOCKETS_ENABLED (HAL_OS_SOCKETS || AP_NETWORKING_BACKEND_CHIBIOS)
+#define AP_NETWORKING_SOCKETS_ENABLED AP_NETWORKING_ENABLED
 
 // ---------------------------
 // IP Features
diff --git a/libraries/AP_Networking/AP_Networking_PPP.cpp b/libraries/AP_Networking/AP_Networking_PPP.cpp
index ef4128871ff600..8e296a1abbfa20 100644
--- a/libraries/AP_Networking/AP_Networking_PPP.cpp
+++ b/libraries/AP_Networking/AP_Networking_PPP.cpp
@@ -6,7 +6,6 @@
 #include "AP_Networking_PPP.h"
 #include <GCS_MAVLink/GCS.h>
 
-#include <lwipthread.h>
 #include <lwip/udp.h>
 #include <lwip/ip_addr.h>
 #include <netif/ppp/ppp_opts.h>
@@ -17,6 +16,7 @@
 
 extern const AP_HAL::HAL& hal;
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 /*
   uint32_t timestamp in smallest available units
  */
@@ -24,6 +24,15 @@ uint32_t sys_jiffies(void)
 {
     return AP_HAL::micros();
 }
+#endif
+
+#if LWIP_TCPIP_CORE_LOCKING
+#define LWIP_TCPIP_LOCK() sys_lock_tcpip_core()
+#define LWIP_TCPIP_UNLOCK() sys_unlock_tcpip_core()
+#else
+#define LWIP_TCPIP_LOCK()
+#define LWIP_TCPIP_UNLOCK()
+#endif
 
 /*
   output some data to the uart
@@ -39,8 +48,6 @@ uint32_t AP_Networking_PPP::ppp_output_cb(ppp_pcb *pcb, const void *data, uint32
         if (n > 0) {
             remaining -= n;
             ptr += n;
-        } else {
-            hal.scheduler->delay_microseconds(100);
         }
     }
     return len;
@@ -137,24 +144,26 @@ bool AP_Networking_PPP::init()
     }
 
     // initialise TCP/IP thread
+    LWIP_TCPIP_LOCK();
     tcpip_init(NULL, NULL);
+    LWIP_TCPIP_UNLOCK();
+
     hal.scheduler->delay(100);
     
     // create ppp connection
+    LWIP_TCPIP_LOCK();
+
     ppp = pppos_create(pppif, ppp_output_cb, ppp_status_callback, this);
     if (ppp == nullptr) {
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: failed to create link");
         return false;
     }
-
-    // connect and set as default route
-    ppp_connect(ppp, 0);
-    netif_set_default(pppif);
+    LWIP_TCPIP_UNLOCK();
 
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: started");
     hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking_PPP::ppp_loop, void),
                                  "ppp",
-                                 8192, AP_HAL::Scheduler::PRIORITY_UART, 0);
+                                 2048, AP_HAL::Scheduler::PRIORITY_UART, 0);
 
     return true;
 }
@@ -164,6 +173,17 @@ bool AP_Networking_PPP::init()
  */
 void AP_Networking_PPP::ppp_loop(void)
 {
+    while (!hal.scheduler->is_system_initialized()) {
+        hal.scheduler->delay_microseconds(1000);
+    }
+    
+    // connect and set as default route
+    LWIP_TCPIP_LOCK();
+    ppp_connect(ppp, 0);
+
+    netif_set_default(pppif);
+    LWIP_TCPIP_UNLOCK();
+
     // ensure this thread owns the uart
     uart->begin(0);
 
@@ -171,9 +191,12 @@ void AP_Networking_PPP::ppp_loop(void)
         uint8_t buf[1024];
         auto n = uart->read(buf, sizeof(buf));
         if (n > 0) {
+            LWIP_TCPIP_LOCK();
             pppos_input(ppp, buf, n);
-        } else {
+            LWIP_TCPIP_UNLOCK();
             hal.scheduler->delay_microseconds(100);
+        } else {
+            hal.scheduler->delay_microseconds(1000);
         }
     }
 }
diff --git a/libraries/AP_Networking/AP_Networking_SLIP.cpp b/libraries/AP_Networking/AP_Networking_SLIP.cpp
index 088bd024c810ae..b1e5085b5d64cf 100644
--- a/libraries/AP_Networking/AP_Networking_SLIP.cpp
+++ b/libraries/AP_Networking/AP_Networking_SLIP.cpp
@@ -6,7 +6,6 @@
 #include "AP_Networking_SLIP.h"
 #include <GCS_MAVLink/GCS.h>
 
-#include <lwipthread.h>
 #include <lwip/udp.h>
 #include <lwip/ip_addr.h>
 #include <lwip/sio.h>
diff --git a/libraries/AP_Networking/AP_Networking_address.cpp b/libraries/AP_Networking/AP_Networking_address.cpp
index 28900e387b2673..a1c1cdc59ca49c 100644
--- a/libraries/AP_Networking/AP_Networking_address.cpp
+++ b/libraries/AP_Networking/AP_Networking_address.cpp
@@ -8,6 +8,7 @@
 
 #include <arpa/inet.h>
 #include "AP_Networking.h"
+#include <AP_HAL/utility/Socket.h>
 
 const AP_Param::GroupInfo AP_Networking_IPV4::var_info[] = {
     // @Param: 0
@@ -72,8 +73,7 @@ void AP_Networking_IPV4::set_default_uint32(uint32_t v)
 const char* AP_Networking_IPV4::get_str()
 {
     const auto ip = ntohl(get_uint32());
-    inet_ntop(AF_INET, &ip, strbuf, sizeof(strbuf));
-    return strbuf;
+    return SocketAPM::inet_addr_to_str(&ip, strbuf, sizeof(strbuf));
 }
 
 #endif // AP_NETWORKING_ENABLED

From 5748adbf44bd6ed8734bb701572c9acde80dada6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 06:28:24 +1100
Subject: [PATCH 0309/1335] HAL_ChibiOS: allow for networking without ethernet

---
 .../hwdef/scripts/chibios_hwdef.py            | 24 +++++++++++++------
 1 file changed, 17 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index d129a0dcf2b6cc..3d8a906365bf54 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -903,6 +903,16 @@ def get_numeric_board_id(self):
         raise ValueError("Unable to map (%s) to a board ID using %s" %
                          (some_id, board_types_filepath))
 
+    def enable_networking(self, f):
+        f.write('''
+#ifndef AP_NETWORKING_ENABLED
+#define AP_NETWORKING_ENABLED 1
+#endif
+#define CH_CFG_USE_MAILBOXES 1
+''')
+        self.env_vars['USE_LWIP'] = 'yes'
+        self.build_flags.append('USE_LWIP=yes')
+
     def write_mcu_config(self, f):
         '''write MCU config defines'''
         f.write('#define CHIBIOS_BOARD_NAME "%s"\n' % os.path.basename(os.path.dirname(args.hwdef[0])))
@@ -965,17 +975,12 @@ def write_mcu_config(self, f):
             f.write('#define STM32_USB_USE_OTG2                  TRUE\n')
 
         if 'ETH1' in self.bytype:
-            self.build_flags.append('USE_LWIP=yes')
+            self.enable_networking(f)
             f.write('''
 
-#ifndef AP_NETWORKING_ENABLED
-// Configure for Ethernet support
-#define AP_NETWORKING_ENABLED               1
-#define CH_CFG_USE_MAILBOXES                TRUE
 #define HAL_USE_MAC                         TRUE
 #define MAC_USE_EVENTS                      TRUE
 #define STM32_ETH_BUFFERS_EXTERN
-#endif
 
 ''')
 
@@ -1028,7 +1033,12 @@ def write_mcu_config(self, f):
                 # extract numerical defines for processing by other parts of the script
                 result = re.match(r'define\s*([A-Z_]+)\s*([0-9]+)', d)
                 if result:
-                    self.intdefines[result.group(1)] = int(result.group(2))
+                    define = result.group(1)
+                    value = int(result.group(2))
+                    self.intdefines[define] = value
+                    if define == 'AP_NETWORKING_ENABLED' and value == 1:
+                        self.enable_networking(f)
+
 
         if self.intdefines.get('HAL_USE_USB_MSD', 0) == 1:
             self.build_flags.append('USE_USB_MSD=yes')

From a53be122db376902f7aeb6f8fdf8273979e93aea Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 06:29:05 +1100
Subject: [PATCH 0310/1335] waf: removed lwip source paths in chibios class

---
 Tools/ardupilotwaf/chibios.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index c31479c270c904..b84d6e89514e4b 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -691,9 +691,6 @@ def build(bld):
     common_src += bld.path.ant_glob('libraries/AP_HAL_ChibiOS/hwdef/common/*.mk')
     common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.[ch]')
     common_src += bld.path.ant_glob('modules/ChibiOS/os/hal/**/*.mk')
-    common_src += bld.path.ant_glob('modules/ChibiOS/ext/lwip/src/**/*.[ch]')
-    common_src += bld.path.ant_glob('modules/ChibiOS/ext/lwip/src/netif/**/*.[ch]')
-    common_src += bld.path.ant_glob('modules/ChibiOS/ext/lwip/src/core/**/*.[ch]')
     if bld.env.ROMFS_FILES:
         common_src += [bld.bldnode.find_or_declare('ap_romfs_embedded.h')]
 

From 468c532290857f41be5dedc16e0696f40eed7153 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 21 Dec 2023 09:26:49 +1100
Subject: [PATCH 0311/1335] waf: recurse info AP_Networking

---
 wscript | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/wscript b/wscript
index 19630462ecdd70..31da3e0ba2e344 100644
--- a/wscript
+++ b/wscript
@@ -548,6 +548,8 @@ def configure(cfg):
     cfg.recurse('libraries/AP_HAL_SITL')
     cfg.recurse('libraries/SITL')
 
+    cfg.recurse('libraries/AP_Networking')
+
     cfg.start_msg('Scripting runtime checks')
     if cfg.options.scripting_checks:
         cfg.end_msg('enabled')

From b28912c35157bd60ec14f7ca37500558a28f6724 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 23 Dec 2023 16:07:40 +1100
Subject: [PATCH 0312/1335] HAL_SITL: cope with no _sitl state

---
 libraries/AP_HAL_SITL/SITL_State.cpp | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index 29cc02156ce7fd..4b08727d8ec1f0 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -341,9 +341,7 @@ void SITL_State::_fdm_input_local(void)
     _check_rc_input();
 
     // construct servos structure for FDM
-    if (_sitl != nullptr) {
-        _simulator_servos(input);
-    }
+    _simulator_servos(input);
 
 #if HAL_SIM_JSON_MASTER_ENABLED
     // read servo inputs from ride along flight controllers
@@ -351,9 +349,7 @@ void SITL_State::_fdm_input_local(void)
 #endif
 
     // replace outputs from multicast
-    if (_sitl != nullptr) {
-        multicast_servo_update(input);
-    }
+    multicast_servo_update(input);
 
     // update the model
     sitl_model->update_home();

From 22938e99ea6fcdf0325925a9d54ffcf184b24356 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 06:31:16 +1100
Subject: [PATCH 0313/1335] AP_Networking: added ArduPilot HAL port of lwip

---
 .../AP_Networking/AP_Networking_ChibiOS.cpp   | 292 +++++++++-
 .../AP_Networking/AP_Networking_ChibiOS.h     |   9 +-
 libraries/AP_Networking/AP_Networking_PPP.cpp |  25 +-
 libraries/AP_Networking/config/lwipopts.h     | 365 ++++++++++++
 .../AP_Networking/lwip_hal/arch/sys_arch.cpp  | 538 ++++++++++++++++++
 .../AP_Networking/lwip_hal/include/arch/cc.h  |  21 +
 .../lwip_hal/include/arch/sys_arch.h          |  49 ++
 libraries/AP_Networking/wscript               |  36 ++
 8 files changed, 1290 insertions(+), 45 deletions(-)
 create mode 100644 libraries/AP_Networking/config/lwipopts.h
 create mode 100644 libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
 create mode 100644 libraries/AP_Networking/lwip_hal/include/arch/cc.h
 create mode 100644 libraries/AP_Networking/lwip_hal/include/arch/sys_arch.h
 create mode 100644 libraries/AP_Networking/wscript

diff --git a/libraries/AP_Networking/AP_Networking_ChibiOS.cpp b/libraries/AP_Networking/AP_Networking_ChibiOS.cpp
index ea5e4f42a6b0e1..ed5c5ea8908bae 100644
--- a/libraries/AP_Networking/AP_Networking_ChibiOS.cpp
+++ b/libraries/AP_Networking/AP_Networking_ChibiOS.cpp
@@ -6,9 +6,16 @@
 #include "AP_Networking_ChibiOS.h"
 #include <GCS_MAVLink/GCS.h>
 
-#include <lwipthread.h>
 #include <lwip/udp.h>
 #include <lwip/ip_addr.h>
+#include <lwip/tcpip.h>
+#include <lwip/netifapi.h>
+#if LWIP_DHCP
+#include <lwip/dhcp.h>
+#endif
+#include <hal.h>
+#include "../../modules/ChibiOS/os/various/evtimer.h"
+#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -18,23 +25,34 @@ extern const AP_HAL::HAL& hal;
 
 /*
   these are referenced as globals inside lwip
- */
+*/
 stm32_eth_rx_descriptor_t *__eth_rd;
 stm32_eth_tx_descriptor_t *__eth_td;
 uint32_t *__eth_rb[STM32_MAC_RECEIVE_BUFFERS];
 uint32_t *__eth_tb[STM32_MAC_TRANSMIT_BUFFERS];
 
+#define LWIP_SEND_TIMEOUT_MS 50
+#define LWIP_NETIF_MTU       1500
+#define LWIP_LINK_POLL_INTERVAL TIME_S2I(5)
+
+#define PERIODIC_TIMER_ID       1
+#define FRAME_RECEIVED_ID       2
+
+#if CH_CFG_ST_RESOLUTION != 32
+#error "ethernet requires 32 bit timer"
+#endif
+
 /*
   allocate buffers for LWIP
- */
+*/
 bool AP_Networking_ChibiOS::allocate_buffers()
 {
-    #define AP_NETWORKING_EXTERN_MAC_BUFFER_SIZE ((((STM32_MAC_BUFFERS_SIZE - 1) | 3) + 1) / 4) // typically == 381
+#define AP_NETWORKING_EXTERN_MAC_BUFFER_SIZE ((((STM32_MAC_BUFFERS_SIZE - 1) | 3) + 1) / 4) // typically == 381
     // check total size of buffers
     const uint32_t total_size = sizeof(stm32_eth_rx_descriptor_t)*STM32_MAC_RECEIVE_BUFFERS +
-                                sizeof(stm32_eth_tx_descriptor_t)*STM32_MAC_TRANSMIT_BUFFERS +
-                                sizeof(uint32_t)*STM32_MAC_RECEIVE_BUFFERS*AP_NETWORKING_EXTERN_MAC_BUFFER_SIZE +
-                                sizeof(uint32_t)*STM32_MAC_TRANSMIT_BUFFERS*AP_NETWORKING_EXTERN_MAC_BUFFER_SIZE; // typically == 9240
+        sizeof(stm32_eth_tx_descriptor_t)*STM32_MAC_TRANSMIT_BUFFERS +
+        sizeof(uint32_t)*STM32_MAC_RECEIVE_BUFFERS*AP_NETWORKING_EXTERN_MAC_BUFFER_SIZE +
+        sizeof(uint32_t)*STM32_MAC_TRANSMIT_BUFFERS*AP_NETWORKING_EXTERN_MAC_BUFFER_SIZE; // typically == 9240
 
     // ensure that we allocate 32-bit aligned memory, and mark it non-cacheable
     uint32_t size = 1;
@@ -84,7 +102,7 @@ bool AP_Networking_ChibiOS::allocate_buffers()
 
 /*
   initialise ChibiOS network backend using LWIP
- */
+*/
 bool AP_Networking_ChibiOS::init()
 {
 #ifdef HAL_GPIO_ETH_ENABLE
@@ -102,21 +120,6 @@ bool AP_Networking_ChibiOS::init()
         return false;
     }
 
-    lwip_options = new lwipthread_opts;
-
-    if (frontend.get_dhcp_enabled()) {
-        lwip_options->addrMode = NET_ADDRESS_DHCP;
-    } else {
-        lwip_options->addrMode = NET_ADDRESS_STATIC;
-        lwip_options->address = htonl(frontend.get_ip_param());
-        lwip_options->netmask = htonl(frontend.get_netmask_param());
-        lwip_options->gateway = htonl(frontend.get_gateway_param());
-    }
-    frontend.param.macaddr.get_address(macaddr);
-    lwip_options->macaddress = macaddr;
-
-    lwipInit(lwip_options);
-
 #if LWIP_IGMP
     if (ETH != nullptr) {
         // enbale "permit multicast" so we can receive multicast packets
@@ -124,17 +127,252 @@ bool AP_Networking_ChibiOS::init()
     }
 #endif
 
+    thisif = new netif;
+    if (thisif == nullptr) {
+        return false;
+    }
+
+    if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking_ChibiOS::thread, void),
+                                      "network",
+                                      2048, AP_HAL::Scheduler::PRIORITY_NET, 0)) {
+        return false;
+    }
+    
     return true;
 }
 
+void AP_Networking_ChibiOS::link_up_cb(void *p)
+{
+    auto *driver = (AP_Networking_ChibiOS *)p;
+#if LWIP_DHCP
+    if (driver->frontend.get_dhcp_enabled()) {
+        dhcp_start(driver->thisif);
+    }
+#endif
+}
+
+void AP_Networking_ChibiOS::link_down_cb(void *p)
+{
+    auto *driver = (AP_Networking_ChibiOS *)p;
+#if LWIP_DHCP
+    if (driver->frontend.get_dhcp_enabled()) {
+        dhcp_stop(driver->thisif);
+    }
+#endif
+}
+
 /*
-  update called at 10Hz
+ * This function does the actual transmission of the packet. The packet is
+ * contained in the pbuf that is passed to the function. This pbuf
+ * might be chained.
+ *
+ * @param netif the lwip network interface structure for this ethernetif
+ * @param p the MAC packet to send (e.g. IP packet including MAC addresses and type)
+ * @return ERR_OK if the packet could be sent
+ *         an err_t value if the packet couldn't be sent
+ *
+ * @note Returning ERR_MEM here if a DMA queue of your MAC is full can lead to
+ *       strange results. You might consider waiting for space in the DMA queue
+ *       to become available since the stack doesn't retry to send a packet
+ *       dropped because of memory failure (except for the TCP timers).
  */
+int8_t AP_Networking_ChibiOS::low_level_output(struct netif *netif, struct pbuf *p)
+{
+    struct pbuf *q;
+    MACTransmitDescriptor td;
+    (void)netif;
+
+    if (macWaitTransmitDescriptor(&ETHD1, &td, TIME_MS2I(LWIP_SEND_TIMEOUT_MS)) != MSG_OK) {
+        return ERR_TIMEOUT;
+    }
+
+#if ETH_PAD_SIZE
+    pbuf_header(p, -ETH_PAD_SIZE);        /* drop the padding word */
+#endif
+
+    /* Iterates through the pbuf chain. */
+    for(q = p; q != NULL; q = q->next) {
+        macWriteTransmitDescriptor(&td, (uint8_t *)q->payload, (size_t)q->len);
+    }
+    macReleaseTransmitDescriptorX(&td);
+
+#if ETH_PAD_SIZE
+    pbuf_header(p, ETH_PAD_SIZE);         /* reclaim the padding word */
+#endif
+
+    return ERR_OK;
+}
+
+/*
+ * Receives a frame.
+ * Allocates a pbuf and transfers the bytes of the incoming
+ * packet from the interface into the pbuf.
+ *
+ * @param netif the lwip network interface structure for this ethernetif
+ * @return a pbuf filled with the received packet (including MAC header)
+ *         NULL on memory error
+ */
+bool AP_Networking_ChibiOS::low_level_input(struct netif *netif, struct pbuf **pbuf)
+{
+    MACReceiveDescriptor rd;
+    struct pbuf *q;
+    u16_t len;
+
+    (void)netif;
+
+    if (macWaitReceiveDescriptor(&ETHD1, &rd, TIME_IMMEDIATE) != MSG_OK) {
+        return false;
+    }
+
+    len = (u16_t)rd.size;
+
+#if ETH_PAD_SIZE
+    len += ETH_PAD_SIZE;        /* allow room for Ethernet padding */
+#endif
+
+    /* We allocate a pbuf chain of pbufs from the pool. */
+    *pbuf = pbuf_alloc(PBUF_RAW, len, PBUF_POOL);
+
+    if (*pbuf != nullptr) {
+#if ETH_PAD_SIZE
+        pbuf_header(*pbuf, -ETH_PAD_SIZE); /* drop the padding word */
+#endif
+
+        /* Iterates through the pbuf chain. */
+        for(q = *pbuf; q != NULL; q = q->next) {
+            macReadReceiveDescriptor(&rd, (uint8_t *)q->payload, (size_t)q->len);
+        }
+        macReleaseReceiveDescriptorX(&rd);
+
+#if ETH_PAD_SIZE
+        pbuf_header(*pbuf, ETH_PAD_SIZE); /* reclaim the padding word */
+#endif
+    } else {
+        macReleaseReceiveDescriptorX(&rd);     // Drop packet
+    }
+  
+    return true;
+}
+
+int8_t AP_Networking_ChibiOS::ethernetif_init(struct netif *netif)
+{
+    netif->state = NULL;
+    netif->name[0] = 'm';
+    netif->name[1] = 's';
+    netif->output = etharp_output;
+    netif->linkoutput = low_level_output;
+
+    /* set MAC hardware address length */
+    netif->hwaddr_len = ETHARP_HWADDR_LEN;
+
+    /* maximum transfer unit */
+    netif->mtu = LWIP_NETIF_MTU;
+
+    /* device capabilities */
+    netif->flags = NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP;
+
+#if LWIP_IGMP
+    // also enable multicast
+    netif->flags |= NETIF_FLAG_IGMP;
+#endif
+
+    return ERR_OK;
+}
+
+/*
+  networking thread
+*/
+void AP_Networking_ChibiOS::thread()
+{
+    while (!hal.scheduler->is_system_initialized()) {
+        hal.scheduler->delay_microseconds(1000);
+    }
+
+    /* start tcpip thread */
+    tcpip_init(NULL, NULL);
+
+    frontend.param.macaddr.get_address(thisif->hwaddr);
+
+    struct {
+        ip4_addr_t ip, gateway, netmask;
+    } addr {};
+
+    if (!frontend.get_dhcp_enabled()) {
+        addr.ip.addr = htonl(frontend.get_ip_param());
+        addr.gateway.addr = htonl(frontend.get_gateway_param());
+        addr.netmask.addr = htonl(frontend.get_netmask_param());
+    }
+
+    const MACConfig mac_config = {thisif->hwaddr};
+    macStart(&ETHD1, &mac_config);
+
+    /* Add interface. */
+    auto result = netifapi_netif_add(thisif, &addr.ip, &addr.netmask, &addr.gateway, NULL, ethernetif_init, tcpip_input);
+    if (result != ERR_OK) {
+        AP_HAL::panic("Failed to initialise netif");
+    }
+
+    netifapi_netif_set_default(thisif);
+    netifapi_netif_set_up(thisif);
+
+    /* Setup event sources.*/
+    event_timer_t evt;
+    event_listener_t el0, el1;
+    
+    evtObjectInit(&evt, LWIP_LINK_POLL_INTERVAL);
+    evtStart(&evt);
+    chEvtRegisterMask(&evt.et_es, &el0, PERIODIC_TIMER_ID);
+    chEvtRegisterMaskWithFlags(macGetEventSource(&ETHD1), &el1,
+                               FRAME_RECEIVED_ID, MAC_FLAGS_RX);
+    chEvtAddEvents(PERIODIC_TIMER_ID | FRAME_RECEIVED_ID);
+
+    while (true) {
+        eventmask_t mask = chEvtWaitAny(ALL_EVENTS);
+        if (mask & PERIODIC_TIMER_ID) {
+            bool current_link_status = macPollLinkStatus(&ETHD1);
+            if (current_link_status != netif_is_link_up(thisif)) {
+                if (current_link_status) {
+                    tcpip_callback_with_block((tcpip_callback_fn) netif_set_link_up, thisif, 0);
+                    tcpip_callback_with_block(link_up_cb, this, 0);
+                }
+                else {
+                    tcpip_callback_with_block((tcpip_callback_fn) netif_set_link_down, thisif, 0);
+                    tcpip_callback_with_block(link_down_cb, this, 0);
+                }
+            }
+        }
+
+        if (mask & FRAME_RECEIVED_ID) {
+            struct pbuf *p;
+            while (low_level_input(thisif, &p)) {
+                if (p != NULL) {
+                    struct eth_hdr *ethhdr = (struct eth_hdr *)p->payload;
+                    switch (htons(ethhdr->type)) {
+                        /* IP or ARP packet? */
+                    case ETHTYPE_IP:
+                    case ETHTYPE_ARP:
+                        /* full packet send to tcpip_thread to process */
+                        if (thisif->input(p, thisif) == ERR_OK) {
+                            break;
+                        }
+                        /* Falls through */
+                    default:
+                        pbuf_free(p);
+                    }
+                }
+            }
+        }
+    }
+}
+
+/*
+  update called at 10Hz
+*/
 void AP_Networking_ChibiOS::update()
 {
-    const uint32_t ip = ntohl(lwipGetIp());
-    const uint32_t nm = ntohl(lwipGetNetmask());
-    const uint32_t gw = ntohl(lwipGetGateway());
+    const uint32_t ip = ntohl(thisif->ip_addr.addr);
+    const uint32_t nm = ntohl(thisif->netmask.addr);
+    const uint32_t gw = ntohl(thisif->gw.addr);
 
     if (ip != activeSettings.ip ||
         nm != activeSettings.nm ||
diff --git a/libraries/AP_Networking/AP_Networking_ChibiOS.h b/libraries/AP_Networking/AP_Networking_ChibiOS.h
index 71ebfb57a62504..96bd7977ec0538 100644
--- a/libraries/AP_Networking/AP_Networking_ChibiOS.h
+++ b/libraries/AP_Networking/AP_Networking_ChibiOS.h
@@ -18,10 +18,17 @@ class AP_Networking_ChibiOS : public AP_Networking_Backend
 
 private:
     bool allocate_buffers(void);
+    void thread(void);
+    static void link_up_cb(void*);
+    static void link_down_cb(void*);
+    static int8_t ethernetif_init(struct netif *netif);
+    static int8_t low_level_output(struct netif *netif, struct pbuf *p);
+    static bool low_level_input(struct netif *netif, struct pbuf **pbuf);
 
-private:
     struct lwipthread_opts *lwip_options;
     uint8_t macaddr[6];
+
+    struct netif *thisif;
 };
 
 #endif // AP_NETWORKING_BACKEND_CHIBIOS
diff --git a/libraries/AP_Networking/AP_Networking_PPP.cpp b/libraries/AP_Networking/AP_Networking_PPP.cpp
index 8e296a1abbfa20..d421c9b4e0a9ea 100644
--- a/libraries/AP_Networking/AP_Networking_PPP.cpp
+++ b/libraries/AP_Networking/AP_Networking_PPP.cpp
@@ -12,20 +12,11 @@
 #include <netif/ppp/pppapi.h>
 #include <netif/ppp/pppos.h>
 #include <lwip/tcpip.h>
+#include <stdio.h>
 
 
 extern const AP_HAL::HAL& hal;
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-/*
-  uint32_t timestamp in smallest available units
- */
-uint32_t sys_jiffies(void)
-{
-    return AP_HAL::micros();
-}
-#endif
-
 #if LWIP_TCPIP_CORE_LOCKING
 #define LWIP_TCPIP_LOCK() sys_lock_tcpip_core()
 #define LWIP_TCPIP_UNLOCK() sys_unlock_tcpip_core()
@@ -42,7 +33,7 @@ uint32_t AP_Networking_PPP::ppp_output_cb(ppp_pcb *pcb, const void *data, uint32
     auto &driver = *(AP_Networking_PPP *)ctx;
     LWIP_UNUSED_ARG(pcb);
     uint32_t remaining = len;
-    uint8_t *ptr = const_cast<uint8_t*>((const uint8_t *)data);
+    const uint8_t *ptr = (const uint8_t *)data;
     while (remaining > 0) {
         auto n = driver.uart->write(ptr, remaining);
         if (n > 0) {
@@ -132,12 +123,12 @@ void AP_Networking_PPP::ppp_status_callback(struct ppp_pcb_s *pcb, int code, voi
  */
 bool AP_Networking_PPP::init()
 {
-    uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_PPP, 0);
+    auto &sm = AP::serialmanager();
+    uart = sm.find_serial(AP_SerialManager::SerialProtocol_PPP, 0);
     if (uart == nullptr) {
         return false;
     }
-    uart->set_unbuffered_writes(true);
-    
+
     pppif = new netif;
     if (pppif == nullptr) {
         return false;
@@ -163,7 +154,7 @@ bool AP_Networking_PPP::init()
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: started");
     hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking_PPP::ppp_loop, void),
                                  "ppp",
-                                 2048, AP_HAL::Scheduler::PRIORITY_UART, 0);
+                                 2048, AP_HAL::Scheduler::PRIORITY_NET, 0);
 
     return true;
 }
@@ -186,6 +177,7 @@ void AP_Networking_PPP::ppp_loop(void)
 
     // ensure this thread owns the uart
     uart->begin(0);
+    uart->set_unbuffered_writes(true);
 
     while (true) {
         uint8_t buf[1024];
@@ -194,9 +186,8 @@ void AP_Networking_PPP::ppp_loop(void)
             LWIP_TCPIP_LOCK();
             pppos_input(ppp, buf, n);
             LWIP_TCPIP_UNLOCK();
-            hal.scheduler->delay_microseconds(100);
         } else {
-            hal.scheduler->delay_microseconds(1000);
+            hal.scheduler->delay_microseconds(200);
         }
     }
 }
diff --git a/libraries/AP_Networking/config/lwipopts.h b/libraries/AP_Networking/config/lwipopts.h
new file mode 100644
index 00000000000000..8c6789f1ad841c
--- /dev/null
+++ b/libraries/AP_Networking/config/lwipopts.h
@@ -0,0 +1,365 @@
+/*
+ * Copyright (c) 2001-2003 Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+ * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+ * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+ * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ *
+ * This file is part of the lwIP TCP/IP stack.
+ *
+ * Author: Adam Dunkels <adam@sics.se>
+ *
+ */
+#pragma once
+
+#ifdef   __cplusplus
+extern "C"
+{
+#endif
+
+#ifdef LWIP_OPTTEST_FILE
+#include "lwipopts_test.h"
+#else /* LWIP_OPTTEST_FILE */
+
+#define LWIP_IPV4                  1
+#define LWIP_IPV6                  0
+
+#define MEM_LIBC_MALLOC 1
+#define MEMP_MEM_MALLOC 1
+#define LWIP_NETCONN_SEM_PER_THREAD 0
+
+
+#define NO_SYS                     0
+#define LWIP_SOCKET                (NO_SYS==0)
+#define LWIP_NETCONN               (NO_SYS==0)
+#define LWIP_NETIF_API             (NO_SYS==0)
+
+#define LWIP_IGMP                  LWIP_IPV4
+#define LWIP_ICMP                  LWIP_IPV4
+
+#define LWIP_SNMP                  LWIP_UDP
+#define MIB2_STATS                 LWIP_SNMP
+#ifdef LWIP_HAVE_MBEDTLS
+#define LWIP_SNMP_V3               (LWIP_SNMP)
+#endif
+
+#define LWIP_DNS                   LWIP_UDP
+#define LWIP_MDNS_RESPONDER        LWIP_UDP
+
+#define LWIP_NUM_NETIF_CLIENT_DATA (LWIP_MDNS_RESPONDER)
+
+#define LWIP_HAVE_LOOPIF           1
+#define LWIP_NETIF_LOOPBACK        1
+#define LWIP_LOOPBACK_MAX_PBUFS    10
+
+#define TCP_LISTEN_BACKLOG         1
+
+#define LWIP_COMPAT_SOCKETS        0
+#define LWIP_SO_RCVTIMEO           1
+#define LWIP_SO_RCVBUF             1
+
+#define LWIP_TCPIP_CORE_LOCKING    1
+
+#define LWIP_NETIF_LINK_CALLBACK        1
+#define LWIP_NETIF_STATUS_CALLBACK      1
+#define LWIP_NETIF_EXT_STATUS_CALLBACK  1
+
+#define USE_PPP 1
+
+#define LWIP_TIMEVAL_PRIVATE 0
+#define LWIP_FD_SET_PRIVATE 0
+
+#define TCP_WND 12000
+#define TCP_SND_BUF 12000
+    
+// #define LWIP_DEBUG
+#ifdef LWIP_DEBUG
+#define LWIP_DBG_MIN_LEVEL         0
+#define PPP_DEBUG                  LWIP_DBG_ON
+#define MEM_DEBUG                  LWIP_DBG_ON
+#define MEMP_DEBUG                 LWIP_DBG_ON
+#define PBUF_DEBUG                 LWIP_DBG_OFF
+#define API_LIB_DEBUG              LWIP_DBG_OFF
+#define API_MSG_DEBUG              LWIP_DBG_OFF
+#define TCPIP_DEBUG                LWIP_DBG_ON
+#define NETIF_DEBUG                LWIP_DBG_ON
+#define SOCKETS_DEBUG              LWIP_DBG_OFF
+#define DNS_DEBUG                  LWIP_DBG_OFF
+#define AUTOIP_DEBUG               LWIP_DBG_OFF
+#define DHCP_DEBUG                 LWIP_DBG_OFF
+#define IP_DEBUG                   LWIP_DBG_OFF
+#define IP_REASS_DEBUG             LWIP_DBG_OFF
+#define ICMP_DEBUG                 LWIP_DBG_OFF
+#define IGMP_DEBUG                 LWIP_DBG_OFF
+#define UDP_DEBUG                  LWIP_DBG_OFF
+#define TCP_DEBUG                  LWIP_DBG_ON
+#define TCP_INPUT_DEBUG            LWIP_DBG_ON
+#define TCP_OUTPUT_DEBUG           LWIP_DBG_ON
+#define TCP_RTO_DEBUG              LWIP_DBG_OFF
+#define TCP_CWND_DEBUG             LWIP_DBG_OFF
+#define TCP_WND_DEBUG              LWIP_DBG_OFF
+#define TCP_FR_DEBUG               LWIP_DBG_OFF
+#define TCP_QLEN_DEBUG             LWIP_DBG_OFF
+#define TCP_RST_DEBUG              LWIP_DBG_OFF
+#endif
+
+#define LWIP_DBG_TYPES_ON         (LWIP_DBG_ON|LWIP_DBG_TRACE|LWIP_DBG_STATE|LWIP_DBG_FRESH|LWIP_DBG_HALT)
+
+
+/* ---------- Memory options ---------- */
+/* MEM_ALIGNMENT: should be set to the alignment of the CPU for which
+   lwIP is compiled. 4 byte alignment -> define MEM_ALIGNMENT to 4, 2
+   byte alignment -> define MEM_ALIGNMENT to 2. */
+/* MSVC port: intel processors don't need 4-byte alignment,
+   but are faster that way! */
+#define MEM_ALIGNMENT           4U
+
+/* MEM_SIZE: the size of the heap memory. If the application will send
+a lot of data that needs to be copied, this should be set high. */
+#define MEM_SIZE               10240
+
+/* MEMP_NUM_PBUF: the number of memp struct pbufs. If the application
+   sends a lot of data out of ROM (or other static memory), this
+   should be set high. */
+#define MEMP_NUM_PBUF           100
+/* MEMP_NUM_RAW_PCB: the number of UDP protocol control blocks. One
+   per active RAW "connection". */
+#define MEMP_NUM_RAW_PCB        3
+/* MEMP_NUM_UDP_PCB: the number of UDP protocol control blocks. One
+   per active UDP "connection". */
+#define MEMP_NUM_UDP_PCB        8
+/* MEMP_NUM_TCP_PCB: the number of simultaneously active TCP
+   connections. */
+#define MEMP_NUM_TCP_PCB        5
+/* MEMP_NUM_TCP_PCB_LISTEN: the number of listening TCP
+   connections. */
+#define MEMP_NUM_TCP_PCB_LISTEN 8
+/* MEMP_NUM_TCP_SEG: the number of simultaneously queued TCP
+   segments. */
+#define MEMP_NUM_TCP_SEG        16
+/* MEMP_NUM_SYS_TIMEOUT: the number of simultaneously active
+   timeouts. */
+#define MEMP_NUM_SYS_TIMEOUT    17
+
+/* The following four are used only with the sequential API and can be
+   set to 0 if the application only will use the raw API. */
+/* MEMP_NUM_NETBUF: the number of struct netbufs. */
+#define MEMP_NUM_NETBUF         100
+/* MEMP_NUM_NETCONN: the number of struct netconns. */
+#define MEMP_NUM_NETCONN        64
+/* MEMP_NUM_TCPIP_MSG_*: the number of struct tcpip_msg, which is used
+   for sequential API communication and incoming packets. Used in
+   src/api/tcpip.c. */
+#define MEMP_NUM_TCPIP_MSG_API   16
+#define MEMP_NUM_TCPIP_MSG_INPKT 16
+
+
+/* ---------- Pbuf options ---------- */
+/* PBUF_POOL_SIZE: the number of buffers in the pbuf pool. */
+#define PBUF_POOL_SIZE          120
+
+/* PBUF_POOL_BUFSIZE: the size of each pbuf in the pbuf pool. */
+#define PBUF_POOL_BUFSIZE       256
+
+/** SYS_LIGHTWEIGHT_PROT
+ * define SYS_LIGHTWEIGHT_PROT in lwipopts.h if you want inter-task protection
+ * for certain critical regions during buffer allocation, deallocation and memory
+ * allocation and deallocation.
+ */
+#define SYS_LIGHTWEIGHT_PROT    (NO_SYS==0)
+
+
+/* ---------- TCP options ---------- */
+#define LWIP_TCP                1
+#define TCP_TTL                 255
+
+#define LWIP_ALTCP              (LWIP_TCP)
+#ifdef LWIP_HAVE_MBEDTLS
+#define LWIP_ALTCP_TLS          (LWIP_TCP)
+#define LWIP_ALTCP_TLS_MBEDTLS  (LWIP_TCP)
+#endif
+
+
+/* Controls if TCP should queue segments that arrive out of
+   order. Define to 0 if your device is low on memory. */
+#define TCP_QUEUE_OOSEQ         1
+
+/* TCP Maximum segment size. */
+#define TCP_MSS                 1024
+
+/* TCP sender buffer space (bytes). */
+#ifndef TCP_SND_BUF
+#define TCP_SND_BUF             2048
+#endif
+
+/* TCP sender buffer space (pbufs). This must be at least = 2 *
+   TCP_SND_BUF/TCP_MSS for things to work. */
+#define TCP_SND_QUEUELEN       (4 * TCP_SND_BUF/TCP_MSS)
+
+/* TCP writable space (bytes). This must be less than or equal
+   to TCP_SND_BUF. It is the amount of space which must be
+   available in the tcp snd_buf for select to return writable */
+#define TCP_SNDLOWAT           (TCP_SND_BUF/2)
+
+/* TCP receive window. */
+#ifndef TCP_WND
+#define TCP_WND                 (20 * 1024)
+#endif
+
+/* Maximum number of retransmissions of data segments. */
+#define TCP_MAXRTX              12
+
+/* Maximum number of retransmissions of SYN segments. */
+#define TCP_SYNMAXRTX           4
+
+
+/* ---------- ARP options ---------- */
+#define LWIP_ARP                1
+#define ARP_TABLE_SIZE          10
+#define ARP_QUEUEING            1
+
+
+/* ---------- IP options ---------- */
+/* Define IP_FORWARD to 1 if you wish to have the ability to forward
+   IP packets across network interfaces. If you are going to run lwIP
+   on a device with only one network interface, define this to 0. */
+#define IP_FORWARD              1
+
+/* IP reassembly and segmentation.These are orthogonal even
+ * if they both deal with IP fragments */
+#define IP_REASSEMBLY           1
+#define IP_REASS_MAX_PBUFS      (10 * ((1500 + PBUF_POOL_BUFSIZE - 1) / PBUF_POOL_BUFSIZE))
+#define MEMP_NUM_REASSDATA      IP_REASS_MAX_PBUFS
+#define IP_FRAG                 1
+#define IPV6_FRAG_COPYHEADER    1
+
+/* ---------- ICMP options ---------- */
+#define ICMP_TTL                255
+
+
+/* ---------- DHCP options ---------- */
+/* Define LWIP_DHCP to 1 if you want DHCP configuration of
+   interfaces. */
+#define LWIP_DHCP               1
+
+/* 1 if you want to do an ARP check on the offered address
+   (recommended). */
+#define DHCP_DOES_ARP_CHECK    (LWIP_DHCP)
+
+
+/* ---------- AUTOIP options ------- */
+#define LWIP_AUTOIP            (LWIP_DHCP)
+#define LWIP_DHCP_AUTOIP_COOP  (LWIP_DHCP && LWIP_AUTOIP)
+
+
+/* ---------- UDP options ---------- */
+#define LWIP_UDP                1
+#define LWIP_UDPLITE            LWIP_UDP
+#define UDP_TTL                 255
+
+
+/* ---------- RAW options ---------- */
+#define LWIP_RAW                1
+
+
+/* ---------- Statistics options ---------- */
+
+#define LWIP_STATS              1
+#define LWIP_STATS_DISPLAY      1
+
+#if LWIP_STATS
+#define LINK_STATS              1
+#define IP_STATS                1
+#define ICMP_STATS              1
+#define IGMP_STATS              1
+#define IPFRAG_STATS            1
+#define UDP_STATS               1
+#define TCP_STATS               1
+#define MEM_STATS               1
+#define MEMP_STATS              1
+#define PBUF_STATS              1
+#define SYS_STATS               1
+#endif /* LWIP_STATS */
+
+/* ---------- NETBIOS options ---------- */
+#define LWIP_NETBIOS_RESPOND_NAME_QUERY 1
+
+/* ---------- PPP options ---------- */
+
+#define PPP_SUPPORT             1      /* Set > 0 for PPP */
+
+#if PPP_SUPPORT
+
+#define NUM_PPP                 1      /* Max PPP sessions. */
+
+
+/* Select modules to enable.  Ideally these would be set in the makefile but
+ * we're limited by the command line length so you need to modify the settings
+ * in this file.
+ */
+#define PPPOE_SUPPORT           0
+#define PPPOS_SUPPORT           1
+
+#define PAP_SUPPORT             0      /* Set > 0 for PAP. */
+#define CHAP_SUPPORT            0      /* Set > 0 for CHAP. */
+#define MSCHAP_SUPPORT          0      /* Set > 0 for MSCHAP */
+#define CBCP_SUPPORT            0      /* Set > 0 for CBCP (NOT FUNCTIONAL!) */
+#define CCP_SUPPORT             0      /* Set > 0 for CCP */
+#define VJ_SUPPORT              1      /* Set > 0 for VJ header compression. */
+#define MD5_SUPPORT             0      /* Set > 0 for MD5 (see also CHAP) */
+
+#endif /* PPP_SUPPORT */
+
+#endif /* LWIP_OPTTEST_FILE */
+
+/* The following defines must be done even in OPTTEST mode: */
+
+#if !defined(NO_SYS) || !NO_SYS /* default is 0 */
+void sys_check_core_locking(void);
+#define LWIP_ASSERT_CORE_LOCKED()  sys_check_core_locking()
+#endif
+
+#ifndef LWIP_PLATFORM_ASSERT
+/* Define LWIP_PLATFORM_ASSERT to something to catch missing stdio.h includes */
+void ap_networking_platform_assert(const char *msg, int line, const char *file);
+#define LWIP_PLATFORM_ASSERT(x) ap_networking_platform_assert(x, __LINE__, __FILE__)
+#endif
+
+/*
+  map LWIP debugging onto ap_networking_printf to allow for easier
+  redirection to a file or dedicated serial port
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+int ap_networking_printf(const char *fmt, ...);
+#ifdef __cplusplus
+}
+#endif
+#define LWIP_PLATFORM_DIAG(x)    do {ap_networking_printf x; } while(0)
+
+// #define AP_NETWORKING_LWIP_DEBUG_FILE "lwip.log"
+
+#ifdef   __cplusplus
+}
+#endif
+    
diff --git a/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp b/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
new file mode 100644
index 00000000000000..ad9c8675881753
--- /dev/null
+++ b/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
@@ -0,0 +1,538 @@
+/*
+  port of lwip to ArduPilot AP_HAL
+ */
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/Semaphores.h>
+#include <AP_Math/AP_Math.h>
+
+#include <string.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <errno.h>
+
+#include <lwipopts.h>
+
+extern "C" {
+#include "lwip/debug.h"
+#include "lwip/def.h"
+#include "lwip/sys.h"
+#include "lwip/opt.h"
+#include "lwip/stats.h"
+#include "lwip/tcpip.h"
+}
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#include <semaphore.h>
+#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#include "hal.h"
+#include "../../../libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h"
+#endif
+
+extern const AP_HAL::HAL &hal;
+
+unsigned int
+lwip_port_rand(void)
+{
+    return (u32_t)rand();
+}
+
+static HAL_Semaphore lwprot_mutex;
+static HAL_Semaphore tcpip_mutex;
+
+struct sys_mbox_msg {
+    struct sys_mbox_msg *next;
+    void *msg;
+};
+
+#define SYS_MBOX_SIZE 128
+
+struct sys_mbox {
+    int first, last;
+    void *msgs[SYS_MBOX_SIZE];
+    struct sys_sem *not_empty;
+    struct sys_sem *not_full;
+    struct sys_sem *mutex;
+    int wait_send;
+};
+
+struct sys_sem {
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    sem_t sem;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+    semaphore_t sem;
+#else
+#error "Need sys_sem implementation"
+#endif
+};
+
+static struct sys_sem *sys_sem_new_internal(u8_t count);
+static void sys_sem_free_internal(struct sys_sem *sem);
+
+/* Threads */
+
+struct thread_wrapper_data {
+    lwip_thread_fn function;
+    void *arg;
+};
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+static void *
+thread_wrapper(void *arg)
+{
+    auto *thread_data = (struct thread_wrapper_data *)arg;
+    thread_data->function(thread_data->arg);
+    return NULL;
+}
+#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+static void
+thread_wrapper(void *arg)
+{
+    auto *thread_data = (struct thread_wrapper_data *)arg;
+    thread_data->function(thread_data->arg);
+}
+#endif
+
+sys_thread_t
+sys_thread_new(const char *name, lwip_thread_fn function, void *arg, int stacksize, int prio)
+{
+    sys_thread_t ret = nullptr;
+    struct thread_wrapper_data *thread_data;
+
+    thread_data = new thread_wrapper_data;
+    thread_data->arg = arg;
+    thread_data->function = function;
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    pthread_t t;
+    if (pthread_create(&t, NULL, thread_wrapper, thread_data) == 0) {
+        pthread_setname_np(t, name);
+        ret = (void*)t;
+    }
+#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+    ret = thread_create_alloc(THD_WORKING_AREA_SIZE(stacksize+1024),
+                              name,
+                              prio+60, // need to use HAL thread call
+                              thread_wrapper,
+                              thread_data);
+#endif
+    if (ret == nullptr) {
+        AP_HAL::panic("Failed to create thread %s", name);
+    }
+    return ret;
+}
+
+void sys_lock_tcpip_core(void)
+{
+    if (hal.scheduler != nullptr) {
+        tcpip_mutex.take_blocking();
+    }
+}
+
+void sys_unlock_tcpip_core(void)
+{
+    if (hal.scheduler != nullptr) {
+        tcpip_mutex.give();
+    }
+}
+
+void sys_mark_tcpip_thread(void)
+{
+}
+
+void sys_check_core_locking(void)
+{
+    /* Embedded systems should check we are NOT in an interrupt
+     * context here */
+}
+
+/*-----------------------------------------------------------------------------------*/
+/* Mailbox */
+err_t
+sys_mbox_new(struct sys_mbox **mb, int size)
+{
+    struct sys_mbox *mbox;
+    LWIP_UNUSED_ARG(size);
+
+    mbox = new sys_mbox;
+    if (mbox == NULL) {
+        return ERR_MEM;
+    }
+    mbox->first = mbox->last = 0;
+    mbox->not_empty = sys_sem_new_internal(0);
+    mbox->not_full = sys_sem_new_internal(0);
+    mbox->mutex = sys_sem_new_internal(1);
+    mbox->wait_send = 0;
+
+    *mb = mbox;
+    return ERR_OK;
+}
+
+void
+sys_mbox_free(struct sys_mbox **mb)
+{
+    if ((mb != NULL) && (*mb != SYS_MBOX_NULL)) {
+        struct sys_mbox *mbox = *mb;
+        sys_arch_sem_wait(&mbox->mutex, 0);
+
+        sys_sem_free_internal(mbox->not_empty);
+        sys_sem_free_internal(mbox->not_full);
+        sys_sem_free_internal(mbox->mutex);
+        mbox->not_empty = mbox->not_full = mbox->mutex = NULL;
+        /*  LWIP_DEBUGF("sys_mbox_free: mbox 0x%lx\n", mbox); */
+        delete mbox;
+    }
+}
+
+err_t
+sys_mbox_trypost(struct sys_mbox **mb, void *msg)
+{
+    u8_t first;
+    struct sys_mbox *mbox;
+    LWIP_ASSERT("invalid mbox", (mb != NULL) && (*mb != NULL));
+    mbox = *mb;
+
+    sys_arch_sem_wait(&mbox->mutex, 0);
+
+    LWIP_DEBUGF(SYS_DEBUG, ("sys_mbox_trypost: mbox %p msg %p\n",
+                            (void *)mbox, (void *)msg));
+
+    if ((mbox->last + 1) >= (mbox->first + SYS_MBOX_SIZE)) {
+        sys_sem_signal(&mbox->mutex);
+        return ERR_MEM;
+    }
+
+    mbox->msgs[mbox->last % SYS_MBOX_SIZE] = msg;
+
+    if (mbox->last == mbox->first) {
+        first = 1;
+    } else {
+        first = 0;
+    }
+
+    mbox->last++;
+
+    if (first) {
+        sys_sem_signal(&mbox->not_empty);
+    }
+
+    sys_sem_signal(&mbox->mutex);
+
+    return ERR_OK;
+}
+
+void
+sys_mbox_post(struct sys_mbox **mb, void *msg)
+{
+    u8_t first;
+    struct sys_mbox *mbox;
+    LWIP_ASSERT("invalid mbox", (mb != NULL) && (*mb != NULL));
+    mbox = *mb;
+
+    sys_arch_sem_wait(&mbox->mutex, 0);
+
+    LWIP_DEBUGF(SYS_DEBUG, ("sys_mbox_post: mbox %p msg %p\n", (void *)mbox, (void *)msg));
+
+    while ((mbox->last + 1) >= (mbox->first + SYS_MBOX_SIZE)) {
+        mbox->wait_send++;
+        sys_sem_signal(&mbox->mutex);
+        sys_arch_sem_wait(&mbox->not_full, 0);
+        sys_arch_sem_wait(&mbox->mutex, 0);
+        mbox->wait_send--;
+    }
+
+    mbox->msgs[mbox->last % SYS_MBOX_SIZE] = msg;
+
+    if (mbox->last == mbox->first) {
+        first = 1;
+    } else {
+        first = 0;
+    }
+
+    mbox->last++;
+
+    if (first) {
+        sys_sem_signal(&mbox->not_empty);
+    }
+
+    sys_sem_signal(&mbox->mutex);
+}
+
+u32_t
+sys_arch_mbox_tryfetch(struct sys_mbox **mb, void **msg)
+{
+    struct sys_mbox *mbox = *mb;
+
+    sys_arch_sem_wait(&mbox->mutex, 0);
+
+    if (mbox->first == mbox->last) {
+        sys_sem_signal(&mbox->mutex);
+        return SYS_MBOX_EMPTY;
+    }
+
+    if (msg != NULL) {
+        LWIP_DEBUGF(SYS_DEBUG, ("sys_mbox_tryfetch: mbox %p msg %p\n", (void *)mbox, *msg));
+        *msg = mbox->msgs[mbox->first % SYS_MBOX_SIZE];
+    } else {
+        LWIP_DEBUGF(SYS_DEBUG, ("sys_mbox_tryfetch: mbox %p, null msg\n", (void *)mbox));
+    }
+
+    mbox->first++;
+
+    if (mbox->wait_send) {
+        sys_sem_signal(&mbox->not_full);
+    }
+
+    sys_sem_signal(&mbox->mutex);
+
+    return 0;
+}
+
+u32_t
+sys_arch_mbox_fetch(struct sys_mbox **mb, void **msg, u32_t timeout)
+{
+    struct sys_mbox *mbox;
+    LWIP_ASSERT("invalid mbox", (mb != NULL) && (*mb != NULL));
+    mbox = *mb;
+
+    /* The mutex lock is quick so we don't bother with the timeout
+       stuff here. */
+    sys_arch_sem_wait(&mbox->mutex, 0);
+
+    while (mbox->first == mbox->last) {
+        sys_sem_signal(&mbox->mutex);
+
+        /* We block while waiting for a mail to arrive in the mailbox. We
+           must be prepared to timeout. */
+        if (timeout != 0) {
+            u32_t time_needed = sys_arch_sem_wait(&mbox->not_empty, timeout);
+
+            if (time_needed == SYS_ARCH_TIMEOUT) {
+                return SYS_ARCH_TIMEOUT;
+            }
+        } else {
+            sys_arch_sem_wait(&mbox->not_empty, 0);
+        }
+
+        sys_arch_sem_wait(&mbox->mutex, 0);
+    }
+
+    if (msg != NULL) {
+        LWIP_DEBUGF(SYS_DEBUG, ("sys_mbox_fetch: mbox %p msg %p\n", (void *)mbox, *msg));
+        *msg = mbox->msgs[mbox->first % SYS_MBOX_SIZE];
+    } else {
+        LWIP_DEBUGF(SYS_DEBUG, ("sys_mbox_fetch: mbox %p, null msg\n", (void *)mbox));
+    }
+
+    mbox->first++;
+
+    if (mbox->wait_send) {
+        sys_sem_signal(&mbox->not_full);
+    }
+
+    sys_sem_signal(&mbox->mutex);
+
+    return 0;
+}
+
+/*-----------------------------------------------------------------------------------*/
+/* Semaphore */
+static struct sys_sem *
+sys_sem_new_internal(u8_t count)
+{
+    auto *ret = new sys_sem;
+    if (ret != nullptr) {
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+        sem_init(&ret->sem, 0, count);
+#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+        chSemObjectInit(&ret->sem, (cnt_t)count);
+#endif
+    }
+    return ret;
+}
+
+err_t
+sys_sem_new(struct sys_sem **sem, u8_t count)
+{
+    *sem = sys_sem_new_internal(count);
+    if (*sem == NULL) {
+        return ERR_MEM;
+    }
+    return ERR_OK;
+}
+
+u32_t
+sys_arch_sem_wait(struct sys_sem **s, u32_t timeout_ms)
+{
+    struct sys_sem *sem = *s;
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    if (timeout_ms == 0) {
+        sem_wait(&sem->sem);
+        return 0;
+    }
+    struct timespec ts;
+    if (clock_gettime(CLOCK_REALTIME, &ts) != 0) {
+        return SYS_ARCH_TIMEOUT;
+    }
+    ts.tv_sec += timeout_ms/1000UL;
+    ts.tv_nsec += (timeout_ms % 1000U) * 1000000UL;
+    if (ts.tv_nsec >= 1000000000L) {
+        ts.tv_sec++;
+        ts.tv_nsec -= 1000000000L;
+    }
+    auto ret = sem_timedwait(&sem->sem, &ts);
+    if (ret != 0) {
+        return SYS_ARCH_TIMEOUT;
+    }
+#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+    chSysLock();
+    sysinterval_t tmo = timeout_ms > 0 ? MIN(TIME_MAX_INTERVAL, TIME_MS2I((time_msecs_t)timeout_ms)) : TIME_INFINITE;
+    if (chSemWaitTimeoutS(&sem->sem, tmo) != MSG_OK) {
+        chSysUnlock();
+        return SYS_ARCH_TIMEOUT;
+    }
+    chSysUnlock();
+#endif
+    return 0;
+}
+
+void
+sys_sem_signal(struct sys_sem **s)
+{
+    struct sys_sem *sem = *s;
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    sem_post(&sem->sem);
+#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+    chSemSignal(&sem->sem);
+#endif
+}
+
+static void
+sys_sem_free_internal(struct sys_sem *sem)
+{
+    delete sem;
+}
+
+void
+sys_sem_free(struct sys_sem **sem)
+{
+    if ((sem != NULL) && (*sem != SYS_SEM_NULL)) {
+        sys_sem_free_internal(*sem);
+    }
+}
+
+/*-----------------------------------------------------------------------------------*/
+/* Mutex */
+/** Create a new mutex
+ * @param mutex pointer to the mutex to create
+ * @return a new mutex */
+err_t
+sys_mutex_new(struct sys_mutex **mutex)
+{
+    auto *sem = new HAL_Semaphore;
+    if (sem == nullptr) {
+        return ERR_MEM;
+    }
+    *mutex = (struct sys_mutex *)sem;
+    return ERR_OK;
+}
+
+/** Lock a mutex
+ * @param mutex the mutex to lock */
+void
+sys_mutex_lock(struct sys_mutex **mutex)
+{
+    auto *sem = (HAL_Semaphore *)*mutex;
+    if (hal.scheduler != nullptr) {
+        sem->take_blocking();
+    }
+}
+
+/** Unlock a mutex
+ * @param mutex the mutex to unlock */
+void
+sys_mutex_unlock(struct sys_mutex **mutex)
+{
+    auto *sem = (HAL_Semaphore *)*mutex;
+    if (hal.scheduler != nullptr) {
+        sem->give();
+    }
+}
+
+/** Delete a mutex
+ * @param mutex the mutex to delete */
+void
+sys_mutex_free(struct sys_mutex **mutex)
+{
+    auto *sem = (HAL_Semaphore *)*mutex;
+    delete sem;
+}
+
+
+/*-----------------------------------------------------------------------------------*/
+/* Time */
+u32_t
+sys_now(void)
+{
+    return AP_HAL::millis();
+}
+
+u32_t
+sys_jiffies(void)
+{
+    return AP_HAL::micros();
+}
+
+/*-----------------------------------------------------------------------------------*/
+/* Init */
+
+void
+sys_init(void)
+{
+}
+
+/*-----------------------------------------------------------------------------------*/
+/* Critical section */
+/** sys_prot_t sys_arch_protect(void)
+
+This optional function does a "fast" critical region protection and returns
+the previous protection level. This function is only called during very short
+critical regions. An embedded system which supports ISR-based drivers might
+want to implement this function by disabling interrupts. Task-based systems
+might want to implement this by using a mutex or disabling tasking. This
+function should support recursive calls from the same task or interrupt. In
+other words, sys_arch_protect() could be called while already protected. In
+that case the return value indicates that it is already protected.
+
+sys_arch_protect() is only required if your port is supporting an operating
+system.
+*/
+sys_prot_t
+sys_arch_protect(void)
+{
+    if (hal.scheduler != nullptr) {
+        lwprot_mutex.take_blocking();
+    }
+    return 0;
+}
+
+/** void sys_arch_unprotect(sys_prot_t pval)
+
+This optional function does a "fast" set of critical region protection to the
+value specified by pval. See the documentation for sys_arch_protect() for
+more information. This function is only required if your port is supporting
+an operating system.
+*/
+void
+sys_arch_unprotect(sys_prot_t pval)
+{
+    LWIP_UNUSED_ARG(pval);
+    if (hal.scheduler != nullptr) {
+        lwprot_mutex.give();
+    }
+}
+
diff --git a/libraries/AP_Networking/lwip_hal/include/arch/cc.h b/libraries/AP_Networking/lwip_hal/include/arch/cc.h
new file mode 100644
index 00000000000000..56747da1ffef0f
--- /dev/null
+++ b/libraries/AP_Networking/lwip_hal/include/arch/cc.h
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <stdint.h>
+#include <sys/select.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#define LWIP_ERRNO_STDINCLUDE	1
+
+extern unsigned int lwip_port_rand(void);
+#define LWIP_RAND() (lwip_port_rand())
+
+typedef uint32_t sys_prot_t;
+
+#ifdef __cplusplus
+}
+#endif
+
diff --git a/libraries/AP_Networking/lwip_hal/include/arch/sys_arch.h b/libraries/AP_Networking/lwip_hal/include/arch/sys_arch.h
new file mode 100644
index 00000000000000..da48ac6b81820f
--- /dev/null
+++ b/libraries/AP_Networking/lwip_hal/include/arch/sys_arch.h
@@ -0,0 +1,49 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#define SYS_MBOX_NULL NULL
+#define SYS_SEM_NULL  NULL
+
+/*typedef u32_t sys_prot_t;*/
+
+struct sys_sem;
+typedef struct sys_sem * sys_sem_t;
+#define sys_sem_valid(sem)             (((sem) != NULL) && (*(sem) != NULL))
+#define sys_sem_valid_val(sem)         ((sem) != NULL)
+#define sys_sem_set_invalid(sem)       do { if((sem) != NULL) { *(sem) = NULL; }}while(0)
+#define sys_sem_set_invalid_val(sem)   do { (sem) = NULL; }while(0)
+
+struct sys_mutex;
+typedef struct sys_mutex * sys_mutex_t;
+#define sys_mutex_valid(mutex)         sys_sem_valid(mutex)
+#define sys_mutex_set_invalid(mutex)   sys_sem_set_invalid(mutex)
+
+struct sys_mbox;
+typedef struct sys_mbox * sys_mbox_t;
+#define sys_mbox_valid(mbox)           sys_sem_valid(mbox)
+#define sys_mbox_valid_val(mbox)       sys_sem_valid_val(mbox)
+#define sys_mbox_set_invalid(mbox)     sys_sem_set_invalid(mbox)
+#define sys_mbox_set_invalid_val(mbox) sys_sem_set_invalid_val(mbox)
+
+typedef void *sys_thread_t;
+
+void sys_mark_tcpip_thread(void);
+#define LWIP_MARK_TCPIP_THREAD()   sys_mark_tcpip_thread()
+
+#if LWIP_TCPIP_CORE_LOCKING
+void sys_lock_tcpip_core(void);
+#define LOCK_TCPIP_CORE()          sys_lock_tcpip_core()
+void sys_unlock_tcpip_core(void);
+#define UNLOCK_TCPIP_CORE()        sys_unlock_tcpip_core()
+#endif
+
+struct timeval;
+
+#ifdef __cplusplus
+}
+#endif
+
diff --git a/libraries/AP_Networking/wscript b/libraries/AP_Networking/wscript
new file mode 100644
index 00000000000000..64d985c6ce0e0d
--- /dev/null
+++ b/libraries/AP_Networking/wscript
@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+
+import pathlib
+
+
+def configure(cfg):
+    extra_src = [
+        'modules/ChibiOS/ext/lwip/src/core/*c',
+        'modules/ChibiOS/ext/lwip/src/core/ipv4/*c',
+        'modules/ChibiOS/ext/lwip/src/api/*c',
+        'modules/ChibiOS/ext/lwip/src/netif/*c',
+        'modules/ChibiOS/ext/lwip/src/netif/ppp/*c',
+    ]
+
+    extra_src_inc = [
+        'modules/ChibiOS/ext/lwip/src/include',
+    ]
+
+    if cfg.env.BOARD_CLASS == "SITL":
+        extra_src.extend(['libraries/AP_Networking/lwip_hal/arch/*cpp'])
+        extra_src_inc.extend(['libraries/AP_Networking/config',
+                              'libraries/AP_Networking/lwip_hal/include'])
+
+    if cfg.env.BOARD_CLASS == "ChibiOS":
+        extra_src.extend(['libraries/AP_Networking/lwip_hal/arch/*cpp'])
+        extra_src_inc.extend(['libraries/AP_Networking/config',
+                              'libraries/AP_Networking/lwip_hal/include'])
+
+    cfg.env.AP_LIB_EXTRA_SOURCES['AP_Networking'] = []
+    for pattern in extra_src:
+        s = cfg.srcnode.ant_glob(pattern, dir=False, src=True)
+        for x in s:
+            cfg.env.AP_LIB_EXTRA_SOURCES['AP_Networking'].append(str(x))
+
+    for inc in extra_src_inc:
+        cfg.env.INCLUDES += [str(cfg.srcnode.make_node(inc))]

From d289ba0181f82a8e91ec513d24ba90b9b613559f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 06:38:56 +1100
Subject: [PATCH 0314/1335] AP_Networking: removed SLIP

PPP is the better choice
---
 libraries/AP_Networking/AP_Networking.cpp     | 10 --
 .../AP_Networking/AP_Networking_Config.h      |  4 -
 .../AP_Networking/AP_Networking_SLIP.cpp      | 98 -------------------
 libraries/AP_Networking/AP_Networking_SLIP.h  | 27 -----
 4 files changed, 139 deletions(-)
 delete mode 100644 libraries/AP_Networking/AP_Networking_SLIP.cpp
 delete mode 100644 libraries/AP_Networking/AP_Networking_SLIP.h

diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp
index 32bbf51de50c96..2eaee5dfde61c7 100644
--- a/libraries/AP_Networking/AP_Networking.cpp
+++ b/libraries/AP_Networking/AP_Networking.cpp
@@ -24,10 +24,6 @@ extern const AP_HAL::HAL& hal;
 
 #include <AP_HAL/utility/Socket.h>
 
-#if AP_NETWORKING_BACKEND_SLIP
-#include "AP_Networking_SLIP.h"
-#endif
-
 #if AP_NETWORKING_BACKEND_PPP
 #include "AP_Networking_PPP.h"
 #endif
@@ -140,12 +136,6 @@ void AP_Networking::init()
     }
 #endif
 
-#if AP_NETWORKING_BACKEND_SLIP
-    if (backend == nullptr && AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_SLIP, 0)) {
-        backend = new AP_Networking_SLIP(*this);
-    }
-#endif
-
 #if AP_NETWORKING_BACKEND_CHIBIOS
     if (backend == nullptr) {
         backend = new AP_Networking_ChibiOS(*this);
diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index dcecd2be3a9333..b08b936e3b9ff0 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -31,10 +31,6 @@
 #define AP_NETWORKING_BACKEND_PPP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED)
 #endif
 
-#ifndef AP_NETWORKING_BACKEND_SLIP
-#define AP_NETWORKING_BACKEND_SLIP 0
-#endif
-
 #ifndef AP_NETWORKING_BACKEND_SITL
 #define AP_NETWORKING_BACKEND_SITL (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_SITL))
 #endif
diff --git a/libraries/AP_Networking/AP_Networking_SLIP.cpp b/libraries/AP_Networking/AP_Networking_SLIP.cpp
deleted file mode 100644
index b1e5085b5d64cf..00000000000000
--- a/libraries/AP_Networking/AP_Networking_SLIP.cpp
+++ /dev/null
@@ -1,98 +0,0 @@
-
-#include "AP_Networking_Config.h"
-
-#if AP_NETWORKING_BACKEND_SLIP
-
-#include "AP_Networking_SLIP.h"
-#include <GCS_MAVLink/GCS.h>
-
-#include <lwip/udp.h>
-#include <lwip/ip_addr.h>
-#include <lwip/sio.h>
-#include <lwip/tcpip.h>
-
-#include <netif/slipif.h>
-
-extern const AP_HAL::HAL& hal;
-AP_HAL::UARTDriver *AP_Networking_SLIP::uart;
-
-/*
-  initialise SLIP network backend using LWIP
- */
-bool AP_Networking_SLIP::init()
-{
-    uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_SLIP, 0);
-    if (uart == nullptr) {
-        return false;
-    }
-    uart->set_unbuffered_writes(true);
-    
-    slipif = new netif;
-    if (slipif == nullptr) {
-        return false;
-    }
-
-    // no dynamic IPs for SLIP
-    activeSettings.ip = frontend.get_ip_param();
-    activeSettings.gw = frontend.get_gateway_param();
-    activeSettings.nm = frontend.get_netmask_param();
-    activeSettings.last_change_ms = AP_HAL::millis();
-    
-    const ip4_addr_t ipaddr {htonl(activeSettings.ip)};
-    const ip4_addr_t netmask {htonl(activeSettings.nm)};
-    const ip4_addr_t gw {htonl(activeSettings.gw)};
-
-    tcpip_init(NULL, NULL);
-    hal.scheduler->delay(100);
-    
-    netif_add(slipif,
-              &ipaddr, &netmask, &gw,
-              &num_slip, slipif_init, ip_input);
-    netif_set_default(slipif);
-    slipif->mtu = 296;
-    netif_set_link_up(slipif);
-    netif_set_up(slipif);
-    
-    hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking_SLIP::slip_loop, void),
-                                 "slip",
-                                 8192, AP_HAL::Scheduler::PRIORITY_UART, -1);
-    
-    return true;
-}
-
-/*
-  main loop for SLIP
- */
-void AP_Networking_SLIP::slip_loop(void)
-{
-    uart->begin(0);
-    hal.scheduler->delay(100);
-    while (true) {
-        slipif_poll(slipif);
-        hal.scheduler->delay_microseconds(100);
-    }
-}
-
-void sio_send(uint8_t c, void *fd)
-{
-    auto *uart = (AP_HAL::UARTDriver *)fd;
-    uart->write(c);
-}
-
-sio_fd_t sio_open(uint8_t dev)
-{
-    return AP_Networking_SLIP::uart;
-}
-
-u32_t sio_tryread(sio_fd_t fd, u8_t *data, u32_t len)
-{
-    auto *uart = (AP_HAL::UARTDriver *)fd;
-    uart->begin(0);
-    const auto ret = uart->read(data, len);
-    if (ret <= 0) {
-        return 0;
-    }
-    return ret;
-}
-
-#endif // AP_NETWORKING_BACKEND_SLIP
diff --git a/libraries/AP_Networking/AP_Networking_SLIP.h b/libraries/AP_Networking/AP_Networking_SLIP.h
deleted file mode 100644
index a6c61d4f32ff01..00000000000000
--- a/libraries/AP_Networking/AP_Networking_SLIP.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#pragma once
-
-#include "AP_Networking_Config.h"
-
-#ifdef AP_NETWORKING_BACKEND_SLIP
-#include "AP_Networking_Backend.h"
-
-class AP_Networking_SLIP : public AP_Networking_Backend
-{
-public:
-    using AP_Networking_Backend::AP_Networking_Backend;
-
-    /* Do not allow copies */
-    CLASS_NO_COPY(AP_Networking_SLIP);
-
-    bool init() override;
-
-    static AP_HAL::UARTDriver *uart;
-    
-private:
-    void slip_loop(void);
-
-    struct netif *slipif;
-    uint8_t num_slip;
-};
-
-#endif // AP_NETWORKING_BACKEND_SLIP

From fb0a0de2f2893b42fa40ec873bf43adff9d7ea85 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 24 Dec 2023 13:53:38 +1100
Subject: [PATCH 0315/1335] waf: added env.BOARD_CLASS

---
 Tools/ardupilotwaf/boards.py | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 2c9432d85eb652..dc78c9f54ba8eb 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -646,6 +646,8 @@ def configure_env(self, cfg, env):
             AP_BARO_PROBE_EXTERNAL_I2C_BUSES = 1,
         )
 
+        env.BOARD_CLASS = "SITL"
+
         cfg.define('AP_SIM_ENABLED', 1)
         cfg.define('HAL_WITH_SPI', 1)
         cfg.define('HAL_WITH_RAMTRON', 1)
@@ -897,6 +899,8 @@ class esp32(Board):
     abstract = True
     toolchain = 'xtensa-esp32-elf'
     def configure_env(self, cfg, env):
+        env.BOARD_CLASS = "ESP32"
+
         def expand_path(p):
             print("USING EXPRESSIF IDF:"+str(env.idf))
             return cfg.root.find_dir(env.IDF+p).abspath()
@@ -988,6 +992,7 @@ def configure_env(self, cfg, env):
 
         cfg.load('chibios')
         env.BOARD = self.name
+        env.BOARD_CLASS = "ChibiOS"
 
         env.DEFINES.update(
             CONFIG_HAL_BOARD = 'HAL_BOARD_CHIBIOS',
@@ -1229,6 +1234,8 @@ def configure_env(self, cfg, env):
             self.with_can = True
         super(linux, self).configure_env(cfg, env)
 
+        env.BOARD_CLASS = "LINUX"
+
         env.DEFINES.update(
             CONFIG_HAL_BOARD = 'HAL_BOARD_LINUX',
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_NONE',

From 9456b585fae4e5d18f8c38779266a088fead583a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 24 Dec 2023 14:04:42 +1100
Subject: [PATCH 0316/1335] HAL_ChibiOS: don't link lwip bindings from ChibiOS

---
 libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk  | 7 +------
 libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py | 2 --
 2 files changed, 1 insertion(+), 8 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk b/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
index 821fcf0981229a..7d9f8a67a6550c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
@@ -68,10 +68,6 @@ ifeq ($(USE_FATFS),yes)
 include $(CHIBIOS)/os/various/fatfs_bindings/fatfs.mk
 endif
 
-ifeq ($(USE_LWIP),yes)
-include $(CHIBIOS)/os/various/lwip_bindings/lwip.mk
-endif
-
 #
 # Build global options
 ##############################################################################
@@ -149,9 +145,8 @@ CSRC += $(CHIBIOS)/os/various/scsi_bindings/lib_scsi.c \
         $(CHIBIOS)/os/hal/src/hal_usb_msd.c
 endif
 
-ifeq ($(USE_LWIP),yes)
+# evtimer used by networking
 CSRC += $(CHIBIOS)/os/various/evtimer.c
-endif
 
 #	   $(TESTSRC) \
 #	   test.c
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 3d8a906365bf54..751ca37fc4f35f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -910,8 +910,6 @@ def enable_networking(self, f):
 #endif
 #define CH_CFG_USE_MAILBOXES 1
 ''')
-        self.env_vars['USE_LWIP'] = 'yes'
-        self.build_flags.append('USE_LWIP=yes')
 
     def write_mcu_config(self, f):
         '''write MCU config defines'''

From 936bbeda881dea899704ec9b1cfa0e16a279e67f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 25 Dec 2023 14:25:19 +1100
Subject: [PATCH 0317/1335] AP_HAL_ChibiOS: added PRIORITY_NET

---
 libraries/AP_HAL_ChibiOS/Scheduler.cpp | 1 +
 libraries/AP_HAL_ChibiOS/Scheduler.h   | 1 +
 2 files changed, 2 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index 5993be2e99c2a7..2f6fb5504dad02 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -697,6 +697,7 @@ uint8_t Scheduler::calculate_thread_priority(priority_base base, int8_t priority
         { PRIORITY_UART, APM_UART_PRIORITY},
         { PRIORITY_STORAGE, APM_STORAGE_PRIORITY},
         { PRIORITY_SCRIPTING, APM_SCRIPTING_PRIORITY},
+        { PRIORITY_NET, APM_NET_PRIORITY},
     };
     for (uint8_t i=0; i<ARRAY_SIZE(priority_map); i++) {
         if (priority_map[i].base == base) {
diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.h b/libraries/AP_HAL_ChibiOS/Scheduler.h
index 415d8d4fa17d2e..47052d79d71237 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.h
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.h
@@ -28,6 +28,7 @@
 #define APM_RCOUT_PRIORITY      181
 #define APM_LED_PRIORITY         60
 #define APM_UART_PRIORITY        60
+#define APM_NET_PRIORITY         60
 #define APM_UART_UNBUFFERED_PRIORITY 181
 #define APM_STORAGE_PRIORITY     59
 #define APM_IO_PRIORITY          58

From bfcb8f361e2b67811a71f23d001d48de288007d9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 25 Dec 2023 14:25:19 +1100
Subject: [PATCH 0318/1335] AP_HAL_ESP32: added PRIORITY_NET

---
 libraries/AP_HAL_ESP32/Scheduler.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ESP32/Scheduler.cpp b/libraries/AP_HAL_ESP32/Scheduler.cpp
index f4d26dde3ae0ed..9b940f9c9f2adb 100644
--- a/libraries/AP_HAL_ESP32/Scheduler.cpp
+++ b/libraries/AP_HAL_ESP32/Scheduler.cpp
@@ -164,8 +164,9 @@ bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_
         { PRIORITY_RCIN, RCIN_PRIO},
         { PRIORITY_IO, IO_PRIO},
         { PRIORITY_UART, UART_PRIO},
+        { PRIORITY_NET, WIFI_PRIO1},
         { PRIORITY_STORAGE, STORAGE_PRIO},
-        { PRIORITY_SCRIPTING, IO_PRIO},
+        { PRIORITY_SCRIPTING, UART_PRIO},
     };
     for (uint8_t i=0; i<ARRAY_SIZE(priority_map); i++) {
         if (priority_map[i].base == base) {

From ec5c0b82e7d00c1bcbfa68baea3170d3a21dd457 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 25 Dec 2023 14:25:19 +1100
Subject: [PATCH 0319/1335] AP_HAL: added PRIORITY_NET

---
 libraries/AP_HAL/Scheduler.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_HAL/Scheduler.h b/libraries/AP_HAL/Scheduler.h
index eb580ebe0dd714..0f047617f0e408 100644
--- a/libraries/AP_HAL/Scheduler.h
+++ b/libraries/AP_HAL/Scheduler.h
@@ -115,6 +115,7 @@ class AP_HAL::Scheduler {
         PRIORITY_UART,
         PRIORITY_STORAGE,
         PRIORITY_SCRIPTING,
+        PRIORITY_NET,
     };
     
     /*

From ce6adcfe833c8123bbd8b76425679a38d816adb7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 25 Dec 2023 14:25:19 +1100
Subject: [PATCH 0320/1335] AP_HAL_Linux: added PRIORITY_NET

---
 libraries/AP_HAL_Linux/Scheduler.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
index d196ef9796b1ea..7c2cce5d2bfb3c 100644
--- a/libraries/AP_HAL_Linux/Scheduler.cpp
+++ b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -26,6 +26,7 @@ extern const AP_HAL::HAL& hal;
 #define APM_LINUX_MAX_PRIORITY          20
 #define APM_LINUX_TIMER_PRIORITY        15
 #define APM_LINUX_UART_PRIORITY         14
+#define APM_LINUX_NET_PRIORITY          14
 #define APM_LINUX_RCIN_PRIORITY         13
 #define APM_LINUX_MAIN_PRIORITY         12
 #define APM_LINUX_IO_PRIORITY           10
@@ -385,6 +386,7 @@ uint8_t Scheduler::calculate_thread_priority(priority_base base, int8_t priority
         { PRIORITY_UART, APM_LINUX_UART_PRIORITY},
         { PRIORITY_STORAGE, APM_LINUX_IO_PRIORITY},
         { PRIORITY_SCRIPTING, APM_LINUX_SCRIPTING_PRIORITY},
+        { PRIORITY_NET, APM_LINUX_NET_PRIORITY},
     };
     for (uint8_t i=0; i<ARRAY_SIZE(priority_map); i++) {
         if (priority_map[i].base == base) {

From 418897c44320e2b4eacc03a32a6b4339b1e8ddf7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 14 Dec 2023 15:30:54 +1100
Subject: [PATCH 0321/1335] HAL_ChibiOS: removed old lwip options

---
 .../AP_HAL_ChibiOS/hwdef/common/lwipopts.h    | 2170 -----------------
 1 file changed, 2170 deletions(-)
 delete mode 100644 libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h b/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h
deleted file mode 100644
index 94f839feaa0f7d..00000000000000
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/lwipopts.h
+++ /dev/null
@@ -1,2170 +0,0 @@
-/**
- * @file
- *
- * lwIP Options Configuration
- */
-
-/*
- * Copyright (c) 2001-2004 Swedish Institute of Computer Science.
- * All rights reserved. 
- * 
- * Redistribution and use in source and binary forms, with or without modification, 
- * are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- *    this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- *    this list of conditions and the following disclaimer in the documentation
- *    and/or other materials provided with the distribution.
- * 3. The name of the author may not be used to endorse or promote products
- *    derived from this software without specific prior written permission. 
- *
- * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED 
- * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT 
- * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
- * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
- * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING 
- * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY 
- * OF SUCH DAMAGE.
- *
- * This file is part of the lwIP TCP/IP stack.
- * 
- * Author: Adam Dunkels <adam@sics.se>
- *
- */
-#ifndef __LWIPOPT_H__
-#define __LWIPOPT_H__
-
-#include "stdio.h"
-#include "stm32_util.h"
-
-#define LWIP_ERRNO_STDINCLUDE
-
-/*
-   -----------------------------------------------
-   ---------- Platform specific locking ----------
-   -----------------------------------------------
-*/
-
-// #define LWIP_DEBUG
-#define U16_F "u"
-#define X8_F  "x"
-#define X16_F  "x"
-#define LWIP_STATS_DISPLAY 1
-#define ETHARP_STATS 1
-#define LWIP_IGMP 1
-#define MEMP_NUM_NETCONN 50 // up to 50 sockets
-#define MEMP_NUM_TCP_PCB 200
-#define MEM_LIBC_MALLOC 1
-#define MEMP_MEM_MALLOC 1
-#define SO_REUSE 1
-#define SO_REUSE_RXTOALL 1
-#define DEFAULT_ACCEPTMBOX_SIZE 20
-#define MEMP_NUM_PBUF 64
-#define TCP_WND 12000
-#define TCP_SND_BUF 12000
-
-/*
-  map LWIP debugging onto ap_networking_printf to allow for easier
-  redirection to a file or dedicated serial port
- */
-#ifdef __cplusplus
-extern "C" {
-#endif
-int ap_networking_printf(const char *fmt, ...);
-#ifdef __cplusplus
-}
-#endif
-#define LWIP_PLATFORM_DIAG(x)    do {ap_networking_printf x; } while(0)
-
-#ifndef LWIP_IPV6
-  // This uses an additional 18KB Flash
-  #define LWIP_IPV6 0
-#endif
-
-/**
- * SYS_LIGHTWEIGHT_PROT==1: if you want inter-task protection for certain
- * critical regions during buffer allocation, deallocation and memory
- * allocation and deallocation.
- */
-#ifndef SYS_LIGHTWEIGHT_PROT
-#define SYS_LIGHTWEIGHT_PROT            0
-#endif
-
-/** 
- * NO_SYS==1: Provides VERY minimal functionality. Otherwise,
- * use lwIP facilities.
- */
-#ifndef NO_SYS
-#define NO_SYS                          0
-#endif
-
-/**
- * NO_SYS_NO_TIMERS==1: Drop support for sys_timeout when NO_SYS==1
- * Mainly for compatibility to old versions.
- */
-#ifndef NO_SYS_NO_TIMERS
-#define NO_SYS_NO_TIMERS                0
-#endif
-
-/**
- * MEMCPY: override this if you have a faster implementation at hand than the
- * one included in your C library
- */
-#ifndef MEMCPY
-#define MEMCPY(dst,src,len)             memcpy(dst,src,len)
-#endif
-
-/**
- * SMEMCPY: override this with care! Some compilers (e.g. gcc) can inline a
- * call to memcpy() if the length is known at compile time and is small.
- */
-#ifndef SMEMCPY
-#define SMEMCPY(dst,src,len)            memcpy(dst,src,len)
-#endif
-
-/*
-   ------------------------------------
-   ---------- Memory options ----------
-   ------------------------------------
-*/
-/**
- * MEM_LIBC_MALLOC==1: Use malloc/free/realloc provided by your C-library
- * instead of the lwip internal allocator. Can save code size if you
- * already use it.
- */
-#ifndef MEM_LIBC_MALLOC
-#define MEM_LIBC_MALLOC                 0
-#endif
-
-/**
-* MEMP_MEM_MALLOC==1: Use mem_malloc/mem_free instead of the lwip pool allocator.
-* Especially useful with MEM_LIBC_MALLOC but handle with care regarding execution
-* speed and usage from interrupts!
-*/
-#ifndef MEMP_MEM_MALLOC
-#define MEMP_MEM_MALLOC                 0
-#endif
-
-/**
- * MEM_ALIGNMENT: should be set to the alignment of the CPU
- *    4 byte alignment -> #define MEM_ALIGNMENT 4
- *    2 byte alignment -> #define MEM_ALIGNMENT 2
- */
-#ifndef MEM_ALIGNMENT
-#define MEM_ALIGNMENT                   4
-#endif
-
-/**
- * MEM_SIZE: the size of the heap memory. If the application will send
- * a lot of data that needs to be copied, this should be set high.
- */
-#ifndef MEM_SIZE
-#define MEM_SIZE                        16000
-#endif
-
-/**
- * MEMP_SEPARATE_POOLS: if defined to 1, each pool is placed in its own array.
- * This can be used to individually change the location of each pool.
- * Default is one big array for all pools
- */
-#ifndef MEMP_SEPARATE_POOLS
-#define MEMP_SEPARATE_POOLS             0
-#endif
-
-/**
- * MEMP_OVERFLOW_CHECK: memp overflow protection reserves a configurable
- * amount of bytes before and after each memp element in every pool and fills
- * it with a prominent default value.
- *    MEMP_OVERFLOW_CHECK == 0 no checking
- *    MEMP_OVERFLOW_CHECK == 1 checks each element when it is freed
- *    MEMP_OVERFLOW_CHECK >= 2 checks each element in every pool every time
- *      memp_malloc() or memp_free() is called (useful but slow!)
- */
-#ifndef MEMP_OVERFLOW_CHECK
-#define MEMP_OVERFLOW_CHECK             0
-#endif
-
-/**
- * MEMP_SANITY_CHECK==1: run a sanity check after each memp_free() to make
- * sure that there are no cycles in the linked lists.
- */
-#ifndef MEMP_SANITY_CHECK
-#define MEMP_SANITY_CHECK               0
-#endif
-
-/**
- * MEM_USE_POOLS==1: Use an alternative to malloc() by allocating from a set
- * of memory pools of various sizes. When mem_malloc is called, an element of
- * the smallest pool that can provide the length needed is returned.
- * To use this, MEMP_USE_CUSTOM_POOLS also has to be enabled.
- */
-#ifndef MEM_USE_POOLS
-#define MEM_USE_POOLS                   0
-#endif
-
-/**
- * MEM_USE_POOLS_TRY_BIGGER_POOL==1: if one malloc-pool is empty, try the next
- * bigger pool - WARNING: THIS MIGHT WASTE MEMORY but it can make a system more
- * reliable. */
-#ifndef MEM_USE_POOLS_TRY_BIGGER_POOL
-#define MEM_USE_POOLS_TRY_BIGGER_POOL   0
-#endif
-
-/**
- * MEMP_USE_CUSTOM_POOLS==1: whether to include a user file lwippools.h
- * that defines additional pools beyond the "standard" ones required
- * by lwIP. If you set this to 1, you must have lwippools.h in your 
- * inlude path somewhere. 
- */
-#ifndef MEMP_USE_CUSTOM_POOLS
-#define MEMP_USE_CUSTOM_POOLS           0
-#endif
-
-/**
- * Set this to 1 if you want to free PBUF_RAM pbufs (or call mem_free()) from
- * interrupt context (or another context that doesn't allow waiting for a
- * semaphore).
- * If set to 1, mem_malloc will be protected by a semaphore and SYS_ARCH_PROTECT,
- * while mem_free will only use SYS_ARCH_PROTECT. mem_malloc SYS_ARCH_UNPROTECTs
- * with each loop so that mem_free can run.
- *
- * ATTENTION: As you can see from the above description, this leads to dis-/
- * enabling interrupts often, which can be slow! Also, on low memory, mem_malloc
- * can need longer.
- *
- * If you don't want that, at least for NO_SYS=0, you can still use the following
- * functions to enqueue a deallocation call which then runs in the tcpip_thread
- * context:
- * - pbuf_free_callback(p);
- * - mem_free_callback(m);
- */
-#ifndef LWIP_ALLOW_MEM_FREE_FROM_OTHER_CONTEXT
-#define LWIP_ALLOW_MEM_FREE_FROM_OTHER_CONTEXT 0
-#endif
-
-/*
-   ------------------------------------------------
-   ---------- Internal Memory Pool Sizes ----------
-   ------------------------------------------------
-*/
-/**
- * MEMP_NUM_PBUF: the number of memp struct pbufs (used for PBUF_ROM and PBUF_REF).
- * If the application sends a lot of data out of ROM (or other static memory),
- * this should be set high.
- */
-#ifndef MEMP_NUM_PBUF
-#define MEMP_NUM_PBUF                   16
-#endif
-
-/**
- * MEMP_NUM_RAW_PCB: Number of raw connection PCBs
- * (requires the LWIP_RAW option)
- */
-#ifndef MEMP_NUM_RAW_PCB
-#define MEMP_NUM_RAW_PCB                4
-#endif
-
-/**
- * MEMP_NUM_UDP_PCB: the number of UDP protocol control blocks. One
- * per active UDP "connection".
- * (requires the LWIP_UDP option)
- */
-#ifndef MEMP_NUM_UDP_PCB
-#define MEMP_NUM_UDP_PCB                4
-#endif
-
-/**
- * MEMP_NUM_TCP_PCB: the number of simulatenously active TCP connections.
- * (requires the LWIP_TCP option)
- */
-#ifndef MEMP_NUM_TCP_PCB
-#define MEMP_NUM_TCP_PCB                5
-#endif
-
-/**
- * MEMP_NUM_TCP_PCB_LISTEN: the number of listening TCP connections.
- * (requires the LWIP_TCP option)
- */
-#ifndef MEMP_NUM_TCP_PCB_LISTEN
-#define MEMP_NUM_TCP_PCB_LISTEN         8
-#endif
-
-/**
- * MEMP_NUM_TCP_SEG: the number of simultaneously queued TCP segments.
- * (requires the LWIP_TCP option)
- */
-#ifndef MEMP_NUM_TCP_SEG
-#define MEMP_NUM_TCP_SEG                16
-#endif
-
-/**
- * MEMP_NUM_REASSDATA: the number of IP packets simultaneously queued for
- * reassembly (whole packets, not fragments!)
- */
-#ifndef MEMP_NUM_REASSDATA
-#define MEMP_NUM_REASSDATA              5
-#endif
-
-/**
- * MEMP_NUM_FRAG_PBUF: the number of IP fragments simultaneously sent
- * (fragments, not whole packets!).
- * This is only used with IP_FRAG_USES_STATIC_BUF==0 and
- * LWIP_NETIF_TX_SINGLE_PBUF==0 and only has to be > 1 with DMA-enabled MACs
- * where the packet is not yet sent when netif->output returns.
- */
-#ifndef MEMP_NUM_FRAG_PBUF
-#define MEMP_NUM_FRAG_PBUF              15
-#endif
-
-/**
- * MEMP_NUM_ARP_QUEUE: the number of simulateously queued outgoing
- * packets (pbufs) that are waiting for an ARP request (to resolve
- * their destination address) to finish.
- * (requires the ARP_QUEUEING option)
- */
-#ifndef MEMP_NUM_ARP_QUEUE
-#define MEMP_NUM_ARP_QUEUE              30
-#endif
-
-/**
- * MEMP_NUM_IGMP_GROUP: The number of multicast groups whose network interfaces
- * can be members et the same time (one per netif - allsystems group -, plus one
- * per netif membership).
- * (requires the LWIP_IGMP option)
- */
-#ifndef MEMP_NUM_IGMP_GROUP
-#define MEMP_NUM_IGMP_GROUP             8
-#endif
-
-/**
- * MEMP_NUM_SYS_TIMEOUT: the number of simulateously active timeouts.
- * (requires NO_SYS==0)
- * The default number of timeouts is calculated here for all enabled modules.
- * The formula expects settings to be either '0' or '1'.
- */
-#ifndef MEMP_NUM_SYS_TIMEOUT
-#define MEMP_NUM_SYS_TIMEOUT            (LWIP_TCP + IP_REASSEMBLY + LWIP_ARP + (2*LWIP_DHCP) + LWIP_AUTOIP + LWIP_IGMP + LWIP_DNS + PPP_SUPPORT + (LWIP_IPV6 * (1 + LWIP_IPV6_REASS + LWIP_IPV6_MLD))) + 2
-#endif
-
-/**
- * MEMP_NUM_NETBUF: the number of struct netbufs.
- * (only needed if you use the sequential API, like api_lib.c)
- */
-#ifndef MEMP_NUM_NETBUF
-#define MEMP_NUM_NETBUF                 2
-#endif
-
-/**
- * MEMP_NUM_NETCONN: the number of struct netconns.
- * (only needed if you use the sequential API, like api_lib.c)
- */
-#ifndef MEMP_NUM_NETCONN
-#define MEMP_NUM_NETCONN                4
-#endif
-
-/**
- * MEMP_NUM_TCPIP_MSG_API: the number of struct tcpip_msg, which are used
- * for callback/timeout API communication. 
- * (only needed if you use tcpip.c)
- */
-#ifndef MEMP_NUM_TCPIP_MSG_API
-#define MEMP_NUM_TCPIP_MSG_API          8
-#endif
-
-/**
- * MEMP_NUM_TCPIP_MSG_INPKT: the number of struct tcpip_msg, which are used
- * for incoming packets. 
- * (only needed if you use tcpip.c)
- */
-#ifndef MEMP_NUM_TCPIP_MSG_INPKT
-#define MEMP_NUM_TCPIP_MSG_INPKT        8
-#endif
-
-/**
- * MEMP_NUM_SNMP_NODE: the number of leafs in the SNMP tree.
- */
-#ifndef MEMP_NUM_SNMP_NODE
-#define MEMP_NUM_SNMP_NODE              50
-#endif
-
-/**
- * MEMP_NUM_SNMP_ROOTNODE: the number of branches in the SNMP tree.
- * Every branch has one leaf (MEMP_NUM_SNMP_NODE) at least!
- */
-#ifndef MEMP_NUM_SNMP_ROOTNODE
-#define MEMP_NUM_SNMP_ROOTNODE          30
-#endif
-
-/**
- * MEMP_NUM_SNMP_VARBIND: the number of concurrent requests (does not have to
- * be changed normally) - 2 of these are used per request (1 for input,
- * 1 for output)
- */
-#ifndef MEMP_NUM_SNMP_VARBIND
-#define MEMP_NUM_SNMP_VARBIND           2
-#endif
-
-/**
- * MEMP_NUM_SNMP_VALUE: the number of OID or values concurrently used
- * (does not have to be changed normally) - 3 of these are used per request
- * (1 for the value read and 2 for OIDs - input and output)
- */
-#ifndef MEMP_NUM_SNMP_VALUE
-#define MEMP_NUM_SNMP_VALUE             3
-#endif
-
-/**
- * MEMP_NUM_NETDB: the number of concurrently running lwip_addrinfo() calls
- * (before freeing the corresponding memory using lwip_freeaddrinfo()).
- */
-#ifndef MEMP_NUM_NETDB
-#define MEMP_NUM_NETDB                  1
-#endif
-
-/**
- * MEMP_NUM_LOCALHOSTLIST: the number of host entries in the local host list
- * if DNS_LOCAL_HOSTLIST_IS_DYNAMIC==1.
- */
-#ifndef MEMP_NUM_LOCALHOSTLIST
-#define MEMP_NUM_LOCALHOSTLIST          1
-#endif
-
-/**
- * MEMP_NUM_PPPOE_INTERFACES: the number of concurrently active PPPoE
- * interfaces (only used with PPPOE_SUPPORT==1)
- */
-#ifndef MEMP_NUM_PPPOE_INTERFACES
-#define MEMP_NUM_PPPOE_INTERFACES       1
-#endif
-
-/**
- * PBUF_POOL_SIZE: the number of buffers in the pbuf pool. 
- */
-#ifndef PBUF_POOL_SIZE
-#define PBUF_POOL_SIZE                  16
-#endif
-
-/*
-   ---------------------------------
-   ---------- ARP options ----------
-   ---------------------------------
-*/
-/**
- * LWIP_ARP==1: Enable ARP functionality.
- */
-#ifndef LWIP_ARP
-#define LWIP_ARP                        1
-#endif
-
-/**
- * ARP_TABLE_SIZE: Number of active MAC-IP address pairs cached.
- */
-#ifndef ARP_TABLE_SIZE
-#define ARP_TABLE_SIZE                  10
-#endif
-
-/**
- * ARP_QUEUEING==1: Multiple outgoing packets are queued during hardware address
- * resolution. By default, only the most recent packet is queued per IP address.
- * This is sufficient for most protocols and mainly reduces TCP connection
- * startup time. Set this to 1 if you know your application sends more than one
- * packet in a row to an IP address that is not in the ARP cache.
- */
-#ifndef ARP_QUEUEING
-#define ARP_QUEUEING                    0
-#endif
-
-/**
- * ETHARP_TRUST_IP_MAC==1: Incoming IP packets cause the ARP table to be
- * updated with the source MAC and IP addresses supplied in the packet.
- * You may want to disable this if you do not trust LAN peers to have the
- * correct addresses, or as a limited approach to attempt to handle
- * spoofing. If disabled, lwIP will need to make a new ARP request if
- * the peer is not already in the ARP table, adding a little latency.
- * The peer *is* in the ARP table if it requested our address before.
- * Also notice that this slows down input processing of every IP packet!
- */
-#ifndef ETHARP_TRUST_IP_MAC
-#define ETHARP_TRUST_IP_MAC             0
-#endif
-
-/**
- * ETHARP_SUPPORT_VLAN==1: support receiving ethernet packets with VLAN header.
- * Additionally, you can define ETHARP_VLAN_CHECK to an u16_t VLAN ID to check.
- * If ETHARP_VLAN_CHECK is defined, only VLAN-traffic for this VLAN is accepted.
- * If ETHARP_VLAN_CHECK is not defined, all traffic is accepted.
- * Alternatively, define a function/define ETHARP_VLAN_CHECK_FN(eth_hdr, vlan)
- * that returns 1 to accept a packet or 0 to drop a packet.
- */
-#ifndef ETHARP_SUPPORT_VLAN
-#define ETHARP_SUPPORT_VLAN             0
-#endif
-
-/** LWIP_ETHERNET==1: enable ethernet support for PPPoE even though ARP
- * might be disabled
- */
-#ifndef LWIP_ETHERNET
-#define LWIP_ETHERNET                   (LWIP_ARP || PPPOE_SUPPORT)
-#endif
-
-/** ETH_PAD_SIZE: number of bytes added before the ethernet header to ensure
- * alignment of payload after that header. Since the header is 14 bytes long,
- * without this padding e.g. addresses in the IP header will not be aligned
- * on a 32-bit boundary, so setting this to 2 can speed up 32-bit-platforms.
- */
-#ifndef ETH_PAD_SIZE
-#define ETH_PAD_SIZE                    0
-#endif
-
-/** ETHARP_SUPPORT_STATIC_ENTRIES==1: enable code to support static ARP table
- * entries (using etharp_add_static_entry/etharp_remove_static_entry).
- */
-#ifndef ETHARP_SUPPORT_STATIC_ENTRIES
-#define ETHARP_SUPPORT_STATIC_ENTRIES   0
-#endif
-
-
-/*
-   --------------------------------
-   ---------- IP options ----------
-   --------------------------------
-*/
-/**
- * IP_FORWARD==1: Enables the ability to forward IP packets across network
- * interfaces. If you are going to run lwIP on a device with only one network
- * interface, define this to 0.
- */
-#ifndef IP_FORWARD
-#define IP_FORWARD                      0
-#endif
-
-/**
- * IP_OPTIONS_ALLOWED: Defines the behavior for IP options.
- *      IP_OPTIONS_ALLOWED==0: All packets with IP options are dropped.
- *      IP_OPTIONS_ALLOWED==1: IP options are allowed (but not parsed).
- */
-#ifndef IP_OPTIONS_ALLOWED
-#define IP_OPTIONS_ALLOWED              1
-#endif
-
-/**
- * IP_REASSEMBLY==1: Reassemble incoming fragmented IP packets. Note that
- * this option does not affect outgoing packet sizes, which can be controlled
- * via IP_FRAG.
- */
-#ifndef IP_REASSEMBLY
-#define IP_REASSEMBLY                   1
-#endif
-
-/**
- * IP_FRAG==1: Fragment outgoing IP packets if their size exceeds MTU. Note
- * that this option does not affect incoming packet sizes, which can be
- * controlled via IP_REASSEMBLY.
- */
-#ifndef IP_FRAG
-#define IP_FRAG                         1
-#endif
-
-/**
- * IP_REASS_MAXAGE: Maximum time (in multiples of IP_TMR_INTERVAL - so seconds, normally)
- * a fragmented IP packet waits for all fragments to arrive. If not all fragments arrived
- * in this time, the whole packet is discarded.
- */
-#ifndef IP_REASS_MAXAGE
-#define IP_REASS_MAXAGE                 3
-#endif
-
-/**
- * IP_REASS_MAX_PBUFS: Total maximum amount of pbufs waiting to be reassembled.
- * Since the received pbufs are enqueued, be sure to configure
- * PBUF_POOL_SIZE > IP_REASS_MAX_PBUFS so that the stack is still able to receive
- * packets even if the maximum amount of fragments is enqueued for reassembly!
- */
-#ifndef IP_REASS_MAX_PBUFS
-#define IP_REASS_MAX_PBUFS              10
-#endif
-
-/**
- * IP_FRAG_USES_STATIC_BUF==1: Use a static MTU-sized buffer for IP
- * fragmentation. Otherwise pbufs are allocated and reference the original
- * packet data to be fragmented (or with LWIP_NETIF_TX_SINGLE_PBUF==1,
- * new PBUF_RAM pbufs are used for fragments).
- * ATTENTION: IP_FRAG_USES_STATIC_BUF==1 may not be used for DMA-enabled MACs!
- */
-#ifndef IP_FRAG_USES_STATIC_BUF
-#define IP_FRAG_USES_STATIC_BUF         0
-#endif
-
-/**
- * IP_FRAG_MAX_MTU: Assumed max MTU on any interface for IP frag buffer
- * (requires IP_FRAG_USES_STATIC_BUF==1)
- */
-#if IP_FRAG_USES_STATIC_BUF && !defined(IP_FRAG_MAX_MTU)
-#define IP_FRAG_MAX_MTU                 1500
-#endif
-
-/**
- * IP_DEFAULT_TTL: Default value for Time-To-Live used by transport layers.
- */
-#ifndef IP_DEFAULT_TTL
-#define IP_DEFAULT_TTL                  255
-#endif
-
-/**
- * IP_SOF_BROADCAST=1: Use the SOF_BROADCAST field to enable broadcast
- * filter per pcb on udp and raw send operations. To enable broadcast filter
- * on recv operations, you also have to set IP_SOF_BROADCAST_RECV=1.
- */
-#ifndef IP_SOF_BROADCAST
-#define IP_SOF_BROADCAST                1
-#endif
-
-/**
- * IP_SOF_BROADCAST_RECV (requires IP_SOF_BROADCAST=1) enable the broadcast
- * filter on recv operations.
- */
-#ifndef IP_SOF_BROADCAST_RECV
-#define IP_SOF_BROADCAST_RECV           1
-#endif
-
-/**
- * IP_FORWARD_ALLOW_TX_ON_RX_NETIF==1: allow ip_forward() to send packets back
- * out on the netif where it was received. This should only be used for
- * wireless networks.
- * ATTENTION: When this is 1, make sure your netif driver correctly marks incoming
- * link-layer-broadcast/multicast packets as such using the corresponding pbuf flags!
- */
-#ifndef IP_FORWARD_ALLOW_TX_ON_RX_NETIF
-#define IP_FORWARD_ALLOW_TX_ON_RX_NETIF 0
-#endif
-
-/**
- * LWIP_RANDOMIZE_INITIAL_LOCAL_PORTS==1: randomize the local port for the first
- * local TCP/UDP pcb (default==0). This can prevent creating predictable port
- * numbers after booting a device.
- */
-#ifndef LWIP_RANDOMIZE_INITIAL_LOCAL_PORTS
-#define LWIP_RANDOMIZE_INITIAL_LOCAL_PORTS 0
-#endif
-
-/*
-   ----------------------------------
-   ---------- ICMP options ----------
-   ----------------------------------
-*/
-/**
- * LWIP_ICMP==1: Enable ICMP module inside the IP stack.
- * Be careful, disable that make your product non-compliant to RFC1122
- */
-#ifndef LWIP_ICMP
-#define LWIP_ICMP                       1
-#endif
-
-/**
- * ICMP_TTL: Default value for Time-To-Live used by ICMP packets.
- */
-#ifndef ICMP_TTL
-#define ICMP_TTL                       (IP_DEFAULT_TTL)
-#endif
-
-/**
- * LWIP_BROADCAST_PING==1: respond to broadcast pings (default is unicast only)
- */
-#ifndef LWIP_BROADCAST_PING
-#define LWIP_BROADCAST_PING             0
-#endif
-
-/**
- * LWIP_MULTICAST_PING==1: respond to multicast pings (default is unicast only)
- */
-#ifndef LWIP_MULTICAST_PING
-#define LWIP_MULTICAST_PING             0
-#endif
-
-/*
-   ---------------------------------
-   ---------- RAW options ----------
-   ---------------------------------
-*/
-/**
- * LWIP_RAW==1: Enable application layer to hook into the IP layer itself.
- */
-#ifndef LWIP_RAW
-#define LWIP_RAW                        1
-#endif
-
-/**
- * LWIP_RAW==1: Enable application layer to hook into the IP layer itself.
- */
-#ifndef RAW_TTL
-#define RAW_TTL                        (IP_DEFAULT_TTL)
-#endif
-
-/*
-   ----------------------------------
-   ---------- DHCP options ----------
-   ----------------------------------
-*/
-/**
- * LWIP_DHCP==1: Enable DHCP module.
- */
-#ifndef LWIP_DHCP
-// Flash use: 7960 Bytes (9100 on IPv6)
-#define LWIP_DHCP                       1
-#endif
-
-/**
- * DHCP_DOES_ARP_CHECK==1: Do an ARP check on the offered address.
- */
-#ifndef DHCP_DOES_ARP_CHECK
-#define DHCP_DOES_ARP_CHECK             ((LWIP_DHCP) && (LWIP_ARP))
-#endif
-
-/*
-   ------------------------------------
-   ---------- AUTOIP options ----------
-   ------------------------------------
-*/
-/**
- * LWIP_AUTOIP==1: Enable AUTOIP module.
- */
-#ifndef LWIP_AUTOIP
-#define LWIP_AUTOIP                     0
-#endif
-
-/**
- * LWIP_DHCP_AUTOIP_COOP==1: Allow DHCP and AUTOIP to be both enabled on
- * the same interface at the same time.
- */
-#ifndef LWIP_DHCP_AUTOIP_COOP
-#define LWIP_DHCP_AUTOIP_COOP           0
-#endif
-
-/**
- * LWIP_DHCP_AUTOIP_COOP_TRIES: Set to the number of DHCP DISCOVER probes
- * that should be sent before falling back on AUTOIP. This can be set
- * as low as 1 to get an AutoIP address very quickly, but you should
- * be prepared to handle a changing IP address when DHCP overrides
- * AutoIP.
- */
-#ifndef LWIP_DHCP_AUTOIP_COOP_TRIES
-#define LWIP_DHCP_AUTOIP_COOP_TRIES     9
-#endif
-
-/*
-   ----------------------------------
-   ---------- SNMP options ----------
-   ----------------------------------
-*/
-/**
- * LWIP_SNMP==1: Turn on SNMP module. UDP must be available for SNMP
- * transport.
- */
-#ifndef LWIP_SNMP
-#define LWIP_SNMP                       0
-#endif
-
-/**
- * SNMP_CONCURRENT_REQUESTS: Number of concurrent requests the module will
- * allow. At least one request buffer is required.
- * Does not have to be changed unless external MIBs answer request asynchronously
- */
-#ifndef SNMP_CONCURRENT_REQUESTS
-#define SNMP_CONCURRENT_REQUESTS        1
-#endif
-
-/**
- * SNMP_TRAP_DESTINATIONS: Number of trap destinations. At least one trap
- * destination is required
- */
-#ifndef SNMP_TRAP_DESTINATIONS
-#define SNMP_TRAP_DESTINATIONS          1
-#endif
-
-/**
- * SNMP_PRIVATE_MIB: 
- * When using a private MIB, you have to create a file 'private_mib.h' that contains
- * a 'struct mib_array_node mib_private' which contains your MIB.
- */
-#ifndef SNMP_PRIVATE_MIB
-#define SNMP_PRIVATE_MIB                0
-#endif
-
-/**
- * Only allow SNMP write actions that are 'safe' (e.g. disabeling netifs is not
- * a safe action and disabled when SNMP_SAFE_REQUESTS = 1).
- * Unsafe requests are disabled by default!
- */
-#ifndef SNMP_SAFE_REQUESTS
-#define SNMP_SAFE_REQUESTS              1
-#endif
-
-/**
- * The maximum length of strings used. This affects the size of
- * MEMP_SNMP_VALUE elements.
- */
-#ifndef SNMP_MAX_OCTET_STRING_LEN
-#define SNMP_MAX_OCTET_STRING_LEN       127
-#endif
-
-/**
- * The maximum depth of the SNMP tree.
- * With private MIBs enabled, this depends on your MIB!
- * This affects the size of MEMP_SNMP_VALUE elements.
- */
-#ifndef SNMP_MAX_TREE_DEPTH
-#define SNMP_MAX_TREE_DEPTH             15
-#endif
-
-/**
- * The size of the MEMP_SNMP_VALUE elements, normally calculated from
- * SNMP_MAX_OCTET_STRING_LEN and SNMP_MAX_TREE_DEPTH.
- */
-#ifndef SNMP_MAX_VALUE_SIZE
-#define SNMP_MAX_VALUE_SIZE             LWIP_MAX((SNMP_MAX_OCTET_STRING_LEN)+1, sizeof(s32_t)*(SNMP_MAX_TREE_DEPTH))
-#endif
-
-/*
-   ----------------------------------
-   ---------- IGMP options ----------
-   ----------------------------------
-*/
-/**
- * LWIP_IGMP==1: Turn on IGMP module. 
- */
-#ifndef LWIP_IGMP
-#define LWIP_IGMP                       0
-#endif
-
-/*
-   ----------------------------------
-   ---------- DNS options -----------
-   ----------------------------------
-*/
-/**
- * LWIP_DNS==1: Turn on DNS module. UDP must be available for DNS
- * transport.
- */
-#ifndef LWIP_DNS
-#define LWIP_DNS                        1
-#endif
-
-/** DNS maximum number of entries to maintain locally. */
-#ifndef DNS_TABLE_SIZE
-#define DNS_TABLE_SIZE                  4
-#endif
-
-/** DNS maximum host name length supported in the name table. */
-#ifndef DNS_MAX_NAME_LENGTH
-#define DNS_MAX_NAME_LENGTH             256
-#endif
-
-/** The maximum of DNS servers */
-#ifndef DNS_MAX_SERVERS
-#define DNS_MAX_SERVERS                 2
-#endif
-
-/** DNS do a name checking between the query and the response. */
-#ifndef DNS_DOES_NAME_CHECK
-#define DNS_DOES_NAME_CHECK             1
-#endif
-
-/** DNS message max. size. Default value is RFC compliant. */
-#ifndef DNS_MSG_SIZE
-#define DNS_MSG_SIZE                    512
-#endif
-
-/** DNS_LOCAL_HOSTLIST: Implements a local host-to-address list. If enabled,
- *  you have to define
- *    #define DNS_LOCAL_HOSTLIST_INIT {{"host1", 0x123}, {"host2", 0x234}}
- *  (an array of structs name/address, where address is an u32_t in network
- *  byte order).
- *
- *  Instead, you can also use an external function:
- *  #define DNS_LOOKUP_LOCAL_EXTERN(x) extern u32_t my_lookup_function(const char *name)
- *  that returns the IP address or INADDR_NONE if not found.
- */
-#ifndef DNS_LOCAL_HOSTLIST
-#define DNS_LOCAL_HOSTLIST              0
-#endif /* DNS_LOCAL_HOSTLIST */
-
-/** If this is turned on, the local host-list can be dynamically changed
- *  at runtime. */
-#ifndef DNS_LOCAL_HOSTLIST_IS_DYNAMIC
-#define DNS_LOCAL_HOSTLIST_IS_DYNAMIC   0
-#endif /* DNS_LOCAL_HOSTLIST_IS_DYNAMIC */
-
-/*
-   ---------------------------------
-   ---------- UDP options ----------
-   ---------------------------------
-*/
-/**
- * LWIP_UDP==1: Turn on UDP.
- */
-#ifndef LWIP_UDP
-#define LWIP_UDP                        1
-#endif
-
-/**
- * LWIP_UDPLITE==1: Turn on UDP-Lite. (Requires LWIP_UDP)
- */
-#ifndef LWIP_UDPLITE
-#define LWIP_UDPLITE                    0
-#endif
-
-/**
- * UDP_TTL: Default Time-To-Live value.
- */
-#ifndef UDP_TTL
-#define UDP_TTL                         (IP_DEFAULT_TTL)
-#endif
-
-/**
- * LWIP_NETBUF_RECVINFO==1: append destination addr and port to every netbuf.
- */
-#ifndef LWIP_NETBUF_RECVINFO
-#define LWIP_NETBUF_RECVINFO            0
-#endif
-
-/*
-   ---------------------------------
-   ---------- TCP options ----------
-   ---------------------------------
-*/
-/**
- * LWIP_TCP==1: Turn on TCP.
- */
-#ifndef LWIP_TCP
-#define LWIP_TCP                        1
-#endif
-
-/**
- * TCP_TTL: Default Time-To-Live value.
- */
-#ifndef TCP_TTL
-#define TCP_TTL                         (IP_DEFAULT_TTL)
-#endif
-
-/**
- * TCP_WND: The size of a TCP window.  This must be at least 
- * (2 * TCP_MSS) for things to work well
- */
-#ifndef TCP_WND
-#define TCP_WND                         (4 * TCP_MSS)
-#endif 
-
-/**
- * TCP_MAXRTX: Maximum number of retransmissions of data segments.
- */
-#ifndef TCP_MAXRTX
-#define TCP_MAXRTX                      12
-#endif
-
-/**
- * TCP_SYNMAXRTX: Maximum number of retransmissions of SYN segments.
- */
-#ifndef TCP_SYNMAXRTX
-#define TCP_SYNMAXRTX                   6
-#endif
-
-/**
- * TCP_QUEUE_OOSEQ==1: TCP will queue segments that arrive out of order.
- * Define to 0 if your device is low on memory.
- */
-#ifndef TCP_QUEUE_OOSEQ
-#define TCP_QUEUE_OOSEQ                 (LWIP_TCP)
-#endif
-
-/**
- * TCP_MSS: TCP Maximum segment size. (default is 536, a conservative default,
- * you might want to increase this.)
- * For the receive side, this MSS is advertised to the remote side
- * when opening a connection. For the transmit size, this MSS sets
- * an upper limit on the MSS advertised by the remote host.
- */
-#ifndef TCP_MSS
-#define TCP_MSS                         1480
-#endif
-
-/**
- * TCP_CALCULATE_EFF_SEND_MSS: "The maximum size of a segment that TCP really
- * sends, the 'effective send MSS,' MUST be the smaller of the send MSS (which
- * reflects the available reassembly buffer size at the remote host) and the
- * largest size permitted by the IP layer" (RFC 1122)
- * Setting this to 1 enables code that checks TCP_MSS against the MTU of the
- * netif used for a connection and limits the MSS if it would be too big otherwise.
- */
-#ifndef TCP_CALCULATE_EFF_SEND_MSS
-#define TCP_CALCULATE_EFF_SEND_MSS      1
-#endif
-
-
-/**
- * TCP_SND_BUF: TCP sender buffer space (bytes).
- * To achieve good performance, this should be at least 2 * TCP_MSS.
- */
-#ifndef TCP_SND_BUF
-#define TCP_SND_BUF                     (2 * TCP_MSS)
-#endif
-
-/**
- * TCP_SND_QUEUELEN: TCP sender buffer space (pbufs). This must be at least
- * as much as (2 * TCP_SND_BUF/TCP_MSS) for things to work.
- */
-#ifndef TCP_SND_QUEUELEN
-#define TCP_SND_QUEUELEN                ((4 * (TCP_SND_BUF) + (TCP_MSS - 1))/(TCP_MSS))
-#endif
-
-/**
- * TCP_SNDLOWAT: TCP writable space (bytes). This must be less than
- * TCP_SND_BUF. It is the amount of space which must be available in the
- * TCP snd_buf for select to return writable (combined with TCP_SNDQUEUELOWAT).
- */
-#ifndef TCP_SNDLOWAT
-#define TCP_SNDLOWAT                    LWIP_MIN(LWIP_MAX(((TCP_SND_BUF)/2), (2 * TCP_MSS) + 1), (TCP_SND_BUF) - 1)
-#endif
-
-/**
- * TCP_SNDQUEUELOWAT: TCP writable bufs (pbuf count). This must be less
- * than TCP_SND_QUEUELEN. If the number of pbufs queued on a pcb drops below
- * this number, select returns writable (combined with TCP_SNDLOWAT).
- */
-#ifndef TCP_SNDQUEUELOWAT
-#define TCP_SNDQUEUELOWAT               LWIP_MAX(((TCP_SND_QUEUELEN)/2), 5)
-#endif
-
-/**
- * TCP_OOSEQ_MAX_BYTES: The maximum number of bytes queued on ooseq per pcb.
- * Default is 0 (no limit). Only valid for TCP_QUEUE_OOSEQ==0.
- */
-#ifndef TCP_OOSEQ_MAX_BYTES
-#define TCP_OOSEQ_MAX_BYTES             0
-#endif
-
-/**
- * TCP_OOSEQ_MAX_PBUFS: The maximum number of pbufs queued on ooseq per pcb.
- * Default is 0 (no limit). Only valid for TCP_QUEUE_OOSEQ==0.
- */
-#ifndef TCP_OOSEQ_MAX_PBUFS
-#define TCP_OOSEQ_MAX_PBUFS             0
-#endif
-
-/**
- * TCP_LISTEN_BACKLOG: Enable the backlog option for tcp listen pcb.
- */
-#ifndef TCP_LISTEN_BACKLOG
-#define TCP_LISTEN_BACKLOG              0
-#endif
-
-/**
- * The maximum allowed backlog for TCP listen netconns.
- * This backlog is used unless another is explicitly specified.
- * 0xff is the maximum (u8_t).
- */
-#ifndef TCP_DEFAULT_LISTEN_BACKLOG
-#define TCP_DEFAULT_LISTEN_BACKLOG      0xff
-#endif
-
-/**
- * TCP_OVERSIZE: The maximum number of bytes that tcp_write may
- * allocate ahead of time in an attempt to create shorter pbuf chains
- * for transmission. The meaningful range is 0 to TCP_MSS. Some
- * suggested values are:
- *
- * 0:         Disable oversized allocation. Each tcp_write() allocates a new
-              pbuf (old behaviour).
- * 1:         Allocate size-aligned pbufs with minimal excess. Use this if your
- *            scatter-gather DMA requires aligned fragments.
- * 128:       Limit the pbuf/memory overhead to 20%.
- * TCP_MSS:   Try to create unfragmented TCP packets.
- * TCP_MSS/4: Try to create 4 fragments or less per TCP packet.
- */
-#ifndef TCP_OVERSIZE
-#define TCP_OVERSIZE                    TCP_MSS
-#endif
-
-/**
- * LWIP_TCP_TIMESTAMPS==1: support the TCP timestamp option.
- */
-#ifndef LWIP_TCP_TIMESTAMPS
-#define LWIP_TCP_TIMESTAMPS             0
-#endif
-
-/**
- * TCP_WND_UPDATE_THRESHOLD: difference in window to trigger an
- * explicit window update
- */
-#ifndef TCP_WND_UPDATE_THRESHOLD
-#define TCP_WND_UPDATE_THRESHOLD   (TCP_WND / 4)
-#endif
-
-/**
- * LWIP_EVENT_API and LWIP_CALLBACK_API: Only one of these should be set to 1.
- *     LWIP_EVENT_API==1: The user defines lwip_tcp_event() to receive all
- *         events (accept, sent, etc) that happen in the system.
- *     LWIP_CALLBACK_API==1: The PCB callback function is called directly
- *         for the event. This is the default.
- */
-#if !defined(LWIP_EVENT_API) && !defined(LWIP_CALLBACK_API)
-#define LWIP_EVENT_API                  0
-#define LWIP_CALLBACK_API               1
-#endif
-
-
-/*
-   ----------------------------------
-   ---------- Pbuf options ----------
-   ----------------------------------
-*/
-/**
- * PBUF_LINK_HLEN: the number of bytes that should be allocated for a
- * link level header. The default is 14, the standard value for
- * Ethernet.
- */
-#ifndef PBUF_LINK_HLEN
-#define PBUF_LINK_HLEN                  (14 + ETH_PAD_SIZE)
-#endif
-
-/**
- * PBUF_POOL_BUFSIZE: the size of each pbuf in the pbuf pool. The default is
- * designed to accomodate single full size TCP frame in one pbuf, including
- * TCP_MSS, IP header, and link header.
- */
-#ifndef PBUF_POOL_BUFSIZE
-#define PBUF_POOL_BUFSIZE               LWIP_MEM_ALIGN_SIZE(TCP_MSS+40+PBUF_LINK_HLEN)
-#endif
-
-/*
-   ------------------------------------------------
-   ---------- Network Interfaces options ----------
-   ------------------------------------------------
-*/
-/**
- * LWIP_NETIF_HOSTNAME==1: use DHCP_OPTION_HOSTNAME with netif's hostname
- * field.
- */
-#ifndef LWIP_NETIF_HOSTNAME
-#define LWIP_NETIF_HOSTNAME             0
-#endif
-
-/**
- * LWIP_NETIF_API==1: Support netif api (in netifapi.c)
- */
-#ifndef LWIP_NETIF_API
-#define LWIP_NETIF_API                  0
-#endif
-
-/**
- * LWIP_NETIF_STATUS_CALLBACK==1: Support a callback function whenever an interface
- * changes its up/down status (i.e., due to DHCP IP acquistion)
- */
-#ifndef LWIP_NETIF_STATUS_CALLBACK
-#define LWIP_NETIF_STATUS_CALLBACK      0
-#endif
-
-/**
- * LWIP_NETIF_LINK_CALLBACK==1: Support a callback function from an interface
- * whenever the link changes (i.e., link down)
- */
-#ifndef LWIP_NETIF_LINK_CALLBACK
-#define LWIP_NETIF_LINK_CALLBACK        0
-#endif
-
-/**
- * LWIP_NETIF_REMOVE_CALLBACK==1: Support a callback function that is called
- * when a netif has been removed
- */
-#ifndef LWIP_NETIF_REMOVE_CALLBACK
-#define LWIP_NETIF_REMOVE_CALLBACK      0
-#endif
-
-/**
- * LWIP_NETIF_HWADDRHINT==1: Cache link-layer-address hints (e.g. table
- * indices) in struct netif. TCP and UDP can make use of this to prevent
- * scanning the ARP table for every sent packet. While this is faster for big
- * ARP tables or many concurrent connections, it might be counterproductive
- * if you have a tiny ARP table or if there never are concurrent connections.
- */
-#ifndef LWIP_NETIF_HWADDRHINT
-#define LWIP_NETIF_HWADDRHINT           0
-#endif
-
-/**
- * LWIP_NETIF_LOOPBACK==1: Support sending packets with a destination IP
- * address equal to the netif IP address, looping them back up the stack.
- */
-#ifndef LWIP_NETIF_LOOPBACK
-#define LWIP_NETIF_LOOPBACK             0
-#endif
-
-/**
- * LWIP_LOOPBACK_MAX_PBUFS: Maximum number of pbufs on queue for loopback
- * sending for each netif (0 = disabled)
- */
-#ifndef LWIP_LOOPBACK_MAX_PBUFS
-#define LWIP_LOOPBACK_MAX_PBUFS         0
-#endif
-
-/**
- * LWIP_NETIF_LOOPBACK_MULTITHREADING: Indicates whether threading is enabled in
- * the system, as netifs must change how they behave depending on this setting
- * for the LWIP_NETIF_LOOPBACK option to work.
- * Setting this is needed to avoid reentering non-reentrant functions like
- * tcp_input().
- *    LWIP_NETIF_LOOPBACK_MULTITHREADING==1: Indicates that the user is using a
- *       multithreaded environment like tcpip.c. In this case, netif->input()
- *       is called directly.
- *    LWIP_NETIF_LOOPBACK_MULTITHREADING==0: Indicates a polling (or NO_SYS) setup.
- *       The packets are put on a list and netif_poll() must be called in
- *       the main application loop.
- */
-#ifndef LWIP_NETIF_LOOPBACK_MULTITHREADING
-#define LWIP_NETIF_LOOPBACK_MULTITHREADING    (!NO_SYS)
-#endif
-
-/**
- * LWIP_NETIF_TX_SINGLE_PBUF: if this is set to 1, lwIP tries to put all data
- * to be sent into one single pbuf. This is for compatibility with DMA-enabled
- * MACs that do not support scatter-gather.
- * Beware that this might involve CPU-memcpy before transmitting that would not
- * be needed without this flag! Use this only if you need to!
- *
- * @todo: TCP and IP-frag do not work with this, yet:
- */
-#ifndef LWIP_NETIF_TX_SINGLE_PBUF
-#define LWIP_NETIF_TX_SINGLE_PBUF             0
-#endif /* LWIP_NETIF_TX_SINGLE_PBUF */
-
-/*
-   ------------------------------------
-   ---------- LOOPIF options ----------
-   ------------------------------------
-*/
-/**
- * LWIP_HAVE_LOOPIF==1: Support loop interface (127.0.0.1) and loopif.c
- */
-#ifndef LWIP_HAVE_LOOPIF
-#define LWIP_HAVE_LOOPIF                0
-#endif
-
-/*
-   ------------------------------------
-   ---------- SLIPIF options ----------
-   ------------------------------------
-*/
-/**
- * LWIP_HAVE_SLIPIF==1: Support slip interface and slipif.c
- */
-#ifndef LWIP_HAVE_SLIPIF
-#define LWIP_HAVE_SLIPIF                0
-#endif
-
-/*
-   ------------------------------------
-   ---------- Thread options ----------
-   ------------------------------------
-*/
-/**
- * TCPIP_THREAD_NAME: The name assigned to the main tcpip thread.
- */
-#ifndef TCPIP_THREAD_NAME
-#define TCPIP_THREAD_NAME              "tcpip_thread"
-#endif
-
-/**
- * TCPIP_THREAD_STACKSIZE: The stack size used by the main tcpip thread.
- * The stack size value itself is platform-dependent, but is passed to
- * sys_thread_new() when the thread is created.
- */
-#ifndef TCPIP_THREAD_STACKSIZE
-#define TCPIP_THREAD_STACKSIZE          1024
-#endif
-
-/**
- * TCPIP_THREAD_PRIO: The priority assigned to the main tcpip thread.
- * The priority value itself is platform-dependent, but is passed to
- * sys_thread_new() when the thread is created.
- */
-#ifndef TCPIP_THREAD_PRIO
-#define TCPIP_THREAD_PRIO               (LOWPRIO + 1)
-#endif
-
-/**
- * TCPIP_MBOX_SIZE: The mailbox size for the tcpip thread messages
- * The queue size value itself is platform-dependent, but is passed to
- * sys_mbox_new() when tcpip_init is called.
- */
-#ifndef TCPIP_MBOX_SIZE
-#define TCPIP_MBOX_SIZE                 MEMP_NUM_PBUF
-#endif
-
-/**
- * SLIPIF_THREAD_NAME: The name assigned to the slipif_loop thread.
- */
-#ifndef SLIPIF_THREAD_NAME
-#define SLIPIF_THREAD_NAME             "slipif_loop"
-#endif
-
-/**
- * SLIP_THREAD_STACKSIZE: The stack size used by the slipif_loop thread.
- * The stack size value itself is platform-dependent, but is passed to
- * sys_thread_new() when the thread is created.
- */
-#ifndef SLIPIF_THREAD_STACKSIZE
-#define SLIPIF_THREAD_STACKSIZE         1024
-#endif
-
-/**
- * SLIPIF_THREAD_PRIO: The priority assigned to the slipif_loop thread.
- * The priority value itself is platform-dependent, but is passed to
- * sys_thread_new() when the thread is created.
- */
-#ifndef SLIPIF_THREAD_PRIO
-#define SLIPIF_THREAD_PRIO              (LOWPRIO + 1)
-#endif
-
-/**
- * PPP_THREAD_NAME: The name assigned to the pppInputThread.
- */
-#ifndef PPP_THREAD_NAME
-#define PPP_THREAD_NAME                "pppInputThread"
-#endif
-
-/**
- * PPP_THREAD_STACKSIZE: The stack size used by the pppInputThread.
- * The stack size value itself is platform-dependent, but is passed to
- * sys_thread_new() when the thread is created.
- */
-#ifndef PPP_THREAD_STACKSIZE
-#define PPP_THREAD_STACKSIZE            1024
-#endif
-
-/**
- * PPP_THREAD_PRIO: The priority assigned to the pppInputThread.
- * The priority value itself is platform-dependent, but is passed to
- * sys_thread_new() when the thread is created.
- */
-#ifndef PPP_THREAD_PRIO
-#define PPP_THREAD_PRIO                 (LOWPRIO + 1)
-#endif
-
-/**
- * DEFAULT_THREAD_NAME: The name assigned to any other lwIP thread.
- */
-#ifndef DEFAULT_THREAD_NAME
-#define DEFAULT_THREAD_NAME            "lwIP"
-#endif
-
-/**
- * DEFAULT_THREAD_STACKSIZE: The stack size used by any other lwIP thread.
- * The stack size value itself is platform-dependent, but is passed to
- * sys_thread_new() when the thread is created.
- */
-#ifndef DEFAULT_THREAD_STACKSIZE
-#define DEFAULT_THREAD_STACKSIZE        1024
-#endif
-
-/**
- * DEFAULT_THREAD_PRIO: The priority assigned to any other lwIP thread.
- * The priority value itself is platform-dependent, but is passed to
- * sys_thread_new() when the thread is created.
- */
-#ifndef DEFAULT_THREAD_PRIO
-#define DEFAULT_THREAD_PRIO             (LOWPRIO + 1)
-#endif
-
-/**
- * DEFAULT_RAW_RECVMBOX_SIZE: The mailbox size for the incoming packets on a
- * NETCONN_RAW. The queue size value itself is platform-dependent, but is passed
- * to sys_mbox_new() when the recvmbox is created.
- */
-#ifndef DEFAULT_RAW_RECVMBOX_SIZE
-#define DEFAULT_RAW_RECVMBOX_SIZE       4
-#endif
-
-/**
- * DEFAULT_UDP_RECVMBOX_SIZE: The mailbox size for the incoming packets on a
- * NETCONN_UDP. The queue size value itself is platform-dependent, but is passed
- * to sys_mbox_new() when the recvmbox is created.
- */
-#ifndef DEFAULT_UDP_RECVMBOX_SIZE
-#define DEFAULT_UDP_RECVMBOX_SIZE       4
-#endif
-
-/**
- * DEFAULT_TCP_RECVMBOX_SIZE: The mailbox size for the incoming packets on a
- * NETCONN_TCP. The queue size value itself is platform-dependent, but is passed
- * to sys_mbox_new() when the recvmbox is created.
- */
-#ifndef DEFAULT_TCP_RECVMBOX_SIZE
-#define DEFAULT_TCP_RECVMBOX_SIZE       40
-#endif
-
-/**
- * DEFAULT_ACCEPTMBOX_SIZE: The mailbox size for the incoming connections.
- * The queue size value itself is platform-dependent, but is passed to
- * sys_mbox_new() when the acceptmbox is created.
- */
-#ifndef DEFAULT_ACCEPTMBOX_SIZE
-#define DEFAULT_ACCEPTMBOX_SIZE         4
-#endif
-
-/*
-   ----------------------------------------------
-   ---------- Sequential layer options ----------
-   ----------------------------------------------
-*/
-/**
- * LWIP_TCPIP_CORE_LOCKING: (EXPERIMENTAL!)
- * Don't use it if you're not an active lwIP project member
- */
-#ifndef LWIP_TCPIP_CORE_LOCKING
-#define LWIP_TCPIP_CORE_LOCKING         0
-#endif
-
-/**
- * LWIP_TCPIP_CORE_LOCKING_INPUT: (EXPERIMENTAL!)
- * Don't use it if you're not an active lwIP project member
- */
-#ifndef LWIP_TCPIP_CORE_LOCKING_INPUT
-#define LWIP_TCPIP_CORE_LOCKING_INPUT   0
-#endif
-
-/**
- * LWIP_NETCONN==1: Enable Netconn API (require to use api_lib.c)
- */
-#ifndef LWIP_NETCONN
-#define LWIP_NETCONN                    1
-#endif
-
-/** LWIP_TCPIP_TIMEOUT==1: Enable tcpip_timeout/tcpip_untimeout tod create
- * timers running in tcpip_thread from another thread.
- */
-#ifndef LWIP_TCPIP_TIMEOUT
-#define LWIP_TCPIP_TIMEOUT              1
-#endif
-
-/*
-   ------------------------------------
-   ---------- Socket options ----------
-   ------------------------------------
-*/
-/**
- * LWIP_SOCKET==1: Enable Socket API (require to use sockets.c)
- */
-#ifndef LWIP_SOCKET
-#define LWIP_SOCKET                     1
-#endif
-
-/**
- * LWIP_COMPAT_SOCKETS==1: Enable BSD-style sockets functions names.
- * (only used if you use sockets.c)
- */
-#ifndef LWIP_COMPAT_SOCKETS
-#define LWIP_COMPAT_SOCKETS             2
-#endif
-
-/**
- * LWIP_POSIX_SOCKETS_IO_NAMES==1: Enable POSIX-style sockets functions names.
- * Disable this option if you use a POSIX operating system that uses the same
- * names (read, write & close). (only used if you use sockets.c)
- */
-#ifndef LWIP_POSIX_SOCKETS_IO_NAMES
-#define LWIP_POSIX_SOCKETS_IO_NAMES     1
-#endif
-
-/**
- * LWIP_TCP_KEEPALIVE==1: Enable TCP_KEEPIDLE, TCP_KEEPINTVL and TCP_KEEPCNT
- * options processing. Note that TCP_KEEPIDLE and TCP_KEEPINTVL have to be set
- * in seconds. (does not require sockets.c, and will affect tcp.c)
- */
-#ifndef LWIP_TCP_KEEPALIVE
-#define LWIP_TCP_KEEPALIVE              0
-#endif
-
-/**
- * LWIP_SO_SNDTIMEO==1: Enable send timeout for sockets/netconns and
- * SO_SNDTIMEO processing.
- */
-#ifndef LWIP_SO_SNDTIMEO
-#define LWIP_SO_SNDTIMEO                0
-#endif
-
-/**
- * LWIP_SO_RCVTIMEO==1: Enable receive timeout for sockets/netconns and
- * SO_RCVTIMEO processing.
- */
-#ifndef LWIP_SO_RCVTIMEO
-#define LWIP_SO_RCVTIMEO                0
-#endif
-
-/**
- * LWIP_SO_RCVBUF==1: Enable SO_RCVBUF processing.
- */
-#ifndef LWIP_SO_RCVBUF
-#define LWIP_SO_RCVBUF                  0
-#endif
-
-/**
- * If LWIP_SO_RCVBUF is used, this is the default value for recv_bufsize.
- */
-#ifndef RECV_BUFSIZE_DEFAULT
-#define RECV_BUFSIZE_DEFAULT            INT_MAX
-#endif
-
-/**
- * SO_REUSE==1: Enable SO_REUSEADDR option.
- */
-#ifndef SO_REUSE
-#define SO_REUSE                        0
-#endif
-
-/**
- * SO_REUSE_RXTOALL==1: Pass a copy of incoming broadcast/multicast packets
- * to all local matches if SO_REUSEADDR is turned on.
- * WARNING: Adds a memcpy for every packet if passing to more than one pcb!
- */
-#ifndef SO_REUSE_RXTOALL
-#define SO_REUSE_RXTOALL                0
-#endif
-
-/*
-   ----------------------------------------
-   ---------- Statistics options ----------
-   ----------------------------------------
-*/
-/**
- * LWIP_STATS==1: Enable statistics collection in lwip_stats.
- */
-#ifndef LWIP_STATS
-#define LWIP_STATS                      1
-#endif
-
-#if LWIP_STATS
-
-/**
- * LWIP_STATS_DISPLAY==1: Compile in the statistics output functions.
- */
-#ifndef LWIP_STATS_DISPLAY
-#define LWIP_STATS_DISPLAY              0
-#endif
-
-/**
- * LINK_STATS==1: Enable link stats.
- */
-#ifndef LINK_STATS
-#define LINK_STATS                      1
-#endif
-
-/**
- * ETHARP_STATS==1: Enable etharp stats.
- */
-#ifndef ETHARP_STATS
-#define ETHARP_STATS                    (LWIP_ARP)
-#endif
-
-/**
- * IP_STATS==1: Enable IP stats.
- */
-#ifndef IP_STATS
-#define IP_STATS                        1
-#endif
-
-/**
- * IPFRAG_STATS==1: Enable IP fragmentation stats. Default is
- * on if using either frag or reass.
- */
-#ifndef IPFRAG_STATS
-#define IPFRAG_STATS                    (IP_REASSEMBLY || IP_FRAG)
-#endif
-
-/**
- * ICMP_STATS==1: Enable ICMP stats.
- */
-#ifndef ICMP_STATS
-#define ICMP_STATS                      1
-#endif
-
-/**
- * IGMP_STATS==1: Enable IGMP stats.
- */
-#ifndef IGMP_STATS
-#define IGMP_STATS                      (LWIP_IGMP)
-#endif
-
-/**
- * UDP_STATS==1: Enable UDP stats. Default is on if
- * UDP enabled, otherwise off.
- */
-#ifndef UDP_STATS
-#define UDP_STATS                       (LWIP_UDP)
-#endif
-
-/**
- * TCP_STATS==1: Enable TCP stats. Default is on if TCP
- * enabled, otherwise off.
- */
-#ifndef TCP_STATS
-#define TCP_STATS                       (LWIP_TCP)
-#endif
-
-/**
- * MEM_STATS==1: Enable mem.c stats.
- */
-#ifndef MEM_STATS
-#define MEM_STATS                       ((MEM_LIBC_MALLOC == 0) && (MEM_USE_POOLS == 0))
-#endif
-
-/**
- * MEMP_STATS==1: Enable memp.c pool stats.
- */
-#ifndef MEMP_STATS
-#define MEMP_STATS                      (MEMP_MEM_MALLOC == 0)
-#endif
-
-/**
- * SYS_STATS==1: Enable system stats (sem and mbox counts, etc).
- */
-#ifndef SYS_STATS
-#define SYS_STATS                       (NO_SYS == 0)
-#endif
-
-#else
-
-#define LINK_STATS                      0
-#define IP_STATS                        0
-#define IPFRAG_STATS                    0
-#define ICMP_STATS                      0
-#define IGMP_STATS                      0
-#define UDP_STATS                       0
-#define TCP_STATS                       0
-#define MEM_STATS                       0
-#define MEMP_STATS                      0
-#define SYS_STATS                       0
-#define LWIP_STATS_DISPLAY              0
-
-#endif /* LWIP_STATS */
-
-/*
-   ---------------------------------
-   ---------- PPP options ----------
-   ---------------------------------
-*/
-/**
- * PPP_SUPPORT==1: Enable PPP.
- */
-#ifndef PPP_SUPPORT
-#define PPP_SUPPORT                     0
-#endif
-
-/**
- * PPPOE_SUPPORT==1: Enable PPP Over Ethernet
- */
-#ifndef PPPOE_SUPPORT
-#define PPPOE_SUPPORT                   0
-#endif
-
-/**
- * PPPOS_SUPPORT==1: Enable PPP Over Serial
- */
-#ifndef PPPOS_SUPPORT
-#define PPPOS_SUPPORT                   PPP_SUPPORT
-#endif
-
-#if PPP_SUPPORT
-
-/**
- * NUM_PPP: Max PPP sessions.
- */
-#ifndef NUM_PPP
-#define NUM_PPP                         1
-#endif
-
-/**
- * PAP_SUPPORT==1: Support PAP.
- */
-#ifndef PAP_SUPPORT
-#define PAP_SUPPORT                     0
-#endif
-
-/**
- * CHAP_SUPPORT==1: Support CHAP.
- */
-#ifndef CHAP_SUPPORT
-#define CHAP_SUPPORT                    0
-#endif
-
-/**
- * MSCHAP_SUPPORT==1: Support MSCHAP. CURRENTLY NOT SUPPORTED! DO NOT SET!
- */
-#ifndef MSCHAP_SUPPORT
-#define MSCHAP_SUPPORT                  0
-#endif
-
-/**
- * CBCP_SUPPORT==1: Support CBCP. CURRENTLY NOT SUPPORTED! DO NOT SET!
- */
-#ifndef CBCP_SUPPORT
-#define CBCP_SUPPORT                    0
-#endif
-
-/**
- * CCP_SUPPORT==1: Support CCP. CURRENTLY NOT SUPPORTED! DO NOT SET!
- */
-#ifndef CCP_SUPPORT
-#define CCP_SUPPORT                     0
-#endif
-
-/**
- * VJ_SUPPORT==1: Support VJ header compression.
- */
-#ifndef VJ_SUPPORT
-#define VJ_SUPPORT                      0
-#endif
-
-/**
- * MD5_SUPPORT==1: Support MD5 (see also CHAP).
- */
-#ifndef MD5_SUPPORT
-#define MD5_SUPPORT                     0
-#endif
-
-/*
- * Timeouts
- */
-#ifndef FSM_DEFTIMEOUT
-#define FSM_DEFTIMEOUT                  6       /* Timeout time in seconds */
-#endif
-
-#ifndef FSM_DEFMAXTERMREQS
-#define FSM_DEFMAXTERMREQS              2       /* Maximum Terminate-Request transmissions */
-#endif
-
-#ifndef FSM_DEFMAXCONFREQS
-#define FSM_DEFMAXCONFREQS              10      /* Maximum Configure-Request transmissions */
-#endif
-
-#ifndef FSM_DEFMAXNAKLOOPS
-#define FSM_DEFMAXNAKLOOPS              5       /* Maximum number of nak loops */
-#endif
-
-#ifndef UPAP_DEFTIMEOUT
-#define UPAP_DEFTIMEOUT                 6       /* Timeout (seconds) for retransmitting req */
-#endif
-
-#ifndef UPAP_DEFREQTIME
-#define UPAP_DEFREQTIME                 30      /* Time to wait for auth-req from peer */
-#endif
-
-#ifndef CHAP_DEFTIMEOUT
-#define CHAP_DEFTIMEOUT                 6       /* Timeout time in seconds */
-#endif
-
-#ifndef CHAP_DEFTRANSMITS
-#define CHAP_DEFTRANSMITS               10      /* max # times to send challenge */
-#endif
-
-/* Interval in seconds between keepalive echo requests, 0 to disable. */
-#ifndef LCP_ECHOINTERVAL
-#define LCP_ECHOINTERVAL                0
-#endif
-
-/* Number of unanswered echo requests before failure. */
-#ifndef LCP_MAXECHOFAILS
-#define LCP_MAXECHOFAILS                3
-#endif
-
-/* Max Xmit idle time (in jiffies) before resend flag char. */
-#ifndef PPP_MAXIDLEFLAG
-#define PPP_MAXIDLEFLAG                 100
-#endif
-
-/*
- * Packet sizes
- *
- * Note - lcp shouldn't be allowed to negotiate stuff outside these
- *    limits.  See lcp.h in the pppd directory.
- * (XXX - these constants should simply be shared by lcp.c instead
- *    of living in lcp.h)
- */
-#define PPP_MTU                         1500     /* Default MTU (size of Info field) */
-#ifndef PPP_MAXMTU
-/* #define PPP_MAXMTU  65535 - (PPP_HDRLEN + PPP_FCSLEN) */
-#define PPP_MAXMTU                      1500 /* Largest MTU we allow */
-#endif
-#define PPP_MINMTU                      64
-#define PPP_MRU                         1500     /* default MRU = max length of info field */
-#define PPP_MAXMRU                      1500     /* Largest MRU we allow */
-#ifndef PPP_DEFMRU
-#define PPP_DEFMRU                      296             /* Try for this */
-#endif
-#define PPP_MINMRU                      128             /* No MRUs below this */
-
-#ifndef MAXNAMELEN
-#define MAXNAMELEN                      256     /* max length of hostname or name for auth */
-#endif
-#ifndef MAXSECRETLEN
-#define MAXSECRETLEN                    256     /* max length of password or secret */
-#endif
-
-#endif /* PPP_SUPPORT */
-
-/*
-   --------------------------------------
-   ---------- Checksum options ----------
-   --------------------------------------
-*/
-/**
- * CHECKSUM_GEN_IP==1: Generate checksums in software for outgoing IP packets.
- */
-#ifndef CHECKSUM_GEN_IP
-#define CHECKSUM_GEN_IP                 1
-#endif
- 
-/**
- * CHECKSUM_GEN_UDP==1: Generate checksums in software for outgoing UDP packets.
- */
-#ifndef CHECKSUM_GEN_UDP
-#define CHECKSUM_GEN_UDP                1
-#endif
- 
-/**
- * CHECKSUM_GEN_TCP==1: Generate checksums in software for outgoing TCP packets.
- */
-#ifndef CHECKSUM_GEN_TCP
-#define CHECKSUM_GEN_TCP                1
-#endif
-
-/**
- * CHECKSUM_GEN_ICMP==1: Generate checksums in software for outgoing ICMP packets.
- */
-#ifndef CHECKSUM_GEN_ICMP
-#define CHECKSUM_GEN_ICMP               1
-#endif
- 
-/**
- * CHECKSUM_CHECK_IP==1: Check checksums in software for incoming IP packets.
- */
-#ifndef CHECKSUM_CHECK_IP
-#define CHECKSUM_CHECK_IP               1
-#endif
- 
-/**
- * CHECKSUM_CHECK_UDP==1: Check checksums in software for incoming UDP packets.
- */
-#ifndef CHECKSUM_CHECK_UDP
-#define CHECKSUM_CHECK_UDP              1
-#endif
-
-/**
- * CHECKSUM_CHECK_TCP==1: Check checksums in software for incoming TCP packets.
- */
-#ifndef CHECKSUM_CHECK_TCP
-#define CHECKSUM_CHECK_TCP              1
-#endif
-
-/**
- * LWIP_CHECKSUM_ON_COPY==1: Calculate checksum when copying data from
- * application buffers to pbufs.
- */
-#ifndef LWIP_CHECKSUM_ON_COPY
-#define LWIP_CHECKSUM_ON_COPY           0
-#endif
-
-/*
-   ---------------------------------------
-   ---------- Hook options ---------------
-   ---------------------------------------
-*/
-
-/* Hooks are undefined by default, define them to a function if you need them. */
-
-/**
- * LWIP_HOOK_IP4_INPUT(pbuf, input_netif):
- * - called from ip_input() (IPv4)
- * - pbuf: received struct pbuf passed to ip_input()
- * - input_netif: struct netif on which the packet has been received
- * Return values:
- * - 0: Hook has not consumed the packet, packet is processed as normal
- * - != 0: Hook has consumed the packet.
- * If the hook consumed the packet, 'pbuf' is in the responsibility of the hook
- * (i.e. free it when done).
- */
-
-/**
- * LWIP_HOOK_IP4_ROUTE(dest):
- * - called from ip_route() (IPv4)
- * - dest: destination IPv4 address
- * Returns the destination netif or NULL if no destination netif is found. In
- * that case, ip_route() continues as normal.
- */
-
-/*
-   ---------------------------------------
-   ---------- Debugging options ----------
-   ---------------------------------------
-*/
-/**
- * LWIP_DBG_MIN_LEVEL: After masking, the value of the debug is
- * compared against this value. If it is smaller, then debugging
- * messages are written.
- */
-#ifndef LWIP_DBG_MIN_LEVEL
-#define LWIP_DBG_MIN_LEVEL              LWIP_DBG_LEVEL_ALL
-#endif
-
-/**
- * LWIP_DBG_TYPES_ON: A mask that can be used to globally enable/disable
- * debug messages of certain types.
- */
-#ifndef LWIP_DBG_TYPES_ON
-#define LWIP_DBG_TYPES_ON               LWIP_DBG_ON
-#endif
-
-/**
- * ETHARP_DEBUG: Enable debugging in etharp.c.
- */
-#ifndef ETHARP_DEBUG
-#define ETHARP_DEBUG                    LWIP_DBG_ON
-#endif
-
-/**
- * NETIF_DEBUG: Enable debugging in netif.c.
- */
-#ifndef NETIF_DEBUG
-#define NETIF_DEBUG                     LWIP_DBG_OFF
-#endif
-
-/**
- * PBUF_DEBUG: Enable debugging in pbuf.c.
- */
-#ifndef PBUF_DEBUG
-#define PBUF_DEBUG                      LWIP_DBG_OFF
-#endif
-
-/**
- * API_LIB_DEBUG: Enable debugging in api_lib.c.
- */
-#ifndef API_LIB_DEBUG
-#define API_LIB_DEBUG                   LWIP_DBG_OFF
-#endif
-
-/**
- * API_MSG_DEBUG: Enable debugging in api_msg.c.
- */
-#ifndef API_MSG_DEBUG
-#define API_MSG_DEBUG                   LWIP_DBG_OFF
-#endif
-
-/**
- * SOCKETS_DEBUG: Enable debugging in sockets.c.
- */
-#ifndef SOCKETS_DEBUG
-#define SOCKETS_DEBUG                   LWIP_DBG_OFF
-#endif
-
-/**
- * ICMP_DEBUG: Enable debugging in icmp.c.
- */
-#ifndef ICMP_DEBUG
-#define ICMP_DEBUG                      LWIP_DBG_OFF
-#endif
-
-/**
- * IGMP_DEBUG: Enable debugging in igmp.c.
- */
-#ifndef IGMP_DEBUG
-#define IGMP_DEBUG                      LWIP_DBG_OFF
-#endif
-
-/**
- * INET_DEBUG: Enable debugging in inet.c.
- */
-#ifndef INET_DEBUG
-#define INET_DEBUG                      LWIP_DBG_OFF
-#endif
-
-/**
- * IP_DEBUG: Enable debugging for IP.
- */
-#ifndef IP_DEBUG
-#define IP_DEBUG                        LWIP_DBG_OFF
-#endif
-
-/**
- * IP_REASS_DEBUG: Enable debugging in ip_frag.c for both frag & reass.
- */
-#ifndef IP_REASS_DEBUG
-#define IP_REASS_DEBUG                  LWIP_DBG_OFF
-#endif
-
-/**
- * RAW_DEBUG: Enable debugging in raw.c.
- */
-#ifndef RAW_DEBUG
-#define RAW_DEBUG                       LWIP_DBG_ON
-#endif
-
-/**
- * MEM_DEBUG: Enable debugging in mem.c.
- */
-#ifndef MEM_DEBUG
-#define MEM_DEBUG                       LWIP_DBG_ON
-#endif
-
-/**
- * MEMP_DEBUG: Enable debugging in memp.c.
- */
-#ifndef MEMP_DEBUG
-#define MEMP_DEBUG                      LWIP_DBG_OFF
-#endif
-
-/**
- * SYS_DEBUG: Enable debugging in sys.c.
- */
-#ifndef SYS_DEBUG
-#define SYS_DEBUG                       LWIP_DBG_ON
-#endif
-
-/**
- * TIMERS_DEBUG: Enable debugging in timers.c.
- */
-#ifndef TIMERS_DEBUG
-#define TIMERS_DEBUG                    LWIP_DBG_OFF
-#endif
-
-/**
- * TCP_DEBUG: Enable debugging for TCP.
- */
-#ifndef TCP_DEBUG
-#define TCP_DEBUG                       LWIP_DBG_OFF
-#endif
-
-/**
- * TCP_INPUT_DEBUG: Enable debugging in tcp_in.c for incoming debug.
- */
-#ifndef TCP_INPUT_DEBUG
-#define TCP_INPUT_DEBUG                 LWIP_DBG_OFF
-#endif
-
-/**
- * TCP_FR_DEBUG: Enable debugging in tcp_in.c for fast retransmit.
- */
-#ifndef TCP_FR_DEBUG
-#define TCP_FR_DEBUG                    LWIP_DBG_OFF
-#endif
-
-/**
- * TCP_RTO_DEBUG: Enable debugging in TCP for retransmit
- * timeout.
- */
-#ifndef TCP_RTO_DEBUG
-#define TCP_RTO_DEBUG                   LWIP_DBG_OFF
-#endif
-
-/**
- * TCP_CWND_DEBUG: Enable debugging for TCP congestion window.
- */
-#ifndef TCP_CWND_DEBUG
-#define TCP_CWND_DEBUG                  LWIP_DBG_OFF
-#endif
-
-/**
- * TCP_WND_DEBUG: Enable debugging in tcp_in.c for window updating.
- */
-#ifndef TCP_WND_DEBUG
-#define TCP_WND_DEBUG                   LWIP_DBG_OFF
-#endif
-
-/**
- * TCP_OUTPUT_DEBUG: Enable debugging in tcp_out.c output functions.
- */
-#ifndef TCP_OUTPUT_DEBUG
-#define TCP_OUTPUT_DEBUG                LWIP_DBG_OFF
-#endif
-
-/**
- * TCP_RST_DEBUG: Enable debugging for TCP with the RST message.
- */
-#ifndef TCP_RST_DEBUG
-#define TCP_RST_DEBUG                   LWIP_DBG_OFF
-#endif
-
-/**
- * TCP_QLEN_DEBUG: Enable debugging for TCP queue lengths.
- */
-#ifndef TCP_QLEN_DEBUG
-#define TCP_QLEN_DEBUG                  LWIP_DBG_OFF
-#endif
-
-/**
- * UDP_DEBUG: Enable debugging in UDP.
- */
-#ifndef UDP_DEBUG
-#define UDP_DEBUG                       LWIP_DBG_OFF
-#endif
-
-/**
- * TCPIP_DEBUG: Enable debugging in tcpip.c.
- */
-#ifndef TCPIP_DEBUG
-#define TCPIP_DEBUG                     LWIP_DBG_ON
-#endif
-
-/**
- * PPP_DEBUG: Enable debugging for PPP.
- */
-#ifndef PPP_DEBUG
-#define PPP_DEBUG                       LWIP_DBG_OFF
-#endif
-
-/**
- * SLIP_DEBUG: Enable debugging in slipif.c.
- */
-#ifndef SLIP_DEBUG
-#define SLIP_DEBUG                      LWIP_DBG_OFF
-#endif
-
-/**
- * DHCP_DEBUG: Enable debugging in dhcp.c.
- */
-#ifndef DHCP_DEBUG
-#define DHCP_DEBUG                      LWIP_DBG_OFF
-#endif
-
-/**
- * AUTOIP_DEBUG: Enable debugging in autoip.c.
- */
-#ifndef AUTOIP_DEBUG
-#define AUTOIP_DEBUG                    LWIP_DBG_OFF
-#endif
-
-/**
- * SNMP_MSG_DEBUG: Enable debugging for SNMP messages.
- */
-#ifndef SNMP_MSG_DEBUG
-#define SNMP_MSG_DEBUG                  LWIP_DBG_OFF
-#endif
-
-/**
- * SNMP_MIB_DEBUG: Enable debugging for SNMP MIBs.
- */
-#ifndef SNMP_MIB_DEBUG
-#define SNMP_MIB_DEBUG                  LWIP_DBG_OFF
-#endif
-
-/**
- * DNS_DEBUG: Enable debugging for DNS.
- */
-#ifndef DNS_DEBUG
-#define DNS_DEBUG                       LWIP_DBG_OFF
-#endif
-
-#define LWIP_RAND    chibios_rand_generate
-
-#endif /* __LWIPOPT_H__ */

From 4dc513e78c68d648c9ec0875887e40b5948a72a8 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 25 Dec 2023 14:33:38 +1100
Subject: [PATCH 0322/1335] lwip: remove ext/lwip and add as modules/lwip

---
 .gitmodules     | 3 +++
 modules/ChibiOS | 2 +-
 modules/lwip    | 1 +
 3 files changed, 5 insertions(+), 1 deletion(-)
 create mode 160000 modules/lwip

diff --git a/.gitmodules b/.gitmodules
index fbfe76753a51d6..6a900f5fbaad67 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -39,3 +39,6 @@
 	path = modules/Micro-CDR
 	url = https://github.com/ardupilot/Micro-CDR.git
 	branch = master
+[submodule "modules/lwip"]
+	path = modules/lwip
+	url = https://github.com/ArduPilot/lwip.git
diff --git a/modules/ChibiOS b/modules/ChibiOS
index d8c45abde5fb39..6a85082c715457 160000
--- a/modules/ChibiOS
+++ b/modules/ChibiOS
@@ -1 +1 @@
-Subproject commit d8c45abde5fb398ef9da6fc8fc36992f2ae7b15c
+Subproject commit 6a85082c715457d1e0cc9627f9939f349de1143e
diff --git a/modules/lwip b/modules/lwip
new file mode 160000
index 00000000000000..0a0452b2c39bdd
--- /dev/null
+++ b/modules/lwip
@@ -0,0 +1 @@
+Subproject commit 0a0452b2c39bdd91e252aef045c115f88f6ca773

From 8b3f3bc2d2783bae80333a66c647dd9ccf1a79cd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 25 Dec 2023 14:40:22 +1100
Subject: [PATCH 0323/1335] waf: new location for lwip

---
 Tools/ardupilotwaf/boards.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index dc78c9f54ba8eb..8cb43ddacf43c4 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -1158,7 +1158,7 @@ def configure_env(self, cfg, env):
 
         env.INCLUDES += [
             cfg.srcnode.find_dir('libraries/AP_GyroFFT/CMSIS_5/include').abspath(),
-            cfg.srcnode.find_dir('modules/ChibiOS/ext/lwip/src/include/compat/posix').abspath()
+            cfg.srcnode.find_dir('modules/lwip/src/include/compat/posix').abspath()
         ]
 
         # whitelist of compilers which we should build with -Werror

From 9d5a54259e60cb0ade2da3a3444189a8e3924021 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 25 Dec 2023 14:40:32 +1100
Subject: [PATCH 0324/1335] AP_Networking: new location for lwip

---
 libraries/AP_Networking/wscript | 24 +++++++++---------------
 1 file changed, 9 insertions(+), 15 deletions(-)

diff --git a/libraries/AP_Networking/wscript b/libraries/AP_Networking/wscript
index 64d985c6ce0e0d..e1ed0c9af2cbd0 100644
--- a/libraries/AP_Networking/wscript
+++ b/libraries/AP_Networking/wscript
@@ -5,26 +5,20 @@ import pathlib
 
 def configure(cfg):
     extra_src = [
-        'modules/ChibiOS/ext/lwip/src/core/*c',
-        'modules/ChibiOS/ext/lwip/src/core/ipv4/*c',
-        'modules/ChibiOS/ext/lwip/src/api/*c',
-        'modules/ChibiOS/ext/lwip/src/netif/*c',
-        'modules/ChibiOS/ext/lwip/src/netif/ppp/*c',
+        'modules/lwip/src/core/*c',
+        'modules/lwip/src/core/ipv4/*c',
+        'modules/lwip/src/api/*c',
+        'modules/lwip/src/netif/*c',
+        'modules/lwip/src/netif/ppp/*c',
     ]
 
     extra_src_inc = [
-        'modules/ChibiOS/ext/lwip/src/include',
+        'modules/lwip/src/include',
     ]
 
-    if cfg.env.BOARD_CLASS == "SITL":
-        extra_src.extend(['libraries/AP_Networking/lwip_hal/arch/*cpp'])
-        extra_src_inc.extend(['libraries/AP_Networking/config',
-                              'libraries/AP_Networking/lwip_hal/include'])
-
-    if cfg.env.BOARD_CLASS == "ChibiOS":
-        extra_src.extend(['libraries/AP_Networking/lwip_hal/arch/*cpp'])
-        extra_src_inc.extend(['libraries/AP_Networking/config',
-                              'libraries/AP_Networking/lwip_hal/include'])
+    extra_src.extend(['libraries/AP_Networking/lwip_hal/arch/*cpp'])
+    extra_src_inc.extend(['libraries/AP_Networking/config',
+                          'libraries/AP_Networking/lwip_hal/include'])
 
     cfg.env.AP_LIB_EXTRA_SOURCES['AP_Networking'] = []
     for pattern in extra_src:

From d26530c892658560411110d5fbcf6a492a934961 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 06:46:41 +1100
Subject: [PATCH 0325/1335] waf: added --enable-ppp option

---
 Tools/ardupilotwaf/boards.py | 3 +++
 wscript                      | 5 +++++
 2 files changed, 8 insertions(+)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 8cb43ddacf43c4..efcb8782ebcbab 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -148,6 +148,9 @@ def srcpath(path):
             )
             cfg.msg("Enabled custom controller", 'no', color='YELLOW')
 
+        if cfg.options.enable_ppp:
+            env.CXXFLAGS += ['-DAP_NETWORKING_BACKEND_PPP=1']
+
         if cfg.options.disable_networking:
             env.CXXFLAGS += ['-DAP_NETWORKING_ENABLED=0']
 
diff --git a/wscript b/wscript
index 31da3e0ba2e344..8d2c2a68b2b299 100644
--- a/wscript
+++ b/wscript
@@ -180,6 +180,11 @@ def options(opt):
         action='store_true',
         default=False,
         help='enable OS level thread statistics.')
+
+    g.add_option('--enable-ppp',
+        action='store_true',
+        default=False,
+        help='enable PPP networking.')
     
     g.add_option('--bootloader',
         action='store_true',

From 812ac6bc0a1c840f87b992f3170ef80f2854b19a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 06:51:40 +1100
Subject: [PATCH 0326/1335] AP_Networking: allow for --enable-ppp to enable
 networking

---
 libraries/AP_Networking/AP_Networking_Config.h | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index b08b936e3b9ff0..c55ef506245e1a 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -1,5 +1,10 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 
+#if defined(AP_NETWORKING_BACKEND_PPP) && !defined(AP_NETWORKING_ENABLED)
+// allow --enable-ppp to enable networking
+#define AP_NETWORKING_ENABLED AP_NETWORKING_BACKEND_PPP
+#endif
+
 #ifndef AP_NETWORKING_ENABLED
 #define AP_NETWORKING_ENABLED 0
 #endif

From 799b01c6c6eb7522f2326b99477cd5d64835bbfb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 08:17:22 +1100
Subject: [PATCH 0327/1335] Tools: added --enable-ppp to sim_vehicle.py

---
 Tools/autotest/sim_vehicle.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py
index 5a0ccb5c5ddf3b..0d623e8c8f3e9d 100755
--- a/Tools/autotest/sim_vehicle.py
+++ b/Tools/autotest/sim_vehicle.py
@@ -414,6 +414,9 @@ def do_build(opts, frame_options):
     if opts.disable_networking:
         cmd_configure.append("--disable-networking")
 
+    if opts.enable_ppp:
+        cmd_configure.append("--enable-ppp")
+        
     if opts.enable_networking_tests:
         cmd_configure.append("--enable-networking-tests")
 
@@ -1333,6 +1336,8 @@ def generate_frame_help():
                      help="Enable the dds client to connect with ROS2/DDS")
 group_sim.add_option("--disable-networking", action='store_true',
                      help="Disable networking APIs")
+group_sim.add_option("--enable-ppp", action='store_true',
+                     help="Enable PPP networking")
 group_sim.add_option("--enable-networking-tests", action='store_true',
                      help="Enable networking tests")
 

From 3d5251dfe82035baf54020d9888dbde68beac8cd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 08:18:41 +1100
Subject: [PATCH 0328/1335] AP_HAL: added inet_str_to_addr to SocketAPM

---
 libraries/AP_HAL/utility/Socket.cpp | 26 +++++++++++++++++++++-----
 libraries/AP_HAL/utility/Socket.h   |  5 ++++-
 2 files changed, 25 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index 57aa2bd74f6a2e..8881bb074f8a6e 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -74,7 +74,12 @@ SocketAPM::SocketAPM(bool _datagram, int _fd) :
 
 SocketAPM::~SocketAPM()
 {
-    close();
+    if (fd != -1) {
+        CALL_PREFIX(close)(fd);
+    }
+    if (fd_in != -1) {
+        CALL_PREFIX(close)(fd_in);
+    }
 }
 
 void SocketAPM::make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr)
@@ -86,7 +91,7 @@ void SocketAPM::make_sockaddr(const char *address, uint16_t port, struct sockadd
 #endif
     sockaddr.sin_port = htons(port);
     sockaddr.sin_family = AF_INET;
-    sockaddr.sin_addr.s_addr = inet_addr(address);
+    sockaddr.sin_addr.s_addr = htonl(inet_str_to_addr(address));
 }
 
 /*
@@ -360,7 +365,7 @@ const char *SocketAPM::last_recv_address(char *ip_addr_buf, uint8_t buflen, uint
 {
     const struct sockaddr_in &sin = *(struct sockaddr_in *)&last_in_addr[0];
 
-    const char *ret = inet_addr_to_str((void*)&sin.sin_addr, ip_addr_buf, buflen);
+    const char *ret = inet_addr_to_str(ntohl(sin.sin_addr.s_addr), ip_addr_buf, buflen);
     if (ret == nullptr) {
         return nullptr;
     }
@@ -503,9 +508,20 @@ SocketAPM *SocketAPM::duplicate(void)
     return ret;
 }
 
-const char *SocketAPM::inet_addr_to_str(const void *src, char *dst, uint16_t len)
+// access to inet_ntop, takes host order ipv4 as uint32_t
+const char *SocketAPM::inet_addr_to_str(uint32_t addr, char *dst, uint16_t len)
 {
-    return CALL_PREFIX(inet_ntop)(AF_INET, src, dst, len);
+    addr = htonl(addr);
+    return CALL_PREFIX(inet_ntop)(AF_INET, (void*)&addr, dst, len);
+}
+
+// access to inet_pton, returns host order ipv4 as uint32_t
+uint32_t SocketAPM::inet_str_to_addr(const char *ipstr)
+{
+    uint32_t ret = 0;
+    CALL_PREFIX(inet_pton)(AF_INET, ipstr, &ret);
+    return ntohl(ret);
+
 }
 
 #endif // AP_NETWORKING_BACKEND_ANY
diff --git a/libraries/AP_HAL/utility/Socket.h b/libraries/AP_HAL/utility/Socket.h
index 82c0ee2604c4c5..0efba9ebd7a59b 100644
--- a/libraries/AP_HAL/utility/Socket.h
+++ b/libraries/AP_HAL/utility/Socket.h
@@ -76,8 +76,11 @@ class SocketAPM {
     }
 
     // access to inet_ntop
-    static const char *inet_addr_to_str(const void *src, char *dst, uint16_t len);
+    static const char *inet_addr_to_str(uint32_t addr, char *dst, uint16_t len);
 
+    // access to inet_pton
+    static uint32_t inet_str_to_addr(const char *ipstr);
+    
 private:
     bool datagram;
     // we avoid using struct sockaddr_in here to keep support for

From ec5ff94f3e19561856d130111f655c28ce916b43 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 08:19:15 +1100
Subject: [PATCH 0329/1335] AP_Networking: cleanup string to IP handling

use SocketAPM methods
---
 libraries/AP_Networking/AP_Networking.cpp     | 23 ++-------
 libraries/AP_Networking/AP_Networking.h       | 51 -------------------
 .../AP_Networking/AP_Networking_address.cpp   |  4 +-
 3 files changed, 6 insertions(+), 72 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp
index 2eaee5dfde61c7..87ca70bd94ad71 100644
--- a/libraries/AP_Networking/AP_Networking.cpp
+++ b/libraries/AP_Networking/AP_Networking.cpp
@@ -19,7 +19,6 @@ extern const AP_HAL::HAL& hal;
 
 #include <lwipopts.h>
 #include <errno.h>
-#include <lwip/sockets.h>
 
 
 #include <AP_HAL/utility/Socket.h>
@@ -183,9 +182,10 @@ void AP_Networking::announce_address_changes()
         return;
     }
 
-    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: IP      %s", get_ip_active_str());
-    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Mask    %s", get_netmask_active_str());
-    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Gateway %s", get_gateway_active_str());
+    char ipstr[16];
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: IP      %s", SocketAPM::inet_addr_to_str(get_ip_active(), ipstr, sizeof(ipstr)));
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Mask    %s", SocketAPM::inet_addr_to_str(get_netmask_active(), ipstr, sizeof(ipstr)));
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Gateway %s", SocketAPM::inet_addr_to_str(get_gateway_active(), ipstr, sizeof(ipstr)));
 
     announce_ms = as.last_change_ms;
 }
@@ -223,21 +223,6 @@ uint8_t AP_Networking::convert_netmask_ip_to_bitcount(const uint32_t netmask_ip)
     return netmask_bitcount;
 }
 
-uint32_t AP_Networking::convert_str_to_ip(const char* ip_str)
-{
-    uint32_t ip = 0;
-    lwip_inet_pton(AF_INET, ip_str, &ip);
-    return ntohl(ip);
-}
-
-const char* AP_Networking::convert_ip_to_str(uint32_t ip)
-{
-    ip = htonl(ip);
-    static char _str_buffer[20];
-    lwip_inet_ntop(AF_INET, &ip, _str_buffer, sizeof(_str_buffer));
-    return _str_buffer;
-}
-
 /*
   convert a string to an ethernet MAC address
  */
diff --git a/libraries/AP_Networking/AP_Networking.h b/libraries/AP_Networking/AP_Networking.h
index 005a521997833e..3b18072593b70f 100644
--- a/libraries/AP_Networking/AP_Networking.h
+++ b/libraries/AP_Networking/AP_Networking.h
@@ -91,15 +91,6 @@ class AP_Networking
 #endif
     }
 
-    /*
-      returns a null terminated string of the active IP address. Example: "192.168.12.13"
-      Note that the returned
-    */
-    const char *get_ip_active_str() const
-    {
-        return convert_ip_to_str(get_ip_active());
-    }
-
     // sets the user-parameter static IP address from a 32bit value
     void set_ip_param(const uint32_t ip)
     {
@@ -122,29 +113,6 @@ class AP_Networking
 #endif
     }
 
-    // returns a null terminated string of the active Netmask address. Example: "192.168.12.13"
-    const char *get_netmask_active_str()
-    {
-        return convert_ip_to_str(get_netmask_active());
-    }
-
-    const char *get_netmask_param_str()
-    {
-        return convert_ip_to_str(get_netmask_param());
-    }
-
-    void set_netmask_param_str(const char* nm_str)
-    {
-        set_netmask_param(convert_str_to_ip((char*)nm_str));
-    }
-
-    void set_netmask_param(const uint32_t nm)
-    {
-#if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
-        param.netmask.set(convert_netmask_ip_to_bitcount(nm));
-#endif
-    }
-
     uint32_t get_gateway_active() const;
 
     uint32_t get_gateway_param() const
@@ -157,21 +125,6 @@ class AP_Networking
 #endif
     }
 
-    const char *get_gateway_active_str()
-    {
-        return convert_ip_to_str(get_gateway_active());
-    }
-
-    const char *get_gateway_param_str()
-    {
-        return convert_ip_to_str(get_gateway_param());
-    }
-
-    void set_gateway_param_str(const char* gw_str)
-    {
-        set_gateway_param(convert_str_to_ip((char*)gw_str));
-    }
-
     void set_gateway_param(const uint32_t gw)
     {
 #if AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
@@ -182,10 +135,6 @@ class AP_Networking
     // wait in a thread for network startup
     void startup_wait(void) const;
 
-    // helper functions to convert between 32bit IP addresses and null terminated strings and back
-    static uint32_t convert_str_to_ip(const char* ip_str);
-    static const char* convert_ip_to_str(uint32_t ip);
-
     // convert string to ethernet mac address
     static bool convert_str_to_macaddr(const char *mac_str, uint8_t addr[6]);
 
diff --git a/libraries/AP_Networking/AP_Networking_address.cpp b/libraries/AP_Networking/AP_Networking_address.cpp
index a1c1cdc59ca49c..ddb36428e19f34 100644
--- a/libraries/AP_Networking/AP_Networking_address.cpp
+++ b/libraries/AP_Networking/AP_Networking_address.cpp
@@ -49,7 +49,7 @@ const AP_Param::GroupInfo AP_Networking_IPV4::var_info[] = {
 AP_Networking_IPV4::AP_Networking_IPV4(const char *default_addr)
 {
     AP_Param::setup_object_defaults(this, var_info);
-    set_default_uint32(AP_Networking::convert_str_to_ip(default_addr));
+    set_default_uint32(SocketAPM::inet_str_to_addr(default_addr));
 }
 
 uint32_t AP_Networking_IPV4::get_uint32(void) const
@@ -73,7 +73,7 @@ void AP_Networking_IPV4::set_default_uint32(uint32_t v)
 const char* AP_Networking_IPV4::get_str()
 {
     const auto ip = ntohl(get_uint32());
-    return SocketAPM::inet_addr_to_str(&ip, strbuf, sizeof(strbuf));
+    return SocketAPM::inet_addr_to_str(ip, strbuf, sizeof(strbuf));
 }
 
 #endif // AP_NETWORKING_ENABLED

From 985816ebc2bc2b4abe3297fa13dd4c570e36a6ec Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 08:19:28 +1100
Subject: [PATCH 0330/1335] AP_Networking: don't enable PPP by default

---
 libraries/AP_Networking/AP_Networking_Config.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index c55ef506245e1a..b6aa08af30b1c0 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -33,7 +33,7 @@
 #endif
 
 #ifndef AP_NETWORKING_BACKEND_PPP
-#define AP_NETWORKING_BACKEND_PPP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED)
+#define AP_NETWORKING_BACKEND_PPP 0
 #endif
 
 #ifndef AP_NETWORKING_BACKEND_SITL

From 7e29452082e4172e7ce6d69fd51d1f656e6bffe9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 13:41:28 +1100
Subject: [PATCH 0331/1335] AP_Networking: fix for linux build

---
 libraries/AP_Networking/AP_Networking_Config.h     |  4 +++-
 libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp | 14 +++++++-------
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index b6aa08af30b1c0..803b06e1b7126d 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -6,7 +6,7 @@
 #endif
 
 #ifndef AP_NETWORKING_ENABLED
-#define AP_NETWORKING_ENABLED 0
+#define AP_NETWORKING_ENABLED ((CONFIG_HAL_BOARD == HAL_BOARD_LINUX) || (CONFIG_HAL_BOARD == HAL_BOARD_SITL))
 #endif
 
 #ifndef AP_NETWORKING_BACKEND_DEFAULT_ENABLED
@@ -40,7 +40,9 @@
 #define AP_NETWORKING_BACKEND_SITL (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_SITL))
 #endif
 
+#ifndef AP_NETWORKING_SOCKETS_ENABLED
 #define AP_NETWORKING_SOCKETS_ENABLED AP_NETWORKING_ENABLED
+#endif
 
 // ---------------------------
 // IP Features
diff --git a/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp b/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
index ad9c8675881753..811ec76754782c 100644
--- a/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
+++ b/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
@@ -26,7 +26,7 @@ extern "C" {
 #include "lwip/tcpip.h"
 }
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #include <semaphore.h>
 #elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 #include "hal.h"
@@ -61,7 +61,7 @@ struct sys_mbox {
 };
 
 struct sys_sem {
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
     sem_t sem;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     semaphore_t sem;
@@ -80,7 +80,7 @@ struct thread_wrapper_data {
     void *arg;
 };
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 static void *
 thread_wrapper(void *arg)
 {
@@ -107,7 +107,7 @@ sys_thread_new(const char *name, lwip_thread_fn function, void *arg, int stacksi
     thread_data->arg = arg;
     thread_data->function = function;
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
     pthread_t t;
     if (pthread_create(&t, NULL, thread_wrapper, thread_data) == 0) {
         pthread_setname_np(t, name);
@@ -346,7 +346,7 @@ sys_sem_new_internal(u8_t count)
 {
     auto *ret = new sys_sem;
     if (ret != nullptr) {
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
         sem_init(&ret->sem, 0, count);
 #elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
         chSemObjectInit(&ret->sem, (cnt_t)count);
@@ -369,7 +369,7 @@ u32_t
 sys_arch_sem_wait(struct sys_sem **s, u32_t timeout_ms)
 {
     struct sys_sem *sem = *s;
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
     if (timeout_ms == 0) {
         sem_wait(&sem->sem);
         return 0;
@@ -404,7 +404,7 @@ void
 sys_sem_signal(struct sys_sem **s)
 {
     struct sys_sem *sem = *s;
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
     sem_post(&sem->sem);
 #elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     chSemSignal(&sem->sem);

From 20486315264147188bab03b8073323fdc840722c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 18:43:20 +1100
Subject: [PATCH 0332/1335] AP_Networking: ensure PPP does not dominate the CPU

---
 libraries/AP_Networking/AP_Networking_PPP.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Networking/AP_Networking_PPP.cpp b/libraries/AP_Networking/AP_Networking_PPP.cpp
index d421c9b4e0a9ea..b906743020b68d 100644
--- a/libraries/AP_Networking/AP_Networking_PPP.cpp
+++ b/libraries/AP_Networking/AP_Networking_PPP.cpp
@@ -39,6 +39,8 @@ uint32_t AP_Networking_PPP::ppp_output_cb(ppp_pcb *pcb, const void *data, uint32
         if (n > 0) {
             remaining -= n;
             ptr += n;
+        } else {
+            hal.scheduler->delay_microseconds(100);
         }
     }
     return len;

From c85f4f875c1674bb6177d102f0a24d207e2cf8b1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 08:50:23 +1100
Subject: [PATCH 0333/1335] Tools: disable lwip with clang

---
 Tools/ardupilotwaf/boards.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index efcb8782ebcbab..c6c85784639473 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -687,7 +687,8 @@ def configure_env(self, cfg, env):
             '-Werror=missing-declarations',
         ]
 
-        if not cfg.options.disable_networking:
+        if not cfg.options.disable_networking and not 'clang' in cfg.env.COMPILER_CC:
+            # lwip doesn't build with clang
             env.CXXFLAGS += ['-DAP_NETWORKING_ENABLED=1']
         
         if cfg.options.ubsan or cfg.options.ubsan_abort:

From cbb3e2751913286b4cab785207451d0e0ae4ca5e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 13:20:15 +1100
Subject: [PATCH 0334/1335] AP_HAL: added SocketAPM_native

this is a varient of SocketAPM that always uses native sockets
(ie. doesn't go via AP_Networking lwip)
---
 libraries/AP_HAL/utility/Socket.cpp        |  69 +++++++-------
 libraries/AP_HAL/utility/Socket.h          |  99 ++------------------
 libraries/AP_HAL/utility/Socket.hpp        | 104 +++++++++++++++++++++
 libraries/AP_HAL/utility/Socket_native.cpp |  11 +++
 libraries/AP_HAL/utility/Socket_native.h   |  22 +++++
 5 files changed, 180 insertions(+), 125 deletions(-)
 create mode 100644 libraries/AP_HAL/utility/Socket.hpp
 create mode 100644 libraries/AP_HAL/utility/Socket_native.cpp
 create mode 100644 libraries/AP_HAL/utility/Socket_native.h

diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index 8881bb074f8a6e..2c33462b55124d 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -20,7 +20,14 @@
 #include <AP_Networking/AP_Networking_Config.h>
 #if AP_NETWORKING_SOCKETS_ENABLED
 
-#include "Socket.h"
+#ifndef SOCKET_CLASS_NAME
+#define SOCKET_CLASS_NAME SocketAPM
+#endif
+
+#ifndef IN_SOCKET_NATIVE_CPP
+#include "Socket.hpp"
+#endif
+
 #if AP_NETWORKING_BACKEND_CHIBIOS || AP_NETWORKING_BACKEND_PPP
 #include <lwip/sockets.h>
 #else
@@ -47,19 +54,17 @@
 #define MSG_NOSIGNAL 0
 #endif
 
-static_assert(sizeof(last_in_addr) == sizeof(struct sockaddr_in), "last_in_addr must match sockaddr_in size");
-
 /*
   constructor
  */
-SocketAPM::SocketAPM(bool _datagram) :
-    SocketAPM(_datagram, 
+SOCKET_CLASS_NAME::SOCKET_CLASS_NAME(bool _datagram) :
+    SOCKET_CLASS_NAME(_datagram,
               CALL_PREFIX(socket)(AF_INET, _datagram?SOCK_DGRAM:SOCK_STREAM, 0))
 {
-    static_assert(sizeof(SocketAPM::last_in_addr) >= sizeof(struct sockaddr_in), "last_in_addr must be at least sockaddr_in size");
+    static_assert(sizeof(SOCKET_CLASS_NAME::last_in_addr) >= sizeof(struct sockaddr_in), "last_in_addr must be at least sockaddr_in size");
 }
 
-SocketAPM::SocketAPM(bool _datagram, int _fd) :
+SOCKET_CLASS_NAME::SOCKET_CLASS_NAME(bool _datagram, int _fd) :
     datagram(_datagram),
     fd(_fd)
 {
@@ -72,7 +77,7 @@ SocketAPM::SocketAPM(bool _datagram, int _fd) :
     }
 }
 
-SocketAPM::~SocketAPM()
+SOCKET_CLASS_NAME::~SOCKET_CLASS_NAME()
 {
     if (fd != -1) {
         CALL_PREFIX(close)(fd);
@@ -82,7 +87,7 @@ SocketAPM::~SocketAPM()
     }
 }
 
-void SocketAPM::make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr)
+void SOCKET_CLASS_NAME::make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr)
 {
     memset(&sockaddr, 0, sizeof(sockaddr));
 
@@ -97,7 +102,7 @@ void SocketAPM::make_sockaddr(const char *address, uint16_t port, struct sockadd
 /*
   connect the socket
  */
-bool SocketAPM::connect(const char *address, uint16_t port)
+bool SOCKET_CLASS_NAME::connect(const char *address, uint16_t port)
 {
     if (fd == -1) {
         return false;
@@ -184,7 +189,7 @@ bool SocketAPM::connect(const char *address, uint16_t port)
 /*
   connect the socket with a timeout
  */
-bool SocketAPM::connect_timeout(const char *address, uint16_t port, uint32_t timeout_ms)
+bool SOCKET_CLASS_NAME::connect_timeout(const char *address, uint16_t port, uint32_t timeout_ms)
 {
     if (fd == -1) {
         return false;
@@ -218,7 +223,7 @@ bool SocketAPM::connect_timeout(const char *address, uint16_t port, uint32_t tim
 /*
   bind the socket
  */
-bool SocketAPM::bind(const char *address, uint16_t port)
+bool SOCKET_CLASS_NAME::bind(const char *address, uint16_t port)
 {
     if (fd == -1) {
         return false;
@@ -237,7 +242,7 @@ bool SocketAPM::bind(const char *address, uint16_t port)
 /*
   set SO_REUSEADDR
  */
-bool SocketAPM::reuseaddress(void) const
+bool SOCKET_CLASS_NAME::reuseaddress(void) const
 {
     if (fd == -1) {
         return false;
@@ -249,7 +254,7 @@ bool SocketAPM::reuseaddress(void) const
 /*
   set blocking state
  */
-bool SocketAPM::set_blocking(bool blocking) const
+bool SOCKET_CLASS_NAME::set_blocking(bool blocking) const
 {
     if (fd == -1) {
         return false;
@@ -272,7 +277,7 @@ bool SocketAPM::set_blocking(bool blocking) const
 /*
   set cloexec state
  */
-bool SocketAPM::set_cloexec() const
+bool SOCKET_CLASS_NAME::set_cloexec() const
 {
     if (fd == -1) {
         return false;
@@ -287,7 +292,7 @@ bool SocketAPM::set_cloexec() const
 /*
   send some data
  */
-ssize_t SocketAPM::send(const void *buf, size_t size) const
+ssize_t SOCKET_CLASS_NAME::send(const void *buf, size_t size) const
 {
     if (fd == -1) {
         return -1;
@@ -298,7 +303,7 @@ ssize_t SocketAPM::send(const void *buf, size_t size) const
 /*
   send some data
  */
-ssize_t SocketAPM::sendto(const void *buf, size_t size, const char *address, uint16_t port)
+ssize_t SOCKET_CLASS_NAME::sendto(const void *buf, size_t size, const char *address, uint16_t port)
 {
     if (fd == -1) {
         return -1;
@@ -311,7 +316,7 @@ ssize_t SocketAPM::sendto(const void *buf, size_t size, const char *address, uin
 /*
   receive some data
  */
-ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
+ssize_t SOCKET_CLASS_NAME::recv(void *buf, size_t size, uint32_t timeout_ms)
 {
     if (!pollin(timeout_ms)) {
         errno = EWOULDBLOCK;
@@ -351,7 +356,7 @@ ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
 /*
   return the IP address and port of the last received packet
  */
-void SocketAPM::last_recv_address(const char *&ip_addr, uint16_t &port) const
+void SOCKET_CLASS_NAME::last_recv_address(const char *&ip_addr, uint16_t &port) const
 {
     static char buf[16];
     auto *str = last_recv_address(buf, sizeof(buf), port);
@@ -361,7 +366,7 @@ void SocketAPM::last_recv_address(const char *&ip_addr, uint16_t &port) const
 /*
   return the IP address and port of the last received packet, using caller supplied buffer
  */
-const char *SocketAPM::last_recv_address(char *ip_addr_buf, uint8_t buflen, uint16_t &port) const
+const char *SOCKET_CLASS_NAME::last_recv_address(char *ip_addr_buf, uint8_t buflen, uint16_t &port) const
 {
     const struct sockaddr_in &sin = *(struct sockaddr_in *)&last_in_addr[0];
 
@@ -373,7 +378,7 @@ const char *SocketAPM::last_recv_address(char *ip_addr_buf, uint8_t buflen, uint
     return ret;
 }
 
-void SocketAPM::set_broadcast(void) const
+void SOCKET_CLASS_NAME::set_broadcast(void) const
 {
     if (fd == -1) {
         return;
@@ -385,7 +390,7 @@ void SocketAPM::set_broadcast(void) const
 /*
   return true if there is pending data for input
  */
-bool SocketAPM::pollin(uint32_t timeout_ms)
+bool SOCKET_CLASS_NAME::pollin(uint32_t timeout_ms)
 {
     fd_set fds;
     struct timeval tv;
@@ -410,7 +415,7 @@ bool SocketAPM::pollin(uint32_t timeout_ms)
 /*
   return true if there is room for output data
  */
-bool SocketAPM::pollout(uint32_t timeout_ms)
+bool SOCKET_CLASS_NAME::pollout(uint32_t timeout_ms)
 {
     if (fd == -1) {
         return false;
@@ -433,7 +438,7 @@ bool SocketAPM::pollout(uint32_t timeout_ms)
 /* 
    start listening for new tcp connections
  */
-bool SocketAPM::listen(uint16_t backlog) const
+bool SOCKET_CLASS_NAME::listen(uint16_t backlog) const
 {
     if (fd == -1) {
         return false;
@@ -445,7 +450,7 @@ bool SocketAPM::listen(uint16_t backlog) const
   accept a new connection. Only valid for TCP connections after
   listen has been used. A new socket is returned
 */
-SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
+SOCKET_CLASS_NAME *SOCKET_CLASS_NAME::accept(uint32_t timeout_ms)
 {
     if (fd == -1) {
         return nullptr;
@@ -460,7 +465,7 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
     if (newfd == -1) {
         return nullptr;
     }
-    auto *ret = new SocketAPM(false, newfd);
+    auto *ret = new SOCKET_CLASS_NAME(false, newfd);
     if (ret != nullptr) {
         ret->connected = true;
         ret->reuseaddress();
@@ -471,7 +476,7 @@ SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
 /*
   return true if an address is in the multicast range
  */
-bool SocketAPM::is_multicast_address(struct sockaddr_in &addr) const
+bool SOCKET_CLASS_NAME::is_multicast_address(struct sockaddr_in &addr) const
 {
     const uint32_t mc_lower = 0xE0000000; // 224.0.0.0
     const uint32_t mc_upper = 0xEFFFFFFF; // 239.255.255.255
@@ -479,7 +484,7 @@ bool SocketAPM::is_multicast_address(struct sockaddr_in &addr) const
     return haddr >= mc_lower && haddr <= mc_upper;
 }
 
-void SocketAPM::close(void)
+void SOCKET_CLASS_NAME::close(void)
 {
     if (fd != -1) {
         CALL_PREFIX(close)(fd);
@@ -495,9 +500,9 @@ void SocketAPM::close(void)
   duplicate a socket, giving a new object with the same contents,
   the fd in the old object is set to -1
  */
-SocketAPM *SocketAPM::duplicate(void)
+SOCKET_CLASS_NAME *SOCKET_CLASS_NAME::duplicate(void)
 {
-    auto *ret = new SocketAPM(datagram, fd);
+    auto *ret = new SOCKET_CLASS_NAME(datagram, fd);
     if (ret == nullptr) {
         return nullptr;
     }
@@ -509,14 +514,14 @@ SocketAPM *SocketAPM::duplicate(void)
 }
 
 // access to inet_ntop, takes host order ipv4 as uint32_t
-const char *SocketAPM::inet_addr_to_str(uint32_t addr, char *dst, uint16_t len)
+const char *SOCKET_CLASS_NAME::inet_addr_to_str(uint32_t addr, char *dst, uint16_t len)
 {
     addr = htonl(addr);
     return CALL_PREFIX(inet_ntop)(AF_INET, (void*)&addr, dst, len);
 }
 
 // access to inet_pton, returns host order ipv4 as uint32_t
-uint32_t SocketAPM::inet_str_to_addr(const char *ipstr)
+uint32_t SOCKET_CLASS_NAME::inet_str_to_addr(const char *ipstr)
 {
     uint32_t ret = 0;
     CALL_PREFIX(inet_pton)(AF_INET, ipstr, &ret);
diff --git a/libraries/AP_HAL/utility/Socket.h b/libraries/AP_HAL/utility/Socket.h
index 0efba9ebd7a59b..61f5ee7ecf6a3d 100644
--- a/libraries/AP_HAL/utility/Socket.h
+++ b/libraries/AP_HAL/utility/Socket.h
@@ -1,101 +1,14 @@
 /*
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-/*
-  simple socket handling class for systems with BSD socket API
+  variant of SocketAPM using either lwip or native sockets
  */
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
-#include <AP_Networking/AP_Networking_Config.h>
-
-#if AP_NETWORKING_SOCKETS_ENABLED
-
-class SocketAPM {
-public:
-    SocketAPM(bool _datagram);
-    SocketAPM(bool _datagram, int _fd);
-    ~SocketAPM();
-
-    bool connect(const char *address, uint16_t port);
-    bool connect_timeout(const char *address, uint16_t port, uint32_t timeout_ms);
-    bool bind(const char *address, uint16_t port);
-    bool reuseaddress() const;
-    bool set_blocking(bool blocking) const;
-    bool set_cloexec() const;
-    void set_broadcast(void) const;
-
-    ssize_t send(const void *pkt, size_t size) const;
-    ssize_t sendto(const void *buf, size_t size, const char *address, uint16_t port);
-    ssize_t recv(void *pkt, size_t size, uint32_t timeout_ms);
-
-    // return the IP address and port of the last received packet
-    void last_recv_address(const char *&ip_addr, uint16_t &port) const;
-
-    // return the IP address and port of the last received packet, using caller supplied buffer
-    const char *last_recv_address(char *ip_addr_buf, uint8_t buflen, uint16_t &port) const;
-
-    // return true if there is pending data for input
-    bool pollin(uint32_t timeout_ms);
-
-    // return true if there is room for output data
-    bool pollout(uint32_t timeout_ms);
-
-    // start listening for new tcp connections
-    bool listen(uint16_t backlog) const;
-
-    // close socket
-    void close(void);
-
-    // accept a new connection. Only valid for TCP connections after
-    // listen has been used. A new socket is returned
-    SocketAPM *accept(uint32_t timeout_ms);
-
-    // get a FD suitable for read selection
-    int get_read_fd(void) const {
-        return fd_in != -1? fd_in : fd;
-    }
-
-    // create a new socket with same fd, but new memory
-    // the old socket gets fd of -1
-    SocketAPM *duplicate(void);
-
-    bool is_connected(void) const {
-        return connected;
-    }
-
-    // access to inet_ntop
-    static const char *inet_addr_to_str(uint32_t addr, char *dst, uint16_t len);
-
-    // access to inet_pton
-    static uint32_t inet_str_to_addr(const char *ipstr);
-    
-private:
-    bool datagram;
-    // we avoid using struct sockaddr_in here to keep support for
-    // mixing native sockets and lwip sockets in SITL
-    uint32_t last_in_addr[4];
-    bool is_multicast_address(struct sockaddr_in &addr) const;
-
-    int fd = -1;
-
-    // fd_in is used for multicast UDP
-    int fd_in = -1;
 
-    bool connected;
+#ifndef SOCKET_CLASS_NAME
+#define SOCKET_CLASS_NAME SocketAPM
+#endif
 
-    void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
-};
+#include "Socket.hpp"
 
-#endif // AP_NETWORKING_SOCKETS_ENABLED
+#undef SOCKET_CLASS_NAME
diff --git a/libraries/AP_HAL/utility/Socket.hpp b/libraries/AP_HAL/utility/Socket.hpp
new file mode 100644
index 00000000000000..ae4ae6cebe331c
--- /dev/null
+++ b/libraries/AP_HAL/utility/Socket.hpp
@@ -0,0 +1,104 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  simple socket handling class for systems with BSD socket API
+ */
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Networking/AP_Networking_Config.h>
+
+#if AP_NETWORKING_SOCKETS_ENABLED || defined(AP_SOCKET_NATIVE_ENABLED)
+
+#ifndef SOCKET_CLASS_NAME
+#error "Don't include Socket.hpp directly"
+#endif
+
+class SOCKET_CLASS_NAME {
+public:
+    SOCKET_CLASS_NAME(bool _datagram);
+    SOCKET_CLASS_NAME(bool _datagram, int _fd);
+    ~SOCKET_CLASS_NAME();
+
+    bool connect(const char *address, uint16_t port);
+    bool connect_timeout(const char *address, uint16_t port, uint32_t timeout_ms);
+    bool bind(const char *address, uint16_t port);
+    bool reuseaddress() const;
+    bool set_blocking(bool blocking) const;
+    bool set_cloexec() const;
+    void set_broadcast(void) const;
+
+    ssize_t send(const void *pkt, size_t size) const;
+    ssize_t sendto(const void *buf, size_t size, const char *address, uint16_t port);
+    ssize_t recv(void *pkt, size_t size, uint32_t timeout_ms);
+
+    // return the IP address and port of the last received packet
+    void last_recv_address(const char *&ip_addr, uint16_t &port) const;
+
+    // return the IP address and port of the last received packet, using caller supplied buffer
+    const char *last_recv_address(char *ip_addr_buf, uint8_t buflen, uint16_t &port) const;
+
+    // return true if there is pending data for input
+    bool pollin(uint32_t timeout_ms);
+
+    // return true if there is room for output data
+    bool pollout(uint32_t timeout_ms);
+
+    // start listening for new tcp connections
+    bool listen(uint16_t backlog) const;
+
+    // close socket
+    void close(void);
+
+    // accept a new connection. Only valid for TCP connections after
+    // listen has been used. A new socket is returned
+    SOCKET_CLASS_NAME *accept(uint32_t timeout_ms);
+
+    // get a FD suitable for read selection
+    int get_read_fd(void) const {
+        return fd_in != -1? fd_in : fd;
+    }
+
+    // create a new socket with same fd, but new memory
+    // the old socket gets fd of -1
+    SOCKET_CLASS_NAME *duplicate(void);
+
+    bool is_connected(void) const {
+        return connected;
+    }
+
+    // access to inet_ntop
+    static const char *inet_addr_to_str(uint32_t addr, char *dst, uint16_t len);
+
+    // access to inet_pton
+    static uint32_t inet_str_to_addr(const char *ipstr);
+    
+private:
+    bool datagram;
+    // we avoid using struct sockaddr_in here to keep support for
+    // mixing native sockets and lwip sockets in SITL
+    uint32_t last_in_addr[4];
+    bool is_multicast_address(struct sockaddr_in &addr) const;
+
+    int fd = -1;
+
+    // fd_in is used for multicast UDP
+    int fd_in = -1;
+
+    bool connected;
+
+    void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
+};
+
+#endif // AP_NETWORKING_SOCKETS_ENABLED
diff --git a/libraries/AP_HAL/utility/Socket_native.cpp b/libraries/AP_HAL/utility/Socket_native.cpp
new file mode 100644
index 00000000000000..d0d21bb8cd32aa
--- /dev/null
+++ b/libraries/AP_HAL/utility/Socket_native.cpp
@@ -0,0 +1,11 @@
+/*
+  variant of SocketAPM using native sockets (not via lwip)
+ */
+#include "Socket_native.h"
+
+#if AP_SOCKET_NATIVE_ENABLED
+#undef AP_NETWORKING_BACKEND_PPP
+#define IN_SOCKET_NATIVE_CPP
+#define SOCKET_CLASS_NAME SocketAPM_native
+#include "Socket.cpp"
+#endif
diff --git a/libraries/AP_HAL/utility/Socket_native.h b/libraries/AP_HAL/utility/Socket_native.h
new file mode 100644
index 00000000000000..e3514ded0c59b7
--- /dev/null
+++ b/libraries/AP_HAL/utility/Socket_native.h
@@ -0,0 +1,22 @@
+/*
+  variant of SocketAPM using native sockets (not via lwip)
+ */
+#pragma once
+
+#include <AP_HAL/AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+#define AP_SOCKET_NATIVE_ENABLED 1
+#define SOCKET_CLASS_NAME SocketAPM_native
+#ifndef AP_NETWORKING_SOCKETS_ENABLED
+#define AP_NETWORKING_SOCKETS_ENABLED 1
+#endif
+#include "Socket.hpp"
+#else
+#error "attempt to use Socket_native.h without native sockets"
+#endif
+
+#undef SOCKET_CLASS_NAME
+
+
+

From ef67fa4293eef59796b67aa090910a27575557ef Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 13:20:40 +1100
Subject: [PATCH 0335/1335] AP_HAL: use SocketAPM_native

---
 libraries/AP_HAL/SIMState.h         | 6 +++---
 libraries/AP_HAL/utility/Socket.cpp | 1 +
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_HAL/SIMState.h b/libraries/AP_HAL/SIMState.h
index 4c8350371a70b0..50589eb85aab24 100644
--- a/libraries/AP_HAL/SIMState.h
+++ b/libraries/AP_HAL/SIMState.h
@@ -44,7 +44,7 @@
 
 #include <SITL/SIM_RichenPower.h>
 #include <SITL/SIM_FETtecOneWireESC.h>
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 #include <AP_HAL/AP_HAL_Namespace.h>
 
@@ -93,7 +93,7 @@ class AP_HAL::SIMState {
     uint32_t _update_count;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    SocketAPM _sitl_rc_in{true};
+    SocketAPM_native _sitl_rc_in{true};
 #endif
     SITL::SIM *_sitl;
     uint16_t _rcin_port;
@@ -220,7 +220,7 @@ class AP_HAL::SIMState {
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     // output socket for flightgear viewing
-    SocketAPM fg_socket{true};
+    SocketAPM_native fg_socket{true};
 #endif
 
     const char *defaults_path = HAL_PARAM_DEFAULTS_PATH;
diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index 2c33462b55124d..ccb8cb3f394d57 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -358,6 +358,7 @@ ssize_t SOCKET_CLASS_NAME::recv(void *buf, size_t size, uint32_t timeout_ms)
  */
 void SOCKET_CLASS_NAME::last_recv_address(const char *&ip_addr, uint16_t &port) const
 {
+    // 16 bytes for aaa.bbb.ccc.ddd with null term
     static char buf[16];
     auto *str = last_recv_address(buf, sizeof(buf), port);
     ip_addr = str;

From 931bae5b88e42b8a46481f6a3d42284cad8e946a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 13:21:11 +1100
Subject: [PATCH 0336/1335] AP_HAL_Linux: use SocketAPM_native

---
 libraries/AP_HAL_Linux/ConsoleDevice.h    | 2 +-
 libraries/AP_HAL_Linux/RCInput_SoloLink.h | 6 +++++-
 libraries/AP_HAL_Linux/RCInput_UDP.h      | 2 +-
 libraries/AP_HAL_Linux/TCPServerDevice.h  | 6 +++++-
 libraries/AP_HAL_Linux/UARTDevice.h       | 2 +-
 libraries/AP_HAL_Linux/UDPDevice.h        | 2 +-
 6 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_HAL_Linux/ConsoleDevice.h b/libraries/AP_HAL_Linux/ConsoleDevice.h
index 7782434a3c37b3..940c6fc2740785 100644
--- a/libraries/AP_HAL_Linux/ConsoleDevice.h
+++ b/libraries/AP_HAL_Linux/ConsoleDevice.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include "SerialDevice.h"
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 class ConsoleDevice: public SerialDevice {
 public:
diff --git a/libraries/AP_HAL_Linux/RCInput_SoloLink.h b/libraries/AP_HAL_Linux/RCInput_SoloLink.h
index 29538a30abc603..d56ae8f277dfae 100644
--- a/libraries/AP_HAL_Linux/RCInput_SoloLink.h
+++ b/libraries/AP_HAL_Linux/RCInput_SoloLink.h
@@ -18,11 +18,15 @@
 
 #include <unistd.h>
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 #include <AP_HAL/utility/sparse-endian.h>
 
 #include "RCInput.h"
 
+#ifndef AP_SOCKET_NATIVE_ENABLED
+#error "need native"
+#endif
+
 namespace Linux {
 
 class RCInput_SoloLink : public RCInput
diff --git a/libraries/AP_HAL_Linux/RCInput_UDP.h b/libraries/AP_HAL_Linux/RCInput_UDP.h
index 2154a26a65af92..0431a2be7f1fde 100644
--- a/libraries/AP_HAL_Linux/RCInput_UDP.h
+++ b/libraries/AP_HAL_Linux/RCInput_UDP.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include "RCInput.h"
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 #include "RCInput_UDP_Protocol.h"
 
 #define RCINPUT_UDP_DEF_PORT 777
diff --git a/libraries/AP_HAL_Linux/TCPServerDevice.h b/libraries/AP_HAL_Linux/TCPServerDevice.h
index 757e336df2e4a3..0a268145a8acf5 100644
--- a/libraries/AP_HAL_Linux/TCPServerDevice.h
+++ b/libraries/AP_HAL_Linux/TCPServerDevice.h
@@ -1,7 +1,11 @@
 #pragma once
 
+#include <AP_HAL/utility/Socket_native.h>
 #include "SerialDevice.h"
-#include <AP_HAL/utility/Socket.h>
+
+#ifndef AP_SOCKET_NATIVE_ENABLED
+#error "need native"
+#endif
 
 class TCPServerDevice: public SerialDevice {
 public:
diff --git a/libraries/AP_HAL_Linux/UARTDevice.h b/libraries/AP_HAL_Linux/UARTDevice.h
index b6dcae6ed6cd39..582089d47028cc 100644
--- a/libraries/AP_HAL_Linux/UARTDevice.h
+++ b/libraries/AP_HAL_Linux/UARTDevice.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include "SerialDevice.h"
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 class UARTDevice: public SerialDevice {
 public:
diff --git a/libraries/AP_HAL_Linux/UDPDevice.h b/libraries/AP_HAL_Linux/UDPDevice.h
index a51e2ddc5b5b1b..4d3ad4d6f753d4 100644
--- a/libraries/AP_HAL_Linux/UDPDevice.h
+++ b/libraries/AP_HAL_Linux/UDPDevice.h
@@ -1,7 +1,7 @@
 #pragma once
 
+#include <AP_HAL/utility/Socket_native.h>
 #include "SerialDevice.h"
-#include <AP_HAL/utility/Socket.h>
 
 class UDPDevice: public SerialDevice {
 public:

From 69df468b88a465aaf0e29868927fa4f04b2f8b16 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 13:21:11 +1100
Subject: [PATCH 0337/1335] AP_HAL_SITL: use SocketAPM_native

---
 libraries/AP_HAL_SITL/CAN_Multicast.h       | 2 +-
 libraries/AP_HAL_SITL/SITL_Periph_State.cpp | 2 +-
 libraries/AP_HAL_SITL/SITL_Periph_State.h   | 6 +++---
 libraries/AP_HAL_SITL/SITL_State.cpp        | 2 +-
 libraries/AP_HAL_SITL/SITL_State.h          | 2 +-
 libraries/AP_HAL_SITL/SITL_State_common.cpp | 2 +-
 libraries/AP_HAL_SITL/SITL_State_common.h   | 4 ++--
 libraries/AP_HAL_SITL/UARTDriver.h          | 2 +-
 8 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_HAL_SITL/CAN_Multicast.h b/libraries/AP_HAL_SITL/CAN_Multicast.h
index 07b39982a7640c..4bff83d4c7a765 100644
--- a/libraries/AP_HAL_SITL/CAN_Multicast.h
+++ b/libraries/AP_HAL_SITL/CAN_Multicast.h
@@ -18,7 +18,7 @@ class CAN_Multicast : public CAN_Transport {
     }
 
 private:
-    SocketAPM sock{true};
+    SocketAPM_native sock{true};
 };
 
 #endif // HAL_NUM_CAN_IFACES
diff --git a/libraries/AP_HAL_SITL/SITL_Periph_State.cpp b/libraries/AP_HAL_SITL/SITL_Periph_State.cpp
index 618f26a1aeabd7..a65e56310e5b8e 100644
--- a/libraries/AP_HAL_SITL/SITL_Periph_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_Periph_State.cpp
@@ -17,7 +17,7 @@
 
 #include <AP_Param/AP_Param.h>
 #include <SITL/SIM_JSBSim.h>
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 #include <AP_HAL/utility/getopt_cpp.h>
 #include <SITL/SITL.h>
 
diff --git a/libraries/AP_HAL_SITL/SITL_Periph_State.h b/libraries/AP_HAL_SITL/SITL_Periph_State.h
index 47bb61ee79639f..61453d4a0fae54 100644
--- a/libraries/AP_HAL_SITL/SITL_Periph_State.h
+++ b/libraries/AP_HAL_SITL/SITL_Periph_State.h
@@ -22,7 +22,7 @@
 #include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_Compass/AP_Compass.h>
 #include <AP_Terrain/AP_Terrain.h>
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 class SimMCast : public SITL::Aircraft {
 public:
@@ -30,8 +30,8 @@ class SimMCast : public SITL::Aircraft {
     void update(const struct sitl_input &input) override;
 
 private:
-    SocketAPM sock{true};
-    SocketAPM servo_sock{true};
+    SocketAPM_native sock{true};
+    SocketAPM_native servo_sock{true};
 
     // offset between multicast timestamp and local timestamp
     uint64_t base_time_us;
diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index 4b08727d8ec1f0..e2e27e1fa0df2b 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -23,7 +23,7 @@
 
 #include <AP_Param/AP_Param.h>
 #include <SITL/SIM_JSBSim.h>
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h
index 5e5ce885b1f11b..4aa73d4a11fd6e 100644
--- a/libraries/AP_HAL_SITL/SITL_State.h
+++ b/libraries/AP_HAL_SITL/SITL_State.h
@@ -85,7 +85,7 @@ class HALSITL::SITL_State : public SITL_State_Common {
 
     Scheduler *_scheduler;
 
-    SocketAPM _sitl_rc_in{true};
+    SocketAPM_native _sitl_rc_in{true};
     bool _rc_in_started;
     uint16_t _rcin_port;
     uint16_t _fg_view_port;
diff --git a/libraries/AP_HAL_SITL/SITL_State_common.cpp b/libraries/AP_HAL_SITL/SITL_State_common.cpp
index f05bbf20b1fc79..ae2603e6dd38ea 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State_common.cpp
@@ -18,7 +18,7 @@
 
 #include <AP_Param/AP_Param.h>
 #include <SITL/SIM_JSBSim.h>
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_HAL_SITL/SITL_State_common.h b/libraries/AP_HAL_SITL/SITL_State_common.h
index 509391760cd312..4b59268ef8922b 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.h
+++ b/libraries/AP_HAL_SITL/SITL_State_common.h
@@ -8,6 +8,7 @@
 #define SITL_MCAST_PORT 20721
 #define SITL_SERVO_PORT 20722
 
+#include <AP_HAL/utility/Socket_native.h>
 #include <SITL/SIM_Gimbal.h>
 #include <SITL/SIM_ADSB.h>
 #include <SITL/SIM_ADSB_Sagetech_MXS.h>
@@ -64,7 +65,6 @@
 #include <AP_Terrain/AP_Terrain.h>
 #include <SITL/SITL.h>
 #include <SITL/SITL_Input.h>
-#include <AP_HAL/utility/Socket.h>
 
 class HAL_SITL;
 
@@ -220,7 +220,7 @@ class HALSITL::SITL_State_Common {
     SITL::EFI_Hirth *efi_hirth;
 
     // output socket for flightgear viewing
-    SocketAPM fg_socket{true};
+    SocketAPM_native fg_socket{true};
     
     const char *defaults_path = HAL_PARAM_DEFAULTS_PATH;
 
diff --git a/libraries/AP_HAL_SITL/UARTDriver.h b/libraries/AP_HAL_SITL/UARTDriver.h
index bf875b7abf3bcd..70d1fa332f4b27 100644
--- a/libraries/AP_HAL_SITL/UARTDriver.h
+++ b/libraries/AP_HAL_SITL/UARTDriver.h
@@ -6,7 +6,7 @@
 #include <stdint.h>
 #include <stdarg.h>
 #include "AP_HAL_SITL_Namespace.h"
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 #include <AP_HAL/utility/RingBuffer.h>
 #include <AP_CSVReader/AP_CSVReader.h>
 

From f8d64afc6992aa8f2e7f3f8c4841532566844903 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 13:21:11 +1100
Subject: [PATCH 0338/1335] AP_IRLock: use SocketAPM_native

---
 libraries/AP_IRLock/AP_IRLock_SITL_Gazebo.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_IRLock/AP_IRLock_SITL_Gazebo.h b/libraries/AP_IRLock/AP_IRLock_SITL_Gazebo.h
index b20e9f62418495..21ee5ff5653326 100644
--- a/libraries/AP_IRLock/AP_IRLock_SITL_Gazebo.h
+++ b/libraries/AP_IRLock/AP_IRLock_SITL_Gazebo.h
@@ -6,7 +6,7 @@
  */
 #pragma once
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include "IRLock.h"
 
@@ -24,6 +24,6 @@ class AP_IRLock_SITL_Gazebo : public IRLock
 private:
 
     uint32_t _last_timestamp;
-    SocketAPM sock;
+    SocketAPM_native sock;
 };
 #endif // CONFIG_HAL_BOARD

From b3fbc7edb075d4497d3b2caa86858a3d99b6f76a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 13:21:11 +1100
Subject: [PATCH 0339/1335] AP_RCProtocol: use SocketAPM_native

---
 .../examples/RCProtocolDecoder/RCProtocolDecoder.cpp            | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_RCProtocol/examples/RCProtocolDecoder/RCProtocolDecoder.cpp b/libraries/AP_RCProtocol/examples/RCProtocolDecoder/RCProtocolDecoder.cpp
index 04836e01d8ef74..2a394a10f559f1 100644
--- a/libraries/AP_RCProtocol/examples/RCProtocolDecoder/RCProtocolDecoder.cpp
+++ b/libraries/AP_RCProtocol/examples/RCProtocolDecoder/RCProtocolDecoder.cpp
@@ -34,7 +34,7 @@ void loop();
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_SITL
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 #include <AP_RCProtocol/AP_RCProtocol.h>
 #include <RC_Channel/RC_Channel.h>
 #include <AP_Math/AP_Math.h>

From 213cdcef4b12d1cbab96566bab83357707ef3c28 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 13:21:11 +1100
Subject: [PATCH 0340/1335] AP_Scripting: use SocketAPM_native

---
 libraries/AP_Scripting/lua_bindings.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index eb884eb275cd87..e84a68786c8a04 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -4,6 +4,10 @@
 
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/HAL.h>
+#include <AP_Networking/AP_Networking_Config.h>
+#if AP_NETWORKING_ENABLED
+#include <AP_HAL/utility/Socket.h>
+#endif
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Filesystem/AP_Filesystem.h>
 
@@ -15,10 +19,6 @@
 #include <AP_Scripting/AP_Scripting.h>
 #include <string.h>
 
-#include <AP_Networking/AP_Networking_Config.h>
-#if AP_NETWORKING_ENABLED
-#include <AP_HAL/utility/Socket.h>
-#endif
 #include "lua/src/lauxlib.h"
 
 extern const AP_HAL::HAL& hal;

From adffd938946db734ed260a9b1f726712de769e0e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 13:21:11 +1100
Subject: [PATCH 0341/1335] SITL: use SocketAPM_native

---
 libraries/SITL/SIM_ADSB.h           | 2 +-
 libraries/SITL/SIM_AirSim.h         | 4 ++--
 libraries/SITL/SIM_CRRCSim.h        | 4 ++--
 libraries/SITL/SIM_EFI_Hirth.h      | 2 +-
 libraries/SITL/SIM_EFI_MegaSquirt.h | 2 +-
 libraries/SITL/SIM_FlightAxis.cpp   | 2 +-
 libraries/SITL/SIM_FlightAxis.h     | 6 +++---
 libraries/SITL/SIM_Gazebo.h         | 4 ++--
 libraries/SITL/SIM_Gimbal.h         | 4 ++--
 libraries/SITL/SIM_JSBSim.h         | 6 +++---
 libraries/SITL/SIM_JSON.h           | 4 ++--
 libraries/SITL/SIM_JSON_Master.h    | 6 +++---
 libraries/SITL/SIM_Morse.cpp        | 4 ++--
 libraries/SITL/SIM_Morse.h          | 8 ++++----
 libraries/SITL/SIM_Scrimmage.h      | 6 +++---
 libraries/SITL/SIM_Ship.h           | 4 ++--
 libraries/SITL/SIM_SilentWings.h    | 4 ++--
 libraries/SITL/SIM_Webots.cpp       | 2 +-
 libraries/SITL/SIM_Webots.h         | 4 ++--
 libraries/SITL/SIM_Webots_Python.h  | 4 ++--
 libraries/SITL/SIM_XPlane.h         | 6 +++---
 libraries/SITL/SIM_last_letter.h    | 4 ++--
 22 files changed, 46 insertions(+), 46 deletions(-)

diff --git a/libraries/SITL/SIM_ADSB.h b/libraries/SITL/SIM_ADSB.h
index 9b9682c15b515a..c80cf2668e0dbd 100644
--- a/libraries/SITL/SIM_ADSB.h
+++ b/libraries/SITL/SIM_ADSB.h
@@ -22,7 +22,7 @@
 
 #if HAL_SIM_ADSB_ENABLED
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 #include "SIM_Aircraft.h"
 
diff --git a/libraries/SITL/SIM_AirSim.h b/libraries/SITL/SIM_AirSim.h
index 7e3b447817dee1..1e9b75c0e648ae 100644
--- a/libraries/SITL/SIM_AirSim.h
+++ b/libraries/SITL/SIM_AirSim.h
@@ -26,7 +26,7 @@
 
 #if HAL_SIM_AIRSIM_ENABLED
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 #include "SIM_Aircraft.h"
 
 namespace SITL {
@@ -78,7 +78,7 @@ class AirSim : public Aircraft {
 	// connection_info_.sitl_ip_port
 	uint16_t airsim_control_port = 9002;
 
-	SocketAPM sock;
+    SocketAPM_native sock;
 
     double average_frame_time;
     uint64_t frame_counter;
diff --git a/libraries/SITL/SIM_CRRCSim.h b/libraries/SITL/SIM_CRRCSim.h
index eb6d01c3b4a98a..b3a5699f99156e 100644
--- a/libraries/SITL/SIM_CRRCSim.h
+++ b/libraries/SITL/SIM_CRRCSim.h
@@ -26,7 +26,7 @@
 
 #if HAL_SIM_CRRCSIM_ENABLED
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 #include "SIM_Aircraft.h"
 
@@ -81,7 +81,7 @@ class CRRCSim : public Aircraft {
 
     bool heli_servos;
     double last_timestamp;
-    SocketAPM sock;
+    SocketAPM_native sock;
 };
 
 } // namespace SITL
diff --git a/libraries/SITL/SIM_EFI_Hirth.h b/libraries/SITL/SIM_EFI_Hirth.h
index 8ccbb8286a8ad2..0aec264f765a9c 100644
--- a/libraries/SITL/SIM_EFI_Hirth.h
+++ b/libraries/SITL/SIM_EFI_Hirth.h
@@ -29,7 +29,7 @@ status EFI_STATUS
 #pragma once
 
 #include <SITL/SITL.h>
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 #include "SIM_SerialDevice.h"
 
 namespace SITL {
diff --git a/libraries/SITL/SIM_EFI_MegaSquirt.h b/libraries/SITL/SIM_EFI_MegaSquirt.h
index 352fbd44589eb3..7c0151a1657198 100644
--- a/libraries/SITL/SIM_EFI_MegaSquirt.h
+++ b/libraries/SITL/SIM_EFI_MegaSquirt.h
@@ -28,8 +28,8 @@ status EFI_STATUS
 
 #pragma once
 
+#include <AP_HAL/utility/Socket_native.h>
 #include <SITL/SITL.h>
-#include <AP_HAL/utility/Socket.h>
 #include "SIM_SerialDevice.h"
 
 namespace SITL {
diff --git a/libraries/SITL/SIM_FlightAxis.cpp b/libraries/SITL/SIM_FlightAxis.cpp
index afd89d2be125e2..36d63e0d67cdc3 100644
--- a/libraries/SITL/SIM_FlightAxis.cpp
+++ b/libraries/SITL/SIM_FlightAxis.cpp
@@ -590,7 +590,7 @@ void FlightAxis::socket_creator(void)
             pthread_cond_wait(&sockcond2, &sockmtx);
         }
         pthread_mutex_unlock(&sockmtx);
-        auto *sck = new SocketAPM(false);
+        auto *sck = new SocketAPM_native(false);
         if (sck == nullptr) {
             usleep(500);
             continue;
diff --git a/libraries/SITL/SIM_FlightAxis.h b/libraries/SITL/SIM_FlightAxis.h
index 592cc741a52848..0567997e1fee5f 100644
--- a/libraries/SITL/SIM_FlightAxis.h
+++ b/libraries/SITL/SIM_FlightAxis.h
@@ -26,7 +26,7 @@
 
 #if HAL_SIM_FLIGHTAXIS_ENABLED
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 #include "SIM_Aircraft.h"
 
@@ -193,8 +193,8 @@ class FlightAxis : public Aircraft {
 
     const char *controller_ip = "127.0.0.1";
     uint16_t controller_port = 18083;
-    SocketAPM *socknext;
-    SocketAPM *sock;
+    SocketAPM_native *socknext;
+    SocketAPM_native *sock;
     char replybuf[10000];
     pid_t socket_pid;
     uint32_t sock_error_count;
diff --git a/libraries/SITL/SIM_Gazebo.h b/libraries/SITL/SIM_Gazebo.h
index 4da05353bae182..6a13d8b8e51441 100644
--- a/libraries/SITL/SIM_Gazebo.h
+++ b/libraries/SITL/SIM_Gazebo.h
@@ -27,7 +27,7 @@
 #if HAL_SIM_GAZEBO_ENABLED
 
 #include "SIM_Aircraft.h"
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 namespace SITL {
 
@@ -76,7 +76,7 @@ class Gazebo : public Aircraft {
 
     double last_timestamp;
 
-    SocketAPM socket_sitl;
+    SocketAPM_native socket_sitl;
     const char *_gazebo_address = "127.0.0.1";
     int _gazebo_port = 9002;
     static const uint64_t GAZEBO_TIMEOUT_US = 5000000;
diff --git a/libraries/SITL/SIM_Gimbal.h b/libraries/SITL/SIM_Gimbal.h
index 53a2212a29f028..2cedd3a1cf9c3f 100644
--- a/libraries/SITL/SIM_Gimbal.h
+++ b/libraries/SITL/SIM_Gimbal.h
@@ -26,7 +26,7 @@
 
 #if HAL_SIM_GIMBAL_ENABLED
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 #include "SIM_Aircraft.h"
 
@@ -101,7 +101,7 @@ class Gimbal {
     uint8_t vehicle_system_id;
     uint8_t vehicle_component_id;
 
-    SocketAPM mav_socket;
+    SocketAPM_native mav_socket;
     struct {
         // socket to telem2 on aircraft
         bool connected;
diff --git a/libraries/SITL/SIM_JSBSim.h b/libraries/SITL/SIM_JSBSim.h
index fda323e943f294..bbb2c1a46a0f4b 100644
--- a/libraries/SITL/SIM_JSBSim.h
+++ b/libraries/SITL/SIM_JSBSim.h
@@ -26,7 +26,7 @@
 
 #if HAL_SIM_JSBSIM_ENABLED
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 #include "SIM_Aircraft.h"
 
@@ -49,10 +49,10 @@ class JSBSim : public Aircraft {
 
 private:
     // tcp input control socket to JSBSIm
-    SocketAPM sock_control;
+    SocketAPM_native sock_control;
 
     // UDP packets from JSBSim in fgFDM format
-    SocketAPM sock_fgfdm;
+    SocketAPM_native sock_fgfdm;
 
     bool initialised;
 
diff --git a/libraries/SITL/SIM_JSON.h b/libraries/SITL/SIM_JSON.h
index 22582f0ae48083..b168219d9d351f 100644
--- a/libraries/SITL/SIM_JSON.h
+++ b/libraries/SITL/SIM_JSON.h
@@ -22,7 +22,7 @@
 
 #if HAL_SIM_JSON_ENABLED
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 #include "SIM_Aircraft.h"
 
 namespace SITL {
@@ -64,7 +64,7 @@ class JSON : public Aircraft {
     // default connection_info_.sitl_ip_port
     uint16_t control_port = 9002;
 
-    SocketAPM sock;
+    SocketAPM_native sock;
 
     uint32_t frame_counter;
     double last_timestamp_s;
diff --git a/libraries/SITL/SIM_JSON_Master.h b/libraries/SITL/SIM_JSON_Master.h
index 9a568f6ed14466..f4bcc1399417c4 100644
--- a/libraries/SITL/SIM_JSON_Master.h
+++ b/libraries/SITL/SIM_JSON_Master.h
@@ -27,7 +27,7 @@
 #if HAL_SIM_JSON_MASTER_ENABLED
 
 #include "SITL_Input.h"
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 #include <AP_Math/AP_Math.h>
 
 namespace SITL {
@@ -48,8 +48,8 @@ class JSON_Master {
 private:
 
     struct socket_list {
-        SocketAPM sock_in{true};
-        SocketAPM sock_out{true};
+        SocketAPM_native sock_in{true};
+        SocketAPM_native sock_out{true};
         uint8_t instance;
         bool connected;
         socket_list *next;
diff --git a/libraries/SITL/SIM_Morse.cpp b/libraries/SITL/SIM_Morse.cpp
index 221c6c1abe011c..c4c62498697301 100644
--- a/libraries/SITL/SIM_Morse.cpp
+++ b/libraries/SITL/SIM_Morse.cpp
@@ -261,7 +261,7 @@ bool Morse::parse_sensors(const char *json)
 bool Morse::connect_sockets(void)
 {
     if (!sensors_sock) {
-        sensors_sock = new SocketAPM(false);
+        sensors_sock = new SocketAPM_native(false);
         if (!sensors_sock) {
             AP_HAL::panic("Out of memory for sensors socket");
         }
@@ -280,7 +280,7 @@ bool Morse::connect_sockets(void)
         printf("Sensors connected\n");
     }
     if (!control_sock) {
-        control_sock = new SocketAPM(false);
+        control_sock = new SocketAPM_native(false);
         if (!control_sock) {
             AP_HAL::panic("Out of memory for control socket");
         }
diff --git a/libraries/SITL/SIM_Morse.h b/libraries/SITL/SIM_Morse.h
index 5e45ab9f93095a..9445c26d5817a3 100644
--- a/libraries/SITL/SIM_Morse.h
+++ b/libraries/SITL/SIM_Morse.h
@@ -26,7 +26,7 @@
 
 #if HAL_SIM_MORSE_ENABLED
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 #include "SIM_Aircraft.h"
 
 namespace SITL {
@@ -51,7 +51,7 @@ class Morse : public Aircraft {
     // loopback to convert inbound Morse lidar data into inbound mavlink msgs
     const char *mavlink_loopback_address = "127.0.0.1";
     const uint16_t mavlink_loopback_port = 5762;
-    SocketAPM mav_socket { false };
+    SocketAPM_native mav_socket { false };
     struct {
         // socket to telem2 on aircraft
         bool connected;
@@ -91,8 +91,8 @@ class Morse : public Aircraft {
     uint8_t sensor_buffer[50000];
     uint32_t sensor_buffer_len;
 
-    SocketAPM *sensors_sock;
-    SocketAPM *control_sock;
+    SocketAPM_native *sensors_sock;
+    SocketAPM_native *control_sock;
 
     uint32_t no_data_counter;
     uint32_t connect_counter;
diff --git a/libraries/SITL/SIM_Scrimmage.h b/libraries/SITL/SIM_Scrimmage.h
index e6228cb281a79d..2fa8dfcbaf3ddd 100644
--- a/libraries/SITL/SIM_Scrimmage.h
+++ b/libraries/SITL/SIM_Scrimmage.h
@@ -28,7 +28,7 @@
 
 #include <string>
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 #include "SIM_Aircraft.h"
 
@@ -84,8 +84,8 @@ class Scrimmage : public Aircraft {
     void send_servos(const struct sitl_input &input);
 
     uint64_t prev_timestamp_us;
-    SocketAPM recv_sock;
-    SocketAPM send_sock;
+    SocketAPM_native recv_sock;
+    SocketAPM_native send_sock;
 };
 
 } // namespace SITL
diff --git a/libraries/SITL/SIM_Ship.h b/libraries/SITL/SIM_Ship.h
index cbb91ccba40554..afdff43b37c877 100644
--- a/libraries/SITL/SIM_Ship.h
+++ b/libraries/SITL/SIM_Ship.h
@@ -22,7 +22,7 @@
 
 #if AP_SIM_SHIP_ENABLED
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/Location.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
@@ -83,7 +83,7 @@ class ShipSim {
     uint32_t last_report_ms;
     uint32_t last_heartbeat_ms;
 
-    SocketAPM mav_socket { false };
+    SocketAPM_native mav_socket { false };
     bool mavlink_connected;
     mavlink_status_t mav_status;
 
diff --git a/libraries/SITL/SIM_SilentWings.h b/libraries/SITL/SIM_SilentWings.h
index 50739387a36952..75fdd3984fff32 100644
--- a/libraries/SITL/SIM_SilentWings.h
+++ b/libraries/SITL/SIM_SilentWings.h
@@ -23,7 +23,7 @@
 
 #if HAL_SIM_SILENTWINGS_ENABLED
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 #include "SIM_Aircraft.h"
 
@@ -109,7 +109,7 @@ class SilentWings : public Aircraft {
     /* ArduPlane's internal time when the first packet from Silent Wings is received. */
     uint64_t time_base_us;
 
-    SocketAPM sock;
+    SocketAPM_native sock;
     const char *_sw_address = "127.0.0.1";
     int _port_in = 6060;
     int _sw_port = 6070;
diff --git a/libraries/SITL/SIM_Webots.cpp b/libraries/SITL/SIM_Webots.cpp
index ac6c4655e9b81b..134fdc62369791 100644
--- a/libraries/SITL/SIM_Webots.cpp
+++ b/libraries/SITL/SIM_Webots.cpp
@@ -291,7 +291,7 @@ bool Webots::parse_sensors(const char *json)
 bool Webots::connect_sockets(void)
 {
     if (!sim_sock) {
-        sim_sock = new SocketAPM(false);
+        sim_sock = new SocketAPM_native(false);
         if (!sim_sock) {
             AP_HAL::panic("Out of memory for sensors socket");
         }
diff --git a/libraries/SITL/SIM_Webots.h b/libraries/SITL/SIM_Webots.h
index ef6ea1454ab7f3..5457d6cd962a66 100644
--- a/libraries/SITL/SIM_Webots.h
+++ b/libraries/SITL/SIM_Webots.h
@@ -27,7 +27,7 @@
 #if HAL_SIM_WEBOTS_ENABLED
 
 #include <cmath>
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 #include "SIM_Aircraft.h"
 
 namespace SITL {
@@ -79,7 +79,7 @@ class Webots : public Aircraft {
     uint8_t sensor_buffer[50000];
     uint32_t sensor_buffer_len;
 
-    SocketAPM *sim_sock;
+    SocketAPM_native *sim_sock;
 
     uint32_t connect_counter;
 
diff --git a/libraries/SITL/SIM_Webots_Python.h b/libraries/SITL/SIM_Webots_Python.h
index 194d8cd648884f..ec3e8ba4b56274 100644
--- a/libraries/SITL/SIM_Webots_Python.h
+++ b/libraries/SITL/SIM_Webots_Python.h
@@ -27,7 +27,7 @@
 #if HAL_SIM_WEBOTSPYTHON_ENABLED
 
 #include "SIM_Aircraft.h"
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 namespace SITL {
 
@@ -78,7 +78,7 @@ class WebotsPython : public Aircraft {
 
     double last_timestamp;
 
-    SocketAPM socket_sitl;
+    SocketAPM_native socket_sitl;
     const char* _webots_address = "127.0.0.1";
     int _webots_port = 9002;
     static const uint64_t WEBOTS_TIMEOUT_US = 5000000;
diff --git a/libraries/SITL/SIM_XPlane.h b/libraries/SITL/SIM_XPlane.h
index 84051439328d47..8c90ea6c2172e3 100644
--- a/libraries/SITL/SIM_XPlane.h
+++ b/libraries/SITL/SIM_XPlane.h
@@ -26,7 +26,7 @@
 
 #if HAL_SIM_XPLANE_ENABLED
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 #include <AP_Filesystem/AP_Filesystem.h>
 
 #include "SIM_Aircraft.h"
@@ -70,8 +70,8 @@ class XPlane : public Aircraft {
     uint16_t xplane_port = 49000;
     uint16_t bind_port = 49001;
     // udp socket, input and output
-    SocketAPM socket_in{true};
-    SocketAPM socket_out{true};
+    SocketAPM_native socket_in{true};
+    SocketAPM_native socket_out{true};
 
     uint64_t time_base_us;
     uint32_t last_data_time_ms;
diff --git a/libraries/SITL/SIM_last_letter.h b/libraries/SITL/SIM_last_letter.h
index ae7cae5ecf8c22..d8afa83ba0c694 100644
--- a/libraries/SITL/SIM_last_letter.h
+++ b/libraries/SITL/SIM_last_letter.h
@@ -26,7 +26,7 @@
 
 #if HAL_SIM_LAST_LETTER_ENABLED
 
-#include <AP_HAL/utility/Socket.h>
+#include <AP_HAL/utility/Socket_native.h>
 
 #include "SIM_Aircraft.h"
 
@@ -77,7 +77,7 @@ class last_letter : public Aircraft {
     void start_last_letter(void);
 
     uint64_t last_timestamp_us;
-    SocketAPM sock;
+    SocketAPM_native sock;
 };
 
 } // namespace SITL

From 60bfcf3cdcb890c88e3836ea74ccf6446c4177b9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 13:21:43 +1100
Subject: [PATCH 0342/1335] autotest: added a web server test

both native sockets and PPP
---
 Tools/autotest/pysim/util.py  |  14 +++++
 Tools/autotest/rover.py       | 102 ++++++++++++++++++++++++++++++++++
 Tools/autotest/sim_vehicle.py |   2 +-
 3 files changed, 117 insertions(+), 1 deletion(-)

diff --git a/Tools/autotest/pysim/util.py b/Tools/autotest/pysim/util.py
index fca158dc844fcc..6a0f6c9dff7ebd 100644
--- a/Tools/autotest/pysim/util.py
+++ b/Tools/autotest/pysim/util.py
@@ -675,6 +675,20 @@ def start_MAVProxy_SITL(atype,
     return ret
 
 
+def start_PPP_daemon(ips, sockaddr):
+    """Start pppd for networking"""
+
+    global close_list
+    cmd = "sudo pppd socket %s debug noauth nodetach %s" % (sockaddr, ips)
+    cmd = cmd.split()
+    print("Running: %s" % cmd_as_shell(cmd))
+
+    ret = pexpect.spawn(cmd[0], cmd[1:], logfile=sys.stdout, encoding=ENCODING, timeout=30)
+    ret.delaybeforesend = 0
+    pexpect_autoclose(ret)
+    return ret
+
+
 def expect_setup_callback(e, callback):
     """Setup a callback that is called once a second while waiting for
        patterns."""
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 8df67796676461..eb398452bf0fc9 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -6625,6 +6625,106 @@ def MAV_CMD_BATTERY_RESET(self):
                 "poll": True,
             })
 
+    def TestWebServer(self, url):
+        '''test active web server'''
+        self.progress("Accessing webserver main page")
+        import urllib.request
+
+        main_page = urllib.request.urlopen(url).read().decode('utf-8')
+        if main_page.find('ArduPilot Web Server') == -1:
+            raise NotAchievedException("Expected banner on main page")
+
+        board_status = urllib.request.urlopen(url + '/@DYNAMIC/board_status.shtml').read().decode('utf-8')
+        if board_status.find('0 hours') == -1:
+            raise NotAchievedException("Expected uptime in board status")
+        if board_status.find('40.713') == -1:
+            raise NotAchievedException("Expected lattitude in board status")
+
+        self.progress("WebServer tests OK")
+
+    def NetworkingWebServer(self):
+        '''web server'''
+        applet_script = "net_webserver.lua"
+
+        self.install_applet_script(applet_script)
+
+        self.set_parameters({
+            "SCR_ENABLE": 1,
+            "SCR_VM_I_COUNT": 1000000,
+            "SIM_SPEEDUP": 20,
+            "NET_ENABLED": 1,
+        })
+
+        self.reboot_sitl()
+
+        self.context_push()
+        self.context_collect('STATUSTEXT')
+
+        self.set_parameters({
+            "WEB_BIND_PORT": 8081,
+        })
+
+        self.scripting_restart()
+        self.wait_text("WebServer: starting on port 8081", check_context=True)
+
+        self.wait_ready_to_arm()
+
+        self.TestWebServer("http://127.0.0.1:8081")
+
+        self.context_pop()
+        self.remove_installed_script(applet_script)
+        self.reboot_sitl()
+
+    def NetworkingWebServerPPP(self):
+        '''web server over PPP'''
+        applet_script = "net_webserver.lua"
+
+        self.install_applet_script(applet_script)
+
+        self.set_parameters({
+            "SCR_ENABLE": 1,
+            "SCR_VM_I_COUNT": 1000000,
+            "SIM_SPEEDUP": 20,
+            "NET_ENABLED": 1,
+            "SERIAL5_PROTOCOL": 48,
+        })
+
+        self.progress('rebuilding rover with ppp enabled')
+        import shutil
+        shutil.copy('build/sitl/bin/ardurover', 'build/sitl/bin/ardurover.noppp')
+        util.build_SITL('bin/ardurover', clean=False, configure=True, extra_configure_args=['--enable-ppp', '--debug'])
+
+        self.reboot_sitl()
+
+        self.progress("Starting PPP daemon")
+        pppd = util.start_PPP_daemon("192.168.14.15:192.168.14.13", '127.0.0.1:5765')
+
+        self.context_push()
+        self.context_collect('STATUSTEXT')
+
+        pppd.expect("remote IP address 192.168.14.13")
+
+        self.progress("PPP daemon started")
+
+        self.set_parameters({
+            "WEB_BIND_PORT": 8081,
+        })
+
+        self.scripting_restart()
+        self.wait_text("WebServer: starting on port 8081", check_context=True)
+
+        self.wait_ready_to_arm()
+
+        self.TestWebServer("http://192.168.14.13:8081")
+
+        self.context_pop()
+        self.remove_installed_script(applet_script)
+
+        # restore rover without ppp enabled for next test
+        os.unlink('build/sitl/bin/ardurover')
+        shutil.copy('build/sitl/bin/ardurover.noppp', 'build/sitl/bin/ardurover')
+        self.reboot_sitl()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -6709,6 +6809,8 @@ def tests(self):
             self.MAV_CMD_GET_HOME_POSITION,
             self.MAV_CMD_DO_FENCE_ENABLE,
             self.MAV_CMD_BATTERY_RESET,
+            self.NetworkingWebServer,
+            self.NetworkingWebServerPPP,
         ])
         return ret
 
diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py
index 0d623e8c8f3e9d..1b46b85a87e31d 100755
--- a/Tools/autotest/sim_vehicle.py
+++ b/Tools/autotest/sim_vehicle.py
@@ -416,7 +416,7 @@ def do_build(opts, frame_options):
 
     if opts.enable_ppp:
         cmd_configure.append("--enable-ppp")
-        
+
     if opts.enable_networking_tests:
         cmd_configure.append("--enable-networking-tests")
 

From 39f029d60bf288f92ac996a04044d005424a1fc2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 13:23:45 +1100
Subject: [PATCH 0343/1335] CI: install ppp for rover test

---
 .github/workflows/test_sitl_rover.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
index d17c0d154e16e2..74c6c0f93d733d 100644
--- a/.github/workflows/test_sitl_rover.yml
+++ b/.github/workflows/test_sitl_rover.yml
@@ -192,6 +192,7 @@ jobs:
       - name: build rover ${{ matrix.toolchain }}
         shell: bash
         run: |
+          sudo apt-get -y install ppp
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
           if [[ ${{ matrix.toolchain }} == "clang" ]]; then
             export CC=clang

From 8aaedccacc1dbbb21be880bdf19bc053f0acad7d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 13:24:53 +1100
Subject: [PATCH 0344/1335] Tools: install ppp in ubuntu

---
 Tools/environment_install/install-prereqs-ubuntu.sh | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Tools/environment_install/install-prereqs-ubuntu.sh b/Tools/environment_install/install-prereqs-ubuntu.sh
index 9a865a52c13f9d..594aa33708e456 100755
--- a/Tools/environment_install/install-prereqs-ubuntu.sh
+++ b/Tools/environment_install/install-prereqs-ubuntu.sh
@@ -323,6 +323,8 @@ if [ -n "$LBTBIN" ]; then
     SITL_PKGS+=" libtool-bin"
 fi
 
+SITL_PKGS+=" ppp"
+
 # Install all packages
 $APT_GET install $BASE_PKGS $SITL_PKGS $PX4_PKGS $ARM_LINUX_PKGS $COVERAGE_PKGS
 

From 34c737de36491d54e2244b16ab864de0e55a625f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 13:41:12 +1100
Subject: [PATCH 0345/1335] HAL_Linux: use SocketAPM_native

---
 libraries/AP_HAL_Linux/RCInput_SoloLink.h | 2 +-
 libraries/AP_HAL_Linux/RCInput_UDP.h      | 2 +-
 libraries/AP_HAL_Linux/TCPServerDevice.h  | 4 ++--
 libraries/AP_HAL_Linux/UDPDevice.h        | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_HAL_Linux/RCInput_SoloLink.h b/libraries/AP_HAL_Linux/RCInput_SoloLink.h
index d56ae8f277dfae..e9638df79fa11a 100644
--- a/libraries/AP_HAL_Linux/RCInput_SoloLink.h
+++ b/libraries/AP_HAL_Linux/RCInput_SoloLink.h
@@ -52,7 +52,7 @@ class RCInput_SoloLink : public RCInput
 
     bool _check_hdr(ssize_t len);
 
-    SocketAPM _socket{true};
+    SocketAPM_native _socket{true};
     uint64_t _last_usec = 0;
     uint16_t _last_seq = 0;
     union packet _packet;
diff --git a/libraries/AP_HAL_Linux/RCInput_UDP.h b/libraries/AP_HAL_Linux/RCInput_UDP.h
index 0431a2be7f1fde..9f87af9b5ce76f 100644
--- a/libraries/AP_HAL_Linux/RCInput_UDP.h
+++ b/libraries/AP_HAL_Linux/RCInput_UDP.h
@@ -15,7 +15,7 @@ class RCInput_UDP : public RCInput
     void init() override;
     void _timer_tick(void) override;
 private:
-    SocketAPM   _socket{true};
+    SocketAPM_native _socket{true};
     uint16_t     _port;
     struct rc_udp_packet_v3 _buf;
     uint64_t _last_buf_ts;
diff --git a/libraries/AP_HAL_Linux/TCPServerDevice.h b/libraries/AP_HAL_Linux/TCPServerDevice.h
index 0a268145a8acf5..2dd5d401a7dfc9 100644
--- a/libraries/AP_HAL_Linux/TCPServerDevice.h
+++ b/libraries/AP_HAL_Linux/TCPServerDevice.h
@@ -20,8 +20,8 @@ class TCPServerDevice: public SerialDevice {
     virtual ssize_t read(uint8_t *buf, uint16_t n) override;
 
 private:
-    SocketAPM listener{false};
-    SocketAPM *sock = nullptr;
+    SocketAPM_native listener{false};
+    SocketAPM_native *sock = nullptr;
     const char *_ip;
     uint16_t _port;
     bool _wait;
diff --git a/libraries/AP_HAL_Linux/UDPDevice.h b/libraries/AP_HAL_Linux/UDPDevice.h
index 4d3ad4d6f753d4..9f8e31336f3fee 100644
--- a/libraries/AP_HAL_Linux/UDPDevice.h
+++ b/libraries/AP_HAL_Linux/UDPDevice.h
@@ -15,7 +15,7 @@ class UDPDevice: public SerialDevice {
     virtual ssize_t write(const uint8_t *buf, uint16_t n) override;
     virtual ssize_t read(uint8_t *buf, uint16_t n) override;
 private:
-    SocketAPM socket{true};
+    SocketAPM_native socket{true};
     const char *_ip;
     uint16_t _port;
     bool _bcast;

From 1e7ca3453136859b1b7090baed2e81c0d0e1d11f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 17:22:23 +1100
Subject: [PATCH 0346/1335] AP_HAL: socket native fix

---
 libraries/AP_HAL/utility/Socket_native.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_HAL/utility/Socket_native.cpp b/libraries/AP_HAL/utility/Socket_native.cpp
index d0d21bb8cd32aa..cd6bf2c93715ce 100644
--- a/libraries/AP_HAL/utility/Socket_native.cpp
+++ b/libraries/AP_HAL/utility/Socket_native.cpp
@@ -1,6 +1,9 @@
 /*
   variant of SocketAPM using native sockets (not via lwip)
  */
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #include "Socket_native.h"
 
 #if AP_SOCKET_NATIVE_ENABLED
@@ -9,3 +12,5 @@
 #define SOCKET_CLASS_NAME SocketAPM_native
 #include "Socket.cpp"
 #endif
+
+#endif

From 229a527fede198eed585243ea17f903128fafd5b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 17:23:16 +1100
Subject: [PATCH 0347/1335] AP_Networking: use BinarySemaphore

---
 .../AP_Networking/lwip_hal/arch/sys_arch.cpp  | 186 +++---------------
 1 file changed, 32 insertions(+), 154 deletions(-)

diff --git a/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp b/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
index 811ec76754782c..27636afaec73a3 100644
--- a/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
+++ b/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
@@ -1,5 +1,6 @@
 /*
   port of lwip to ArduPilot AP_HAL
+  This is partly based on ChibiOS/os/various/lwip_bindings
  */
 
 #include <AP_HAL/AP_HAL.h>
@@ -12,7 +13,6 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <unistd.h>
-#include <pthread.h>
 #include <errno.h>
 
 #include <lwipopts.h>
@@ -26,13 +26,6 @@ extern "C" {
 #include "lwip/tcpip.h"
 }
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-#include <semaphore.h>
-#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-#include "hal.h"
-#include "../../../libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h"
-#endif
-
 extern const AP_HAL::HAL &hal;
 
 unsigned int
@@ -61,69 +54,35 @@ struct sys_mbox {
 };
 
 struct sys_sem {
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-    sem_t sem;
-#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-    semaphore_t sem;
-#else
-#error "Need sys_sem implementation"
-#endif
+    HAL_BinarySemaphore sem;
 };
 
-static struct sys_sem *sys_sem_new_internal(u8_t count);
-static void sys_sem_free_internal(struct sys_sem *sem);
-
-/* Threads */
-
-struct thread_wrapper_data {
+class ThreadWrapper {
+public:
+    ThreadWrapper(lwip_thread_fn fn, void *_arg) :
+        function(fn),
+        arg(_arg)
+        {}
+    bool create(const char *name, int stacksize, int prio) {
+        return hal.scheduler->thread_create(
+            FUNCTOR_BIND_MEMBER(&ThreadWrapper::run, void), name, MAX(stacksize,2048), AP_HAL::Scheduler::PRIORITY_NET, prio);
+    }
+private:
+    void run(void) {
+        function(arg);
+    }
     lwip_thread_fn function;
     void *arg;
 };
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-static void *
-thread_wrapper(void *arg)
-{
-    auto *thread_data = (struct thread_wrapper_data *)arg;
-    thread_data->function(thread_data->arg);
-    return NULL;
-}
-#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-static void
-thread_wrapper(void *arg)
-{
-    auto *thread_data = (struct thread_wrapper_data *)arg;
-    thread_data->function(thread_data->arg);
-}
-#endif
-
 sys_thread_t
 sys_thread_new(const char *name, lwip_thread_fn function, void *arg, int stacksize, int prio)
 {
-    sys_thread_t ret = nullptr;
-    struct thread_wrapper_data *thread_data;
-
-    thread_data = new thread_wrapper_data;
-    thread_data->arg = arg;
-    thread_data->function = function;
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-    pthread_t t;
-    if (pthread_create(&t, NULL, thread_wrapper, thread_data) == 0) {
-        pthread_setname_np(t, name);
-        ret = (void*)t;
+    auto *thread_data = new ThreadWrapper(function, arg);
+    if (!thread_data->create(name, stacksize, prio)) {
+        AP_HAL::panic("lwip: Failed to start thread %s", name);
     }
-#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-    ret = thread_create_alloc(THD_WORKING_AREA_SIZE(stacksize+1024),
-                              name,
-                              prio+60, // need to use HAL thread call
-                              thread_wrapper,
-                              thread_data);
-#endif
-    if (ret == nullptr) {
-        AP_HAL::panic("Failed to create thread %s", name);
-    }
-    return ret;
+    return (sys_thread_t)thread_data;
 }
 
 void sys_lock_tcpip_core(void)
@@ -163,9 +122,9 @@ sys_mbox_new(struct sys_mbox **mb, int size)
         return ERR_MEM;
     }
     mbox->first = mbox->last = 0;
-    mbox->not_empty = sys_sem_new_internal(0);
-    mbox->not_full = sys_sem_new_internal(0);
-    mbox->mutex = sys_sem_new_internal(1);
+    sys_sem_new(&mbox->not_empty, 0);
+    sys_sem_new(&mbox->not_full, 0);
+    sys_sem_new(&mbox->mutex, 1);
     mbox->wait_send = 0;
 
     *mb = mbox;
@@ -179,9 +138,9 @@ sys_mbox_free(struct sys_mbox **mb)
         struct sys_mbox *mbox = *mb;
         sys_arch_sem_wait(&mbox->mutex, 0);
 
-        sys_sem_free_internal(mbox->not_empty);
-        sys_sem_free_internal(mbox->not_full);
-        sys_sem_free_internal(mbox->mutex);
+        sys_sem_free(&mbox->not_empty);
+        sys_sem_free(&mbox->not_full);
+        sys_sem_free(&mbox->mutex);
         mbox->not_empty = mbox->not_full = mbox->mutex = NULL;
         /*  LWIP_DEBUGF("sys_mbox_free: mbox 0x%lx\n", mbox); */
         delete mbox;
@@ -339,26 +298,11 @@ sys_arch_mbox_fetch(struct sys_mbox **mb, void **msg, u32_t timeout)
     return 0;
 }
 
-/*-----------------------------------------------------------------------------------*/
-/* Semaphore */
-static struct sys_sem *
-sys_sem_new_internal(u8_t count)
-{
-    auto *ret = new sys_sem;
-    if (ret != nullptr) {
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-        sem_init(&ret->sem, 0, count);
-#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-        chSemObjectInit(&ret->sem, (cnt_t)count);
-#endif
-    }
-    return ret;
-}
-
 err_t
 sys_sem_new(struct sys_sem **sem, u8_t count)
 {
-    *sem = sys_sem_new_internal(count);
+    auto *s = new HAL_BinarySemaphore(count);
+    *sem = (struct sys_sem *)s;
     if (*sem == NULL) {
         return ERR_MEM;
     }
@@ -369,60 +313,23 @@ u32_t
 sys_arch_sem_wait(struct sys_sem **s, u32_t timeout_ms)
 {
     struct sys_sem *sem = *s;
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
     if (timeout_ms == 0) {
-        sem_wait(&sem->sem);
-        return 0;
+        return sem->sem.wait_blocking()?0:SYS_ARCH_TIMEOUT;
     }
-    struct timespec ts;
-    if (clock_gettime(CLOCK_REALTIME, &ts) != 0) {
-        return SYS_ARCH_TIMEOUT;
-    }
-    ts.tv_sec += timeout_ms/1000UL;
-    ts.tv_nsec += (timeout_ms % 1000U) * 1000000UL;
-    if (ts.tv_nsec >= 1000000000L) {
-        ts.tv_sec++;
-        ts.tv_nsec -= 1000000000L;
-    }
-    auto ret = sem_timedwait(&sem->sem, &ts);
-    if (ret != 0) {
-        return SYS_ARCH_TIMEOUT;
-    }
-#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-    chSysLock();
-    sysinterval_t tmo = timeout_ms > 0 ? MIN(TIME_MAX_INTERVAL, TIME_MS2I((time_msecs_t)timeout_ms)) : TIME_INFINITE;
-    if (chSemWaitTimeoutS(&sem->sem, tmo) != MSG_OK) {
-        chSysUnlock();
-        return SYS_ARCH_TIMEOUT;
-    }
-    chSysUnlock();
-#endif
-    return 0;
+    return sem->sem.wait(timeout_ms*1000U)?0:SYS_ARCH_TIMEOUT;
 }
 
 void
 sys_sem_signal(struct sys_sem **s)
 {
     struct sys_sem *sem = *s;
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-    sem_post(&sem->sem);
-#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-    chSemSignal(&sem->sem);
-#endif
-}
-
-static void
-sys_sem_free_internal(struct sys_sem *sem)
-{
-    delete sem;
+    sem->sem.signal();
 }
 
 void
 sys_sem_free(struct sys_sem **sem)
 {
-    if ((sem != NULL) && (*sem != SYS_SEM_NULL)) {
-        sys_sem_free_internal(*sem);
-    }
+    delete *sem;
 }
 
 /*-----------------------------------------------------------------------------------*/
@@ -472,9 +379,6 @@ sys_mutex_free(struct sys_mutex **mutex)
     delete sem;
 }
 
-
-/*-----------------------------------------------------------------------------------*/
-/* Time */
 u32_t
 sys_now(void)
 {
@@ -487,30 +391,11 @@ sys_jiffies(void)
     return AP_HAL::micros();
 }
 
-/*-----------------------------------------------------------------------------------*/
-/* Init */
-
 void
 sys_init(void)
 {
 }
 
-/*-----------------------------------------------------------------------------------*/
-/* Critical section */
-/** sys_prot_t sys_arch_protect(void)
-
-This optional function does a "fast" critical region protection and returns
-the previous protection level. This function is only called during very short
-critical regions. An embedded system which supports ISR-based drivers might
-want to implement this function by disabling interrupts. Task-based systems
-might want to implement this by using a mutex or disabling tasking. This
-function should support recursive calls from the same task or interrupt. In
-other words, sys_arch_protect() could be called while already protected. In
-that case the return value indicates that it is already protected.
-
-sys_arch_protect() is only required if your port is supporting an operating
-system.
-*/
 sys_prot_t
 sys_arch_protect(void)
 {
@@ -520,13 +405,6 @@ sys_arch_protect(void)
     return 0;
 }
 
-/** void sys_arch_unprotect(sys_prot_t pval)
-
-This optional function does a "fast" set of critical region protection to the
-value specified by pval. See the documentation for sys_arch_protect() for
-more information. This function is only required if your port is supporting
-an operating system.
-*/
 void
 sys_arch_unprotect(sys_prot_t pval)
 {

From eb6c62f319edb8c148e235d533ab3d24e6ace798 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 18:49:49 +1100
Subject: [PATCH 0348/1335] CI: added CubeOrange-PPP build test

---
 .github/workflows/test_chibios.yml | 3 ++-
 Tools/scripts/build_ci.sh          | 8 ++++++++
 2 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/test_chibios.yml b/.github/workflows/test_chibios.yml
index 3fe7c730eac021..9e4cb96785f477 100644
--- a/.github/workflows/test_chibios.yml
+++ b/.github/workflows/test_chibios.yml
@@ -155,7 +155,8 @@ jobs:
             CubeRedPrimary-bootloader,
             configure-all,
             build-options-defaults-test,
-            signing
+            signing,
+            CubeOrange-PPP,
         ]
         toolchain: [
             chibios,
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index 6223c2c0b09cf3..e0dbd68b2522eb 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -325,6 +325,14 @@ for t in $CI_BUILD_TARGET; do
         continue
     fi
 
+    if [ "$t" == "CubeOrange-PPP" ]; then
+        echo "Building CubeOrange-PPP"
+        $waf configure --board CubeOrange --enable-ppp
+        $waf clean
+        $waf copter
+        continue
+    fi
+    
     if [ "$t" == "dds-stm32h7" ]; then
         echo "Building with DDS support on a STM32H7"
         $waf configure --board Durandal --enable-dds

From b340b5f8cabb1615dfdd1512d7d3ac15beb1eaaa Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Dec 2023 19:04:43 +1100
Subject: [PATCH 0349/1335] Tools: added PPP as a build option

---
 Tools/scripts/build_options.py    | 2 ++
 Tools/scripts/extract_features.py | 1 +
 2 files changed, 3 insertions(+)

diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index 7dc8f69cfe6a8d..01bb18cfad60ea 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -373,6 +373,8 @@ def __init__(self,
     #    Feature('Filesystem', 'FILESYSTEM_POSIX', 'AP_FILESYSTEM_POSIX_ENABLED', 'Enable POSIX filesystem', 0, None),
     Feature('Filesystem', 'FILESYSTEM_ROMFS', 'AP_FILESYSTEM_ROMFS_ENABLED', 'Enable @ROMFS/ filesystem', 0, None),
     Feature('Filesystem', 'FILESYSTEM_SYS', 'AP_FILESYSTEM_SYS_ENABLED', 'Enable @SYS/ filesystem', 0, None),
+
+    Feature('Networking', 'PPP Support', 'AP_NETWORKING_BACKEND_PPP', 'Enable PPP networking', 0, None),
 ]
 
 BUILD_OPTIONS.sort(key=lambda x: (x.category + x.label))
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index fa2b0378710eb6..8fe5436843064d 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -237,6 +237,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('AP_TUNING_ENABLED', 'AP_Tuning::check_input'),
             ('AP_DRONECAN_SERIAL_ENABLED', 'AP_DroneCAN_Serial::update'),
             ('AP_SERIALMANAGER_IMUOUT_ENABLED', 'AP_InertialSensor::send_uart_data'),
+            ('AP_NETWORKING_BACKEND_PPP', 'AP_Networking_PPP::init'),
         ]
 
     def progress(self, msg):

From 8fcc7d5a51f177b1f2fcc14a240a626812efe491 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 27 Dec 2023 12:06:15 +1100
Subject: [PATCH 0350/1335] AP_Networking: fixed ChibiOS backend with 16 bit
 timer

---
 libraries/AP_Networking/AP_Networking_ChibiOS.cpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking_ChibiOS.cpp b/libraries/AP_Networking/AP_Networking_ChibiOS.cpp
index ed5c5ea8908bae..3b330425164969 100644
--- a/libraries/AP_Networking/AP_Networking_ChibiOS.cpp
+++ b/libraries/AP_Networking/AP_Networking_ChibiOS.cpp
@@ -38,10 +38,6 @@ uint32_t *__eth_tb[STM32_MAC_TRANSMIT_BUFFERS];
 #define PERIODIC_TIMER_ID       1
 #define FRAME_RECEIVED_ID       2
 
-#if CH_CFG_ST_RESOLUTION != 32
-#error "ethernet requires 32 bit timer"
-#endif
-
 /*
   allocate buffers for LWIP
 */

From af47beebfcd4821b6b627f8aea453fd58e5d44c5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 27 Dec 2023 14:22:51 +1100
Subject: [PATCH 0351/1335] AP_Networking: fixed discard test on PPP

and fixed byte order bug
---
 libraries/AP_Networking/AP_Networking_address.cpp | 2 +-
 libraries/AP_Networking/AP_Networking_tests.cpp   | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking_address.cpp b/libraries/AP_Networking/AP_Networking_address.cpp
index ddb36428e19f34..93997479f198b0 100644
--- a/libraries/AP_Networking/AP_Networking_address.cpp
+++ b/libraries/AP_Networking/AP_Networking_address.cpp
@@ -72,7 +72,7 @@ void AP_Networking_IPV4::set_default_uint32(uint32_t v)
 
 const char* AP_Networking_IPV4::get_str()
 {
-    const auto ip = ntohl(get_uint32());
+    const auto ip = get_uint32();
     return SocketAPM::inet_addr_to_str(ip, strbuf, sizeof(strbuf));
 }
 
diff --git a/libraries/AP_Networking/AP_Networking_tests.cpp b/libraries/AP_Networking/AP_Networking_tests.cpp
index d4c33f980630c6..5630126105fcd9 100644
--- a/libraries/AP_Networking/AP_Networking_tests.cpp
+++ b/libraries/AP_Networking/AP_Networking_tests.cpp
@@ -113,10 +113,10 @@ void AP_Networking::test_TCP_discard(void)
         return;
     }
     // connect to the discard service, which is port 9
-    if (!sock->connect(dest, 9)) {
-        GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "TCP_discard: connect failed");
-        return;
+    while (!sock->connect(dest, 9)) {
+        hal.scheduler->delay(10);
     }
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TCP_discard: connected");
     const uint32_t bufsize = 1024;
     uint8_t *buf = (uint8_t*)malloc(bufsize);
     for (uint32_t i=0; i<bufsize; i++) {

From 983a680b2bcd80b4a26e764d6a65f89089c849cf Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 27 Dec 2023 15:13:29 +1100
Subject: [PATCH 0352/1335] AP_Networking: small improvement to ethernet
 throughput

---
 libraries/AP_Networking/config/lwipopts.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Networking/config/lwipopts.h b/libraries/AP_Networking/config/lwipopts.h
index 8c6789f1ad841c..d3ff36a44cb1c2 100644
--- a/libraries/AP_Networking/config/lwipopts.h
+++ b/libraries/AP_Networking/config/lwipopts.h
@@ -90,6 +90,8 @@ extern "C"
 
 #define TCP_WND 12000
 #define TCP_SND_BUF 12000
+#define DEFAULT_ACCEPTMBOX_SIZE         20
+
     
 // #define LWIP_DEBUG
 #ifdef LWIP_DEBUG
@@ -140,7 +142,7 @@ a lot of data that needs to be copied, this should be set high. */
 /* MEMP_NUM_PBUF: the number of memp struct pbufs. If the application
    sends a lot of data out of ROM (or other static memory), this
    should be set high. */
-#define MEMP_NUM_PBUF           100
+#define MEMP_NUM_PBUF           64
 /* MEMP_NUM_RAW_PCB: the number of UDP protocol control blocks. One
    per active RAW "connection". */
 #define MEMP_NUM_RAW_PCB        3

From 702fe9c18d50094e31d54499da550066a44f002b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 27 Dec 2023 17:11:19 +1100
Subject: [PATCH 0353/1335] AP_Networking: only enable networking on Linux,
 ChibiOS and SITL

---
 libraries/AP_Networking/AP_Networking_Config.h | 2 +-
 libraries/AP_Networking/AP_Networking_PPP.cpp  | 2 +-
 libraries/AP_Networking/wscript                | 4 ++++
 3 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index 803b06e1b7126d..b0f174618fd120 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -6,7 +6,7 @@
 #endif
 
 #ifndef AP_NETWORKING_ENABLED
-#define AP_NETWORKING_ENABLED ((CONFIG_HAL_BOARD == HAL_BOARD_LINUX) || (CONFIG_HAL_BOARD == HAL_BOARD_SITL))
+#define AP_NETWORKING_ENABLED (((CONFIG_HAL_BOARD == HAL_BOARD_LINUX) || (CONFIG_HAL_BOARD == HAL_BOARD_SITL)) && !defined(__APPLE__))
 #endif
 
 #ifndef AP_NETWORKING_BACKEND_DEFAULT_ENABLED
diff --git a/libraries/AP_Networking/AP_Networking_PPP.cpp b/libraries/AP_Networking/AP_Networking_PPP.cpp
index b906743020b68d..b5437de9e4a71f 100644
--- a/libraries/AP_Networking/AP_Networking_PPP.cpp
+++ b/libraries/AP_Networking/AP_Networking_PPP.cpp
@@ -35,7 +35,7 @@ uint32_t AP_Networking_PPP::ppp_output_cb(ppp_pcb *pcb, const void *data, uint32
     uint32_t remaining = len;
     const uint8_t *ptr = (const uint8_t *)data;
     while (remaining > 0) {
-        auto n = driver.uart->write(ptr, remaining);
+        const auto n = driver.uart->write(ptr, remaining);
         if (n > 0) {
             remaining -= n;
             ptr += n;
diff --git a/libraries/AP_Networking/wscript b/libraries/AP_Networking/wscript
index e1ed0c9af2cbd0..f48864d3cced67 100644
--- a/libraries/AP_Networking/wscript
+++ b/libraries/AP_Networking/wscript
@@ -4,6 +4,10 @@ import pathlib
 
 
 def configure(cfg):
+
+    if not cfg.env.BOARD_CLASS in ['SITL', 'LINUX', 'ChibiOS']:
+        return
+
     extra_src = [
         'modules/lwip/src/core/*c',
         'modules/lwip/src/core/ipv4/*c',

From f96810bb22fadd42a24156fec1b72963a9abda55 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 27 Dec 2023 17:11:30 +1100
Subject: [PATCH 0354/1335] AP_RCProtocol: fixed example build

---
 .../examples/RCProtocolDecoder/RCProtocolDecoder.cpp            | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_RCProtocol/examples/RCProtocolDecoder/RCProtocolDecoder.cpp b/libraries/AP_RCProtocol/examples/RCProtocolDecoder/RCProtocolDecoder.cpp
index 2a394a10f559f1..0d7ce675d2a71b 100644
--- a/libraries/AP_RCProtocol/examples/RCProtocolDecoder/RCProtocolDecoder.cpp
+++ b/libraries/AP_RCProtocol/examples/RCProtocolDecoder/RCProtocolDecoder.cpp
@@ -73,7 +73,7 @@ class RC_Channels_RC : public RC_Channels
 #include <RC_Channel/RC_Channels_VarInfo.h>
 
 RC_Channels_RC _rc;
-SocketAPM rc_socket{true};
+SocketAPM_native rc_socket{true};
 
 // change this to the device being tested.
 const char *devicename = "/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A10596TP-if00-port0";

From f4e731781d1cc89bde70df18e0c79a6323bec190 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 28 Dec 2023 08:21:47 +1100
Subject: [PATCH 0355/1335] CI: debug ppp install

---
 .github/workflows/test_sitl_rover.yml | 3 ++-
 Tools/scripts/build_ci.sh             | 2 ++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
index 74c6c0f93d733d..444ad7f2118c64 100644
--- a/.github/workflows/test_sitl_rover.yml
+++ b/.github/workflows/test_sitl_rover.yml
@@ -192,7 +192,8 @@ jobs:
       - name: build rover ${{ matrix.toolchain }}
         shell: bash
         run: |
-          sudo apt-get -y install ppp
+          sudo apt-get update || true
+          sudo apt-get -y install ppp || true
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
           if [[ ${{ matrix.toolchain }} == "clang" ]]; then
             export CC=clang
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index e0dbd68b2522eb..1b52fba38021e4 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -144,6 +144,8 @@ for t in $CI_BUILD_TARGET; do
         continue
     fi
     if [ "$t" == "sitltest-rover" ]; then
+        sudo apt-get update || /bin/true
+        sudo apt-get install -y ppp || /bin/true
         run_autotest "Rover" "build.Rover" "test.Rover"
         continue
     fi

From ab24d8768f684e36a3249c4d92cc258b6fab0202 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 28 Dec 2023 09:08:19 +1100
Subject: [PATCH 0356/1335] AP_Networking: disable on MacOSX

---
 libraries/AP_Networking/AP_Networking_Config.h | 8 +++++++-
 libraries/AP_Networking/wscript                | 6 +++++-
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index b0f174618fd120..ea77791a2b91b5 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -5,8 +5,14 @@
 #define AP_NETWORKING_ENABLED AP_NETWORKING_BACKEND_PPP
 #endif
 
+
 #ifndef AP_NETWORKING_ENABLED
-#define AP_NETWORKING_ENABLED (((CONFIG_HAL_BOARD == HAL_BOARD_LINUX) || (CONFIG_HAL_BOARD == HAL_BOARD_SITL)) && !defined(__APPLE__))
+#if defined(__APPLE__) || defined(__clang__)
+// MacOS can't build lwip, and clang fails on linux
+#define AP_NETWORKING_ENABLED 0
+#else
+#define AP_NETWORKING_ENABLED ((CONFIG_HAL_BOARD == HAL_BOARD_LINUX) || (CONFIG_HAL_BOARD == HAL_BOARD_SITL))
+#endif
 #endif
 
 #ifndef AP_NETWORKING_BACKEND_DEFAULT_ENABLED
diff --git a/libraries/AP_Networking/wscript b/libraries/AP_Networking/wscript
index f48864d3cced67..4094b6aeaff8fb 100644
--- a/libraries/AP_Networking/wscript
+++ b/libraries/AP_Networking/wscript
@@ -1,13 +1,17 @@
 #!/usr/bin/env python3
 
 import pathlib
-
+import platform
 
 def configure(cfg):
 
     if not cfg.env.BOARD_CLASS in ['SITL', 'LINUX', 'ChibiOS']:
         return
 
+    # networking doesn't build on MacOSX or clang
+    if platform.system() == 'Darwin' or 'clang++' in cfg.env.COMPILER_CXX:
+        return
+
     extra_src = [
         'modules/lwip/src/core/*c',
         'modules/lwip/src/core/ipv4/*c',

From f0a1a19f8b14f0f5c860e94e4d5be19c1257988c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 29 Dec 2023 07:29:31 +1100
Subject: [PATCH 0357/1335] AP_Networking: allow discard test to be paused

---
 libraries/AP_Networking/AP_Networking_tests.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_Networking/AP_Networking_tests.cpp b/libraries/AP_Networking/AP_Networking_tests.cpp
index 5630126105fcd9..839f17f74647ad 100644
--- a/libraries/AP_Networking/AP_Networking_tests.cpp
+++ b/libraries/AP_Networking/AP_Networking_tests.cpp
@@ -125,6 +125,10 @@ void AP_Networking::test_TCP_discard(void)
     uint32_t last_report_ms = AP_HAL::millis();
     uint32_t total_sent = 0;
     while (true) {
+        if ((param.tests & TEST_TCP_DISCARD) == 0) {
+            hal.scheduler->delay(1);
+            continue;
+        }
         total_sent += sock->send(buf, bufsize);
         const uint32_t now = AP_HAL::millis();
         if (now - last_report_ms >= 1000) {

From cc8c671cb7b3124ec04665f79d0a873a89859942 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 29 Dec 2023 08:13:54 +1100
Subject: [PATCH 0358/1335] HAL_ChibiOS: don't link evtimer in chibios_board.mk

---
 libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk b/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
index 7d9f8a67a6550c..893b358f549685 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
@@ -145,9 +145,6 @@ CSRC += $(CHIBIOS)/os/various/scsi_bindings/lib_scsi.c \
         $(CHIBIOS)/os/hal/src/hal_usb_msd.c
 endif
 
-# evtimer used by networking
-CSRC += $(CHIBIOS)/os/various/evtimer.c
-
 #	   $(TESTSRC) \
 #	   test.c
 ifneq ($(CRASHCATCHER),)

From f5bee94cba120138f45e1da2c29f831855ee8659 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 29 Dec 2023 08:14:13 +1100
Subject: [PATCH 0359/1335] AP_Networking: added evtimer wrapper

---
 libraries/AP_Networking/lwip_hal/arch/evtimer.c | 10 ++++++++++
 libraries/AP_Networking/wscript                 |  4 ++++
 2 files changed, 14 insertions(+)
 create mode 100644 libraries/AP_Networking/lwip_hal/arch/evtimer.c

diff --git a/libraries/AP_Networking/lwip_hal/arch/evtimer.c b/libraries/AP_Networking/lwip_hal/arch/evtimer.c
new file mode 100644
index 00000000000000..53da0413f82109
--- /dev/null
+++ b/libraries/AP_Networking/lwip_hal/arch/evtimer.c
@@ -0,0 +1,10 @@
+/*
+  wrapper around evtimer.c so we only build when events are
+  enabled. This prevents a complex check in the ChibiOS mk layer
+ */
+#include <hal.h>
+
+#if CH_CFG_USE_EVENTS
+#include "../../modules/ChibiOS/os/various/evtimer.c"
+#endif
+
diff --git a/libraries/AP_Networking/wscript b/libraries/AP_Networking/wscript
index 4094b6aeaff8fb..97554622a79f80 100644
--- a/libraries/AP_Networking/wscript
+++ b/libraries/AP_Networking/wscript
@@ -25,6 +25,10 @@ def configure(cfg):
     ]
 
     extra_src.extend(['libraries/AP_Networking/lwip_hal/arch/*cpp'])
+
+    if cfg.env.BOARD_CLASS == 'ChibiOS':
+        extra_src.extend(['libraries/AP_Networking/lwip_hal/arch/evtimer.c'])
+
     extra_src_inc.extend(['libraries/AP_Networking/config',
                           'libraries/AP_Networking/lwip_hal/include'])
 

From 791a0a3230da8462f49edbce56da5109da322985 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 2 Jan 2024 08:04:41 +1100
Subject: [PATCH 0360/1335] AP_Networking: use HAL objects more directly

and fix a ms/us bug
---
 .../AP_Networking/lwip_hal/arch/sys_arch.cpp  | 129 +++++++-----------
 .../lwip_hal/include/arch/sys_arch.h          |   2 -
 2 files changed, 50 insertions(+), 81 deletions(-)

diff --git a/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp b/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
index 27636afaec73a3..d9b517b47fbf54 100644
--- a/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
+++ b/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
@@ -47,16 +47,12 @@ struct sys_mbox_msg {
 struct sys_mbox {
     int first, last;
     void *msgs[SYS_MBOX_SIZE];
-    struct sys_sem *not_empty;
-    struct sys_sem *not_full;
-    struct sys_sem *mutex;
+    HAL_BinarySemaphore not_empty;
+    HAL_BinarySemaphore not_full;
+    HAL_BinarySemaphore mutex;
     int wait_send;
 };
 
-struct sys_sem {
-    HAL_BinarySemaphore sem;
-};
-
 class ThreadWrapper {
 public:
     ThreadWrapper(lwip_thread_fn fn, void *_arg) :
@@ -87,16 +83,12 @@ sys_thread_new(const char *name, lwip_thread_fn function, void *arg, int stacksi
 
 void sys_lock_tcpip_core(void)
 {
-    if (hal.scheduler != nullptr) {
-        tcpip_mutex.take_blocking();
-    }
+    tcpip_mutex.take_blocking();
 }
 
 void sys_unlock_tcpip_core(void)
 {
-    if (hal.scheduler != nullptr) {
-        tcpip_mutex.give();
-    }
+    tcpip_mutex.give();
 }
 
 void sys_mark_tcpip_thread(void)
@@ -122,9 +114,7 @@ sys_mbox_new(struct sys_mbox **mb, int size)
         return ERR_MEM;
     }
     mbox->first = mbox->last = 0;
-    sys_sem_new(&mbox->not_empty, 0);
-    sys_sem_new(&mbox->not_full, 0);
-    sys_sem_new(&mbox->mutex, 1);
+    mbox->mutex.signal();
     mbox->wait_send = 0;
 
     *mb = mbox;
@@ -136,13 +126,7 @@ sys_mbox_free(struct sys_mbox **mb)
 {
     if ((mb != NULL) && (*mb != SYS_MBOX_NULL)) {
         struct sys_mbox *mbox = *mb;
-        sys_arch_sem_wait(&mbox->mutex, 0);
-
-        sys_sem_free(&mbox->not_empty);
-        sys_sem_free(&mbox->not_full);
-        sys_sem_free(&mbox->mutex);
-        mbox->not_empty = mbox->not_full = mbox->mutex = NULL;
-        /*  LWIP_DEBUGF("sys_mbox_free: mbox 0x%lx\n", mbox); */
+        mbox->mutex.wait_blocking();
         delete mbox;
     }
 }
@@ -155,13 +139,13 @@ sys_mbox_trypost(struct sys_mbox **mb, void *msg)
     LWIP_ASSERT("invalid mbox", (mb != NULL) && (*mb != NULL));
     mbox = *mb;
 
-    sys_arch_sem_wait(&mbox->mutex, 0);
+    mbox->mutex.wait_blocking();
 
     LWIP_DEBUGF(SYS_DEBUG, ("sys_mbox_trypost: mbox %p msg %p\n",
                             (void *)mbox, (void *)msg));
 
     if ((mbox->last + 1) >= (mbox->first + SYS_MBOX_SIZE)) {
-        sys_sem_signal(&mbox->mutex);
+        mbox->mutex.signal();
         return ERR_MEM;
     }
 
@@ -176,10 +160,10 @@ sys_mbox_trypost(struct sys_mbox **mb, void *msg)
     mbox->last++;
 
     if (first) {
-        sys_sem_signal(&mbox->not_empty);
+        mbox->not_empty.signal();
     }
 
-    sys_sem_signal(&mbox->mutex);
+    mbox->mutex.signal();
 
     return ERR_OK;
 }
@@ -192,15 +176,15 @@ sys_mbox_post(struct sys_mbox **mb, void *msg)
     LWIP_ASSERT("invalid mbox", (mb != NULL) && (*mb != NULL));
     mbox = *mb;
 
-    sys_arch_sem_wait(&mbox->mutex, 0);
+    mbox->mutex.wait_blocking();
 
     LWIP_DEBUGF(SYS_DEBUG, ("sys_mbox_post: mbox %p msg %p\n", (void *)mbox, (void *)msg));
 
     while ((mbox->last + 1) >= (mbox->first + SYS_MBOX_SIZE)) {
         mbox->wait_send++;
-        sys_sem_signal(&mbox->mutex);
-        sys_arch_sem_wait(&mbox->not_full, 0);
-        sys_arch_sem_wait(&mbox->mutex, 0);
+        mbox->mutex.signal();
+        mbox->not_full.wait_blocking();
+        mbox->mutex.wait_blocking();
         mbox->wait_send--;
     }
 
@@ -215,10 +199,10 @@ sys_mbox_post(struct sys_mbox **mb, void *msg)
     mbox->last++;
 
     if (first) {
-        sys_sem_signal(&mbox->not_empty);
+        mbox->not_empty.signal();
     }
 
-    sys_sem_signal(&mbox->mutex);
+    mbox->mutex.signal();
 }
 
 u32_t
@@ -226,10 +210,10 @@ sys_arch_mbox_tryfetch(struct sys_mbox **mb, void **msg)
 {
     struct sys_mbox *mbox = *mb;
 
-    sys_arch_sem_wait(&mbox->mutex, 0);
+    mbox->mutex.wait_blocking();
 
     if (mbox->first == mbox->last) {
-        sys_sem_signal(&mbox->mutex);
+        mbox->mutex.signal();
         return SYS_MBOX_EMPTY;
     }
 
@@ -243,41 +227,37 @@ sys_arch_mbox_tryfetch(struct sys_mbox **mb, void **msg)
     mbox->first++;
 
     if (mbox->wait_send) {
-        sys_sem_signal(&mbox->not_full);
+        mbox->not_full.signal();
     }
 
-    sys_sem_signal(&mbox->mutex);
+    mbox->mutex.signal();
 
     return 0;
 }
 
 u32_t
-sys_arch_mbox_fetch(struct sys_mbox **mb, void **msg, u32_t timeout)
+sys_arch_mbox_fetch(struct sys_mbox **mb, void **msg, u32_t timeout_ms)
 {
     struct sys_mbox *mbox;
     LWIP_ASSERT("invalid mbox", (mb != NULL) && (*mb != NULL));
     mbox = *mb;
 
-    /* The mutex lock is quick so we don't bother with the timeout
-       stuff here. */
-    sys_arch_sem_wait(&mbox->mutex, 0);
+    mbox->mutex.wait_blocking();
 
     while (mbox->first == mbox->last) {
-        sys_sem_signal(&mbox->mutex);
+        mbox->mutex.signal();
 
         /* We block while waiting for a mail to arrive in the mailbox. We
            must be prepared to timeout. */
-        if (timeout != 0) {
-            u32_t time_needed = sys_arch_sem_wait(&mbox->not_empty, timeout);
-
-            if (time_needed == SYS_ARCH_TIMEOUT) {
+        if (timeout_ms != 0) {
+            if (!mbox->not_empty.wait(timeout_ms*1000U)) {
                 return SYS_ARCH_TIMEOUT;
             }
         } else {
-            sys_arch_sem_wait(&mbox->not_empty, 0);
+            mbox->not_empty.wait_blocking();
         }
 
-        sys_arch_sem_wait(&mbox->mutex, 0);
+        mbox->mutex.wait_blocking();
     }
 
     if (msg != NULL) {
@@ -290,19 +270,18 @@ sys_arch_mbox_fetch(struct sys_mbox **mb, void **msg, u32_t timeout)
     mbox->first++;
 
     if (mbox->wait_send) {
-        sys_sem_signal(&mbox->not_full);
+        mbox->not_full.signal();
     }
 
-    sys_sem_signal(&mbox->mutex);
+    mbox->mutex.signal();
 
     return 0;
 }
 
 err_t
-sys_sem_new(struct sys_sem **sem, u8_t count)
+sys_sem_new(sys_sem_t *sem, u8_t count)
 {
-    auto *s = new HAL_BinarySemaphore(count);
-    *sem = (struct sys_sem *)s;
+    *sem = (sys_sem_t)new HAL_BinarySemaphore(count);
     if (*sem == NULL) {
         return ERR_MEM;
     }
@@ -310,26 +289,26 @@ sys_sem_new(struct sys_sem **sem, u8_t count)
 }
 
 u32_t
-sys_arch_sem_wait(struct sys_sem **s, u32_t timeout_ms)
+sys_arch_sem_wait(sys_sem_t *s, u32_t timeout_ms)
 {
-    struct sys_sem *sem = *s;
+    HAL_BinarySemaphore *sem = (HAL_BinarySemaphore *)*s;
     if (timeout_ms == 0) {
-        return sem->sem.wait_blocking()?0:SYS_ARCH_TIMEOUT;
+        return sem->wait_blocking()?0:SYS_ARCH_TIMEOUT;
     }
-    return sem->sem.wait(timeout_ms*1000U)?0:SYS_ARCH_TIMEOUT;
+    return sem->wait(timeout_ms*1000U)?0:SYS_ARCH_TIMEOUT;
 }
 
 void
-sys_sem_signal(struct sys_sem **s)
+sys_sem_signal(sys_sem_t *s)
 {
-    struct sys_sem *sem = *s;
-    sem->sem.signal();
+    HAL_BinarySemaphore *sem = (HAL_BinarySemaphore *)*s;
+    sem->signal();
 }
 
 void
-sys_sem_free(struct sys_sem **sem)
+sys_sem_free(sys_sem_t *sem)
 {
-    delete *sem;
+    delete ((HAL_BinarySemaphore *)*sem);
 }
 
 /*-----------------------------------------------------------------------------------*/
@@ -338,45 +317,37 @@ sys_sem_free(struct sys_sem **sem)
  * @param mutex pointer to the mutex to create
  * @return a new mutex */
 err_t
-sys_mutex_new(struct sys_mutex **mutex)
+sys_mutex_new(sys_mutex_t *mutex)
 {
-    auto *sem = new HAL_Semaphore;
-    if (sem == nullptr) {
+    *mutex = (sys_mutex_t)new HAL_Semaphore;
+    if (*mutex == nullptr) {
         return ERR_MEM;
     }
-    *mutex = (struct sys_mutex *)sem;
     return ERR_OK;
 }
 
 /** Lock a mutex
  * @param mutex the mutex to lock */
 void
-sys_mutex_lock(struct sys_mutex **mutex)
+sys_mutex_lock(sys_mutex_t *mutex)
 {
-    auto *sem = (HAL_Semaphore *)*mutex;
-    if (hal.scheduler != nullptr) {
-        sem->take_blocking();
-    }
+    ((HAL_Semaphore*)*mutex)->take_blocking();
 }
 
 /** Unlock a mutex
  * @param mutex the mutex to unlock */
 void
-sys_mutex_unlock(struct sys_mutex **mutex)
+sys_mutex_unlock(sys_mutex_t *mutex)
 {
-    auto *sem = (HAL_Semaphore *)*mutex;
-    if (hal.scheduler != nullptr) {
-        sem->give();
-    }
+    ((HAL_Semaphore*)*mutex)->give();
 }
 
 /** Delete a mutex
  * @param mutex the mutex to delete */
 void
-sys_mutex_free(struct sys_mutex **mutex)
+sys_mutex_free(sys_mutex_t *mutex)
 {
-    auto *sem = (HAL_Semaphore *)*mutex;
-    delete sem;
+    delete (HAL_Semaphore*)*mutex;
 }
 
 u32_t
diff --git a/libraries/AP_Networking/lwip_hal/include/arch/sys_arch.h b/libraries/AP_Networking/lwip_hal/include/arch/sys_arch.h
index da48ac6b81820f..f376b2f8c42f88 100644
--- a/libraries/AP_Networking/lwip_hal/include/arch/sys_arch.h
+++ b/libraries/AP_Networking/lwip_hal/include/arch/sys_arch.h
@@ -8,8 +8,6 @@ extern "C"
 #define SYS_MBOX_NULL NULL
 #define SYS_SEM_NULL  NULL
 
-/*typedef u32_t sys_prot_t;*/
-
 struct sys_sem;
 typedef struct sys_sem * sys_sem_t;
 #define sys_sem_valid(sem)             (((sem) != NULL) && (*(sem) != NULL))

From a841e9c109473f4ec2819a7a6bafb4e7550cdd62 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 2 Jan 2024 08:49:09 +1100
Subject: [PATCH 0361/1335] AP_Scripting: don't throw an exception on out of
 sockets in accept()

normal lua sockets don't throw an exception on accept, it just returns
nil
---
 libraries/AP_Scripting/lua_bindings.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index e84a68786c8a04..f1ae9a99875678 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -913,7 +913,7 @@ int SocketAPM_accept(lua_State *L) {
 
     auto *scripting = AP::scripting();
     if (scripting->num_net_sockets >= SCRIPTING_MAX_NUM_NET_SOCKET) {
-        return luaL_argerror(L, 1, "no sockets available");
+        return 0;
     }
 
     auto *sock = ud->accept(0);

From 5065770e30f91060cc98336bcf8d807504161002 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 10 Dec 2023 20:03:38 +0000
Subject: [PATCH 0362/1335] AC_PID: tidy interface

---
 libraries/AC_PID/AC_PID.cpp |  2 +-
 libraries/AC_PID/AC_PID.h   | 31 ++++++++++++++++---------------
 2 files changed, 17 insertions(+), 16 deletions(-)

diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index 557b6b5bfbf146..358535592f3adf 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -336,7 +336,7 @@ float AC_PID::get_d() const
     return _kd * _derivative;
 }
 
-float AC_PID::get_ff()
+float AC_PID::get_ff() const
 {
     return  _pid_info.FF + _pid_info.DFF;
 }
diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h
index 0aa7e35e2c9508..8f9b7704c9b79b 100644
--- a/libraries/AC_PID/AC_PID.h
+++ b/libraries/AC_PID/AC_PID.h
@@ -72,17 +72,11 @@ class AC_PID {
     // todo: remove function when it is no longer used.
     float update_error(float error, float dt, bool limit = false);
 
-    //  update_i - update the integral
-    //  if the limit flag is set the integral is only allowed to shrink
-    void update_i(float dt, bool limit);
-
     // get_pid - get results from pid controller
-    float get_pid() const;
-    float get_pi() const;
     float get_p() const;
     float get_i() const;
     float get_d() const;
-    float get_ff();
+    float get_ff() const;
 
     // reset_I - reset the integrator
     void reset_I();
@@ -113,9 +107,11 @@ class AC_PID {
     AP_Float &filt_E_hz() { return _filt_E_hz; }
     AP_Float &filt_D_hz() { return _filt_D_hz; }
     AP_Float &slew_limit() { return _slew_rate_max; }
+    AP_Float &kDff() { return _kdff; }
 
     float imax() const { return _kimax.get(); }
     float pdmax() const { return _kpdmax.get(); }
+
     float get_filt_T_alpha(float dt) const;
     float get_filt_E_alpha(float dt) const;
     float get_filt_D_alpha(float dt) const;
@@ -131,6 +127,7 @@ class AC_PID {
     void filt_E_hz(const float v);
     void filt_D_hz(const float v);
     void slew_limit(const float v);
+    void kDff(const float v) { _kdff.set(v); }
 
     // set the desired and actual rates (for logging purposes)
     void set_target_rate(float target) { _pid_info.target = target; }
@@ -150,20 +147,17 @@ class AC_PID {
 
     const AP_PIDInfo& get_pid_info(void) const { return _pid_info; }
 
-    AP_Float &kDff() { return _kdff; }
-    void kDff(const float v) { _kdff.set(v); }
     void set_notch_sample_rate(float);
+
     // parameter var table
     static const struct AP_Param::GroupInfo var_info[];
 
-    // the time constant tau is not currently configurable, but is set
-    // as an AP_Float to make it easy to make it configurable for a
-    // single user of AC_PID by adding the parameter in the param
-    // table of the parent class. It is made public for this reason
-    AP_Float _slew_rate_tau;
-    
 protected:
 
+    //  update_i - update the integral
+    //  if the limit flag is set the integral is only allowed to shrink
+    void update_i(float dt, bool limit);
+
     // parameters
     AP_Float _kp;
     AP_Float _ki;
@@ -180,6 +174,13 @@ class AC_PID {
     AP_Int8 _notch_T_filter;
     AP_Int8 _notch_E_filter;
 #endif
+
+    // the time constant tau is not currently configurable, but is set
+    // as an AP_Float to make it easy to make it configurable for a
+    // single user of AC_PID by adding the parameter in the param
+    // table of the parent class. It is made public for this reason
+    AP_Float _slew_rate_tau;
+
     SlewLimiter _slew_limiter{_slew_rate_max, _slew_rate_tau};
 
     // flags

From 2d75b0312ebda6edd4ae47763c0d5aa5c1a32908 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 11 Dec 2023 18:27:45 +0000
Subject: [PATCH 0363/1335] AC_PID: return P and D as output with slew limit
 and sum limit applyed

---
 libraries/AC_PID/AC_PID.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index 358535592f3adf..aa19e44a5f5fc6 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -323,7 +323,7 @@ void AC_PID::update_i(float dt, bool limit)
 
 float AC_PID::get_p() const
 {
-    return _error * _kp;
+    return _pid_info.P;
 }
 
 float AC_PID::get_i() const
@@ -333,7 +333,7 @@ float AC_PID::get_i() const
 
 float AC_PID::get_d() const
 {
-    return _kd * _derivative;
+    return _pid_info.D;
 }
 
 float AC_PID::get_ff() const

From 9146458d4a632dde7a8f3806c4281eb49b986bb4 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 11 Dec 2023 18:31:02 +0000
Subject: [PATCH 0364/1335] AC_PID: remove unused set_integrator methods

---
 libraries/AC_PID/AC_PID.cpp | 10 ----------
 libraries/AC_PID/AC_PID.h   |  2 --
 2 files changed, 12 deletions(-)

diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index aa19e44a5f5fc6..6864072a3012c7 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -402,16 +402,6 @@ float AC_PID::get_filt_D_alpha(float dt) const
     return calc_lowpass_alpha_dt(dt, _filt_D_hz);
 }
 
-void AC_PID::set_integrator(float target, float measurement, float integrator)
-{
-    set_integrator(target - measurement, integrator);
-}
-
-void AC_PID::set_integrator(float error, float integrator)
-{
-    _integrator = constrain_float(integrator - error * _kp, -_kimax, _kimax);
-}
-
 void AC_PID::set_integrator(float integrator)
 {
     _integrator = constrain_float(integrator, -_kimax, _kimax);
diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h
index 8f9b7704c9b79b..dce00821430cf0 100644
--- a/libraries/AC_PID/AC_PID.h
+++ b/libraries/AC_PID/AC_PID.h
@@ -134,8 +134,6 @@ class AC_PID {
     void set_actual_rate(float actual) { _pid_info.actual = actual; }
 
     // integrator setting functions
-    void set_integrator(float target, float measurement, float i);
-    void set_integrator(float error, float i);
     void set_integrator(float i);
     void relax_integrator(float integrator, float dt, float time_constant);
 

From d53b73468bbf7a2820419239e7a34044182337b8 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 11 Dec 2023 18:44:30 +0000
Subject: [PATCH 0365/1335] AC_PID: add reset and I term set flags to PIDInfo

---
 libraries/AC_PID/AC_PID.cpp   | 8 ++++++++
 libraries/AC_PID/AC_PID.h     | 1 +
 libraries/AC_PID/AP_PIDInfo.h | 2 ++
 3 files changed, 11 insertions(+)

diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index 6864072a3012c7..166be7b7b3122b 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -198,6 +198,7 @@ float AC_PID::update_all(float target, float measurement, float dt, bool limit,
     }
 
     // reset input filter to value received
+    _pid_info.reset = _flags._reset_filter;
     if (_flags._reset_filter) {
         _flags._reset_filter = false;
         _target = target;
@@ -319,6 +320,10 @@ void AC_PID::update_i(float dt, bool limit)
     }
     _pid_info.I = _integrator;
     _pid_info.limit = limit;
+
+    // Set I set flag for logging and clear
+    _pid_info.I_term_set = _flags._I_set;
+    _flags._I_set = false;
 }
 
 float AC_PID::get_p() const
@@ -343,6 +348,7 @@ float AC_PID::get_ff() const
 
 void AC_PID::reset_I()
 {
+    _flags._I_set = true;
     _integrator = 0.0;
 }
 
@@ -404,6 +410,7 @@ float AC_PID::get_filt_D_alpha(float dt) const
 
 void AC_PID::set_integrator(float integrator)
 {
+    _flags._I_set = true;
     _integrator = constrain_float(integrator, -_kimax, _kimax);
 }
 
@@ -411,6 +418,7 @@ void AC_PID::relax_integrator(float integrator, float dt, float time_constant)
 {
     integrator = constrain_float(integrator, -_kimax, _kimax);
     if (is_positive(dt)) {
+        _flags._I_set = true;
         _integrator = _integrator + (integrator - _integrator) * (dt / (dt + time_constant));
     }
 }
diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h
index dce00821430cf0..fbbebcac7db783 100644
--- a/libraries/AC_PID/AC_PID.h
+++ b/libraries/AC_PID/AC_PID.h
@@ -184,6 +184,7 @@ class AC_PID {
     // flags
     struct ac_pid_flags {
         bool _reset_filter :1; // true when input filter should be reset during next call to set_input
+        bool _I_set :1; // true if if the I terms has been set externally including zeroing
     } _flags;
 
     // internal variables
diff --git a/libraries/AC_PID/AP_PIDInfo.h b/libraries/AC_PID/AP_PIDInfo.h
index 70afb0974e01ce..992a287ec8bc5c 100644
--- a/libraries/AC_PID/AP_PIDInfo.h
+++ b/libraries/AC_PID/AP_PIDInfo.h
@@ -19,4 +19,6 @@ struct AP_PIDInfo {
     float slew_rate;
     bool limit;
     bool PD_limit;
+    bool reset;
+    bool I_term_set;
 };

From a44cba03efefe38c3b45e1fa288824e892f6ece2 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 11 Dec 2023 18:45:20 +0000
Subject: [PATCH 0366/1335] AP_Logger: Write_PID: add reset and I terms set
 flags

---
 libraries/AP_Logger/LogFile.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp
index e4d3f1ff895b79..2febb3577fba0d 100644
--- a/libraries/AP_Logger/LogFile.cpp
+++ b/libraries/AP_Logger/LogFile.cpp
@@ -478,6 +478,8 @@ void AP_Logger::Write_PID(uint8_t msg_type, const AP_PIDInfo &info)
     enum class log_PID_Flags : uint8_t {
         LIMIT = 1U<<0, // true if the output is saturated, I term anti windup is active
         PD_SUM_LIMIT =  1U<<1, // true if the PD sum limit is active
+        RESET = 1U<<2, // true if the controller was reset
+        I_TERM_SET = 1U<<3, // true if the I term has been set externally including reseting to 0
     };
 
     uint8_t flags = 0;
@@ -487,6 +489,12 @@ void AP_Logger::Write_PID(uint8_t msg_type, const AP_PIDInfo &info)
     if (info.PD_limit) {
         flags |= (uint8_t)log_PID_Flags::PD_SUM_LIMIT;
     }
+    if (info.reset) {
+        flags |= (uint8_t)log_PID_Flags::RESET;
+    }
+    if (info.I_term_set) {
+        flags |= (uint8_t)log_PID_Flags::I_TERM_SET;
+    }
 
     const struct log_PID pkt{
         LOG_PACKET_HEADER_INIT(msg_type),

From 368593c2c6452ebaa88b95383d6dffd5739323b4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 9 Dec 2023 15:05:08 +1100
Subject: [PATCH 0367/1335] AP_Mission: correct compilation when
 AP_MISSION_ENABLED is false

---
 libraries/AP_Mission/AP_Mission.cpp          | 24 +++++++++++++++++---
 libraries/AP_Mission/AP_Mission_Commands.cpp |  6 +++++
 2 files changed, 27 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 22d6f60c364fa3..c8fabcdd8c7db1 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -1,13 +1,17 @@
 /// @file    AP_Mission.cpp
 /// @brief   Handles the MAVLINK command mission stack.  Reads and writes mission to storage.
 
+#include "AP_Mission_config.h"
+#include <AP_Vehicle/AP_Vehicle_Type.h>
+#include <AP_Gripper/AP_Gripper_config.h>
+#include <GCS_MAVLink/GCS.h>
+
+#if AP_MISSION_ENABLED
+
 #include "AP_Mission.h"
 #include <AP_Terrain/AP_Terrain.h>
-#include <GCS_MAVLink/GCS.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Camera/AP_Camera.h>
-#include <AP_Gripper/AP_Gripper_config.h>
-#include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents_config.h>
 #include <RC_Channel/RC_Channel_config.h>
@@ -828,6 +832,8 @@ bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) con
     return true;
 }
 
+#endif  // AP_MISSION_ENABLED
+
 bool AP_Mission::stored_in_location(uint16_t id)
 {
     switch (id) {
@@ -854,6 +860,8 @@ bool AP_Mission::stored_in_location(uint16_t id)
     }
 }
 
+#if AP_MISSION_ENABLED
+
 /// write_cmd_to_storage - write a command to storage
 ///     index is used to calculate the storage location
 ///     true is returned if successful
@@ -926,6 +934,8 @@ void AP_Mission::write_home_to_storage()
     write_cmd_to_storage(0,home_cmd);
 }
 
+#endif  // AP_MISSION_ENABLED
+
 MAV_MISSION_RESULT AP_Mission::sanity_check_params(const mavlink_mission_item_int_t& packet)
 {
     uint8_t nan_mask;
@@ -1486,6 +1496,8 @@ MAV_MISSION_RESULT AP_Mission::convert_MISSION_ITEM_INT_to_MISSION_ITEM(const ma
     return MAV_MISSION_ACCEPTED;
 }
 
+#if AP_MISSION_ENABLED
+
 // mission_cmd_to_mavlink_int - converts an AP_Mission::Mission_Command object to a mavlink message which can be sent to the GCS
 //  return true on success, false on failure
 //  NOTE: callers to this method current fill parts of "packet" in before calling this method, so do NOT attempt to zero the entire packet in here
@@ -2717,6 +2729,8 @@ bool AP_Mission::contains_item(MAV_CMD command) const
     return false;
 }
 
+#endif  // AP_MISSION_ENABLED
+
 /*
   return true if the mission item has a location
 */
@@ -2726,6 +2740,8 @@ bool AP_Mission::cmd_has_location(const uint16_t command)
     return stored_in_location(command);
 }
 
+#if AP_MISSION_ENABLED
+
 /*
   return true if the mission has a terrain relative item.  ~2200us for 530 items on H7
  */
@@ -2901,3 +2917,5 @@ AP_Mission *mission()
 }
 
 }
+
+#endif  // AP_MISSION_ENABLED
diff --git a/libraries/AP_Mission/AP_Mission_Commands.cpp b/libraries/AP_Mission/AP_Mission_Commands.cpp
index 9d82550e482326..21d6731b733b07 100644
--- a/libraries/AP_Mission/AP_Mission_Commands.cpp
+++ b/libraries/AP_Mission/AP_Mission_Commands.cpp
@@ -1,3 +1,7 @@
+#include "AP_Mission_config.h"
+
+#if AP_MISSION_ENABLED
+
 #include "AP_Mission.h"
 
 #include <GCS_MAVLink/GCS.h>
@@ -332,3 +336,5 @@ bool AP_Mission::start_command_do_gimbal_manager_pitchyaw(const AP_Mission::Miss
     // if we got this far then message is not handled
     return false;
 }
+
+#endif  // AP_MISSION_ENABLED

From 17f311ef320240f56d906ed40b8c6e938ecc4264 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 9 Dec 2023 15:05:08 +1100
Subject: [PATCH 0368/1335] AP_Vehicle: correct compilation when
 AP_MISSION_ENABLED is false

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 9908cf767d60fe..2833a39fc293b1 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -850,6 +850,7 @@ void AP_Vehicle::reboot(bool hold_in_bootloader)
 #if OSD_ENABLED
 void AP_Vehicle::publish_osd_info()
 {
+#if AP_MISSION_ENABLED
     AP_Mission *mission = AP::mission();
     if (mission == nullptr) {
         return;
@@ -872,6 +873,7 @@ void AP_Vehicle::publish_osd_info()
     }
     nav_info.wp_number = mission->get_current_nav_index();
     osd->set_nav_info(nav_info);
+#endif
 }
 #endif
 

From 6d2c857db92a8bfc15f12a55e5fe8aaf51457489 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 9 Dec 2023 15:09:55 +1100
Subject: [PATCH 0369/1335] AP_Arming: correct compilation when
 AP_MISSION_ENABLED is false

---
 libraries/AP_Arming/AP_Arming.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 6a8bae36ccb1f8..209dbdefe13118 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -1125,6 +1125,7 @@ bool AP_Arming::system_checks(bool report)
 
 bool AP_Arming::terrain_database_required() const
 {
+#if AP_MISSION_ENABLED
     AP_Mission *mission = AP::mission();
     if (mission == nullptr) {
         // no mission support?
@@ -1133,6 +1134,7 @@ bool AP_Arming::terrain_database_required() const
     if (mission->contains_terrain_alt_items()) {
         return true;
     }
+#endif
     return false;
 }
 

From 78087da03ca3703d4b2e114e4013094e5e069395 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 9 Dec 2023 15:09:55 +1100
Subject: [PATCH 0370/1335] GCS_MAVLink: correct compilation when
 AP_MISSION_ENABLED is false

---
 libraries/GCS_MAVLink/GCS.h          |  3 ++-
 libraries/GCS_MAVLink/GCS_Common.cpp | 10 +++++++++-
 libraries/GCS_MAVLink/GCS_config.h   |  3 ++-
 3 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index ccea42410f86ab..d477ea2977365f 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -643,9 +643,10 @@ class GCS_MAVLINK
     virtual MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
     virtual MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg);
 
+#if AP_MISSION_ENABLED
     virtual MAV_RESULT handle_command_do_set_mission_current(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_do_jump_tag(const mavlink_command_int_t &packet);
-
+#endif
     MAV_RESULT handle_command_battery_reset(const mavlink_command_int_t &packet);
     void handle_command_long(const mavlink_message_t &msg);
     MAV_RESULT handle_command_accelcal_vehicle_pos(const mavlink_command_int_t &packet);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index f7ead3489f9830..9981cb5e594368 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4497,6 +4497,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_run_prearm_checks(const mavlink_command_i
     return MAV_RESULT_ACCEPTED;
 }
 
+#if AP_MISSION_ENABLED
 // changes the current waypoint; at time of writing GCS
 // implementations use the mavlink message MISSION_SET_CURRENT to set
 // the current waypoint, rather than this DO command.  It is hoped we
@@ -4555,6 +4556,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_jump_tag(const mavlink_command_int_t &
 
     return MAV_RESULT_ACCEPTED;
 }
+#endif
 
 #if AP_BATTERY_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_battery_reset(const mavlink_command_int_t &packet)
@@ -5116,11 +5118,13 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
         return handle_command_do_gripper(packet);
 #endif
 
+#if AP_MISSION_ENABLED
     case MAV_CMD_DO_JUMP_TAG:
         return handle_command_do_jump_tag(packet);
 
     case MAV_CMD_DO_SET_MISSION_CURRENT:
         return handle_command_do_set_mission_current(packet);
+#endif
 
     case MAV_CMD_DO_SET_MODE:
         return handle_command_do_set_mode(packet);
@@ -5304,6 +5308,7 @@ void GCS::try_send_queued_message_for_type(MAV_MISSION_TYPE type) const {
 bool GCS_MAVLINK::try_send_mission_message(const enum ap_message id)
 {
     switch (id) {
+#if AP_MISSION_ENABLED
     case MSG_CURRENT_WAYPOINT:
     {
         CHECK_PAYLOAD_SIZE(MISSION_CURRENT);
@@ -5321,6 +5326,7 @@ bool GCS_MAVLINK::try_send_mission_message(const enum ap_message id)
         CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
         gcs().try_send_queued_message_for_type(MAV_MISSION_TYPE_MISSION);
         break;
+#endif
 #if HAL_RALLY_ENABLED
     case MSG_NEXT_MISSION_REQUEST_RALLY:
         CHECK_PAYLOAD_SIZE(MISSION_REQUEST);
@@ -6721,11 +6727,13 @@ void GCS_MAVLINK::send_high_latency2() const
     const int8_t battery_remaining = battery_remaining_pct(AP_BATT_PRIMARY_INSTANCE);
 #endif
 
-    AP_Mission *mission = AP::mission();
     uint16_t current_waypoint = 0;
+#if AP_MISSION_ENABLED
+    AP_Mission *mission = AP::mission();
     if (mission != nullptr) {
         current_waypoint = mission->get_current_nav_index();
     }
+#endif
 
     uint32_t present;
     uint32_t enabled;
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 7a9e38b51922f6..8960a881ab45cb 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -2,6 +2,7 @@
 
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_Relay/AP_Relay_config.h>
+#include <AP_Mission/AP_Mission_config.h>
 
 #ifndef HAL_GCS_ENABLED
 #define HAL_GCS_ENABLED 1
@@ -25,7 +26,7 @@
 // The command was added to the spec in January 2019 and to MAVLink in
 // ArduPilot in 4.1.x
 #ifndef AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
-#define AP_MAVLINK_MISSION_SET_CURRENT_ENABLED 1
+#define AP_MAVLINK_MISSION_SET_CURRENT_ENABLED AP_MISSION_ENABLED
 #endif
 
 // AUTOPILOT_VERSION_REQUEST is slated to be removed; an instance of

From eec43c204f5fceca169c6e4a0f09a65746e7ebec Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 12 Jul 2023 15:40:32 +1000
Subject: [PATCH 0371/1335] AP_Compass: cope with AP_INERTIAL_SENSOR being 0

---
 libraries/AP_Compass/AP_Compass_HMC5843.cpp | 6 ++++--
 libraries/AP_Compass/AP_Compass_HMC5843.h   | 5 +++++
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.cpp b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
index a9c3d4b10c1e67..6c8f91764598bc 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.cpp
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
@@ -126,6 +126,7 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev
     return sensor;
 }
 
+#if AP_INERTIALSENSOR_ENABLED
 AP_Compass_Backend *AP_Compass_HMC5843::probe_mpu6000(enum Rotation rotation)
 {
     AP_InertialSensor &ins = *AP_InertialSensor::get_singleton();
@@ -145,6 +146,7 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe_mpu6000(enum Rotation rotation)
 
     return sensor;
 }
+#endif
 
 bool AP_Compass_HMC5843::init()
 {
@@ -488,6 +490,7 @@ AP_HAL::Device::PeriodicHandle AP_HMC5843_BusDriver_HALDevice::register_periodic
 }
 
 
+#if AP_INERTIALSENSOR_ENABLED
 /* HMC5843 on an auxiliary bus of IMU driver */
 AP_HMC5843_BusDriver_Auxiliary::AP_HMC5843_BusDriver_Auxiliary(AP_InertialSensor &ins, uint8_t backend_id,
                                                                uint8_t addr)
@@ -496,14 +499,12 @@ AP_HMC5843_BusDriver_Auxiliary::AP_HMC5843_BusDriver_Auxiliary(AP_InertialSensor
      * Only initialize members. Fails are handled by configure or while
      * getting the semaphore
      */
-#if AP_INERTIALSENSOR_ENABLED
     _bus = ins.get_auxiliary_bus(backend_id);
     if (!_bus) {
         return;
     }
 
     _slave = _bus->request_next_slave(addr);
-#endif
 }
 
 AP_HMC5843_BusDriver_Auxiliary::~AP_HMC5843_BusDriver_Auxiliary()
@@ -585,5 +586,6 @@ uint32_t AP_HMC5843_BusDriver_Auxiliary::get_bus_id(void) const
 {
     return _bus->get_bus_id();
 }
+#endif  // AP_INERTIALSENSOR_ENABLED
 
 #endif  // AP_COMPASS_HMC5843_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.h b/libraries/AP_Compass/AP_Compass_HMC5843.h
index e3427c2d3d529a..a2750c6ceffff2 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.h
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.h
@@ -13,6 +13,7 @@
 #include <AP_HAL/Device.h>
 
 #include "AP_Compass_Backend.h"
+#include <AP_InertialSensor/AP_InertialSensor_config.h>
 
 class AuxiliaryBus;
 class AuxiliaryBusSlave;
@@ -26,7 +27,9 @@ class AP_Compass_HMC5843 : public AP_Compass_Backend
                                      bool force_external,
                                      enum Rotation rotation);
 
+#if AP_INERTIALSENSOR_ENABLED
     static AP_Compass_Backend *probe_mpu6000(enum Rotation rotation);
+#endif
 
     static constexpr const char *name = "HMC5843";
 
@@ -124,6 +127,7 @@ class AP_HMC5843_BusDriver_HALDevice : public AP_HMC5843_BusDriver
     AP_HAL::OwnPtr<AP_HAL::Device> _dev;
 };
 
+#if AP_INERTIALSENSOR_ENABLED
 class AP_HMC5843_BusDriver_Auxiliary : public AP_HMC5843_BusDriver
 {
 public:
@@ -153,5 +157,6 @@ class AP_HMC5843_BusDriver_Auxiliary : public AP_HMC5843_BusDriver
     AuxiliaryBusSlave *_slave;
     bool _started;
 };
+#endif  // AP_INERTIALSENSOR_ENABLED
 
 #endif // AP_COMPASS_HMC5843_ENABLED

From 1e410301675bd2bc3ea1d9011fd9962777fba28a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 12 Jul 2023 15:40:32 +1000
Subject: [PATCH 0372/1335] AP_AHRS: cope with AP_INERTIAL_SENSOR being 0

---
 libraries/AP_AHRS/AP_AHRS_Backend.h | 8 ++++++++
 libraries/AP_AHRS/AP_AHRS_config.h  | 4 ++--
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_Backend.h b/libraries/AP_AHRS/AP_AHRS_Backend.h
index 0fb02eae9b2761..ae71df9c0a0124 100644
--- a/libraries/AP_AHRS/AP_AHRS_Backend.h
+++ b/libraries/AP_AHRS/AP_AHRS_Backend.h
@@ -76,12 +76,20 @@ class AP_AHRS_Backend
 
     // get the index of the current primary accelerometer sensor
     virtual uint8_t get_primary_accel_index(void) const {
+#if AP_INERTIALSENSOR_ENABLED
         return AP::ins().get_primary_accel();
+#else
+        return 0;
+#endif
     }
 
     // get the index of the current primary gyro sensor
     virtual uint8_t get_primary_gyro_index(void) const {
+#if AP_INERTIALSENSOR_ENABLED
         return AP::ins().get_primary_gyro();
+#else
+        return 0;
+#endif
     }
 
     // Methods
diff --git a/libraries/AP_AHRS/AP_AHRS_config.h b/libraries/AP_AHRS/AP_AHRS_config.h
index 559d0403b0566e..7338a02787a875 100644
--- a/libraries/AP_AHRS/AP_AHRS_config.h
+++ b/libraries/AP_AHRS/AP_AHRS_config.h
@@ -21,11 +21,11 @@
 #endif
 
 #ifndef HAL_NAVEKF3_AVAILABLE
-#define HAL_NAVEKF3_AVAILABLE 1
+#define HAL_NAVEKF3_AVAILABLE AP_INERTIALSENSOR_ENABLED
 #endif
 
 #ifndef AP_AHRS_SIM_ENABLED
-#define AP_AHRS_SIM_ENABLED AP_SIM_ENABLED
+#define AP_AHRS_SIM_ENABLED AP_SIM_ENABLED && AP_INERTIALSENSOR_ENABLED
 #endif
 
 #ifndef AP_AHRS_POSITION_RESET_ENABLED

From f4d51fd8f5867b06daf6dc7035d4d445fee534c1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 12 Jul 2023 16:23:58 +1000
Subject: [PATCH 0373/1335] AP_OpticalFlow: cope if AP_AHRS_ENABLED is 0

---
 libraries/AP_OpticalFlow/AP_OpticalFlow.cpp        | 2 ++
 libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp | 4 ++++
 2 files changed, 6 insertions(+)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
index 137a5778b55c8f..be86676d59ac56 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
@@ -267,6 +267,7 @@ void AP_OpticalFlow::update_state(const OpticalFlow_state &state)
     _state = state;
     _last_update_ms = AP_HAL::millis();
 
+#if AP_AHRS_ENABLED
     // write to log and send to EKF if new data has arrived
     AP::ahrs().writeOptFlowMeas(quality(),
                                 _state.flowRate,
@@ -274,6 +275,7 @@ void AP_OpticalFlow::update_state(const OpticalFlow_state &state)
                                 _last_update_ms,
                                 get_pos_offset(),
                                 get_height_override());
+#endif
 #if HAL_LOGGING_ENABLED
     Log_Write_Optflow();
 #endif
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
index 1095e44227293b..5a976c8a3eb2f4 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
@@ -287,7 +287,11 @@ void AP_OpticalFlow_Pixart::timer(void)
 
     uint32_t dt_us = last_burst_us - integral.last_frame_us;
     float dt = dt_us * 1.0e-6;
+#if AP_AHRS_ENABLED
     const Vector3f &gyro = AP::ahrs().get_gyro();
+#else
+    const Vector3f &gyro = AP::ins().get_gyro();
+#endif
 
     {
         WITH_SEMAPHORE(_sem);

From dd0a7a551ba3e4d0834a2e60c4b1aa203fb783a6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 3 Jan 2024 11:41:04 +1100
Subject: [PATCH 0374/1335] AP_AHRS: do not compile AP_AHRS.cpp if
 AP_AHRS_ENABLED is 0

on Periph we end up not having a default backend, which is a compilation failure
---
 libraries/AP_AHRS/AP_AHRS.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 61255e7b060533..93591c20263eaa 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -18,6 +18,11 @@
  *  ArduPilot
  *
  */
+
+#include "AP_AHRS_config.h"
+
+#if AP_AHRS_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include "AP_AHRS.h"
 #include "AP_AHRS_View.h"
@@ -3544,3 +3549,5 @@ AP_AHRS &ahrs()
 }
 
 }
+
+#endif  // AP_AHRS_ENABLED

From 24f7ff7b61d8c3a24e912aa044a2467545cf9454 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 3 Jan 2024 13:24:13 +1100
Subject: [PATCH 0375/1335] autotest: Use contexts to control script lifetimes
 in networking tests

this way if the test gets an exception part-way through the scripts are removed from the directories appropriately
---
 Tools/autotest/rover.py | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index eb398452bf0fc9..8fbf383e10ee41 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -6646,7 +6646,8 @@ def NetworkingWebServer(self):
         '''web server'''
         applet_script = "net_webserver.lua"
 
-        self.install_applet_script(applet_script)
+        self.context_push()
+        self.install_applet_script_context(applet_script)
 
         self.set_parameters({
             "SCR_ENABLE": 1,
@@ -6672,14 +6673,15 @@ def NetworkingWebServer(self):
         self.TestWebServer("http://127.0.0.1:8081")
 
         self.context_pop()
-        self.remove_installed_script(applet_script)
+        self.context_pop()
         self.reboot_sitl()
 
     def NetworkingWebServerPPP(self):
         '''web server over PPP'''
         applet_script = "net_webserver.lua"
 
-        self.install_applet_script(applet_script)
+        self.context_push()
+        self.install_applet_script_context(applet_script)
 
         self.set_parameters({
             "SCR_ENABLE": 1,
@@ -6718,7 +6720,7 @@ def NetworkingWebServerPPP(self):
         self.TestWebServer("http://192.168.14.13:8081")
 
         self.context_pop()
-        self.remove_installed_script(applet_script)
+        self.context_pop()
 
         # restore rover without ppp enabled for next test
         os.unlink('build/sitl/bin/ardurover')

From ed1ae3b5f1c8bce6fb16192f384ca05ed1d60b51 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 25 May 2023 11:27:45 +1000
Subject: [PATCH 0376/1335] chibios_hwdef.py: add quiet option to remove
 parsing debug output

---
 .../hwdef/scripts/chibios_hwdef.py            | 51 +++++++++++--------
 .../hwdef/scripts/dma_resolver.py             |  5 +-
 2 files changed, 33 insertions(+), 23 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 751ca37fc4f35f..bac4ff41e34dc6 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -25,12 +25,13 @@ class ChibiOSHWDef(object):
     f1_vtypes = ['CRL', 'CRH', 'ODR']
     af_labels = ['USART', 'UART', 'SPI', 'I2C', 'SDIO', 'SDMMC', 'OTG', 'JT', 'TIM', 'CAN', 'QUADSPI', 'OCTOSPI', 'ETH', 'MCO']
 
-    def __init__(self, bootloader=False, signed_fw=False, outdir=None, hwdef=[], default_params_filepath=None):
+    def __init__(self, quiet=False, bootloader=False, signed_fw=False, outdir=None, hwdef=[], default_params_filepath=None):
         self.outdir = outdir
         self.hwdef = hwdef
         self.bootloader = bootloader
         self.signed_fw = signed_fw
         self.default_params_filepath = default_params_filepath
+        self.quiet = quiet
 
         self.default_gpio = ['INPUT', 'FLOATING']
 
@@ -771,7 +772,7 @@ def get_ram_map(self):
             if ram_map is not None:
                 return ram_map
         elif int(self.env_vars.get('USE_ALT_RAM_MAP', 0)) == 1:
-            print("Using ALT_RAM_MAP")
+            self.progress("Using ALT_RAM_MAP")
             return self.get_mcu_config('ALT_RAM_MAP', True)
         return self.get_mcu_config('RAM_MAP', True)
 
@@ -1037,7 +1038,6 @@ def write_mcu_config(self, f):
                     if define == 'AP_NETWORKING_ENABLED' and value == 1:
                         self.enable_networking(f)
 
-
         if self.intdefines.get('HAL_USE_USB_MSD', 0) == 1:
             self.build_flags.append('USE_USB_MSD=yes')
 
@@ -1163,7 +1163,7 @@ def write_mcu_config(self, f):
             cortex = self.get_mcu_config('CORTEX')
             self.env_vars['CPU_FLAGS'] = self.get_mcu_config('CPU_FLAGS').split()
             build_info['MCU'] = cortex
-            print("MCU Flags: %s %s" % (cortex, self.env_vars['CPU_FLAGS']))
+            self.progress("MCU Flags: %s %s" % (cortex, self.env_vars['CPU_FLAGS']))
         elif self.mcu_series.startswith("STM32F1"):
             cortex = "cortex-m3"
             self.env_vars['CPU_FLAGS'] = ["-mcpu=%s" % cortex]
@@ -1381,7 +1381,7 @@ def write_ldscript(self, fname):
 
         self.env_vars['FLASH_TOTAL'] = flash_length * 1024
 
-        print("Generating ldscript.ld")
+        self.progress("Generating ldscript.ld")
         f = open(fname, 'w')
         ram0_start = ram_map[0][0]
         ram0_len = ram_map[0][1] * 1024
@@ -1555,7 +1555,7 @@ def write_WSPI_table(self, f):
         devlist = []
         for dev in self.wspidev:
             if len(dev) != 6:
-                print("Badly formed WSPIDEV line %s" % dev)
+                self.progress("Badly formed WSPIDEV line %s" % dev)
             name = '"' + dev[0] + '"'
             bus = dev[1]
             mode = dev[2]
@@ -1596,7 +1596,7 @@ def write_WSPI_config(self, f):
             return
 
         for t in list(self.bytype.keys()) + list(self.alttype.keys()):
-            print(t)
+            self.progress(t)
             if t.startswith('QUADSPI') or t.startswith('OCTOSPI'):
                 self.wspi_list.append(t)
 
@@ -1999,7 +1999,7 @@ def write_UART_config_bootloader(self, f):
     def write_I2C_config(self, f):
         '''write I2C config defines'''
         if not self.have_type_prefix('I2C'):
-            print("No I2C peripherals")
+            self.progress("No I2C peripherals")
             f.write('''
 #ifndef HAL_USE_I2C
 #define HAL_USE_I2C FALSE
@@ -2076,7 +2076,7 @@ def write_PWM_config(self, f, ordered_timers):
 
         f.write('#define HAL_PWM_COUNT %u\n' % len(pwm_out))
         if not pwm_out and not alarm:
-            print("No PWM output defined")
+            self.progress("No PWM output defined")
             f.write('''
 #ifndef HAL_USE_PWM
 #define HAL_USE_PWM FALSE
@@ -2527,7 +2527,7 @@ def write_all_lines(self, hwdat):
 
     def write_hwdef_header(self, outfilename):
         '''write hwdef header file'''
-        print("Writing hwdef setup in %s" % outfilename)
+        self.progress("Writing hwdef setup in %s" % outfilename)
         tmpfile = outfilename + ".tmp"
         f = open(tmpfile, 'w')
 
@@ -2600,7 +2600,8 @@ def write_hwdef_header(self, outfilename):
                 self.mcu_type,
                 dma_exclude=self.get_dma_exclude(self.periph_list),
                 dma_priority=self.get_config('DMA_PRIORITY', default='TIM* SPI*', spaces=True),
-                dma_noshare=self.dma_noshare
+                dma_noshare=self.dma_noshare,
+                quiet=self.quiet,
             )
 
         if not self.is_bootloader_fw():
@@ -2720,7 +2721,7 @@ def write_hwdef_header(self, outfilename):
         # see if we ended up with the same file, on an unnecessary reconfigure
         try:
             if filecmp.cmp(outfilename, tmpfile):
-                print("No change in hwdef.h")
+                self.progress("No change in hwdef.h")
                 os.unlink(tmpfile)
                 return
         except Exception:
@@ -2824,13 +2825,13 @@ def write_processed_defaults_file(self, filepath):
         defaults_abspath = None
         if os.path.exists(defaults_path):
             defaults_abspath = os.path.abspath(self.default_params_filepath)
-            print("Default parameters path from command line: %s" % self.default_params_filepath)
+            self.progress("Default parameters path from command line: %s" % self.default_params_filepath)
         elif os.path.exists(defaults_filename):
             defaults_abspath = os.path.abspath(defaults_filename)
-            print("Default parameters path from hwdef: %s" % defaults_filename)
+            self.progress("Default parameters path from hwdef: %s" % defaults_filename)
 
         if defaults_abspath is None:
-            print("No default parameter file found")
+            self.progress("No default parameter file found")
             return
 
         content = self.get_processed_defaults_file(defaults_abspath)
@@ -3002,7 +3003,7 @@ def process_line(self, line):
             self.romfs_wildcard(a[1])
         elif a[0] == 'undef':
             for u in a[1:]:
-                print("Removing %s" % u)
+                self.progress("Removing %s" % u)
                 self.config.pop(u, '')
                 self.bytype.pop(u, '')
                 self.bylabel.pop(u, '')
@@ -3034,7 +3035,7 @@ def process_line(self, line):
                 if u == 'AIRSPEED':
                     self.airspeed_list = []
         elif a[0] == 'env':
-            print("Adding environment %s" % ' '.join(a[1:]))
+            self.progress("Adding environment %s" % ' '.join(a[1:]))
             if len(a[1:]) < 2:
                 self.error("Bad env line for %s" % a[0])
             name = a[1]
@@ -3045,6 +3046,11 @@ def process_line(self, line):
                 value = int(value, 0)
             self.env_vars[name] = value
 
+    def progress(self, message):
+        if self.quiet:
+            return
+        print(message)
+
     def process_file(self, filename):
         '''process a hwdef.dat file'''
         try:
@@ -3063,7 +3069,7 @@ def process_file(self, filename):
                     dir = os.path.dirname(filename)
                     include_file = os.path.normpath(
                         os.path.join(dir, include_file))
-                print("Including %s" % include_file)
+                self.progress("Including %s" % include_file)
                 self.process_file(include_file)
             else:
                 self.process_line(line)
@@ -3087,7 +3093,7 @@ def add_bootloader_defaults(self, f):
         self.add_firmware_defaults_from_file(f, "defaults_bootloader.h", "bootloader")
 
     def add_firmware_defaults_from_file(self, f, filename, description):
-        print("Setting up as %s" % description)
+        self.progress("Setting up as %s" % description)
 
         dirpath = os.path.dirname(os.path.realpath(__file__))
         filepath = os.path.join(dirpath, filename)
@@ -3144,7 +3150,7 @@ def run(self):
             self.error("Missing MCU type in config")
 
         self.mcu_type = self.get_config('MCU', 1)
-        print("Setup for MCU %s" % self.mcu_type)
+        self.progress("Setup for MCU %s" % self.mcu_type)
 
         # build a list for peripherals for DMA resolver
         self.periph_list = self.build_peripheral_list()
@@ -3186,6 +3192,8 @@ def run(self):
         'hwdef', type=str, nargs='+', default=None, help='hardware definition file')
     parser.add_argument(
         '--params', type=str, default=None, help='user default params path')
+    parser.add_argument(
+        '--quiet', action='store_true', default=False, help='quiet running')
 
     args = parser.parse_args()
 
@@ -3194,6 +3202,7 @@ def run(self):
         bootloader=args.bootloader,
         signed_fw=args.signed_fw,
         hwdef=args.hwdef,
-        default_params_filepath=args.params
+        default_params_filepath=args.params,
+        quiet=args.quiet,
     )
     c.run()
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
index 4f78382deb3c56..96a3673148afe9 100755
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
@@ -293,7 +293,7 @@ def forbidden_list(p, peripheral_list):
 
 
 def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
-                     dma_priority='', dma_noshare=[]):
+                     dma_priority='', dma_noshare=[], quiet=False):
     '''write out a DMA resolver header file'''
     global dma_map, have_DMAMUX, has_bdshot
     timer_ch_periph = []
@@ -331,7 +331,8 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
 
         dma_map = generate_DMAMUX_map(peripheral_list, noshare_list, dma_exclude, stream_ofs)
 
-    print("Writing DMA map")
+    if not quiet:
+        print("Writing DMA map")
     unassigned = []
     curr_dict = {}
 

From 8fb1f6f02c0ee03a9203c8152185142222e1ff53 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 3 Jan 2024 11:59:44 +1100
Subject: [PATCH 0377/1335] AP_Camera: correct compilation when
 AP_CAMERA_RELAY_ENABLED is 0

... like on skyviper-v2450
---
 libraries/AP_Camera/AP_Camera.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
index 76f3524e22e2b0..d16d29e441e89a 100644
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@@ -781,11 +781,13 @@ bool AP_Camera::get_legacy_relay_index(int8_t &index) const
     // Copter, Plane, Sub and Rover all have both relay and camera and all init relay first
     // This will only be a issue if the relay and camera conversion were done at once, if the user skipped 4.4
     for (uint8_t i = 0; i < AP_CAMERA_MAX_INSTANCES; i++) {
+#if AP_CAMERA_RELAY_ENABLED
         if ((CameraType)_params[i].type.get() == CameraType::RELAY) {
             // Camera was hard coded to relay 0
             index = 0;
             return true;
         }
+#endif
     }
     return false;
 }

From b43f4f78a3bb5757abf2330f34047a7846d625c0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 14 Sep 2023 21:05:59 +1000
Subject: [PATCH 0378/1335] SITL: add missing includes for SITL object

---
 libraries/SITL/SIM_JSON_Master.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/SITL/SIM_JSON_Master.cpp b/libraries/SITL/SIM_JSON_Master.cpp
index 835dae013644b5..885e469564c168 100644
--- a/libraries/SITL/SIM_JSON_Master.cpp
+++ b/libraries/SITL/SIM_JSON_Master.cpp
@@ -22,6 +22,8 @@
 
 #include <AP_Logger/AP_Logger.h>
 #include <errno.h>
+#include <stdio.h>
+#include <SITL/SITL.h>
 
 using namespace SITL;
 

From c22794d0788625b1503ff5dd8ab99c0d04fb1596 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 14 Sep 2023 21:22:45 +1000
Subject: [PATCH 0379/1335] AP_Periph: add missing SITL includes

these are required for compilation when other things are introduced
---
 Tools/AP_Periph/AP_Periph.h   | 3 +++
 Tools/AP_Periph/hwing_esc.cpp | 2 ++
 2 files changed, 5 insertions(+)

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index 97c89cdd3b5b24..a025883ad7347c 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -37,6 +37,9 @@
 #include "batt_balance.h"
 #include "networking.h"
 #include "serial_options.h"
+#if AP_SIM_ENABLED
+#include <SITL/SITL.h>
+#endif
 
 #include <AP_NMEA_Output/AP_NMEA_Output.h>
 #if HAL_NMEA_OUTPUT_ENABLED && !(HAL_GCS_ENABLED && defined(HAL_PERIPH_ENABLE_GPS))
diff --git a/Tools/AP_Periph/hwing_esc.cpp b/Tools/AP_Periph/hwing_esc.cpp
index 871c2e0517c45f..a1e2d4a4721078 100644
--- a/Tools/AP_Periph/hwing_esc.cpp
+++ b/Tools/AP_Periph/hwing_esc.cpp
@@ -14,6 +14,8 @@
 
 #ifdef HAL_PERIPH_ENABLE_HWESC
 
+#include <SITL/SITL.h>
+
 extern const AP_HAL::HAL& hal;
 
 #define TELEM_HEADER 0x9B

From 3ed8a434cef8859770fa84a687392ba65e5365b6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 14 Sep 2023 21:05:58 +1000
Subject: [PATCH 0380/1335] AP_AHRS: add missing SITL header include

the singleton is used in this file
---
 libraries/AP_AHRS/AP_AHRS.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 93591c20263eaa..d0985bd80315bd 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -39,6 +39,9 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_CustomRotations/AP_CustomRotations.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#include <SITL/SITL.h>
+#endif
 
 #define ATTITUDE_CHECK_THRESH_ROLL_PITCH_RAD radians(10)
 #define ATTITUDE_CHECK_THRESH_YAW_RAD radians(20)

From 68d8a2606d26d1dfb13f7834585990328f837cca Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 1 Aug 2023 07:32:58 +1000
Subject: [PATCH 0381/1335] AP_InertialSensor: SITL: call logging singleton
 methods only if available

---
 libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
index 583ad75a42a953..d72014fde4acc1 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
@@ -426,10 +426,12 @@ void AP_InertialSensor_SITL::read_gyro_from_file()
 
     if (ret <= 0) {
         if (sitl->gyro_file_rw == SITL::SIM::INSFileMode::INS_FILE_READ_STOP_ON_EOF) {
+#if HAL_LOGGING_ENABLED
             //stop logging
             if (AP_Logger::get_singleton()) {
                 AP::logger().StopLogging();
             }
+#endif
             exit(0);
         }
         lseek(gyro_fd, 0, SEEK_SET);
@@ -492,10 +494,12 @@ void AP_InertialSensor_SITL::read_accel_from_file()
 
     if (ret <= 0) {
         if (sitl->accel_file_rw == SITL::SIM::INSFileMode::INS_FILE_READ_STOP_ON_EOF) {
+#if HAL_LOGGING_ENABLED
             //stop logging
             if (AP_Logger::get_singleton()) {
                 AP::logger().StopLogging();
             }
+#endif
             exit(0);
         }
         lseek(accel_fd, 0, SEEK_SET);

From 6fe7a1408ec158fc194716d4c2ae4d995e30f0a3 Mon Sep 17 00:00:00 2001
From: jamming <jianbing.pan@holybro.com>
Date: Tue, 19 Dec 2023 10:19:22 +0800
Subject: [PATCH 0382/1335] hwdef: Add support for BMI088 on Pixhawk6c

---
 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
index a4b8e930d0f682..4677c93b2ab37a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
@@ -239,6 +239,9 @@ SPIDEV ramtron  SPI2 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ
 # 2 IMUs
 IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90
 IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_PITCH_180
+# BMI055 is replaced by BMI088 on the lastest hardware revision
+# They use the same CPU signal pins
+IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_PITCH_180
 
 define HAL_DEFAULT_INS_FAST_SAMPLE 3
 

From f9fdd152ee8fc62aa76b582b9788844863527186 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Wed, 3 Jan 2024 12:36:16 -0700
Subject: [PATCH 0383/1335] AP_Relay: allow hwdef to provide more then 6 relays

---
 libraries/AP_Relay/AP_Relay.cpp | 72 +++++++++++++++++++++++++++++++++
 libraries/AP_Relay/AP_Relay.h   |  8 +++-
 2 files changed, 79 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 921163fbd6262f..e16d0248c20fe8 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -81,25 +81,95 @@ const AP_Param::GroupInfo AP_Relay::var_info[] = {
     // @Path: AP_Relay_Params.cpp
     AP_SUBGROUPINFO(_params[0], "1_", 7, AP_Relay, AP_Relay_Params),
 
+#if AP_RELAY_NUM_RELAYS > 1
     // @Group: 2_
     // @Path: AP_Relay_Params.cpp
     AP_SUBGROUPINFO(_params[1], "2_", 8, AP_Relay, AP_Relay_Params),
+#endif
 
+#if AP_RELAY_NUM_RELAYS > 2
     // @Group: 3_
     // @Path: AP_Relay_Params.cpp
     AP_SUBGROUPINFO(_params[2], "3_", 9, AP_Relay, AP_Relay_Params),
+#endif
 
+#if AP_RELAY_NUM_RELAYS > 3
     // @Group: 4_
     // @Path: AP_Relay_Params.cpp
     AP_SUBGROUPINFO(_params[3], "4_", 10, AP_Relay, AP_Relay_Params),
+#endif
 
+#if AP_RELAY_NUM_RELAYS > 4
     // @Group: 5_
     // @Path: AP_Relay_Params.cpp
     AP_SUBGROUPINFO(_params[4], "5_", 11, AP_Relay, AP_Relay_Params),
+#endif
 
+#if AP_RELAY_NUM_RELAYS > 5
     // @Group: 6_
     // @Path: AP_Relay_Params.cpp
     AP_SUBGROUPINFO(_params[5], "6_", 12, AP_Relay, AP_Relay_Params),
+#endif
+
+#if AP_RELAY_NUM_RELAYS > 6
+    // @Group: 7_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[6], "7_", 13, AP_Relay, AP_Relay_Params),
+#endif
+
+#if AP_RELAY_NUM_RELAYS > 7
+    // @Group: 8_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[7], "8_", 14, AP_Relay, AP_Relay_Params),
+#endif
+
+#if AP_RELAY_NUM_RELAYS > 8
+    // @Group: 9_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[8], "9_", 15, AP_Relay, AP_Relay_Params),
+#endif
+
+#if AP_RELAY_NUM_RELAYS > 9
+    // @Group: 10_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[9], "10_", 16, AP_Relay, AP_Relay_Params),
+#endif
+
+#if AP_RELAY_NUM_RELAYS > 10
+    // @Group: 11_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[10], "11_", 17, AP_Relay, AP_Relay_Params),
+#endif
+
+#if AP_RELAY_NUM_RELAYS > 11
+    // @Group: 12_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[11], "12_", 18, AP_Relay, AP_Relay_Params),
+#endif
+
+#if AP_RELAY_NUM_RELAYS > 12
+    // @Group: 13_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[12], "13_", 19, AP_Relay, AP_Relay_Params),
+#endif
+
+#if AP_RELAY_NUM_RELAYS > 13
+    // @Group: 14_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[13], "14_", 20, AP_Relay, AP_Relay_Params),
+#endif
+
+#if AP_RELAY_NUM_RELAYS > 14
+    // @Group: 15_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[14], "15_", 21, AP_Relay, AP_Relay_Params),
+#endif
+
+#if AP_RELAY_NUM_RELAYS > 15
+    // @Group: 16_
+    // @Path: AP_Relay_Params.cpp
+    AP_SUBGROUPINFO(_params[15], "16_", 22, AP_Relay, AP_Relay_Params),
+#endif
 
     AP_GROUPEND
 };
@@ -402,6 +472,8 @@ bool AP_Relay::enabled(AP_Relay_Params::FUNCTION function) const
 // supplied link for the message.
 bool AP_Relay::send_relay_status(const GCS_MAVLINK &link) const
 {
+    static_assert(AP_RELAY_NUM_RELAYS <= 16, "Too many relays for MAVLink status reporting to work.");
+
     if (!HAVE_PAYLOAD_SPACE(link.get_chan(), RELAY_STATUS)) {
         return false;
     }
diff --git a/libraries/AP_Relay/AP_Relay.h b/libraries/AP_Relay/AP_Relay.h
index 51e08a4015a01d..d53bdb408c080b 100644
--- a/libraries/AP_Relay/AP_Relay.h
+++ b/libraries/AP_Relay/AP_Relay.h
@@ -17,7 +17,13 @@
 #include <AP_Relay/AP_Relay_Params.h>
 #include <AP_Common/Bitmask.h>
 
-#define AP_RELAY_NUM_RELAYS 6
+#ifndef AP_RELAY_NUM_RELAYS
+  #define AP_RELAY_NUM_RELAYS 6
+#endif
+
+#if AP_RELAY_NUM_RELAYS < 1
+  #error There must be at least one relay instance if using AP_Relay
+#endif
 
 /// @class	AP_Relay
 /// @brief	Class to manage the ArduPilot relay

From 4765ba821840c3a5807ed110f0f62e230e39b8fc Mon Sep 17 00:00:00 2001
From: muramura <ma2maru@gmail.com>
Date: Wed, 3 Jan 2024 19:07:35 +0900
Subject: [PATCH 0384/1335] AP_InertialSensor: Specify the number of arrays by
 sizeof

---
 libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
index d72014fde4acc1..c6b994413a8bb9 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_SITL.cpp
@@ -409,7 +409,7 @@ void AP_InertialSensor_SITL::read_gyro_from_file()
 {
     if (gyro_fd == -1) {
         char namebuf[32];
-        snprintf(namebuf, 32, "/tmp/gyro%d.dat", gyro_instance);
+        snprintf(namebuf, sizeof(namebuf), "/tmp/gyro%d.dat", gyro_instance);
         gyro_fd = AP::FS().open(namebuf, O_RDONLY);
         if (gyro_fd == -1) {
             AP_HAL::panic("gyro data file %s not found", namebuf);
@@ -462,7 +462,7 @@ void AP_InertialSensor_SITL::write_gyro_to_file(const Vector3f& gyro)
 {
     if (gyro_fd == -1) {
         char namebuf[32];
-        snprintf(namebuf, 32, "/tmp/gyro%d.dat", gyro_instance);
+        snprintf(namebuf, sizeof(namebuf), "/tmp/gyro%d.dat", gyro_instance);
         gyro_fd = open(namebuf, O_WRONLY|O_TRUNC|O_CREAT, S_IRWXU|S_IRGRP|S_IROTH);
     }
 
@@ -477,7 +477,7 @@ void AP_InertialSensor_SITL::read_accel_from_file()
 {
     if (accel_fd == -1) {
         char namebuf[32];
-        snprintf(namebuf, 32, "/tmp/accel%d.dat", accel_instance);
+        snprintf(namebuf, sizeof(namebuf), "/tmp/accel%d.dat", accel_instance);
         accel_fd = open(namebuf, O_RDONLY|O_CLOEXEC);
         if (accel_fd == -1) {
             AP_HAL::panic("accel data file %s not found", namebuf);
@@ -534,7 +534,7 @@ void AP_InertialSensor_SITL::write_accel_to_file(const Vector3f& accel)
 
     if (accel_fd == -1) {
         char namebuf[32];
-        snprintf(namebuf, 32, "/tmp/accel%d.dat", accel_instance);
+        snprintf(namebuf, sizeof(namebuf), "/tmp/accel%d.dat", accel_instance);
         accel_fd = open(namebuf, O_WRONLY|O_TRUNC|O_CREAT, S_IRWXU|S_IRGRP|S_IROTH);
     }
 

From e55702fe3c90f5de2f84a0b305c2336588b63b3a Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Wed, 3 Jan 2024 07:12:12 -0600
Subject: [PATCH 0385/1335] AP_Camera:fix OPTIONS bitmask

---
 libraries/AP_Camera/AP_Camera_Backend.h  | 3 +--
 libraries/AP_Camera/AP_Camera_Params.cpp | 2 +-
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Camera/AP_Camera_Backend.h b/libraries/AP_Camera/AP_Camera_Backend.h
index 067fa15a080eaa..a6b4c8a60a3200 100644
--- a/libraries/AP_Camera/AP_Camera_Backend.h
+++ b/libraries/AP_Camera/AP_Camera_Backend.h
@@ -37,8 +37,7 @@ class AP_Camera_Backend
     CLASS_NO_COPY(AP_Camera_Backend);
 
     enum CAMOPTIONS {
-        NONE = 0,
-        REC_ARM_DISARM = 1, // Recording start/stop on Arm/Disarm
+        REC_ARM_DISARM = 0, // Recording start/stop on Arm/Disarm
     };
 
     // init - performs any required initialisation
diff --git a/libraries/AP_Camera/AP_Camera_Params.cpp b/libraries/AP_Camera/AP_Camera_Params.cpp
index 7b32ca60cf1bb8..7fb915082c991e 100644
--- a/libraries/AP_Camera/AP_Camera_Params.cpp
+++ b/libraries/AP_Camera/AP_Camera_Params.cpp
@@ -77,7 +77,7 @@ const AP_Param::GroupInfo AP_Camera_Params::var_info[] = {
     // @Param: _OPTIONS
     // @DisplayName: Camera options
     // @Description: Camera options bitmask
-    // @Bitmask: 0:None,1: Recording Starts at arming and stops at disarming
+    // @Bitmask: 0:Recording Starts at arming and stops at disarming
     // @User: Standard
     AP_GROUPINFO("_OPTIONS", 10, AP_Camera_Params, options, 0),
 

From b1f1ea7859bf57aa2c81782c41dbe5866f5598f5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 4 Jan 2024 08:46:59 +1100
Subject: [PATCH 0386/1335] AP_Networking: don't build lwip code if not needed

this saves a bit of compile time, but also means devs not doing
networking don't need to update the submodules
---
 libraries/AP_Networking/AP_Networking_Config.h     | 2 ++
 libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp | 5 +++++
 2 files changed, 7 insertions(+)

diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index ea77791a2b91b5..b9fdbd6fd3fb20 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -50,6 +50,8 @@
 #define AP_NETWORKING_SOCKETS_ENABLED AP_NETWORKING_ENABLED
 #endif
 
+#define AP_NETWORKING_NEED_LWIP (AP_NETWORKING_BACKEND_CHIBIOS || AP_NETWORKING_BACKEND_PPP)
+
 // ---------------------------
 // IP Features
 // ---------------------------
diff --git a/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp b/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
index d9b517b47fbf54..83053a9ee2629e 100644
--- a/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
+++ b/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
@@ -4,6 +4,9 @@
  */
 
 #include <AP_HAL/AP_HAL.h>
+#include <AP_Networking/AP_Networking_Config.h>
+
+#if AP_NETWORKING_NEED_LWIP
 #include <AP_HAL/Semaphores.h>
 #include <AP_Math/AP_Math.h>
 
@@ -385,3 +388,5 @@ sys_arch_unprotect(sys_prot_t pval)
     }
 }
 
+#endif // AP_NETWORKING_NEED_LWIP
+

From c557e67aff87df7398cfb9d6c53a7db9b93b0d32 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 25 May 2023 11:28:19 +1000
Subject: [PATCH 0387/1335] chibios_hwdef.py: populate intdefines as part of
 parsing, not output

---
 .../hwdef/scripts/chibios_hwdef.py              | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index bac4ff41e34dc6..7f248d2d358efe 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -1029,14 +1029,9 @@ def write_mcu_config(self, f):
                 if 'HAL_USE_CAN' in d:
                     using_chibios_can = True
                 f.write('#define %s\n' % d[7:])
-                # extract numerical defines for processing by other parts of the script
-                result = re.match(r'define\s*([A-Z_]+)\s*([0-9]+)', d)
-                if result:
-                    define = result.group(1)
-                    value = int(result.group(2))
-                    self.intdefines[define] = value
-                    if define == 'AP_NETWORKING_ENABLED' and value == 1:
-                        self.enable_networking(f)
+
+        if self.intdefines.get('AP_NETWORKING_ENABLED', 0) == 1:
+            self.enable_networking(f)
 
         if self.intdefines.get('HAL_USE_USB_MSD', 0) == 1:
             self.build_flags.append('USE_USB_MSD=yes')
@@ -3045,6 +3040,12 @@ def process_line(self, line):
             if name == 'APP_RAM_START':
                 value = int(value, 0)
             self.env_vars[name] = value
+        elif a[0] == 'define':
+            # extract numerical defines for processing by other parts of the script
+            result = re.match(r'define\s*([A-Z_]+)\s*([0-9]+)', line)
+            if result:
+                self.intdefines[result.group(1)] = int(result.group(2))
+
 
     def progress(self, message):
         if self.quiet:

From 82fe13bc003b20c3a97b6028c84a3b767cde4091 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 4 Jan 2024 11:58:42 +1100
Subject: [PATCH 0388/1335] AP_Generator: correct compilation if GCS_SEND_TEXT
 not available

---
 libraries/AP_Generator/AP_Generator_IE_2400.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Generator/AP_Generator_IE_2400.cpp b/libraries/AP_Generator/AP_Generator_IE_2400.cpp
index 84d6a497bfe35a..85ef02dee5bf20 100644
--- a/libraries/AP_Generator/AP_Generator_IE_2400.cpp
+++ b/libraries/AP_Generator/AP_Generator_IE_2400.cpp
@@ -90,7 +90,7 @@ void AP_Generator_IE_2400::assign_measurements(const uint32_t now)
         // If received 20 valid packets for a single protocol version then lock on
         if (_last_version_packet_count > 20) {
             _version = new_version;
-            gcs().send_text(MAV_SEVERITY_INFO, "Generator: IE using %s protocol", (_version == ProtocolVersion::V2) ? "V2" : "legacy" );
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Generator: IE using %s protocol", (_version == ProtocolVersion::V2) ? "V2" : "legacy" );
 
         } else {
             // Don't record any data during version detection

From c443d19ab11ff74c11b261784a01be05d2302890 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 4 Jan 2024 12:00:06 +1100
Subject: [PATCH 0389/1335] AP_Mount: correct compilation when GCS_SEND_TEXT
 not available

---
 libraries/AP_Mount/AP_Mount_Siyi.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
index 0cdc907f9dee8d..5cc1330bfb7670 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.cpp
+++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -479,6 +479,8 @@ void AP_Mount_Siyi::process_packet()
                     sev = MAV_SEVERITY_WARNING;
                     break;
             }
+            (void)msg;  // in case GCS_SEND_TEXT not available
+            (void)sev;  // in case GCS_SEND_TEXT not available
             GCS_SEND_TEXT(sev, "Siyi: recording %s", msg);
         }
 

From 18adc77979dfb5d30a38f1774d74434eb9ea7b26 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 4 Jan 2024 15:41:11 +1100
Subject: [PATCH 0390/1335] autotest: add flight test for OpticalFlow

---
 Tools/autotest/arducopter.py | 75 +++++++++++++++++++++++++++++++++++-
 1 file changed, 73 insertions(+), 2 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 991f088098d9c5..fac5a81f1c09c3 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -2160,8 +2160,10 @@ def configure_EKFs_to_use_optical_flow_instead_of_GPS(self):
                 "EK3_SRC1_VELZ": 0,
             })
 
-    def OpticalFlow(self):
-        '''test optical flow works'''
+    def OpticalFlowLocation(self):
+        '''test optical flow doesn't supply location'''
+
+        self.context_push()
 
         self.assert_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW, False, False, False, verbose=True)
 
@@ -2179,6 +2181,65 @@ def OpticalFlow(self):
         self.delay_sim_time(5)
         self.wait_statustext("Need Position Estimate", timeout=300)
 
+        self.context_pop()
+
+        self.reboot_sitl()
+
+    def OpticalFlow(self):
+        '''test OpticalFlow in flight'''
+        self.start_subtest("Make sure no crash if no rangefinder")
+
+        self.context_push()
+
+        self.set_parameter("SIM_FLOW_ENABLE", 1)
+        self.set_parameter("FLOW_TYPE", 10)
+
+        self.set_analog_rangefinder_parameters()
+
+        self.reboot_sitl()
+
+        self.change_mode('LOITER')
+
+        # ensure OPTICAL_FLOW message is reasonable:
+        global flow_rate_rads
+        global rangefinder_distance
+        global gps_speed
+        global last_debug_time
+        flow_rate_rads = 0
+        rangefinder_distance = 0
+        gps_speed = 0
+        last_debug_time = 0
+
+        def check_optical_flow(mav, m):
+            global flow_rate_rads
+            global rangefinder_distance
+            global gps_speed
+            global last_debug_time
+            m_type = m.get_type()
+            if m_type == "OPTICAL_FLOW":
+                flow_rate_rads = math.sqrt(m.flow_comp_m_x**2+m.flow_comp_m_y**2)
+            elif m_type == "RANGEFINDER":
+                rangefinder_distance = m.distance
+            elif m_type == "GPS_RAW_INT":
+                gps_speed = m.vel/100.0  # cm/s -> m/s
+            of_speed = flow_rate_rads * rangefinder_distance
+            if abs(of_speed - gps_speed) > 3:
+                raise NotAchievedException("gps=%f vs of=%f mismatch" %
+                                           (gps_speed, of_speed))
+
+            now = self.get_sim_time_cached()
+            if now - last_debug_time > 5:
+                last_debug_time = now
+                self.progress("gps=%f of=%f" % (gps_speed, of_speed))
+
+        self.install_message_hook_context(check_optical_flow)
+
+        self.fly_generic_mission("CMAC-copter-navtest.txt")
+
+        self.context_pop()
+
+        self.reboot_sitl()
+
     def OpticalFlowLimits(self):
         '''test EKF navigation limiting'''
         ex = None
@@ -3623,6 +3684,15 @@ def fly_mission(self, filename, strict=True):
         self.wait_waypoint(num_wp-1, num_wp-1)
         self.wait_disarmed()
 
+    def fly_generic_mission(self, filename, strict=True):
+        num_wp = self.load_generic_mission(filename, strict=strict)
+        self.set_parameter("AUTO_OPTIONS", 3)
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.wait_waypoint(num_wp-1, num_wp-1)
+        self.wait_disarmed()
+
     def SurfaceTracking(self):
         '''Test Surface Tracking'''
         ex = None
@@ -10067,6 +10137,7 @@ def tests1d(self):
              self.ModeCircle,
              self.MagFail,
              self.OpticalFlow,
+             self.OpticalFlowLocation,
              self.OpticalFlowLimits,
              self.OpticalFlowCalibration,
              self.MotorFail,

From f8c3b494d1c6094c5743dce9012cfd664e4c6635 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 5 Jan 2024 07:37:41 +1100
Subject: [PATCH 0391/1335] autotest: fixed missing Blimp for enum parsing

---
 Tools/autotest/logger_metadata/enum_parse.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/autotest/logger_metadata/enum_parse.py b/Tools/autotest/logger_metadata/enum_parse.py
index 50c026a21651f3..3826160de20048 100755
--- a/Tools/autotest/logger_metadata/enum_parse.py
+++ b/Tools/autotest/logger_metadata/enum_parse.py
@@ -18,6 +18,7 @@ class EnumDocco(object):
         "Copter": "ArduCopter",
         "Plane": "ArduPlane",
         "Tracker": "AntennaTracker",
+        "Blimp": "Blimp",
     }
 
     def __init__(self, vehicle):

From 2cfbd2598821058fa24e352d4dd7c830f7f062dd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 4 Jan 2024 10:55:59 +1100
Subject: [PATCH 0392/1335] Tools: improve diagnostics from failed check_replay

---
 Tools/autotest/arducopter.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index fac5a81f1c09c3..6be401624fca11 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -8903,7 +8903,7 @@ def test_replay_bit(self, bit):
 
         ok = check_replay.check_log(replay_log_filepath, self.progress, verbose=True)
         if not ok:
-            raise NotAchievedException("check_replay failed")
+            raise NotAchievedException("check_replay (%s) failed" % current_log_filepath)
 
     def DefaultIntervalsFromFiles(self):
         '''Test setting default mavlink message intervals from files'''

From c48f5c09db501f5c8e5cdee7c7284978e76dd635 Mon Sep 17 00:00:00 2001
From: freenamegit <freename@ukr.net>
Date: Thu, 4 Jan 2024 20:59:41 +0200
Subject: [PATCH 0393/1335] Tools: added name to GIT_Success.txt

---
 Tools/GIT_Test/GIT_Success.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/GIT_Test/GIT_Success.txt b/Tools/GIT_Test/GIT_Success.txt
index 2b89570700cd59..abada8657bd71a 100644
--- a/Tools/GIT_Test/GIT_Success.txt
+++ b/Tools/GIT_Test/GIT_Success.txt
@@ -179,3 +179,4 @@ Ramy Gad
 Matthew R. Cunningham
 prathap devendran (Tamil) india, 11-23
 Taqwaisneeded
+FreeName
\ No newline at end of file

From c54aa0241af331b3932f3acfa91a6de94ae45d2a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 5 Jan 2024 13:34:37 +1100
Subject: [PATCH 0394/1335] HAL_ChibiOS: added mem_is_dma_safe() function

used for bouncebuffer code and in FATFS code
---
 libraries/AP_HAL_ChibiOS/Util.cpp             |  6 +++
 .../hwdef/common/bouncebuffer.c               | 21 +---------
 .../AP_HAL_ChibiOS/hwdef/common/malloc.c      | 41 +++++++++++++++++++
 .../AP_HAL_ChibiOS/hwdef/common/stm32_util.h  |  1 +
 libraries/AP_HAL_ChibiOS/sdcard.cpp           |  4 ++
 5 files changed, 54 insertions(+), 19 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index 7d56981c5c4c39..3f11aa6696eafa 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -76,6 +76,12 @@ void* Util::malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type)
         return malloc_dma(size);
     } else if (mem_type == AP_HAL::Util::MEM_FAST) {
         return malloc_fastmem(size);
+    } else if (mem_type == AP_HAL::Util::MEM_FILESYSTEM) {
+#if defined(STM32H7)
+        return malloc_axi_sram(size);
+#else
+        return malloc_dma(size);
+#endif
     } else {
         return calloc(1, size);
     }
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/bouncebuffer.c b/libraries/AP_HAL_ChibiOS/hwdef/common/bouncebuffer.c
index 590855bd59ed46..f1f735ab8f3532 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/bouncebuffer.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/bouncebuffer.c
@@ -21,23 +21,6 @@
 #include <stdio.h>
 #include "bouncebuffer.h"
 
-#if defined(STM32H7)
-// always use a bouncebuffer on H7, to ensure alignment and padding
-#define IS_DMA_SAFE(addr) false
-#elif defined(STM32F732xx)
-// always use bounce buffer on F732
-#define IS_DMA_SAFE(addr) false
-#elif defined(STM32F7)
-// on F76x we only consider first half of DTCM memory as DMA safe, 2nd half is used as fast memory for EKF
-// on F74x we only have 64k of DTCM
-#define IS_DMA_SAFE(addr) ((((uint32_t)(addr)) & ((0xFFFFFFFF & ~(64*1024U-1)) | 1U)) == 0x20000000)
-#elif defined(STM32F1)
-#define IS_DMA_SAFE(addr) true
-#else
-// this checks an address is in main memory and 16 bit aligned
-#define IS_DMA_SAFE(addr) ((((uint32_t)(addr)) & 0xF0000001) == 0x20000000)
-#endif
-
 // Enable when trying to check if you are not just listening yourself
 #define ENABLE_ECHO_SAFE 0
 
@@ -64,7 +47,7 @@ void bouncebuffer_init(struct bouncebuffer_t **bouncebuffer, uint32_t prealloc_b
  */
 bool bouncebuffer_setup_read(struct bouncebuffer_t *bouncebuffer, uint8_t **buf, uint32_t size)
 {
-    if (!bouncebuffer || IS_DMA_SAFE(*buf)) {
+    if (!bouncebuffer || mem_is_dma_safe(*buf, size, bouncebuffer->on_axi_sram)) {
         // nothing needs to be done
         return true;
     }
@@ -113,7 +96,7 @@ void bouncebuffer_finish_read(struct bouncebuffer_t *bouncebuffer, const uint8_t
  */
 bool bouncebuffer_setup_write(struct bouncebuffer_t *bouncebuffer, const uint8_t **buf, uint32_t size)
 {
-    if (!bouncebuffer || IS_DMA_SAFE(*buf)) {
+    if (!bouncebuffer || mem_is_dma_safe(*buf, size, bouncebuffer->on_axi_sram)) {
         // nothing needs to be done
         return true;
     }
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c b/libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
index d9b30d5a69379b..dada2e1c433c6e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
@@ -616,3 +616,44 @@ void ff_memfree(void* mblock)
     free(mblock);
 }
 #endif // USE_POSIX
+
+/*
+  return true if a memory region is safe for a DMA operation
+ */
+bool mem_is_dma_safe(const void *addr, uint32_t size, bool filesystem_op)
+{
+    (void)filesystem_op;
+#if defined(STM32F1)
+    // F1 is always OK
+    (void)addr;
+    (void)size;
+    return true;
+#else
+    uint32_t flags = MEM_REGION_FLAG_DMA_OK;
+#if defined(STM32H7)
+    if (((uint32_t)addr) & 0x1F) {
+        return false;
+    }
+    if (filesystem_op) {
+        flags = MEM_REGION_FLAG_AXI_BUS;
+    }
+#elif defined(STM32F4)
+    if (((uint32_t)addr) & 0x01) {
+        return false;
+    }
+#else
+    if (((uint32_t)addr) & 0x07) {
+        return false;
+    }
+#endif
+    for (uint8_t i=0; i<NUM_MEMORY_REGIONS; i++) {
+        if (memory_regions[i].flags & flags) {
+            if ((uint32_t)addr >= (uint32_t)memory_regions[i].address &&
+                ((uint32_t)addr + size) <= ((uint32_t)memory_regions[i].address + memory_regions[i].size)) {
+                return true;
+            }
+        }
+    }
+    return false;
+#endif // STM32F1
+}
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
index 0a56342d256fdb..5a24edd59fe97c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
@@ -43,6 +43,7 @@ void *malloc_axi_sram(size_t size);
 void *malloc_fastmem(size_t size);
 void *malloc_eth_safe(size_t size);
 thread_t *thread_create_alloc(size_t size, const char *name, tprio_t prio, tfunc_t pf, void *arg);
+bool mem_is_dma_safe(const void *addr, uint32_t size, bool filesystem_op);
 
 struct memory_region {
     void *address;
diff --git a/libraries/AP_HAL_ChibiOS/sdcard.cpp b/libraries/AP_HAL_ChibiOS/sdcard.cpp
index c8cc8dcf7eba8f..922440826b06dd 100644
--- a/libraries/AP_HAL_ChibiOS/sdcard.cpp
+++ b/libraries/AP_HAL_ChibiOS/sdcard.cpp
@@ -73,7 +73,11 @@ bool sdcard_init()
     if (sdcd.bouncebuffer == nullptr) {
         // allocate 4k bouncebuffer for microSD to match size in
         // AP_Logger
+#if defined(STM32H7)
         bouncebuffer_init(&sdcd.bouncebuffer, 4096, true);
+#else
+        bouncebuffer_init(&sdcd.bouncebuffer, 4096, false);
+#endif
     }
 
     if (sdcard_running) {

From f2a1c80652c7a28584344c8a431c727ad0d704c4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 5 Jan 2024 13:34:55 +1100
Subject: [PATCH 0395/1335] AP_HAL: added MEM_FILESYSTEM memory type

---
 libraries/AP_HAL/Util.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL/Util.h b/libraries/AP_HAL/Util.h
index b605fecabad95e..d5bd6bb95cf4ea 100644
--- a/libraries/AP_HAL/Util.h
+++ b/libraries/AP_HAL/Util.h
@@ -147,7 +147,8 @@ class AP_HAL::Util {
     // allocate and free DMA-capable memory if possible. Otherwise return normal memory
     enum Memory_Type {
         MEM_DMA_SAFE,
-        MEM_FAST
+        MEM_FAST,
+        MEM_FILESYSTEM
     };
     virtual void *malloc_type(size_t size, Memory_Type mem_type) { return calloc(1, size); }
     virtual void free_type(void *ptr, size_t size, Memory_Type mem_type) { return free(ptr); }

From c5f295e8527baad6e776d007962f0ec37f80a376 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 5 Jan 2024 13:36:32 +1100
Subject: [PATCH 0396/1335] AP_Filesystem: allow for large file IOs

this allows for larger IOs on FATFS if the memoory is OK for DMA
---
 libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp b/libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp
index 59cbd357624114..df47485a307218 100644
--- a/libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp
@@ -14,6 +14,7 @@
 #include <ff.h>
 #include <AP_HAL_ChibiOS/sdcard.h>
 #include <GCS_MAVLink/GCS.h>
+#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
 
 #if 0
 #define debug(fmt, args ...)  do {printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
@@ -416,7 +417,10 @@ int32_t AP_Filesystem_FATFS::read(int fd, void *buf, uint32_t count)
     UINT total = 0;
     do {
         UINT size = 0;
-        UINT n = MIN(bytes, MAX_IO_SIZE);
+        UINT n = bytes;
+        if (!mem_is_dma_safe(buf, count, true)) {
+            n = MIN(bytes, MAX_IO_SIZE);
+        }
         res = f_read(fh, (void *)buf, n, &size);
         if (res != FR_OK) {
             errno = fatfs_to_errno((FRESULT)res);
@@ -460,7 +464,10 @@ int32_t AP_Filesystem_FATFS::write(int fd, const void *buf, uint32_t count)
 
     UINT total = 0;
     do {
-        UINT n = MIN(bytes, MAX_IO_SIZE);
+        UINT n = bytes;
+        if (!mem_is_dma_safe(buf, count, true)) {
+            n = MIN(bytes, MAX_IO_SIZE);
+        }
         UINT size = 0;
         res = f_write(fh, buf, n, &size);
         if (res == FR_DISK_ERR && RETRY_ALLOWED()) {

From b0bbed01c637dbe75a214f5c77c1d58058392cd4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 5 Jan 2024 13:37:02 +1100
Subject: [PATCH 0397/1335] AP_Networking: speed up sendfile download

use a multiple of sector size and DMA safe memory
---
 libraries/AP_Networking/AP_Networking.cpp      | 12 ++++++++++--
 libraries/AP_Networking/AP_Networking.h        |  1 +
 libraries/AP_Networking/AP_Networking_Config.h |  2 +-
 3 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp
index 87ca70bd94ad71..87b5147b75f241 100644
--- a/libraries/AP_Networking/AP_Networking.cpp
+++ b/libraries/AP_Networking/AP_Networking.cpp
@@ -293,7 +293,15 @@ bool AP_Networking::sendfile(SocketAPM *sock, int fd)
 {
     WITH_SEMAPHORE(sem);
     if (sendfile_buf == nullptr) {
-        sendfile_buf = (uint8_t *)malloc(AP_NETWORKING_SENDFILE_BUFSIZE);
+        uint32_t bufsize = AP_NETWORKING_SENDFILE_BUFSIZE;
+        do {
+            sendfile_buf = (uint8_t *)hal.util->malloc_type(bufsize, AP_HAL::Util::MEM_FILESYSTEM);
+            if (sendfile_buf != nullptr) {
+                sendfile_bufsize = bufsize;
+                break;
+            }
+            bufsize /= 2;
+        } while (bufsize >= 4096);
         if (sendfile_buf == nullptr) {
             return false;
         }
@@ -344,7 +352,7 @@ void AP_Networking::sendfile_check(void)
             if (!s.sock->pollout(0)) {
                 continue;
             }
-            const auto nread = AP::FS().read(s.fd, sendfile_buf, AP_NETWORKING_SENDFILE_BUFSIZE);
+            const auto nread = AP::FS().read(s.fd, sendfile_buf, sendfile_bufsize);
             if (nread <= 0) {
                 s.close();
                 continue;
diff --git a/libraries/AP_Networking/AP_Networking.h b/libraries/AP_Networking/AP_Networking.h
index 3b18072593b70f..63936f025b2c50 100644
--- a/libraries/AP_Networking/AP_Networking.h
+++ b/libraries/AP_Networking/AP_Networking.h
@@ -278,6 +278,7 @@ class AP_Networking
     } sendfiles[AP_NETWORKING_NUM_SENDFILES];
 
     uint8_t *sendfile_buf;
+    uint32_t sendfile_bufsize;
     void sendfile_check(void);
     bool sendfile_thread_started;
 
diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index b9fdbd6fd3fb20..2fbf9d70b15c5f 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -117,5 +117,5 @@
 #endif
 
 #ifndef AP_NETWORKING_SENDFILE_BUFSIZE
-#define AP_NETWORKING_SENDFILE_BUFSIZE 10000
+#define AP_NETWORKING_SENDFILE_BUFSIZE (64*512)
 #endif

From fa2b87b05a5fe2a0cef40e8c71ce0bbdb650e443 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 5 Jan 2024 13:39:30 +1100
Subject: [PATCH 0398/1335] AP_Networking: hide unused params for PPP

---
 libraries/AP_Networking/AP_Networking_Config.h | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index 2fbf9d70b15c5f..b54a8e399f7831 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -19,15 +19,6 @@
 #define AP_NETWORKING_BACKEND_DEFAULT_ENABLED AP_NETWORKING_ENABLED
 #endif
 
-#ifndef AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
-// AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED should only be true if we have the ability to
-// change the IP address. If not then the IP, GW, NetMask, MAC and DHCP params are hidden. 
-// This does not mean that the system/OS does not have the ability to set the IP, just that
-// we have no control from this scope. For example, Linux systems (including SITL) have
-// their own DHCP client running but we have no control over it.
-#define AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS)
-#endif
-
 // ---------------------------
 // Backends
 // ---------------------------
@@ -50,6 +41,15 @@
 #define AP_NETWORKING_SOCKETS_ENABLED AP_NETWORKING_ENABLED
 #endif
 
+#ifndef AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED
+// AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED should only be true if we have the ability to
+// change the IP address. If not then the IP, GW, NetMask, MAC and DHCP params are hidden. 
+// This does not mean that the system/OS does not have the ability to set the IP, just that
+// we have no control from this scope. For example, Linux systems (including SITL) have
+// their own DHCP client running but we have no control over it.
+#define AP_NETWORKING_CONTROLS_HOST_IP_SETTINGS_ENABLED AP_NETWORKING_BACKEND_CHIBIOS
+#endif
+
 #define AP_NETWORKING_NEED_LWIP (AP_NETWORKING_BACKEND_CHIBIOS || AP_NETWORKING_BACKEND_PPP)
 
 // ---------------------------

From 535a6a331626aed9401f2802545f0332fef73a4e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 6 Jan 2024 07:51:04 +1100
Subject: [PATCH 0399/1335] AP_Networking: fixed build of evtimer.c on firmware
 server

the firmware server uses --out option to waf configure which changes
the include paths
---
 libraries/AP_Networking/lwip_hal/arch/evtimer.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Networking/lwip_hal/arch/evtimer.c b/libraries/AP_Networking/lwip_hal/arch/evtimer.c
index 53da0413f82109..56657904ed7619 100644
--- a/libraries/AP_Networking/lwip_hal/arch/evtimer.c
+++ b/libraries/AP_Networking/lwip_hal/arch/evtimer.c
@@ -5,6 +5,7 @@
 #include <hal.h>
 
 #if CH_CFG_USE_EVENTS
-#include "../../modules/ChibiOS/os/various/evtimer.c"
+// this include relies on -I for modules/ChibiOS/os/various/cpp_wrappers
+#include <../evtimer.c>
 #endif
 

From 6d4747a38c1eecb734cf813eb3fded90fdf4732d Mon Sep 17 00:00:00 2001
From: David 'Buzz' Bussenschutt <d.bussenschutt@uq.edu.au>
Date: Sat, 6 Jan 2024 09:33:45 +1000
Subject: [PATCH 0400/1335] Tools: fix esp32 CI build

install gevent as a package first seems to allow it to avoid issues.
also 3.11 is reqd, and 3.10 usn't good enough.
---
 .github/workflows/esp32_build.yml | 21 ++++++++++++++++++---
 Tools/scripts/esp32_get_idf.sh    | 14 ++++++++++----
 2 files changed, 28 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/esp32_build.yml b/.github/workflows/esp32_build.yml
index 47ada972560a46..7f2a11bf060ca8 100644
--- a/.github/workflows/esp32_build.yml
+++ b/.github/workflows/esp32_build.yml
@@ -161,11 +161,26 @@ jobs:
       - name: Install Prerequisites
         shell: bash
         run: |
-          sudo apt-get install git wget libncurses-dev flex bison gperf python3 python3-pip python3-setuptools python3-serial python3-cryptography python3-future python3-pyparsing python3-pyelftools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0
+          sudo apt-get install git wget libncurses-dev flex bison gperf python3 python3-pip python3-venv python3-setuptools python3-serial python3-gevent python3-cryptography python3-future python3-pyparsing python3-pyelftools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0
           sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 10
+          update-alternatives --query python
+          python --version
+          pip3 install gevent
 
-          rm -rf /usr/local/bin/cmake
+          # we actualy want 3.11 .. but the above only gave us 3.10, not ok with esp32 builds.
+          sudo add-apt-repository ppa:deadsnakes/ppa
+          sudo apt update
+          sudo apt install python3.11 python3.11-venv python3.11-distutils  -y
+          sudo apt-get install python3 python3-pip python3-venv python3-setuptools python3-serial python3-cryptography python3-future python3-pyparsing python3-pyelftools
+          update-alternatives --query python
+          pip3 install gevent
+          python --version
+          python3.11 --version
+          which python3.11
+          sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.11 11
+          update-alternatives --query python
 
+          rm -rf /usr/local/bin/cmake
           sudo apt remove --purge --auto-remove cmake
           sudo apt update && \
           sudo apt install -y software-properties-common lsb-release && \
@@ -183,7 +198,7 @@ jobs:
 
           cd modules/esp_idf
           echo "Installing ESP-IDF tools...."
-          ./install.sh 2>&1 > /dev/null
+          ./install.sh esp32,esp32s3 2>&1 > /dev/null
           cd ../..
           
           
diff --git a/Tools/scripts/esp32_get_idf.sh b/Tools/scripts/esp32_get_idf.sh
index 39bf8dae7dcc65..4ad61e15e9d360 100755
--- a/Tools/scripts/esp32_get_idf.sh
+++ b/Tools/scripts/esp32_get_idf.sh
@@ -1,4 +1,5 @@
-#!/bin/bash
+#!/bin/bash 
+
 # if you have modules/esp_idf setup as a submodule, then leave it as a submodule and switch branches
 if [ ! -d modules ]; then
 echo "this script needs to be run from the root of your repo, sorry, giving up."
@@ -25,26 +26,31 @@ else
         # add esp_idf as almost submodule, depths  uses less space
         #git clone -b v4.4 --single-branch --depth 10 https://github.com/espressif/esp-idf.git esp_idf
         git clone -b 'release/v4.4'  https://github.com/espressif/esp-idf.git esp_idf
+        git checkout 6d853f
         # check if we've got v4.4 checked out, only this version of esp_idf is tested and works?
         
     fi
 fi
 
+
+
 echo "inspecting possible IDF... "
 cd esp_idf
 echo `git rev-parse HEAD`
 # these are a selection of possible specific commit/s that represent v4.4 branch of the esp_idf 
-if [ `git rev-parse HEAD` == 'f98ec313f2a9bc50151349c404a8f2f10ed99649' ]; then 
+if [ `git rev-parse HEAD` == '6d853f0525b003afaeaed4fb59a265c8522c2da9' ]; then 
     echo "IDF version 'release/4.4' found OK, great."; 
 else
-    echo "looks like an idf, but not v4.4 branch, trying to switch branch and reflect upstream";
+    echo "looks like an idf, but not v4.4 branch, or wrong commit , trying to switch branch and reflect upstream";
     ../../Tools/gittools/submodule-sync.sh >/dev/null
     git fetch ; git checkout -f release/v4.4 
+    git checkout 6d853f
 
     # retry same as above
     echo `git rev-parse HEAD`
-    if [ `git rev-parse HEAD` == 'f98ec313f2a9bc50151349c404a8f2f10ed99649' ]; then 
+    if [ `git rev-parse HEAD` == '6d853f0525b003afaeaed4fb59a265c8522c2da9' ]; then 
         echo "IDF version 'release/4.4' found OK, great."; 
+        git checkout 6d853f
     fi
 fi
 cd ../..

From 9a4a3bf5517c630b90c73879c0f340dc6a2ac5c5 Mon Sep 17 00:00:00 2001
From: David Buzz <davidbuzz@gmail.com>
Date: Tue, 2 May 2023 09:53:22 +1000
Subject: [PATCH 0401/1335] Tools: on esp32 force constants to single-precision
 like chibios port does.

---
 Tools/ardupilotwaf/boards.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index c6c85784639473..386727a203437e 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -936,6 +936,7 @@ def expand_path(p):
         env.CFLAGS += [
             '-fno-inline-functions',
             '-mlongcalls',
+            '-fsingle-precision-constant',
         ]
         env.CFLAGS.remove('-Werror=undef')
 
@@ -951,6 +952,7 @@ def expand_path(p):
                          '-Wno-sign-compare',
                          '-fno-inline-functions',
                          '-mlongcalls',
+                         '-fsingle-precision-constant', # force const vals to be float , not double. so 100.0 means 100.0f 
                          '-fno-threadsafe-statics',
                          '-DCYGWIN_BUILD']
         env.CXXFLAGS.remove('-Werror=undef')

From 03d25708ff645dc90053ff403ac5c51b9b14889c Mon Sep 17 00:00:00 2001
From: David 'Buzz' Bussenschutt <d.bussenschutt@uq.edu.au>
Date: Sat, 6 Jan 2024 09:33:45 +1000
Subject: [PATCH 0402/1335] Tools: fix esp32 build to use python 3.11

---
 .github/workflows/esp32_build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/esp32_build.yml b/.github/workflows/esp32_build.yml
index 7f2a11bf060ca8..d1eb1c8c456ada 100644
--- a/.github/workflows/esp32_build.yml
+++ b/.github/workflows/esp32_build.yml
@@ -145,7 +145,7 @@ concurrency:
 
 jobs:
   build:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-23.04
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:

From b9ac504d0daa4e370e5b8660b618005b31a16796 Mon Sep 17 00:00:00 2001
From: David Buzz <davidbuzz@gmail.com>
Date: Sat, 6 Jan 2024 13:38:57 +1000
Subject: [PATCH 0403/1335] AP_HAL_ESP32: prevent watchdog while booting with
 slow things like sdcards

---
 libraries/AP_HAL_ESP32/README.md              |  6 +-
 libraries/AP_HAL_ESP32/Scheduler.cpp          | 81 ++++++++++++-------
 libraries/AP_HAL_ESP32/SdCard.cpp             |  7 +-
 libraries/AP_HAL_ESP32/WiFiDriver.cpp         | 11 ++-
 libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp      | 16 +++-
 .../targets/esp32/esp-idf/sdkconfig           | 43 +++++++++-
 6 files changed, 125 insertions(+), 39 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/README.md b/libraries/AP_HAL_ESP32/README.md
index de2fbe7e70d9ac..e891fa9571edad 100644
--- a/libraries/AP_HAL_ESP32/README.md
+++ b/libraries/AP_HAL_ESP32/README.md
@@ -96,8 +96,10 @@ ESPBAUD=921600 ./waf plane --upload
 You can use your default build system (make or ninja) to build other esp-idf target.
 
 For example :
-- ninja flash
-- ninja monitor
+  source modules/esp_idf/export.sh
+  cd /home/buzz2/ardupilot/build/esp32buzz/esp-idf_build
+  ninja flash
+  ninja monitor
 
 If you want to specify the port, specify before any command:
 ```
diff --git a/libraries/AP_HAL_ESP32/Scheduler.cpp b/libraries/AP_HAL_ESP32/Scheduler.cpp
index 9b940f9c9f2adb..8a30f612eb81e9 100644
--- a/libraries/AP_HAL_ESP32/Scheduler.cpp
+++ b/libraries/AP_HAL_ESP32/Scheduler.cpp
@@ -38,6 +38,8 @@ using namespace ESP32;
 extern const AP_HAL::HAL& hal;
 
 bool Scheduler::_initialized = true;
+TaskHandle_t idle_0 = NULL;
+TaskHandle_t idle_1 = NULL;
 
 Scheduler::Scheduler()
 {
@@ -46,7 +48,7 @@ Scheduler::Scheduler()
 
 void disableCore0WDT()
 {
-    TaskHandle_t idle_0 = xTaskGetIdleTaskHandleForCPU(0);
+     idle_0 = xTaskGetIdleTaskHandleForCPU(0);
     if (idle_0 == NULL || esp_task_wdt_delete(idle_0) != ESP_OK) {
         //print("Failed to remove Core 0 IDLE task from WDT");
     }
@@ -54,11 +56,23 @@ void disableCore0WDT()
 
 void disableCore1WDT()
 {
-    TaskHandle_t idle_1 = xTaskGetIdleTaskHandleForCPU(1);
+     idle_1 = xTaskGetIdleTaskHandleForCPU(1);
     if (idle_1 == NULL || esp_task_wdt_delete(idle_1) != ESP_OK) {
         //print("Failed to remove Core 1 IDLE task from WDT");
     }
 }
+void enableCore0WDT()
+{
+    if (idle_0 != NULL && esp_task_wdt_add(idle_0) != ESP_OK) {
+        //print("Failed to add Core 0 IDLE task to WDT");
+    }
+}
+void enableCore1WDT()
+{
+    if (idle_1 != NULL && esp_task_wdt_add(idle_1) != ESP_OK) {
+        //print("Failed to add Core 1 IDLE task to WDT");
+    }
+}
 
 void Scheduler::init()
 {
@@ -67,57 +81,69 @@ void Scheduler::init()
     printf("%s:%d \n", __PRETTY_FUNCTION__, __LINE__);
 #endif
 
+    // disable wd while booting, as things like mounting the sd-card in the io thread can take a while, especially if there isn't hardware attached.
+    disableCore0WDT(); //FASTCPU
+    disableCore1WDT(); //SLOWCPU
+
+
     hal.console->printf("%s:%d running with CONFIG_FREERTOS_HZ=%d\n", __PRETTY_FUNCTION__, __LINE__,CONFIG_FREERTOS_HZ);
 
+    // keep main tasks that need speed on CPU 0
+    // pin potentially slow stuff to CPU 1, as we have disabled the WDT on that core.
+    #define FASTCPU 0
+    #define SLOWCPU 1
+
     // pin main thread to Core 0, and we'll also pin other heavy-tasks to core 1, like wifi-related.
-    if (xTaskCreatePinnedToCore(_main_thread, "APM_MAIN", Scheduler::MAIN_SS, this, Scheduler::MAIN_PRIO, &_main_task_handle,1) != pdPASS) {
+    if (xTaskCreatePinnedToCore(_main_thread, "APM_MAIN", Scheduler::MAIN_SS, this, Scheduler::MAIN_PRIO, &_main_task_handle,FASTCPU) != pdPASS) {
     //if (xTaskCreate(_main_thread, "APM_MAIN", Scheduler::MAIN_SS, this, Scheduler::MAIN_PRIO, &_main_task_handle) != pdPASS) {
-        hal.console->printf("FAILED to create task _main_thread\n");
+        hal.console->printf("FAILED to create task _main_thread on FASTCPU\n");
     } else {
-    	hal.console->printf("OK created task _main_thread\n");
+    	hal.console->printf("OK created task _main_thread on FASTCPU\n");
     }
 
-    if (xTaskCreate(_timer_thread, "APM_TIMER", TIMER_SS, this, TIMER_PRIO, &_timer_task_handle) != pdPASS) {
-        hal.console->printf("FAILED to create task _timer_thread\n");
+    if (xTaskCreatePinnedToCore(_timer_thread, "APM_TIMER", TIMER_SS, this, TIMER_PRIO, &_timer_task_handle,FASTCPU) != pdPASS) {
+        hal.console->printf("FAILED to create task _timer_thread on FASTCPU\n");
     } else {
-    	hal.console->printf("OK created task _timer_thread\n");
+    	hal.console->printf("OK created task _timer_thread on FASTCPU\n");
     }	
 
-    if (xTaskCreatePinnedToCore(_rcout_thread, "APM_RCOUT", RCOUT_SS, this, RCOUT_PRIO, &_rcout_task_handle,0) != pdPASS) {
-       hal.console->printf("FAILED to create task _rcout_thread\n");
+    if (xTaskCreatePinnedToCore(_rcout_thread, "APM_RCOUT", RCOUT_SS, this, RCOUT_PRIO, &_rcout_task_handle,SLOWCPU) != pdPASS) {
+       hal.console->printf("FAILED to create task _rcout_thread on SLOWCPU\n");
     } else {
-       hal.console->printf("OK created task _rcout_thread\n");
+       hal.console->printf("OK created task _rcout_thread on SLOWCPU\n");
     }
 
-    if (xTaskCreatePinnedToCore(_rcin_thread, "APM_RCIN", RCIN_SS, this, RCIN_PRIO, &_rcin_task_handle,0) != pdPASS) {
-       hal.console->printf("FAILED to create task _rcin_thread\n");
+    if (xTaskCreatePinnedToCore(_rcin_thread, "APM_RCIN", RCIN_SS, this, RCIN_PRIO, &_rcin_task_handle,SLOWCPU) != pdPASS) {
+       hal.console->printf("FAILED to create task _rcin_thread on SLOWCPU\n");
     } else {
-       hal.console->printf("OK created task _rcin_thread\n");
+       hal.console->printf("OK created task _rcin_thread on SLOWCPU\n");
     }
 
-    // pin this thread to Core 1
-    if (xTaskCreatePinnedToCore(_uart_thread, "APM_UART", UART_SS, this, UART_PRIO, &_uart_task_handle,0) != pdPASS) {
-        hal.console->printf("FAILED to create task _uart_thread\n");
+    // pin this thread to Core 1 as it keeps all teh uart/s feed data, and we need that quick.
+    if (xTaskCreatePinnedToCore(_uart_thread, "APM_UART", UART_SS, this, UART_PRIO, &_uart_task_handle,FASTCPU) != pdPASS) {
+        hal.console->printf("FAILED to create task _uart_thread on FASTCPU\n");
     } else {
-    	hal.console->printf("OK created task _uart_thread\n");
+    	hal.console->printf("OK created task _uart_thread on FASTCPU\n");
     }	  
 
-    if (xTaskCreate(_io_thread, "SchedulerIO:APM_IO", IO_SS, this, IO_PRIO, &_io_task_handle) != pdPASS) {
-        hal.console->printf("FAILED to create task _io_thread\n");
+    // we put thos on the SLOW core as it mounts the sd card, and that often isn't conencted.
+    if (xTaskCreatePinnedToCore(_io_thread, "SchedulerIO:APM_IO", IO_SS, this, IO_PRIO, &_io_task_handle,SLOWCPU) != pdPASS) {
+        hal.console->printf("FAILED to create task _io_thread on SLOWCPU\n");
     } else {
-        hal.console->printf("OK created task _io_thread\n");
+        hal.console->printf("OK created task _io_thread on SLOWCPU\n");
     }	 
 
-    if (xTaskCreate(_storage_thread, "APM_STORAGE", STORAGE_SS, this, STORAGE_PRIO, &_storage_task_handle) != pdPASS) { //no actual flash writes without this, storage kinda appears to work, but does an erase on every boot and params don't persist over reset etc.
+    if (xTaskCreatePinnedToCore(_storage_thread, "APM_STORAGE", STORAGE_SS, this, STORAGE_PRIO, &_storage_task_handle,SLOWCPU) != pdPASS) { //no actual flash writes without this, storage kinda appears to work, but does an erase on every boot and params don't persist over reset etc.
         hal.console->printf("FAILED to create task _storage_thread\n");
     } else {
     	hal.console->printf("OK created task _storage_thread\n");
     }
 
-    //   xTaskCreate(_print_profile, "APM_PROFILE", IO_SS, this, IO_PRIO, nullptr);
+    //   xTaskCreatePinnedToCore(_print_profile, "APM_PROFILE", IO_SS, this, IO_PRIO, nullptr,SLOWCPU);
 
-    //disableCore0WDT();
-    //disableCore1WDT();
+    hal.console->printf("OK Sched Init, enabling WD\n");
+    enableCore0WDT();   //FASTCPU
+    //enableCore1WDT();   //we don't enable WD on SLOWCPU right now.
 
 }
 
@@ -209,6 +235,7 @@ void Scheduler::delay_microseconds(uint16_t us)
         ets_delay_us(us);
     } else { // Minimum delay for FreeRTOS is 1ms
         uint32_t tick = portTICK_PERIOD_MS * 1000;
+        rtc_wdt_feed();
         vTaskDelay((us+tick-1)/tick);
     }
 }
@@ -441,7 +468,7 @@ void Scheduler::_storage_thread(void* arg)
     printf("%s:%d start \n", __PRETTY_FUNCTION__, __LINE__);
 #endif
     Scheduler *sched = (Scheduler *)arg;
-    while (!_initialized) {
+    while (!sched->_initialized) {
         sched->delay_microseconds(10000);
     }
 #ifdef SCHEDDEBUG
@@ -475,7 +502,7 @@ void Scheduler::_uart_thread(void *arg)
     printf("%s:%d start \n", __PRETTY_FUNCTION__, __LINE__);
 #endif
     Scheduler *sched = (Scheduler *)arg;
-    while (!_initialized) {
+    while (!sched->_initialized) {
         sched->delay_microseconds(2000);
     }
 #ifdef SCHEDDEBUG
diff --git a/libraries/AP_HAL_ESP32/SdCard.cpp b/libraries/AP_HAL_ESP32/SdCard.cpp
index f652e865fd5fc9..725235fba9e098 100644
--- a/libraries/AP_HAL_ESP32/SdCard.cpp
+++ b/libraries/AP_HAL_ESP32/SdCard.cpp
@@ -32,6 +32,8 @@
 #include <sys/types.h>
 #include "SPIDevice.h"
 
+#include "soc/rtc_wdt.h"
+
 #ifdef HAL_ESP32_SDCARD
 
 #if CONFIG_IDF_TARGET_ESP32S2 ||CONFIG_IDF_TARGET_ESP32C3
@@ -163,8 +165,9 @@ void mount_sdcard_mmc()
     // Please check its source code and implement error recovery when developing
     // production applications.
     sdmmc_card_t* card;
+    rtc_wdt_feed();
     esp_err_t ret = esp_vfs_fat_sdmmc_mount("/SDCARD", &host, &slot_config, &mount_config, &card);
-
+    rtc_wdt_feed();
 
     if (ret == ESP_OK) {
         mkdir("/SDCARD/APM", 0777);
@@ -234,7 +237,9 @@ void mount_sdcard_spi()
 
     //host.flags = SDMMC_HOST_FLAG_1BIT | SDMMC_HOST_FLAG_DDR;
     host.max_freq_khz = SDMMC_FREQ_PROBING;
+    rtc_wdt_feed();
     ret = esp_vfs_fat_sdspi_mount("/SDCARD", &host, &slot_config, &mount_config, &card);
+    rtc_wdt_feed();
 
     if (ret == ESP_OK) {
         // Card has been initialized, print its properties
diff --git a/libraries/AP_HAL_ESP32/WiFiDriver.cpp b/libraries/AP_HAL_ESP32/WiFiDriver.cpp
index b11c6b978c266e..43c9135e15d876 100644
--- a/libraries/AP_HAL_ESP32/WiFiDriver.cpp
+++ b/libraries/AP_HAL_ESP32/WiFiDriver.cpp
@@ -50,10 +50,15 @@ void WiFiDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
     if (_state == NOT_INITIALIZED) {
         initialize_wifi();
 
-	if (xTaskCreatePinnedToCore(_wifi_thread, "APM_WIFI1", Scheduler::WIFI_SS1, this, Scheduler::WIFI_PRIO1, &_wifi_task_handle,0) != pdPASS) {
-           hal.console->printf("FAILED to create task _wifi_thread\n");
+    // keep main tasks that need speed on CPU 0
+    // pin potentially slow stuff to CPU 1, as we have disabled the WDT on that core.
+    #define FASTCPU 0
+    #define SLOWCPU 1
+
+	if (xTaskCreatePinnedToCore(_wifi_thread, "APM_WIFI1", Scheduler::WIFI_SS1, this, Scheduler::WIFI_PRIO1, &_wifi_task_handle,FASTCPU) != pdPASS) {
+           hal.console->printf("FAILED to create task _wifi_thread on FASTCPU\n");
         } else {
-           hal.console->printf("OK created task _wifi_thread\n");
+           hal.console->printf("OK created task _wifi_thread on FASTCPU\n");
         }
 
         _readbuf.set_size(RX_BUF_SIZE);
diff --git a/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp b/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp
index 6e08cabfb2a4d0..eb2fbdbec2cb6a 100644
--- a/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp
+++ b/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp
@@ -32,6 +32,8 @@
 #include "lwip/sys.h"
 #include "lwip/netdb.h"
 
+#include "soc/rtc_wdt.h"
+
 using namespace ESP32;
 
 extern const AP_HAL::HAL& hal;
@@ -52,10 +54,15 @@ void WiFiUdpDriver::_begin(uint32_t b, uint16_t rxS, uint16_t txS)
             return;
         }
 
-	if (xTaskCreatePinnedToCore(_wifi_thread2, "APM_WIFI2", Scheduler::WIFI_SS2, this, Scheduler::WIFI_PRIO2, &_wifi_task_handle,0) != pdPASS) {
-            hal.console->printf("FAILED to create task _wifi_thread2\n");
+    // keep main tasks that need speed on CPU 0
+    // pin potentially slow stuff to CPU 1, as we have disabled the WDT on that core.
+    #define FASTCPU 0
+    #define SLOWCPU 1
+
+	if (xTaskCreatePinnedToCore(_wifi_thread2, "APM_WIFI2", Scheduler::WIFI_SS2, this, Scheduler::WIFI_PRIO2, &_wifi_task_handle,FASTCPU) != pdPASS) {
+            hal.console->printf("FAILED to create task _wifi_thread2 on FASTCPU\n");
         } else {
-	    hal.console->printf("OK created task _wifi_thread2\n");
+	    hal.console->printf("OK created task _wifi_thread2 on FASTCPU\n");
     	}
 		
         _readbuf.set_size(RX_BUF_SIZE);
@@ -219,9 +226,10 @@ void WiFiUdpDriver::_wifi_thread2(void *arg)
             .tv_usec = 100*1000, // 10 times a sec, we try to write-all even if we read nothing , at just 1000, it floggs the APM_WIFI2 task cpu usage unecessarily, slowing APM_WIFI1 response
         };
         fd_set rfds;
+        rtc_wdt_feed();
         FD_ZERO(&rfds);
         FD_SET(self->accept_socket, &rfds);
-
+        rtc_wdt_feed();
         int s = select(self->accept_socket + 1, &rfds, NULL, NULL, &tv);
         if (s > 0 && FD_ISSET(self->accept_socket, &rfds)) {
             self->read_all();
diff --git a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig
index cbdbc78de6d03c..725b24a4a3b6e6 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig
+++ b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig
@@ -203,6 +203,7 @@ CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
 # CONFIG_TWAI_ERRATA_FIX_TX_INTR_LOST is not set
 # CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID is not set
 # CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT is not set
+# CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM is not set
 # end of TWAI configuration
 
 #
@@ -247,9 +248,16 @@ CONFIG_EFUSE_MAX_BLK_LEN=192
 #
 CONFIG_ESP32_REV_MIN_0=y
 # CONFIG_ESP32_REV_MIN_1 is not set
+# CONFIG_ESP32_REV_MIN_1_1 is not set
 # CONFIG_ESP32_REV_MIN_2 is not set
 # CONFIG_ESP32_REV_MIN_3 is not set
+# CONFIG_ESP32_REV_MIN_3_1 is not set
 CONFIG_ESP32_REV_MIN=0
+CONFIG_ESP32_REV_MIN_FULL=0
+CONFIG_ESP_REV_MIN_FULL=0
+CONFIG_ESP32_REV_MAX_FULL_STR_OPT=y
+CONFIG_ESP32_REV_MAX_FULL=399
+CONFIG_ESP_REV_MAX_FULL=399
 CONFIG_ESP32_DPORT_WORKAROUND=y
 # CONFIG_ESP32_DEFAULT_CPU_FREQ_80 is not set
 # CONFIG_ESP32_DEFAULT_CPU_FREQ_160 is not set
@@ -351,6 +359,7 @@ CONFIG_ESP_MAC_ADDR_UNIVERSE_BT=y
 CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_TWO=y
 # CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_FOUR is not set
 CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES=2
+# CONFIG_ESP_MAC_IGNORE_MAC_CRC_ERROR is not set
 # end of MAC Config
 
 #
@@ -360,6 +369,8 @@ CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES=2
 CONFIG_ESP_SLEEP_RTC_BUS_ISO_WORKAROUND=y
 # CONFIG_ESP_SLEEP_GPIO_RESET_WORKAROUND is not set
 CONFIG_ESP_SLEEP_FLASH_LEAKAGE_WORKAROUND=y
+# CONFIG_ESP_SLEEP_MSPI_NEED_ALL_IO_PU is not set
+CONFIG_ESP_SLEEP_GPIO_ENABLE_INTERNAL_RESISTORS=y
 # end of Sleep Config
 
 #
@@ -393,6 +404,10 @@ CONFIG_ESP_PHY_CALIBRATION_AND_DATA_STORAGE=y
 CONFIG_ESP_PHY_MAX_WIFI_TX_POWER=20
 CONFIG_ESP_PHY_MAX_TX_POWER=20
 CONFIG_ESP_PHY_REDUCE_TX_POWER=y
+CONFIG_ESP_PHY_RF_CAL_PARTIAL=y
+# CONFIG_ESP_PHY_RF_CAL_NONE is not set
+# CONFIG_ESP_PHY_RF_CAL_FULL is not set
+CONFIG_ESP_PHY_CALIBRATION_MODE=0
 # end of PHY
 
 #
@@ -404,6 +419,13 @@ CONFIG_PM_ENABLE=y
 # CONFIG_PM_TRACE is not set
 # end of Power Management
 
+#
+# ESP Ringbuf
+#
+# CONFIG_RINGBUF_PLACE_FUNCTIONS_INTO_FLASH is not set
+# CONFIG_RINGBUF_PLACE_ISR_FUNCTIONS_INTO_FLASH is not set
+# end of ESP Ringbuf
+
 #
 # ESP System Settings
 #
@@ -470,6 +492,10 @@ CONFIG_ESP32_WIFI_DYNAMIC_RX_BUFFER_NUM=16
 CONFIG_ESP32_WIFI_DYNAMIC_TX_BUFFER=y
 CONFIG_ESP32_WIFI_TX_BUFFER_TYPE=1
 CONFIG_ESP32_WIFI_DYNAMIC_TX_BUFFER_NUM=16
+CONFIG_ESP_WIFI_STATIC_RX_MGMT_BUFFER=y
+# CONFIG_ESP_WIFI_DYNAMIC_RX_MGMT_BUFFER is not set
+CONFIG_ESP_WIFI_DYNAMIC_RX_MGMT_BUF=0
+CONFIG_ESP_WIFI_RX_MGMT_BUF_NUM_DEF=5
 # CONFIG_ESP32_WIFI_CSI_ENABLED is not set
 # CONFIG_ESP32_WIFI_AMPDU_TX_ENABLED is not set
 # CONFIG_ESP32_WIFI_AMPDU_RX_ENABLED is not set
@@ -485,6 +511,8 @@ CONFIG_ESP32_WIFI_ENABLE_WPA3_SAE=y
 # CONFIG_ESP_WIFI_STA_DISCONNECTED_PM_ENABLE is not set
 # CONFIG_ESP_WIFI_GMAC_SUPPORT is not set
 CONFIG_ESP_WIFI_SOFTAP_SUPPORT=y
+# CONFIG_ESP_WIFI_SLP_BEACON_LOST_OPT is not set
+CONFIG_ESP_WIFI_ESPNOW_MAX_ENCRYPT_NUM=7
 # end of Wi-Fi
 
 #
@@ -498,8 +526,10 @@ CONFIG_ESP_COREDUMP_DATA_FORMAT_ELF=y
 CONFIG_ESP_COREDUMP_CHECKSUM_CRC32=y
 # CONFIG_ESP_COREDUMP_CHECKSUM_SHA256 is not set
 CONFIG_ESP_COREDUMP_ENABLE=y
+CONFIG_ESP_COREDUMP_LOGS=y
 CONFIG_ESP_COREDUMP_MAX_TASKS_NUM=64
 CONFIG_ESP_COREDUMP_UART_DELAY=0
+CONFIG_ESP_COREDUMP_STACK_SIZE=0
 CONFIG_ESP_COREDUMP_DECODE_INFO=y
 # CONFIG_ESP_COREDUMP_DECODE_DISABLE is not set
 CONFIG_ESP_COREDUMP_DECODE="info"
@@ -632,7 +662,9 @@ CONFIG_LOG_TIMESTAMP_SOURCE_RTOS=y
 #
 CONFIG_LWIP_LOCAL_HOSTNAME="espressif"
 # CONFIG_LWIP_NETIF_API is not set
+CONFIG_LWIP_TCPIP_TASK_PRIO=18
 # CONFIG_LWIP_TCPIP_CORE_LOCKING is not set
+# CONFIG_LWIP_CHECK_THREAD_SAFETY is not set
 CONFIG_LWIP_DNS_SUPPORT_MDNS_QUERIES=y
 # CONFIG_LWIP_L2_TO_L3_COPY is not set
 # CONFIG_LWIP_IRAM_OPTIMIZATION is not set
@@ -653,12 +685,15 @@ CONFIG_LWIP_IP6_FRAG=y
 # CONFIG_LWIP_ETHARP_TRUST_IP_MAC is not set
 CONFIG_LWIP_ESP_GRATUITOUS_ARP=y
 CONFIG_LWIP_GARP_TMR_INTERVAL=60
+CONFIG_LWIP_ESP_MLDV6_REPORT=y
+CONFIG_LWIP_MLDV6_TMR_INTERVAL=40
 CONFIG_LWIP_TCPIP_RECVMBOX_SIZE=32
 CONFIG_LWIP_DHCP_DOES_ARP_CHECK=y
 # CONFIG_LWIP_DHCP_DISABLE_CLIENT_ID is not set
 CONFIG_LWIP_DHCP_DISABLE_VENDOR_CLASS_ID=y
 # CONFIG_LWIP_DHCP_RESTORE_LAST_IP is not set
 CONFIG_LWIP_DHCP_OPTIONS_LEN=68
+CONFIG_LWIP_DHCP_COARSE_TIMER_SECS=1
 
 #
 # DHCP server
@@ -688,10 +723,13 @@ CONFIG_LWIP_TCP_SYNMAXRTX=6
 CONFIG_LWIP_TCP_MSS=1436
 CONFIG_LWIP_TCP_TMR_INTERVAL=250
 CONFIG_LWIP_TCP_MSL=60000
+CONFIG_LWIP_TCP_FIN_WAIT_TIMEOUT=20000
 CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5744
 CONFIG_LWIP_TCP_WND_DEFAULT=5744
 CONFIG_LWIP_TCP_RECVMBOX_SIZE=6
 CONFIG_LWIP_TCP_QUEUE_OOSEQ=y
+CONFIG_LWIP_TCP_OOSEQ_TIMEOUT=6
+CONFIG_LWIP_TCP_OOSEQ_MAX_PBUFS=4
 # CONFIG_LWIP_TCP_SACK_OUT is not set
 # CONFIG_LWIP_TCP_KEEP_CONNECTION_WHEN_IP_CHANGES is not set
 CONFIG_LWIP_TCP_OVERSIZE_MSS=y
@@ -803,6 +841,7 @@ CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set
 # CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set
+CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200
 # end of Certificate Bundle
 
 # CONFIG_MBEDTLS_ECP_RESTARTABLE is not set
@@ -921,6 +960,7 @@ CONFIG_NEWLIB_STDIN_LINE_ENDING_CR=y
 #
 # NVS
 #
+# CONFIG_NVS_ASSERT_ERROR_CHECK is not set
 # end of NVS
 
 #
@@ -989,7 +1029,6 @@ CONFIG_VFS_SUPPORT_TERMIOS=y
 # Host File System I/O (Semihosting)
 #
 CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS=1
-CONFIG_VFS_SEMIHOSTFS_HOST_PATH_MAX_LEN=128
 # end of Host File System I/O (Semihosting)
 # end of Virtual file system
 
@@ -1131,6 +1170,7 @@ CONFIG_ESP32_COREDUMP_CHECKSUM_CRC32=y
 CONFIG_ESP32_ENABLE_COREDUMP=y
 CONFIG_ESP32_CORE_DUMP_MAX_TASKS_NUM=64
 CONFIG_ESP32_CORE_DUMP_UART_DELAY=0
+CONFIG_ESP32_CORE_DUMP_STACK_SIZE=0
 CONFIG_ESP32_CORE_DUMP_DECODE_INFO=y
 # CONFIG_ESP32_CORE_DUMP_DECODE_DISABLE is not set
 CONFIG_ESP32_CORE_DUMP_DECODE="info"
@@ -1176,5 +1216,4 @@ CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ABORTS=y
 CONFIG_SUPPRESS_SELECT_DEBUG_OUTPUT=y
 CONFIG_SUPPORT_TERMIOS=y
 CONFIG_SEMIHOSTFS_MAX_MOUNT_POINTS=1
-CONFIG_SEMIHOSTFS_HOST_PATH_MAX_LEN=128
 # End of deprecated options

From b03728853ed8ebeed23d6f8bb6cc7a6f1e8bcd4a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 7 Jan 2024 08:31:15 +1100
Subject: [PATCH 0404/1335] Tools: allow CPUInfo to build on systems without
 ESC telem

---
 Tools/CPUInfo/CPUInfo.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Tools/CPUInfo/CPUInfo.cpp b/Tools/CPUInfo/CPUInfo.cpp
index 05409f1418df5e..3e99d61982abad 100644
--- a/Tools/CPUInfo/CPUInfo.cpp
+++ b/Tools/CPUInfo/CPUInfo.cpp
@@ -46,7 +46,9 @@ static uint32_t sysclk = 0;
 static EKF_Maths ekf;
 
 HAL_Semaphore sem;
+#if HAL_WITH_ESC_TELEM
 AP_ESC_Telem telem;
+#endif
 
 void setup() {
 #ifdef DISABLE_CACHES

From 977b5dfe33f48f1b16ea07cbaad032d05fad085e Mon Sep 17 00:00:00 2001
From: David Buzz <davidbuzz@gmail.com>
Date: Sat, 6 Jan 2024 13:56:46 +1000
Subject: [PATCH 0405/1335] Tools: DynamicRpmNotches is mostly within 5% but
 10% prevents the test from flapping as much

---
 Tools/autotest/arducopter.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 6be401624fca11..d89ffa43f5ea63 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -5928,8 +5928,8 @@ def DynamicRpmNotches(self):
 
         freq, hover_throttle, peakdb2 = self.hover_and_check_matched_frequency_with_fft(-15, 20, 350, reverse=True)
 
-        # notch-per-motor should do better, but check for within 5%
-        if peakdb2 * 1.05 > peakdb1:
+        # notch-per-motor should do better, but check for within 10%. ( its mostly within 5%, but does vary a bit)
+        if peakdb2 * 1.10 > peakdb1:
             raise NotAchievedException(
                 "Notch-per-motor peak was higher than single-notch peak %fdB > %fdB" %
                 (peakdb2, peakdb1))

From dff9a7742e4a00fcfbb8867501eb53ebec98ae49 Mon Sep 17 00:00:00 2001
From: Michelle Rossouw <michelleros128@gmail.com>
Date: Fri, 5 Jan 2024 17:07:40 +1100
Subject: [PATCH 0406/1335] AP_Scripting: Add CAN_Logger example script

Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
---
 .../AP_Scripting/examples/CAN_logger.lua      | 52 +++++++++++++++++++
 1 file changed, 52 insertions(+)
 create mode 100644 libraries/AP_Scripting/examples/CAN_logger.lua

diff --git a/libraries/AP_Scripting/examples/CAN_logger.lua b/libraries/AP_Scripting/examples/CAN_logger.lua
new file mode 100644
index 00000000000000..aa3c5ff990a643
--- /dev/null
+++ b/libraries/AP_Scripting/examples/CAN_logger.lua
@@ -0,0 +1,52 @@
+--[[
+   This script captures raw packets to a log file for later playback using Tools/scripts/CAN/CAN_playback.py onto a CAN bus.
+   Set CAN_D1_PROTOCOL to 10 for scripting.
+   Also need LOG_DISARMED set to 1 if running this while disarmed.
+--]]
+
+local can_driver = CAN:get_device(25)
+
+if not can_driver then
+   gcs:send_text(0,"No scripting CAN interface found")
+   return
+end
+
+local last_print_ms = millis()
+local frame_count = 0
+local last_frame_count = 0
+
+function update()
+
+   local more_frames = true
+   for _ = 1, 25 do
+      local frame = can_driver:read_frame()
+      if not frame then
+         more_frames = false
+         break
+      end
+      local id = frame:id()
+      logger.write("CANF",'Id,DLC,FC,B0,B1,B2,B3,B4,B5,B6,B7','IBIBBBBBBBB',
+                   id,
+                   frame:dlc(),
+                   frame_count,
+                   frame:data(0), frame:data(1), frame:data(2), frame:data(3),
+                   frame:data(4), frame:data(5), frame:data(6), frame:data(7))
+      frame_count = frame_count + 1
+   end
+
+   local now = millis()
+   if now - last_print_ms >= 1000 then
+      local dt = (now - last_print_ms):tofloat()*0.001
+      gcs:send_text(0, string.format("CAN: %.2f fps", (frame_count-last_frame_count)/dt))
+      last_print_ms = now
+      last_frame_count = frame_count
+   end
+
+   if more_frames then
+      -- sleep for min possible time to try not to lose frames
+      return update, 0
+   end
+   return update, 2
+end
+
+return update()

From 30ad0560f459eb281b680d64150d605925cab15f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 6 Jan 2024 12:37:58 +1100
Subject: [PATCH 0407/1335] Tools: added CAN playback tool

uses frames from lua CAN bus capture and plays back for driver
development
---
 Tools/scripts/CAN/CAN_playback.py | 52 +++++++++++++++++++++++++++++++
 1 file changed, 52 insertions(+)
 create mode 100755 Tools/scripts/CAN/CAN_playback.py

diff --git a/Tools/scripts/CAN/CAN_playback.py b/Tools/scripts/CAN/CAN_playback.py
new file mode 100755
index 00000000000000..bdd4825f4fa221
--- /dev/null
+++ b/Tools/scripts/CAN/CAN_playback.py
@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+'''
+playback a set of CAN frames from libraries/AP_Scripting/examples/CAN_logger.lua onto a CAN bus
+'''
+
+import dronecan
+import time
+import sys
+import threading
+from pymavlink import mavutil
+from dronecan.driver.common import CANFrame
+
+
+# get command line arguments
+from argparse import ArgumentParser
+parser = ArgumentParser(description='CAN playback')
+parser.add_argument("logfile", default=None, type=str, help="logfile")
+parser.add_argument("canport", default=None, type=str, help="CAN port")
+
+args = parser.parse_args()
+
+print("Connecting to %s" % args.canport)
+driver = dronecan.driver.make_driver(args.canport)
+
+print("Opening %s" % args.logfile)
+mlog = mavutil.mavlink_connection(args.logfile)
+
+tstart = time.time()
+first_tstamp = None
+
+while True:
+    m = mlog.recv_match(type='CANF')
+
+    if m is None:
+        print("Rewinding")
+        mlog.rewind()
+        tstart = time.time()
+        first_tstamp = None
+        continue
+
+    if first_tstamp is None:
+        first_tstamp = m.TimeUS
+    dt = time.time() - tstart
+    dt2 = (m.TimeUS - first_tstamp)*1.0e-6
+    if dt2 > dt:
+        time.sleep(dt2 - dt)
+    data = [m.B0, m.B1, m.B2, m.B3, m.B4, m.B5, m.B6, m.B7]
+    data = data[:m.DLC]
+    fid = m.Id
+    is_extended = (fid & (1<<31)) != 0
+    driver.send(fid, data, extended=is_extended, canfd=False)
+    print(m)

From 5560bd8ed862c5ba961eaf8bc4702ad51f14dca2 Mon Sep 17 00:00:00 2001
From: David Buzz <davidbuzz@gmail.com>
Date: Sun, 7 Jan 2024 15:29:39 +1000
Subject: [PATCH 0408/1335] esp32 CI typo, sorry tridge

---
 .github/workflows/esp32_build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/esp32_build.yml b/.github/workflows/esp32_build.yml
index d1eb1c8c456ada..7f2a11bf060ca8 100644
--- a/.github/workflows/esp32_build.yml
+++ b/.github/workflows/esp32_build.yml
@@ -145,7 +145,7 @@ concurrency:
 
 jobs:
   build:
-    runs-on: ubuntu-23.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:

From 678474614f0d5a65cc5fe1a7ba7e35536e68c24e Mon Sep 17 00:00:00 2001
From: David Buzz <davidbuzz@gmail.com>
Date: Sun, 7 Jan 2024 16:57:43 +1000
Subject: [PATCH 0409/1335] AP_HAL_ESP32: Update the WiFi init code to the
 newer ESP-IDF (4.2+) and

mostly by TByte007 from here, but fixed and re-tested.
https://github.com/ArduPilot/ardupilot/pull/24527/commits
---
 libraries/AP_HAL_ESP32/WiFiDriver.cpp    | 164 ++++++++++++++++++++---
 libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp | 161 +++++++++++++++++++---
 libraries/AP_HAL_ESP32/WiFiUdpDriver.h   |   3 +
 3 files changed, 292 insertions(+), 36 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/WiFiDriver.cpp b/libraries/AP_HAL_ESP32/WiFiDriver.cpp
index 43c9135e15d876..bc57391f009311 100644
--- a/libraries/AP_HAL_ESP32/WiFiDriver.cpp
+++ b/libraries/AP_HAL_ESP32/WiFiDriver.cpp
@@ -24,6 +24,7 @@
 #include "esp_system.h"
 #include "esp_wifi.h"
 #include "esp_event.h"
+#include "esp_log.h"
 #include "nvs_flash.h"
 
 #include "lwip/err.h"
@@ -208,31 +209,158 @@ bool WiFiDriver::write_data()
     return true;
 }
 
+#if WIFI_STATION
+
+#define WIFI_CONNECTED_BIT BIT0
+#define WIFI_FAIL_BIT      BIT1
+
+#ifndef ESP_STATION_MAXIMUM_RETRY
+#define ESP_STATION_MAXIMUM_RETRY 10
+#endif
+
+static const char *TAG = "wifi station";
+static int s_retry_num = 0;
+static EventGroupHandle_t s_wifi_event_group;
+
+static void _sta_event_handler(void* arg, esp_event_base_t event_base,
+                                int32_t event_id, void* event_data)
+{
+    if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
+        esp_wifi_connect();
+    } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
+        if (s_retry_num < ESP_STATION_MAXIMUM_RETRY) {
+            esp_wifi_connect();
+            s_retry_num++;
+            ESP_LOGI(TAG, "retry to connect to the AP");
+        } else {
+            xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT);
+        }
+        ESP_LOGI(TAG,"connect to the AP fail");
+    } else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
+        s_retry_num = 0;
+        xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
+    }
+}
+#endif
+
 void WiFiDriver::initialize_wifi()
 {
-    tcpip_adapter_init();
-    nvs_flash_init();
-    esp_event_loop_init(nullptr, nullptr);
-    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
-    esp_wifi_init(&cfg);
-    esp_wifi_set_storage(WIFI_STORAGE_FLASH);
+#ifndef WIFI_PWD
+    #default WIFI_PWD "ardupilot1"
+#endif
+    //Initialize NVS
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+      ESP_ERROR_CHECK(nvs_flash_erase());
+      ret = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(ret);
+
+    ESP_ERROR_CHECK(esp_netif_init());
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+
     wifi_config_t wifi_config;
-    memset(&wifi_config, 0, sizeof(wifi_config));
-#ifdef WIFI_SSID
-    strcpy((char *)wifi_config.ap.ssid, WIFI_SSID);
-#else
-    strcpy((char *)wifi_config.ap.ssid, "ardupilot");
+    bzero(&wifi_config, sizeof(wifi_config));
+
+/*
+	Acting as an Access Point (softAP)
+*/
+#if !WIFI_STATION
+#ifndef WIFI_SSID
+    #define WIFI_SSID "ardupilot"
 #endif
-#ifdef WIFI_PWD
+#ifndef WIFI_CHANNEL
+	#define WIFI_CHANNEL 1
+#endif
+
+    esp_netif_create_default_wifi_ap();
+
+    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(esp_wifi_init(&cfg));
+
+
+    strcpy((char *)wifi_config.ap.ssid, WIFI_SSID);
     strcpy((char *)wifi_config.ap.password, WIFI_PWD);
+    wifi_config.ap.ssid_len = strlen(WIFI_SSID),
+    wifi_config.ap.max_connection = WIFI_MAX_CONNECTION,
+    wifi_config.ap.authmode = WIFI_AUTH_WPA2_PSK;
+    wifi_config.ap.channel = WIFI_CHANNEL;
+
+    if (strlen(WIFI_PWD) == 0) {
+        wifi_config.ap.authmode = WIFI_AUTH_OPEN;
+    }
+
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
+    ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_config));
+    ESP_ERROR_CHECK(esp_wifi_start());
+
+    hal.console->printf("WiFi softAP init finished. SSID: %s password: %s channel: %d\n",
+                        wifi_config.ap.ssid, wifi_config.ap.password, wifi_config.ap.channel);
+
+/*
+	Acting as a Station (WiFi Client)
+*/
 #else
-    strcpy((char *)wifi_config.ap.password, "ardupilot1");
+#ifndef WIFI_SSID_STATION
+    #define WIFI_SSID_STATION "ardupilot"
+#endif
+#ifndef WIFI_HOSTNAME
+    #define WIFI_HOSTNAME "ArduPilotESP32"
+#endif
+    s_wifi_event_group = xEventGroupCreate();
+    esp_netif_t *netif = esp_netif_create_default_wifi_sta();
+    esp_netif_set_hostname(netif, WIFI_HOSTNAME);
+
+    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(esp_wifi_init(&cfg));
+
+    esp_event_handler_instance_t instance_any_id;
+    esp_event_handler_instance_t instance_got_ip;
+    ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT,
+                                                        ESP_EVENT_ANY_ID,
+                                                        &_sta_event_handler,
+                                                        NULL,
+                                                        &instance_any_id));
+    ESP_ERROR_CHECK(esp_event_handler_instance_register(IP_EVENT,
+                                                        IP_EVENT_STA_GOT_IP,
+                                                        &_sta_event_handler,
+                                                        NULL,
+                                                        &instance_got_ip));
+
+    strcpy((char *)wifi_config.sta.ssid, WIFI_SSID_STATION);
+    strcpy((char *)wifi_config.sta.password, WIFI_PWD);
+    wifi_config.sta.threshold.authmode = WIFI_AUTH_OPEN;
+    wifi_config.sta.sae_pwe_h2e = WPA3_SAE_PWE_BOTH;
+
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) );
+    ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config) );
+    ESP_ERROR_CHECK(esp_wifi_start() );
+
+    hal.console->printf("WiFi Station init finished. Connecting:\n");
+
+    /* Waiting until either the connection is established (WIFI_CONNECTED_BIT) or connection failed for the maximum
+     * number of re-tries (WIFI_FAIL_BIT). The bits are set by event_handler() (see above) */
+    EventBits_t bits = xEventGroupWaitBits(s_wifi_event_group,
+            WIFI_CONNECTED_BIT | WIFI_FAIL_BIT,
+            pdFALSE, pdFALSE, portMAX_DELAY);
+
+    /* xEventGroupWaitBits() returns the bits before the call returned, hence we can test which event actually
+     * happened. */
+    if (bits & WIFI_CONNECTED_BIT) {
+        ESP_LOGI(TAG, "connected to ap SSID: %s password: %s",
+                 wifi_config.sta.ssid, wifi_config.sta.password);
+    } else if (bits & WIFI_FAIL_BIT) {
+        ESP_LOGI(TAG, "Failed to connect to SSID: %s, password: %s",
+                 wifi_config.sta.ssid, wifi_config.sta.password);
+    } else {
+        ESP_LOGE(TAG, "UNEXPECTED EVENT");
+    }
+
+    /* The event will not be processed after unregister */
+    ESP_ERROR_CHECK(esp_event_handler_instance_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, instance_got_ip));
+    ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id));
+    vEventGroupDelete(s_wifi_event_group);
 #endif
-    wifi_config.ap.authmode = WIFI_AUTH_WPA_WPA2_PSK;
-    wifi_config.ap.max_connection = WIFI_MAX_CONNECTION;
-    esp_wifi_set_mode(WIFI_MODE_AP);
-    esp_wifi_set_config(WIFI_IF_AP, &wifi_config);
-    esp_wifi_start();
 }
 
 size_t WiFiDriver::_write(const uint8_t *buffer, size_t size)
diff --git a/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp b/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp
index eb2fbdbec2cb6a..b7a48f4f949cd2 100644
--- a/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp
+++ b/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp
@@ -178,33 +178,158 @@ bool WiFiUdpDriver::write_data()
     return true;
 }
 
+#if WIFI_STATION
+
+#define WIFI_CONNECTED_BIT BIT0
+#define WIFI_FAIL_BIT      BIT1
+
+#ifndef ESP_STATION_MAXIMUM_RETRY
+#define ESP_STATION_MAXIMUM_RETRY 10
+#endif
+
+static const char *TAG = "wifi station";
+static int s_retry_num = 0;
+static EventGroupHandle_t s_wifi_event_group;
+
+static void _sta_event_handler(void* arg, esp_event_base_t event_base,
+                                int32_t event_id, void* event_data)
+{
+    if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
+        esp_wifi_connect();
+    } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
+        if (s_retry_num < ESP_STATION_MAXIMUM_RETRY) {
+            esp_wifi_connect();
+            s_retry_num++;
+            ESP_LOGI(TAG, "retry to connect to the AP");
+        } else {
+            xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT);
+        }
+        ESP_LOGI(TAG,"connect to the AP fail");
+    } else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
+        s_retry_num = 0;
+        xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
+    }
+}
+#endif
+
 void WiFiUdpDriver::initialize_wifi()
 {
-    esp_event_loop_init(nullptr, nullptr);
+#ifndef WIFI_PWD
+    #default WIFI_PWD "ardupilot1"
+#endif
+    //Initialize NVS
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+      ESP_ERROR_CHECK(nvs_flash_erase());
+      ret = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(ret);
 
-    tcpip_adapter_init();
-    nvs_flash_init();
+    ESP_ERROR_CHECK(esp_netif_init());
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
 
-    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
-    esp_wifi_init(&cfg);
-    esp_wifi_set_storage(WIFI_STORAGE_FLASH);
     wifi_config_t wifi_config;
-    memset(&wifi_config, 0, sizeof(wifi_config));
-#ifdef WIFI_SSID
-    strcpy((char *)wifi_config.ap.ssid, WIFI_SSID);
-#else
-    strcpy((char *)wifi_config.ap.ssid, "ardupilot");
+    bzero(&wifi_config, sizeof(wifi_config));
+
+/*
+	Acting as an Access Point (softAP)
+*/
+#if !WIFI_STATION
+#ifndef WIFI_SSID
+    #define WIFI_SSID "ardupilot"
+#endif
+#ifndef WIFI_CHANNEL
+	#define WIFI_CHANNEL 1
 #endif
-#ifdef WIFI_PWD
+
+    esp_netif_create_default_wifi_ap();
+
+    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(esp_wifi_init(&cfg));
+
+
+    strcpy((char *)wifi_config.ap.ssid, WIFI_SSID);
     strcpy((char *)wifi_config.ap.password, WIFI_PWD);
+    wifi_config.ap.ssid_len = strlen(WIFI_SSID),
+    wifi_config.ap.max_connection = WIFI_MAX_CONNECTION,
+    wifi_config.ap.authmode = WIFI_AUTH_WPA2_PSK;
+    wifi_config.ap.channel = WIFI_CHANNEL;
+
+    if (strlen(WIFI_PWD) == 0) {
+        wifi_config.ap.authmode = WIFI_AUTH_OPEN;
+    }
+
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
+    ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_config));
+    ESP_ERROR_CHECK(esp_wifi_start());
+
+    hal.console->printf("WiFi softAP init finished. SSID: %s password: %s channel: %d\n",
+                        wifi_config.ap.ssid, wifi_config.ap.password, wifi_config.ap.channel);
+
+/*
+	Acting as a Station (WiFi Client)
+*/
 #else
-    strcpy((char *)wifi_config.ap.password, "ardupilot1");
+#ifndef WIFI_SSID_STATION
+    #define WIFI_SSID_STATION "ardupilot"
+#endif
+#ifndef WIFI_HOSTNAME
+    #define WIFI_HOSTNAME "ArduPilotESP32"
+#endif
+    s_wifi_event_group = xEventGroupCreate();
+    esp_netif_t *netif = esp_netif_create_default_wifi_sta();
+    esp_netif_set_hostname(netif, WIFI_HOSTNAME);
+
+    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(esp_wifi_init(&cfg));
+
+    esp_event_handler_instance_t instance_any_id;
+    esp_event_handler_instance_t instance_got_ip;
+    ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT,
+                                                        ESP_EVENT_ANY_ID,
+                                                        &_sta_event_handler,
+                                                        NULL,
+                                                        &instance_any_id));
+    ESP_ERROR_CHECK(esp_event_handler_instance_register(IP_EVENT,
+                                                        IP_EVENT_STA_GOT_IP,
+                                                        &_sta_event_handler,
+                                                        NULL,
+                                                        &instance_got_ip));
+
+    strcpy((char *)wifi_config.sta.ssid, WIFI_SSID_STATION);
+    strcpy((char *)wifi_config.sta.password, WIFI_PWD);
+    wifi_config.sta.threshold.authmode = WIFI_AUTH_OPEN;
+    wifi_config.sta.sae_pwe_h2e = WPA3_SAE_PWE_BOTH;
+
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) );
+    ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config) );
+    ESP_ERROR_CHECK(esp_wifi_start() );
+
+    hal.console->printf("WiFi Station init finished. Connecting:\n");
+
+    /* Waiting until either the connection is established (WIFI_CONNECTED_BIT) or connection failed for the maximum
+     * number of re-tries (WIFI_FAIL_BIT). The bits are set by event_handler() (see above) */
+    EventBits_t bits = xEventGroupWaitBits(s_wifi_event_group,
+            WIFI_CONNECTED_BIT | WIFI_FAIL_BIT,
+            pdFALSE, pdFALSE, portMAX_DELAY);
+
+    /* xEventGroupWaitBits() returns the bits before the call returned, hence we can test which event actually
+     * happened. */
+    if (bits & WIFI_CONNECTED_BIT) {
+        ESP_LOGI(TAG, "connected to ap SSID: %s password: %s",
+                 wifi_config.sta.ssid, wifi_config.sta.password);
+    } else if (bits & WIFI_FAIL_BIT) {
+        ESP_LOGI(TAG, "Failed to connect to SSID: %s, password: %s",
+                 wifi_config.sta.ssid, wifi_config.sta.password);
+    } else {
+        ESP_LOGE(TAG, "UNEXPECTED EVENT");
+    }
+
+    /* The event will not be processed after unregister */
+    ESP_ERROR_CHECK(esp_event_handler_instance_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, instance_got_ip));
+    ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id));
+    vEventGroupDelete(s_wifi_event_group);
 #endif
-    wifi_config.ap.authmode = WIFI_AUTH_WPA_WPA2_PSK;
-    wifi_config.ap.max_connection = 4;
-    esp_wifi_set_mode(WIFI_MODE_AP);
-    esp_wifi_set_config(WIFI_IF_AP, &wifi_config);
-    esp_wifi_start();
 }
 
 size_t WiFiUdpDriver::_write(const uint8_t *buffer, size_t size)
diff --git a/libraries/AP_HAL_ESP32/WiFiUdpDriver.h b/libraries/AP_HAL_ESP32/WiFiUdpDriver.h
index 9b11464e35aba5..e59b4d1b1104b0 100644
--- a/libraries/AP_HAL_ESP32/WiFiUdpDriver.h
+++ b/libraries/AP_HAL_ESP32/WiFiUdpDriver.h
@@ -22,6 +22,9 @@
 #include "lwip/sockets.h"
 #include "esp_event.h"
 
+#ifndef WIFI_MAX_CONNECTION
+#define WIFI_MAX_CONNECTION 5
+#endif
 
 class ESP32::WiFiUdpDriver : public AP_HAL::UARTDriver
 {

From 9e8c16d15e6e57be90a1033251c86e98a9ab4c4a Mon Sep 17 00:00:00 2001
From: David Buzz <davidbuzz@gmail.com>
Date: Sun, 7 Jan 2024 16:45:48 +1000
Subject: [PATCH 0410/1335] AP_HAL_ESP32: S3 also needs change to storage
 sector size to 128K

just completing this PR for the S3..
https://github.com/ArduPilot/ardupilot/commit/fa70a56a65533caa6c509eaf9ebfdd521568c3c3
---
 libraries/AP_HAL_ESP32/targets/esp32s3/partitions.csv | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ESP32/targets/esp32s3/partitions.csv b/libraries/AP_HAL_ESP32/targets/esp32s3/partitions.csv
index 70f23f3af89566..8a292ba165f517 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32s3/partitions.csv
+++ b/libraries/AP_HAL_ESP32/targets/esp32s3/partitions.csv
@@ -2,4 +2,4 @@
 nvs,      data, nvs,           ,  0x6000
 phy_init, data, phy,           ,  0x1000
 factory,   app, factory,       ,  3M
-storage,  0x45, 0x0,           ,  128K
+storage,  0x45, 0x0,           ,  256K

From 08a09d04dc091336253e31fd9365f75f27644878 Mon Sep 17 00:00:00 2001
From: David Buzz <davidbuzz@gmail.com>
Date: Tue, 2 Jan 2024 09:46:09 +1000
Subject: [PATCH 0411/1335] HAL_ESP32: bring S3's sdkconfig closer to classic ,
 and optimise wifi on classic

---
 .../targets/esp32/esp-idf/sdkconfig           |  2 +-
 .../targets/esp32s3/esp-idf/sdkconfig         | 79 ++++++++++++-------
 2 files changed, 51 insertions(+), 30 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig
index 725b24a4a3b6e6..e1a5a3b0da288b 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig
+++ b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/sdkconfig
@@ -504,7 +504,7 @@ CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_0=y
 # CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_1 is not set
 CONFIG_ESP32_WIFI_SOFTAP_BEACON_MAX_LEN=752
 CONFIG_ESP32_WIFI_MGMT_SBUF_NUM=32
-# CONFIG_ESP32_WIFI_IRAM_OPT is not set
+CONFIG_ESP32_WIFI_IRAM_OPT=y
 CONFIG_ESP32_WIFI_RX_IRAM_OPT=y
 CONFIG_ESP32_WIFI_ENABLE_WPA3_SAE=y
 # CONFIG_ESP_WIFI_SLP_IRAM_OPT is not set
diff --git a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig
index 4ec0f241db1a68..3d841f1251b122 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig
+++ b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/sdkconfig
@@ -28,9 +28,9 @@ CONFIG_APP_BUILD_USE_FLASH_SECTIONS=y
 #
 # Application manager
 #
-CONFIG_APP_COMPILE_TIME_DATE=y
-# CONFIG_APP_EXCLUDE_PROJECT_VER_VAR is not set
-# CONFIG_APP_EXCLUDE_PROJECT_NAME_VAR is not set
+# CONFIG_APP_COMPILE_TIME_DATE is not set
+CONFIG_APP_EXCLUDE_PROJECT_VER_VAR=y
+CONFIG_APP_EXCLUDE_PROJECT_NAME_VAR=y
 # CONFIG_APP_PROJECT_VER_FROM_CONFIG is not set
 CONFIG_APP_RETRIEVE_LEN_ELF_SHA=16
 # end of Application manager
@@ -70,8 +70,6 @@ CONFIG_BOOTLOADER_FLASH_XMC_SUPPORT=y
 #
 # Security features
 #
-CONFIG_SECURE_BOOT_SUPPORTS_RSA=y
-CONFIG_SECURE_TARGET_HAS_SECURE_ROM_DL_MODE=y
 # CONFIG_SECURE_SIGNED_APPS_NO_SECURE_BOOT is not set
 # CONFIG_SECURE_BOOT is not set
 # CONFIG_SECURE_FLASH_ENC_ENABLED is not set
@@ -98,11 +96,11 @@ CONFIG_ESPTOOLPY_FLASHMODE_DIO=y
 # CONFIG_ESPTOOLPY_FLASHMODE_DOUT is not set
 CONFIG_ESPTOOLPY_FLASH_SAMPLE_MODE_STR=y
 CONFIG_ESPTOOLPY_FLASHMODE="dio"
-# CONFIG_ESPTOOLPY_FLASHFREQ_120M is not set
-# CONFIG_ESPTOOLPY_FLASHFREQ_80M is not set
-CONFIG_ESPTOOLPY_FLASHFREQ_40M=y
+CONFIG_ESPTOOLPY_FLASHFREQ_80M=y
+# CONFIG_ESPTOOLPY_FLASHFREQ_40M is not set
+# CONFIG_ESPTOOLPY_FLASHFREQ_26M is not set
 # CONFIG_ESPTOOLPY_FLASHFREQ_20M is not set
-CONFIG_ESPTOOLPY_FLASHFREQ="40m"
+CONFIG_ESPTOOLPY_FLASHFREQ="80m"
 # CONFIG_ESPTOOLPY_FLASHSIZE_1MB is not set
 # CONFIG_ESPTOOLPY_FLASHSIZE_2MB is not set
 # CONFIG_ESPTOOLPY_FLASHSIZE_4MB is not set
@@ -147,9 +145,9 @@ CONFIG_PARTITION_TABLE_MD5=y
 #
 # Compiler options
 #
-CONFIG_COMPILER_OPTIMIZATION_DEFAULT=y
+# CONFIG_COMPILER_OPTIMIZATION_DEFAULT is not set
 # CONFIG_COMPILER_OPTIMIZATION_SIZE is not set
-# CONFIG_COMPILER_OPTIMIZATION_PERF is not set
+CONFIG_COMPILER_OPTIMIZATION_PERF=y
 # CONFIG_COMPILER_OPTIMIZATION_NONE is not set
 CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_ENABLE=y
 # CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_SILENT is not set
@@ -200,7 +198,7 @@ CONFIG_ADC_DISABLE_DAC=y
 #
 # SPI configuration
 #
-# CONFIG_SPI_MASTER_IN_IRAM is not set
+CONFIG_SPI_MASTER_IN_IRAM=y
 CONFIG_SPI_MASTER_ISR_IN_IRAM=y
 # CONFIG_SPI_SLAVE_IN_IRAM is not set
 CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
@@ -238,9 +236,9 @@ CONFIG_EFUSE_MAX_BLK_LEN=256
 # ESP32S3-Specific
 #
 # CONFIG_ESP32S3_DEFAULT_CPU_FREQ_80 is not set
-CONFIG_ESP32S3_DEFAULT_CPU_FREQ_160=y
-# CONFIG_ESP32S3_DEFAULT_CPU_FREQ_240 is not set
-CONFIG_ESP32S3_DEFAULT_CPU_FREQ_MHZ=160
+#CONFIG_ESP32S3_DEFAULT_CPU_FREQ_160 is not set
+CONFIG_ESP32S3_DEFAULT_CPU_FREQ_240=y
+CONFIG_ESP32S3_DEFAULT_CPU_FREQ_MHZ=240
 
 #
 # Cache config
@@ -302,6 +300,9 @@ CONFIG_ESP32S3_DEEP_SLEEP_WAKEUP_DELAY=2000
 #
 # ADC-Calibration
 #
+CONFIG_ADC_CAL_EFUSE_TP_ENABLE=y
+CONFIG_ADC_CAL_EFUSE_VREF_ENABLE=y
+CONFIG_ADC_CAL_LUT_ENABLE=y
 # end of ADC-Calibration
 
 #
@@ -345,15 +346,15 @@ CONFIG_ESP_MAC_ADDR_UNIVERSE_WIFI_STA=y
 CONFIG_ESP_MAC_ADDR_UNIVERSE_WIFI_AP=y
 CONFIG_ESP_MAC_ADDR_UNIVERSE_BT=y
 CONFIG_ESP_MAC_ADDR_UNIVERSE_ETH=y
-# CONFIG_ESP32S3_UNIVERSAL_MAC_ADDRESSES_TWO is not set
-CONFIG_ESP32S3_UNIVERSAL_MAC_ADDRESSES_FOUR=y
-CONFIG_ESP32S3_UNIVERSAL_MAC_ADDRESSES=4
+CONFIG_ESP32S3_UNIVERSAL_MAC_ADDRESSES_TWO=y
+#CONFIG_ESP32S3_UNIVERSAL_MAC_ADDRESSES_FOUR is not set
+CONFIG_ESP32S3_UNIVERSAL_MAC_ADDRESSES=2
 # end of MAC Config
 
 #
 # Sleep Config
 #
-CONFIG_ESP_SLEEP_POWER_DOWN_FLASH=y
+# CONFIG_ESP_SLEEP_POWER_DOWN_FLASH is not set
 CONFIG_ESP_SLEEP_RTC_BUS_ISO_WORKAROUND=y
 # CONFIG_ESP_SLEEP_GPIO_RESET_WORKAROUND is not set
 # CONFIG_ESP_SLEEP_FLASH_LEAKAGE_WORKAROUND is not set
@@ -437,7 +438,7 @@ CONFIG_ESP_CONSOLE_MULTIPLE_UART=y
 CONFIG_ESP_CONSOLE_UART_NUM=0
 CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200
 CONFIG_ESP_INT_WDT=y
-CONFIG_ESP_INT_WDT_TIMEOUT_MS=300
+CONFIG_ESP_INT_WDT_TIMEOUT_MS=1000
 CONFIG_ESP_INT_WDT_CHECK_CPU1=y
 CONFIG_ESP_TASK_WDT=y
 # CONFIG_ESP_TASK_WDT_PANIC is not set
@@ -496,8 +497,18 @@ CONFIG_ESP_WIFI_SOFTAP_SUPPORT=y
 # Core dump
 #
 # CONFIG_ESP_COREDUMP_ENABLE_TO_FLASH is not set
-# CONFIG_ESP_COREDUMP_ENABLE_TO_UART is not set
-CONFIG_ESP_COREDUMP_ENABLE_TO_NONE=y
+CONFIG_ESP_COREDUMP_ENABLE_TO_UART=y
+# CONFIG_ESP_COREDUMP_ENABLE_TO_NONE is not set
+# CONFIG_ESP_COREDUMP_DATA_FORMAT_BIN is not set
+CONFIG_ESP_COREDUMP_DATA_FORMAT_ELF=y
+CONFIG_ESP_COREDUMP_CHECKSUM_CRC32=y
+# CONFIG_ESP_COREDUMP_CHECKSUM_SHA256 is not set
+CONFIG_ESP_COREDUMP_ENABLE=y
+CONFIG_ESP_COREDUMP_MAX_TASKS_NUM=64
+CONFIG_ESP_COREDUMP_UART_DELAY=0
+CONFIG_ESP_COREDUMP_DECODE_INFO=y
+# CONFIG_ESP_COREDUMP_DECODE_DISABLE is not set
+CONFIG_ESP_COREDUMP_DECODE="info"
 # end of Core dump
 
 #
@@ -556,7 +567,7 @@ CONFIG_FREERTOS_ASSERT_FAIL_ABORT=y
 # CONFIG_FREERTOS_ASSERT_FAIL_PRINT_CONTINUE is not set
 # CONFIG_FREERTOS_ASSERT_DISABLE is not set
 CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=1536
-CONFIG_FREERTOS_ISR_STACKSIZE=1536
+CONFIG_FREERTOS_ISR_STACKSIZE=2100
 # CONFIG_FREERTOS_LEGACY_HOOKS is not set
 CONFIG_FREERTOS_MAX_TASK_NAME_LEN=16
 CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION=y
@@ -1021,9 +1032,9 @@ CONFIG_LOG_BOOTLOADER_LEVEL_ERROR=y
 CONFIG_LOG_BOOTLOADER_LEVEL=1
 # CONFIG_APP_ROLLBACK_ENABLE is not set
 # CONFIG_FLASH_ENCRYPTION_ENABLED is not set
-# CONFIG_FLASHMODE_QIO is not set
+CONFIG_FLASHMODE_QIO=y
 # CONFIG_FLASHMODE_QOUT is not set
-CONFIG_FLASHMODE_DIO=y
+# CONFIG_FLASHMODE_DIO is not set
 # CONFIG_FLASHMODE_DOUT is not set
 # CONFIG_MONITOR_BAUD_9600B is not set
 # CONFIG_MONITOR_BAUD_57600B is not set
@@ -1034,7 +1045,7 @@ CONFIG_MONITOR_BAUD_115200B=y
 # CONFIG_MONITOR_BAUD_OTHER is not set
 CONFIG_MONITOR_BAUD_OTHER_VAL=115200
 CONFIG_MONITOR_BAUD=115200
-CONFIG_COMPILER_OPTIMIZATION_LEVEL_DEBUG=y
+# CONFIG_COMPILER_OPTIMIZATION_LEVEL_DEBUG is not set
 # CONFIG_COMPILER_OPTIMIZATION_LEVEL_RELEASE is not set
 CONFIG_OPTIMIZATION_ASSERTIONS_ENABLED=y
 # CONFIG_OPTIMIZATION_ASSERTIONS_SILENT is not set
@@ -1077,7 +1088,7 @@ CONFIG_CONSOLE_UART=y
 CONFIG_CONSOLE_UART_NUM=0
 CONFIG_CONSOLE_UART_BAUDRATE=115200
 CONFIG_INT_WDT=y
-CONFIG_INT_WDT_TIMEOUT_MS=300
+CONFIG_INT_WDT_TIMEOUT_MS=1000
 CONFIG_INT_WDT_CHECK_CPU1=y
 CONFIG_TASK_WDT=y
 # CONFIG_TASK_WDT_PANIC is not set
@@ -1087,8 +1098,18 @@ CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1=y
 # CONFIG_ESP32_DEBUG_STUBS_ENABLE is not set
 CONFIG_TIMER_TASK_STACK_SIZE=3584
 # CONFIG_ESP32_ENABLE_COREDUMP_TO_FLASH is not set
-# CONFIG_ESP32_ENABLE_COREDUMP_TO_UART is not set
-CONFIG_ESP32_ENABLE_COREDUMP_TO_NONE=y
+CONFIG_ESP32_ENABLE_COREDUMP_TO_UART=y
+# CONFIG_ESP32_ENABLE_COREDUMP_TO_NONE is not set
+# CONFIG_ESP32_COREDUMP_DATA_FORMAT_BIN is not set
+CONFIG_ESP32_COREDUMP_DATA_FORMAT_ELF=y
+CONFIG_ESP32_COREDUMP_CHECKSUM_CRC32=y
+# CONFIG_ESP32_COREDUMP_CHECKSUM_SHA256 is not set
+CONFIG_ESP32_ENABLE_COREDUMP=y
+CONFIG_ESP32_CORE_DUMP_MAX_TASKS_NUM=64
+CONFIG_ESP32_CORE_DUMP_UART_DELAY=0
+CONFIG_ESP32_CORE_DUMP_DECODE_INFO=y
+# CONFIG_ESP32_CORE_DUMP_DECODE_DISABLE is not set
+CONFIG_ESP32_CORE_DUMP_DECODE="info"
 # CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK is not set
 CONFIG_TIMER_TASK_PRIORITY=1
 CONFIG_TIMER_TASK_STACK_DEPTH=2048

From 6ea2c28a4d85bbb894225e230f118ca6d6d9ed22 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 7 Jan 2024 16:20:42 +1100
Subject: [PATCH 0412/1335] HAL_ChibiOS: fixed DMA on SPI on H743

this fixes DMA failures affecting IMUs on H743. The reason for the
failure is not yet clear, but this reverts back to our old stragegy of
always using the bouncebuffer on H7 as a quick workaround
---
 libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c b/libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
index dada2e1c433c6e..bf39aa6d448072 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
@@ -631,6 +631,10 @@ bool mem_is_dma_safe(const void *addr, uint32_t size, bool filesystem_op)
 #else
     uint32_t flags = MEM_REGION_FLAG_DMA_OK;
 #if defined(STM32H7)
+    if (!filesystem_op) {
+        // use bouncebuffer for all non FS ops on H7
+        return false;
+    }
     if (((uint32_t)addr) & 0x1F) {
         return false;
     }

From ce4a450d3aa8d679d1cda8599cc0e76631a11596 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Fri, 5 Jan 2024 15:25:07 -0600
Subject: [PATCH 0413/1335] AP_Network:add reboot req'd metadata to params
 missing it

---
 libraries/AP_Networking/AP_Networking_port.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking_port.cpp b/libraries/AP_Networking/AP_Networking_port.cpp
index 4c0e384ad6ea0b..b68c01c0c045d8 100644
--- a/libraries/AP_Networking/AP_Networking_port.cpp
+++ b/libraries/AP_Networking/AP_Networking_port.cpp
@@ -38,14 +38,16 @@ const AP_Param::GroupInfo AP_Networking::Port::var_info[] = {
     AP_GROUPINFO_FLAGS("TYPE", 1,  AP_Networking::Port, type, 0, AP_PARAM_FLAG_ENABLE),
 
     // @Param: PROTOCOL
-    // @DisplayName: protocol
-    // @Description: protocol
+    // @DisplayName: Protocol
+    // @Description: Networked serial port protocol
     // @User: Advanced
+    // @RebootRequired: True
     // @CopyFieldsFrom: SERIAL1_PROTOCOL
     AP_GROUPINFO("PROTOCOL", 2,  AP_Networking::Port, state.protocol, 0),
 
     // @Group: IP
     // @Path: AP_Networking_address.cpp
+    // @RebootRequired : True
     AP_SUBGROUPINFO(ip, "IP", 3,  AP_Networking::Port, AP_Networking_IPV4),
 
     // @Param: PORT

From 40e9b94f580f577d6c190aa02aa2f2141d1b9cd3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 7 Jan 2024 12:59:13 +1100
Subject: [PATCH 0414/1335] CI: test sim-on-hw build in CI

---
 .github/workflows/test_chibios.yml | 1 +
 Tools/scripts/build_ci.sh          | 6 ++++++
 2 files changed, 7 insertions(+)

diff --git a/.github/workflows/test_chibios.yml b/.github/workflows/test_chibios.yml
index 9e4cb96785f477..f3c2861050d6ba 100644
--- a/.github/workflows/test_chibios.yml
+++ b/.github/workflows/test_chibios.yml
@@ -157,6 +157,7 @@ jobs:
             build-options-defaults-test,
             signing,
             CubeOrange-PPP,
+            CubeOrange-SOHW,
         ]
         toolchain: [
             chibios,
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index 1b52fba38021e4..f4a8700d01ded0 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -334,6 +334,12 @@ for t in $CI_BUILD_TARGET; do
         $waf copter
         continue
     fi
+
+    if [ "$t" == "CubeOrange-SOHW" ]; then
+        echo "Building CubeOrange-SOHW"
+        Tools/scripts/sitl-on-hardware/sitl-on-hw.py --vehicle plane --simclass Plane --board CubeOrange
+        continue
+    fi
     
     if [ "$t" == "dds-stm32h7" ]; then
         echo "Building with DDS support on a STM32H7"

From c7c0680352f3cad3c7b1fb0c4375862d9ad71554 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 7 Jan 2024 12:59:50 +1100
Subject: [PATCH 0415/1335] waf: enable sim on hw for esp32 empty builds

---
 Tools/ardupilotwaf/boards.py | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 386727a203437e..9330bb6e02804f 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -917,7 +917,6 @@ def expand_path(p):
         cfg.load('esp32')
         env.DEFINES.update(
             CONFIG_HAL_BOARD = 'HAL_BOARD_ESP32',
-            AP_SIM_ENABLED = 0,
         )
 
         tt = self.name[5:] #leave off 'esp32' so we just get 'buzz','diy','icarus, etc
@@ -929,6 +928,15 @@ def expand_path(p):
             HAL_HAVE_HARDWARE_DOUBLE = '1',
         )
 
+        if self.name.endswith("empty"):
+            # for empty targets build as SIM-on-HW
+            env.DEFINES.update(AP_SIM_ENABLED = 1)
+            env.AP_LIBRARIES += [
+                'SITL',
+            ]
+        else:
+            env.DEFINES.update(AP_SIM_ENABLED = 0)
+
         env.AP_LIBRARIES += [
             'AP_HAL_ESP32',
         ]

From e6528eaaae495ea4d90475a9cfba7388fb3e4da1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 7 Jan 2024 13:00:17 +1100
Subject: [PATCH 0416/1335] AP_FrskyTelem: fixed warning on ESP32

---
 libraries/AP_Frsky_Telem/AP_Frsky_SPort.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Frsky_Telem/AP_Frsky_SPort.cpp b/libraries/AP_Frsky_Telem/AP_Frsky_SPort.cpp
index 371aeffb85bbee..c4dd68e481dcc5 100644
--- a/libraries/AP_Frsky_Telem/AP_Frsky_SPort.cpp
+++ b/libraries/AP_Frsky_Telem/AP_Frsky_SPort.cpp
@@ -369,6 +369,7 @@ bool AP_Frsky_SPortParser::get_packet(AP_Frsky_SPort::sport_packet_t &sport_pack
         0x1B	// Physical ID 27 - ArduPilot/Betaflight DEFAULT DOWNLINK
  * for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
  */
+#undef BIT
 #define BIT(x, index) (((x) >> index) & 0x01)
 uint8_t AP_Frsky_SPort::calc_sensor_id(const uint8_t physical_id)
 {

From 7d1cc14b1e7621b01063a6ab48ffd3b2cdb6afcd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 7 Jan 2024 13:00:37 +1100
Subject: [PATCH 0417/1335] AP_HAL: fixed build with AP_SIM_ENABLED

---
 libraries/AP_HAL/AP_HAL_Macros.h         | 2 +-
 libraries/AP_HAL/utility/Socket_native.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL/AP_HAL_Macros.h b/libraries/AP_HAL/AP_HAL_Macros.h
index 25e124af6665b4..20039cdb2f6a58 100644
--- a/libraries/AP_HAL/AP_HAL_Macros.h
+++ b/libraries/AP_HAL/AP_HAL_Macros.h
@@ -6,7 +6,7 @@
   macros to allow code to build on multiple platforms more easily
  */
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX || HAL_WITH_EKF_DOUBLE || (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && AP_SIM_ENABLED)
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX || HAL_WITH_EKF_DOUBLE || AP_SIM_ENABLED
 /*
   allow double maths on Linux and SITL to avoid problems with system headers
  */
diff --git a/libraries/AP_HAL/utility/Socket_native.h b/libraries/AP_HAL/utility/Socket_native.h
index e3514ded0c59b7..43708cd51b9b18 100644
--- a/libraries/AP_HAL/utility/Socket_native.h
+++ b/libraries/AP_HAL/utility/Socket_native.h
@@ -12,7 +12,7 @@
 #define AP_NETWORKING_SOCKETS_ENABLED 1
 #endif
 #include "Socket.hpp"
-#else
+#elif !AP_SIM_ENABLED
 #error "attempt to use Socket_native.h without native sockets"
 #endif
 

From 9c8fa7f58cb4939c88d6b13a03f0896a8d6af11d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 7 Jan 2024 13:01:53 +1100
Subject: [PATCH 0418/1335] AP_InertialSensor: fixed build of NONE backend

conflict with rand_float()
---
 .../AP_InertialSensor_NONE.cpp                | 28 +++++++++----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_NONE.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_NONE.cpp
index b64a06b9358f59..1d4ff5f19887bc 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_NONE.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_NONE.cpp
@@ -7,7 +7,7 @@
 #if CONFIG_HAL_BOARD == HAL_BOARD_ESP32
 
 
-float rand_float(void)
+static float sim_rand_float(void)
 {
     return ((((unsigned)random()) % 2000000) - 1.0e6) / 1.0e6;
 }
@@ -56,7 +56,7 @@ void AP_InertialSensor_NONE::accumulate()
 
 // calculate a noisy noise component
 static float calculate_noise(float noise, float noise_variation) {
-    return noise * (1.0f + noise_variation * rand_float());
+    return noise * (1.0f + noise_variation * sim_rand_float());
 }
 
 /*
@@ -81,9 +81,9 @@ void AP_InertialSensor_NONE::generate_accel()
         // this smears the individual motor peaks somewhat emulating physical motors
         //float freq_variation = 0.12f;
         // add in sensor noise
-        xAccel += accel_noise * rand_float();
-        yAccel += accel_noise * rand_float();
-        zAccel += accel_noise * rand_float();
+        xAccel += accel_noise * sim_rand_float();
+        yAccel += accel_noise * sim_rand_float();
+        zAccel += accel_noise * sim_rand_float();
 
         bool motors_on = 1; 
 
@@ -99,9 +99,9 @@ void AP_InertialSensor_NONE::generate_accel()
 
         if (vibe_freq.is_zero()) {
             // no rpm noise, so add in background noise if any
-            xAccel += accel_noise * rand_float();
-            yAccel += accel_noise * rand_float();
-            zAccel += accel_noise * rand_float();
+            xAccel += accel_noise * sim_rand_float();
+            yAccel += accel_noise * sim_rand_float();
+            zAccel += accel_noise * sim_rand_float();
         }
 
         if (!vibe_freq.is_zero() && motors_on) {
@@ -189,9 +189,9 @@ void AP_InertialSensor_NONE::generate_gyro()
         // this smears the individual motor peaks somewhat emulating physical motors
         float freq_variation = 0.12f;
         // add in sensor noise
-        p += gyro_noise * rand_float();
-        q += gyro_noise * rand_float();
-        r += gyro_noise * rand_float();
+        p += gyro_noise * sim_rand_float();
+        q += gyro_noise * sim_rand_float();
+        r += gyro_noise * sim_rand_float();
 
         bool motors_on = 1;
         // on a real 180mm copter gyro noise varies between 0.2-0.4 rad/s for throttle 0.2-0.8
@@ -206,9 +206,9 @@ void AP_InertialSensor_NONE::generate_gyro()
 
         if ( vibe_freq.is_zero() ) {
             // no rpm noise, so add in background noise if any
-            p += gyro_noise * rand_float();
-            q += gyro_noise * rand_float();
-            r += gyro_noise * rand_float();
+            p += gyro_noise * sim_rand_float();
+            q += gyro_noise * sim_rand_float();
+            r += gyro_noise * sim_rand_float();
         }
 
         if (!vibe_freq.is_zero() && motors_on) {

From 6c88111267f2bcbd68ffff2901d01d80fa6d7e8d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 7 Jan 2024 13:02:19 +1100
Subject: [PATCH 0419/1335] SITL: fixed build with sim on hw

---
 libraries/SITL/SIM_Blimp.h   | 2 +-
 libraries/SITL/SIM_Plane.cpp | 5 ++++-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/libraries/SITL/SIM_Blimp.h b/libraries/SITL/SIM_Blimp.h
index 042341c5a1bc52..1cdfc504df2c82 100644
--- a/libraries/SITL/SIM_Blimp.h
+++ b/libraries/SITL/SIM_Blimp.h
@@ -68,7 +68,7 @@ class Blimp : public Aircraft {
     float drag_gyr_constant;
 
     void calculate_forces(const struct sitl_input &input, Vector3f &rot_accel, Vector3f &body_accel);
-    float sq(float a) {return pow(a,2);}
+    float sq(float a) {return powf(a,2);}
 };
 
 }
diff --git a/libraries/SITL/SIM_Plane.cpp b/libraries/SITL/SIM_Plane.cpp
index 4b32c10406267b..8dbdfc6fc4a872 100644
--- a/libraries/SITL/SIM_Plane.cpp
+++ b/libraries/SITL/SIM_Plane.cpp
@@ -20,6 +20,7 @@
 #include "SIM_Plane.h"
 
 #include <stdio.h>
+#include <AP_Filesystem/AP_Filesystem_config.h>
 
 using namespace SITL;
 
@@ -80,6 +81,7 @@ Plane::Plane(const char *frame_str) :
         thrust_scale *= 1.5;
     }
 
+#if AP_FILESYSTEM_FILE_READING_ENABLED
     if (strstr(frame_str, "-3d")) {
         aerobatic = true;
         thrust_scale *= 1.5;
@@ -87,7 +89,8 @@ Plane::Plane(const char *frame_str) :
         AP_Param::load_defaults_file("@ROMFS/models/plane.parm", false);
         AP_Param::load_defaults_file("@ROMFS/models/plane-3d.parm", false);
     }
-    
+#endif
+
     if (strstr(frame_str, "-ice")) {
         ice_engine = true;
     }

From d90a4654a71f5a8930a85660d877f9ea754f5619 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 7 Jan 2024 13:02:48 +1100
Subject: [PATCH 0420/1335] HAL_ESP32: allow for building with sim on hw

---
 libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp   | 18 ++++++++++++++++++
 libraries/AP_HAL_ESP32/RCInput.cpp           |  3 ++-
 libraries/AP_HAL_ESP32/boards/esp32empty.h   |  1 +
 libraries/AP_HAL_ESP32/boards/esp32s3empty.h |  8 +++++++-
 4 files changed, 28 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp b/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
index d4057a9af3422d..b00af1bc543c09 100644
--- a/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
+++ b/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
@@ -28,6 +28,9 @@
 #include "Storage.h"
 #include "AnalogIn.h"
 #include "Util.h"
+#if AP_SIM_ENABLED
+#include <AP_HAL/SIMState.h>
+#endif
 
 
 static ESP32::UARTDriver cons(0);
@@ -60,15 +63,27 @@ static ESP32::AnalogIn analogIn;
 #else
 static Empty::AnalogIn analogIn;
 #endif
+#ifdef HAL_USE_EMPTY_STORAGE
+static Empty::Storage storageDriver;
+#else
 static ESP32::Storage storageDriver;
+#endif
 static Empty::GPIO gpioDriver;
+#if AP_SIM_ENABLED
+static Empty::RCOutput rcoutDriver;
+#else
 static ESP32::RCOutput rcoutDriver;
+#endif
 static ESP32::RCInput rcinDriver;
 static ESP32::Scheduler schedulerInstance;
 static ESP32::Util utilInstance;
 static Empty::OpticalFlow opticalFlowDriver;
 static Empty::Flash flashDriver;
 
+#if AP_SIM_ENABLED
+static AP_HAL::SIMState xsimstate;
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 HAL_ESP32::HAL_ESP32() :
@@ -96,6 +111,9 @@ HAL_ESP32::HAL_ESP32() :
         &utilInstance,
         &opticalFlowDriver,
         &flashDriver,
+#if AP_SIM_ENABLED
+        &xsimstate,
+#endif
 #if HAL_WITH_DSP
         &dspDriver,
 #endif
diff --git a/libraries/AP_HAL_ESP32/RCInput.cpp b/libraries/AP_HAL_ESP32/RCInput.cpp
index 2923872dbd2a88..704877962d4e08 100644
--- a/libraries/AP_HAL_ESP32/RCInput.cpp
+++ b/libraries/AP_HAL_ESP32/RCInput.cpp
@@ -89,10 +89,10 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
 
 void RCInput::_timer_tick(void)
 {
+#if AP_RCPROTOCOL_ENABLED
     if (!_init) {
         return;
     }
-
     AP_RCProtocol &rcprot = AP::RC();
 
 #ifdef HAL_ESP32_RCIN
@@ -126,4 +126,5 @@ void RCInput::_timer_tick(void)
 #endif
 
 #endif
+#endif // AP_RCPROTOCOL_ENABLED
 }
diff --git a/libraries/AP_HAL_ESP32/boards/esp32empty.h b/libraries/AP_HAL_ESP32/boards/esp32empty.h
index 33f5d7c219ca99..d95e30f9b2af95 100644
--- a/libraries/AP_HAL_ESP32/boards/esp32empty.h
+++ b/libraries/AP_HAL_ESP32/boards/esp32empty.h
@@ -148,3 +148,4 @@
 
 #define HAL_LOGGING_BACKENDS_DEFAULT 1
 
+#define AP_RCPROTOCOL_ENABLED 0
diff --git a/libraries/AP_HAL_ESP32/boards/esp32s3empty.h b/libraries/AP_HAL_ESP32/boards/esp32s3empty.h
index d8f2af7f76cd8a..37c40f9a6419a6 100644
--- a/libraries/AP_HAL_ESP32/boards/esp32s3empty.h
+++ b/libraries/AP_HAL_ESP32/boards/esp32s3empty.h
@@ -44,7 +44,7 @@
 #define HAL_USE_ADC 0
 
 // 2 use udp, 1 use tcp...  for udp,client needs to connect as UDPCL in missionplanner etc to 192.168.4.1 port 14550
-#define HAL_ESP32_WIFI 1
+#define HAL_ESP32_WIFI 2
 
 // see boards.py
 #ifndef ENABLE_HEAP
@@ -87,3 +87,9 @@
 
 #define HAL_LOGGING_BACKENDS_DEFAULT 1
 
+#define AP_RCPROTOCOL_ENABLED 0
+
+#define AP_FILESYSTEM_ESP32_ENABLED 0
+#define AP_SCRIPTING_ENABLED 0
+#define HAL_USE_EMPTY_STORAGE 1
+

From 3fd907ddce9ad473d7b989189324dae07171f545 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 7 Jan 2024 13:03:31 +1100
Subject: [PATCH 0421/1335] HAL_ESP32: use faster div1000

---
 libraries/AP_HAL_ESP32/system.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ESP32/system.cpp b/libraries/AP_HAL_ESP32/system.cpp
index 4ee607c5617b72..021b921dc1e60d 100644
--- a/libraries/AP_HAL_ESP32/system.cpp
+++ b/libraries/AP_HAL_ESP32/system.cpp
@@ -15,6 +15,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL_ESP32/HAL_ESP32_Class.h>
+#include <AP_Math/div1000.h>
 #include "SdCard.h"
 
 #include <stdint.h>
@@ -51,7 +52,7 @@ uint64_t micros64()
 
 uint64_t millis64()
 {
-    return micros64()/1000;
+    return uint64_div1000(micros64());
 }
 
 } // namespace AP_HAL

From 8ddfa0257529edf6fccd0b1d4bbfc336a2947cac Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 7 Jan 2024 13:03:54 +1100
Subject: [PATCH 0422/1335] Tools: fixed est32 gdb init

---
 Tools/debug/gdb-openocd-esp32.init | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/Tools/debug/gdb-openocd-esp32.init b/Tools/debug/gdb-openocd-esp32.init
index b4e10495a0a9e1..c024f050785aff 100644
--- a/Tools/debug/gdb-openocd-esp32.init
+++ b/Tools/debug/gdb-openocd-esp32.init
@@ -7,7 +7,4 @@ set print pretty
 set remote hardware-watchpoint-limit 2
 mon reset halt
 maintenance flush register-cache
-thb app_main
-b AP_HAL::panic
 set confirm off
-c

From bea8b25c5d3cb68c5e6a3b5a000de441f9f97569 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Wed, 15 Nov 2023 15:41:27 +1100
Subject: [PATCH 0423/1335] AP_HAL_ChibiOS: add support for early
 initialisation of WATCHDOG

This is needed for Ardupilot Vehicle builds running on AP_Periph bootloaders
---
 libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index 2355fe4be5815e..e362804b91a966 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -268,10 +268,12 @@ static void main_loop()
 #ifdef IOMCU_FW
     stm32_watchdog_init();
 #elif !defined(HAL_BOOTLOADER_BUILD)
+#if !defined(HAL_EARLY_WATCHDOG_INIT)
     // setup watchdog to reset if main loop stops
     if (AP_BoardConfig::watchdog_enabled()) {
         stm32_watchdog_init();
     }
+#endif
 
     if (hal.util->was_watchdog_reset()) {
         INTERNAL_ERROR(AP_InternalError::error_t::watchdog_reset);
@@ -314,6 +316,10 @@ static void main_loop()
 
 void HAL_ChibiOS::run(int argc, char * const argv[], Callbacks* callbacks) const
 {
+#if defined(HAL_EARLY_WATCHDOG_INIT) && !defined(DISABLE_WATCHDOG)
+    stm32_watchdog_init();
+    stm32_watchdog_pat();
+#endif
     /*
      * System initializations.
      * - ChibiOS HAL initialization, this also initializes the configured device drivers

From ec15951b06da670a1575f7b7ce79518f6bb65691 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Wed, 15 Nov 2023 15:43:39 +1100
Subject: [PATCH 0424/1335] AP_HAL_ChibiOS: add hwdef for Here4FC

---
 .../hwdef/Here4FC/defaults.parm               |  12 ++
 .../AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat |  68 +++++++++
 .../AP_HAL_ChibiOS/hwdef/Here4FC/hwdef.dat    | 131 ++++++++++++++++++
 3 files changed, 211 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Here4FC/defaults.parm
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/defaults.parm
new file mode 100644
index 00000000000000..3cbd92be7659ee
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/defaults.parm
@@ -0,0 +1,12 @@
+# setup for ProfiLED
+SERVO9_FUNCTION 132
+SERVO10_FUNCTION 129
+NTF_LED_TYPES 512
+NTF_LED_BRIGHT 2
+NTF_LED_LEN 4
+
+# Disable Logging by default
+LOG_BACKEND_TYPE 0
+
+# make node id to not conflict with ardupilot default
+CAN_D1_UC_NODE 8
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat
new file mode 100644
index 00000000000000..0236dbff1c3a1e
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat
@@ -0,0 +1,68 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H757 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H757xx
+
+define CORE_CM7
+define SMPS_PWR
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1043
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# reserve space for flash storage in last 2 sectors
+FLASH_RESERVE_END_KB 256
+
+# the location where the bootloader will put the firmware
+# the H757 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 256
+
+# enable CAN support
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD2 SLEEPCAN1 OUTPUT PUSHPULL SPEED_LOW LOW
+PD3 TERMCAN1 OUTPUT LOW
+
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+PB10 SLEEPCAN2 OUTPUT PUSHPULL SPEED_LOW LOW
+PB11 TERMCAN2 OUTPUT LOW
+
+# board voltage
+STM32_VDD 330U
+
+PB8 LED_SCK OUTPUT LOW
+PB9 LED_DI OUTPUT HIGH
+
+define HAL_NO_LOGGING TRUE
+define HAL_NO_MONITOR_THREAD
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define AP_PERIPH_HAVE_LED
+
+define CAN_APP_NODE_NAME "com.cubepilot.here4fc"
+
+PB6 USART1_TX  USART1
+PB7 USART1_RX  USART1
+
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# order of UARTs
+SERIAL_ORDER USART1 UART8
+
+# setup for blanking LEDs in bootloader
+define AP_BOOTLOADER_CUSTOM_HERE4
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef.dat
new file mode 100644
index 00000000000000..94d07648d6b5ee
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef.dat
@@ -0,0 +1,131 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H757
+
+# MCU class and specific type
+MCU STM32H7xx STM32H757xx
+
+define CORE_CM7
+define SMPS_PWR
+
+FLASH_SIZE_KB 2048
+APJ_BOARD_ID 1043
+
+
+# the location where the bootloader will put the firmware
+# the H757 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 256
+FLASH_RESERVE_START_KB 256
+
+# use last 2 pages for flash storage
+# H757 has 16 pages of 128k each
+STORAGE_FLASH_PAGE 14
+define HAL_STORAGE_SIZE 32768
+
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+CANFD_SUPPORTED 8
+
+STDOUT_SERIAL SD6
+STDOUT_BAUDRATE 57600
+
+PC6 USART6_TX USART6
+
+PB6 USART1_TX  USART1 GPIO(7)
+PB7 USART1_RX  USART1 GPIO(8)
+
+PD5 USART2_TX USART2 GPIO(9)
+PD6 USART2_RX USART2 GPIO(10)
+
+PA11 UART4_RX UART4
+PA12 UART4_TX UART4
+
+define GPIO_USART1_TX 7
+define GPIO_USART1_RX 8
+define GPIO_USART2_TX 9
+define GPIO_USART2_RX 10
+
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+SERIAL_ORDER USART1 UART4 UART8 USART2
+
+define DRONEID_MODULE_PORT 2
+define DRONEID_MODULE_CHAN MAVLINK_COMM_0
+
+define AP_UART_MONITOR_ENABLED 1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+
+# RCInput
+PB15 TIM12_CH2 TIM12 RCININT PULLDOWN LOW
+
+# RCOutput
+PE9  TIM1_CH1 TIM1 PWM(1) GPIO(50) BIDIR
+PE11 TIM1_CH2 TIM1 PWM(2) GPIO(51) # shared with channel 1
+PE13 TIM1_CH3 TIM1 PWM(3) GPIO(52) BIDIR
+PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53) # shared with channel 3
+PC7  TIM3_CH2 TIM3 PWM(5) GPIO(54) BIDIR
+PC8  TIM3_CH3 TIM3 PWM(6) GPIO(55) BIDIR
+PC9  TIM3_CH4 TIM3 PWM(7) GPIO(56) BIDIR
+PA3  TIM2_CH4 TIM2 PWM(8) GPIO(57) BIDIR
+
+# enable CAN support
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD2 SLEEPCAN1 OUTPUT PUSHPULL SPEED_LOW LOW
+PD3 TERMCAN1 OUTPUT HIGH GPIO(3)
+
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+PB10 SLEEPCAN2 OUTPUT PUSHPULL SPEED_LOW LOW
+PB11 TERMCAN2 OUTPUT HIGH GPIO(4)
+
+define AP_OPENDRONEID_ENABLED 1
+
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB2 SPI3_MOSI SPI3
+PB1 MAG_CS CS
+
+SPIDEV rm3100 SPI3 DEVID1    MAG_CS MODE0  1*MHZ  1*MHZ
+COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
+define AP_RM3100_REVERSAL_MASK 4
+
+# HOTSHOE pin repurposed for BATT Voltage Sens
+PA1 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+
+PA8 ICM_CS CS
+PA9 BARO_CS CS
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+SPIDEV icm42688       SPI1 DEVID4  ICM_CS       MODE3  2*MHZ  8*MHZ
+SPIDEV ms5611         SPI1 DEVID3  BARO_CS      MODE3 20*MHZ 20*MHZ
+
+BARO MS56XX SPI:ms5611
+
+IMU Invensensev3 SPI:icm42688 ROTATION_YAW_270
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 5
+
+# WS2812 LED
+PB8 TIM4_CH3 TIM4 PWM(9)
+PB9 TIM4_CH4 TIM4 PWM(10)
+
+PD11 GPS_TP1 OUTPUT LOW GPIO(5)
+PD7  GPS_PPS INPUT PULLUP GPIO(6)
+define CONFIGURE_PPS_PIN TRUE
+define HAL_GPIO_PPS 6
+
+PD12 GPS_SAFEBOOT_N INPUT FLOATING GPIO(11)
+define GPIO_UBX_SAFEBOOT 11
+PD13 GPS_RESET_N INPUT FLOATING GPIO(12)
+define GPIO_UBX_RESET 12
+define HAL_EARLY_WATCHDOG_INIT

From c693d4f0e4ae7432cbb03242dd0f200e385c1c02 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Wed, 15 Nov 2023 15:44:38 +1100
Subject: [PATCH 0425/1335] Tools: add Here4FC bootloaders

---
 Tools/bootloaders/Here4FC_bl.bin |  Bin 0 -> 25472 bytes
 Tools/bootloaders/Here4FC_bl.hex | 1594 ++++++++++++++++++++++++++++++
 2 files changed, 1594 insertions(+)
 create mode 100755 Tools/bootloaders/Here4FC_bl.bin
 create mode 100644 Tools/bootloaders/Here4FC_bl.hex

diff --git a/Tools/bootloaders/Here4FC_bl.bin b/Tools/bootloaders/Here4FC_bl.bin
new file mode 100755
index 0000000000000000000000000000000000000000..72a593edecc45152abcfe20b724f01684e5edd7b
GIT binary patch
literal 25472
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diff --git a/Tools/bootloaders/Here4FC_bl.hex b/Tools/bootloaders/Here4FC_bl.hex
new file mode 100644
index 00000000000000..2ca9ef747bf0b0
--- /dev/null
+++ b/Tools/bootloaders/Here4FC_bl.hex
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+:1061F00000000000000000005A0000000000000045
+:106200009AAAAAAA00000000F3FF0000990000006B
+:10621000000000000A00000000000000AAAAAAAACC
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+:106230000000000000000000AAAAAAAA00000000B6
+:10624000FFFF000000000000000000000000000050
+:1062500000000000AAAAAAAA00000000FFFF000098
+:10626000000000000000000000000000000000002E
+:10627000AAAAAAAA00000000FFFF00000000000078
+:10628000000000000000000000000000AAAAAAAA66
+:1062900000000000FFFF0000000000000000000000
+:1062A0000000000000000000AAAAAAAA0000000046
+:1062B000FFFF0000000000000000000000000000E0
+:1062C00000000000AAAAAAAA00000000FFFF000028
+:1062D000000000000000000048A0FF7F0100000057
+:1062E000130400000000000000001800000000007F
+:1062F000FE2A0100D2040000FF000000A463002079
+:1063000010640020000000002060000883040000EA
+:106310002B60000850040000396000084022002073
+:10632000000000000000000000000000000000006D
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+:10636000000000000000000000000000000000002D
+:10637000000000000000000000000000000000001D
+:00000001FF

From 57ccac308d28f3702f891f4a21a810bd9e490ee6 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Sun, 7 Jan 2024 14:50:25 +1100
Subject: [PATCH 0426/1335] AP_HAL_ChibiOS: Add readme file to Here4 FC

---
 .../AP_HAL_ChibiOS/hwdef/Here4FC/README.md    | 24 +++++++++++++++++++
 1 file changed, 24 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Here4FC/README.md

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/README.md b/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/README.md
new file mode 100644
index 00000000000000..42cdc2cc3eb7de
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/README.md
@@ -0,0 +1,24 @@
+# Here4 GPS Module as Flight Controller
+
+Here4 Module is sold as a GPS module, but it can be used as a flight controller.
+
+## Features
+- STM32H757 MCU
+- ICM45686 IMU
+- MS5611 Barometer
+- RM3100 Compass
+- 1x UART
+- 2x CAN
+- 8x PWM
+- 1x RCIN
+- 1x UBLOX NEO-F9P L1L5 GNSS
+
+## How to use
+- To load the FC firmware on production Here4. User needs to first update Here4 through DroneCAN tool or Mission Planners DroneCAN config using FC firmware, which is .bin format.
+- After first update, users can connect through the serial port. Check https://docs.cubepilot.org/user-guides/here-4/here-4-manual#pinout for breakout board pinouts.
+- For enabling future updates to FC firmware, use flash bootloader through mission planner, and then user should be able to update firmware through Serial port.
+- Please note that once the firmware is updated to FC, to rollback to GPS firmware user will need to update using APJ file available here https://github.com/CubePilot/GNSSPeriph-release/releases.
+
+## Pinout and Connectors
+
+https://docs.cubepilot.org/user-guides/here-4/here-4-manual#pinout

From ca32c8a8730eedacf8f7fd65134c67ee582be8a5 Mon Sep 17 00:00:00 2001
From: David Buzz <davidbuzz@gmail.com>
Date: Sun, 7 Jan 2024 16:19:48 +1000
Subject: [PATCH 0427/1335] AP_HAL_ESP32 : this was an attempt at resolving
 watchdog issues , now just needs to go

superceeded by https://github.com/ArduPilot/ardupilot/commit/b9ac504d0daa4e370e5b8660b618005b31a16796
---
 libraries/AP_HAL_ESP32/Scheduler.cpp     | 2 +-
 libraries/AP_HAL_ESP32/SdCard.cpp        | 4 ----
 libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp | 2 --
 3 files changed, 1 insertion(+), 7 deletions(-)

diff --git a/libraries/AP_HAL_ESP32/Scheduler.cpp b/libraries/AP_HAL_ESP32/Scheduler.cpp
index 8a30f612eb81e9..976b7245fdd484 100644
--- a/libraries/AP_HAL_ESP32/Scheduler.cpp
+++ b/libraries/AP_HAL_ESP32/Scheduler.cpp
@@ -235,7 +235,7 @@ void Scheduler::delay_microseconds(uint16_t us)
         ets_delay_us(us);
     } else { // Minimum delay for FreeRTOS is 1ms
         uint32_t tick = portTICK_PERIOD_MS * 1000;
-        rtc_wdt_feed();
+
         vTaskDelay((us+tick-1)/tick);
     }
 }
diff --git a/libraries/AP_HAL_ESP32/SdCard.cpp b/libraries/AP_HAL_ESP32/SdCard.cpp
index 725235fba9e098..0f91711e1a9a90 100644
--- a/libraries/AP_HAL_ESP32/SdCard.cpp
+++ b/libraries/AP_HAL_ESP32/SdCard.cpp
@@ -165,9 +165,7 @@ void mount_sdcard_mmc()
     // Please check its source code and implement error recovery when developing
     // production applications.
     sdmmc_card_t* card;
-    rtc_wdt_feed();
     esp_err_t ret = esp_vfs_fat_sdmmc_mount("/SDCARD", &host, &slot_config, &mount_config, &card);
-    rtc_wdt_feed();
 
     if (ret == ESP_OK) {
         mkdir("/SDCARD/APM", 0777);
@@ -237,9 +235,7 @@ void mount_sdcard_spi()
 
     //host.flags = SDMMC_HOST_FLAG_1BIT | SDMMC_HOST_FLAG_DDR;
     host.max_freq_khz = SDMMC_FREQ_PROBING;
-    rtc_wdt_feed();
     ret = esp_vfs_fat_sdspi_mount("/SDCARD", &host, &slot_config, &mount_config, &card);
-    rtc_wdt_feed();
 
     if (ret == ESP_OK) {
         // Card has been initialized, print its properties
diff --git a/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp b/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp
index b7a48f4f949cd2..7352254d85fe81 100644
--- a/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp
+++ b/libraries/AP_HAL_ESP32/WiFiUdpDriver.cpp
@@ -351,10 +351,8 @@ void WiFiUdpDriver::_wifi_thread2(void *arg)
             .tv_usec = 100*1000, // 10 times a sec, we try to write-all even if we read nothing , at just 1000, it floggs the APM_WIFI2 task cpu usage unecessarily, slowing APM_WIFI1 response
         };
         fd_set rfds;
-        rtc_wdt_feed();
         FD_ZERO(&rfds);
         FD_SET(self->accept_socket, &rfds);
-        rtc_wdt_feed();
         int s = select(self->accept_socket + 1, &rfds, NULL, NULL, &tv);
         if (s > 0 && FD_ISSET(self->accept_socket, &rfds)) {
             self->read_all();

From 77afdf1539029ec52e58bbaec616be3ac28e25e2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 7 Jan 2024 12:29:47 +1100
Subject: [PATCH 0428/1335] Tracker: stream BATTERY_STATUS by default

... if a user has set up a monitor they almost certainly want this
---
 AntennaTracker/GCS_Mavlink.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 0fbe19edaa8ca8..919a7c7305cd95 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -313,6 +313,7 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
     MSG_MAG_CAL_PROGRESS,
 #endif
     MSG_EKF_STATUS_REPORT,
+    MSG_BATTERY_STATUS,
 };
 static const ap_message STREAM_PARAMS_msgs[] = {
     MSG_NEXT_PARAM

From 5acf58c310aeb578259fc4c6d57a80edfba66d0b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 7 Jan 2024 12:30:38 +1100
Subject: [PATCH 0429/1335] autotest: add test for receiving base messages

---
 Tools/autotest/antennatracker.py | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/Tools/autotest/antennatracker.py b/Tools/autotest/antennatracker.py
index b06df26492126c..438e6d7ce66587 100644
--- a/Tools/autotest/antennatracker.py
+++ b/Tools/autotest/antennatracker.py
@@ -162,6 +162,13 @@ def SCAN(self):
                                           timeout=90,
                                           comparator=operator.le)
 
+    def BaseMessageSet(self):
+        '''ensure we're getting messages we expect'''
+        self.set_parameter('BATT_MONITOR', 4)
+        self.reboot_sitl()
+        for msg in 'BATTERY_STATUS', :
+            self.assert_receive_message(msg)
+
     def disabled_tests(self):
         return {
             "ArmFeatures": "See https://github.com/ArduPilot/ardupilot/issues/10652",
@@ -178,5 +185,6 @@ def tests(self):
             self.MAV_CMD_MISSION_START,
             self.NMEAOutput,
             self.SCAN,
+            self.BaseMessageSet,
         ])
         return ret

From 7292c89766b294e1280662392ab5f1cf6a442f8f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 4 Jan 2024 13:30:41 +1100
Subject: [PATCH 0430/1335] AP_Networking: auto-restart PPP on error

this makes it easier to handle startup timing with PPP
---
 libraries/AP_Networking/AP_Networking_PPP.cpp | 101 ++++++------------
 libraries/AP_Networking/AP_Networking_PPP.h   |   1 +
 2 files changed, 34 insertions(+), 68 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking_PPP.cpp b/libraries/AP_Networking/AP_Networking_PPP.cpp
index b5437de9e4a71f..13929634e79239 100644
--- a/libraries/AP_Networking/AP_Networking_PPP.cpp
+++ b/libraries/AP_Networking/AP_Networking_PPP.cpp
@@ -53,70 +53,28 @@ void AP_Networking_PPP::ppp_status_callback(struct ppp_pcb_s *pcb, int code, voi
 {
     auto &driver = *(AP_Networking_PPP *)ctx;
     struct netif *pppif = ppp_netif(pcb);
-    const char *msg = nullptr;
 
     switch (code) {
-    case PPPERR_NONE: {
-        // got addresses
+    case PPPERR_NONE:
+        // got new addresses for the link
         driver.activeSettings.ip = ntohl(netif_ip4_addr(pppif)->addr);
         driver.activeSettings.gw = ntohl(netif_ip4_gw(pppif)->addr);
         driver.activeSettings.nm = ntohl(netif_ip4_netmask(pppif)->addr);
         driver.activeSettings.last_change_ms = AP_HAL::millis();
-
-        break;
-    }
-    case PPPERR_PARAM: {           /* Invalid parameter. */
-        msg = "PPPERR_PARAM";
-        break;
-    }
-    case PPPERR_OPEN: {            /* Unable to open PPP session. */
-        msg = "PPPERR_OPEN";
-        break;
-    }
-    case PPPERR_DEVICE: {          /* Invalid I/O device for PPP. */
-        msg = "PPPERR_DEVICE";
-        break;
-    }
-    case PPPERR_ALLOC: {           /* Unable to allocate resources. */
-        msg = "PPPERR_ALLOC";
-        break;
-    }
-    case PPPERR_USER: {            /* User interrupt. */
-        msg = "PPPERR_USER";
-        break;
-    }
-    case PPPERR_CONNECT: {         /* Connection lost. */
-        msg = "PPPERR_CONNECT";
-        break;
-    }
-    case PPPERR_AUTHFAIL: {        /* Failed authentication challenge. */
-        msg = "PPPERR_AUTHFAIL";
-        break;
-    }
-    case PPPERR_PROTOCOL: {        /* Failed to meet protocol. */
-        msg = "PPPERR_PROTOCOL";
-        break;
-    }
-    case PPPERR_PEERDEAD: {        /* Connection timeout */
-        msg = "PPPERR_PEERDEAD";
         break;
-    }
-    case PPPERR_IDLETIMEOUT: {     /* Idle Timeout */
-        msg = "PPPERR_IDLETIMEOUT";
-        break;
-    }
-    case PPPERR_CONNECTTIME: {     /* Max connect time reached */
-        msg = "PPPERR_CONNECTTIME";
+
+    case PPPERR_OPEN:
+    case PPPERR_CONNECT:
+    case PPPERR_PEERDEAD:
+    case PPPERR_IDLETIMEOUT:
+    case PPPERR_CONNECTTIME:
+        driver.need_restart = true;
         break;
-    }
-    case PPPERR_LOOPBACK: {        /* Loopback detected */
-        msg = "PPPERR_LOOPBACK";
+
+    default:
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: error %d", code);
         break;
     }
-    }
-    if (msg != nullptr) {
-        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: %s", msg);
-    }
 }
 
 
@@ -169,13 +127,6 @@ void AP_Networking_PPP::ppp_loop(void)
     while (!hal.scheduler->is_system_initialized()) {
         hal.scheduler->delay_microseconds(1000);
     }
-    
-    // connect and set as default route
-    LWIP_TCPIP_LOCK();
-    ppp_connect(ppp, 0);
-
-    netif_set_default(pppif);
-    LWIP_TCPIP_UNLOCK();
 
     // ensure this thread owns the uart
     uart->begin(0);
@@ -183,13 +134,27 @@ void AP_Networking_PPP::ppp_loop(void)
 
     while (true) {
         uint8_t buf[1024];
-        auto n = uart->read(buf, sizeof(buf));
-        if (n > 0) {
-            LWIP_TCPIP_LOCK();
-            pppos_input(ppp, buf, n);
-            LWIP_TCPIP_UNLOCK();
-        } else {
-            hal.scheduler->delay_microseconds(200);
+
+        // connect and set as default route
+        LWIP_TCPIP_LOCK();
+        ppp_connect(ppp, 0);
+
+        netif_set_default(pppif);
+        LWIP_TCPIP_UNLOCK();
+
+        need_restart = false;
+
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: connected");
+
+        while (!need_restart) {
+            auto n = uart->read(buf, sizeof(buf));
+            if (n > 0) {
+                LWIP_TCPIP_LOCK();
+                pppos_input(ppp, buf, n);
+                LWIP_TCPIP_UNLOCK();
+            } else {
+                hal.scheduler->delay_microseconds(200);
+            }
         }
     }
 }
diff --git a/libraries/AP_Networking/AP_Networking_PPP.h b/libraries/AP_Networking/AP_Networking_PPP.h
index e04b9ec2345a36..7e4a16d60a5a27 100644
--- a/libraries/AP_Networking/AP_Networking_PPP.h
+++ b/libraries/AP_Networking/AP_Networking_PPP.h
@@ -21,6 +21,7 @@ class AP_Networking_PPP : public AP_Networking_Backend
     AP_HAL::UARTDriver *uart;
     struct netif *pppif;
     struct ppp_pcb_s *ppp;
+    bool need_restart;
 
     static void ppp_status_callback(struct ppp_pcb_s *pcb, int code, void *ctx);
     static uint32_t ppp_output_cb(struct ppp_pcb_s *pcb, const void *data, uint32_t len, void *ctx);

From efac52136b9b9defa6e181bcbc17b9b4255feca9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 4 Jan 2024 10:23:57 +1100
Subject: [PATCH 0431/1335] AP_Scripting: fixed memory leak in sendfile()

this leaked the SocketAPM on each sendfile() call, we now rely on the
script calling close(). The net_webserver.lua is already using close()
correctly, this change just makes close able to find the socket
---
 libraries/AP_Scripting/AP_Scripting.cpp |  1 -
 libraries/AP_Scripting/AP_Scripting.h   |  1 -
 libraries/AP_Scripting/lua_bindings.cpp | 77 +++++++++----------------
 3 files changed, 28 insertions(+), 51 deletions(-)

diff --git a/libraries/AP_Scripting/AP_Scripting.cpp b/libraries/AP_Scripting/AP_Scripting.cpp
index 1240c6e070b2cc..86dab106f3fe09 100644
--- a/libraries/AP_Scripting/AP_Scripting.cpp
+++ b/libraries/AP_Scripting/AP_Scripting.cpp
@@ -328,7 +328,6 @@ void AP_Scripting::thread(void) {
                 _net_sockets[i] = nullptr;
             }
         }
-        num_net_sockets = 0;
 #endif // AP_NETWORKING_ENABLED
         
         // Clear blocked commands
diff --git a/libraries/AP_Scripting/AP_Scripting.h b/libraries/AP_Scripting/AP_Scripting.h
index 158ad429ac3ebc..f7139775c02f6b 100644
--- a/libraries/AP_Scripting/AP_Scripting.h
+++ b/libraries/AP_Scripting/AP_Scripting.h
@@ -121,7 +121,6 @@ class AP_Scripting
 
 #if AP_NETWORKING_ENABLED
     // SocketAPM storage
-    uint8_t num_net_sockets;
     SocketAPM *_net_sockets[SCRIPTING_MAX_NUM_NET_SOCKET];
 #endif
 
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index f1ae9a99875678..ffa3e349fe00b9 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -794,22 +794,20 @@ int lua_get_SocketAPM(lua_State *L) {
     const uint8_t datagram = get_uint8_t(L, 1);
     auto *scripting = AP::scripting();
 
-    if (scripting->num_net_sockets >= SCRIPTING_MAX_NUM_NET_SOCKET) {
-        return luaL_argerror(L, 1, "no sockets available");
-    }
-
     auto *sock = new SocketAPM(datagram);
     if (sock == nullptr) {
         return luaL_argerror(L, 1, "SocketAPM device nullptr");
     }
-    scripting->_net_sockets[scripting->num_net_sockets] = sock;
-
-    new_SocketAPM(L);
-    *((SocketAPM**)luaL_checkudata(L, -1, "SocketAPM")) = scripting->_net_sockets[scripting->num_net_sockets];
-
-    scripting->num_net_sockets++;
+    for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
+        if (scripting->_net_sockets[i] == nullptr) {
+            scripting->_net_sockets[i] = sock;
+            new_SocketAPM(L);
+            *((SocketAPM**)luaL_checkudata(L, -1, "SocketAPM")) = scripting->_net_sockets[i];
+            return 1;
+        }
+    }
 
-    return 1;
+    return luaL_argerror(L, 1, "no sockets available");
 }
 
 /*
@@ -822,17 +820,12 @@ int SocketAPM_close(lua_State *L) {
 
     auto *scripting = AP::scripting();
 
-    if (scripting->num_net_sockets == 0) {
-        return luaL_argerror(L, 1, "socket close error");
-    }
-
     // clear allocated socket
     for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
         if (scripting->_net_sockets[i] == ud) {
             ud->close();
             delete ud;
             scripting->_net_sockets[i] = nullptr;
-            scripting->num_net_sockets--;
             break;
         }
     }
@@ -848,28 +841,15 @@ int SocketAPM_sendfile(lua_State *L) {
 
     SocketAPM *ud = *check_SocketAPM(L, 1);
 
-    auto *scripting = AP::scripting();
-
-    if (scripting->num_net_sockets == 0) {
-        return luaL_argerror(L, 1, "sendfile error");
-    }
-
     auto *p = (luaL_Stream *)luaL_checkudata(L, 2, LUA_FILEHANDLE);
     int fd = p->f->fd;
-    bool ret = false;
 
-    // find the socket
-    for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
-        if (scripting->_net_sockets[i] == ud) {
-            ret = AP::network().sendfile(ud, fd);
-            if (ret) {
-                // remove from scripting, leave socket and fd open
-                p->f->fd = -1;
-                scripting->_net_sockets[i] = nullptr;
-                scripting->num_net_sockets--;
-            }
-            break;
-        }
+    bool ret = fd != -1 && AP::network().sendfile(ud, fd);
+    if (ret) {
+        // the fd is no longer valid. The lua script must
+        // still call close() to release the memory from the
+        // socket
+        p->f->fd = -1;
     }
 
     lua_pushboolean(L, ret);
@@ -912,23 +892,22 @@ int SocketAPM_accept(lua_State *L) {
     SocketAPM * ud = *check_SocketAPM(L, 1);
 
     auto *scripting = AP::scripting();
-    if (scripting->num_net_sockets >= SCRIPTING_MAX_NUM_NET_SOCKET) {
-        return 0;
-    }
 
-    auto *sock = ud->accept(0);
-    if (sock == nullptr) {
-        return 0;
+    // find an empty slot
+    for (uint8_t i=0; i<SCRIPTING_MAX_NUM_NET_SOCKET; i++) {
+        if (scripting->_net_sockets[i] == nullptr) {
+            scripting->_net_sockets[i] = ud->accept(0);
+            if (scripting->_net_sockets[i] == nullptr) {
+                return 0;
+            }
+            new_SocketAPM(L);
+            *((SocketAPM**)luaL_checkudata(L, -1, "SocketAPM")) = scripting->_net_sockets[i];
+            return 1;
+        }
     }
 
-    scripting->_net_sockets[scripting->num_net_sockets] = sock;
-
-    new_SocketAPM(L);
-    *((SocketAPM**)luaL_checkudata(L, -1, "SocketAPM")) = scripting->_net_sockets[scripting->num_net_sockets];
-
-    scripting->num_net_sockets++;
-
-    return 1;
+    // out of socket slots, return nil, caller can retry
+    return 0;
 }
 
 #endif // AP_NETWORKING_ENABLED

From af898220e7eaf32f0ee82c01ba6cbd424274c098 Mon Sep 17 00:00:00 2001
From: coleschon <coleperschon@gmail.com>
Date: Tue, 31 Oct 2023 20:41:32 -0700
Subject: [PATCH 0432/1335] AP_TECS: improve velRateMin scaling wrt airspeed

---
 libraries/AP_TECS/AP_TECS.cpp | 16 +++++++++++++---
 libraries/AP_TECS/AP_TECS.h   |  7 ++++---
 2 files changed, 17 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index f5892d68585728..48f848c8320781 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -470,11 +470,19 @@ void AP_TECS::_update_speed_demand(void)
     // Constrain speed demand, taking into account the load factor
     _TAS_dem = constrain_float(_TAS_dem, _TASmin, _TASmax);
 
+    // Determine the true cruising airspeed (m/s)
+    const float TAScruise = 0.01f * (float)aparm.airspeed_cruise_cm * _ahrs.get_EAS2TAS();
+
     // calculate velocity rate limits based on physical performance limits
     // provision to use a different rate limit if bad descent or underspeed condition exists
-    // Use 50% of maximum energy rate to allow margin for total energy contgroller
+    // Use 50% of maximum energy rate on gain, 90% on dissipation to allow margin for total energy controller
     const float velRateMax = 0.5f * _STEdot_max / _TAS_state;
-    const float velRateMin = 0.5f * _STEdot_min / _TAS_state;
+    // Maximum permissible rate of deceleration value at max airspeed
+    const float velRateNegMax = 0.9f * _STEdot_neg_max / _TASmax;
+    // Maximum permissible rate of deceleration value at cruise speed
+    const float velRateNegCruise = 0.9f * _STEdot_min / TAScruise;
+    // Linear interpolation between velocity rate at cruise and max speeds, capped at those speeds
+    const float velRateMin = linear_interpolate(velRateNegMax, velRateNegCruise, _TAS_state, _TASmax, TAScruise);
     const float TAS_dem_previous = _TAS_dem_adj;
 
     // Apply rate limit
@@ -1163,10 +1171,12 @@ void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)
 
 void AP_TECS::_update_STE_rate_lim(void)
 {
-    // Calculate Specific Total Energy Rate Limits
+    // Calculate Specific Total Energy Rate Limits & deceleration rate bounds
+	// Keep the 50% energy margin from the original velRate calculation for now
     // This is a trivial calculation at the moment but will get bigger once we start adding altitude effects
     _STEdot_max = _climb_rate_limit * GRAVITY_MSS;
     _STEdot_min = - _minSinkRate * GRAVITY_MSS;
+    _STEdot_neg_max = - _maxSinkRate * GRAVITY_MSS;
 }
 
 
diff --git a/libraries/AP_TECS/AP_TECS.h b/libraries/AP_TECS/AP_TECS.h
index 4b83d133fa2df0..b392a0bfc555be 100644
--- a/libraries/AP_TECS/AP_TECS.h
+++ b/libraries/AP_TECS/AP_TECS.h
@@ -349,9 +349,10 @@ class AP_TECS {
     // pitch demand before limiting
     float _pitch_dem_unc;
 
-    // Maximum and minimum specific total energy rate limits
-    float _STEdot_max;
-    float _STEdot_min;
+    // Specific total energy rate limits
+    float _STEdot_max;     // Specific total energy rate gain at cruise airspeed & THR_MAX (m/s/s)
+    float _STEdot_min;     // Specific total energy rate loss at cruise airspeed & THR_MIN (m/s/s)
+    float _STEdot_neg_max; // Specific total energy rate loss at max airspeed & THR_MIN (m/s/s)
 
     // Maximum and minimum floating point throttle limits
     float _THRmaxf;

From 147c5ad78dc2ecdc4018a1f7dacf0eb5b40d397b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 8 Jan 2024 13:07:46 +1100
Subject: [PATCH 0433/1335] AP_HAL: move simulated height_agl into fdm
 structure

allows value to be shipped via multicast to simulated peripherals
---
 libraries/AP_HAL/SIMState.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL/SIMState.cpp b/libraries/AP_HAL/SIMState.cpp
index b7c562f3b47d80..47cd3d4e79bbf8 100644
--- a/libraries/AP_HAL/SIMState.cpp
+++ b/libraries/AP_HAL/SIMState.cpp
@@ -384,7 +384,7 @@ void SIMState::set_height_agl(void)
         AP_Terrain *_terrain = AP_Terrain::get_singleton();
         if (_terrain != nullptr &&
             _terrain->height_amsl(location, terrain_height_amsl)) {
-            _sitl->height_agl = _sitl->state.altitude - terrain_height_amsl;
+            _sitl->state.height_agl = _sitl->state.altitude - terrain_height_amsl;
             return;
         }
     }
@@ -392,7 +392,7 @@ void SIMState::set_height_agl(void)
 
     if (_sitl != nullptr) {
         // fall back to flat earth model
-        _sitl->height_agl = _sitl->state.altitude - home_alt;
+        _sitl->state.height_agl = _sitl->state.altitude - home_alt;
     }
 }
 

From 7201eae4edf537cc23f2bab859ce7eb1b835bf89 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 8 Jan 2024 13:07:46 +1100
Subject: [PATCH 0434/1335] AP_HAL_SITL: move simulated height_agl into fdm
 structure

allows value to be shipped via multicast to simulated peripherals
---
 libraries/AP_HAL_SITL/SITL_State.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index e2e27e1fa0df2b..02810a9ac3b433 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -598,7 +598,7 @@ void SITL_State::set_height_agl(void)
         AP_Terrain *_terrain = AP_Terrain::get_singleton();
         if (_terrain != nullptr &&
             _terrain->height_amsl(location, terrain_height_amsl, false)) {
-            _sitl->height_agl = _sitl->state.altitude - terrain_height_amsl;
+            _sitl->state.height_agl = _sitl->state.altitude - terrain_height_amsl;
             return;
         }
     }
@@ -606,7 +606,7 @@ void SITL_State::set_height_agl(void)
 
     if (_sitl != nullptr) {
         // fall back to flat earth model
-        _sitl->height_agl = _sitl->state.altitude - home_alt;
+        _sitl->state.height_agl = _sitl->state.altitude - home_alt;
     }
 }
 

From b1311d6d256b89d85f10f9d2afc4e6459cd15100 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 8 Jan 2024 13:07:46 +1100
Subject: [PATCH 0435/1335] AP_OpticalFlow: move simulated height_agl into fdm
 structure

allows value to be shipped via multicast to simulated peripherals
---
 libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.cpp
index 5ac842daba2f2a..d2382543134db1 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.cpp
@@ -64,9 +64,9 @@ void AP_OpticalFlow_SITL::update(void)
 
     // estimate range to centre of image
     float range;
-    if (rotmat.c.z > 0.05f && _sitl->height_agl > 0) {
+    if (rotmat.c.z > 0.05f && _sitl->state.height_agl > 0) {
         Vector3f relPosSensorEF = rotmat * posRelSensorBF;
-        range = (_sitl->height_agl - relPosSensorEF.z) / rotmat.c.z;
+        range = (_sitl->state.height_agl - relPosSensorEF.z) / rotmat.c.z;
     } else {
         range = 1e38f;
     }

From c583edc34b6609861c1d46dcbadbc9fa83a1e568 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 8 Jan 2024 13:07:46 +1100
Subject: [PATCH 0436/1335] AP_Proximity: move simulated height_agl into fdm
 structure

allows value to be shipped via multicast to simulated peripherals
---
 libraries/AP_Proximity/AP_Proximity_SITL.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Proximity/AP_Proximity_SITL.cpp b/libraries/AP_Proximity/AP_Proximity_SITL.cpp
index 1d72a8ebed41db..6c1e6dcdb72e62 100644
--- a/libraries/AP_Proximity/AP_Proximity_SITL.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_SITL.cpp
@@ -131,7 +131,7 @@ float AP_Proximity_SITL::distance_min() const
 bool AP_Proximity_SITL::get_upward_distance(float &distance) const
 {
     // return distance to fence altitude
-    distance = MAX(0.0f, fence_alt_max->get() - sitl->height_agl);
+    distance = MAX(0.0f, fence_alt_max->get() - sitl->state.height_agl);
     return true;
 }
 

From 3a37796eb268d35a84a548c1b09bf25c48abc5be Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 8 Jan 2024 13:07:46 +1100
Subject: [PATCH 0437/1335] SITL: move simulated height_agl into fdm structure

allows value to be shipped via multicast to simulated peripherals
---
 libraries/SITL/SIM_Aircraft.cpp | 2 +-
 libraries/SITL/SITL.h           | 7 ++++---
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
index c718d76bd0db5f..58b22308a0e80c 100644
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@@ -490,7 +490,7 @@ float Aircraft::perpendicular_distance_to_rangefinder_surface() const
 {
     switch ((Rotation)sitl->sonar_rot.get()) {
     case Rotation::ROTATION_PITCH_270:
-        return sitl->height_agl;
+        return sitl->state.height_agl;
     case ROTATION_NONE ... ROTATION_YAW_315:
         return sitl->measure_distance_at_angle_bf(location, sitl->sonar_rot.get()*45);
     default:
diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h
index 24dbdac91a6aec..68b30ddeb97a5a 100644
--- a/libraries/SITL/SITL.h
+++ b/libraries/SITL/SITL.h
@@ -92,6 +92,10 @@ struct sitl_fdm {
 
     // earthframe wind, from backends that know it
     Vector3f wind_ef;
+
+    // AGL altitude, usually derived from the terrain database in simulation:
+    float height_agl;
+
 };
 
 // number of rc output channels
@@ -152,9 +156,6 @@ class SIM {
     // throttle when motors are active
     float throttle;
 
-    // height above ground
-    float height_agl;
-    
     static const struct AP_Param::GroupInfo var_info[];
     static const struct AP_Param::GroupInfo var_info2[];
     static const struct AP_Param::GroupInfo var_info3[];

From 0cf616044caa7a79de481e0743749413461b807c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 8 Jan 2024 15:19:34 +0900
Subject: [PATCH 0438/1335] AC_WPNav: ACCEL_C defaults to 2x ACCEL

---
 libraries/AC_WPNav/AC_WPNav.cpp | 2 +-
 libraries/AC_WPNav/AC_WPNav.h   | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index e2163264e01abf..be5c7ac97873d5 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -94,7 +94,7 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] = {
 
     // @Param: ACCEL_C
     // @DisplayName: Waypoint Cornering Acceleration
-    // @Description: Defines the maximum cornering acceleration in cm/s/s used during missions, zero uses max lean angle.
+    // @Description: Defines the maximum cornering acceleration in cm/s/s used during missions.  If zero uses 2x accel value.
     // @Units: cm/s/s
     // @Range: 0 500
     // @Increment: 10
diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
index 74bd95075c92af..5e2249597698d6 100644
--- a/libraries/AC_WPNav/AC_WPNav.h
+++ b/libraries/AC_WPNav/AC_WPNav.h
@@ -87,8 +87,8 @@ class AC_WPNav
     /// get_wp_acceleration - returns acceleration in cm/s/s during missions
     float get_wp_acceleration() const { return (is_positive(_wp_accel_cmss)) ? _wp_accel_cmss : WPNAV_ACCELERATION; }
 
-    /// get_wp_acceleration - returns acceleration in cm/s/s during missions
-    float get_corner_acceleration() const { return (is_positive(_wp_accel_c_cmss)) ? _wp_accel_c_cmss : get_wp_acceleration(); }
+    /// get_corner_acceleration - returns maximum acceleration in cm/s/s used during cornering in missions
+    float get_corner_acceleration() const { return (is_positive(_wp_accel_c_cmss)) ? _wp_accel_c_cmss : 2.0 * get_wp_acceleration(); }
 
     /// get_wp_destination waypoint using position vector
     /// x,y are distance from ekf origin in cm

From fd855781d83d2526713d33f387ffe936b9e22656 Mon Sep 17 00:00:00 2001
From: Bob Long <robertlong13@gmail.com>
Date: Sat, 6 Jan 2024 14:42:52 +1100
Subject: [PATCH 0439/1335] AP_BattMonitor: add scripting backend

AP_BattMonitor_Scripting: whitespace consistency
---
 libraries/AP_BattMonitor/AP_BattMonitor.cpp   | 19 +++++
 libraries/AP_BattMonitor/AP_BattMonitor.h     |  7 ++
 .../AP_BattMonitor/AP_BattMonitor_Backend.h   | 26 +++++-
 .../AP_BattMonitor/AP_BattMonitor_Params.cpp  |  2 +-
 .../AP_BattMonitor_Scripting.cpp              | 84 +++++++++++++++++++
 .../AP_BattMonitor/AP_BattMonitor_Scripting.h | 32 +++++++
 .../AP_BattMonitor/AP_BattMonitor_config.h    |  3 +
 7 files changed, 171 insertions(+), 2 deletions(-)
 create mode 100644 libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp
 create mode 100644 libraries/AP_BattMonitor/AP_BattMonitor_Scripting.h

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.cpp b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
index 45f630ce3bb6f1..35819b8d2efc0f 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
@@ -21,6 +21,7 @@
 #include "AP_BattMonitor_FuelLevel_Analog.h"
 #include "AP_BattMonitor_Synthetic_Current.h"
 #include "AP_BattMonitor_AD7091R5.h"
+#include "AP_BattMonitor_Scripting.h"
 
 #include <AP_HAL/AP_HAL.h>
 
@@ -560,6 +561,11 @@ AP_BattMonitor::init()
                 drivers[instance] = new AP_BattMonitor_AD7091R5(*this, state[instance], _params[instance]);
                 break;
 #endif// AP_BATTERY_AD7091R5_ENABLED
+#if AP_BATTERY_SCRIPTING_ENABLED
+            case Type::Scripting:
+                drivers[instance] = new AP_BattMonitor_Scripting(*this, state[instance], _params[instance]);
+                break;
+#endif // AP_BATTERY_SCRIPTING_ENABLED
             case Type::NONE:
             default:
                 break;
@@ -1081,6 +1087,19 @@ bool AP_BattMonitor::healthy() const
     return true;
 }
 
+#if AP_BATTERY_SCRIPTING_ENABLED
+/*
+  handle state update from a lua script
+ */
+bool AP_BattMonitor::handle_scripting(uint8_t idx, const BattMonitorScript_State &_state)
+{
+    if (idx >= _num_instances) {
+        return false;
+    }
+    return drivers[idx]->handle_scripting(_state);
+}
+#endif
+
 namespace AP {
 
 AP_BattMonitor &battery()
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.h b/libraries/AP_BattMonitor/AP_BattMonitor.h
index dbeed2e470ff18..2df3fd5210830d 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor.h
@@ -45,6 +45,7 @@ class AP_BattMonitor_LTC2946;
 class AP_BattMonitor_Torqeedo;
 class AP_BattMonitor_FuelLevel_Analog;
 class AP_BattMonitor_EFI;
+class AP_BattMonitor_Scripting;
 
 
 class AP_BattMonitor
@@ -70,6 +71,7 @@ class AP_BattMonitor
     friend class AP_BattMonitor_Torqeedo;
     friend class AP_BattMonitor_FuelLevel_Analog;
     friend class AP_BattMonitor_Synthetic_Current;
+    friend class AP_BattMonitor_Scripting;
 
 public:
 
@@ -109,6 +111,7 @@ class AP_BattMonitor
         INA239_SPI                     = 26,
         EFI                            = 27,
         AD7091R5                       = 28,
+        Scripting                      = 29,
     };
 
     FUNCTOR_TYPEDEF(battery_failsafe_handler_fn_t, void, const char *, const int8_t);
@@ -273,6 +276,10 @@ class AP_BattMonitor
 
     static const struct AP_Param::GroupInfo var_info[];
 
+#if AP_BATTERY_SCRIPTING_ENABLED
+    bool handle_scripting(uint8_t idx, const struct BattMonitorScript_State &state);
+#endif
+
 protected:
 
     /// parameters
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.h b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
index 85d62127708c82..8cc972e7e8a5e9 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
@@ -63,7 +63,7 @@ class AP_BattMonitor_Backend
     float voltage_resting_estimate() const;
 
     // update battery resistance estimate and voltage_resting_estimate
-    void update_resistance_estimate();
+    virtual void update_resistance_estimate();
 
     // updates failsafe timers, and returns what failsafes are active
     virtual AP_BattMonitor::Failsafe update_failsafes(void);
@@ -95,6 +95,10 @@ class AP_BattMonitor_Backend
     bool option_is_set(const AP_BattMonitor_Params::Options option) const {
         return (uint16_t(_params._options.get()) & uint16_t(option)) != 0;
     }
+    
+#if AP_BATTERY_SCRIPTING_ENABLED
+    virtual bool handle_scripting(const BattMonitorScript_State &battmon_state) { return false; }
+#endif
 
 protected:
     AP_BattMonitor                      &_mon;      // reference to front-end
@@ -114,3 +118,23 @@ class AP_BattMonitor_Backend
     float       _resistance_voltage_ref; // voltage used for maximum resistance calculation
     float       _resistance_current_ref; // current used for maximum resistance calculation
 };
+
+#if AP_BATTERY_SCRIPTING_ENABLED
+struct BattMonitorScript_State {
+    float voltage; // Battery voltage in volts
+    bool healthy; // True if communicating properly
+    uint8_t cell_count; // Number of valid cells in state
+    uint8_t capacity_remaining_pct=UINT8_MAX; // Remaining battery capacity in percent, 255 for invalid
+    uint16_t cell_voltages[32]; // allow script to have up to 32 cells, will be limited internally
+    uint16_t cycle_count=UINT16_MAX; // Battery cycle count, 65535 for unavailable
+    /*
+      all of the following float variables should be set to NaN by the
+      script if they are not known.
+      consumed_mah will auto-integrate if set to NaN
+     */
+    float current_amps=nanf(""); // Battery current in amperes
+    float consumed_mah=nanf(""); // Total current drawn since start-up in milliampere hours
+    float consumed_wh=nanf(""); // Total energy drawn since start-up in watt hours
+    float temperature=nanf(""); // Battery temperature in degrees Celsius
+};
+#endif // AP_BATTERY_SCRIPTING_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
index 5302bf77306a66..0eb859d2a4f833 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
@@ -17,7 +17,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
     // @Param: MONITOR
     // @DisplayName: Battery monitoring
     // @Description: Controls enabling monitoring of the battery's voltage and current
-    // @Values: 0:Disabled,3:Analog Voltage Only,4:Analog Voltage and Current,5:Solo,6:Bebop,7:SMBus-Generic,8:DroneCAN-BatteryInfo,9:ESC,10:Sum Of Selected Monitors,11:FuelFlow,12:FuelLevelPWM,13:SMBUS-SUI3,14:SMBUS-SUI6,15:NeoDesign,16:SMBus-Maxell,17:Generator-Elec,18:Generator-Fuel,19:Rotoye,20:MPPT,21:INA2XX,22:LTC2946,23:Torqeedo,24:FuelLevelAnalog,25:Synthetic Current and Analog Voltage,26:INA239_SPI,27:EFI,28:AD7091R5
+    // @Values: 0:Disabled,3:Analog Voltage Only,4:Analog Voltage and Current,5:Solo,6:Bebop,7:SMBus-Generic,8:DroneCAN-BatteryInfo,9:ESC,10:Sum Of Selected Monitors,11:FuelFlow,12:FuelLevelPWM,13:SMBUS-SUI3,14:SMBUS-SUI6,15:NeoDesign,16:SMBus-Maxell,17:Generator-Elec,18:Generator-Fuel,19:Rotoye,20:MPPT,21:INA2XX,22:LTC2946,23:Torqeedo,24:FuelLevelAnalog,25:Synthetic Current and Analog Voltage,26:INA239_SPI,27:EFI,28:AD7091R5,29:Scripting
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO_FLAGS("MONITOR", 1, AP_BattMonitor_Params, _type, int8_t(AP_BattMonitor::Type::NONE), AP_PARAM_FLAG_ENABLE),
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp
new file mode 100644
index 00000000000000..337c9d9b7ac2c1
--- /dev/null
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp
@@ -0,0 +1,84 @@
+#include "AP_BattMonitor_Scripting.h"
+
+#if AP_BATTERY_SCRIPTING_ENABLED
+
+#define AP_BATT_MONITOR_SCRIPTING_TIMEOUT_US 5000000
+
+bool AP_BattMonitor_Scripting::capacity_remaining_pct(uint8_t &percentage) const
+{
+    if (internal_state.capacity_remaining_pct != UINT8_MAX) {
+        percentage = internal_state.capacity_remaining_pct;
+        return true;
+    }
+    // Fall back to default implementation
+    return AP_BattMonitor_Backend::capacity_remaining_pct(percentage);
+}
+
+bool AP_BattMonitor_Scripting::get_cycle_count(uint16_t &cycles) const
+{
+    if (internal_state.cycle_count == UINT16_MAX) {
+        return false;
+    }
+    cycles = internal_state.cycle_count;
+    return true;
+}
+
+// Called by frontend to update the state. Called at 10Hz
+void AP_BattMonitor_Scripting::read()
+{
+    WITH_SEMAPHORE(sem);
+
+    // Check for timeout, to prevent a faulty script from appearing healthy
+    if (last_update_us == 0 || AP_HAL::micros() - last_update_us > AP_BATT_MONITOR_SCRIPTING_TIMEOUT_US) {
+        _state.healthy = false;
+        return;
+    }
+
+    if (_state.last_time_micros == last_update_us) {
+        // No new data
+        return;
+    }
+
+    /*
+      the script can fill in voltages up to 32 cells, for mavlink reporting
+      the extra cell voltages get distributed over the max of 14 for mavlink
+     */
+    for (uint8_t i = 0; i < MIN(AP_BATT_MONITOR_CELLS_MAX,internal_state.cell_count); i++) {
+        _state.cell_voltages.cells[i] = internal_state.cell_voltages[i];
+    }
+    _state.voltage = internal_state.voltage;
+    if (!isnan(internal_state.current_amps)) {
+        _state.current_amps = internal_state.current_amps;
+    }
+    if (!isnan(internal_state.consumed_mah)) {
+        _state.consumed_mah = internal_state.consumed_mah;
+    }
+    // Overide integrated consumed energy with script value if it has been set
+    if (!isnan(internal_state.consumed_wh)) {
+        _state.consumed_wh = internal_state.consumed_wh;
+    }
+    if (!isnan(internal_state.temperature)) {
+        _state.temperature = internal_state.temperature;
+    }
+
+    _state.healthy = internal_state.healthy;
+
+    // Update the timestamp (has to be done after the consumed_mah calculation)
+    _state.last_time_micros = last_update_us;
+}
+
+bool AP_BattMonitor_Scripting::handle_scripting(const BattMonitorScript_State &battmon_state)
+{
+    WITH_SEMAPHORE(sem);
+    internal_state = battmon_state;
+    const uint32_t now_us = AP_HAL::micros();
+    uint32_t dt_us = now_us - last_update_us;
+    if (last_update_us != 0 && !isnan(internal_state.current_amps) && isnan(internal_state.consumed_mah)) {
+        AP_BattMonitor_Backend::update_consumed(_state, dt_us);
+    }
+    last_update_us = now_us;
+    return true;
+}
+
+#endif // AP_BATTERY_SCRIPTING_ENABLED
+
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.h b/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.h
new file mode 100644
index 00000000000000..f68f11b9dceb5b
--- /dev/null
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.h
@@ -0,0 +1,32 @@
+#pragma once
+
+#include "AP_BattMonitor_Backend.h"
+
+#if AP_BATTERY_SCRIPTING_ENABLED
+
+class AP_BattMonitor_Scripting : public AP_BattMonitor_Backend
+{
+public:
+    // Inherit constructor
+    using AP_BattMonitor_Backend::AP_BattMonitor_Backend;
+
+    bool has_current() const override { return last_update_us != 0 && !isnan(internal_state.current_amps); }
+    bool has_consumed_energy() const override { return has_current(); }
+    bool has_cell_voltages() const override { return internal_state.cell_count > 0; }
+    bool has_temperature() const override { return last_update_us != 0 && !isnan(internal_state.temperature); }
+    bool capacity_remaining_pct(uint8_t &percentage) const override;
+    bool get_cycle_count(uint16_t &cycles) const override;
+
+    void read() override;
+
+    bool handle_scripting(const BattMonitorScript_State &battmon_state) override;
+
+protected:
+    BattMonitorScript_State internal_state;
+    uint32_t last_update_us;
+
+    HAL_Semaphore sem;
+};
+
+#endif // AP_BATTMONITOR_SCRIPTING_ENABLED
+
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_config.h b/libraries/AP_BattMonitor/AP_BattMonitor_config.h
index 92d5ad074e937f..e15909c1435794 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_config.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_config.h
@@ -116,3 +116,6 @@
 #define AP_BATTERY_SMBUS_ROTOYE_ENABLED AP_BATTERY_SMBUS_GENERIC_ENABLED
 #endif
 
+#ifndef AP_BATTERY_SCRIPTING_ENABLED
+#define AP_BATTERY_SCRIPTING_ENABLED (AP_SCRIPTING_ENABLED && AP_BATTERY_BACKEND_DEFAULT_ENABLED)
+#endif

From 1ffda7ef3c829a0f00702a3836ca904f5cb3127a Mon Sep 17 00:00:00 2001
From: Bob Long <robertlong13@gmail.com>
Date: Sat, 6 Jan 2024 14:42:52 +1100
Subject: [PATCH 0440/1335] AP_Scripting: add scripting backend

AP_BattMonitor_Scripting: whitespace consistency
---
 libraries/AP_Scripting/docs/docs.lua          | 158 ++++++++++++++++++
 .../generator/description/bindings.desc       |  14 ++
 2 files changed, 172 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 34ea6336d44169..053d98d9d829a8 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -817,6 +817,150 @@ function Vector3f_ud:normalize() end
 ---@return number
 function Vector3f_ud:length() end
 
+
+-- desc
+---@class BattMonitorScript_State_ud
+local BattMonitorScript_State_ud = {}
+
+---@return BattMonitorScript_State_ud
+function BattMonitorScript_State() end
+
+-- get field
+---@return number
+function BattMonitorScript_State_ud:resting_voltage() end
+
+-- set field
+---@param value number
+function BattMonitorScript_State_ud:resting_voltage(value) end
+
+-- get field
+---@return number
+function BattMonitorScript_State_ud:resistance() end
+
+-- set field
+---@param value number
+function BattMonitorScript_State_ud:resistance(value) end
+
+-- get field
+---@return uint32_t_ud
+function BattMonitorScript_State_ud:mavlink_faults() end
+
+-- set field
+---@param value uint32_t_ud
+function BattMonitorScript_State_ud:mavlink_faults(value) end
+
+-- get field
+---@return integer
+---| '0' # None
+---| '1' # Low
+---| '2' # Critical
+function BattMonitorScript_State_ud:failsafe() end
+
+-- set field
+---@param value integer
+---| '0' # None
+---| '1' # Low
+---| '2' # Critical
+function BattMonitorScript_State_ud:failsafe(value) end
+
+-- get field
+---@return uint32_t_ud
+function BattMonitorScript_State_ud:time_remaining() end
+
+-- set field
+---@param value uint32_t_ud
+function BattMonitorScript_State_ud:time_remaining(value) end
+
+-- get field
+---@return integer
+function BattMonitorScript_State_ud:cycle_count() end
+
+-- set field
+---@param value integer
+function BattMonitorScript_State_ud:cycle_count(value) end
+
+-- get field
+---@return integer
+function BattMonitorScript_State_ud:capacity_remaining_pct() end
+
+-- set field
+---@param value integer
+function BattMonitorScript_State_ud:capacity_remaining_pct(value) end
+
+-- get field
+---@return number
+function BattMonitorScript_State_ud:temperature() end
+
+-- set field
+---@param value number
+function BattMonitorScript_State_ud:temperature(value) end
+
+-- get field
+---@return number
+function BattMonitorScript_State_ud:consumed_wh() end
+
+-- set field
+---@param value number
+function BattMonitorScript_State_ud:consumed_wh(value) end
+
+-- get field
+---@return number
+function BattMonitorScript_State_ud:consumed_mah() end
+
+-- set field
+---@param value number
+function BattMonitorScript_State_ud:consumed_mah(value) end
+
+-- get field
+---@return number
+function BattMonitorScript_State_ud:current_amps() end
+
+-- set field
+---@param value number
+function BattMonitorScript_State_ud:current_amps(value) end
+
+-- get array field
+---@param index integer
+---@return integer
+function BattMonitorScript_State_ud:cell_voltages(index) end
+
+-- set array field
+---@param index integer
+---@param value integer
+function BattMonitorScript_State_ud:cell_voltages(index, value) end
+
+-- get field
+---@return integer
+function BattMonitorScript_State_ud:cell_count() end
+
+-- set field
+---@param value integer
+function BattMonitorScript_State_ud:cell_count(value) end
+
+-- get field
+---@return number
+function BattMonitorScript_State_ud:voltage() end
+
+-- set field
+---@param value number
+function BattMonitorScript_State_ud:voltage(value) end
+
+-- get field
+---@return boolean
+function BattMonitorScript_State_ud:healthy() end
+
+-- set field
+---@param value boolean
+function BattMonitorScript_State_ud:healthy(value) end
+
+-- get field
+---@return uint32_t_ud
+function BattMonitorScript_State_ud:last_update_us() end
+
+-- set field
+---@param value uint32_t_ud
+function BattMonitorScript_State_ud:last_update_us(value) end
+
 -- Computes angle between this vector and vector v2
 ---@param v2 Vector3f_ud 
 ---@return number
@@ -1181,6 +1325,15 @@ function RC_Channel_ud:norm_input() end
 ---@return number
 function RC_Channel_ud:norm_input_dz() end
 
+-- desc
+---@class AP_BattMonitor_Backend_ud
+local AP_BattMonitor_Backend_ud = {}
+
+-- desc
+---@param battmon_state BattMonitorScript_State_ud
+---@return boolean
+function AP_BattMonitor_Backend_ud:handle_scripting(battmon_state) end
+
 -- desc
 ---@class winch
 winch = {}
@@ -2867,6 +3020,11 @@ function gps:num_sensors() end
 ---@class battery
 battery = {}
 
+-- desc
+---@param index integer
+---@return AP_BattMonitor_Backend_ud
+function battery:get_backend(index) end
+
 -- desc
 ---@param instance integer
 ---@param percentage number
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index f0608bfcb39265..7cbc293a90d8cb 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -76,6 +76,19 @@ singleton AP_Arming method set_aux_auth_failed void uint8_t'skip_check string
 
 include AP_BattMonitor/AP_BattMonitor.h
 
+include AP_BattMonitor/AP_BattMonitor_Scripting.h
+userdata BattMonitorScript_State depends AP_BATTERY_SCRIPTING_ENABLED == 1
+userdata BattMonitorScript_State field healthy boolean write
+userdata BattMonitorScript_State field voltage float'skip_check write
+userdata BattMonitorScript_State field cell_count uint8_t'skip_check write
+userdata BattMonitorScript_State field capacity_remaining_pct uint8_t'skip_check write
+userdata BattMonitorScript_State field cell_voltages'array int(ARRAY_SIZE(ud->cell_voltages)) uint16_t'skip_check write
+userdata BattMonitorScript_State field cycle_count uint16_t'skip_check write
+userdata BattMonitorScript_State field current_amps float'skip_check write
+userdata BattMonitorScript_State field consumed_mah float'skip_check write
+userdata BattMonitorScript_State field consumed_wh float'skip_check write
+userdata BattMonitorScript_State field temperature float'skip_check write
+
 singleton AP_BattMonitor rename battery
 singleton AP_BattMonitor depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY))
 singleton AP_BattMonitor method num_instances uint8_t
@@ -93,6 +106,7 @@ singleton AP_BattMonitor method get_temperature boolean float'Null uint8_t 0 ud-
 singleton AP_BattMonitor method get_cycle_count boolean uint8_t 0 ud->num_instances() uint16_t'Null
 singleton AP_BattMonitor method reset_remaining boolean uint8_t 0 ud->num_instances() float 0 100
 singleton AP_BattMonitor method get_cell_voltage boolean uint8_t'skip_check uint8_t'skip_check float'Null
+singleton AP_BattMonitor method handle_scripting boolean uint8_t'skip_check BattMonitorScript_State
 
 include AP_GPS/AP_GPS.h
 

From 70d6788855be7b10434f5961ace7c39554595c5e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 6 Jan 2024 16:03:45 +1100
Subject: [PATCH 0441/1335] AP_Scripting: update docs

---
 libraries/AP_Scripting/docs/docs.lua | 207 +++++++--------------------
 1 file changed, 51 insertions(+), 156 deletions(-)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 053d98d9d829a8..b3b2deba2ff787 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -817,150 +817,6 @@ function Vector3f_ud:normalize() end
 ---@return number
 function Vector3f_ud:length() end
 
-
--- desc
----@class BattMonitorScript_State_ud
-local BattMonitorScript_State_ud = {}
-
----@return BattMonitorScript_State_ud
-function BattMonitorScript_State() end
-
--- get field
----@return number
-function BattMonitorScript_State_ud:resting_voltage() end
-
--- set field
----@param value number
-function BattMonitorScript_State_ud:resting_voltage(value) end
-
--- get field
----@return number
-function BattMonitorScript_State_ud:resistance() end
-
--- set field
----@param value number
-function BattMonitorScript_State_ud:resistance(value) end
-
--- get field
----@return uint32_t_ud
-function BattMonitorScript_State_ud:mavlink_faults() end
-
--- set field
----@param value uint32_t_ud
-function BattMonitorScript_State_ud:mavlink_faults(value) end
-
--- get field
----@return integer
----| '0' # None
----| '1' # Low
----| '2' # Critical
-function BattMonitorScript_State_ud:failsafe() end
-
--- set field
----@param value integer
----| '0' # None
----| '1' # Low
----| '2' # Critical
-function BattMonitorScript_State_ud:failsafe(value) end
-
--- get field
----@return uint32_t_ud
-function BattMonitorScript_State_ud:time_remaining() end
-
--- set field
----@param value uint32_t_ud
-function BattMonitorScript_State_ud:time_remaining(value) end
-
--- get field
----@return integer
-function BattMonitorScript_State_ud:cycle_count() end
-
--- set field
----@param value integer
-function BattMonitorScript_State_ud:cycle_count(value) end
-
--- get field
----@return integer
-function BattMonitorScript_State_ud:capacity_remaining_pct() end
-
--- set field
----@param value integer
-function BattMonitorScript_State_ud:capacity_remaining_pct(value) end
-
--- get field
----@return number
-function BattMonitorScript_State_ud:temperature() end
-
--- set field
----@param value number
-function BattMonitorScript_State_ud:temperature(value) end
-
--- get field
----@return number
-function BattMonitorScript_State_ud:consumed_wh() end
-
--- set field
----@param value number
-function BattMonitorScript_State_ud:consumed_wh(value) end
-
--- get field
----@return number
-function BattMonitorScript_State_ud:consumed_mah() end
-
--- set field
----@param value number
-function BattMonitorScript_State_ud:consumed_mah(value) end
-
--- get field
----@return number
-function BattMonitorScript_State_ud:current_amps() end
-
--- set field
----@param value number
-function BattMonitorScript_State_ud:current_amps(value) end
-
--- get array field
----@param index integer
----@return integer
-function BattMonitorScript_State_ud:cell_voltages(index) end
-
--- set array field
----@param index integer
----@param value integer
-function BattMonitorScript_State_ud:cell_voltages(index, value) end
-
--- get field
----@return integer
-function BattMonitorScript_State_ud:cell_count() end
-
--- set field
----@param value integer
-function BattMonitorScript_State_ud:cell_count(value) end
-
--- get field
----@return number
-function BattMonitorScript_State_ud:voltage() end
-
--- set field
----@param value number
-function BattMonitorScript_State_ud:voltage(value) end
-
--- get field
----@return boolean
-function BattMonitorScript_State_ud:healthy() end
-
--- set field
----@param value boolean
-function BattMonitorScript_State_ud:healthy(value) end
-
--- get field
----@return uint32_t_ud
-function BattMonitorScript_State_ud:last_update_us() end
-
--- set field
----@param value uint32_t_ud
-function BattMonitorScript_State_ud:last_update_us(value) end
-
 -- Computes angle between this vector and vector v2
 ---@param v2 Vector3f_ud 
 ---@return number
@@ -1325,15 +1181,6 @@ function RC_Channel_ud:norm_input() end
 ---@return number
 function RC_Channel_ud:norm_input_dz() end
 
--- desc
----@class AP_BattMonitor_Backend_ud
-local AP_BattMonitor_Backend_ud = {}
-
--- desc
----@param battmon_state BattMonitorScript_State_ud
----@return boolean
-function AP_BattMonitor_Backend_ud:handle_scripting(battmon_state) end
-
 -- desc
 ---@class winch
 winch = {}
@@ -3015,15 +2862,63 @@ function gps:primary_sensor() end
 ---@return integer
 function gps:num_sensors() end
 
+-- desc
+---@class BattMonitorScript_State_ud
+local BattMonitorScript_State_ud = {}
+
+---@return BattMonitorScript_State_ud
+function BattMonitorScript_State() end
+
+-- set field
+---@param value number
+function BattMonitorScript_State_ud:temperature(value) end
+
+-- set field
+---@param value number
+function BattMonitorScript_State_ud:consumed_wh(value) end
+
+-- set field
+---@param value number
+function BattMonitorScript_State_ud:consumed_mah(value) end
+
+-- set field
+---@param value number
+function BattMonitorScript_State_ud:current_amps(value) end
+
+-- set field
+---@param value integer
+function BattMonitorScript_State_ud:cycle_count(value) end
+
+-- set array field
+---@param index integer
+---@param value integer
+function BattMonitorScript_State_ud:cell_voltages(index, value) end
+
+-- set field
+---@param value integer
+function BattMonitorScript_State_ud:capacity_remaining_pct(value) end
+
+-- set field
+---@param value integer
+function BattMonitorScript_State_ud:cell_count(value) end
+
+-- set field
+---@param value number
+function BattMonitorScript_State_ud:voltage(value) end
+
+-- set field
+---@param value boolean
+function BattMonitorScript_State_ud:healthy(value) end
 
 -- desc
 ---@class battery
 battery = {}
 
 -- desc
----@param index integer
----@return AP_BattMonitor_Backend_ud
-function battery:get_backend(index) end
+---@param idx integer
+---@param state BattMonitorScript_State_ud
+---@return boolean
+function battery:handle_scripting(idx, state) end
 
 -- desc
 ---@param instance integer

From 098277ce6a3789797fe13ffb4e9d3f27991006be Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 6 Jan 2024 16:23:24 +1100
Subject: [PATCH 0442/1335] AP_Scripting: added ANX CAN battery driver

---
 .../AP_Scripting/drivers/BattMon_ANX.lua      | 253 ++++++++++++++++++
 libraries/AP_Scripting/drivers/BattMon_ANX.md |  20 ++
 2 files changed, 273 insertions(+)
 create mode 100644 libraries/AP_Scripting/drivers/BattMon_ANX.lua
 create mode 100644 libraries/AP_Scripting/drivers/BattMon_ANX.md

diff --git a/libraries/AP_Scripting/drivers/BattMon_ANX.lua b/libraries/AP_Scripting/drivers/BattMon_ANX.lua
new file mode 100644
index 00000000000000..80b32b924dc8e8
--- /dev/null
+++ b/libraries/AP_Scripting/drivers/BattMon_ANX.lua
@@ -0,0 +1,253 @@
+--[[ 
+ device driver for ANX CAN battery monitor
+--]]
+
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+
+local PARAM_TABLE_KEY = 45
+local PARAM_TABLE_PREFIX = "BATT_ANX_"
+
+-- add a parameter and bind it to a variable
+function bind_add_param(name, idx, default_value)
+    assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
+    return Parameter(PARAM_TABLE_PREFIX .. name)
+end
+
+-- Type conversion functions, little endian
+function get_uint16(frame, ofs)
+    return frame:data(ofs) + (frame:data(ofs + 1) << 8)
+end
+
+-- Setup EFI Parameters
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 15), 'could not add param table')
+
+--[[
+  // @Param: BATT_ANX_ENABLE
+  // @DisplayName: Enable ANX battery support
+  // @Description: Enable ANX battery support
+  // @Values: 0:Disabled,1:Enabled
+  // @User: Standard
+--]]
+local BATT_ANX_ENABLE = bind_add_param('ENABLE', 1, 0)
+
+--[[
+  // @Param: BATT_ANX_CANDRV
+  // @DisplayName: Set ANX CAN driver
+  // @Description: Set ANX CAN driver
+  // @Values: 0:None,1:1stCANDriver,2:2ndCanDriver
+  // @User: Standard
+--]]
+local BATT_ANX_CANDRV     = bind_add_param('CANDRV',     2, 1)
+
+--[[
+  // @Param: BATT_ANX_INDEX
+  // @DisplayName: ANX CAN battery index
+  // @Description: ANX CAN battery index
+  // @Range: 1 10
+  // @User: Standard
+--]]
+local BATT_ANX_INDEX     = bind_add_param('INDEX',     3, 1)
+
+--[[
+  // @Param: BATT_ANX_OPTIONS
+  // @DisplayName: ANX CAN battery options
+  // @Description: ANX CAN battery options
+  // @Bitmask: 0:LogAllFrames
+  // @User: Advanced
+--]]
+local BATT_ANX_OPTIONS   = bind_add_param('OPTIONS',    4, 0)
+
+local OPTION_LOGALLFRAMES = 0x01
+
+if BATT_ANX_ENABLE:get() == 0 then
+   gcs:send_text(0, string.format("BATT_ANX: disabled"))
+   return
+end
+
+-- Register for the CAN drivers
+local driver
+
+local CAN_BUF_LEN = 25
+if BATT_ANX_CANDRV:get() == 1 then
+   driver = CAN.get_device(CAN_BUF_LEN)
+elseif BATT_ANX_CANDRV:get() == 2 then
+   driver = CAN.get_device2(CAN_BUF_LEN)
+end
+
+if not driver then
+    gcs:send_text(0, string.format("BATT_ANX: Failed to load driver"))
+    return
+end
+
+local assembly = {}
+assembly.num_frames = 0
+assembly.frames = {}
+
+--[[
+   xmodem CRC implementation thanks to https://github.com/cloudwu/skynet
+   under MIT license
+--]]
+local XMODEMCRC16Lookup = {
+   0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
+   0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
+   0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
+   0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
+   0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
+   0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
+   0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
+   0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
+   0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
+   0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
+   0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
+   0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
+   0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
+   0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
+   0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
+   0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
+   0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
+   0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
+   0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
+   0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
+   0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
+   0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+   0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
+   0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
+   0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
+   0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
+   0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
+   0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
+   0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
+   0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
+   0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
+   0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
+}
+
+local function crc_ANX(bytes)
+   -- ANX CRC uses xmodem with a seed of 0xa635
+   local crc = 0xa635
+	for i=1,#bytes do
+		local b = string.byte(bytes,i,i)
+		crc = ((crc<<8) & 0xffff) ~ XMODEMCRC16Lookup[(((crc>>8)~b) & 0xff) + 1]
+	end
+    return crc
+end
+
+local frame_count = 0
+
+local function log_can_frame(frame)
+   logger.write("CANF",'Id,DLC,FC,B0,B1,B2,B3,B4,B5,B6,B7','IBIBBBBBBBB',
+                frame:id(),
+                frame:dlc(),
+                frame_count,
+                frame:data(0), frame:data(1), frame:data(2), frame:data(3),
+                frame:data(4), frame:data(5), frame:data(6), frame:data(7))
+   frame_count = frame_count + 1
+end
+ 
+
+local function parse_volt_frame(payload)
+   if #payload < 12 then
+      -- invalid length
+      return
+   end
+   local total_volt, current, rem_cap, temperature, _ = string.unpack("<HhHhH", string.sub(payload, 1, 10))
+   total_volt = total_volt * 0.01
+   -- it is a discharge, so use minus current
+   current = -current * 0.01
+   rem_cap = rem_cap * 0.1
+   temperature = temperature * 0.1
+   local num_cells = (#payload - 10) / 2
+   local cells = {}
+   for i = 1, num_cells do
+      cells[i] = string.unpack("<H", string.sub(payload, 11+(i-1)*2, 11+i*2))
+      cells[i] = cells[i]
+   end
+   -- API allows for up to 32 cells, but battery backend is more limited
+   if num_cells > 32 then
+      num_cells = 32
+   end
+
+   local state = BattMonitorScript_State()
+   state:healthy(true)
+   state:voltage(total_volt)
+   state:cell_count(num_cells)
+   state:capacity_remaining_pct(math.floor(rem_cap))
+   for i = 1, num_cells do
+      state:cell_voltages(i-1, cells[i])
+   end
+   state:current_amps(current)
+   state:temperature(temperature)
+
+   battery:handle_scripting(BATT_ANX_INDEX:get()-1, state)
+end
+
+
+--[[
+   process a set of frames for a whole packet
+--]]
+local function process_frames(msg_type_id)
+   local bytes = ""
+   for i = 1, assembly.num_frames do
+      local dlc = assembly.frames[i]:dlc()
+      for ofs = 1, dlc do
+         bytes = bytes .. string.char(assembly.frames[i]:data(ofs-1))
+      end
+   end
+   local crc = string.unpack("<H", string.sub(bytes, 1, 2))
+   local payload = string.sub(bytes, 3, #bytes)
+   if crc ~= crc_ANX(payload) then
+      return
+   end
+   -- message types with cell voltages are from 721 to 727
+   if msg_type_id >= 721 and msg_type_id <= 727 then
+      parse_volt_frame(payload)
+   end
+end
+
+--[[
+   read from CAN bus, updating battery backend
+--]]
+local function read_can()
+   while true do
+      local frame = driver:read_frame()
+      if not frame then
+         return
+      end
+      if BATT_ANX_OPTIONS:get() & OPTION_LOGALLFRAMES ~= 0 then
+         log_can_frame(frame)
+      end
+      if not frame:isExtended() then
+         -- only want extended frames
+         break
+      end
+      local id = frame:id_signed()
+      -- local sender_id = id&0x7
+      local last_pkt_id = (id>>3) & 1
+      local pkt_count = (id>>4) & 0x3F
+      -- local pkt_id = (id>>10) & 0x7f
+      -- local trans_type = (id>>17) & 0x03
+      local msg_type_id = (id>>19) & 0x3FF
+
+      if pkt_count ~= assembly.num_frames then
+         -- reset, non-contiguous packets
+         assembly.num_frames = 0
+      end
+
+      assembly.num_frames = assembly.num_frames + 1
+      assembly.frames[assembly.num_frames] = frame
+      if last_pkt_id == 1 then
+         process_frames(msg_type_id)
+         -- reset for next frame
+         assembly.num_frames = 0
+      end
+   end
+end
+
+function update()
+   read_can()
+   return update,10
+end
+
+gcs:send_text(MAV_SEVERITY.INFO, "BATT_ANX: Started")
+
+return update()
diff --git a/libraries/AP_Scripting/drivers/BattMon_ANX.md b/libraries/AP_Scripting/drivers/BattMon_ANX.md
new file mode 100644
index 00000000000000..1deb4d9d665891
--- /dev/null
+++ b/libraries/AP_Scripting/drivers/BattMon_ANX.md
@@ -0,0 +1,20 @@
+# ANX Battery Driver
+
+This driver implements support for the ANX CAN battery protocol
+
+# Parameters
+
+The script used the following parameters:
+
+## BATT_ANX_ENABLE
+
+this must be set to 1 to enable the driver
+
+## BATT_ANX_CANDRV
+
+This sets the scripting CAN driver to use, this should be 1 or 2.
+
+## BATT_ANX_INDEX
+
+This sets the battery monitor index to use. Set to 1 for BATT1, 2 for
+BATT2 etc

From 35f1fdf0d899139ec1fb3993b1c929ee0b611869 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 4 Jan 2024 17:02:47 +1100
Subject: [PATCH 0443/1335] AP_Arming: be more consistent withb our defines
 around optional features

---
 libraries/AP_Arming/AP_Arming.cpp | 80 ++++++++++++++++++++++---------
 libraries/AP_Arming/AP_Arming.h   |  3 ++
 2 files changed, 61 insertions(+), 22 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 209dbdefe13118..1153490b7a9996 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -602,6 +602,7 @@ bool AP_Arming::compass_checks(bool report)
     return true;
 }
 
+#if AP_GPS_ENABLED
 bool AP_Arming::gps_checks(bool report)
 {
     const AP_GPS &gps = AP::gps();
@@ -692,7 +693,9 @@ bool AP_Arming::gps_checks(bool report)
 
     return true;
 }
+#endif  // AP_GPS_ENABLED
 
+#if AP_BATTERY_ENABLED
 bool AP_Arming::battery_checks(bool report)
 {
     if (check_enabled(ARMING_CHECK_BATTERY)) {
@@ -705,6 +708,7 @@ bool AP_Arming::battery_checks(bool report)
      }
     return true;
 }
+#endif  // AP_BATTERY_ENABLED
 
 bool AP_Arming::hardware_safety_check(bool report) 
 {
@@ -840,6 +844,7 @@ bool AP_Arming::manual_transmitter_checks(bool report)
 }
 #endif  // AP_RC_CHANNEL_ENABLED
 
+#if AP_MISSION_ENABLED
 bool AP_Arming::mission_checks(bool report)
 {
     AP_Mission *mission = AP::mission();
@@ -914,6 +919,7 @@ bool AP_Arming::mission_checks(bool report)
 
     return true;
 }
+#endif  // AP_MISSION_ENABLED
 
 bool AP_Arming::rangefinder_checks(bool report)
 {
@@ -1178,10 +1184,10 @@ bool AP_Arming::terrain_checks(bool report) const
 }
 
 
+#if HAL_PROXIMITY_ENABLED
 // check nothing is too close to vehicle
 bool AP_Arming::proximity_checks(bool report) const
 {
-#if HAL_PROXIMITY_ENABLED
     const AP_Proximity *proximity = AP::proximity();
     // return true immediately if no sensor present
     if (proximity == nullptr) {
@@ -1193,14 +1199,14 @@ bool AP_Arming::proximity_checks(bool report) const
         return false;
     }
     return true;
-#endif
 
     return true;
 }
+#endif  // HAL_PROXIMITY_ENABLED
 
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_CANMANAGER_ENABLED
 bool AP_Arming::can_checks(bool report)
 {
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_CANMANAGER_ENABLED
     if (check_enabled(ARMING_CHECK_SYSTEM)) {
         char fail_msg[50] = {};
         (void)fail_msg; // might be left unused
@@ -1257,14 +1263,14 @@ bool AP_Arming::can_checks(bool report)
             }
         }
     }
-#endif
     return true;
 }
+#endif  // HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_CANMANAGER_ENABLED
 
 
+#if AP_FENCE_ENABLED
 bool AP_Arming::fence_checks(bool display_failure)
 {
-#if AP_FENCE_ENABLED
     const AC_Fence *fence = AP::fence();
     if (fence == nullptr) {
         return true;
@@ -1283,15 +1289,13 @@ bool AP_Arming::fence_checks(bool display_failure)
     }
 
     return false;
-#else
-    return true;
-#endif
 }
+#endif  // AP_FENCE_ENABLED
 
+#if HAL_RUNCAM_ENABLED
 bool AP_Arming::camera_checks(bool display_failure)
 {
     if (check_enabled(ARMING_CHECK_CAMERA)) {
-#if HAL_RUNCAM_ENABLED
         AP_RunCam *runcam = AP::runcam();
         if (runcam == nullptr) {
             return true;
@@ -1303,14 +1307,14 @@ bool AP_Arming::camera_checks(bool display_failure)
             check_failed(ARMING_CHECK_CAMERA, display_failure, "%s", fail_msg);
             return false;
         }
-#endif
     }
     return true;
 }
+#endif  // HAL_RUNCAM_ENABLED
 
+#if OSD_ENABLED
 bool AP_Arming::osd_checks(bool display_failure) const
 {
-#if OSD_ENABLED 
     if (check_enabled(ARMING_CHECK_OSD)) {
         // if no OSD then pass
         const AP_OSD *osd = AP::osd();
@@ -1324,13 +1328,13 @@ bool AP_Arming::osd_checks(bool display_failure) const
             return false;
         }
    }
-#endif
     return true;
 }
+#endif  // OSD_ENABLED
 
+#if HAL_MOUNT_ENABLED
 bool AP_Arming::mount_checks(bool display_failure) const
 {
-#if HAL_MOUNT_ENABLED
     if (check_enabled(ARMING_CHECK_CAMERA)) {
         AP_Mount *mount = AP::mount();
         if (mount == nullptr) {
@@ -1342,13 +1346,13 @@ bool AP_Arming::mount_checks(bool display_failure) const
             return false;
         }
     }
-#endif
     return true;
 }
+#endif  // HAL_MOUNT_ENABLED
 
+#if AP_FETTEC_ONEWIRE_ENABLED
 bool AP_Arming::fettec_checks(bool display_failure) const
 {
-#if AP_FETTEC_ONEWIRE_ENABLED
     const AP_FETtecOneWire *f = AP_FETtecOneWire::get_singleton();
     if (f == nullptr) {
         return true;
@@ -1360,9 +1364,9 @@ bool AP_Arming::fettec_checks(bool display_failure) const
         check_failed(ARMING_CHECK_ALL, display_failure, "FETtec: %s", fail_msg);
         return false;
     }
-#endif
     return true;
 }
+#endif  // AP_FETTEC_ONEWIRE_ENABLED
 
 #if AP_ARMING_AUX_AUTH_ENABLED
 // request an auxiliary authorisation id.  This id should be used in subsequent calls to set_aux_auth_passed/failed
@@ -1483,9 +1487,9 @@ bool AP_Arming::aux_auth_checks(bool display_failure)
 }
 #endif  // AP_ARMING_AUX_AUTH_ENABLED
 
+#if HAL_GENERATOR_ENABLED
 bool AP_Arming::generator_checks(bool display_failure) const
 {
-#if HAL_GENERATOR_ENABLED
     const AP_Generator *generator = AP::generator();
     if (generator == nullptr) {
         return true;
@@ -1495,14 +1499,14 @@ bool AP_Arming::generator_checks(bool display_failure) const
         check_failed(display_failure, "Generator: %s", failure_msg);
         return false;
     }
-#endif
     return true;
 }
+#endif  // HAL_GENERATOR_ENABLED
 
+#if AP_OPENDRONEID_ENABLED
 // OpenDroneID Checks
 bool AP_Arming::opendroneid_checks(bool display_failure)
 {
-#if AP_OPENDRONEID_ENABLED
     auto &opendroneid = AP::opendroneid();
 
     char failure_msg[50] {};
@@ -1510,9 +1514,9 @@ bool AP_Arming::opendroneid_checks(bool display_failure)
         check_failed(display_failure, "OpenDroneID: %s", failure_msg);
         return false;
     }
-#endif
     return true;
 }
+#endif  // AP_OPENDRONEID_ENABLED
 
 //Check for multiple RC in serial protocols
 bool AP_Arming::serial_protocol_checks(bool display_failure)
@@ -1560,41 +1564,73 @@ bool AP_Arming::pre_arm_checks(bool report)
 #if HAL_HAVE_IMU_HEATER
         &  heater_min_temperature_checks(report)
 #endif
+#if AP_BARO_ENABLED
         &  barometer_checks(report)
+#endif
 #if AP_INERTIALSENSOR_ENABLED
         &  ins_checks(report)
 #endif
+#if AP_COMPASS_ENABLED
         &  compass_checks(report)
+#endif
+#if AP_GPS_ENABLED
         &  gps_checks(report)
+#endif
+#if AP_BATTERY_ENABLED
         &  battery_checks(report)
+#endif
 #if HAL_LOGGING_ENABLED
         &  logging_checks(report)
 #endif
 #if AP_RC_CHANNEL_ENABLED
         &  manual_transmitter_checks(report)
 #endif
+#if AP_MISSION_ENABLED
         &  mission_checks(report)
+#endif
+#if AP_RANGEFINDER_ENABLED
         &  rangefinder_checks(report)
+#endif
         &  servo_checks(report)
         &  board_voltage_checks(report)
         &  system_checks(report)
         &  terrain_checks(report)
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_CANMANAGER_ENABLED
         &  can_checks(report)
+#endif
+#if HAL_GENERATOR_ENABLED
         &  generator_checks(report)
+#endif
+#if HAL_PROXIMITY_ENABLED
         &  proximity_checks(report)
+#endif
+#if HAL_RUNCAM_ENABLED
         &  camera_checks(report)
+#endif
+#if OSD_ENABLED
         &  osd_checks(report)
+#endif
+#if HAL_MOUNT_ENABLED
         &  mount_checks(report)
+#endif
+#if AP_FETTEC_ONEWIRE_ENABLED
         &  fettec_checks(report)
+#endif
+#if HAL_VISUALODOM_ENABLED
         &  visodom_checks(report)
+#endif
 #if AP_ARMING_AUX_AUTH_ENABLED
         &  aux_auth_checks(report)
 #endif
 #if AP_RC_CHANNEL_ENABLED
         &  disarm_switch_checks(report)
 #endif
+#if AP_FENCE_ENABLED
         &  fence_checks(report)
+#endif
+#if AP_OPENDRONEID_ENABLED
         &  opendroneid_checks(report)
+#endif
         &  serial_protocol_checks(report)
         &  estop_checks(report);
 
@@ -1827,6 +1863,7 @@ bool AP_Arming::rc_checks_copter_sub(const bool display_failure, const RC_Channe
 }
 #endif  // AP_RC_CHANNEL_ENABLED
 
+#if HAL_VISUALODOM_ENABLED
 // check visual odometry is working
 bool AP_Arming::visodom_checks(bool display_failure) const
 {
@@ -1834,7 +1871,6 @@ bool AP_Arming::visodom_checks(bool display_failure) const
         return true;
     }
 
-#if HAL_VISUALODOM_ENABLED
     AP_VisualOdom *visual_odom = AP::visualodom();
     if (visual_odom != nullptr) {
         char fail_msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
@@ -1843,10 +1879,10 @@ bool AP_Arming::visodom_checks(bool display_failure) const
             return false;
         }
     }
-#endif
 
     return true;
 }
+#endif
 
 #if AP_RC_CHANNEL_ENABLED
 // check disarm switch is asserted
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index 603e1b6b85a7a5..7569227da85110 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -6,6 +6,7 @@
 
 #include "AP_Arming_config.h"
 #include "AP_InertialSensor/AP_InertialSensor_config.h"
+#include "AP_Proximity/AP_Proximity_config.h"
 
 class AP_Arming {
 public:
@@ -237,7 +238,9 @@ class AP_Arming {
 
     bool kdecan_checks(bool display_failure) const;
 
+#if HAL_PROXIMITY_ENABLED
     virtual bool proximity_checks(bool report) const;
+#endif
 
     bool servo_checks(bool report) const;
     bool rc_checks_copter_sub(bool display_failure, const class RC_Channel *channels[4]) const;

From 3691fdadc8425ee43b53ebbb834d75f8c740faee Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 4 Jan 2024 17:02:47 +1100
Subject: [PATCH 0444/1335] ArduCopter: be more consistent withb our defines
 around optional features

---
 ArduCopter/AP_Arming.cpp | 4 ++--
 ArduCopter/AP_Arming.h   | 2 ++
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index d2e4838f8ce30e..72bc9addf073bf 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -398,10 +398,10 @@ bool AP_Arming_Copter::pre_arm_ekf_attitude_check()
     return filt_status.flags.attitude;
 }
 
+#if HAL_PROXIMITY_ENABLED
 // check nothing is too close to vehicle
 bool AP_Arming_Copter::proximity_checks(bool display_failure) const
 {
-#if HAL_PROXIMITY_ENABLED
 
     if (!AP_Arming::proximity_checks(display_failure)) {
         return false;
@@ -425,9 +425,9 @@ bool AP_Arming_Copter::proximity_checks(bool display_failure) const
     }
 #endif
 
-#endif
     return true;
 }
+#endif  // HAL_PROXIMITY_ENABLED
 
 // performs mandatory gps checks.  returns true if passed
 bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
diff --git a/ArduCopter/AP_Arming.h b/ArduCopter/AP_Arming.h
index 15495469b48840..180525594cdb6f 100644
--- a/ArduCopter/AP_Arming.h
+++ b/ArduCopter/AP_Arming.h
@@ -27,7 +27,9 @@ class AP_Arming_Copter : public AP_Arming
 
     bool pre_arm_checks(bool display_failure) override;
     bool pre_arm_ekf_attitude_check();
+#if HAL_PROXIMITY_ENABLED
     bool proximity_checks(bool display_failure) const override;
+#endif
     bool arm_checks(AP_Arming::Method method) override;
 
     // mandatory checks that cannot be bypassed.  This function will only be called if ARMING_CHECK is zero or arming forced

From 689a5c7b52a9e64d5ddfed7e51a4b0ed0e514111 Mon Sep 17 00:00:00 2001
From: Jacob Olson <jacob.olson@fortemtech.com>
Date: Thu, 4 Jan 2024 12:15:23 -0700
Subject: [PATCH 0445/1335] SITL: SIM_Frame: fixed per_motor_vars config
 loading

---
 libraries/SITL/SIM_Frame.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/SITL/SIM_Frame.cpp b/libraries/SITL/SIM_Frame.cpp
index e16ceabb8f9f80..a9b49040427371 100644
--- a/libraries/SITL/SIM_Frame.cpp
+++ b/libraries/SITL/SIM_Frame.cpp
@@ -413,7 +413,7 @@ void Frame::load_frame_params(const char *model_json)
                 // use default value
                 continue;
             }
-            if (vars[i].t == VarType::FLOAT) {
+            if (per_motor_vars[i].t == VarType::FLOAT) {
                 parse_float(v, label_name, *(((float *)per_motor_vars[i].ptr) + j));
 
             } else if (per_motor_vars[i].t == VarType::VECTOR3F) {

From ae256b168ed22b688399a54fd7b6346d4af1663e Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Fri, 5 Jan 2024 15:40:13 -0700
Subject: [PATCH 0446/1335] AP_Scripting: Add bindings for jump to landing and
 abort in the mission

---
 libraries/AP_Scripting/docs/docs.lua                      | 8 ++++++++
 .../AP_Scripting/generator/description/bindings.desc      | 2 ++
 2 files changed, 10 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index b3b2deba2ff787..00e2ee4ca174b7 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1799,6 +1799,14 @@ function mission:get_index_of_jump_tag(tag) end
 function mission:get_last_jump_tag() end
 
 
+-- Jump the mission to the start of the closest landing sequence. Returns true if one was found
+---@return boolean
+function mission:jump_to_landing_sequence() end
+
+-- Jump to the landing abort sequence
+-- @return boolean
+function mission:jump_to_abort_landing_sequence() end
+
 -- desc
 ---@class param
 param = {}
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 7cbc293a90d8cb..5788f9c64c1cf8 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -485,6 +485,8 @@ singleton AP_Mission method cmd_has_location boolean uint16_t'skip_check
 singleton AP_Mission method jump_to_tag boolean uint16_t 0 UINT16_MAX
 singleton AP_Mission method get_index_of_jump_tag uint16_t uint16_t 0 UINT16_MAX
 singleton AP_Mission method get_last_jump_tag boolean uint16_t'Null uint16_t'Null
+singleton AP_Mission method jump_to_landing_sequence boolean
+singleton AP_Mission method jump_to_abort_landing_sequence boolean
 
 
 userdata mavlink_mission_item_int_t depends AP_MISSION_ENABLED

From 809e15acf40bbe9e7985ad7bf41f33c4ff53975e Mon Sep 17 00:00:00 2001
From: Maxim Buzdalov <mbuzdalov@gmail.com>
Date: Mon, 8 Jan 2024 20:57:29 +0000
Subject: [PATCH 0447/1335] hwdef: Add pinout for Flywoo GOKU F745 AIO v1.2

---
 ...inout.png => GOKUGN745AIO_v1.0_Pinout.png} | Bin
 .../FlywooF745/GOKUGN745AIO_v1.2_Pinout.jpg   | Bin 0 -> 1165090 bytes
 .../AP_HAL_ChibiOS/hwdef/FlywooF745/README.md |   8 +++++++-
 3 files changed, 7 insertions(+), 1 deletion(-)
 rename libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/{GOKUGN745AIO_Pinout.png => GOKUGN745AIO_v1.0_Pinout.png} (100%)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/GOKUGN745AIO_v1.2_Pinout.jpg

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/GOKUGN745AIO_Pinout.png b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/GOKUGN745AIO_v1.0_Pinout.png
similarity index 100%
rename from libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/GOKUGN745AIO_Pinout.png
rename to libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/GOKUGN745AIO_v1.0_Pinout.png
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/GOKUGN745AIO_v1.2_Pinout.jpg b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/GOKUGN745AIO_v1.2_Pinout.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fc34078cc795323456640d784ff41071cc01fe01
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In}03-3q-#_O8@`>

literal 0
HcmV?d00001

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/README.md b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/README.md
index a491a15a10a64c..6c4817547a3bb3 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/README.md
+++ b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF745/README.md
@@ -31,7 +31,13 @@ The Flywoo GOKU GN 745 AIO is a flight controller produced by [Flywoo](https://f
 
 ## Pinout
 
-![GOKU GN 745 40A AIO](GOKUGN745AIO_Pinout.png "GOKU GN 745 40A AIO")
+This board currently has two versions produced, with different pinouts. This is the original v1.0 board.
+
+![GOKU GN 745 40A AIO v1.0](GOKUGN745AIO_v1.0_Pinout.png "GOKU GN 745 40A AIO v1.0")
+
+The newer v1.2 board is shown below. Unfortunately, due to the reduced number of pads, some features, such as motors 5-8, are no longer available.
+
+![GOKU GN 745 40A AIO v1.2](GOKUGN745AIO_v1.2_Pinout.jpg "GOKU GN 745 40A AIO v1.2")
 
 ## UART Mapping
 

From b65313303f96aea4613fd6b1390bc1c64dabfddd Mon Sep 17 00:00:00 2001
From: David Buzz <davidbuzz@gmail.com>
Date: Mon, 8 Jan 2024 10:46:07 +1000
Subject: [PATCH 0448/1335] AP_HAL_ESP32: analog warning fix

---
 libraries/AP_HAL_ESP32/AnalogIn.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ESP32/AnalogIn.cpp b/libraries/AP_HAL_ESP32/AnalogIn.cpp
index 0cb88f3e17384c..6ae04bc489591e 100644
--- a/libraries/AP_HAL_ESP32/AnalogIn.cpp
+++ b/libraries/AP_HAL_ESP32/AnalogIn.cpp
@@ -70,7 +70,7 @@ const AnalogIn::pin_info AnalogIn::pin_config[] = HAL_ESP32_ADC_PINS;
 #define DEFAULT_VREF    1100       //Use adc2_vref_to_gpio() to obtain a better estimate
 #define NO_OF_SAMPLES   256          //Multisampling
 
-static const adc_atten_t atten = ADC_ATTEN_DB_11;
+static const adc_atten_t atten = ADC_ATTEN_DB_12;
 
 //ardupin is the ardupilot assigned number, starting from 1-8(max)
 // 'pin' and _pin is a macro like 'ADC1_GPIO35_CHANNEL' from board config .h

From 511659e6ee71b50ce183e8459250dcbed73b64f5 Mon Sep 17 00:00:00 2001
From: JanMaciuk <38810823+JanMaciuk@users.noreply.github.com>
Date: Tue, 2 Jan 2024 23:49:18 +0100
Subject: [PATCH 0449/1335] Copter: Throw mode check altitude within params

---
 ArduCopter/Parameters.cpp | 14 ++++++++++++++
 ArduCopter/Parameters.h   |  4 ++++
 ArduCopter/mode_throw.cpp | 17 +++++++++++++++--
 3 files changed, 33 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index f56ef3b0205554..e3b949b7c322f5 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -696,6 +696,20 @@ const AP_Param::Info Copter::var_info[] = {
     // @Values: 0:Stopped,1:Running
     // @User: Standard
     GSCALAR(throw_motor_start, "THROW_MOT_START", (float)ModeThrow::PreThrowMotorState::STOPPED),
+
+    // @Param: THROW_ALT_MIN
+    // @DisplayName: Throw mode minimum altitude
+    // @Description: Minimum altitude above which Throw mode will detect a throw or a drop - 0 to disable the check
+    // @Units: m
+    // @User: Advanced
+    GSCALAR(throw_altitude_min, "THROW_ALT_MIN", 0),
+
+    // @Param: THROW_ALT_MAX
+    // @DisplayName: Throw mode maximum altitude
+    // @Description: Maximum altitude under which Throw mode will detect a throw or a drop - 0 to disable the check
+    // @Units: m
+    // @User: Advanced
+    GSCALAR(throw_altitude_max, "THROW_ALT_MAX", 0),
 #endif
 
 #if OSD_ENABLED || OSD_PARAM_ENABLED
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index e59bf2238788b6..3d8b62b96d936c 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -383,6 +383,8 @@ class Parameters {
         // 254,255: reserved
 
         k_param_vehicle = 257, // vehicle common block of parameters
+        k_param_throw_altitude_min,
+        k_param_throw_altitude_max,
 
         // the k_param_* space is 9-bits in size
         // 511: reserved
@@ -463,6 +465,8 @@ class Parameters {
 
 #if MODE_THROW_ENABLED == ENABLED
     AP_Enum<ModeThrow::PreThrowMotorState>         throw_motor_start;
+    AP_Int16         throw_altitude_min; // minimum altitude in m above which a throw can be detected
+    AP_Int16         throw_altitude_max; // maximum altitude in m below which a throw can be detected
 #endif
 
     AP_Int16                rc_speed; // speed of fast RC Channels in Hz
diff --git a/ArduCopter/mode_throw.cpp b/ArduCopter/mode_throw.cpp
index c9ff702e3fd887..a2f71ff42f24d4 100644
--- a/ArduCopter/mode_throw.cpp
+++ b/ArduCopter/mode_throw.cpp
@@ -272,8 +272,21 @@ bool ModeThrow::throw_detected()
     // Check if the accel length is < 1.0g indicating that any throw action is complete and the copter has been released
     bool no_throw_action = copter.ins.get_accel().length() < 1.0f * GRAVITY_MSS;
 
-    // High velocity or free-fall combined with increasing height indicate a possible air-drop or throw release
-    bool possible_throw_detected = (free_falling || high_speed) && changing_height && no_throw_action;
+    // fetch the altitude above home
+    float altitude_above_home;  // Use altitude above home if it is set, otherwise relative to EKF origin
+    if (ahrs.home_is_set()) {
+        ahrs.get_relative_position_D_home(altitude_above_home);
+        altitude_above_home = -altitude_above_home; // altitude above home is returned as negative
+    } else {
+        altitude_above_home = inertial_nav.get_position_z_up_cm() * 0.01f; // centimeters to meters
+    }
+
+    // Check that the altitude is within user defined limits
+    const bool height_within_params = (g.throw_altitude_min == 0 || altitude_above_home > g.throw_altitude_min) && (g.throw_altitude_max == 0 || (altitude_above_home < g.throw_altitude_max));
+
+    // High velocity or free-fall combined with increasing height indicate a possible air-drop or throw release  
+    bool possible_throw_detected = (free_falling || high_speed) && changing_height && no_throw_action && height_within_params;
+
 
     // Record time and vertical velocity when we detect the possible throw
     if (possible_throw_detected && ((AP_HAL::millis() - free_fall_start_ms) > 500)) {

From eb10b8196466f4b53e8d018cb6c4cb37804d1992 Mon Sep 17 00:00:00 2001
From: Bob Long <robertlong13@gmail.com>
Date: Tue, 9 Jan 2024 16:49:46 +1100
Subject: [PATCH 0450/1335] Tools: uploader.py: set write_timeout

This is needed to prevent Windows from hanging when trying to write to
"Standard Serial over Bluetooth" ports.
---
 Tools/scripts/uploader.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/scripts/uploader.py b/Tools/scripts/uploader.py
index a4872f2844ff70..b926b26c232795 100755
--- a/Tools/scripts/uploader.py
+++ b/Tools/scripts/uploader.py
@@ -275,7 +275,7 @@ def __init__(self,
         self.force_erase = force_erase
 
         # open the port, keep the default timeout short so we can poll quickly
-        self.port = serial.Serial(portname, baudrate_bootloader, timeout=2.0)
+        self.port = serial.Serial(portname, baudrate_bootloader, timeout=2.0, write_timeout=2.0)
         self.baudrate_bootloader = baudrate_bootloader
         if baudrate_bootloader_flash is not None:
             self.baudrate_bootloader_flash = baudrate_bootloader_flash

From d2400ad39b0d19fded3dffba935dcba510db9e6a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 12 Jul 2023 21:08:10 +1000
Subject: [PATCH 0451/1335] AP_OpticalFlow: correct names of variables in
 HereFlow OF driver

my guess is that the heavy maths was moved out of the timer function
---
 libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp | 12 +++++++-----
 libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h   |  2 +-
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp
index e7a94704420d00..123b3408c3abd3 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp
@@ -53,8 +53,8 @@ void AP_OpticalFlow_HereFlow::handle_measurement(AP_DroneCAN *ap_dronecan, const
     if (_ap_dronecan == ap_dronecan && _node_id == transfer.source_node_id) {
         WITH_SEMAPHORE(_driver->_sem);
         _driver->new_data = true;
-        _driver->flowRate = Vector2f(msg.flow_integral[0], msg.flow_integral[1]);
-        _driver->bodyRate = Vector2f(msg.rate_gyro_integral[0], msg.rate_gyro_integral[1]);
+        _driver->flow_integral = Vector2f(msg.flow_integral[0], msg.flow_integral[1]);
+        _driver->rate_gyro_integral = Vector2f(msg.rate_gyro_integral[0], msg.rate_gyro_integral[1]);
         _driver->integral_time = msg.integration_interval;
         _driver->surface_quality = msg.quality;
     }
@@ -79,9 +79,11 @@ void AP_OpticalFlow_HereFlow::_push_state(void)
     float flowScaleFactorY = 1.0f + 0.001f * flowScaler.y;
     float integralToRate = 1.0f / integral_time;
     //Convert to Raw Flow measurement to Flow Rate measurement
-    state.flowRate = Vector2f(flowRate.x * flowScaleFactorX,
-                                flowRate.y * flowScaleFactorY) * integralToRate;
-    state.bodyRate = bodyRate * integralToRate;
+    state.flowRate = Vector2f{
+        flow_integral.x * flowScaleFactorX,
+        flow_integral.y * flowScaleFactorY
+    } * integralToRate;
+    state.bodyRate = rate_gyro_integral * integralToRate;
     state.surface_quality = surface_quality;
     _applyYaw(state.flowRate);
     _applyYaw(state.bodyRate);
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h
index 8b61a87bf7cd91..afc75841631a07 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h
@@ -21,7 +21,7 @@ class AP_OpticalFlow_HereFlow : public OpticalFlow_backend {
 
 private:
 
-    Vector2f flowRate, bodyRate;
+    Vector2f flow_integral, rate_gyro_integral;
     uint8_t surface_quality;
     float integral_time;
     bool new_data;

From 6038a4d8c73cc8dfa674bb003a35d11ba8c120e7 Mon Sep 17 00:00:00 2001
From: Mirko Denecke <mirkix@gmail.com>
Date: Tue, 9 Jan 2024 18:47:54 +0100
Subject: [PATCH 0452/1335] AR_Motors: fix prearm for omni outputs

---
 libraries/AR_Motors/AP_MotorsUGV.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AR_Motors/AP_MotorsUGV.cpp b/libraries/AR_Motors/AP_MotorsUGV.cpp
index c9e351b2be03af..90b8ef99157125 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.cpp
+++ b/libraries/AR_Motors/AP_MotorsUGV.cpp
@@ -494,7 +494,8 @@ bool AP_MotorsUGV::pre_arm_check(bool report) const
        !have_throttle &&
        !SRV_Channels::function_assigned(SRV_Channel::k_steering) &&
        !SRV_Channels::function_assigned(SRV_Channel::k_scripting1) &&
-       !has_sail()) {
+       !has_sail() &&
+       !is_omni()) {
         if (report) {
             GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PreArm: no motor, sail or scripting outputs defined");
         }

From fa5e58d652e7dfc06188d0d6d8c2feefdf30bb42 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 29 Dec 2023 16:10:52 +0900
Subject: [PATCH 0453/1335] AP_Mount: switch to RC_TARGETING on RC input

---
 libraries/AP_Mount/AP_Mount_Backend.cpp       | 41 +++++++++++++++++++
 libraries/AP_Mount/AP_Mount_Backend.h         | 11 +++++
 libraries/AP_Mount/AP_Mount_Gremsy.cpp        |  3 ++
 libraries/AP_Mount/AP_Mount_SToRM32.cpp       |  3 ++
 .../AP_Mount/AP_Mount_SToRM32_serial.cpp      |  3 ++
 libraries/AP_Mount/AP_Mount_Scripting.cpp     |  3 ++
 libraries/AP_Mount/AP_Mount_Servo.cpp         |  3 ++
 libraries/AP_Mount/AP_Mount_Siyi.cpp          |  3 ++
 libraries/AP_Mount/AP_Mount_SoloGimbal.cpp    |  3 ++
 libraries/AP_Mount/AP_Mount_Viewpro.cpp       |  3 ++
 libraries/AP_Mount/AP_Mount_Xacti.cpp         |  3 ++
 11 files changed, 79 insertions(+)

diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp
index 8545d75b90bf23..7e1f28d3d5df16 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.cpp
+++ b/libraries/AP_Mount/AP_Mount_Backend.cpp
@@ -570,6 +570,47 @@ void AP_Mount_Backend::calculate_poi()
 }
 #endif
 
+// change to RC_TARGETING mode if rc inputs have changed by more than the dead zone
+// should be called on every update
+void AP_Mount_Backend::set_rctargeting_on_rcinput_change()
+{
+    // exit immediately if no RC input
+    if (!rc().has_valid_input()) {
+        return;
+    }
+
+    const RC_Channel *roll_ch = rc().find_channel_for_option(_instance == 0 ? RC_Channel::AUX_FUNC::MOUNT1_ROLL : RC_Channel::AUX_FUNC::MOUNT2_ROLL);
+    const RC_Channel *pitch_ch = rc().find_channel_for_option(_instance == 0 ? RC_Channel::AUX_FUNC::MOUNT1_PITCH : RC_Channel::AUX_FUNC::MOUNT2_PITCH);
+    const RC_Channel *yaw_ch = rc().find_channel_for_option(_instance == 0 ? RC_Channel::AUX_FUNC::MOUNT1_YAW : RC_Channel::AUX_FUNC::MOUNT2_YAW);
+
+    // get rc input
+    const int16_t roll_in = (roll_ch == nullptr) ? 0 : roll_ch->get_radio_in();
+    const int16_t pitch_in = (pitch_ch == nullptr) ? 0 : pitch_ch->get_radio_in();
+    const int16_t yaw_in = (yaw_ch == nullptr) ? 0 : yaw_ch->get_radio_in();
+
+    // if not in RC_TARGETING or RETRACT modes then check for RC change
+    if (get_mode() != MAV_MOUNT_MODE_RC_TARGETING && get_mode() != MAV_MOUNT_MODE_RETRACT) {
+        // get dead zones
+        const int16_t roll_dz = (roll_ch == nullptr) ? 10 : MAX(roll_ch->get_dead_zone(), 10);
+        const int16_t pitch_dz = (pitch_ch == nullptr) ? 10 : MAX(pitch_ch->get_dead_zone(), 10);
+        const int16_t yaw_dz = (yaw_ch == nullptr) ? 10 : MAX(yaw_ch->get_dead_zone(), 10);
+
+        // check if RC input has changed by more than the dead zone
+        if ((abs(last_rc_input.roll_in - roll_in) > roll_dz) ||
+            (abs(last_rc_input.pitch_in - pitch_in) > pitch_dz) ||
+            (abs(last_rc_input.yaw_in - yaw_in) > yaw_dz)) {
+            set_mode(MAV_MOUNT_MODE_RC_TARGETING);
+        }
+    }
+
+    // if in RC_TARGETING or RETRACT mode then store last RC input
+    if (get_mode() == MAV_MOUNT_MODE_RC_TARGETING || get_mode() == MAV_MOUNT_MODE_RETRACT) {
+        last_rc_input.roll_in = roll_in;
+        last_rc_input.pitch_in = pitch_in;
+        last_rc_input.yaw_in = yaw_in;
+    }
+}
+
 // get pilot input (in the range -1 to +1) received through RC
 void AP_Mount_Backend::get_rc_input(float& roll_in, float& pitch_in, float& yaw_in) const
 {
diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
index b88ddf42bf760c..d2f97273608b5b 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.h
+++ b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -240,6 +240,10 @@ class AP_Mount_Backend
     void calculate_poi();
 #endif
 
+    // change to RC_TARGETTING mode if rc inputs have changed by more than the dead zone
+    // should be called on every update
+    void set_rctargeting_on_rcinput_change();
+
     // get pilot input (in the range -1 to +1) received through RC
     void get_rc_input(float& roll_in, float& pitch_in, float& yaw_in) const;
 
@@ -308,6 +312,13 @@ class AP_Mount_Backend
 
     uint32_t _last_warning_ms;      // system time of last warning sent to GCS
 
+    // structure holding the last RC inputs
+    struct {
+        int16_t roll_in;
+        int16_t pitch_in;
+        int16_t yaw_in;
+    } last_rc_input;
+
     // structure holding mavlink sysid and compid of controller of this gimbal
     // see MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE and GIMBAL_MANAGER_STATUS
     struct {
diff --git a/libraries/AP_Mount/AP_Mount_Gremsy.cpp b/libraries/AP_Mount/AP_Mount_Gremsy.cpp
index b9bf372a680646..6efe6b7ec4b39e 100644
--- a/libraries/AP_Mount/AP_Mount_Gremsy.cpp
+++ b/libraries/AP_Mount/AP_Mount_Gremsy.cpp
@@ -20,6 +20,9 @@ void AP_Mount_Gremsy::update()
         return;
     }
 
+    // change to RC_TARGETING mode if RC input has changed
+    set_rctargeting_on_rcinput_change();
+
     // update based on mount mode
     switch (get_mode()) {
 
diff --git a/libraries/AP_Mount/AP_Mount_SToRM32.cpp b/libraries/AP_Mount/AP_Mount_SToRM32.cpp
index 1c1e5da3eadc1e..de3c8035c989a9 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32.cpp
+++ b/libraries/AP_Mount/AP_Mount_SToRM32.cpp
@@ -18,6 +18,9 @@ void AP_Mount_SToRM32::update()
         return;
     }
 
+    // change to RC_TARGETING mode if RC input has changed
+    set_rctargeting_on_rcinput_change();
+
     // flag to trigger sending target angles to gimbal
     bool resend_now = false;
 
diff --git a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
index 518b698ef69e76..928a40a297496b 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
+++ b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
@@ -29,6 +29,9 @@ void AP_Mount_SToRM32_serial::update()
 
     read_incoming(); // read the incoming messages from the gimbal
 
+    // change to RC_TARGETING mode if RC input has changed
+    set_rctargeting_on_rcinput_change();
+
     // flag to trigger sending target angles to gimbal
     bool resend_now = false;
 
diff --git a/libraries/AP_Mount/AP_Mount_Scripting.cpp b/libraries/AP_Mount/AP_Mount_Scripting.cpp
index 9eb738503919bc..c2b93304e67ee5 100644
--- a/libraries/AP_Mount/AP_Mount_Scripting.cpp
+++ b/libraries/AP_Mount/AP_Mount_Scripting.cpp
@@ -15,6 +15,9 @@ extern const AP_HAL::HAL& hal;
 // update mount position - should be called periodically
 void AP_Mount_Scripting::update()
 {
+    // change to RC_TARGETING mode if RC input has changed
+    set_rctargeting_on_rcinput_change();
+
     // update based on mount mode
     switch (get_mode()) {
         // move mount to a "retracted" position.  To-Do: remove support and replace with a relaxed mode?
diff --git a/libraries/AP_Mount/AP_Mount_Servo.cpp b/libraries/AP_Mount/AP_Mount_Servo.cpp
index 196b79edff0a89..8c59eb6abfd28e 100644
--- a/libraries/AP_Mount/AP_Mount_Servo.cpp
+++ b/libraries/AP_Mount/AP_Mount_Servo.cpp
@@ -27,6 +27,9 @@ void AP_Mount_Servo::init()
 // update mount position - should be called periodically
 void AP_Mount_Servo::update()
 {
+    // change to RC_TARGETING mode if RC input has changed
+    set_rctargeting_on_rcinput_change();
+
     auto mount_mode = get_mode();
     switch (mount_mode) {
         // move mount to a "retracted position" or to a position where a fourth servo can retract the entire mount into the fuselage
diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
index 5cc1330bfb7670..2854a28c7466c5 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.cpp
+++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -103,6 +103,9 @@ void AP_Mount_Siyi::update()
     // run zoom control
     update_zoom_control();
 
+    // change to RC_TARGETING mode if RC input has changed
+    set_rctargeting_on_rcinput_change();
+
     // Get the target angles or rates first depending on the current mount mode
     switch (get_mode()) {
         case MAV_MOUNT_MODE_RETRACT: {
diff --git a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
index 907b09a0d4574c..6dbf8cdbd3b260 100644
--- a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
+++ b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
@@ -31,6 +31,9 @@ void AP_Mount_SoloGimbal::update()
         return;
     }
 
+    // change to RC_TARGETING mode if RC input has changed
+    set_rctargeting_on_rcinput_change();
+
     // update based on mount mode
     switch(get_mode()) {
         // move mount to a "retracted" position.  we do not implement a separate servo based retract mechanism
diff --git a/libraries/AP_Mount/AP_Mount_Viewpro.cpp b/libraries/AP_Mount/AP_Mount_Viewpro.cpp
index 07608d689bfff1..a1180f85e3e58e 100644
--- a/libraries/AP_Mount/AP_Mount_Viewpro.cpp
+++ b/libraries/AP_Mount/AP_Mount_Viewpro.cpp
@@ -76,6 +76,9 @@ void AP_Mount_Viewpro::update()
     // send vehicle attitude and position
     send_m_ahrs();
 
+    // change to RC_TARGETING mode if RC input has changed
+    set_rctargeting_on_rcinput_change();
+
     // if tracking is active we do not send new targets to the gimbal
     if (_last_tracking_status == TrackingStatus::SEARCHING || _last_tracking_status == TrackingStatus::TRACKING) {
         return;
diff --git a/libraries/AP_Mount/AP_Mount_Xacti.cpp b/libraries/AP_Mount/AP_Mount_Xacti.cpp
index 9f210993d4350d..adc752fd46947c 100644
--- a/libraries/AP_Mount/AP_Mount_Xacti.cpp
+++ b/libraries/AP_Mount/AP_Mount_Xacti.cpp
@@ -110,6 +110,9 @@ void AP_Mount_Xacti::update()
         return;
     }
 
+    // change to RC_TARGETING mode if RC input has changed
+    set_rctargeting_on_rcinput_change();
+
     // update based on mount mode
     switch (get_mode()) {
         // move mount to a "retracted" position.  To-Do: remove support and replace with a relaxed mode?

From 416a41e75646cc464380cb5cd6f7d6dfb5f7cb25 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 8 Jan 2024 21:05:43 +0000
Subject: [PATCH 0454/1335] AP_HAL_ChibiOS: Only test SPI clock if  SPI is
 enabled

---
 libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index e362804b91a966..eb741e1ae7c520 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -227,7 +227,7 @@ static void main_loop()
 
     hal.serial(0)->begin(SERIAL0_BAUD);
 
-#ifdef HAL_SPI_CHECK_CLOCK_FREQ
+#if (HAL_USE_SPI == TRUE) && defined(HAL_SPI_CHECK_CLOCK_FREQ)
     // optional test of SPI clock frequencies
     ChibiOS::SPIDevice::test_clock_freq();
 #endif

From 8bfd8f2403e3a7f8247737c6b592ec134028990d Mon Sep 17 00:00:00 2001
From: Ferruccio Vicari <Ferruccio1984@users.noreply.github.com>
Date: Tue, 5 Dec 2023 07:07:10 +0000
Subject: [PATCH 0455/1335] AP_Scripting: script for idle control  (gas
 helicopters)

allows manual and/or automatic engine rpm control during ground idling

fix for conversion to float

rename fix
---
 .../applets/Heli_idle_control.lua             | 212 ++++++++++++++++++
 .../AP_Scripting/applets/Heli_idle_control.md |  17 ++
 2 files changed, 229 insertions(+)
 create mode 100644 libraries/AP_Scripting/applets/Heli_idle_control.lua
 create mode 100644 libraries/AP_Scripting/applets/Heli_idle_control.md

diff --git a/libraries/AP_Scripting/applets/Heli_idle_control.lua b/libraries/AP_Scripting/applets/Heli_idle_control.lua
new file mode 100644
index 00000000000000..16e7de0a0056bf
--- /dev/null
+++ b/libraries/AP_Scripting/applets/Heli_idle_control.lua
@@ -0,0 +1,212 @@
+-- idle_control.lua: a closed loop control throttle control while on ground idle (trad-heli)
+
+local PARAM_TABLE_KEY = 73
+local PARAM_TABLE_PREFIX = 'IDLE_'
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 30), 'could not add param table')
+
+function bind_add_param(name, idx, default_value)
+    assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
+    return Parameter(PARAM_TABLE_PREFIX .. name)
+end
+
+-- parameters for idle control
+
+IDLE_GAIN_I = bind_add_param('GAIN_I', 1, 0.05)
+IDLE_GAIN_P = bind_add_param('GAIN_P', 2, 0.25)
+IDLE_GAIN_MAX = bind_add_param('GAIN_MAX', 3, 1)
+IDLE_MAX = bind_add_param('MAX', 4, 17)
+IDLE_RANGE = bind_add_param('RANGE', 5, 300)
+IDLE_SETPOINT = bind_add_param('SETPOINT', 6, 600)
+IDLE_RPM_ENABLE = bind_add_param('RPM_ENABLE', 7, 0)
+
+-- internal variables
+
+local thr_out = nil
+local idle_control_active = false
+local idle_control_active_last = false
+local last_scaled_output = nil
+local idle_default = nil
+local ramp_up_complete = false
+local idle_adjusted = false
+local last_idc_time = nil
+local time_now = nil
+local pv = nil
+local thr_ctl = nil
+local thr_out_last = nil
+local pot_input = rc:find_channel_for_option(301)
+local switch_rsc = rc:find_channel_for_option(32)
+local rsc_output = SRV_Channels:find_channel(31)
+local SERVO_MAX = Parameter('SERVO' .. (rsc_output+1) .. '_MAX')
+local SERVO_MIN = Parameter('SERVO' .. (rsc_output+1) .. '_MIN')
+local SERVO_REV = Parameter('SERVO' .. (rsc_output+1) .. '_REVERSED')
+local servo_range = SERVO_MAX:get() - SERVO_MIN:get()
+local H_RSC_IDLE = Parameter('H_RSC_IDLE')
+local H_RSC_RUNUP_TIME = Parameter('H_RSC_RUNUP_TIME')
+
+-- map function
+
+function map(x, in_min, in_max, out_min, out_max)
+   return out_min + (x - in_min)*(out_max - out_min)/(in_max - in_min)
+end
+
+-- constrain function
+
+local function constrain(v, vmin, vmax)
+   if v < vmin then
+      v = vmin
+   end
+   if v > vmax then
+      v = vmax
+   end
+   return v
+end
+
+-- PI controller function
+local function PI_controller(kP,kI,iMax,min,max)
+
+   local self = {}
+
+   local _kP = kP
+   local _kI = kI
+   local _iMax = iMax
+   local _min = min
+   local _max = max
+   local _last_t = nil
+   local _I = 0
+   local _total = 0
+   local _counter = 0
+
+   function self.update(target, current)
+      local now = millis()
+      if not _last_t then
+         _last_t = now
+      end
+      local dt = (now - _last_t):tofloat()*0.001
+      _last_t = now
+      local err = target - current
+      _counter = _counter + 1
+      local P = _kP:get() * err
+      if ((_total < _max and _total > _min) or (_total >= _max and err < 0) or (_total <= _min and err > 0)) then
+         _I = _I + _kI:get() * err * dt
+      end
+      if _iMax:get() > 0 then
+         _I = constrain(_I, -_iMax:get(), iMax:get())
+      end
+      local ret = P + _I
+      _total = ret
+      return ret
+   end
+
+   function self.reset(integrator)
+      _I = integrator
+   end
+
+   return self
+end
+
+local thr_PI = PI_controller(IDLE_GAIN_P, IDLE_GAIN_I, IDLE_GAIN_MAX, 0, 1)
+
+-- main update function
+
+function update()  
+
+   local armed = arming:is_armed()
+
+  -- aux potentiometer for manual adjusting of idle
+
+   local pot_pos = pot_input:norm_input()
+   local thr_man = map(pot_pos,-1,1,0,1)
+
+   if armed == false then
+      idle_default = H_RSC_IDLE:get()
+      idle_control_active = false
+      ramp_up_complete = false
+      idle_adjusted = false
+      thr_PI.reset(0)
+   else 
+      if switch_rsc:get_aux_switch_pos() == 0 and vehicle:get_likely_flying() == false then
+         if H_RSC_IDLE:get()~= idle_default then
+            H_RSC_IDLE:set(idle_default)
+            gcs:send_text(5, "H_RSC_IDLE set to:".. tostring(H_RSC_IDLE:get()))
+         end
+         if IDLE_RPM_ENABLE:get() == 0 then
+            ramp_up_complete = false
+            idle_adjusted = false
+            thr_out = H_RSC_IDLE:get() + thr_man*(IDLE_MAX:get() - H_RSC_IDLE:get())
+         else
+            if thr_man == 0 then
+              idle_control_active = false
+              if idle_control_active_last ~= idle_control_active then
+                 gcs:send_text(5, "idle control: OFF")
+              end
+               thr_out = H_RSC_IDLE:get()
+               thr_ctl = 0
+               thr_PI.reset(0)
+            else
+               local rpm_current = RPM:get_rpm((IDLE_RPM_ENABLE:get())-1)
+               ramp_up_complete = false
+               idle_adjusted = false
+               if rpm_current < (IDLE_SETPOINT:get() - IDLE_RANGE:get()) then
+                  thr_out = H_RSC_IDLE:get() + thr_man*(IDLE_MAX:get() - H_RSC_IDLE:get())
+                  thr_out_last = thr_out
+               elseif rpm_current > (IDLE_SETPOINT:get() + IDLE_RANGE:get()) then 
+                  thr_out = H_RSC_IDLE:get()
+                  thr_out_last = thr_out
+               else
+                  -- throttle output set from the PI controller
+                  pv = rpm_current/(IDLE_SETPOINT:get())
+                  thr_ctl = thr_PI.update(1, pv)
+                  thr_ctl = constrain(thr_ctl,0,1)
+                  thr_out = H_RSC_IDLE:get() + thr_ctl*(IDLE_MAX:get() - H_RSC_IDLE:get())
+                  if thr_out_last == nil then
+                     thr_out_last = 0
+                  end
+                  thr_out = constrain(thr_out, thr_out_last-0.05, thr_out_last+0.05)
+                  thr_out_last = thr_out
+                  idle_control_active = true
+               end
+               if idle_control_active_last ~= idle_control_active then
+                  gcs:send_text(5, "idle control: ON")
+               end
+             end
+         end
+         last_idc_time = millis()
+         last_scaled_output = thr_out/100
+         if SERVO_REV:get() == 0 then
+            SRV_Channels:set_output_pwm_chan_timeout(rsc_output, math.floor((last_scaled_output*servo_range)+SERVO_MIN:get()), 150)
+         else
+            SRV_Channels:set_output_pwm_chan_timeout(rsc_output, math.floor(SERVO_MAX:get()-(last_scaled_output*servo_range)), 150)
+         end
+      else
+         -- motor interlock disabled, armed state, flight
+         idle_control_active = false
+         if idle_control_active_last ~= idle_control_active then
+            gcs:send_text(5, "idle control: deactivated")
+         end
+         if ramp_up_complete ~= true then
+            time_now = millis()
+            if ((time_now-last_idc_time):tofloat()*0.001) < H_RSC_RUNUP_TIME:get() then
+               if idle_adjusted ~= true then
+                  H_RSC_IDLE:set(last_scaled_output*100)
+                  idle_adjusted = true
+                  gcs:send_text(5, "H_RSC_IDLE updated for ramp up:".. tostring(H_RSC_IDLE:get()))
+               end
+            else
+               if H_RSC_IDLE:get()~= idle_default then
+                  H_RSC_IDLE:set(idle_default)
+                  gcs:send_text(5, "H_RSC_IDLE default restored:".. tostring(H_RSC_IDLE:get()))
+               end
+               ramp_up_complete = true
+            end
+         end
+      end
+  -- update notify variable
+  idle_control_active_last = idle_control_active
+   end
+
+   return update, 100 -- 10Hz rate
+end
+
+gcs:send_text(5, "idle_control_running")
+
+return update()
diff --git a/libraries/AP_Scripting/applets/Heli_idle_control.md b/libraries/AP_Scripting/applets/Heli_idle_control.md
new file mode 100644
index 00000000000000..39fb88684e0207
--- /dev/null
+++ b/libraries/AP_Scripting/applets/Heli_idle_control.md
@@ -0,0 +1,17 @@
+# Idle Control
+
+Allows manual or automatic rpm control for heli while on ground idle condition
+
+# Parameters
+
+IDLE_GAIN_I = integrative gain of the controller
+IDLE_GAIN_P = proportional gain of the controller
+IDLE_GAIN_MAX = IMAX for integrative
+IDLE_MAX = maximum throttle position, shall be set low enough to prevent clutch engagement/slipping or lower than first point of throttle curve
+IDLE_RANGE = rpm range of operation for the idle control
+IDLE_SETPOINT = desired rpm setpoint
+IDLE_RPM_ENABLE = 0 for manual throttle control // 1 for RPM1 targeting // 2 for RPM2 targeting
+
+# How To Use
+
+set RCx_OPTION to 301 to enable idle control from an auxiliary potentiometer

From 2ba3ac0a9e82b86189481d751ae34c056c892514 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 10 Jan 2024 07:36:47 +1100
Subject: [PATCH 0456/1335] AP_Networking: fixed a lockup bug in network ports

we need to not hold the write semaphore when calling network socket
calls. This fixes a critical error where network sockets block due to
low level PPP issues while main thread is going mavlink sends
---
 .../AP_Networking/AP_Networking_port.cpp      | 48 ++++++++++++-------
 1 file changed, 32 insertions(+), 16 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking_port.cpp b/libraries/AP_Networking/AP_Networking_port.cpp
index b68c01c0c045d8..1074d896351c07 100644
--- a/libraries/AP_Networking/AP_Networking_port.cpp
+++ b/libraries/AP_Networking/AP_Networking_port.cpp
@@ -319,10 +319,14 @@ bool AP_Networking::Port::send_receive(void)
 {
 
     bool active = false;
-    WITH_SEMAPHORE(sem);
+    uint32_t space;
+
 
     // handle incoming packets
-    const auto space = readbuffer->space();
+    {
+        WITH_SEMAPHORE(sem);
+        space = readbuffer->space();
+    }
     if (space > 0) {
         const uint32_t n = MIN(300U, space);
         uint8_t buf[n];
@@ -334,6 +338,7 @@ bool AP_Networking::Port::send_receive(void)
             return false;
         }
         if (ret > 0) {
+            WITH_SEMAPHORE(sem);
             readbuffer->write(buf, ret);
             active = true;
             have_received = true;
@@ -342,22 +347,33 @@ bool AP_Networking::Port::send_receive(void)
 
     if (connected) {
         // handle outgoing packets
-        uint32_t available = writebuffer->available();
-        available = MIN(300U, available);
+        uint32_t available;
+
+        {
+            WITH_SEMAPHORE(sem);
+            available = writebuffer->available();
+            available = MIN(300U, available);
 #if HAL_GCS_ENABLED
-        if (packetise) {
-            available = mavlink_packetise(*writebuffer, available);
-        }
+            if (packetise) {
+                available = mavlink_packetise(*writebuffer, available);
+            }
 #endif
-        if (available > 0) {
-            uint8_t buf[available];
-            auto n = writebuffer->peekbytes(buf, available);
-            if (n > 0) {
-                const auto ret = sock->send(buf, n);
-                if (ret > 0) {
-                    writebuffer->advance(ret);
-                    active = true;
-                }
+            if (available == 0) {
+                return active;
+            }
+        }
+        uint8_t buf[available];
+        uint32_t n;
+        {
+            WITH_SEMAPHORE(sem);
+            n = writebuffer->peekbytes(buf, available);
+        }
+        if (n > 0) {
+            const auto ret = sock->send(buf, n);
+            if (ret > 0) {
+                WITH_SEMAPHORE(sem);
+                writebuffer->advance(ret);
+                active = true;
             }
         }
     } else {

From 77fbe1dcfbb8e205d6a6ca7349256edc7e344b36 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 10 Jan 2024 07:37:31 +1100
Subject: [PATCH 0457/1335] AP_DroneCAN: don't hold semaphore during CAN send

this mirrors the changes in the networking code, and ensures we don't
hold a semaphore that may be held by the main thread when we are doing
CAN sends
---
 libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp | 37 +++++++++++---------
 1 file changed, 20 insertions(+), 17 deletions(-)

diff --git a/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp b/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp
index 6856c539f2e9cf..f0bbd72884d1ad 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp
@@ -74,26 +74,29 @@ void AP_DroneCAN_Serial::update(void)
         if (p.writebuffer == nullptr || p.node <= 0 || p.idx < 0) {
             continue;
         }
-        WITH_SEMAPHORE(p.sem);
-        uint32_t avail;
-        const bool send_keepalive = now_ms - p.last_send_ms > 500;
-        const auto *ptr = p.writebuffer->readptr(avail);
-        if (!send_keepalive && (ptr == nullptr || avail <= 0)) {
-            continue;
-        }
         uavcan_tunnel_Targetted pkt {};
-        auto n = MIN(avail, sizeof(pkt.buffer.data));
-        pkt.target_node = p.node;
-        pkt.protocol.protocol = UAVCAN_TUNNEL_PROTOCOL_UNDEFINED;
-        pkt.buffer.len = n;
-        pkt.baudrate = p.baudrate;
-        pkt.serial_id = p.idx;
-        pkt.options = UAVCAN_TUNNEL_TARGETTED_OPTION_LOCK_PORT;
-        if (ptr != nullptr) {
-            memcpy(pkt.buffer.data, ptr, n);
+        uint32_t n = 0;
+        {
+            WITH_SEMAPHORE(p.sem);
+            uint32_t avail;
+            const bool send_keepalive = now_ms - p.last_send_ms > 500;
+            const auto *ptr = p.writebuffer->readptr(avail);
+            if (!send_keepalive && (ptr == nullptr || avail <= 0)) {
+                continue;
+            }
+            n = MIN(avail, sizeof(pkt.buffer.data));
+            pkt.target_node = p.node;
+            pkt.protocol.protocol = UAVCAN_TUNNEL_PROTOCOL_UNDEFINED;
+            pkt.buffer.len = n;
+            pkt.baudrate = p.baudrate;
+            pkt.serial_id = p.idx;
+            pkt.options = UAVCAN_TUNNEL_TARGETTED_OPTION_LOCK_PORT;
+            if (ptr != nullptr) {
+                memcpy(pkt.buffer.data, ptr, n);
+            }
         }
-
         if (targetted->broadcast(pkt)) {
+            WITH_SEMAPHORE(p.sem);
             p.writebuffer->advance(n);
             p.last_send_ms = now_ms;
         }

From 7e5e55a97b660c8d62615d8d6560afad194d296e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 10 Jan 2024 09:05:32 +1100
Subject: [PATCH 0458/1335] autotest: fix for flapping multicast log download
 test

we had two ports outputting to 14550 which could cause the test to be
very slow
---
 Tools/autotest/vehicle_test_suite.py | 39 ++++++++++++++++++++--------
 1 file changed, 28 insertions(+), 11 deletions(-)

diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index be0cecc95fee4b..5b7e4f54b7ecdc 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -4274,7 +4274,7 @@ def TestLogDownloadMAVProxyNetwork(self, upload_logs=False):
         self.set_parameters({
             "NET_ENABLED": 1,
             "LOG_DISARMED": 1,
-            "LOG_DARM_RATEMAX": 2, # make small logs
+            "LOG_DARM_RATEMAX": 1, # make small logs
             # UDP client
             "NET_P1_TYPE": 1,
             "NET_P1_PROTOCOL": 2,
@@ -4317,11 +4317,14 @@ def TestLogDownloadMAVProxyNetwork(self, upload_logs=False):
             self.progress("Downloading log with %s %s" % (name, e))
             filename = "MAVProxy-downloaded-net-log-%s.BIN" % name
 
-            mavproxy = self.start_mavproxy(master=e)
+            mavproxy = self.start_mavproxy(master=e, options=['--source-system=123'])
             self.mavproxy_load_module(mavproxy, 'log')
             self.wait_heartbeat()
             mavproxy.send("log list\n")
             mavproxy.expect("numLogs")
+            # ensure the full list of logs has come out
+            for i in range(5):
+                self.wait_heartbeat()
             mavproxy.send("log download latest %s\n" % filename)
             mavproxy.expect("Finished downloading", timeout=120)
             self.mavproxy_unload_module(mavproxy, 'log')
@@ -4331,7 +4334,7 @@ def TestLogDownloadMAVProxyNetwork(self, upload_logs=False):
             # multicast UDP client
             "NET_P1_TYPE": 1,
             "NET_P1_PROTOCOL": 2,
-            "NET_P1_PORT": 14550,
+            "NET_P1_PORT": 16005,
             "NET_P1_IP0": 239,
             "NET_P1_IP1": 255,
             "NET_P1_IP2": 145,
@@ -4339,24 +4342,30 @@ def TestLogDownloadMAVProxyNetwork(self, upload_logs=False):
             # Broadcast UDP client
             "NET_P2_TYPE": 1,
             "NET_P2_PROTOCOL": 2,
-            "NET_P2_PORT": 16005,
+            "NET_P2_PORT": 16006,
             "NET_P2_IP0": 255,
             "NET_P2_IP1": 255,
             "NET_P2_IP2": 255,
             "NET_P2_IP3": 255,
+            "NET_P3_TYPE": -1,
+            "NET_P4_TYPE": -1,
+            "LOG_DISARMED": 0,
             })
         self.reboot_sitl()
-        endpoints = [('UDPMulticast', 'mcast:') ,
-                     ('UDPBroadcast', ':16005')]
+        endpoints = [('UDPMulticast', 'mcast:16005') ,
+                     ('UDPBroadcast', ':16006')]
         for name, e in endpoints:
             self.progress("Downloading log with %s %s" % (name, e))
             filename = "MAVProxy-downloaded-net-log-%s.BIN" % name
 
-            mavproxy = self.start_mavproxy(master=e)
+            mavproxy = self.start_mavproxy(master=e, options=['--source-system=123'])
             self.mavproxy_load_module(mavproxy, 'log')
             self.wait_heartbeat()
             mavproxy.send("log list\n")
             mavproxy.expect("numLogs")
+            # ensure the full list of logs has come out
+            for i in range(5):
+                self.wait_heartbeat()
             mavproxy.send("log download latest %s\n" % filename)
             mavproxy.expect("Finished downloading", timeout=120)
             self.mavproxy_unload_module(mavproxy, 'log')
@@ -4387,8 +4396,9 @@ def TestLogDownloadMAVProxyCAN(self, upload_logs=False):
         self.mavproxy_load_module(mavproxy, 'log')
         mavproxy.send("log list\n")
         mavproxy.expect("numLogs")
-        self.wait_heartbeat()
-        self.wait_heartbeat()
+        # ensure the full list of logs has come out
+        for i in range(5):
+            self.wait_heartbeat()
         mavproxy.send("set shownoise 0\n")
         mavproxy.send("log download latest %s\n" % filename)
         mavproxy.expect("Finished downloading", timeout=120)
@@ -8435,7 +8445,7 @@ def run_one_test_attempt(self, test, interact=False, attempt=1, suppress_stdout=
     def defaults_filepath(self):
         return None
 
-    def start_mavproxy(self, sitl_rcin_port=None, master=None):
+    def start_mavproxy(self, sitl_rcin_port=None, master=None, options=None):
         self.start_mavproxy_count += 1
         if self.mavproxy is not None:
             return self.mavproxy
@@ -8453,11 +8463,18 @@ def start_mavproxy(self, sitl_rcin_port=None, master=None):
         if master is None:
             master = 'tcp:127.0.0.1:%u' % self.adjust_ardupilot_port(5762)
 
+        if options is None:
+            options = self.mavproxy_options()
+        else:
+            op = self.mavproxy_options().copy()
+            op.extend(options)
+            options = op
+
         mavproxy = util.start_MAVProxy_SITL(
             self.vehicleinfo_key(),
             master=master,
             logfile=self.mavproxy_logfile,
-            options=self.mavproxy_options(),
+            options=options,
             pexpect_timeout=pexpect_timeout,
             sitl_rcin_port=sitl_rcin_port,
         )

From 462eb46c8b885efc9181068d13ff4b6ef60e81fe Mon Sep 17 00:00:00 2001
From: davidsastresas <davidsastresas@gmail.com>
Date: Sat, 30 Dec 2023 13:30:08 +0100
Subject: [PATCH 0459/1335] AP_Mount.cpp: send gimbal_manager_status msg when
 control changes

Co-authored-by: Randy Mackay <rmackay9@yahoo.com>

By default we are sending this message at 0.2 Hz. This is totally
fine as no more rate is needed, but whenever control changes it
is interesting to notify as soon as possible, so the rest of the
mavlink network understands the change in control as soon as
possible
---
 libraries/AP_Mount/AP_Mount_Backend.cpp | 8 ++++++++
 libraries/AP_Mount/AP_Mount_Backend.h   | 6 +++++-
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp
index 7e1f28d3d5df16..b6080a6f22545b 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.cpp
+++ b/libraries/AP_Mount/AP_Mount_Backend.cpp
@@ -358,6 +358,9 @@ MAV_RESULT AP_Mount_Backend::handle_command_do_gimbal_manager_configure(const ma
         return MAV_RESULT_FAILED;
     }
 
+    // backup the current values so we can detect a change
+    mavlink_control_id_t prev_control_id = mavlink_control_id;
+
     // convert negative packet1 and packet2 values
     int16_t new_sysid = packet.param1;
     switch (new_sysid) {
@@ -382,6 +385,11 @@ MAV_RESULT AP_Mount_Backend::handle_command_do_gimbal_manager_configure(const ma
             break;
     }
 
+    // send gimbal_manager_status if control has changed
+    if (prev_control_id != mavlink_control_id) {
+        gcs().send_message(MSG_GIMBAL_MANAGER_STATUS);
+    }
+
     return MAV_RESULT_ACCEPTED;
 }
 
diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
index d2f97273608b5b..f75ea29da5289f 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.h
+++ b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -321,9 +321,13 @@ class AP_Mount_Backend
 
     // structure holding mavlink sysid and compid of controller of this gimbal
     // see MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE and GIMBAL_MANAGER_STATUS
-    struct {
+    struct mavlink_control_id_t {
         uint8_t sysid;
         uint8_t compid;
+
+        // equality operators
+        bool operator==(const mavlink_control_id_t &rhs) const { return (sysid == rhs.sysid && compid == rhs.compid); }
+        bool operator!=(const mavlink_control_id_t &rhs) const { return !(*this == rhs); }
     } mavlink_control_id;
 };
 

From 3b99a3ac269df8fd2091c300c275c49ffe28f005 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 1 Jan 2024 14:23:00 +0000
Subject: [PATCH 0460/1335] AP_Relay: add function_valid helper and only
 pre-arm enabled relays

---
 libraries/AP_Relay/AP_Relay.cpp | 25 +++++++++++++++++++++----
 libraries/AP_Relay/AP_Relay.h   |  3 +++
 2 files changed, 24 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index e16d0248c20fe8..89f9a747547c21 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -313,6 +313,12 @@ void AP_Relay::set_defaults() {
     }
 }
 
+// Return true is function is valid
+bool AP_Relay::function_valid(AP_Relay_Params::FUNCTION function) const
+{
+    return (function > AP_Relay_Params::FUNCTION::NONE) && (function < AP_Relay_Params::FUNCTION::NUM_FUNCTIONS);
+}
+
 void AP_Relay::init()
 {
     set_defaults();
@@ -328,7 +334,7 @@ void AP_Relay::init()
         }
 
         const AP_Relay_Params::FUNCTION function = _params[instance].function;
-        if (function <= AP_Relay_Params::FUNCTION::NONE || function >= AP_Relay_Params::FUNCTION::NUM_FUNCTIONS) {
+        if (!function_valid(function)) {
             // invalid function, skip it
             continue;
         }
@@ -350,7 +356,7 @@ void AP_Relay::init()
 }
 
 void AP_Relay::set(const AP_Relay_Params::FUNCTION function, const bool value) {
-    if (function <= AP_Relay_Params::FUNCTION::NONE && function >= AP_Relay_Params::FUNCTION::NUM_FUNCTIONS) {
+    if (!function_valid(function)) {
         // invalid function
         return;
     }
@@ -416,8 +422,19 @@ void AP_Relay::toggle(uint8_t instance)
 bool AP_Relay::arming_checks(size_t buflen, char *buffer) const
 {
     for (uint8_t i=0; i<ARRAY_SIZE(_params); i++) {
-        const int8_t pin = _params[i].pin.get();
-        if (pin != -1 && !hal.gpio->valid_pin(pin)) {
+        if (!function_valid(_params[i].function)) {
+            // Relay disabled
+            continue;
+        }
+
+        const int16_t pin = _params[i].pin.get();
+        if (pin == -1) {
+            // Pin disabled, may want to pre-arm this in the future as function enabled with invalid pin
+            // User should set function to none to disable
+            continue;
+        }
+        if (!hal.gpio->valid_pin(pin)) {
+            // Check GPIO pin is valid
             char param_name_buf[14];
             hal.util->snprintf(param_name_buf, ARRAY_SIZE(param_name_buf), "RELAY%u_PIN", unsigned(i+1));
             uint8_t servo_ch;
diff --git a/libraries/AP_Relay/AP_Relay.h b/libraries/AP_Relay/AP_Relay.h
index d53bdb408c080b..3ad445cf0321fa 100644
--- a/libraries/AP_Relay/AP_Relay.h
+++ b/libraries/AP_Relay/AP_Relay.h
@@ -71,6 +71,9 @@ class AP_Relay {
 
     AP_Relay_Params _params[AP_RELAY_NUM_RELAYS];
 
+    // Return true is function is valid
+    bool function_valid(AP_Relay_Params::FUNCTION function) const;
+
     void set(uint8_t instance, bool value);
 
     void set_defaults();

From f6ed18f3f698211bd8d379b3f231e9d6170b7390 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 1 Jan 2024 20:54:24 +0000
Subject: [PATCH 0461/1335] AP_Relay: support virtual DroneCAN pins using
 hardpoint msg

---
 libraries/AP_Relay/AP_Relay.cpp        | 151 +++++++++++++++++++++++--
 libraries/AP_Relay/AP_Relay.h          |  52 +++++++++
 libraries/AP_Relay/AP_Relay_Params.cpp |  16 +++
 libraries/AP_Relay/AP_Relay_Params.h   |  20 ++++
 libraries/AP_Relay/AP_Relay_config.h   |   2 +
 5 files changed, 234 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 89f9a747547c21..0630cce2fc9a03 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -24,6 +24,11 @@
 #include <AR_Motors/AP_MotorsUGV.h>
 #endif
 
+#if AP_RELAY_DRONECAN_ENABLED
+#include <AP_DroneCAN/AP_DroneCAN.h>
+#include <AP_CANManager/AP_CANManager.h>
+#endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
   #define RELAY1_PIN_DEFAULT 13
 
@@ -327,7 +332,7 @@ void AP_Relay::init()
 
     // setup the actual default values of all the pins
     for (uint8_t instance = 0; instance < ARRAY_SIZE(_params); instance++) {
-        const int8_t pin = _params[instance].pin;
+        const int16_t pin = _params[instance].pin;
         if (pin == -1) {
             // no valid pin to set it on, skip it
             continue;
@@ -352,6 +357,12 @@ void AP_Relay::init()
             // this will need revisiting when we support inversion
             set_pin_by_instance(instance, false);
         }
+
+        // Make sure any DroneCAN pin is enabled for streaming
+#if AP_RELAY_DRONECAN_ENABLED
+        dronecan.enable_pin(pin);
+#endif
+
     }
 }
 
@@ -374,7 +385,7 @@ void AP_Relay::set(const AP_Relay_Params::FUNCTION function, const bool value) {
 // this is an internal helper, instance must have already been validated to be in range
 void AP_Relay::set_pin_by_instance(uint8_t instance, bool value)
 {
-    const int8_t pin = _params[instance].pin;
+    const int16_t pin = _params[instance].pin;
     if (pin == -1) {
         // no valid pin to set it on, skip it
         return;
@@ -386,11 +397,10 @@ void AP_Relay::set_pin_by_instance(uint8_t instance, bool value)
     }
 #endif
 
-    hal.gpio->pinMode(pin, HAL_GPIO_OUTPUT);
-    const bool initial_value = (bool)hal.gpio->read(pin);
+    const bool initial_value = get_pin(pin);
 
     if (initial_value != value) {
-        hal.gpio->write(pin, value);
+        set_pin(pin, value);
         AP::logger().Write("RELY", "TimeUS,Instance,State", "s#-", "F--", "QBB",
                             AP_HAL::micros64(),
                             instance,
@@ -433,7 +443,14 @@ bool AP_Relay::arming_checks(size_t buflen, char *buffer) const
             // User should set function to none to disable
             continue;
         }
-        if (!hal.gpio->valid_pin(pin)) {
+
+#if AP_RELAY_DRONECAN_ENABLED
+        const bool DroneCAN_pin = dronecan.valid_pin(pin);
+#else
+        const bool DroneCAN_pin = false;
+#endif
+
+        if (!DroneCAN_pin && !hal.gpio->valid_pin(pin)) {
             // Check GPIO pin is valid
             char param_name_buf[14];
             hal.util->snprintf(param_name_buf, ARRAY_SIZE(param_name_buf), "RELAY%u_PIN", unsigned(i+1));
@@ -456,16 +473,50 @@ bool AP_Relay::get(uint8_t instance) const
         return false;
     }
 
-    const int8_t pin = _params[instance].pin.get();
+    return get_pin(_params[instance].pin.get());
+}
 
+// Get relay state from pin number
+bool AP_Relay::get_pin(const int16_t pin) const
+{
     if (pin < 0) {
         // invalid pin
         return false;
     }
 
+#if AP_RELAY_DRONECAN_ENABLED
+    if (dronecan.valid_pin(pin)) {
+        // Virtual DroneCAN pin
+        return dronecan.get_pin(pin);
+    }
+#endif
+
+    // Real GPIO pin
+    hal.gpio->pinMode(pin, HAL_GPIO_OUTPUT);
     return (bool)hal.gpio->read(pin);
 }
 
+// Set relay state from pin number
+void AP_Relay::set_pin(const int16_t pin, const bool value)
+{
+    if (pin < 0) {
+        // invalid pin
+        return;
+    }
+
+#if AP_RELAY_DRONECAN_ENABLED
+    if (dronecan.valid_pin(pin)) {
+        // Virtual DroneCAN pin
+        dronecan.set_pin(pin, value);
+        return;
+    }
+#endif
+
+    // Real GPIO pin
+    hal.gpio->pinMode(pin, HAL_GPIO_OUTPUT);
+    hal.gpio->write(pin, value);
+}
+
 // see if the relay is enabled
 bool AP_Relay::enabled(uint8_t instance) const 
 {
@@ -484,6 +535,92 @@ bool AP_Relay::enabled(AP_Relay_Params::FUNCTION function) const
     return false;
 }
 
+#if AP_RELAY_DRONECAN_ENABLED
+// Return true if pin number is a virtual DroneCAN pin
+bool AP_Relay::DroneCAN::valid_pin(int16_t pin) const
+{
+    switch(pin) {
+        case (int16_t)AP_Relay_Params::VIRTUAL_PINS::DroneCAN_0 ... (int16_t)AP_Relay_Params::VIRTUAL_PINS::DroneCAN_15:
+            return true;
+        default:
+            return false;
+    }
+}
+
+// Enable streaming of pin number
+void AP_Relay::DroneCAN::enable_pin(int16_t pin)
+{
+    if (!valid_pin(pin)) {
+        return;
+    }
+
+    const uint8_t index = hardpoint_index(pin);
+    state[index].enabled = true;
+}
+
+// Get the hardpoint index of given pin number
+uint8_t AP_Relay::DroneCAN::hardpoint_index(const int16_t pin) const
+{
+    return pin - (int16_t)AP_Relay_Params::VIRTUAL_PINS::DroneCAN_0;
+}
+
+// Set DroneCAN relay state from pin number
+void AP_Relay::DroneCAN::set_pin(const int16_t pin, const bool value)
+{
+    const uint8_t index = hardpoint_index(pin);
+
+    // Set pin and ensure enabled for streaming
+    state[index].enabled = true;
+    state[index].value = value;
+
+    // Broadcast msg on all channels
+    // Just a single send, rely on streaming to fill in any lost packet
+
+    uavcan_equipment_hardpoint_Command msg {};
+    msg.hardpoint_id = index;
+    msg.command = state[index].value;
+
+    uint8_t can_num_drivers = AP::can().get_num_drivers();
+    for (uint8_t i = 0; i < can_num_drivers; i++) {
+        auto *ap_dronecan = AP_DroneCAN::get_dronecan(i);
+        if (ap_dronecan != nullptr) {
+            ap_dronecan->relay_hardpoint.broadcast(msg);
+        }
+    }
+
+}
+
+// Get relay state from pin number, this relies on a cached value, assume remote pin is in sync
+bool AP_Relay::DroneCAN::get_pin(const int16_t pin) const
+{
+    const uint8_t index = hardpoint_index(pin);
+    return state[index].value;
+}
+
+// Populate message and update index with the sent command
+// This will allow the caller to cycle through each enabled pin
+bool AP_Relay::DroneCAN::populate_next_command(uint8_t &index, uavcan_equipment_hardpoint_Command &msg) const
+{
+    // Find the next enabled index
+    for (uint8_t i = 0; i < ARRAY_SIZE(state); i++) {
+        // Look for next index, wrapping back to 0 as needed
+        const uint8_t new_index = (index + 1 + i) % ARRAY_SIZE(state);
+        if (!state[new_index].enabled) {
+            // This index is not being used
+            continue;
+        }
+
+        // Update command and index then return
+        msg.hardpoint_id = new_index;
+        msg.command = state[new_index].value;
+        index = new_index;
+        return true;
+    }
+
+    return false;
+}
+#endif // AP_RELAY_DRONECAN_ENABLED
+
 #if AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
 // this method may only return false if there is no space in the
 // supplied link for the message.
diff --git a/libraries/AP_Relay/AP_Relay.h b/libraries/AP_Relay/AP_Relay.h
index 3ad445cf0321fa..9d9055cdbe1842 100644
--- a/libraries/AP_Relay/AP_Relay.h
+++ b/libraries/AP_Relay/AP_Relay.h
@@ -25,9 +25,17 @@
   #error There must be at least one relay instance if using AP_Relay
 #endif
 
+#if AP_RELAY_DRONECAN_ENABLED
+#include <AP_DroneCAN/AP_DroneCAN.h>
+#endif
+
 /// @class	AP_Relay
 /// @brief	Class to manage the ArduPilot relay
 class AP_Relay {
+#if AP_RELAY_DRONECAN_ENABLED
+    // Allow DroneCAN to directly access private DroneCAN state
+    friend class AP_DroneCAN;
+#endif
 public:
     AP_Relay();
 
@@ -80,6 +88,50 @@ class AP_Relay {
     void convert_params();
 
     void set_pin_by_instance(uint8_t instance, bool value);
+
+    // Set relay state from pin number
+    void set_pin(const int16_t pin, const bool value);
+
+    // Get relay state from pin number
+    bool get_pin(const int16_t pin) const;
+
+#if HAL_ENABLE_DRONECAN_DRIVERS
+    // Virtual DroneCAN pins
+    class DroneCAN {
+    public:
+        // Return true if pin number is a virtual DroneCAN pin
+        bool valid_pin(int16_t pin) const;
+
+        // Enable streaming of pin number
+        void enable_pin(int16_t pin);
+
+        // Populate message and update index with the sent command
+        bool populate_next_command(uint8_t &index, uavcan_equipment_hardpoint_Command &msg) const;
+
+        // Set DroneCAN relay state from pin number
+        void set_pin(const int16_t pin, const bool value);
+
+        // Get relay state from pin number
+        bool get_pin(const int16_t pin) const;
+
+    private:
+
+        // Get the hardpoint index of given pin number
+        uint8_t hardpoint_index(const int16_t pin) const;
+
+        // Send DroneCAN hardpoint message for given index on all interfaces
+        void send_index(const uint8_t index);
+
+        static constexpr uint8_t num_pins = (int16_t)AP_Relay_Params::VIRTUAL_PINS::DroneCAN_15 - (int16_t)AP_Relay_Params::VIRTUAL_PINS::DroneCAN_0;
+
+        struct {
+            bool value;
+            bool enabled;
+        } state[num_pins];
+
+    } dronecan;
+#endif // HAL_ENABLE_DRONECAN_DRIVERS
+
 };
 
 namespace AP {
diff --git a/libraries/AP_Relay/AP_Relay_Params.cpp b/libraries/AP_Relay/AP_Relay_Params.cpp
index c6734fb9b93501..5fc7f92d52776e 100644
--- a/libraries/AP_Relay/AP_Relay_Params.cpp
+++ b/libraries/AP_Relay/AP_Relay_Params.cpp
@@ -23,6 +23,22 @@ const AP_Param::GroupInfo AP_Relay_Params::var_info[] = {
     // @DisplayName: Relay pin
     // @Description: Digital pin number for relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
     // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,62:BBBMini Pin P8.13,101:MainOut1,102:MainOut2,103:MainOut3,104:MainOut4,105:MainOut5,106:MainOut6,107:MainOut7,108:MainOut8
+    // @Values: 1000: DroneCAN Hardpoint ID 0
+    // @Values: 1001: DroneCAN Hardpoint ID 1
+    // @Values: 1002: DroneCAN Hardpoint ID 2
+    // @Values: 1003: DroneCAN Hardpoint ID 3
+    // @Values: 1004: DroneCAN Hardpoint ID 4
+    // @Values: 1005: DroneCAN Hardpoint ID 5
+    // @Values: 1006: DroneCAN Hardpoint ID 6
+    // @Values: 1007: DroneCAN Hardpoint ID 7
+    // @Values: 1008: DroneCAN Hardpoint ID 8
+    // @Values: 1009: DroneCAN Hardpoint ID 9
+    // @Values: 1010: DroneCAN Hardpoint ID 10
+    // @Values: 1011: DroneCAN Hardpoint ID 11
+    // @Values: 1012: DroneCAN Hardpoint ID 12
+    // @Values: 1013: DroneCAN Hardpoint ID 13
+    // @Values: 1014: DroneCAN Hardpoint ID 14
+    // @Values: 1015: DroneCAN Hardpoint ID 15
     // @User: Standard
     AP_GROUPINFO("PIN", 2, AP_Relay_Params, pin, -1),
 
diff --git a/libraries/AP_Relay/AP_Relay_Params.h b/libraries/AP_Relay/AP_Relay_Params.h
index c5c783677143e0..8e34318e2910dd 100644
--- a/libraries/AP_Relay/AP_Relay_Params.h
+++ b/libraries/AP_Relay/AP_Relay_Params.h
@@ -32,6 +32,26 @@ class AP_Relay_Params {
         NUM_FUNCTIONS // must be the last entry
     };
 
+    // Pins that do not go via GPIO
+    enum class VIRTUAL_PINS {
+        DroneCAN_0  = 1000,
+        DroneCAN_1  = 1001,
+        DroneCAN_2  = 1002,
+        DroneCAN_3  = 1003,
+        DroneCAN_4  = 1004,
+        DroneCAN_5  = 1005,
+        DroneCAN_6  = 1006,
+        DroneCAN_7  = 1007,
+        DroneCAN_8  = 1008,
+        DroneCAN_9  = 1009,
+        DroneCAN_10 = 1010,
+        DroneCAN_11 = 1011,
+        DroneCAN_12 = 1012,
+        DroneCAN_13 = 1013,
+        DroneCAN_14 = 1014,
+        DroneCAN_15 = 1015,
+    };
+
     AP_Enum<FUNCTION> function;            // relay function
     AP_Int16 pin;                          // gpio pin number
     AP_Enum<DefaultState> default_state;  // default state
diff --git a/libraries/AP_Relay/AP_Relay_config.h b/libraries/AP_Relay/AP_Relay_config.h
index efc3b918f4e297..946be54dfe1460 100644
--- a/libraries/AP_Relay/AP_Relay_config.h
+++ b/libraries/AP_Relay/AP_Relay_config.h
@@ -5,3 +5,5 @@
 #ifndef AP_RELAY_ENABLED
 #define AP_RELAY_ENABLED 1
 #endif
+
+#define AP_RELAY_DRONECAN_ENABLED AP_RELAY_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS && !defined(HAL_BUILD_AP_PERIPH)

From 69e076605e7391cca576581d7ebcdd6343915e08 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 1 Jan 2024 20:55:03 +0000
Subject: [PATCH 0462/1335] AP_DroneCAN: support streaming relay hardpoint
 command

---
 libraries/AP_DroneCAN/AP_DroneCAN.cpp | 52 +++++++++++++++++++++++++++
 libraries/AP_DroneCAN/AP_DroneCAN.h   | 16 +++++++++
 2 files changed, 68 insertions(+)

diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index 9f34e7f93b10ef..cc6242e8daf661 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -55,6 +55,10 @@
 #include "AP_DroneCAN_serial.h"
 #endif
 
+#if AP_RELAY_DRONECAN_ENABLED
+#include <AP_Relay/AP_Relay.h>
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 // setup default pool size
@@ -153,6 +157,16 @@ const AP_Param::GroupInfo AP_DroneCAN::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("ESC_RV", 9, AP_DroneCAN, _esc_rv, 0),
 
+#if AP_RELAY_DRONECAN_ENABLED
+    // @Param: RLY_RT
+    // @DisplayName: DroneCAN relay output rate
+    // @Description: Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state
+    // @Range: 0 200
+    // @Units: Hz
+    // @User: Advanced
+    AP_GROUPINFO("RLY_RT", 23, AP_DroneCAN, _relay.rate_hz, 0),
+#endif
+
 #if AP_DRONECAN_SERIAL_ENABLED
     /*
       due to the parameter tree depth limitation we can't use a sub-table for the serial parameters
@@ -252,6 +266,8 @@ const AP_Param::GroupInfo AP_DroneCAN::var_info[] = {
 #endif
 #endif // AP_DRONECAN_SERIAL_ENABLED
 
+    // RLY_RT is index 23 but has to be above SER_EN so its not hidden
+
     AP_GROUPEND
 };
 
@@ -434,6 +450,11 @@ void AP_DroneCAN::init(uint8_t driver_index, bool enable_filters)
     xacti_gnss_status.set_priority(CANARD_TRANSFER_PRIORITY_LOW);
 #endif
 
+#if AP_RELAY_DRONECAN_ENABLED
+    relay_hardpoint.set_timeout_ms(20);
+    relay_hardpoint.set_priority(CANARD_TRANSFER_PRIORITY_LOW);
+#endif
+
     param_save_client.set_timeout_ms(20);
     param_save_client.set_priority(CANARD_TRANSFER_PRIORITY_LOW);
 
@@ -532,6 +553,10 @@ void AP_DroneCAN::loop(void)
 #if AP_DRONECAN_SERIAL_ENABLED
         serial.update();
 #endif
+
+#if AP_RELAY_DRONECAN_ENABLED
+        relay_hardpoint_send();
+#endif
     }
 }
 
@@ -1212,6 +1237,33 @@ void AP_DroneCAN::safety_state_send()
     }
 }
 
+// Send relay outputs with hardpoint msg
+#if AP_RELAY_DRONECAN_ENABLED
+void AP_DroneCAN::relay_hardpoint_send()
+{
+    const uint32_t now = AP_HAL::millis();
+    if ((_relay.rate_hz == 0) || ((now - _relay.last_send_ms) < uint32_t(1000 / _relay.rate_hz))) {
+        // Rate limit per user config
+        return;
+    }
+    _relay.last_send_ms = now;
+
+    AP_Relay *relay = AP::relay();
+    if (relay == nullptr) {
+        return;
+    }
+
+    uavcan_equipment_hardpoint_Command msg {};
+
+    // Relay will populate the next command to send and update the last index
+    // This will cycle through each relay in turn
+    if (relay->dronecan.populate_next_command(_relay.last_index, msg)) {
+        relay_hardpoint.broadcast(msg);
+    }
+
+}
+#endif // AP_RELAY_DRONECAN_ENABLED
+
 /*
   handle Button message
  */
diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.h b/libraries/AP_DroneCAN/AP_DroneCAN.h
index 61f0528bc95ff5..8b37c2528b89b9 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.h
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.h
@@ -35,6 +35,7 @@
 #include <canard.h>
 #include <dronecan_msgs.h>
 #include <AP_SerialManager/AP_SerialManager_config.h>
+#include <AP_Relay/AP_Relay_config.h>
 
 #ifndef DRONECAN_SRV_NUMBER
 #define DRONECAN_SRV_NUMBER NUM_SERVO_CHANNELS
@@ -165,6 +166,12 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
     Canard::Publisher<com_xacti_GimbalControlData> xacti_gimbal_control_data{canard_iface};
     Canard::Publisher<com_xacti_GnssStatus> xacti_gnss_status{canard_iface};
 
+#if AP_RELAY_DRONECAN_ENABLED
+    // Hardpoint for relay
+    // Needs to be public so relay can edge trigger as well as streaming
+    Canard::Publisher<uavcan_equipment_hardpoint_Command> relay_hardpoint{canard_iface};
+#endif
+
 private:
     void loop(void);
 
@@ -272,6 +279,15 @@ class AP_DroneCAN : public AP_CANDriver, public AP_ESC_Telem_Backend {
     uint32_t _last_notify_state_ms;
     uavcan_protocol_NodeStatus node_status_msg;
 
+#if AP_RELAY_DRONECAN_ENABLED
+    void relay_hardpoint_send();
+    struct {
+        AP_Int16 rate_hz;
+        uint32_t last_send_ms;
+        uint8_t last_index;
+    } _relay;
+#endif
+
     CanardInterface canard_iface;
 
 #if AP_DRONECAN_SERIAL_ENABLED

From c8a63a1de4416b241297a392fa6fe8fe779ba12f Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 2 Jan 2024 21:26:03 +0000
Subject: [PATCH 0463/1335] AP_DroneCAN: remove duplicate rgb_led
 set_timeout_ms and set_priority

---
 libraries/AP_DroneCAN/AP_DroneCAN.cpp | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index cc6242e8daf661..5667f5a54af4f5 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -470,9 +470,6 @@ void AP_DroneCAN::init(uint8_t driver_index, bool enable_filters)
     can_stats.set_priority(CANARD_TRANSFER_PRIORITY_LOWEST);
     can_stats.set_timeout_ms(3000);
 
-    rgb_led.set_timeout_ms(20);
-    rgb_led.set_priority(CANARD_TRANSFER_PRIORITY_LOW);
-    
     node_info_server.set_timeout_ms(20);
 
     // setup node status

From ccb4d688032326ce7f5781fff092bae83f31966b Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 1 Jan 2024 21:07:42 +0000
Subject: [PATCH 0464/1335] AP_Relay: add support for DroneCAN HardPoint
 functions

---
 libraries/AP_Relay/AP_Relay_Params.cpp | 16 ++++++++++++++++
 libraries/AP_Relay/AP_Relay_Params.h   | 16 ++++++++++++++++
 2 files changed, 32 insertions(+)

diff --git a/libraries/AP_Relay/AP_Relay_Params.cpp b/libraries/AP_Relay/AP_Relay_Params.cpp
index 5fc7f92d52776e..99abbcb77e6bb3 100644
--- a/libraries/AP_Relay/AP_Relay_Params.cpp
+++ b/libraries/AP_Relay/AP_Relay_Params.cpp
@@ -15,6 +15,22 @@ const AP_Param::GroupInfo AP_Relay_Params::var_info[] = {
     // @Values{Rover}: 7:Bushed motor reverse 3 omni motor 3
     // @Values{Rover}: 8:Bushed motor reverse 4 omni motor 4
     // @Values{Plane}: 9:ICE Starter
+    // @Values{AP_Periph}: 10: DroneCAN Hardpoint ID 0
+    // @Values{AP_Periph}: 11: DroneCAN Hardpoint ID 1
+    // @Values{AP_Periph}: 12: DroneCAN Hardpoint ID 2
+    // @Values{AP_Periph}: 13: DroneCAN Hardpoint ID 3
+    // @Values{AP_Periph}: 14: DroneCAN Hardpoint ID 4
+    // @Values{AP_Periph}: 15: DroneCAN Hardpoint ID 5
+    // @Values{AP_Periph}: 16: DroneCAN Hardpoint ID 6
+    // @Values{AP_Periph}: 17: DroneCAN Hardpoint ID 7
+    // @Values{AP_Periph}: 18: DroneCAN Hardpoint ID 8
+    // @Values{AP_Periph}: 19: DroneCAN Hardpoint ID 9
+    // @Values{AP_Periph}: 20: DroneCAN Hardpoint ID 10
+    // @Values{AP_Periph}: 21: DroneCAN Hardpoint ID 11
+    // @Values{AP_Periph}: 22: DroneCAN Hardpoint ID 12
+    // @Values{AP_Periph}: 23: DroneCAN Hardpoint ID 13
+    // @Values{AP_Periph}: 24: DroneCAN Hardpoint ID 14
+    // @Values{AP_Periph}: 25: DroneCAN Hardpoint ID 15
 
     // @User: Standard
     AP_GROUPINFO_FLAGS("FUNCTION", 1, AP_Relay_Params, function, (float)FUNCTION::NONE, AP_PARAM_FLAG_ENABLE),
diff --git a/libraries/AP_Relay/AP_Relay_Params.h b/libraries/AP_Relay/AP_Relay_Params.h
index 8e34318e2910dd..c8c9f7ab98b615 100644
--- a/libraries/AP_Relay/AP_Relay_Params.h
+++ b/libraries/AP_Relay/AP_Relay_Params.h
@@ -29,6 +29,22 @@ class AP_Relay_Params {
         BRUSHED_REVERSE_3 = 7,
         BRUSHED_REVERSE_4 = 8,
         ICE_STARTER = 9,
+        DroneCAN_HARDPOINT_0  = 10,
+        DroneCAN_HARDPOINT_1  = 11,
+        DroneCAN_HARDPOINT_2  = 12,
+        DroneCAN_HARDPOINT_3  = 13,
+        DroneCAN_HARDPOINT_4  = 14,
+        DroneCAN_HARDPOINT_5  = 15,
+        DroneCAN_HARDPOINT_6  = 16,
+        DroneCAN_HARDPOINT_7  = 17,
+        DroneCAN_HARDPOINT_8  = 18,
+        DroneCAN_HARDPOINT_9  = 19,
+        DroneCAN_HARDPOINT_10 = 20,
+        DroneCAN_HARDPOINT_11 = 21,
+        DroneCAN_HARDPOINT_12 = 22,
+        DroneCAN_HARDPOINT_13 = 23,
+        DroneCAN_HARDPOINT_14 = 24,
+        DroneCAN_HARDPOINT_15 = 25,
         NUM_FUNCTIONS // must be the last entry
     };
 

From 7eac47b06c20b5895035eb5d3d2de0c356591ea6 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 1 Jan 2024 21:55:22 +0000
Subject: [PATCH 0465/1335] AP_Relay: allow to build on periph

---
 libraries/AP_Relay/AP_Relay.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 0630cce2fc9a03..7225c6c3d30e03 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -198,6 +198,8 @@ AP_Relay::AP_Relay(void)
 void AP_Relay::convert_params()
 {
     // PARAMETER_CONVERSION - Added: Dec-2023
+#ifndef HAL_BUILD_AP_PERIPH
+    // Dont need this conversion on periph as relay support is more recent
 
     // Before converting local params we must find any relays being used by index from external libs
     int8_t relay_index;
@@ -300,6 +302,7 @@ void AP_Relay::convert_params()
             _params[i].default_state.set_and_save(default_state);
         }
     }
+#endif // HAL_BUILD_AP_PERIPH
 }
 
 void AP_Relay::set_defaults() {
@@ -401,10 +404,12 @@ void AP_Relay::set_pin_by_instance(uint8_t instance, bool value)
 
     if (initial_value != value) {
         set_pin(pin, value);
+#if HAL_LOGGING_ENABLED
         AP::logger().Write("RELY", "TimeUS,Instance,State", "s#-", "F--", "QBB",
                             AP_HAL::micros64(),
                             instance,
                             value);
+#endif
     }
 }
 

From a5f2076d21f717800868efae76a4b075172dcbc7 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 1 Jan 2024 21:56:28 +0000
Subject: [PATCH 0466/1335] Tools: AP_Periph: add support for relay via
 incoming hardpoint command

---
 Tools/AP_Periph/AP_Periph.cpp  |  4 ++++
 Tools/AP_Periph/AP_Periph.h    | 16 ++++++++++++++
 Tools/AP_Periph/Parameters.cpp |  6 ++++++
 Tools/AP_Periph/Parameters.h   |  1 +
 Tools/AP_Periph/can.cpp        | 12 +++++++++++
 Tools/AP_Periph/relay.cpp      | 38 ++++++++++++++++++++++++++++++++++
 Tools/AP_Periph/wscript        |  1 +
 7 files changed, 78 insertions(+)
 create mode 100644 Tools/AP_Periph/relay.cpp

diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
index 85672d9d62f636..78cc920c1df8b3 100644
--- a/Tools/AP_Periph/AP_Periph.cpp
+++ b/Tools/AP_Periph/AP_Periph.cpp
@@ -285,6 +285,10 @@ void AP_Periph_FW::init()
     notify.init();
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_RELAY
+    relay.init();
+#endif
+
 #if AP_SCRIPTING_ENABLED
     scripting.init();
 #endif
diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index a025883ad7347c..488f05cc0c025c 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -41,6 +41,16 @@
 #include <SITL/SITL.h>
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_RELAY
+#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT
+    #error "Relay and PWM_HARDPOINT both use hardpoint message"
+#endif
+#include <AP_Relay/AP_Relay.h>
+#if !AP_RELAY_ENABLED
+    #error "HAL_PERIPH_ENABLE_RELAY requires AP_RELAY_ENABLED"
+#endif
+#endif
+
 #include <AP_NMEA_Output/AP_NMEA_Output.h>
 #if HAL_NMEA_OUTPUT_ENABLED && !(HAL_GCS_ENABLED && defined(HAL_PERIPH_ENABLE_GPS))
     // Needs SerialManager + (AHRS or GPS)
@@ -383,6 +393,11 @@ class AP_Periph_FW {
 #if HAL_GCS_ENABLED
     GCS_Periph _gcs;
 #endif
+
+#ifdef HAL_PERIPH_ENABLE_RELAY
+    AP_Relay relay;
+#endif
+
     // setup the var_info table
     AP_Param param_loader{var_info};
 
@@ -482,6 +497,7 @@ class AP_Periph_FW {
     void handle_beep_command(CanardInstance* canard_instance, CanardRxTransfer* transfer);
     void handle_lightscommand(CanardInstance* canard_instance, CanardRxTransfer* transfer);
     void handle_notify_state(CanardInstance* canard_instance, CanardRxTransfer* transfer);
+    void handle_hardpoint_command(CanardInstance* canard_instance, CanardRxTransfer* transfer);
 
     void process1HzTasks(uint64_t timestamp_usec);
     void processTx(void);
diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
index 2faf850167d598..d425ad6c7c2525 100644
--- a/Tools/AP_Periph/Parameters.cpp
+++ b/Tools/AP_Periph/Parameters.cpp
@@ -644,6 +644,12 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(rtc,                   "RTC",    AP_RTC),
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_RELAY
+    // @Group: RELAY
+    // @Path: ../libraries/AP_Relay/AP_Relay.cpp
+    GOBJECT(relay,                 "RELAY", AP_Relay),
+#endif
+
     AP_VAREND
 };
 
diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
index 9ff079217a22ec..884f1c4e64baa0 100644
--- a/Tools/AP_Periph/Parameters.h
+++ b/Tools/AP_Periph/Parameters.h
@@ -89,6 +89,7 @@ class Parameters {
         k_param_can_terminate1,
         k_param_can_terminate2,
         k_param_serial_options,
+        k_param_relay,
     };
 
     AP_Int16 format_version;
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index dc3aa334ed0c5e..9000ab4e33431a 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -848,6 +848,13 @@ void AP_Periph_FW::onTransferReceived(CanardInstance* canard_instance,
         handle_notify_state(canard_instance, transfer);
         break;
 #endif
+
+#ifdef HAL_PERIPH_ENABLE_RELAY
+    case UAVCAN_EQUIPMENT_HARDPOINT_COMMAND_ID:
+        handle_hardpoint_command(canard_instance, transfer);
+        break;
+#endif
+
     }
 }
 
@@ -956,6 +963,11 @@ bool AP_Periph_FW::shouldAcceptTransfer(const CanardInstance* canard_instance,
     case ARDUPILOT_INDICATION_NOTIFYSTATE_ID:
         *out_data_type_signature = ARDUPILOT_INDICATION_NOTIFYSTATE_SIGNATURE;
         return true;
+#endif
+#ifdef HAL_PERIPH_ENABLE_RELAY
+    case UAVCAN_EQUIPMENT_HARDPOINT_COMMAND_ID:
+        *out_data_type_signature = UAVCAN_EQUIPMENT_HARDPOINT_COMMAND_SIGNATURE;
+        return true;
 #endif
     default:
         break;
diff --git a/Tools/AP_Periph/relay.cpp b/Tools/AP_Periph/relay.cpp
new file mode 100644
index 00000000000000..925211c2003fce
--- /dev/null
+++ b/Tools/AP_Periph/relay.cpp
@@ -0,0 +1,38 @@
+#include "AP_Periph.h"
+
+#ifdef HAL_PERIPH_ENABLE_RELAY
+
+#include <dronecan_msgs.h>
+
+void AP_Periph_FW::handle_hardpoint_command(CanardInstance* canard_instance, CanardRxTransfer* transfer)
+{
+    uavcan_equipment_hardpoint_Command cmd {};
+    if (uavcan_equipment_hardpoint_Command_decode(transfer, &cmd)) {
+        // Failed to decode
+        return;
+    }
+
+    // Command must be 0 or 1, other values may be supported in the future
+    // rejecting them now ensures no change in behaviour
+    if ((cmd.command != 0) && (cmd.command != 1)) {
+        return;
+    }
+
+    // Translate hardpoint ID to relay function
+    AP_Relay_Params::FUNCTION fun;
+    switch (cmd.hardpoint_id) {
+        case 0 ... 15:
+            // 0 to 15 are continuous
+            fun = AP_Relay_Params::FUNCTION(cmd.hardpoint_id + (uint8_t)AP_Relay_Params::FUNCTION::DroneCAN_HARDPOINT_0);
+            break;
+
+        default:
+            // ID not supported
+            return;
+    }
+
+    // Set relay
+    relay.set(fun, cmd.command);
+
+}
+#endif
diff --git a/Tools/AP_Periph/wscript b/Tools/AP_Periph/wscript
index da728bdcf4e282..a3b92b0150a111 100644
--- a/Tools/AP_Periph/wscript
+++ b/Tools/AP_Periph/wscript
@@ -81,6 +81,7 @@ def build(bld):
                      'AP_RobotisServo',
                      'AP_FETtecOneWire',
                      'GCS_MAVLink',
+                     'AP_Relay'
                      ]
 
     bld.ap_stlib(

From 0467ccc1fdc4e08fa58749dc5bc3d32b927d22c7 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 14 Dec 2023 14:56:12 +0000
Subject: [PATCH 0467/1335] RC_Channel: add Ghost and DroneCAN to list of
 enabled protocols

---
 libraries/RC_Channel/RC_Channels_VarInfo.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/RC_Channel/RC_Channels_VarInfo.h b/libraries/RC_Channel/RC_Channels_VarInfo.h
index 8302be931d6a52..a824cc1ececc34 100644
--- a/libraries/RC_Channel/RC_Channels_VarInfo.h
+++ b/libraries/RC_Channel/RC_Channels_VarInfo.h
@@ -101,7 +101,7 @@ const AP_Param::GroupInfo RC_Channels::var_info[] = {
     // @DisplayName: RC protocols enabled
     // @Description: Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.
     // @User: Advanced
-    // @Bitmask: 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2,13:FastSBUS
+    // @Bitmask: 0:All,1:PPM,2:IBUS,3:SBUS,4:SBUS_NI,5:DSM,6:SUMD,7:SRXL,8:SRXL2,9:CRSF,10:ST24,11:FPORT,12:FPORT2,13:FastSBUS,14:DroneCAN,15:Ghost
     AP_GROUPINFO("_PROTOCOLS", 34, RC_CHANNELS_SUBCLASS, _protocols, 1),
 
     // @Param: _FS_TIMEOUT

From 19c6b0b8aea8332e9f49fb1533375adf2d32d1eb Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Wed, 13 Dec 2023 08:47:51 +0000
Subject: [PATCH 0468/1335] AP_RCProtocol: IRC Ghost protocol

---
 libraries/AP_RCProtocol/AP_RCProtocol.cpp     |  12 +
 libraries/AP_RCProtocol/AP_RCProtocol.h       |   6 +
 .../AP_RCProtocol/AP_RCProtocol_GHST.cpp      | 434 ++++++++++++++++++
 libraries/AP_RCProtocol/AP_RCProtocol_GHST.h  | 198 ++++++++
 .../AP_RCProtocol/AP_RCProtocol_config.h      |   4 +
 5 files changed, 654 insertions(+)
 create mode 100644 libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
 create mode 100644 libraries/AP_RCProtocol/AP_RCProtocol_GHST.h

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.cpp b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
index 9c8ef679a1643b..9d9174e89f3489 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
@@ -33,6 +33,7 @@
 #include "AP_RCProtocol_FPort.h"
 #include "AP_RCProtocol_FPort2.h"
 #include "AP_RCProtocol_DroneCAN.h"
+#include "AP_RCProtocol_GHST.h"
 #include <AP_Math/AP_Math.h>
 #include <RC_Channel/RC_Channel.h>
 
@@ -82,6 +83,9 @@ void AP_RCProtocol::init()
 #if AP_RCPROTOCOL_DRONECAN_ENABLED
     backend[AP_RCProtocol::DRONECAN] = new AP_RCProtocol_DroneCAN(*this);
 #endif
+#if AP_RCPROTOCOL_GHST_ENABLED
+    backend[AP_RCProtocol::GHST] = new AP_RCProtocol_GHST(*this);
+#endif
 }
 
 AP_RCProtocol::~AP_RCProtocol()
@@ -303,6 +307,10 @@ static const AP_RCProtocol::SerialConfig serial_configs[] {
     // CRSFv3 can negotiate higher rates which are sticky on soft reboot
     { 2000000, 0,   1, false },
 #endif
+#if AP_RCPROTOCOL_GHST_ENABLED
+    // Ghost:
+    { 420000,  0,   1, false },
+#endif
 };
 
 static_assert(ARRAY_SIZE(serial_configs) > 1, "must have at least one serial config");
@@ -504,6 +512,10 @@ const char *AP_RCProtocol::protocol_name_from_protocol(rcprotocol_t protocol)
 #if AP_RCPROTOCOL_DRONECAN_ENABLED
     case DRONECAN:
         return "DroneCAN";
+#endif
+#if AP_RCPROTOCOL_GHST_ENABLED
+    case GHST:
+        return "GHST";
 #endif
     case NONE:
         break;
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.h b/libraries/AP_RCProtocol/AP_RCProtocol.h
index eeacb6fa0a0b62..8889fdce89ee49 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.h
@@ -69,6 +69,9 @@ class AP_RCProtocol {
 #endif
 #if AP_RCPROTOCOL_DRONECAN_ENABLED
         DRONECAN   = 13,
+#endif
+#if AP_RCPROTOCOL_GHST_ENABLED
+        GHST       = 14,
 #endif
         NONE    //last enum always is None
     };
@@ -129,6 +132,9 @@ class AP_RCProtocol {
 #endif
 #if AP_RCPROTOCOL_CRSF_ENABLED
         case CRSF:
+#endif
+#if AP_RCPROTOCOL_GHST_ENABLED
+        case GHST:
 #endif
             return true;
 #if AP_RCPROTOCOL_IBUS_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
new file mode 100644
index 00000000000000..1f2fa06950c887
--- /dev/null
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
@@ -0,0 +1,434 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  GHST protocol decoder based on betaflight implementation
+  Code by Andy Piper
+ */
+
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_GHST_ENABLED
+
+#include "AP_RCProtocol.h"
+#include "AP_RCProtocol_GHST.h"
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Math/AP_Math.h>
+#include <AP_Math/crc.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
+#include <AP_RCTelemetry/AP_GHST_Telem.h>
+#include <AP_SerialManager/AP_SerialManager.h>
+
+/*
+ * GHST protocol
+ *
+ * GHST protocol uses a single wire half duplex uart connection.
+ *
+ * 420000 baud
+ * not inverted
+ * 8 Bit
+ * 1 Stop bit
+ * Big endian
+ * Max frame size is 14 bytes
+ *
+ * Every frame has the structure:
+ * <Device address><Frame length><Type><Payload><CRC>
+ *
+ * Device address: (uint8_t)
+ * Frame length:   length in  bytes including Type (uint8_t)
+ * Type:           (uint8_t)
+ * CRC:            (uint8_t)
+ *
+ */
+
+extern const AP_HAL::HAL& hal;
+
+//#define GHST_DEBUG
+//#define GHST_DEBUG_CHARS
+#ifdef GHST_DEBUG
+# define debug(fmt, args...)	hal.console->printf("GHST: " fmt "\n", ##args)
+static const char* get_frame_type(uint8_t byte, uint8_t subtype = 0)
+{
+    switch(byte) {
+    case AP_RCProtocol_GHST::GHST_UL_RC_CHANS_HS4_5TO8:
+    case AP_RCProtocol_GHST::GHST_UL_RC_CHANS_HS4_12_5TO8:
+        return "RC5_8";
+    case AP_RCProtocol_GHST::GHST_UL_RC_CHANS_HS4_9TO12:
+    case AP_RCProtocol_GHST::GHST_UL_RC_CHANS_HS4_12_9TO12:
+        return "RC9_12";
+    case AP_RCProtocol_GHST::GHST_UL_RC_CHANS_HS4_13TO16:
+    case AP_RCProtocol_GHST::GHST_UL_RC_CHANS_HS4_12_13TO16:
+        return "RC13_16";
+    case AP_RCProtocol_GHST::GHST_UL_RC_CHANS_RSSI:
+    case AP_RCProtocol_GHST::GHST_UL_RC_CHANS_12_RSSI:
+        return "RSSI";
+    case AP_RCProtocol_GHST::GHST_UL_RC_VTX_CTRL:
+        return "VTX_CTRL";
+    case AP_RCProtocol_GHST::GHST_UL_VTX_SETUP:
+        return "VTX_SETUP";
+    }
+    return "UNKNOWN";
+}
+#else
+# define debug(fmt, args...)	do {} while(0)
+#endif
+
+#define GHST_MAX_FRAME_TIME_US       500U // 14 bytes @ 420k = ~450us
+#define GHST_FRAME_TIMEOUT_US      10000U // 10ms to account for scheduling delays
+#define GHST_INTER_FRAME_TIME_US    2000U // At fastest, frames are sent by the transmitter every 2 ms, 500 Hz
+#define GHST_HEADER_TYPE_LEN     (GHST_HEADER_LEN + 1)           // header length including type
+
+const uint16_t AP_RCProtocol_GHST::RF_MODE_RATES[RFMode::RF_MODE_MAX_MODES] = {
+    55, 160, 250, 19, 250, 500, 150, 250,
+};
+
+AP_RCProtocol_GHST* AP_RCProtocol_GHST::_singleton;
+
+AP_RCProtocol_GHST::AP_RCProtocol_GHST(AP_RCProtocol &_frontend) : AP_RCProtocol_Backend(_frontend)
+{
+#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
+    if (_singleton != nullptr) {
+        AP_HAL::panic("Duplicate GHST handler");
+    }
+
+    _singleton = this;
+#else
+    if (_singleton == nullptr) {
+        _singleton = this;
+    }
+#endif
+}
+
+AP_RCProtocol_GHST::~AP_RCProtocol_GHST() {
+    _singleton = nullptr;
+}
+
+// get the protocol string
+const char* AP_RCProtocol_GHST::get_protocol_string() const {
+    return "GHST";
+}
+
+// return the link rate as defined by the LinkStatistics
+uint16_t AP_RCProtocol_GHST::get_link_rate() const {
+    return RF_MODE_RATES[_link_status.rf_mode - GHST_RF_MODE_NORMAL];
+}
+
+void AP_RCProtocol_GHST::_process_byte(uint32_t timestamp_us, uint8_t byte)
+{
+    //debug("process_byte(0x%x)", byte);
+    // we took too long decoding, start again - the RX will only send complete frames so this is unlikely to fail,
+    // however thread scheduling can introduce longer delays even when the data has been received
+    if (_frame_ofs > 0 && (timestamp_us - _start_frame_time_us) > GHST_FRAME_TIMEOUT_US) {
+        _frame_ofs = 0;
+    }
+
+    // overflow check
+    if (_frame_ofs >= GHST_FRAMELEN_MAX) {
+        _frame_ofs = 0;
+    }
+
+    // start of a new frame
+    if (_frame_ofs == 0) {
+        _start_frame_time_us = timestamp_us;
+    }
+
+    add_to_buffer(_frame_ofs++, byte);
+
+    // need a header to get the length
+    if (_frame_ofs < GHST_HEADER_TYPE_LEN) {
+        return;
+    }
+
+    // parse the length
+    if (_frame_ofs == GHST_HEADER_TYPE_LEN) {
+        _frame_crc = crc8_dvb_s2(0, _frame.type);
+        // check for garbage frame
+        if (_frame.length > GHST_FRAME_PAYLOAD_MAX) {
+            _frame_ofs = 0;
+        }
+        return;
+    }
+
+    // update crc
+    if (_frame_ofs < _frame.length + GHST_HEADER_LEN) {
+        _frame_crc = crc8_dvb_s2(_frame_crc, byte);
+    }
+
+    // overflow check
+    if (_frame_ofs > _frame.length + GHST_HEADER_LEN) {
+        _frame_ofs = 0;
+        return;
+    }
+
+    // decode whatever we got and expect
+    if (_frame_ofs == _frame.length + GHST_HEADER_LEN) {
+        log_data(AP_RCProtocol::GHST, timestamp_us, (const uint8_t*)&_frame, _frame_ofs - GHST_HEADER_LEN);
+
+        // we consumed the partial frame, reset
+        _frame_ofs = 0;
+
+        // bad CRC (payload start is +1 from frame start, so need to subtract that from frame length to get index)
+        if (_frame_crc != _frame.payload[_frame.length - 2]) {
+            return;
+        }
+
+        _last_frame_time_us = _last_rx_frame_time_us = timestamp_us;
+        // decode here
+        if (decode_ghost_packet()) {
+            _last_tx_frame_time_us = timestamp_us;  // we have received a frame from the transmitter
+            add_input(MAX_CHANNELS, _channels, false, _link_status.rssi, _link_status.link_quality);
+        }
+    }
+}
+
+void AP_RCProtocol_GHST::update(void)
+{
+}
+
+// write out a frame of any type
+bool AP_RCProtocol_GHST::write_frame(Frame* frame)
+{
+    AP_HAL::UARTDriver *uart = get_current_UART();
+
+    if (!uart) {
+        return false;
+    }
+
+    // check that we haven't been too slow in responding to the new UART data. If we respond too late then we will
+    // corrupt the next incoming control frame. incoming packets at max 126bits @500Hz @420k baud gives total budget of 2ms
+    // per packet of which we need 300us to receive a packet. outgoing packets are 126bits which require 300us to send
+    // leaving at most 1.4ms of delay that can be tolerated
+    uint64_t tend = uart->receive_time_constraint_us(1);
+    uint64_t now = AP_HAL::micros64();
+    uint64_t tdelay = now - tend;
+    if (tdelay > 1000) {
+        // we've been too slow in responding
+        return false;
+    }
+
+    // calculate crc
+    uint8_t crc = crc8_dvb_s2(0, frame->type);
+    for (uint8_t i = 0; i < frame->length - 2; i++) {
+        crc = crc8_dvb_s2(crc, frame->payload[i]);
+    }
+    frame->payload[frame->length - 2] = crc;
+
+    uart->write((uint8_t*)frame, frame->length + 2);
+    uart->flush();
+
+#ifdef GHST_DEBUG
+    hal.console->printf("GHST: writing %s:", get_frame_type(frame->type, frame->payload[0]));
+    for (uint8_t i = 0; i < frame->length + 2; i++) {
+        uint8_t val = ((uint8_t*)frame)[i];
+#ifdef GHST_DEBUG_CHARS
+        if (val >= 32 && val <= 126) {
+            hal.console->printf(" 0x%x '%c'", val, (char)val);
+        } else {
+#endif
+            hal.console->printf(" 0x%x", val);
+#ifdef GHST_DEBUG_CHARS
+        }
+#endif
+    }
+    hal.console->printf("\n");
+#endif
+    return true;
+}
+
+bool AP_RCProtocol_GHST::decode_ghost_packet()
+{
+#ifdef GHST_DEBUG
+    hal.console->printf("GHST: received %s:", get_frame_type(_frame.type));
+    uint8_t* fptr = (uint8_t*)&_frame;
+    for (uint8_t i = 0; i < _frame.length + 2; i++) {
+#ifdef GHST_DEBUG_CHARS
+        if (fptr[i] >= 32 && fptr[i] <= 126) {
+            hal.console->printf(" 0x%x '%c'", fptr[i], (char)fptr[i]);
+        } else {
+#endif
+            hal.console->printf(" 0x%x", fptr[i]);
+#ifdef GHST_DEBUG_CHARS
+        }
+#endif
+    }
+    hal.console->printf("\n");
+#endif
+
+    const RadioFrame* radio_frame = (const RadioFrame*)(&_frame.payload);
+    const Channels12Bit_4Chan* channels = &(radio_frame->channels);
+    const uint8_t* lowres_channels = radio_frame->lowres_channels;
+
+    // Scaling from Betaflight
+    // Scaling 12bit channels (8bit channels in brackets)
+    //      OpenTx          RC   PWM (BF)
+    // min  -1024        0(  0)     988us
+    // ctr      0     2048(128)    1500us
+    // max   1024     4096(256)    2012us
+    //
+
+    // Scaling legacy (nearly 10bit)
+    // derived from original SBus scaling, with slight correction for offset
+    // now symmetrical around OpenTx 0 value
+    // scaling is:
+    //      OpenTx         RC   PWM (BF)
+    // min  -1024     172( 22)     988us
+    // ctr      0     992(124)    1500us
+    // max   1024    1811(226)    2012us
+
+#define CHANNEL_RESCALE(x) (((5 * x) >> 2) - 430)
+#define CHANNEL_SCALE(x) (int32_t(x) / 4 + 988)
+#define CHANNEL_SCALE_LEGACY(x) CHANNEL_SCALE(CHANNEL_RESCALE(x))
+
+    // legacy scaling
+    if (_frame.type >= GHST_UL_RC_CHANS_HS4_5TO8 && _frame.type <= GHST_UL_RC_CHANS_RSSI) {
+        _channels[0] = CHANNEL_SCALE_LEGACY(channels->ch0);
+        _channels[1] = CHANNEL_SCALE_LEGACY(channels->ch1);
+        _channels[2] = CHANNEL_SCALE_LEGACY(channels->ch2);
+        _channels[3] = CHANNEL_SCALE_LEGACY(channels->ch3);
+    } else {
+        _channels[0] = CHANNEL_SCALE(channels->ch0);
+        _channels[1] = CHANNEL_SCALE(channels->ch1);
+        _channels[2] = CHANNEL_SCALE(channels->ch2);
+        _channels[3] = CHANNEL_SCALE(channels->ch3);
+    }
+
+#define CHANNEL_LR_RESCALE(x) (5 * x - 108)
+#define CHANNEL_LR_SCALE(x) (int32_t(x) * 2 + 988)
+#define CHANNEL_LR_SCALE_LEGACY(x) (CHANNEL_LR_RESCALE(x) + 988)
+
+    switch (_frame.type) {
+        case GHST_UL_RC_CHANS_HS4_5TO8:
+        case GHST_UL_RC_CHANS_HS4_9TO12:
+        case GHST_UL_RC_CHANS_HS4_13TO16: {
+            uint8_t offset = (_frame.type - GHST_UL_RC_CHANS_HS4_5TO8 + 1) * 4;
+            _channels[offset++] = CHANNEL_LR_SCALE_LEGACY(lowres_channels[0]);
+            _channels[offset++] = CHANNEL_LR_SCALE_LEGACY(lowres_channels[1]);
+            _channels[offset++] = CHANNEL_LR_SCALE_LEGACY(lowres_channels[2]);
+            _channels[offset++] = CHANNEL_LR_SCALE_LEGACY(lowres_channels[3]);
+            break;
+        }
+        case GHST_UL_RC_CHANS_HS4_12_5TO8:
+        case GHST_UL_RC_CHANS_HS4_12_9TO12:
+        case GHST_UL_RC_CHANS_HS4_12_13TO16: {
+            uint8_t offset = (_frame.type - GHST_UL_RC_CHANS_HS4_12_5TO8 + 1) * 4;
+            _channels[offset++] = CHANNEL_LR_SCALE(lowres_channels[0]);
+            _channels[offset++] = CHANNEL_LR_SCALE(lowres_channels[1]);
+            _channels[offset++] = CHANNEL_LR_SCALE(lowres_channels[2]);
+            _channels[offset++] = CHANNEL_LR_SCALE(lowres_channels[3]);
+            break;
+        }
+        case GHST_UL_RC_CHANS_RSSI:
+        case GHST_UL_RC_CHANS_12_RSSI:
+            process_link_stats_frame((uint8_t*)&_frame.payload);
+            break;
+
+        default:
+            break;
+    }
+
+#if AP_GHST_TELEM_ENABLED
+    if (AP_GHST_Telem::process_frame(FrameType(_frame.type), (uint8_t*)&_frame.payload)) {
+        process_telemetry();
+    }
+#endif
+
+    return true;
+}
+
+// send out telemetry
+bool AP_RCProtocol_GHST::process_telemetry(bool check_constraint)
+{
+
+    AP_HAL::UARTDriver *uart = get_current_UART();
+    if (!uart) {
+        return false;
+    }
+
+    if (!telem_available) {
+#if AP_GHST_TELEM_ENABLED && !APM_BUILD_TYPE(APM_BUILD_iofirmware)
+        if (AP_GHST_Telem::get_telem_data(&_telemetry_frame, is_tx_active())) {
+            telem_available = true;
+        } else {
+            return false;
+        }
+#else
+        return false;
+#endif
+    }
+    if (!write_frame(&_telemetry_frame)) {
+        return false;
+    }
+
+    // get fresh telem_data in the next call
+    telem_available = false;
+
+    return true;
+}
+
+// process link statistics to get RSSI
+void AP_RCProtocol_GHST::process_link_stats_frame(const void* data)
+{
+    const LinkStatisticsFrame* link = (const LinkStatisticsFrame*)data;
+
+    uint8_t rssi_dbm;
+    rssi_dbm = link->rssi_dbm;
+    _link_status.link_quality = link->link_quality;
+    if (_use_lq_for_rssi) {
+        _link_status.rssi = derive_scaled_lq_value(link->link_quality);
+    } else{
+        // AP rssi: -1 for unknown, 0 for no link, 255 for maximum link
+        if (rssi_dbm < 50) {
+            _link_status.rssi = 255;
+        } else if (rssi_dbm > 120) {
+            _link_status.rssi = 0;
+        } else {
+            // this is an approximation recommended by Remo from TBS
+            _link_status.rssi = int16_t(roundf((1.0f - (rssi_dbm - 50.0f) / 70.0f) * 255.0f));
+        }
+    }
+
+    _link_status.rf_mode = link->protocol;
+}
+
+bool AP_RCProtocol_GHST::is_telemetry_supported() const
+{
+    return _link_status.rf_mode == AP_RCProtocol_GHST::GHST_RF_MODE_NORMAL
+           || _link_status.rf_mode == AP_RCProtocol_GHST::GHST_RF_MODE_RACE
+           || _link_status.rf_mode == AP_RCProtocol_GHST::GHST_RF_MODE_LR
+           || _link_status.rf_mode == AP_RCProtocol_GHST::GHST_RF_MODE_RACE250;
+}
+
+// process a byte provided by a uart
+void AP_RCProtocol_GHST::process_byte(uint8_t byte, uint32_t baudrate)
+{
+    // reject RC data if we have been configured for standalone mode
+    if (baudrate != GHST_BAUDRATE) {
+        return;
+    }
+    _process_byte(AP_HAL::micros(), byte);
+}
+
+//returns uplink link quality on 0-255 scale
+int16_t AP_RCProtocol_GHST::derive_scaled_lq_value(uint8_t uplink_lq)
+{
+    return int16_t(roundf(constrain_float(uplink_lq*2.5f,0,255)));
+}
+
+namespace AP {
+    AP_RCProtocol_GHST* ghost() {
+        return AP_RCProtocol_GHST::get_singleton();
+    }
+};
+
+#endif  // AP_RCPROTOCOL_GHST_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.h b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.h
new file mode 100644
index 00000000000000..e710a70fa99cab
--- /dev/null
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.h
@@ -0,0 +1,198 @@
+/*
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_GHST_ENABLED
+
+#include "AP_RCProtocol.h"
+#include <AP_Math/AP_Math.h>
+#include <RC_Channel/RC_Channel.h>
+#include "SoftSerial.h"
+
+#define GHST_MAX_CHANNELS   16U      // Maximum number of channels from GHST datastream
+#define GHST_FRAMELEN_MAX   14U      // maximum possible framelength
+#define GHST_HEADER_LEN     2U       // header length
+#define GHST_FRAME_PAYLOAD_MAX (GHST_FRAMELEN_MAX - GHST_HEADER_LEN)     // maximum size of the frame length field in a packet
+#define GHST_BAUDRATE      420000U
+#define GHST_TX_TIMEOUT    500000U   // the period after which the transmitter is considered disconnected (matches copters failsafe)
+#define GHST_RX_TIMEOUT    150000U   // the period after which the receiver is considered disconnected (>ping frequency)
+
+class AP_RCProtocol_GHST : public AP_RCProtocol_Backend {
+public:
+    AP_RCProtocol_GHST(AP_RCProtocol &_frontend);
+    virtual ~AP_RCProtocol_GHST();
+    void process_byte(uint8_t byte, uint32_t baudrate) override;
+    void update(void) override;
+
+    // is the receiver active, used to detect power loss and baudrate changes
+    bool is_rx_active() const override {
+        return AP_HAL::micros() < _last_rx_frame_time_us + GHST_RX_TIMEOUT;
+    }
+
+    // is the transmitter active, used to adjust telemetry data
+    bool is_tx_active() const {
+        // this is the same as the Copter failsafe timeout
+        return AP_HAL::micros() < _last_tx_frame_time_us + GHST_TX_TIMEOUT;
+    }
+
+    // get singleton instance
+    static AP_RCProtocol_GHST* get_singleton() {
+        return _singleton;
+    }
+
+    enum FrameType {
+        GHST_UL_RC_CHANS_HS4_5TO8 = 0x10, // Control packet with 4 primary channels + CH5-8
+        GHST_UL_RC_CHANS_HS4_9TO12 = 0x11, // Control packet with 4 primary channels + CH9-12
+        GHST_UL_RC_CHANS_HS4_13TO16 = 0x12, // Control packet with 4 primary channels + CH13-16
+        GHST_UL_RC_CHANS_RSSI = 0x13, // Control packet with RSSI and LQ data
+        GHST_UL_RC_VTX_CTRL = 0x14, // Goggle/FC channel changing
+        // -> 0x1F reserved
+        GHST_UL_VTX_SETUP = 0x20, // vTx Setup w/o 4 primary channels (GECO Only)
+        GHST_UL_MSP_REQ = 0x21, // MSP frame, Request
+        GHST_UL_MSP_WRITE = 0x22, // MSP frame, Write
+
+        GHST_DL_PACK_STAT = 0x23, // Battery Status
+        GHST_DL_GPS_PRIMARY = 0x25, // Primary GPS Data
+        GHST_DL_GPS_SECONDARY = 0x26, // Secondary GPS Data
+        GHST_DL_MAGBARO = 0x27, // Magnetometer, Barometer (and Vario) Data
+        GHST_DL_MSP_RESP = 0x28, // MSP Response
+
+        GHST_UL_RC_CHANS_HS4_12_5TO8 = 0x30, // Control packet with 4 primary channels + CH5-8
+        GHST_UL_RC_CHANS_HS4_12_9TO12 = 0x31, // Control packet with 4 primary channels + CH9-12
+        GHST_UL_RC_CHANS_HS4_12_13TO16 = 0x32, // Control packet with 4 primary channels + CH13-16
+        GHST_UL_RC_CHANS_12_RSSI = 0x33, // Control packet with RSSI and LQ data
+        // 0x30 -> 0x3f - raw 12 bit packets
+    };
+
+    enum DeviceAddress {
+        GHST_ADDRESS_FLIGHT_CONTROLLER = 0x82,
+        GHST_ADDRESS_GOGGLES = 0x83,
+        GHST_ADDRESS_GHST_RECEIVER = 0x89,
+    };
+
+    struct Frame {
+        uint8_t device_address;
+        uint8_t length;
+        uint8_t type;
+        uint8_t payload[GHST_FRAME_PAYLOAD_MAX - 1]; // type is already accounted for
+    } PACKED;
+
+    struct Channels12Bit_4Chan {
+#if __BYTE_ORDER != __LITTLE_ENDIAN
+#error "Only supported on little-endian architectures"
+#endif
+        uint32_t ch0 : 12;
+        uint32_t ch1 : 12;
+        uint32_t ch2 : 12;
+        uint32_t ch3 : 12;
+    } PACKED;
+
+    struct RadioFrame {
+#if __BYTE_ORDER != __LITTLE_ENDIAN
+#error "Only supported on little-endian architectures"
+#endif
+        Channels12Bit_4Chan channels;   // high-res channels
+        uint8_t lowres_channels[4];     // low-res channels
+    } PACKED;
+
+    struct LinkStatisticsFrame {
+#if __BYTE_ORDER != __LITTLE_ENDIAN
+#error "Only supported on little-endian architectures"
+#endif
+        Channels12Bit_4Chan channels;
+        uint8_t link_quality; // ( 0 - 100)
+        uint8_t rssi_dbm; // ( dBm * -1 )
+        uint8_t protocol : 5;
+        uint8_t telemetry : 1;
+        uint8_t alt_scale : 1;
+        uint8_t reserved : 1;
+        int8_t tx_power;
+    } PACKED;
+
+    enum RFMode {
+        GHST_RF_MODE_NORMAL = 5,    // 55Hz
+        GHST_RF_MODE_RACE = 6,      // 160Hz
+        GHST_RF_MODE_PURERACE = 7,  // 250Hz
+        GHST_RF_MODE_LR = 8,        // 19Hz
+        GHST_RF_MODE_RACE250 = 10,  // 250Hz
+        GHST_RF_MODE_RACE500 = 11,  // 500Hz
+        GHTS_RF_MODE_SOLID150 = 12, // 150Hz
+        GHST_RF_MODE_SOLID250 = 13, // 250Hz
+        RF_MODE_MAX_MODES,
+        RF_MODE_UNKNOWN,
+    };
+
+    struct LinkStatus {
+        int16_t rssi = -1;
+        int16_t link_quality = -1;
+        uint8_t rf_mode;
+    };
+
+    bool is_telemetry_supported() const;
+
+    // this will be used by AP_GHST_Telem to access link status data
+    // from within AP_RCProtocol_GHST thread so no need for cross-thread synch
+    const volatile LinkStatus& get_link_status() const {
+        return _link_status;
+    }
+
+    // return the link rate as defined by the LinkStatistics
+    uint16_t get_link_rate()  const;
+
+    // return the protocol string
+    const char* get_protocol_string() const;
+
+private:
+    struct Frame _frame;
+    struct Frame _telemetry_frame;
+    uint8_t _frame_ofs;
+    uint8_t _frame_crc;
+
+    const uint8_t MAX_CHANNELS = MIN((uint8_t)GHST_MAX_CHANNELS, (uint8_t)MAX_RCIN_CHANNELS);
+
+    static AP_RCProtocol_GHST* _singleton;
+
+    void _process_byte(uint32_t timestamp_us, uint8_t byte);
+    bool decode_ghost_packet();
+    bool process_telemetry(bool check_constraint = true);
+    void process_link_stats_frame(const void* data);
+    bool write_frame(Frame* frame);
+    AP_HAL::UARTDriver* get_current_UART() { return get_available_UART(); }
+
+    uint16_t _channels[GHST_MAX_CHANNELS];    /* buffer for extracted RC channel data as pulsewidth in microseconds */
+
+    void add_to_buffer(uint8_t index, uint8_t b) { ((uint8_t*)&_frame)[index] = b; }
+
+    uint32_t _last_frame_time_us;
+    uint32_t _last_tx_frame_time_us;
+    uint32_t _last_uart_start_time_ms;
+    uint32_t _last_rx_frame_time_us;
+    uint32_t _start_frame_time_us;
+    bool telem_available;
+    bool _use_lq_for_rssi;
+    int16_t derive_scaled_lq_value(uint8_t uplink_lq);
+
+    volatile struct LinkStatus _link_status;
+
+    static const uint16_t RF_MODE_RATES[RFMode::RF_MODE_MAX_MODES];
+};
+
+namespace AP {
+    AP_RCProtocol_GHST* ghost();
+};
+
+#endif  // AP_RCPROTOCOL_GHST_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_config.h b/libraries/AP_RCProtocol/AP_RCProtocol_config.h
index 5619c5373c0819..d6bef7d61bb01b 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_config.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_config.h
@@ -61,3 +61,7 @@
 #ifndef AP_RCPROTOCOL_FASTSBUS_ENABLED
 #define AP_RCPROTOCOL_FASTSBUS_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED && AP_RCPROTOCOL_SBUS_ENABLED
 #endif
+
+#ifndef AP_RCPROTOCOL_GHST_ENABLED
+#define AP_RCPROTOCOL_GHST_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED
+#endif

From 0da6989c8e00ca6b1eabf1e2783fedf064017688 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Wed, 13 Dec 2023 11:14:40 +0000
Subject: [PATCH 0469/1335] AP_RCTelemetry: IRC Ghost protocol

---
 libraries/AP_RCTelemetry/AP_GHST_Telem.cpp    | 386 ++++++++++++++++++
 libraries/AP_RCTelemetry/AP_GHST_Telem.h      | 166 ++++++++
 .../AP_RCTelemetry/AP_RCTelemetry_config.h    |   4 +
 3 files changed, 556 insertions(+)
 create mode 100644 libraries/AP_RCTelemetry/AP_GHST_Telem.cpp
 create mode 100644 libraries/AP_RCTelemetry/AP_GHST_Telem.h

diff --git a/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp b/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp
new file mode 100644
index 00000000000000..72e2d2a09e7e00
--- /dev/null
+++ b/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp
@@ -0,0 +1,386 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "AP_RCTelemetry_config.h"
+
+#if AP_GHST_TELEM_ENABLED
+
+#include "AP_GHST_Telem.h"
+#include <AP_VideoTX/AP_VideoTX.h>
+#include <AP_HAL/utility/sparse-endian.h>
+#include <AP_BattMonitor/AP_BattMonitor.h>
+#include <AP_GPS/AP_GPS.h>
+#include <GCS_MAVLink/GCS.h>
+#include <AP_RCProtocol/AP_RCProtocol_GHST.h>
+#include <AP_SerialManager/AP_SerialManager.h>
+#include <AP_Compass/AP_Compass.h>
+#include <AP_Baro/AP_Baro.h>
+#include <AP_AHRS/AP_AHRS.h>
+#include <AP_Notify/AP_Notify.h>
+#include <math.h>
+#include <stdio.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
+
+//#define GHST_DEBUG
+#ifdef GHST_DEBUG
+# define debug(fmt, args...)	hal.console->printf("GHST: " fmt "\n", ##args)
+#else
+# define debug(fmt, args...)	do {} while(0)
+#endif
+
+extern const AP_HAL::HAL& hal;
+
+AP_GHST_Telem *AP_GHST_Telem::singleton;
+
+AP_GHST_Telem::AP_GHST_Telem() : AP_RCTelemetry(0)
+{
+    singleton = this;
+}
+
+AP_GHST_Telem::~AP_GHST_Telem(void)
+{
+    singleton = nullptr;
+}
+
+bool AP_GHST_Telem::init(void)
+{
+    // sanity check that we are using a UART for RC input
+    if (!AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_RCIN, 0)) {
+        return false;
+    }
+
+    return AP_RCTelemetry::init();
+}
+
+/*
+  setup ready for passthrough telem
+ */
+void AP_GHST_Telem::setup_wfq_scheduler(void)
+{
+    // initialize packet weights for the WFQ scheduler
+    // priority[i] = 1/_scheduler.packet_weight[i]
+    // rate[i] = LinkRate * ( priority[i] / (sum(priority[1-n])) )
+
+    // CSRF telemetry rate is 150Hz (4ms) max, so these rates must fit
+    add_scheduler_entry(50, 120);   // Attitude and compass 8Hz
+    add_scheduler_entry(200, 1000); // VTX parameters    1Hz
+    add_scheduler_entry(1300, 500); // battery           2Hz
+    add_scheduler_entry(550, 280);  // GPS               3Hz
+    add_scheduler_entry(550, 280);  // GPS2              3Hz
+}
+
+void AP_GHST_Telem::update_custom_telemetry_rates(AP_RCProtocol_GHST::RFMode rf_mode)
+{
+    if (is_high_speed_telemetry(rf_mode)) {
+        // standard telemetry for high data rates
+        set_scheduler_entry(BATTERY, 1000, 1000);       // 1Hz
+        set_scheduler_entry(ATTITUDE, 1000, 1000);      // 1Hz
+        // custom telemetry for high data rates
+        set_scheduler_entry(GPS, 550, 500);            // 2.0Hz
+        set_scheduler_entry(GPS2, 550, 500);            // 2.0Hz
+    } else {
+        // standard telemetry for low data rates
+        set_scheduler_entry(BATTERY, 1000, 2000);       // 0.5Hz
+        set_scheduler_entry(ATTITUDE, 1000, 3000);      // 0.33Hz
+        // GHST custom telemetry for low data rates
+        set_scheduler_entry(GPS, 550, 1000);              // 1.0Hz
+        set_scheduler_entry(GPS2, 550, 1000);              // 1.0Hz
+    }
+}
+
+bool AP_GHST_Telem::process_rf_mode_changes()
+{
+    const AP_RCProtocol_GHST::RFMode current_rf_mode = get_rf_mode();
+    uint32_t now = AP_HAL::millis();
+
+    AP_RCProtocol_GHST* ghost = AP::ghost();
+    AP_HAL::UARTDriver* uart = nullptr;
+    if (ghost != nullptr) {
+        uart = ghost->get_UART();
+    }
+    if (uart == nullptr) {
+        return true;
+    }
+    // not ready yet
+    if (!uart->is_initialized()) {
+        return false;
+    }
+#if !defined (STM32H7)
+    // warn the user if their setup is sub-optimal, H7 does not need DMA on serial port
+    if (_telem_bootstrap_msg_pending && !uart->is_dma_enabled()) {
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s: running on non-DMA serial port", get_protocol_string());
+    }
+#endif
+    // note if option was set to show LQ in place of RSSI
+    bool current_lq_as_rssi_active = rc().option_is_enabled(RC_Channels::Option::USE_CRSF_LQ_AS_RSSI);
+    if(_telem_bootstrap_msg_pending || _noted_lq_as_rssi_active != current_lq_as_rssi_active){
+        _noted_lq_as_rssi_active = current_lq_as_rssi_active;
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s: RSSI now displays %s", get_protocol_string(), current_lq_as_rssi_active ? " as LQ" : "normally");
+    }
+    _telem_bootstrap_msg_pending = false;
+
+    const bool is_high_speed = is_high_speed_telemetry(current_rf_mode);
+    if ((now - _telem_last_report_ms > 5000)) {
+        // report an RF mode change or a change in telemetry rate if we haven't done so in the last 5s
+        if (!rc().option_is_enabled(RC_Channels::Option::SUPPRESS_CRSF_MESSAGE) && (_rf_mode != current_rf_mode)) {
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s: Link rate %dHz, Telemetry %s",
+                get_protocol_string(), ghost->get_link_rate(), _enable_telemetry ? "ON" : "OFF");
+        }
+        // tune the scheduler based on telemetry speed high/low transitions
+        if (_telem_is_high_speed != is_high_speed) {
+            update_custom_telemetry_rates(current_rf_mode);
+        }
+        _telem_is_high_speed = is_high_speed;
+        _rf_mode = current_rf_mode;
+        _telem_last_avg_rate = _scheduler.avg_packet_rate;
+        if (_telem_last_report_ms == 0) {   // only want to show bootstrap messages once
+            _telem_bootstrap_msg_pending = true;
+        }
+        _telem_last_report_ms = now;
+    }
+    return true;
+}
+
+AP_RCProtocol_GHST::RFMode AP_GHST_Telem::get_rf_mode() const
+{
+    AP_RCProtocol_GHST* ghost = AP::ghost();
+    if (ghost == nullptr) {
+        return AP_RCProtocol_GHST::RFMode::RF_MODE_UNKNOWN;
+    }
+
+    return static_cast<AP_RCProtocol_GHST::RFMode>(ghost->get_link_status().rf_mode);
+}
+
+bool AP_GHST_Telem::is_high_speed_telemetry(const AP_RCProtocol_GHST::RFMode rf_mode) const
+{
+    return rf_mode == AP_RCProtocol_GHST::RFMode::GHST_RF_MODE_RACE || rf_mode == AP_RCProtocol_GHST::RFMode::GHST_RF_MODE_RACE250;
+}
+
+uint16_t AP_GHST_Telem::get_telemetry_rate() const
+{
+    return get_avg_packet_rate();
+}
+
+// WFQ scheduler
+bool AP_GHST_Telem::is_packet_ready(uint8_t idx, bool queue_empty)
+{
+    return _enable_telemetry;
+}
+
+// WFQ scheduler
+void AP_GHST_Telem::process_packet(uint8_t idx)
+{
+    // send packet
+    switch (idx) {
+        case ATTITUDE:
+            calc_attitude();
+            break;
+        case BATTERY: // BATTERY
+            calc_battery();
+            break;
+        case GPS: // GPS
+            calc_gps();
+            break;
+        case GPS2: // GPS secondary info
+            calc_gps2();
+            break;
+        default:
+            break;
+    }
+}
+
+// Process a frame from the GHST protocol decoder
+bool AP_GHST_Telem::_process_frame(AP_RCProtocol_GHST::FrameType frame_type, void* data) {
+    switch (frame_type) {
+    // this means we are connected to an RC receiver and can send telemetry
+    case AP_RCProtocol_GHST::GHST_UL_RC_CHANS_RSSI: {
+        process_rf_mode_changes();
+        _enable_telemetry = AP::ghost()->is_telemetry_supported();
+        break;
+    }
+    default:
+        break;
+    }
+    return true;
+}
+
+// process any changed settings and schedule for transmission
+void AP_GHST_Telem::update()
+{
+}
+
+void AP_GHST_Telem::process_pending_requests()
+{
+    _pending_request.frame_type = 0;
+}
+
+// prepare battery data
+void AP_GHST_Telem::calc_battery()
+{
+    debug("BATTERY");
+    const AP_BattMonitor &_battery = AP::battery();
+
+    _telem.battery.voltage = htole16(uint16_t(roundf(_battery.voltage(0) * 100.0f)));
+
+    float current;
+    if (!_battery.current_amps(current, 0)) {
+        current = 0;
+    }
+    _telem.battery.current = htole16(uint16_t(roundf(current * 100.0f)));
+
+    float used_mah;
+    if (!_battery.consumed_mah(used_mah, 0)) {
+        used_mah = 0;
+    }
+
+    _telem.battery.consumed = htole16(uint16_t(roundf(used_mah * 100.0f)));;
+    _telem.battery.rx_voltage = htole16(uint16_t(roundf(hal.analogin->board_voltage() * 10)));
+
+    _telem_size = sizeof(BatteryFrame);
+    _telem_type = AP_RCProtocol_GHST::GHST_DL_PACK_STAT;
+
+    _telem_pending = true;
+}
+
+// prepare gps data
+void AP_GHST_Telem::calc_gps()
+{
+    debug("GPS");
+    const Location &loc = AP::gps().location(0); // use the first gps instance (same as in send_mavlink_gps_raw)
+
+    _telem.gps.latitude = htole32(loc.lat);
+    _telem.gps.longitude = htole32(loc.lng);
+    _telem.gps.altitude = htole16(constrain_int16(loc.alt / 100, 0, 5000) + 1000);
+
+    _telem_size = sizeof(AP_GHST_Telem::GPSFrame);
+    _telem_type = AP_RCProtocol_GHST::GHST_DL_GPS_PRIMARY;
+
+    _telem_pending = true;
+}
+
+void AP_GHST_Telem::calc_gps2()
+{
+    debug("GPS2");
+    _telem.gps2.groundspeed = htole16(roundf(AP::gps().ground_speed() * 100000 / 3600));
+    _telem.gps2.gps_heading = htole16(roundf(AP::gps().ground_course() * 100.0f));
+    _telem.gps2.satellites = AP::gps().num_sats();
+
+    AP_AHRS &_ahrs = AP::ahrs();
+    WITH_SEMAPHORE(_ahrs.get_semaphore());
+    Location loc;
+
+    if (_ahrs.get_location(loc) && _ahrs.home_is_set()) {
+        const Location &home_loc = _ahrs.get_home();
+        _telem.gps2.home_dist = home_loc.get_distance(loc) / 10; // 10m
+        _telem.gps2.home_heading = loc.get_bearing_to(home_loc) / 10; // deci-degrees
+    } else {
+        _telem.gps2.home_dist = 0;
+        _telem.gps2.home_heading = 0;
+    }
+
+    AP_GPS::GPS_Status status = AP::gps().status();
+    _telem.gps2.flags = status >= AP_GPS::GPS_OK_FIX_2D ? 0x1 : 0;
+
+    _telem_size = sizeof(AP_GHST_Telem::GPSSecondaryFrame);
+    _telem_type = AP_RCProtocol_GHST::GHST_DL_GPS_SECONDARY;
+
+    _telem_pending = true;
+}
+
+// prepare attitude data
+void AP_GHST_Telem::calc_attitude()
+{
+    debug("MAGBARO");
+    AP_AHRS &_ahrs = AP::ahrs();
+    WITH_SEMAPHORE(_ahrs.get_semaphore());
+
+    float heading = AP::compass().calculate_heading(_ahrs.get_rotation_body_to_ned());
+    _telem.sensor.compass_heading = htole16(degrees(wrap_PI(heading)));
+
+    float alt = AP::baro().get_altitude();
+    _telem.sensor.baro_alt = htole16(roundf(alt));
+    _telem.sensor.vario = 0;
+    _telem.sensor.flags = 3;
+    _telem_size = sizeof(AP_GHST_Telem::SensorFrame);
+    _telem_type = AP_RCProtocol_GHST::GHST_DL_MAGBARO;
+
+    _telem_pending = true;
+}
+
+/*
+  fetch GHST frame data
+  if is_tx_active is true then this will be a request for telemetry after receiving an RC frame
+ */
+bool AP_GHST_Telem::_get_telem_data(AP_RCProtocol_GHST::Frame* data, bool is_tx_active)
+{
+    memset(&_telem, 0, sizeof(TelemetryPayload));
+    _is_tx_active = is_tx_active;
+
+    run_wfq_scheduler();
+    if (!_telem_pending) {
+        return false;
+    }
+    memcpy(data->payload, &_telem, _telem_size);
+    data->device_address = AP_RCProtocol_GHST::GHST_ADDRESS_GHST_RECEIVER;
+    data->length = _telem_size + 2;
+    data->type = _telem_type;
+
+    _telem_pending = false;
+    return true;
+}
+
+/*
+  fetch data for an external transport, such as GHST
+ */
+bool AP_GHST_Telem::process_frame(AP_RCProtocol_GHST::FrameType frame_type, void* data)
+{
+    if (!get_singleton()) {
+        return false;
+    }
+    return singleton->_process_frame(frame_type, data);
+}
+
+/*
+  fetch data for an external transport, such as GHST
+ */
+bool AP_GHST_Telem::get_telem_data(AP_RCProtocol_GHST::Frame* data, bool is_tx_active)
+{
+    if (!get_singleton()) {
+        return false;
+    }
+    return singleton->_get_telem_data(data, is_tx_active);
+}
+
+AP_GHST_Telem *AP_GHST_Telem::get_singleton(void) {
+    if (!singleton && !hal.util->get_soft_armed()) {
+        // if telem data is requested when we are disarmed and don't
+        // yet have a AP_GHST_Telem object then try to allocate one
+        new AP_GHST_Telem();
+        // initialize the passthrough scheduler
+        if (singleton) {
+            singleton->init();
+        }
+    }
+    return singleton;
+}
+
+namespace AP {
+    AP_GHST_Telem *ghost_telem() {
+        return AP_GHST_Telem::get_singleton();
+    }
+};
+
+#endif // AP_GHST_TELEM_ENABLED
diff --git a/libraries/AP_RCTelemetry/AP_GHST_Telem.h b/libraries/AP_RCTelemetry/AP_GHST_Telem.h
new file mode 100644
index 00000000000000..768470d9976bdb
--- /dev/null
+++ b/libraries/AP_RCTelemetry/AP_GHST_Telem.h
@@ -0,0 +1,166 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+#pragma once
+
+#include "AP_RCTelemetry_config.h"
+
+#if AP_GHST_TELEM_ENABLED
+
+#include <AP_RCProtocol/AP_RCProtocol_GHST.h>
+#include "AP_RCTelemetry.h"
+#include <AP_HAL/utility/sparse-endian.h>
+
+class AP_GHST_Telem : public AP_RCTelemetry {
+public:
+    AP_GHST_Telem();
+    ~AP_GHST_Telem() override;
+
+    /* Do not allow copies */
+    CLASS_NO_COPY(AP_GHST_Telem);
+
+    // init - perform required initialisation
+    virtual bool init() override;
+
+    static AP_GHST_Telem *get_singleton(void);
+
+    // Broadcast frame definitions courtesy of TBS
+    struct PACKED GPSFrame {
+        uint32_t latitude; // ( degree * 1e7 )
+        uint32_t longitude; // (degree * 1e7 )
+        int16_t altitude; // ( meter )
+    };
+
+    struct PACKED GPSSecondaryFrame {
+        uint16_t groundspeed; // ( cm/s )
+        uint16_t gps_heading; // ( degree * 10 )
+        uint8_t satellites; // in use ( counter )
+        uint16_t home_dist; // ( m / 10 )
+        uint16_t home_heading; // ( degree * 10 )
+        uint8_t flags; // GPS_FLAGS_FIX 0x01, GPS_FLAGS_FIX_HOME 0x2
+    };
+
+    struct PACKED BatteryFrame {
+        uint16_t voltage; // ( mV / 10 )
+        uint16_t current; // ( mA / 10 )
+        uint16_t consumed; // ( mAh / 10 )
+        uint8_t rx_voltage; // ( mV / 100 )
+        uint8_t spare[3];
+    };
+
+    struct PACKED VTXFrame {
+#if __BYTE_ORDER != __LITTLE_ENDIAN
+#error "Only supported on little-endian architectures"
+#endif
+        uint8_t flags;
+        uint16_t frequency;         // frequency in Mhz
+        uint16_t power;              // power in mw, 0 == off
+        uint8_t band : 4;               // A, B, E, AirWave, Race
+        uint8_t channel : 4;            // 1x-8x
+        uint8_t spare[3];
+    };
+
+    struct PACKED SensorFrame {
+        uint16_t compass_heading; // ( deg * 10 )
+        int16_t baro_alt; // ( m )
+        int16_t vario; // ( m/s * 100 )
+        uint8_t spare[3];
+        uint8_t flags; // MISC_FLAGS_MAGHEAD 0x01, MISC_FLAGS_BAROALT 0x02, MISC_FLAGS_VARIO 0x04
+    };
+
+    union PACKED TelemetryPayload {
+        GPSFrame gps;
+        GPSSecondaryFrame gps2;
+        BatteryFrame battery;
+        VTXFrame vtx;
+        SensorFrame sensor;
+    };
+
+    // get the protocol string
+    const char* get_protocol_string() const { return AP::ghost()->get_protocol_string(); }
+
+    // Process a frame from the CRSF protocol decoder
+    static bool process_frame(AP_RCProtocol_GHST::FrameType frame_type, void* data);
+    // process any changed settings and schedule for transmission
+    void update();
+    // get next telemetry data for external consumers of SPort data
+    static bool get_telem_data(AP_RCProtocol_GHST::Frame* frame, bool is_tx_active);
+
+private:
+
+    enum SensorType {
+        ATTITUDE,
+        VTX_PARAMETERS,
+        BATTERY,
+        GPS,
+        GPS2,
+        NUM_SENSORS
+    };
+
+    // passthrough WFQ scheduler
+    bool is_packet_ready(uint8_t idx, bool queue_empty) override;
+    void process_packet(uint8_t idx) override;
+    void setup_custom_telemetry();
+    void update_custom_telemetry_rates(const AP_RCProtocol_GHST::RFMode rf_mode);
+
+    void calc_battery();
+    void calc_gps();
+    void calc_gps2();
+    void calc_attitude();
+    void process_pending_requests();
+    bool process_rf_mode_changes();
+    AP_RCProtocol_GHST::RFMode get_rf_mode() const;
+    uint16_t get_telemetry_rate() const;
+    bool is_high_speed_telemetry(const AP_RCProtocol_GHST::RFMode rf_mode) const;
+
+    // setup ready for passthrough operation
+    void setup_wfq_scheduler(void) override;
+
+    // get next telemetry data for external consumers
+    bool _get_telem_data(AP_RCProtocol_GHST::Frame* data, bool is_tx_active);
+    bool _process_frame(AP_RCProtocol_GHST::FrameType frame_type, void* data);
+
+    TelemetryPayload _telem;
+    uint8_t _telem_size;
+    uint8_t _telem_type;
+
+    AP_RCProtocol_GHST::RFMode _rf_mode;
+    bool _enable_telemetry;
+
+    // reporting telemetry rate
+    uint32_t _telem_last_report_ms;
+    uint16_t _telem_last_avg_rate;
+    // do we need to report the initial state
+    bool _telem_bootstrap_msg_pending;
+
+    bool _telem_is_high_speed;
+    bool _telem_pending;
+    // used to limit telemetry when in a failsafe condition
+    bool _is_tx_active;
+
+    struct {
+        uint8_t destination = 0;
+        uint8_t frame_type;
+    } _pending_request;
+
+    bool _noted_lq_as_rssi_active;
+
+    static AP_GHST_Telem *singleton;
+};
+
+namespace AP {
+    AP_GHST_Telem *ghost_telem();
+};
+
+#endif // AP_GHST_TELEM_ENABLED
diff --git a/libraries/AP_RCTelemetry/AP_RCTelemetry_config.h b/libraries/AP_RCTelemetry/AP_RCTelemetry_config.h
index 8cfb33467db44a..9dab308187a796 100644
--- a/libraries/AP_RCTelemetry/AP_RCTelemetry_config.h
+++ b/libraries/AP_RCTelemetry/AP_RCTelemetry_config.h
@@ -16,3 +16,7 @@
 #ifndef HAL_SPEKTRUM_TELEM_ENABLED
 #define HAL_SPEKTRUM_TELEM_ENABLED 1
 #endif
+
+#ifndef AP_GHST_TELEM_ENABLED
+#define AP_GHST_TELEM_ENABLED AP_RCPROTOCOL_GHST_ENABLED
+#endif

From 0df36a8d8136270910b066d85a6eabe68167fc4e Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Tue, 2 Jan 2024 18:20:46 +0000
Subject: [PATCH 0470/1335] AP_RCProtocol: bootstrap Ghost to correct baudrate

---
 libraries/AP_RCProtocol/AP_RCProtocol.cpp     |  6 +-----
 .../AP_RCProtocol/AP_RCProtocol_GHST.cpp      | 21 ++++++++++++++++++-
 libraries/AP_RCProtocol/AP_RCProtocol_GHST.h  |  1 +
 3 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.cpp b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
index 9d9174e89f3489..d2d11cfb304bf4 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
@@ -301,16 +301,12 @@ static const AP_RCProtocol::SerialConfig serial_configs[] {
     // FastSBUS:
     { 200000,  2,   2, true },
 #endif
-#if AP_RCPROTOCOL_CRSF_ENABLED
+#if AP_RCPROTOCOL_CRSF_ENABLED || AP_RCPROTOCOL_GHST_ENABLED
     // CrossFire:
     { 416666,  0,   1, false },
     // CRSFv3 can negotiate higher rates which are sticky on soft reboot
     { 2000000, 0,   1, false },
 #endif
-#if AP_RCPROTOCOL_GHST_ENABLED
-    // Ghost:
-    { 420000,  0,   1, false },
-#endif
 };
 
 static_assert(ARRAY_SIZE(serial_configs) > 1, "must have at least one serial config");
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
index 1f2fa06950c887..195e56bfb91641 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
@@ -21,6 +21,8 @@
 
 #if AP_RCPROTOCOL_GHST_ENABLED
 
+#define CRSF_BAUDRATE      416666U
+
 #include "AP_RCProtocol.h"
 #include "AP_RCProtocol_GHST.h"
 #include <AP_HAL/AP_HAL.h>
@@ -413,12 +415,29 @@ bool AP_RCProtocol_GHST::is_telemetry_supported() const
 void AP_RCProtocol_GHST::process_byte(uint8_t byte, uint32_t baudrate)
 {
     // reject RC data if we have been configured for standalone mode
-    if (baudrate != GHST_BAUDRATE) {
+    if (baudrate != CRSF_BAUDRATE && baudrate != GHST_BAUDRATE) {
         return;
     }
     _process_byte(AP_HAL::micros(), byte);
 }
 
+// change the bootstrap baud rate to ELRS standard if configured
+void AP_RCProtocol_GHST::process_handshake(uint32_t baudrate)
+{
+    AP_HAL::UARTDriver *uart = get_current_UART();
+
+    // only change the baudrate if we are bootstrapping CRSF
+    if (uart == nullptr
+        || baudrate != CRSF_BAUDRATE
+        || baudrate == GHST_BAUDRATE
+        || uart->get_baud_rate() == GHST_BAUDRATE
+        || (get_rc_protocols_mask() & ((1U<<(uint8_t(AP_RCProtocol::GHST)+1))+1)) == 0) {
+        return;
+    }
+
+    uart->begin(GHST_BAUDRATE);
+}
+
 //returns uplink link quality on 0-255 scale
 int16_t AP_RCProtocol_GHST::derive_scaled_lq_value(uint8_t uplink_lq)
 {
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.h b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.h
index e710a70fa99cab..248fb3f1790d35 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.h
@@ -36,6 +36,7 @@ class AP_RCProtocol_GHST : public AP_RCProtocol_Backend {
     AP_RCProtocol_GHST(AP_RCProtocol &_frontend);
     virtual ~AP_RCProtocol_GHST();
     void process_byte(uint8_t byte, uint32_t baudrate) override;
+    void process_handshake(uint32_t baudrate) override;
     void update(void) override;
 
     // is the receiver active, used to detect power loss and baudrate changes

From 3caf336b0ff84f745b85bc21a002db3ac0a9a70c Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 4 Jan 2024 20:46:35 +0000
Subject: [PATCH 0471/1335] AP_HAL_ChibiOS: switch BetaFPV-F405, BeastF7 and
 BeastF7v2 to minimize_fpv

---
 libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405/hwdef.dat | 2 ++
 libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat      | 5 +----
 libraries/AP_HAL_ChibiOS/hwdef/BeastF7v2/hwdef.dat    | 9 +--------
 3 files changed, 4 insertions(+), 12 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405/hwdef.dat
index 11006490e13e1e..5e27c96a75d303 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405/hwdef.dat
@@ -142,3 +142,5 @@ define HAL_FRAME_TYPE_DEFAULT 12
 
 # This is a whoop AIO board, not really suitable for anything other than copter
 AUTOBUILD_TARGETS Copter
+
+include ../include/minimize_fpv_osd.inc
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat
index 496e7563d11855..d1c3153292349b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/BeastF7/hwdef.dat
@@ -137,9 +137,6 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
 define STM32_PWM_USE_ADVANCED TRUE
 
 # save some flash
-include ../include/save_some_flash.inc
-
-# only include ublox GPS driver
-include ../include/minimal_GPS.inc
+include ../include/minimize_fpv_osd.inc
 
 define DEFAULT_NTF_LED_TYPES 257
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BeastF7v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BeastF7v2/hwdef.dat
index 174747369a40ae..e1c82946b5ed06 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/BeastF7v2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/BeastF7v2/hwdef.dat
@@ -61,13 +61,6 @@ IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_225
 define HAL_BARO_ALLOW_INIT_NO_BARO 1
 
 # save some flash
-include ../include/save_some_flash.inc
-define AP_GRIPPER_ENABLED 0
-define HAL_PARACHUTE_ENABLED 0
-define HAL_SPRAYER_ENABLED 0
-define AP_BATTERY_SMBUS_ENABLED 0
-
-# only include ublox GPS driver
-include ../include/minimal_GPS.inc
+include ../include/minimize_fpv_osd.inc
 
 define DEFAULT_NTF_LED_TYPES 257

From 3c9c4a58b8f7e83f5bedb5ae533fe6e9c85dd605 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 4 Jan 2024 20:47:41 +0000
Subject: [PATCH 0472/1335] scripts: add Ghost protocol to build_options.py

---
 Tools/scripts/build_options.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index 01bb18cfad60ea..dd632f33d0f7c7 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -72,6 +72,7 @@ def __init__(self,
     Feature('Telemetry', 'FrSky D', 'AP_FRSKY_D_TELEM_ENABLED', 'Enable FrSkyD Telemetry', 0, 'FrSky'),
     Feature('Telemetry', 'FrSky SPort', 'AP_FRSKY_SPORT_TELEM_ENABLED', 'Enable FrSkySPort Telemetry', 0, 'FrSky'),  # noqa
     Feature('Telemetry', 'FrSky SPort PassThrough', 'AP_FRSKY_SPORT_PASSTHROUGH_ENABLED', 'Enable FrSkySPort PassThrough Telemetry', 0, 'FrSky SPort,FrSky'),  # noqa
+    Feature('Telemetry', 'GHST', 'HAL_GHST_TELEM_ENABLED', 'Enable Ghost Telemetry', 0, None), # noqa
 
     Feature('Notify', 'PLAY_TUNE', 'AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED', 'Enable MAVLink Play Tune', 0, None),  # noqa
     Feature('Notify', 'TONEALARM', 'AP_NOTIFY_TONEALARM_ENABLED', 'Enable ToneAlarm on PWM', 0, None),  # noqa
@@ -203,6 +204,7 @@ def __init__(self,
     Feature('RC', 'RC_SRXL2', 'AP_RCPROTOCOL_SRXL2_ENABLED', "Enable SRXL2 RC Protocol", 0, "RC_Protocol"),   # NOQA: E501
     Feature('RC', 'RC_ST24', 'AP_RCPROTOCOL_ST24_ENABLED', "Enable ST24 Protocol", 0, "RC_Protocol"),   # NOQA: E501
     Feature('RC', 'RC_SUMD', 'AP_RCPROTOCOL_SUMD_ENABLED', "Enable SUMD RC Protocol", 0, "RC_Protocol"),   # NOQA: E501
+    Feature('RC', 'RC_GHST', 'AP_RCPROTOCOL_GHST_ENABLED', "Enable Ghost RC Protocol", 0, "RC_Protocol"),   # NOQA: E501
 
     Feature('Rangefinder', 'RANGEFINDER', 'AP_RANGEFINDER_ENABLED', "Enable Rangefinders", 0, None),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_ANALOG', 'AP_RANGEFINDER_ANALOG_ENABLED', "Enable Rangefinder - Analog", 0, "RANGEFINDER"),   # NOQA: E501

From 709656c49dd7fc8ad41dd71bfb65621f9551ec01 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 9 Jan 2024 17:30:56 +1100
Subject: [PATCH 0473/1335] AP_Arming: remove entire airspeed_checks if
 AP_AIRSPEED_ENABLED is off

saves bytes and removes some redundant code which is obscured when the ifdefs are inside the body
---
 libraries/AP_Arming/AP_Arming.cpp | 6 ++----
 libraries/AP_Arming/AP_Arming.h   | 2 --
 2 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 1153490b7a9996..ff6362b68849d4 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -303,9 +303,9 @@ bool AP_Arming::barometer_checks(bool report)
     return true;
 }
 
+#if AP_AIRSPEED_ENABLED
 bool AP_Arming::airspeed_checks(bool report)
 {
-#if AP_AIRSPEED_ENABLED
     if (check_enabled(ARMING_CHECK_AIRSPEED)) {
         const AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
         if (airspeed == nullptr) {
@@ -319,10 +319,10 @@ bool AP_Arming::airspeed_checks(bool report)
             }
         }
     }
-#endif
 
     return true;
 }
+#endif  // AP_AIRSPEED_ENABLED
 
 #if HAL_LOGGING_ENABLED
 bool AP_Arming::logging_checks(bool report)
@@ -1199,8 +1199,6 @@ bool AP_Arming::proximity_checks(bool report) const
         return false;
     }
     return true;
-
-    return true;
 }
 #endif  // HAL_PROXIMITY_ENABLED
 
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index 7569227da85110..8f46bd47e9d77a 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -236,8 +236,6 @@ class AP_Arming {
 
     bool fettec_checks(bool display_failure) const;
 
-    bool kdecan_checks(bool display_failure) const;
-
 #if HAL_PROXIMITY_ENABLED
     virtual bool proximity_checks(bool report) const;
 #endif

From 0690e3c9fa1e65a545f092b09dff4fb82c94c548 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 9 Jan 2024 17:30:56 +1100
Subject: [PATCH 0474/1335] ArduPlane: remove entire airspeed_checks if
 AP_AIRSPEED_ENABLED is off

saves bytes and removes some redundant code which is obscured when the ifdefs are inside the body
---
 ArduPlane/AP_Arming.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index b4e868b2ff288c..2905175fdeb151 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -66,8 +66,10 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
     // call parent class checks
     bool ret = AP_Arming::pre_arm_checks(display_failure);
 
+#if AP_AIRSPEED_ENABLED
     // Check airspeed sensor
     ret &= AP_Arming::airspeed_checks(display_failure);
+#endif
 
     if (plane.g.fs_timeout_long < plane.g.fs_timeout_short && plane.g.fs_action_short != FS_ACTION_SHORT_DISABLED) {
         check_failed(display_failure, "FS_LONG_TIMEOUT < FS_SHORT_TIMEOUT");

From dfd22aba3223df474a4d64669cd6e04029e32bb0 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 5 Jan 2024 12:09:29 +0900
Subject: [PATCH 0475/1335] AP_BattMonitor: support logging state-of-health
 percentage

Only DroneCAN backend implements this feature for now
---
 libraries/AP_BattMonitor/AP_BattMonitor.cpp   |  9 +++++++++
 libraries/AP_BattMonitor/AP_BattMonitor.h     |  5 +++++
 .../AP_BattMonitor/AP_BattMonitor_Backend.cpp | 10 ++++++++++
 .../AP_BattMonitor/AP_BattMonitor_Backend.h   |  3 +++
 .../AP_BattMonitor_DroneCAN.cpp               | 20 ++++++++++++++++---
 .../AP_BattMonitor/AP_BattMonitor_DroneCAN.h  |  2 +-
 .../AP_BattMonitor/AP_BattMonitor_Logging.cpp |  6 +++++-
 libraries/AP_BattMonitor/LogStructure.h       |  4 +++-
 8 files changed, 53 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.cpp b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
index 35819b8d2efc0f..bf04aeb514aac4 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
@@ -1056,6 +1056,15 @@ uint32_t AP_BattMonitor::get_mavlink_fault_bitmask(const uint8_t instance) const
     return drivers[instance]->get_mavlink_fault_bitmask();
 }
 
+// return true if state of health (as a percentage) can be provided and fills in soh_pct argument
+bool AP_BattMonitor::get_state_of_health_pct(uint8_t instance, uint8_t &soh_pct) const
+{
+    if (instance >= _num_instances || drivers[instance] == nullptr) {
+        return false;
+    }
+    return drivers[instance]->get_state_of_health_pct(soh_pct);
+}
+
 // Enable/Disable (Turn on/off) MPPT power to all backends who are MPPTs
 void AP_BattMonitor::MPPT_set_powered_state_to_all(const bool power_on)
 {
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.h b/libraries/AP_BattMonitor/AP_BattMonitor.h
index 2df3fd5210830d..e9e10b7ef06edb 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor.h
@@ -154,6 +154,8 @@ class AP_BattMonitor
         bool        powerOffNotified;          // only send powering off notification once
         uint32_t    time_remaining;            // remaining battery time
         bool        has_time_remaining;        // time_remaining is only valid if this is true
+        uint8_t     state_of_health_pct;       // state of health (SOH) in percent
+        bool        has_state_of_health_pct;   // state_of_health_pct is only valid if this is true
         uint8_t     instance;                  // instance number of this backend
         const struct AP_Param::GroupInfo *var_info;
     };
@@ -274,6 +276,9 @@ class AP_BattMonitor
     // Returns mavlink fault state
     uint32_t get_mavlink_fault_bitmask(const uint8_t instance) const;
 
+    // return true if state of health (as a percentage) can be provided and fills in soh_pct argument
+    bool get_state_of_health_pct(uint8_t instance, uint8_t &soh_pct) const;
+
     static const struct AP_Param::GroupInfo var_info[];
 
 #if AP_BATTERY_SCRIPTING_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp
index 1aef15a6efda3b..842c6ac907852e 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp
@@ -107,6 +107,16 @@ void AP_BattMonitor_Backend::update_resistance_estimate()
     _state.voltage_resting_estimate = _state.voltage + _state.current_amps * _state.resistance;
 }
 
+// return true if state of health can be provided and fills in soh_pct argument
+bool AP_BattMonitor_Backend::get_state_of_health_pct(uint8_t &soh_pct) const
+{
+    if (!_state.has_state_of_health_pct) {
+        return false;
+    }
+    soh_pct = _state.state_of_health_pct;
+    return true;
+}
+
 float AP_BattMonitor_Backend::voltage_resting_estimate() const
 {
     // resting voltage should always be greater than or equal to the raw voltage
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.h b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
index 8cc972e7e8a5e9..907d8712c11748 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
@@ -58,6 +58,9 @@ class AP_BattMonitor_Backend
     // return true if cycle count can be provided and fills in cycles argument
     virtual bool get_cycle_count(uint16_t &cycles) const { return false; }
 
+    // return true if state of health (as a percentage) can be provided and fills in soh_pct argument
+    bool get_state_of_health_pct(uint8_t &soh_pct) const;
+
     /// get voltage with sag removed (based on battery current draw and resistance)
     /// this will always be greater than or equal to the raw voltage
     float voltage_resting_estimate() const;
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp
index 123287c89a92ce..3c7d35fd9e5b9a 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp
@@ -114,14 +114,20 @@ AP_BattMonitor_DroneCAN* AP_BattMonitor_DroneCAN::get_dronecan_backend(AP_DroneC
 
 void AP_BattMonitor_DroneCAN::handle_battery_info(const uavcan_equipment_power_BatteryInfo &msg)
 {
-    update_interim_state(msg.voltage, msg.current, msg.temperature, msg.state_of_charge_pct); 
+    update_interim_state(msg.voltage, msg.current, msg.temperature, msg.state_of_charge_pct, msg.state_of_health_pct); 
 
     WITH_SEMAPHORE(_sem_battmon);
     _remaining_capacity_wh = msg.remaining_capacity_wh;
     _full_charge_capacity_wh = msg.full_charge_capacity_wh;
+
+    // consume state of health
+    if (msg.state_of_health_pct != UAVCAN_EQUIPMENT_POWER_BATTERYINFO_STATE_OF_HEALTH_UNKNOWN) {
+        _interim_state.state_of_health_pct = msg.state_of_health_pct;
+        _interim_state.has_state_of_health_pct = true;
+    }
 }
 
-void AP_BattMonitor_DroneCAN::update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc)
+void AP_BattMonitor_DroneCAN::update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc, uint8_t soh_pct)
 {
     WITH_SEMAPHORE(_sem_battmon);
 
@@ -145,6 +151,12 @@ void AP_BattMonitor_DroneCAN::update_interim_state(const float voltage, const fl
         update_consumed(_interim_state, dt_us);
     }
 
+    // state of health
+    if (soh_pct != UAVCAN_EQUIPMENT_POWER_BATTERYINFO_STATE_OF_HEALTH_UNKNOWN) {
+        _interim_state.state_of_health_pct = soh_pct;
+        _interim_state.has_state_of_health_pct = true;
+    }
+
     // record time
     _interim_state.last_time_micros = tnow;
     _interim_state.healthy = true;
@@ -185,7 +197,7 @@ void AP_BattMonitor_DroneCAN::handle_mppt_stream(const mppt_Stream &msg)
     // convert C to Kelvin
     const float temperature_K = isnan(msg.temperature) ? 0 : C_TO_KELVIN(msg.temperature);
 
-    update_interim_state(voltage, current, temperature_K, soc); 
+    update_interim_state(voltage, current, temperature_K, soc, UAVCAN_EQUIPMENT_POWER_BATTERYINFO_STATE_OF_HEALTH_UNKNOWN); 
 
     if (!_mppt.is_detected) {
         // this is the first time the mppt message has been received
@@ -283,6 +295,8 @@ void AP_BattMonitor_DroneCAN::read()
     _state.time_remaining = _interim_state.time_remaining;
     _state.has_time_remaining = _interim_state.has_time_remaining;
     _state.is_powering_off = _interim_state.is_powering_off;
+    _state.state_of_health_pct = _interim_state.state_of_health_pct;
+    _state.has_state_of_health_pct = _interim_state.has_state_of_health_pct;
     memcpy(_state.cell_voltages.cells, _interim_state.cell_voltages.cells, sizeof(_state.cell_voltages));
 
     _has_temperature = (AP_HAL::millis() - _state.temperature_time) <= AP_BATT_MONITOR_TIMEOUT;
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.h b/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.h
index 819ade73164817..a25ef9667855c8 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.h
@@ -61,7 +61,7 @@ class AP_BattMonitor_DroneCAN : public AP_BattMonitor_Backend
 private:
     void handle_battery_info(const uavcan_equipment_power_BatteryInfo &msg);
     void handle_battery_info_aux(const ardupilot_equipment_power_BatteryInfoAux &msg);
-    void update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc);
+    void update_interim_state(const float voltage, const float current, const float temperature_K, const uint8_t soc, uint8_t soh_pct);
 
     static bool match_battery_id(uint8_t instance, uint8_t battery_id);
 
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp
index f5595d321aca32..4f3433d87added 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp
@@ -16,6 +16,9 @@ void AP_BattMonitor_Backend::Log_Write_BAT(const uint8_t instance, const uint64_
         temperature_cd = temperature * 100.0;
     }
 
+    uint8_t soh_pct = 0;
+    IGNORE_RETURN(get_state_of_health_pct(soh_pct));
+
     const struct log_BAT pkt{
         LOG_PACKET_HEADER_INIT(LOG_BAT_MSG),
         time_us             : time_us,
@@ -28,7 +31,8 @@ void AP_BattMonitor_Backend::Log_Write_BAT(const uint8_t instance, const uint64_
         temperature         : temperature_cd,
         resistance          : _state.resistance,
         rem_percent         : percent,
-        health              : _state.healthy
+        health              : _state.healthy,
+        state_of_health_pct : soh_pct
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
diff --git a/libraries/AP_BattMonitor/LogStructure.h b/libraries/AP_BattMonitor/LogStructure.h
index fdc97512ef0065..5d0bb2cf130432 100644
--- a/libraries/AP_BattMonitor/LogStructure.h
+++ b/libraries/AP_BattMonitor/LogStructure.h
@@ -19,6 +19,7 @@
 // @Field: Res: estimated battery resistance
 // @Field: RemPct: remaining percentage
 // @Field: H: health
+// @Field: SH: state of health percentage.  0 if unknown
 struct PACKED log_BAT {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -32,6 +33,7 @@ struct PACKED log_BAT {
     float    resistance;
     uint8_t  rem_percent;
     uint8_t  health;
+    uint8_t  state_of_health_pct;
 };
 
 // @LoggerMessage: BCL
@@ -61,6 +63,6 @@ struct PACKED log_BCL {
 
 #define LOG_STRUCTURE_FROM_BATTMONITOR        \
     { LOG_BAT_MSG, sizeof(log_BAT), \
-        "BAT", "QBfffffcfBB", "TimeUS,Inst,Volt,VoltR,Curr,CurrTot,EnrgTot,Temp,Res,RemPct,H", "s#vvAaXOw%-", "F-000C0?000" , true },  \
+        "BAT", "QBfffffcfBBB", "TimeUS,Inst,Volt,VoltR,Curr,CurrTot,EnrgTot,Temp,Res,RemPct,H,SH", "s#vvAaXOw%-%", "F-000C0?0000" , true },  \
     { LOG_BCL_MSG, sizeof(log_BCL), \
         "BCL", "QBfHHHHHHHHHHHH", "TimeUS,Instance,Volt,V1,V2,V3,V4,V5,V6,V7,V8,V9,V10,V11,V12", "s#vvvvvvvvvvvvv", "F-0CCCCCCCCCCCC" , true },

From a66dc31fbc57b0cc698d9d6b86f9bdc227d13e4a Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Wed, 10 Jan 2024 11:28:03 +0000
Subject: [PATCH 0476/1335] AP_Networking: update lwipopts for macOS

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 libraries/AP_Networking/config/lwipopts.h | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/libraries/AP_Networking/config/lwipopts.h b/libraries/AP_Networking/config/lwipopts.h
index d3ff36a44cb1c2..8da2750f279731 100644
--- a/libraries/AP_Networking/config/lwipopts.h
+++ b/libraries/AP_Networking/config/lwipopts.h
@@ -36,6 +36,23 @@ extern "C"
 {
 #endif
 
+/* macOS specific */
+#if defined(__APPLE__)
+/* lwip/contrib/ports/unix/port/netif/sio.c */
+#include <util.h>
+
+/* lwip/src/apps/http/makefsdata/makefsdata.c  */
+#define GETCWD(path, len)             getcwd(path, len)
+#define GETCWD_SUCCEEDED(ret)         (ret != NULL)
+#define CHDIR(path)                   chdir(path)
+#define CHDIR_SUCCEEDED(ret)          (ret == 0)
+
+/* lwip/src/netif/ppp/fsm.c */
+/* lwip/src/netif/ppp/pppos.c */
+/* lwip/src/netif/ppp/vj.c */
+#pragma GCC diagnostic ignored "-Wimplicit-fallthrough"
+#endif
+
 #ifdef LWIP_OPTTEST_FILE
 #include "lwipopts_test.h"
 #else /* LWIP_OPTTEST_FILE */

From ad3cf2633834f1565f508891cbd7d2566d36a899 Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Tue, 9 Jan 2024 09:59:26 +0000
Subject: [PATCH 0477/1335] AP_Networking: enable networking on macOS

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 libraries/AP_Networking/AP_Networking_Config.h | 4 ++--
 libraries/AP_Networking/wscript                | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index b54a8e399f7831..e815b87b5a7c80 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -7,8 +7,8 @@
 
 
 #ifndef AP_NETWORKING_ENABLED
-#if defined(__APPLE__) || defined(__clang__)
-// MacOS can't build lwip, and clang fails on linux
+#if !defined(__APPLE__) && defined(__clang__)
+// clang fails on linux
 #define AP_NETWORKING_ENABLED 0
 #else
 #define AP_NETWORKING_ENABLED ((CONFIG_HAL_BOARD == HAL_BOARD_LINUX) || (CONFIG_HAL_BOARD == HAL_BOARD_SITL))
diff --git a/libraries/AP_Networking/wscript b/libraries/AP_Networking/wscript
index 97554622a79f80..454a350ba24c15 100644
--- a/libraries/AP_Networking/wscript
+++ b/libraries/AP_Networking/wscript
@@ -8,9 +8,9 @@ def configure(cfg):
     if not cfg.env.BOARD_CLASS in ['SITL', 'LINUX', 'ChibiOS']:
         return
 
-    # networking doesn't build on MacOSX or clang
-    if platform.system() == 'Darwin' or 'clang++' in cfg.env.COMPILER_CXX:
-        return
+    # networking doesn't build with clang unless using macOS
+    if platform.system() != 'Darwin' and 'clang++' in cfg.env.COMPILER_CXX:
+       return
 
     extra_src = [
         'modules/lwip/src/core/*c',

From 37fccc118fe544ecfce81c4ddc1ae042018679fe Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 10 Jan 2024 14:18:56 +1100
Subject: [PATCH 0478/1335] AP_ADSB: add missing includes

---
 libraries/AP_ADSB/AP_ADSB.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_ADSB/AP_ADSB.cpp b/libraries/AP_ADSB/AP_ADSB.cpp
index a36a1849b2e090..53ba4291dc0cec 100644
--- a/libraries/AP_ADSB/AP_ADSB.cpp
+++ b/libraries/AP_ADSB/AP_ADSB.cpp
@@ -37,7 +37,7 @@
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <GCS_MAVLink/GCS.h>
-
+#include <AP_RTC/AP_RTC.h>
 
 #define VEHICLE_TIMEOUT_MS              5000   // if no updates in this time, drop it from the list
 #define ADSB_SQUAWK_OCTAL_DEFAULT       1200

From 964b683b83faec80d6d95fbf03492178b7d6df04 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 10 Jan 2024 14:18:56 +1100
Subject: [PATCH 0479/1335] GCS_MAVLink: add missing includes

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 9981cb5e594368..913e9fe47b2b40 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -65,6 +65,7 @@
 #include <AP_VisualOdom/AP_VisualOdom.h>
 #include <AP_KDECAN/AP_KDECAN.h>
 #include <AP_LandingGear/AP_LandingGear.h>
+#include <AP_Landing/AP_Landing_config.h>
 
 #include "MissionItemProtocol_Waypoints.h"
 #include "MissionItemProtocol_Rally.h"

From a2182f7c4be783420e369fd574448f418b148088 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 10 Jan 2024 16:11:28 +1100
Subject: [PATCH 0480/1335] AP_ESC_Telem: add missing include

---
 libraries/AP_ESC_Telem/AP_ESC_Telem.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
index d2b7e31b1488c5..5fbaba7ae6dc5a 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -23,6 +23,8 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_TemperatureSensor/AP_TemperatureSensor_config.h>
 
+#include <AP_Math/AP_Math.h>
+
 //#define ESC_TELEM_DEBUG
 
 #define ESC_RPM_CHECK_TIMEOUT_US 210000UL   // timeout for motor running validity

From 2332ea7942a1a9404f3769ba5f25f8ce1bc1a053 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 10 Jan 2024 16:16:14 +1100
Subject: [PATCH 0481/1335] AP_Mount: add missing include

---
 libraries/AP_Mount/AP_Mount.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index 9c79d79205d50f..4bb18ad3608b58 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -18,6 +18,7 @@
 #include <stdio.h>
 #include <AP_Math/location.h>
 #include <SRV_Channel/SRV_Channel.h>
+#include <AP_Logger/AP_Logger.h>
 
 const AP_Param::GroupInfo AP_Mount::var_info[] = {
 

From 8ccf51b0edb9d40a6affe7d924edaa5793b0ef18 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 10 Jan 2024 16:46:04 +1100
Subject: [PATCH 0482/1335] AP_EFI: add missing include

for is_equal
---
 libraries/AP_EFI/AP_EFI.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_EFI/AP_EFI.cpp b/libraries/AP_EFI/AP_EFI.cpp
index 3cc4d648ffd68d..79bffff77a9577 100644
--- a/libraries/AP_EFI/AP_EFI.cpp
+++ b/libraries/AP_EFI/AP_EFI.cpp
@@ -28,6 +28,7 @@
 
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h>
+#include <AP_Math/AP_Math.h>
 
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
 #include <AP_CANManager/AP_CANManager.h>

From 85fc178769367e3237d786526e062eb78b4b229f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 15:47:39 +1100
Subject: [PATCH 0483/1335] AP_Bootloader: correct placement of
 AP_BOOTLOADER_ALWAYS_ERASE

this moves it outside of defined(BOOTLOADER_DEV_LIST)
---
 Tools/AP_Bootloader/support.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/Tools/AP_Bootloader/support.cpp b/Tools/AP_Bootloader/support.cpp
index ddf1041da48e37..c9f37b2b60e2e4 100644
--- a/Tools/AP_Bootloader/support.cpp
+++ b/Tools/AP_Bootloader/support.cpp
@@ -22,6 +22,10 @@
 // optional uprintf() code for debug
 // #define BOOTLOADER_DEBUG SD1
 
+#ifndef AP_BOOTLOADER_ALWAYS_ERASE
+#define AP_BOOTLOADER_ALWAYS_ERASE 0
+#endif
+
 #if defined(BOOTLOADER_DEV_LIST)
 static BaseChannel *uarts[] = { BOOTLOADER_DEV_LIST };
 #if HAL_USE_SERIAL == TRUE
@@ -34,10 +38,6 @@ static uint8_t last_uart;
 #define BOOTLOADER_BAUDRATE 115200
 #endif
 
-#ifndef AP_BOOTLOADER_ALWAYS_ERASE
-#define AP_BOOTLOADER_ALWAYS_ERASE 0
-#endif
-
 // #pragma GCC optimize("O0")
 
 static bool cin_data(uint8_t *data, uint8_t len, unsigned timeout_ms)

From d26d9585ad5749c04f1061d5a672e110796d2554 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 16:07:13 +1100
Subject: [PATCH 0484/1335] AP_Bootloader: gate call check_good_firmware on
 AP_CHECK_FIRMWARE_ENABLED

this method doesn't exist if that defines doesn't
---
 Tools/AP_Bootloader/AP_Bootloader.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Tools/AP_Bootloader/AP_Bootloader.cpp b/Tools/AP_Bootloader/AP_Bootloader.cpp
index f42271208073ba..7e4b80cad15a4b 100644
--- a/Tools/AP_Bootloader/AP_Bootloader.cpp
+++ b/Tools/AP_Bootloader/AP_Bootloader.cpp
@@ -109,6 +109,7 @@ int main(void)
         try_boot = false;
         timeout = 0;
     }
+#if AP_CHECK_FIRMWARE_ENABLED
     const auto ok = check_good_firmware();
     if (ok != check_fw_result_t::CHECK_FW_OK) {
         // bad firmware CRC, don't try and boot
@@ -116,6 +117,7 @@ int main(void)
         try_boot = false;
         led_set(LED_BAD_FW);
     }
+#endif  // AP_CHECK_FIRMWARE_ENABLED
 #ifndef BOOTLOADER_DEV_LIST
     else if (timeout != 0) {
         // fast boot for good firmware

From 59108e9524a8467db61ac95a58477c4798e2ec13 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 12 Jan 2024 09:40:46 +1100
Subject: [PATCH 0485/1335] Tools: added Alia xplane parameters

---
 .../Frame_params/QuadPlanes/XPlane-Alia.parm  | 130 ++++++++++++++++++
 1 file changed, 130 insertions(+)
 create mode 100644 Tools/Frame_params/QuadPlanes/XPlane-Alia.parm

diff --git a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
new file mode 100644
index 00000000000000..b9e54aae830ea2
--- /dev/null
+++ b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
@@ -0,0 +1,130 @@
+STAB_PITCH_DOWN,4
+TKOFF_TDRAG_ELEV,30
+TKOFF_TDRAG_SPD1,20
+TKOFF_ROTATE_SPD,30
+USE_REV_THRUST,1075
+WP_RADIUS,400
+WP_LOITER_RAD,1000
+RTL_RADIUS,500
+ARSPD_FBW_MIN,30
+ARSPD_FBW_MAX,65
+TERRAIN_FOLLOW,1
+THR_MIN,-25
+THR_SLEWRATE,30
+TRIM_THROTTLE,60
+GROUND_STEER_ALT,10
+TRIM_ARSPD_CM,5200
+SCALING_SPEED,60
+TRIM_PITCH_CD,400
+ALT_HOLD_RTL,25000
+FLAP_1_PERCNT,50
+FLAP_1_SPEED,30
+RTL_AUTOLAND,2
+RELAY1_FUNCTION,1
+Q_ENABLE,1
+Q_M_THST_EXPO,0
+Q_M_SPIN_MIN,0.25
+Q_M_THST_HOVER,0.66
+Q_ANGLE_MAX,1500
+Q_TRANSITION_MS,10000
+Q_P_POSZ_P,0.5
+Q_P_VELZ_P,2.5
+Q_P_POSXY_P,0.1
+Q_P_VELXY_P,0.2
+Q_P_VELXY_I,0.1
+Q_P_VELXY_D,0.059
+Q_VELZ_MAX,500
+Q_WP_SPEED,1500
+Q_WP_SPEED_DN,500
+Q_WP_ACCEL,200
+Q_ASSIST_SPEED,25
+Q_LAND_SPEED,100
+Q_LAND_FINAL_ALT,25
+Q_FRAME_TYPE,3
+Q_VFWD_GAIN,0.3
+Q_RTL_ALT,50
+Q_TRANS_DECEL,0.69
+Q_LOIT_SPEED,1200
+Q_LOIT_ACC_MAX,150
+Q_LOIT_BRK_DELAY,3
+Q_A_SLEW_YAW,2000
+Q_A_ACCEL_Y_MAX,2500
+Q_A_ACCEL_R_MAX,6000
+Q_A_ACCEL_P_MAX,9000
+Q_A_ANG_RLL_P,0.5
+Q_A_ANG_PIT_P,0.25
+Q_A_ANG_YAW_P,0.5
+Q_A_RATE_R_MAX,35
+Q_A_RATE_P_MAX,35
+Q_A_RATE_Y_MAX,35
+Q_A_RAT_RLL_P,0.7835410833358765
+Q_A_RAT_RLL_I,0.7835410833358765
+Q_A_RAT_RLL_D,0.05042541027069092
+Q_A_RAT_RLL_FLTT,10
+Q_A_RAT_PIT_P,1.0936822891235352
+Q_A_RAT_PIT_I,1.0936822891235352
+Q_A_RAT_PIT_D,0.03247206285595894
+Q_A_RAT_PIT_FLTT,10
+Q_A_RAT_YAW_P,2.0000014305114746
+Q_A_RAT_YAW_I,0.20000013709068298
+Q_A_RAT_YAW_D,0.03000001423060894
+Q_A_RAT_YAW_FLTT,10
+Q_A_RAT_YAW_FLTE,2
+Q_A_RAT_YAW_FLTD,10
+RLL2SRV_TCONST,1
+RLL2SRV_RMAX,75
+RLL_RATE_P,0.6642029881477356
+RLL_RATE_I,0.6642029881477356
+RLL_RATE_D,0.019881000742316246
+RLL_RATE_FF,1.2974460124969482
+RLL_RATE_FLTT,0.7957746982574463
+RLL_RATE_FLTD,10
+PTCH2SRV_TCONST,0.75
+PTCH2SRV_RMAX_UP,75
+PTCH2SRV_RMAX_DN,75
+PTCH_RATE_P,0.6644459962844849
+PTCH_RATE_I,0.5014650225639343
+PTCH_RATE_D,0.017854999750852585
+PTCH_RATE_FF,0.5014650225639343
+PTCH_RATE_FLTT,2.122066020965576
+PTCH_RATE_FLTD,10
+SCHED_LOOP_RATE,100
+NAVL1_PERIOD,20
+TECS_CLMB_MAX,15
+TECS_TIME_CONST,8
+TECS_THR_DAMP,2
+TECS_SINK_MAX,15
+TECS_LAND_ARSPD,40
+SIM_OH_RELAY_MSK,-1
+SIM_MAG1_OFS_X,5
+SIM_MAG1_OFS_Y,13
+SIM_MAG1_OFS_Z,-18
+SIM_MAG2_OFS_X,5
+SIM_MAG2_OFS_Y,13
+SIM_MAG2_OFS_Z,-18
+SIM_MAG3_OFS_X,5
+SIM_MAG3_OFS_Y,13
+SIM_MAG3_OFS_Z,-18
+EK3_ENABLE,0
+SERVO1_MIN,1000
+SERVO1_MAX,1700
+SERVO1_TRIM,1374
+SERVO2_MIN,1000
+SERVO2_MAX,2000
+SERVO2_TRIM,1516
+SERVO3_MIN,500
+SERVO3_MAX,2000
+SERVO3_TRIM,982
+SERVO4_MIN,1000
+SERVO4_MAX,2000
+SERVO5_MIN,1500
+SERVO5_FUNCTION,33
+SERVO6_MIN,1000
+SERVO6_FUNCTION,34
+SERVO9_MIN,1300
+SERVO9_MAX,2000
+SERVO9_TRIM,1601
+SERVO9_FUNCTION,4
+SERVO_AUTO_TRIM,1
+LGR_ENABLE,1
+LAND_FLAP_PERCNT,100

From 1748711b99c12b6c4683dcd05f9f73c7a3c7223b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 10:12:16 +1100
Subject: [PATCH 0486/1335] Tools: size_compare_branches.py: restart failed
 threads

---
 Tools/scripts/size_compare_branches.py | 33 +++++++++++++-------------
 1 file changed, 17 insertions(+), 16 deletions(-)

diff --git a/Tools/scripts/size_compare_branches.py b/Tools/scripts/size_compare_branches.py
index 9749569d87bb2a..750fb0afc1fd31 100755
--- a/Tools/scripts/size_compare_branches.py
+++ b/Tools/scripts/size_compare_branches.py
@@ -416,7 +416,7 @@ def parallel_thread_main(self, thread_number):
                 break
             jobs = None
             if self.jobs is not None:
-                jobs = int(self.jobs / self.num_threads_remaining)
+                jobs = int(self.jobs / self.n_threads)
                 if jobs <= 0:
                     jobs = 1
             try:
@@ -436,27 +436,29 @@ def check_result_queue(self):
             self.failure_exceptions.append(result)
 
     def run_build_tasks_in_parallel(self, tasks):
-        n_threads = self.parallel_copies
-        if len(tasks) < n_threads:
-            n_threads = len(tasks)
-        self.num_threads_remaining = n_threads
+        self.n_threads = self.parallel_copies
 
         # shared list for the threads:
         self.parallel_tasks = copy.copy(tasks)  # make this an argument instead?!
         threads = []
         self.thread_exit_result_queue = Queue.Queue()
-        for i in range(0, n_threads):
-            t = threading.Thread(
-                target=self.parallel_thread_main,
-                name=f'task-builder-{i}',
-                args=[i],
-            )
-            t.start()
-            threads.append(t)
         tstart = time.time()
         self.failure_exceptions = []
 
-        while len(threads):
+        thread_number = 0
+        while len(self.parallel_tasks) or len(threads):
+            if len(tasks) < self.n_threads:
+                self.n_threads = len(tasks)
+            while len(threads) < self.n_threads:
+                self.progress(f"Starting thread {thread_number}")
+                t = threading.Thread(
+                    target=self.parallel_thread_main,
+                    name=f'task-builder-{thread_number}',
+                    args=[thread_number],
+                )
+                t.start()
+                threads.append(t)
+                thread_number += 1
 
             self.check_result_queue()
 
@@ -466,10 +468,9 @@ def run_build_tasks_in_parallel(self, tasks):
                 if thread.is_alive():
                     new_threads.append(thread)
             threads = new_threads
-            self.num_threads_remaining = len(threads)
             self.progress(
                 f"remaining-tasks={len(self.parallel_tasks)} " +
-                f"remaining-threads={len(threads)} failed-threads={len(self.failure_exceptions)} elapsed={int(time.time() - tstart)}s")  # noqa
+                f"failed-threads={len(self.failure_exceptions)} elapsed={int(time.time() - tstart)}s")  # noqa
 
             # write out a progress CSV:
             task_results = []

From 34bc01ec7131c4932a2e16130632caa78b6619a0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 10:22:47 +1100
Subject: [PATCH 0487/1335] Tools: size_compare_branches.py: upon process
 failure write out a file containing diagnostics

---
 Tools/scripts/size_compare_branches.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/Tools/scripts/size_compare_branches.py b/Tools/scripts/size_compare_branches.py
index 750fb0afc1fd31..c20a5b70bb11a2 100755
--- a/Tools/scripts/size_compare_branches.py
+++ b/Tools/scripts/size_compare_branches.py
@@ -267,6 +267,12 @@ def run_program(self, prefix, cmd_list, show_output=True, env=None, show_output_
                 print(output)
             self.progress("Process failed (%s)" %
                           str(returncode))
+            try:
+                path = pathlib.Path(self.tmpdir, f"process-failure-{int(time.time())}")
+                path.write_text(output)
+                self.progress("Wrote process failure file (%s)" % path)
+            except Exception:
+                self.progress("Writing process failure file failed")
             raise subprocess.CalledProcessError(
                 returncode, cmd_list)
         return output

From 5fdcd876ee5b6e084b30bb36eccdbac283ac3fa8 Mon Sep 17 00:00:00 2001
From: Davide_Lentini <74407457+DavideLentini@users.noreply.github.com>
Date: Thu, 11 Jan 2024 14:44:36 +0100
Subject: [PATCH 0488/1335] AP_HAL_ChibiOS: Update defaults.parm of
 luminousbee5 board

---
 libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm
index 7b5f96dbdf3501..1d59bcecee582e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm
@@ -48,6 +48,7 @@ BATT_VOLT_MULT,3.28
 BATT_VOLT_PIN,14
 BRD_SAFETYENABLE,0
 BRD_SAFETYOPTION,0
+BRD_SAFETY_DEFLT,0
 CAN_D1_PROTOCOL,0
 CAN_D2_PROTOCOL,0
 COMPASS_AUTODEC,1
@@ -79,6 +80,7 @@ FRSKY_UPLINK_ID,-1
 FS_OPTIONS,20
 FS_THR_ENABLE,0
 FS_VIBE_ENABLE,0
+FENCE_ENABLE,1
 GND_EFFECT_COMP,0
 GPS_AUTO_SWITCH,0
 GPS_GNSS_MODE,0
@@ -101,9 +103,9 @@ INS_HNTC2_MODE,0
 INS_HNTC2_OPTS,0
 INS_HNTC2_REF,0
 INS_HNTCH_ATT,40
-INS_HNTCH_BW,10
+INS_HNTCH_BW,8
 INS_HNTCH_ENABLE,1
-INS_HNTCH_FREQ,50
+INS_HNTCH_FREQ,40
 INS_HNTCH_HMNCS,22
 INS_HNTCH_MODE,3
 INS_HNTCH_OPTS,22
@@ -180,6 +182,7 @@ SERVO_BLH_POLES,12
 SERVO_BLH_TRATE,0
 SERVO_DSHOT_ESC,1
 SERVO_DSHOT_RATE,2
+SERVO_BLH_RVMASK,3
 SHOW_CTRL_MODE,1
 SHOW_CTRL_RATE,10
 SHOW_GROUP,0

From 54144162305c6a105bb1546da26fb72feb64a915 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 11 Jan 2024 08:22:40 +1100
Subject: [PATCH 0489/1335] lwip: update for PPP bridge support

---
 modules/lwip | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/lwip b/modules/lwip
index 0a0452b2c39bdd..143a6a5cb80239 160000
--- a/modules/lwip
+++ b/modules/lwip
@@ -1 +1 @@
-Subproject commit 0a0452b2c39bdd91e252aef045c115f88f6ca773
+Subproject commit 143a6a5cb8023921b5dced55c30551ffb752b640

From 39a1fc9dbd37edf02d4787ef26bb8d54894bbf37 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 9 Jan 2024 07:27:31 +1100
Subject: [PATCH 0490/1335] AP_Networking: added option for PPP<->ethernet
 bridge

when NET_OPTIONS is set to enable PPP bridging both an ethernet and a
PPP link will be brought up, with IP forwarding making the PPP remote
endpoint available on the ethernet LAN
---
 libraries/AP_Networking/AP_Networking.cpp     | 34 +++++++-
 libraries/AP_Networking/AP_Networking.h       | 16 ++++
 .../AP_Networking/AP_Networking_Config.h      | 14 +++
 libraries/AP_Networking/AP_Networking_PPP.cpp | 87 +++++++++++++++++--
 libraries/AP_Networking/config/lwipopts.h     | 31 +++----
 5 files changed, 154 insertions(+), 28 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp
index 87b5147b75f241..dd926a31e541c3 100644
--- a/libraries/AP_Networking/AP_Networking.cpp
+++ b/libraries/AP_Networking/AP_Networking.cpp
@@ -86,6 +86,20 @@ const AP_Param::GroupInfo AP_Networking::var_info[] = {
     AP_SUBGROUPINFO(param.test_ipaddr, "TEST_IP", 8,  AP_Networking, AP_Networking_IPV4),
 #endif
 
+    // @Param: OPTIONS
+    // @DisplayName: Networking options
+    // @Description: Networking options
+    // @Bitmask: 0:EnablePPP Ethernet gateway
+    // @RebootRequired: True
+    // @User: Advanced
+    AP_GROUPINFO("OPTIONS", 9,  AP_Networking,    param.options, 0),
+
+#if AP_NETWORKING_PPP_GATEWAY_ENABLED
+    // @Group: REMPPP_IP
+    // @Path: AP_Networking_address.cpp
+    AP_SUBGROUPINFO(param.remote_ppp_ip, "REMPPP_IP", 10,  AP_Networking, AP_Networking_IPV4),
+#endif
+    
     AP_GROUPEND
 };
 
@@ -129,8 +143,19 @@ void AP_Networking::init()
     }
 #endif
 
+#if AP_NETWORKING_PPP_GATEWAY_ENABLED
+    if (option_is_set(OPTION::PPP_ETHERNET_GATEWAY)) {
+        /*
+          when we are a PPP/Ethernet gateway we bring up the ethernet first
+         */
+        backend = new AP_Networking_ChibiOS(*this);
+        backend_PPP = new AP_Networking_PPP(*this);
+    }
+#endif
+
+
 #if AP_NETWORKING_BACKEND_PPP
-    if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_PPP, 0)) {
+    if (backend == nullptr && AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_PPP, 0)) {
         backend = new AP_Networking_PPP(*this);
     }
 #endif
@@ -158,6 +183,13 @@ void AP_Networking::init()
         return;
     }
 
+#if AP_NETWORKING_PPP_GATEWAY_ENABLED
+    if (backend_PPP != nullptr && !backend_PPP->init()) {
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: backend_PPP init failed");
+        backend_PPP = nullptr;
+    }
+#endif
+
     announce_address_changes();
 
     GCS_SEND_TEXT(MAV_SEVERITY_INFO,"NET: Initialized");
diff --git a/libraries/AP_Networking/AP_Networking.h b/libraries/AP_Networking/AP_Networking.h
index 63936f025b2c50..c83f0e26da2331 100644
--- a/libraries/AP_Networking/AP_Networking.h
+++ b/libraries/AP_Networking/AP_Networking.h
@@ -26,6 +26,7 @@ class AP_Networking
 public:
     friend class AP_Networking_Backend;
     friend class AP_Networking_ChibiOS;
+    friend class AP_Networking_PPP;
     friend class AP_Vehicle;
     friend class Networking_Periph;
 
@@ -149,6 +150,13 @@ class AP_Networking
 
     static const struct AP_Param::GroupInfo var_info[];
 
+    enum class OPTION {
+        PPP_ETHERNET_GATEWAY=(1U<<0),
+    };
+    bool option_is_set(OPTION option) const {
+        return (param.options.get() & int32_t(option)) != 0;
+    }
+
 private:
     static AP_Networking *singleton;
 
@@ -172,10 +180,18 @@ class AP_Networking
         AP_Int32 tests;
         AP_Networking_IPV4 test_ipaddr{AP_NETWORKING_TEST_IP};
 #endif
+
+#if AP_NETWORKING_PPP_GATEWAY_ENABLED
+        AP_Networking_IPV4 remote_ppp_ip{AP_NETWORKING_REMOTE_PPP_IP};
+#endif
     } param;
 
     AP_Networking_Backend *backend;
 
+#if AP_NETWORKING_PPP_GATEWAY_ENABLED
+    AP_Networking_Backend *backend_PPP;
+#endif
+
     HAL_Semaphore sem;
 
     enum class NetworkPortType {
diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index e815b87b5a7c80..d9d8532eeff6eb 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -119,3 +119,17 @@
 #ifndef AP_NETWORKING_SENDFILE_BUFSIZE
 #define AP_NETWORKING_SENDFILE_BUFSIZE (64*512)
 #endif
+
+#ifndef AP_NETWORKING_PPP_GATEWAY_ENABLED
+#define AP_NETWORKING_PPP_GATEWAY_ENABLED (AP_NETWORKING_BACKEND_CHIBIOS && AP_NETWORKING_BACKEND_PPP)
+#endif
+
+/*
+  the IP address given to the remote end of the PPP link when running
+  as a PPP<->ethernet gateway. If this is on the same subnet as the
+  ethernet interface IP then proxyarp will be used
+ */
+#ifndef AP_NETWORKING_REMOTE_PPP_IP
+#define AP_NETWORKING_REMOTE_PPP_IP "0.0.0.0"
+#endif
+
diff --git a/libraries/AP_Networking/AP_Networking_PPP.cpp b/libraries/AP_Networking/AP_Networking_PPP.cpp
index 13929634e79239..18f16f0bdbb56e 100644
--- a/libraries/AP_Networking/AP_Networking_PPP.cpp
+++ b/libraries/AP_Networking/AP_Networking_PPP.cpp
@@ -57,10 +57,17 @@ void AP_Networking_PPP::ppp_status_callback(struct ppp_pcb_s *pcb, int code, voi
     switch (code) {
     case PPPERR_NONE:
         // got new addresses for the link
-        driver.activeSettings.ip = ntohl(netif_ip4_addr(pppif)->addr);
-        driver.activeSettings.gw = ntohl(netif_ip4_gw(pppif)->addr);
-        driver.activeSettings.nm = ntohl(netif_ip4_netmask(pppif)->addr);
-        driver.activeSettings.last_change_ms = AP_HAL::millis();
+#if AP_NETWORKING_PPP_GATEWAY_ENABLED
+        if (driver.frontend.option_is_set(AP_Networking::OPTION::PPP_ETHERNET_GATEWAY)) {
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: got addresses");
+        } else
+#endif
+        {
+            driver.activeSettings.ip = ntohl(netif_ip4_addr(pppif)->addr);
+            driver.activeSettings.gw = ntohl(netif_ip4_gw(pppif)->addr);
+            driver.activeSettings.nm = ntohl(netif_ip4_netmask(pppif)->addr);
+            driver.activeSettings.last_change_ms = AP_HAL::millis();
+        }
         break;
 
     case PPPERR_OPEN:
@@ -94,10 +101,13 @@ bool AP_Networking_PPP::init()
         return false;
     }
 
-    // initialise TCP/IP thread
-    LWIP_TCPIP_LOCK();
-    tcpip_init(NULL, NULL);
-    LWIP_TCPIP_UNLOCK();
+    const bool ethernet_gateway = frontend.option_is_set(AP_Networking::OPTION::PPP_ETHERNET_GATEWAY);
+    if (!ethernet_gateway) {
+        // initialise TCP/IP thread
+        LWIP_TCPIP_LOCK();
+        tcpip_init(NULL, NULL);
+        LWIP_TCPIP_UNLOCK();
+    }
 
     hal.scheduler->delay(100);
     
@@ -127,9 +137,14 @@ void AP_Networking_PPP::ppp_loop(void)
     while (!hal.scheduler->is_system_initialized()) {
         hal.scheduler->delay_microseconds(1000);
     }
+    const bool ppp_gateway = frontend.option_is_set(AP_Networking::OPTION::PPP_ETHERNET_GATEWAY);
+    if (ppp_gateway) {
+        // wait for the ethernet interface to be up
+        AP::network().startup_wait();
+    }
 
     // ensure this thread owns the uart
-    uart->begin(0);
+    uart->begin(AP::serialmanager().find_baudrate(AP_SerialManager::SerialProtocol_PPP, 0));
     uart->set_unbuffered_writes(true);
 
     while (true) {
@@ -137,9 +152,63 @@ void AP_Networking_PPP::ppp_loop(void)
 
         // connect and set as default route
         LWIP_TCPIP_LOCK();
+
+#if AP_NETWORKING_PPP_GATEWAY_ENABLED
+        if (ppp_gateway) {
+            /*
+              when bridging setup the ppp interface with the same IP
+              as the ethernet interface, and set the remote IP address
+              as the local address + 1
+             */
+            ip4_addr_t our_ip, his_ip;
+            const uint32_t ip = frontend.get_ip_active();
+            uint32_t rem_ip = frontend.param.remote_ppp_ip.get_uint32();
+            if (rem_ip == 0) {
+                // use ethernet IP +1 by default
+                rem_ip = ip+1;
+            }
+            our_ip.addr = htonl(ip);
+            his_ip.addr = htonl(rem_ip);
+            ppp_set_ipcp_ouraddr(ppp, &our_ip);
+            ppp_set_ipcp_hisaddr(ppp, &his_ip);
+            if (netif_list != nullptr) {
+                const uint32_t nmask = frontend.get_netmask_param();
+                if ((ip & nmask) == (rem_ip & nmask)) {
+                    // remote PPP IP is on the same subnet as the
+                    // local ethernet IP, so enable proxyarp to avoid
+                    // users having to setup routes in all devices
+                    netif_set_proxyarp(netif_list, &his_ip);
+                }
+            }
+        }
+
+        // connect to the remote end
         ppp_connect(ppp, 0);
 
+        if (ppp_gateway) {
+            extern struct netif *netif_list;
+            /*
+              when we are setup as a PPP gateway we want the pppif to be
+              first in the list so routing works if it is on the same
+              subnet
+            */
+            if (netif_list != nullptr &&
+                netif_list->next != nullptr &&
+                netif_list->next->next == pppif) {
+                netif_list->next->next = nullptr;
+                pppif->next = netif_list;
+                netif_list = pppif;
+            }
+        } else {
+            netif_set_default(pppif);
+        }
+#else
+        // normal PPP link, connect to the remote end and set as the
+        // default route
+        ppp_connect(ppp, 0);
         netif_set_default(pppif);
+#endif // AP_NETWORKING_PPP_GATEWAY_ENABLED
+
         LWIP_TCPIP_UNLOCK();
 
         need_restart = false;
diff --git a/libraries/AP_Networking/config/lwipopts.h b/libraries/AP_Networking/config/lwipopts.h
index 8da2750f279731..78ea48e8270271 100644
--- a/libraries/AP_Networking/config/lwipopts.h
+++ b/libraries/AP_Networking/config/lwipopts.h
@@ -74,7 +74,6 @@ extern "C"
 #define LWIP_ICMP                  LWIP_IPV4
 
 #define LWIP_SNMP                  LWIP_UDP
-#define MIB2_STATS                 LWIP_SNMP
 #ifdef LWIP_HAVE_MBEDTLS
 #define LWIP_SNMP_V3               (LWIP_SNMP)
 #endif
@@ -255,6 +254,7 @@ a lot of data that needs to be copied, this should be set high. */
 #define LWIP_ARP                1
 #define ARP_TABLE_SIZE          10
 #define ARP_QUEUEING            1
+#define ARP_PROXYARP_SUPPORT    1
 
 
 /* ---------- IP options ---------- */
@@ -263,6 +263,12 @@ a lot of data that needs to be copied, this should be set high. */
    on a device with only one network interface, define this to 0. */
 #define IP_FORWARD              1
 
+/*
+  extra header space when forwarding for adding the ethernet header
+*/
+#define PBUF_LINK_HLEN          16
+
+
 /* IP reassembly and segmentation.These are orthogonal even
  * if they both deal with IP fragments */
 #define IP_REASSEMBLY           1
@@ -302,22 +308,8 @@ a lot of data that needs to be copied, this should be set high. */
 
 /* ---------- Statistics options ---------- */
 
-#define LWIP_STATS              1
-#define LWIP_STATS_DISPLAY      1
-
-#if LWIP_STATS
-#define LINK_STATS              1
-#define IP_STATS                1
-#define ICMP_STATS              1
-#define IGMP_STATS              1
-#define IPFRAG_STATS            1
-#define UDP_STATS               1
-#define TCP_STATS               1
-#define MEM_STATS               1
-#define MEMP_STATS              1
-#define PBUF_STATS              1
-#define SYS_STATS               1
-#endif /* LWIP_STATS */
+#define LWIP_STATS              0
+#define LWIP_STATS_DISPLAY      0
 
 /* ---------- NETBIOS options ---------- */
 #define LWIP_NETBIOS_RESPOND_NAME_QUERY 1
@@ -343,7 +335,10 @@ a lot of data that needs to be copied, this should be set high. */
 #define MSCHAP_SUPPORT          0      /* Set > 0 for MSCHAP */
 #define CBCP_SUPPORT            0      /* Set > 0 for CBCP (NOT FUNCTIONAL!) */
 #define CCP_SUPPORT             0      /* Set > 0 for CCP */
-#define VJ_SUPPORT              1      /* Set > 0 for VJ header compression. */
+/*
+  VJ support disabled due to bugs with IP forwarding
+ */
+#define VJ_SUPPORT              0      /* Set > 0 for VJ header compression. */
 #define MD5_SUPPORT             0      /* Set > 0 for MD5 (see also CHAP) */
 
 #endif /* PPP_SUPPORT */

From 458d8cad4e8ea079d55b00fe1207c8c1bdbe8ebc Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 11 Jan 2024 15:01:43 +1100
Subject: [PATCH 0491/1335] Tools: added Pixhawk6X-PPPGW board

---
 Tools/AP_Bootloader/board_types.txt | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
index 27bfe00e6a5ad0..4344ef812c6df0 100644
--- a/Tools/AP_Bootloader/board_types.txt
+++ b/Tools/AP_Bootloader/board_types.txt
@@ -272,6 +272,9 @@ AP_HW_VIMDRONES_MOSAIC_X5            1405
 AP_HW_VIMDRONES_MOSAIC_H             1406
 AP_HW_VIMDRONES_PERIPH               1407
 
+AP_HW_PIXHAWK6X_PERIPH               1408
+
+
 # IDs 5000-5099 reserved for Carbonix
 # IDs 5100-5199 reserved for SYPAQ Systems
 # IDs 5200-5209 reserved for Airvolute

From 44bc523db834c2af909261d2579f106cd0ca368c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 11 Jan 2024 15:02:13 +1100
Subject: [PATCH 0492/1335] AP_Periph: added support for PPP gatewate
 peripheral

---
 Tools/AP_Periph/AP_Periph.cpp  |  8 ++++----
 Tools/AP_Periph/networking.cpp | 20 ++++++++++++++++++++
 Tools/AP_Periph/networking.h   | 16 ++++++++++++++--
 3 files changed, 38 insertions(+), 6 deletions(-)

diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
index 78cc920c1df8b3..41bf37b92c9d20 100644
--- a/Tools/AP_Periph/AP_Periph.cpp
+++ b/Tools/AP_Periph/AP_Periph.cpp
@@ -100,16 +100,16 @@ void AP_Periph_FW::init()
 
     can_start();
 
-#ifdef HAL_PERIPH_ENABLE_NETWORKING
-    networking_periph.init();
-#endif
-
 #if HAL_GCS_ENABLED
     stm32_watchdog_pat();
     gcs().init();
 #endif
     serial_manager.init();
 
+#ifdef HAL_PERIPH_ENABLE_NETWORKING
+    networking_periph.init();
+#endif
+
 #if HAL_GCS_ENABLED
     gcs().setup_console();
     gcs().setup_uarts();
diff --git a/Tools/AP_Periph/networking.cpp b/Tools/AP_Periph/networking.cpp
index 8ac256850cd9b9..41fb6ee0426036 100644
--- a/Tools/AP_Periph/networking.cpp
+++ b/Tools/AP_Periph/networking.cpp
@@ -137,12 +137,32 @@ const AP_Param::GroupInfo Networking_Periph::var_info[] {
     AP_SUBGROUPINFO(passthru[8], "PASS9_", 19, Networking_Periph, Passthru),
 #endif
 
+#if AP_NETWORKING_BACKEND_PPP
+    // @Param: PPP_PORT
+    // @DisplayName: PPP serial port
+    // @Description: PPP serial port
+    // @Range: -1 10
+    AP_GROUPINFO("PPP_PORT", 20, Networking_Periph, ppp_port, AP_PERIPH_NET_PPP_PORT_DEFAULT),
+
+    // @Param: PPP_BAUD
+    // @DisplayName: PPP serial baudrate
+    // @Description: PPP serial baudrate
+    // @CopyFieldsFrom: SERIAL1_BAUD
+    AP_GROUPINFO("PPP_BAUD", 21, Networking_Periph, ppp_baud, AP_PERIPH_NET_PPP_BAUD_DEFAULT),
+#endif
+
     AP_GROUPEND
 };
 
 
 void Networking_Periph::init(void)
 {
+#if AP_NETWORKING_BACKEND_PPP
+    if (ppp_port >= 0) {
+        AP::serialmanager().set_protocol_and_baud(ppp_port, AP_SerialManager::SerialProtocol_PPP, ppp_baud.get());
+    }
+#endif
+
     networking_lib.init();
 
 #if HAL_PERIPH_NETWORK_NUM_PASSTHRU > 0
diff --git a/Tools/AP_Periph/networking.h b/Tools/AP_Periph/networking.h
index 6b7f857fdcde8c..71cdc1754ea3af 100644
--- a/Tools/AP_Periph/networking.h
+++ b/Tools/AP_Periph/networking.h
@@ -10,6 +10,14 @@
 #define HAL_PERIPH_NETWORK_NUM_PASSTHRU 2
 #endif
 
+#ifndef AP_PERIPH_NET_PPP_PORT_DEFAULT
+#define AP_PERIPH_NET_PPP_PORT_DEFAULT -1
+#endif
+
+#ifndef AP_PERIPH_NET_PPP_BAUD_DEFAULT
+#define AP_PERIPH_NET_PPP_BAUD_DEFAULT 12500000
+#endif
+
 class Networking_Periph {
 public:
     Networking_Periph() {
@@ -54,7 +62,11 @@ class Networking_Periph {
 #endif // HAL_PERIPH_NETWORK_NUM_PASSTHRU
 
     AP_Networking networking_lib;
-};
 
-#endif // HAL_PERIPH_ENABLE_BATTERY_BALANCE
+#if AP_NETWORKING_BACKEND_PPP
+    AP_Int8 ppp_port;
+    AP_Int32 ppp_baud;
+#endif
+};
 
+#endif // HAL_PERIPH_ENABLE_NETWORKING

From 280d7c6d15f9df4179de73ac2d01201e072443b4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 12 Jan 2024 14:23:25 +1100
Subject: [PATCH 0493/1335] hwdef: added CubePilot-PPPGW

---
 .../hwdef/CubePilot-PPPGW/defaults.parm       |  5 +++++
 .../hwdef/CubePilot-PPPGW/hwdef-bl.dat        |  1 +
 .../hwdef/CubePilot-PPPGW/hwdef.dat           | 21 +++++++++++++++++++
 3 files changed, 27 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/defaults.parm
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/defaults.parm
new file mode 100644
index 00000000000000..a10bbb4937c85f
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/defaults.parm
@@ -0,0 +1,5 @@
+NET_ENABLED 1
+
+# enable hw flow control
+UART1_RTSCTS 1
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat
new file mode 100644
index 00000000000000..dbde2799b74f11
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat
@@ -0,0 +1 @@
+include ../CubePilot-CANMod/hwdef-bl.dat
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat
new file mode 100644
index 00000000000000..dfaed04510e9c3
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat
@@ -0,0 +1,21 @@
+include ../CubePilot-CANMod/hwdef.dat
+
+# we need RTS/CTS for the PPP link
+undef PD14
+undef PD13
+undef PE0
+undef PE1
+
+# need to use UART8 to get RTS/CTS
+PE1 UART8_TX UART8
+PE0 UART8_RX UART8
+PD13 UART8_RTS UART8
+PD14 UART8_CTS UART8
+
+SERIAL_ORDER OTG1 UART8
+
+define HAL_PERIPH_ENABLE_SERIAL_OPTIONS
+define AP_NETWORKING_BACKEND_PPP 1
+
+define AP_PERIPH_NET_PPP_PORT_DEFAULT 1
+define AP_PERIPH_NET_PPP_BAUD_DEFAULT 12500000

From ee6478b465b8f354162046feb572e58d6e0752a4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 12 Jan 2024 14:23:48 +1100
Subject: [PATCH 0494/1335] Tools: added CubePilot-PPPGW bootloader

---
 Tools/bootloaders/CubePilot-PPPGW_bl.bin | Bin 0 -> 31136 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100755 Tools/bootloaders/CubePilot-PPPGW_bl.bin

diff --git a/Tools/bootloaders/CubePilot-PPPGW_bl.bin b/Tools/bootloaders/CubePilot-PPPGW_bl.bin
new file mode 100755
index 0000000000000000000000000000000000000000..91f4c3cc91a6b3842fcb15d271b8db7cc55d87c8
GIT binary patch
literal 31136
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From 2c946b92e9b80618ed95d60aab6b4c4f36431c66 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 12 Jan 2024 14:24:55 +1100
Subject: [PATCH 0495/1335] hwdef: added Pixhawk6X-PPPGW

---
 .../hwdef/Pixhawk6X-PPPGW/defaults.parm       |  7 +++
 .../hwdef/Pixhawk6X-PPPGW/hwdef.dat           | 57 +++++++++++++++++++
 2 files changed, 64 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/defaults.parm
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/defaults.parm
new file mode 100644
index 00000000000000..6ce9cad8f915f6
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/defaults.parm
@@ -0,0 +1,7 @@
+NET_ENABLED 1
+
+# enable hw flow control
+UART1_RTSCTS 1
+
+# swap TX and RX
+UART1_OPTIONS 8
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
new file mode 100644
index 00000000000000..b9a4f3d6d82876
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
@@ -0,0 +1,57 @@
+include ../Pixhawk6X/hwdef.dat
+
+undef IOMCU_UART
+undef USART6
+undef ROMFS
+undef HAL_HAVE_SAFETY_SWITCH
+undef HAL_WITH_IO_MCU_BIDIR_DSHOT
+undef COMPASS
+undef BARO
+
+define AP_ADVANCEDFAILSAFE_ENABLED 0
+
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_PIXHAWK6X_PERIPH
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+define AP_CAN_SLCAN_ENABLED 0
+
+define HAL_PERIPH_ENABLE_NETWORKING
+define HAL_PERIPH_ENABLE_SERIAL_OPTIONS
+
+define AP_NETWORKING_BACKEND_PPP 1
+
+define HAL_NO_MONITOR_THREAD
+define HAL_DISABLE_LOOP_DELAY
+
+define HAL_USE_RTC FALSE
+define DISABLE_SERIAL_ESC_COMM TRUE
+
+define HAL_NO_RCIN_THREAD
+
+define AP_SCRIPTING_ENABLED 0
+
+# use blue LED
+define HAL_GPIO_PIN_LED HAL_GPIO_PIN_LED_BLUE
+
+undef HAL_OS_FATFS_IO
+
+undef SDMMC1
+
+MAIN_STACK 0x2000
+PROCESS_STACK 0x6000
+
+define HAL_CAN_DRIVER_DEFAULT 1
+
+# listen for reboot command from uploader.py script
+# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
+define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
+
+// use main fw bootloader
+define AP_BOOTLOADER_FLASHING_ENABLED 0
+
+define AP_PERIPH_NET_PPP_PORT_DEFAULT 1
+define AP_PERIPH_NET_PPP_BAUD_DEFAULT 12500000

From 625b7b6ab7ba886cd45a090407d0f42deccbe82f Mon Sep 17 00:00:00 2001
From: Mehmet Keten <mehmet-keten1@hotmail.com>
Date: Sat, 13 Jan 2024 01:51:49 +0300
Subject: [PATCH 0496/1335] Tools: added name to GIT_Success.txt

---
 Tools/GIT_Test/GIT_Success.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Tools/GIT_Test/GIT_Success.txt b/Tools/GIT_Test/GIT_Success.txt
index abada8657bd71a..82f59f568a52ef 100644
--- a/Tools/GIT_Test/GIT_Success.txt
+++ b/Tools/GIT_Test/GIT_Success.txt
@@ -177,6 +177,7 @@ Torre Orazio
 seba czapnik
 Ramy Gad
 Matthew R. Cunningham
+Mehmet Keten
 prathap devendran (Tamil) india, 11-23
 Taqwaisneeded
-FreeName
\ No newline at end of file
+FreeName

From 9202a33ff47efa618967d74d1d066558006d8729 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 13 Jan 2024 12:20:33 +1100
Subject: [PATCH 0497/1335] AP_Scripting: added networking bindings and allow
 uart calls without GCS

this allows for useful lua scripts on non-heavy peripherals
---
 .../AP_Scripting/generator/description/bindings.desc   | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 5788f9c64c1cf8..909defc96aa622 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -387,7 +387,6 @@ singleton RC_Channels method get_aux_cached boolean RC_Channel::AUX_FUNC'enum 0
 
 include AP_SerialManager/AP_SerialManager.h
 
-ap_object AP_HAL::UARTDriver depends HAL_GCS_ENABLED
 ap_object AP_HAL::UARTDriver method begin void uint32_t 1U UINT32_MAX
 ap_object AP_HAL::UARTDriver method read int16_t
 ap_object AP_HAL::UARTDriver manual readstring AP_HAL__UARTDriver_readstring 1
@@ -888,3 +887,12 @@ singleton AP_RTC depends AP_RTC_ENABLED
 singleton AP_RTC rename rtc
 singleton AP_RTC method clock_s_to_date_fields boolean uint32_t'skip_check uint16_t'Null uint8_t'Null uint8_t'Null uint8_t'Null uint8_t'Null uint8_t'Null uint8_t'Null
 singleton AP_RTC method date_fields_to_clock_s uint32_t uint16_t'skip_check int8_t'skip_check uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check
+
+include AP_Networking/AP_Networking.h depends AP_NETWORKING_ENABLED
+include AP_Networking/AP_Networking_Config.h
+singleton AP_Networking depends AP_NETWORKING_ENABLED
+singleton AP_Networking rename networking
+singleton AP_Networking method get_ip_active uint32_t
+singleton AP_Networking method get_netmask_active uint32_t
+singleton AP_Networking method get_gateway_active uint32_t
+singleton AP_Networking method address_to_str string uint32_t'skip_check

From 30546f290328530b6d1b2b2a2b3bd7c406151639 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 13 Jan 2024 12:20:51 +1100
Subject: [PATCH 0498/1335] AP_Networking: added address_to_str() for scripting

---
 libraries/AP_Networking/AP_Networking.cpp | 7 +++++++
 libraries/AP_Networking/AP_Networking.h   | 3 +++
 2 files changed, 10 insertions(+)

diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp
index dd926a31e541c3..303b50ab9861b6 100644
--- a/libraries/AP_Networking/AP_Networking.cpp
+++ b/libraries/AP_Networking/AP_Networking.cpp
@@ -442,6 +442,13 @@ int ap_networking_printf(const char *fmt, ...)
     return 0;
 }
 
+// address to string using a static return buffer
+const char *AP_Networking::address_to_str(uint32_t addr)
+{
+    static char buf[16]; // 16 for aaa.bbb.ccc.ddd
+    return SocketAPM::inet_addr_to_str(addr, buf, sizeof(buf));
+}
+
 #ifdef LWIP_PLATFORM_ASSERT
 void ap_networking_platform_assert(const char *msg, int line, const char *file)
 {
diff --git a/libraries/AP_Networking/AP_Networking.h b/libraries/AP_Networking/AP_Networking.h
index c83f0e26da2331..f5db359962fddd 100644
--- a/libraries/AP_Networking/AP_Networking.h
+++ b/libraries/AP_Networking/AP_Networking.h
@@ -139,6 +139,9 @@ class AP_Networking
     // convert string to ethernet mac address
     static bool convert_str_to_macaddr(const char *mac_str, uint8_t addr[6]);
 
+    // address to string using a static return buffer for scripting
+    static const char *address_to_str(uint32_t addr);
+    
     // helper functions to convert between 32bit Netmask and counting consecutive bits and back
     static uint32_t convert_netmask_bitcount_to_ip(const uint32_t netmask_bitcount);
     static uint8_t convert_netmask_ip_to_bitcount(const uint32_t netmask_ip);

From faea203af691537cfec885f8172e019587a5f1fc Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 13 Jan 2024 12:21:43 +1100
Subject: [PATCH 0499/1335] hwdef: added web UI to PPPGW example

---
 .../hwdef/Pixhawk6X-PPPGW/defaults.parm       |   7 +
 .../hwdef/Pixhawk6X-PPPGW/hwdef.dat           |  13 +-
 .../Pixhawk6X-PPPGW/scripts/pppgw_webui.lua   | 962 ++++++++++++++++++
 3 files changed, 980 insertions(+), 2 deletions(-)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/scripts/pppgw_webui.lua

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/defaults.parm
index 6ce9cad8f915f6..89ab4beebb035b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/defaults.parm
@@ -1,7 +1,14 @@
 NET_ENABLED 1
+NET_OPTIONS 1
 
 # enable hw flow control
 UART1_RTSCTS 1
 
 # swap TX and RX
 UART1_OPTIONS 8
+
+SCR_ENABLE 1
+SCR_VM_I_COUNT 1000000
+
+WEB_ENABLE 1
+WEB_PORT 80
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
index b9a4f3d6d82876..e6a89919116c34 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
@@ -32,8 +32,6 @@ define DISABLE_SERIAL_ESC_COMM TRUE
 
 define HAL_NO_RCIN_THREAD
 
-define AP_SCRIPTING_ENABLED 0
-
 # use blue LED
 define HAL_GPIO_PIN_LED HAL_GPIO_PIN_LED_BLUE
 
@@ -55,3 +53,14 @@ define AP_BOOTLOADER_FLASHING_ENABLED 0
 
 define AP_PERIPH_NET_PPP_PORT_DEFAULT 1
 define AP_PERIPH_NET_PPP_BAUD_DEFAULT 12500000
+
+// add scripting for web interface
+define AP_SCRIPTING_ENABLED 1
+
+// ROMFS filesystem only
+define AP_FILESYSTEM_ROMFS_ENABLED 1
+
+// allow scripts to add parameters
+define AP_PARAM_DYNAMIC_ENABLED 1
+
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/scripts/pppgw_webui.lua b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/scripts/pppgw_webui.lua
new file mode 100644
index 00000000000000..b7f9854e4d7611
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/scripts/pppgw_webui.lua
@@ -0,0 +1,962 @@
+--[[
+   example script to test lua socket API
+--]]
+
+PARAM_TABLE_KEY = 47
+PARAM_TABLE_PREFIX = "WEB_"
+
+-- add a parameter and bind it to a variable
+function bind_add_param(name, idx, default_value)
+    assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
+    return Parameter(PARAM_TABLE_PREFIX .. name)
+end
+
+-- Setup Parameters
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 6), 'net_test: could not add param table')
+
+--[[
+  // @Param: WEB_ENABLE
+  // @DisplayName: enable web server
+  // @Description: enable web server
+  // @Values: 0:Disabled,1:Enabled
+  // @User: Standard
+--]]
+local WEB_ENABLE = bind_add_param('ENABLE',  1, 1)
+
+--[[
+  // @Param: WEB_BIND_PORT
+  // @DisplayName: web server TCP port
+  // @Description: web server TCP port
+  // @Range: 1 65535
+  // @User: Standard
+--]]
+local WEB_BIND_PORT = bind_add_param('BIND_PORT', 2, 80)
+
+--[[
+  // @Param: WEB_DEBUG
+  // @DisplayName: web server debugging
+  // @Description: web server debugging
+  // @Values: 0:Disabled,1:Enabled
+  // @User: Advanced
+--]]
+local WEB_DEBUG = bind_add_param('DEBUG', 3, 0)
+
+--[[
+  // @Param: WEB_BLOCK_SIZE
+  // @DisplayName: web server block size
+  // @Description: web server block size for download
+  // @Range: 1 65535
+  // @User: Advanced
+--]]
+local WEB_BLOCK_SIZE = bind_add_param('BLOCK_SIZE', 4, 10240)
+
+--[[
+  // @Param: WEB_TIMEOUT
+  // @DisplayName: web server timeout
+  // @Description: timeout for inactive connections
+  // @Units: s
+  // @Range: 0.1 60
+  // @User: Advanced
+--]]
+local WEB_TIMEOUT = bind_add_param('TIMEOUT', 5, 2.0)
+
+--[[
+  // @Param: WEB_SENDFILE_MIN
+  // @DisplayName: web server minimum file size for sendfile
+  // @Description: sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
+  // @Range: 0 10000000
+  // @User: Advanced
+--]]
+local WEB_SENDFILE_MIN = bind_add_param('SENDFILE_MIN', 6, 100000)
+
+if WEB_ENABLE:get() ~= 1 then
+   periph:can_printf("WebServer: disabled")
+   return
+end
+
+periph:can_printf(string.format("WebServer: starting on port %u", WEB_BIND_PORT:get()))
+
+local sock_listen = Socket(0)
+local clients = {}
+
+local DOCTYPE = "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 3.2 Final//EN\">"
+local SERVER_VERSION = "net_webserver 1.0"
+local CONTENT_TEXT_HTML = "text/html;charset=UTF-8"
+local CONTENT_OCTET_STREAM = "application/octet-stream"
+
+local HIDDEN_FOLDERS = { "@SYS", "@ROMFS", "@MISSION", "@PARAM" }
+
+local MNT_PREFIX = "/mnt"
+local MNT_PREFIX2 = MNT_PREFIX .. "/"
+
+local MIME_TYPES = {
+   ["apj"] = CONTENT_OCTET_STREAM,
+   ["dat"] = CONTENT_OCTET_STREAM,
+   ["o"] = CONTENT_OCTET_STREAM,
+   ["obj"] = CONTENT_OCTET_STREAM,
+   ["lua"] = "text/x-lua",
+   ["py"] = "text/x-python",
+   ["shtml"] = CONTENT_TEXT_HTML,
+   ["js"] = "text/javascript",
+   -- thanks to https://developer.mozilla.org/en-US/docs/Web/HTTP/Basics_of_HTTP/MIME_types/Common_types
+   ["aac"] = "audio/aac",
+   ["abw"] = "application/x-abiword",
+   ["arc"] = "application/x-freearc",
+   ["avif"] = "image/avif",
+   ["avi"] = "video/x-msvideo",
+   ["azw"] = "application/vnd.amazon.ebook",
+   ["bin"] = "application/octet-stream",
+   ["bmp"] = "image/bmp",
+   ["bz"] = "application/x-bzip",
+   ["bz2"] = "application/x-bzip2",
+   ["cda"] = "application/x-cdf",
+   ["csh"] = "application/x-csh",
+   ["css"] = "text/css",
+   ["csv"] = "text/csv",
+   ["doc"] = "application/msword",
+   ["docx"] = "application/vnd.openxmlformats-officedocument.wordprocessingml.document",
+   ["eot"] = "application/vnd.ms-fontobject",
+   ["epub"] = "application/epub+zip",
+   ["gz"] = "application/gzip",
+   ["gif"] = "image/gif",
+   ["htm"] = CONTENT_TEXT_HTML,
+   ["html"] = CONTENT_TEXT_HTML,
+   ["ico"] = "image/vnd.microsoft.icon",
+   ["ics"] = "text/calendar",
+   ["jar"] = "application/java-archive",
+   ["jpeg"] = "image/jpeg",
+   ["json"] = "application/json",
+   ["jsonld"] = "application/ld+json",
+   ["mid"] = "audio/x-midi",
+   ["mjs"] = "text/javascript",
+   ["mp3"] = "audio/mpeg",
+   ["mp4"] = "video/mp4",
+   ["mpeg"] = "video/mpeg",
+   ["mpkg"] = "application/vnd.apple.installer+xml",
+   ["odp"] = "application/vnd.oasis.opendocument.presentation",
+   ["ods"] = "application/vnd.oasis.opendocument.spreadsheet",
+   ["odt"] = "application/vnd.oasis.opendocument.text",
+   ["oga"] = "audio/ogg",
+   ["ogv"] = "video/ogg",
+   ["ogx"] = "application/ogg",
+   ["opus"] = "audio/opus",
+   ["otf"] = "font/otf",
+   ["png"] = "image/png",
+   ["pdf"] = "application/pdf",
+   ["php"] = "application/x-httpd-php",
+   ["ppt"] = "application/vnd.ms-powerpoint",
+   ["pptx"] = "application/vnd.openxmlformats-officedocument.presentationml.presentation",
+   ["rar"] = "application/vnd.rar",
+   ["rtf"] = "application/rtf",
+   ["sh"] = "application/x-sh",
+   ["svg"] = "image/svg+xml",
+   ["tar"] = "application/x-tar",
+   ["tif"] = "image/tiff",
+   ["tiff"] = "image/tiff",
+   ["ts"] = "video/mp2t",
+   ["ttf"] = "font/ttf",
+   ["txt"] = "text/plain",
+   ["vsd"] = "application/vnd.visio",
+   ["wav"] = "audio/wav",
+   ["weba"] = "audio/webm",
+   ["webm"] = "video/webm",
+   ["webp"] = "image/webp",
+   ["woff"] = "font/woff",
+   ["woff2"] = "font/woff2",
+   ["xhtml"] = "application/xhtml+xml",
+   ["xls"] = "application/vnd.ms-excel",
+   ["xlsx"] = "application/vnd.openxmlformats-officedocument.spreadsheetml.sheet",
+   ["xml"] = "default.",
+   ["xul"] = "application/vnd.mozilla.xul+xml",
+   ["zip"] = "application/zip",
+   ["3gp"] = "video",
+   ["3g2"] = "video",
+   ["7z"] = "application/x-7z-compressed",
+}
+
+--[[
+ builtin dynamic pages
+--]]
+local DYNAMIC_PAGES = {
+
+-- main home page
+["/"] = [[
+<!doctype html>
+<html lang="en">
+
+<head>
+    <meta charset="utf-8">
+    <title>ArduPilot</title>
+    <script>
+      <?lstr JS_LIBRARY['dynamic_load']?>
+    </script>
+</head>
+
+<h2>ArduPilot PPP Gateway</h2>
+<body onload="javascript: dynamic_load('board_status','/@DYNAMIC/board_status.shtml',1000)">
+
+  <div id="main">
+    <ul>
+      <li><a href="mnt/">Filesystem Access</a></li>
+    </ul>
+    </div>
+<h2>Controller Status</h2>
+  <div id="board_status"></div>
+</body>
+</html>
+]],    
+   
+-- board status section on front page
+["@DYNAMIC/board_status.shtml"] = [[
+         <table>
+         <tr><td>Firmware</td><td><?lstr FWVersion:string() ?></td></tr>
+         <tr><td>GIT Hash</td><td><?lstr FWVersion:hash() ?></td></tr>
+         <tr><td>Uptime</td><td><?lstr hms_uptime() ?></td></tr>
+         <tr><td>IP</td><td><?lstr networking:address_to_str(networking:get_ip_active()) ?></td></tr>
+         <tr><td>Netmask</td><td><?lstr networking:address_to_str(networking:get_netmask_active()) ?></td></tr>
+         <tr><td>Gateway</td><td><?lstr networking:address_to_str(networking:get_gateway_active()) ?></td></tr>
+         </table>
+]]
+}
+
+--[[
+ builtin javascript library functions
+--]]
+JS_LIBRARY = {
+   ["dynamic_load"] = [[
+      function dynamic_load(div_id, uri, period_ms) {
+          var xhr = new XMLHttpRequest();
+          xhr.open('GET', uri);
+          
+          xhr.setRequestHeader("Cache-Control", "no-cache, no-store, max-age=0");
+          xhr.setRequestHeader("Expires", "Tue, 01 Jan 1980 1:00:00 GMT");
+          xhr.setRequestHeader("Pragma", "no-cache");
+          
+          xhr.onload = function () {
+              if (xhr.status === 200) {
+                 var output = document.getElementById(div_id);
+                 if (uri.endsWith('.shtml') || uri.endsWith('.html')) {
+                  output.innerHTML = xhr.responseText;
+                 } else {
+                  output.textContent = xhr.responseText;
+                 }
+              }
+              setTimeout(function() { dynamic_load(div_id,uri, period_ms); }, period_ms);
+          }
+          xhr.send();
+     }
+]]
+}
+
+if not sock_listen:bind("0.0.0.0", WEB_BIND_PORT:get()) then
+   periph:can_printf(string.format("WebServer: failed to bind to TCP %u", WEB_BIND_PORT:get()))
+   return
+end
+
+if not sock_listen:listen(20) then
+   periph:can_printf("WebServer: failed to listen")
+   return
+end
+
+function hms_uptime()
+   local s = (millis()/1000):toint()
+   local min = math.floor(s / 60) % 60
+   local hr = math.floor(s / 3600)
+   return string.format("%u hours %u minutes %u seconds", hr, min, s%60)
+end
+
+--[[
+   split string by pattern
+--]]
+local function split(str, pattern)
+   local ret = {}
+   for s in string.gmatch(str, pattern) do
+      table.insert(ret, s)
+   end
+   return ret
+end
+
+--[[
+   return true if a string ends in the 2nd string
+--]]
+local function endswith(str, s)
+   local len1 = #str
+   local len2 = #s
+   return string.sub(str,1+len1-len2,len1) == s
+end
+
+--[[
+   return true if a string starts with the 2nd string
+--]]
+local function startswith(str, s)
+   return string.sub(str,1,#s) == s
+end
+
+local debug_count=0
+
+function DEBUG(txt)
+   if WEB_DEBUG:get() ~= 0 then
+      periph:can_printf(txt .. string.format(" [%u]", debug_count))
+      debug_count = debug_count + 1
+   end
+end
+
+--[[
+   return index of element in a table
+--]]
+function table_index(t,el)
+   for i,v in ipairs(t) do
+      if v == el then
+         return i
+      end
+   end
+   return nil
+end
+
+--[[
+   return true if a table contains a given element
+--]]
+function table_contains(t,el)
+   local i = table_index(t, el)
+   return i ~= nil
+end
+
+function is_hidden_dir(path)
+   return table_contains(HIDDEN_FOLDERS, path)
+end
+
+local DAYS = { "Sun", "Mon", "Tue", "Wed", "Thu", "Fri", "Sat" }
+local MONTHS = { "Jan", "Feb", "Mar", "Apr", "May", "Jun", "Jul", "Aug", "Sep", "Oct", "Nov", "Dec" }
+
+function isdirectory(path)
+   local s = fs:stat(path)
+   return s and s:is_directory()
+end
+
+--[[
+   time string for directory listings
+--]]
+function file_timestring(path)
+   local s = fs:stat(path)
+   if not s then
+      return ""
+   end
+   local mtime = s:mtime()
+   local year, month, day, hour, min, sec, _ = rtc:clock_s_to_date_fields(mtime)
+   if not year then
+      return ""
+   end
+   return string.format("%04u-%02u-%02u %02u:%02u", year, month+1, day, hour, min, sec)
+end
+
+--[[
+   time string for Last-Modified
+--]]
+function file_timestring_http(mtime)
+   local year, month, day, hour, min, sec, wday = rtc:clock_s_to_date_fields(mtime)
+   if not year then
+      return ""
+   end
+   return string.format("%s, %02u %s %u %02u:%02u:%02u GMT",
+                        DAYS[wday+1],
+                        day,
+                        MONTHS[month+1],
+                        year,
+                        hour,
+                        min,
+                        sec)
+end
+
+--[[
+   parse a http time string to a uint32_t seconds timestamp
+--]]
+function file_timestring_http_parse(tstring)
+   local dayname, day, monthname, year, hour, min, sec =
+      string.match(tstring,
+                   '(%w%w%w), (%d+) (%w%w%w) (%d%d%d%d) (%d%d):(%d%d):(%d%d) GMT')
+   if not dayname then
+      return nil
+   end
+   local mon = table_index(MONTHS, monthname)
+   return rtc:date_fields_to_clock_s(year, mon-1, day, hour, min, sec)
+end
+
+--[[
+   return true if path exists and is not a directory
+--]]
+function file_exists(path)
+   local s = fs:stat(path)
+   if not s then
+      return false
+   end
+   return not s:is_directory()
+end
+
+--[[
+   substitute variables of form {xxx} from a table
+   from http://lua-users.org/wiki/StringInterpolation
+--]]
+function substitute_vars(s, vars)
+   s = (string.gsub(s, "({([^}]+)})",
+                    function(whole,i)
+                       return vars[i] or whole
+   end))
+   return s
+end
+
+--[[
+  lat or lon as a string, working around limited type in ftoa_engine
+--]]
+function latlon_str(ll)
+   local ipart = tonumber(string.match(tostring(ll*1.0e-7), '(.*[.]).*'))
+   local fpart = math.abs(ll - ipart*10000000)
+   return string.format("%d.%u", ipart, fpart, ipart*10000000, ll)
+end
+
+--[[
+ location string for home page
+--]]
+function location_string(loc)
+   return substitute_vars([[<a href="https://www.google.com/maps/search/?api=1&query={lat},{lon}" target="_blank">{lat} {lon}</a> {alt}]],
+      { ["lat"] = latlon_str(loc:lat()),
+        ["lon"] = latlon_str(loc:lng()),
+        ["alt"] = string.format("%.1fm", loc:alt()*1.0e-2) })
+end
+
+--[[
+   client class for open connections
+--]]
+local function Client(_sock, _idx)
+   local self = {}
+
+   self.closed = false
+
+   local sock = _sock
+   local idx = _idx
+   local have_header = false
+   local header = ""
+   local header_lines = {}
+   local header_vars = {}
+   local run = nil
+   local protocol = nil
+   local file = nil
+   local start_time = millis()
+   local offset = 0
+
+   function self.read_header()
+      local s = sock:recv(2048)
+      if not s then
+         local now = millis()
+         if not sock:is_connected() or now - start_time > WEB_TIMEOUT:get()*1000 then
+            -- EOF while looking for header
+            DEBUG(string.format("%u: EOF", idx))
+            self.remove()
+            return false
+         end
+         return false
+      end
+      if not s or #s == 0 then
+         return false
+      end
+      header = header .. s
+      local eoh = string.find(s, '\r\n\r\n')
+      if eoh then
+         DEBUG(string.format("%u: got header", idx))
+         have_header = true
+         header_lines = split(header, "[^\r\n]+")
+         -- blocking for reply
+         sock:set_blocking(true)
+         return true
+      end
+      return false
+   end
+
+   function self.sendstring(s)
+      sock:send(s, #s)
+   end
+
+   function self.sendline(s)
+      self.sendstring(s .. "\r\n")
+   end
+
+   --[[
+      send a string with variable substitution using {varname}
+   --]]
+   function self.sendstring_vars(s, vars)
+      self.sendstring(substitute_vars(s, vars))
+   end
+   
+   function self.send_header(code, codestr, vars)
+      self.sendline(string.format("%s %u %s", protocol, code, codestr))
+      self.sendline(string.format("Server: %s", SERVER_VERSION))
+      for k,v in pairs(vars) do
+         self.sendline(string.format("%s: %s", k, v))
+      end
+      self.sendline("Connection: close")
+      self.sendline("")
+   end
+
+   -- get size of a file
+   function self.file_size(fname)
+      local s = fs:stat(fname)
+      if not s then
+         return 0
+      end
+      local ret = s:size():toint()
+      DEBUG(string.format("%u: size of '%s' -> %u", idx, fname, ret))
+      return ret
+   end
+
+
+   --[[
+      return full path with .. resolution
+   --]]
+   function self.full_path(path, name)
+      DEBUG(string.format("%u: full_path(%s,%s)", idx, path, name))
+      local ret = path
+      if path == "/" and startswith(name,"@") then
+         return name
+      end
+      if name == ".." then
+         if path == "/" then
+            return "/"
+         end
+         if endswith(path,"/") then
+            path = string.sub(path, 1, #path-1)
+         end
+         local dir, _ = string.match(path, '(.*/)(.*)')
+         if not dir then
+            return path
+         end
+         return dir
+      end
+      if not endswith(ret, "/") then
+         ret = ret .. "/"
+      end
+      ret = ret .. name
+      DEBUG(string.format("%u: full_path(%s,%s) -> %s", idx, path, name, ret))
+      return ret
+   end
+   
+   function self.directory_list(path)
+      sock:set_blocking(true)
+      if startswith(path, "/@") then
+         path = string.sub(path, 2, #path-1)
+      end
+      DEBUG(string.format("%u: directory_list(%s)", idx, path))
+      local dlist = dirlist(path)
+      if not dlist then
+         dlist = {}
+      end
+      if not table_contains(dlist, "..") then
+         -- on ChibiOS we don't get ..
+         table.insert(dlist, "..")
+      end
+      if path == "/" then
+         for _,v in ipairs(HIDDEN_FOLDERS) do
+            table.insert(dlist, v)
+         end
+      end
+
+      table.sort(dlist)
+      self.send_header(200, "OK", {["Content-Type"]=CONTENT_TEXT_HTML})
+      self.sendline(DOCTYPE)
+      self.sendstring_vars([[
+<html>
+ <head>
+  <title>Index of {path}</title>
+ </head>
+ <body>
+<h1>Index of {path}</h1>
+  <table>
+   <tr><th align="left">Name</th><th align="left">Last modified</th><th align="left">Size</th></tr>
+]], {path=path})
+      for _,d in ipairs(dlist) do
+         local skip = d == "."
+         if not skip then
+            local fullpath = self.full_path(path, d)
+            local name = d
+            local sizestr = "0"
+            local stat = fs:stat(fullpath)
+            local size = stat and stat:size() or 0
+            if is_hidden_dir(fullpath) or (stat and stat:is_directory()) then
+               name = name .. "/"
+            elseif size >= 100*1000*1000 then
+               sizestr = string.format("%uM", (size/(1000*1000)):toint())
+            else
+               sizestr = tostring(size)
+            end
+            local modtime = file_timestring(fullpath)
+            self.sendstring_vars([[<tr><td align="left"><a href="{name}">{name}</a></td><td align="left">{modtime}</td><td align="left">{size}</td></tr>
+]], { name=name, size=sizestr, modtime=modtime })
+         end
+      end
+      self.sendstring([[
+</table>
+</body>
+</html>
+]])
+   end
+
+   -- send file content
+   function self.send_file()
+      if not sock:pollout(0) then
+         return
+      end
+      local chunk = WEB_BLOCK_SIZE:get()
+      local b = file:read(chunk)
+      sock:set_blocking(true)
+      if b and #b > 0 then
+         local sent = sock:send(b, #b)
+         if sent == -1 then
+            run = nil
+            self.remove()
+            return
+         end
+         if sent < #b then
+            file:seek(offset+sent)
+         end
+         offset = offset + sent
+      end
+      if not b or #b < chunk then
+         -- EOF
+         DEBUG(string.format("%u: sent file", idx))
+         run = nil
+         self.remove()
+         return
+      end
+   end
+
+   --[[
+      load whole file as a string
+   --]]
+   function self.load_file()
+      local chunk = WEB_BLOCK_SIZE:get()
+      local ret = ""
+      while true do
+         local b = file:read(chunk)
+         if not b or #b == 0 then
+            break
+         end
+         ret = ret .. b
+      end
+      return ret
+   end
+   
+   --[[
+      evaluate some lua code and return as a string
+   --]]
+   function self.evaluate(code)
+      local eval_code = "function eval_func()\n" .. code .. "\nend\n"
+      local f, errloc, err = load(eval_code, "eval_func", "t", _ENV)
+      if not f then
+         DEBUG(string.format("load failed: err=%s errloc=%s", err, errloc))
+         return nil
+      end
+      local success, err2 = pcall(f)
+      if not success then
+         DEBUG(string.format("pcall failed: err=%s", err2))
+         return nil
+      end
+      local ok, s2 = pcall(eval_func)
+      eval_func = nil
+      if ok then
+         return s2
+      end
+      return nil
+   end
+
+   --[[
+      process a file as a lua CGI
+   --]]
+   function self.send_cgi()
+      sock:set_blocking(true)
+      local contents = self.load_file()
+      local s = self.evaluate(contents)
+      if s then
+         self.sendstring(s)
+      end
+      self.remove()
+   end
+
+   --[[
+      send file content with server side processsing
+      files ending in .shtml can have embedded lua lika this:
+      <?lua return "foo" ?>
+      <?lstr 2.6+7.2 ?>
+
+      Using 'lstr' a return tostring(yourcode) is added to the code
+      automatically
+   --]]
+   function self.send_processed_file(dynamic_page)
+      sock:set_blocking(true)
+      local contents
+      if dynamic_page then
+         contents = file
+      else
+         contents = self.load_file()
+      end
+      while #contents > 0 do
+         local pat1 = "(.-)[<][?]lua[ \n](.-)[?][>](.*)"
+         local pat2 = "(.-)[<][?]lstr[ \n](.-)[?][>](.*)"
+         local p1, p2, p3 = string.match(contents, pat1)
+         if not p1 then
+            p1, p2, p3 = string.match(contents, pat2)
+            if not p1 then
+               break
+            end
+            p2 = "return tostring(" .. p2 .. ")"
+         end
+         self.sendstring(p1)
+         local s2 = self.evaluate(p2)
+         if s2 then
+            self.sendstring(s2)
+         end
+         contents = p3
+      end
+      self.sendstring(contents)
+      self.remove()
+   end
+   
+   -- return a content type
+   function self.content_type(path)
+      if path == "/" then
+         return MIME_TYPES["html"]
+      end
+      local _, ext = string.match(path, '(.*[.])(.*)')
+      ext = string.lower(ext)
+      local ret = MIME_TYPES[ext]
+      if not ret then
+         return CONTENT_OCTET_STREAM
+      end
+      return ret
+   end
+
+   -- perform a file download
+   function self.file_download(path)
+      if startswith(path, "/@") then
+         path = string.sub(path, 2, #path)
+      end
+      DEBUG(string.format("%u: file_download(%s)", idx, path))
+      file = DYNAMIC_PAGES[path]
+      dynamic_page = file ~= nil
+      if not dynamic_page then
+         file = io.open(path,"rb")
+         if not file then
+            DEBUG(string.format("%u: Failed to open '%s'", idx, path))
+            return false
+         end
+      end
+      local vars = {["Content-Type"]=self.content_type(path)}
+      local cgi_processing = startswith(path, "/cgi-bin/") and endswith(path, ".lua")
+      local server_side_processing = endswith(path, ".shtml")
+      local stat = fs:stat(path)
+      if not startswith(path, "@") and
+         not server_side_processing and
+         not cgi_processing and stat and
+         not dynamic_page then
+         local fsize = stat:size()
+         local mtime = stat:mtime()
+         vars["Content-Length"]= tostring(fsize)
+         local modtime = file_timestring_http(mtime)
+         if modtime then
+            vars["Last-Modified"] = modtime
+         end
+         local if_modified_since = header_vars['If-Modified-Since']
+         if if_modified_since then
+            local tsec = file_timestring_http_parse(if_modified_since)
+            if tsec and tsec >= mtime then
+               DEBUG(string.format("%u: Not modified: %s %s", idx, modtime, if_modified_since))
+               self.send_header(304, "Not Modified", vars)
+               return true
+            end
+         end
+      end
+      self.send_header(200, "OK", vars)
+      if server_side_processing or dynamic_page then
+         DEBUG(string.format("%u: shtml processing %s", idx, path))
+         run = self.send_processed_file(dynamic_page)
+      elseif cgi_processing then
+         DEBUG(string.format("%u: CGI processing %s", idx, path))
+         run = self.send_cgi
+      elseif stat and
+         WEB_SENDFILE_MIN:get() > 0 and
+         stat:size() >= WEB_SENDFILE_MIN:get() and
+         sock:sendfile(file) then
+         return true
+      else
+         run = self.send_file
+      end
+      return true
+   end
+
+   function self.not_found()
+      self.send_header(404, "Not found", {})
+   end
+
+   function self.moved_permanently(relpath)
+      if not startswith(relpath, "/") then
+         relpath = "/" .. relpath
+      end
+      local location = string.format("http://%s%s", header_vars['Host'], relpath)
+      DEBUG(string.format("%u: Redirect -> %s", idx, location))
+      self.send_header(301, "Moved Permanently", {["Location"]=location})
+   end
+   
+   -- process a single request
+   function self.process_request()
+      local h1 = header_lines[1]
+      if not h1 or #h1 == 0 then
+         DEBUG(string.format("%u: empty request", idx))
+         return
+      end
+      local cmd = split(header_lines[1], "%S+")
+      if not cmd or #cmd < 3 then
+         DEBUG(string.format("bad request: %s", header_lines[1]))
+         return
+      end
+      if cmd[1] ~= "GET" then
+         DEBUG(string.format("bad op: %s", cmd[1]))
+         return
+      end
+      protocol = cmd[3]
+      if protocol ~= "HTTP/1.0" and protocol ~= "HTTP/1.1" then
+         DEBUG(string.format("bad protocol: %s", protocol))
+         return
+      end
+      local path = cmd[2]
+      DEBUG(string.format("%u: path='%s'", idx, path))
+
+      -- extract header variables
+      for i = 2,#header_lines do
+         local key, var = string.match(header_lines[i], '(.*): (.*)')
+         if key then
+            header_vars[key] = var
+         end
+      end
+
+      if DYNAMIC_PAGES[path] ~= nil then
+         self.file_download(path)
+         return
+      end
+
+      if path == MNT_PREFIX then
+         path = "/"
+      end
+      if startswith(path, MNT_PREFIX2) then
+         path = string.sub(path,#MNT_PREFIX2,#path)
+      end
+
+      if isdirectory(path) and
+         not endswith(path,"/") and
+         header_vars['Host'] and
+         not is_hidden_dir(path) then
+         self.moved_permanently(path .. "/")
+         return
+      end
+
+      if path ~= "/" and endswith(path,"/") then
+         path = string.sub(path, 1, #path-1)
+      end
+
+      if startswith(path,"/@") then
+         path = string.sub(path, 2, #path)
+      end
+
+      -- see if we have an index file
+      if isdirectory(path) and file_exists(path .. "/index.html") then
+         DEBUG(string.format("%u: found index.html", idx))
+         if self.file_download(path .. "/index.html") then
+            return
+         end
+      end
+      
+      -- see if it is a directory
+      if (path == "/" or
+         DYNAMIC_PAGES[path] == nil) and
+         (endswith(path,"/") or
+          isdirectory(path) or
+          is_hidden_dir(path)) then
+         self.directory_list(path)
+         return
+      end
+      
+      -- or a file
+      if self.file_download(path) then
+         return
+      end
+      self.not_found(path)
+   end
+
+   -- update the client
+   function self.update()
+      if run then
+         run()
+         return
+      end
+      if not have_header then
+         if not self.read_header() then
+            return
+         end
+      end
+      self.process_request()
+      if not run then
+         -- nothing more to do
+         self.remove()
+      end
+   end
+
+   function self.remove()
+      DEBUG(string.format("%u: removing client OFFSET=%u", idx, offset))
+      sock:close()
+      self.closed = true
+   end
+
+   -- return the instance
+   return self
+end
+
+--[[
+   see if any new clients want to connect
+--]]
+local function check_new_clients()
+   while sock_listen:pollin(0) do
+      local sock = sock_listen:accept()
+      if not sock then
+         return
+      end
+      -- non-blocking for header read
+      sock:set_blocking(false)
+      -- find free client slot
+      for i = 1, #clients+1 do
+         if clients[i] == nil then
+            local idx = i
+            local client = Client(sock, idx)
+            DEBUG(string.format("%u: New client", idx))
+            clients[idx] = client
+         end
+      end
+   end
+end
+
+--[[
+   check for client activity
+--]]
+local function check_clients()
+   for idx,client in ipairs(clients) do
+      if not client.closed then
+         client.update()
+      end
+      if client.closed then
+         table.remove(clients,idx)
+      end
+   end
+end
+
+local function update()
+   check_new_clients()
+   check_clients()
+   return update,5
+end
+
+return update,100

From 60c69d052b2b9076f010caa039af4ca4f0adf098 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 13 Jan 2024 12:52:48 +1100
Subject: [PATCH 0500/1335] hwdef: added scripting to CubePilot-PPPGW

---
 .../AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat   | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat
index dfaed04510e9c3..b221026451ee35 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat
@@ -14,8 +14,20 @@ PD14 UART8_CTS UART8
 
 SERIAL_ORDER OTG1 UART8
 
+undef AP_RC_CHANNEL_ENABLED
+define AP_RC_CHANNEL_ENABLED 0
+
 define HAL_PERIPH_ENABLE_SERIAL_OPTIONS
 define AP_NETWORKING_BACKEND_PPP 1
 
 define AP_PERIPH_NET_PPP_PORT_DEFAULT 1
 define AP_PERIPH_NET_PPP_BAUD_DEFAULT 12500000
+
+// add scripting for web interface
+define AP_SCRIPTING_ENABLED 1
+
+// ROMFS filesystem only
+define AP_FILESYSTEM_ROMFS_ENABLED 1
+
+// allow scripts to add parameters
+define AP_PARAM_DYNAMIC_ENABLED 1

From c59287bf9b5127d37498dfe46bae6ff789b02495 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 13 Jan 2024 12:22:22 +1100
Subject: [PATCH 0501/1335] AP_Periph: fixed version handling in periph

---
 Tools/AP_Periph/version.cpp |  3 +--
 Tools/AP_Periph/version.h   | 17 ++++++++++++-----
 2 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/Tools/AP_Periph/version.cpp b/Tools/AP_Periph/version.cpp
index f557ce9f89ca4e..e38ffded0c65ad 100644
--- a/Tools/AP_Periph/version.cpp
+++ b/Tools/AP_Periph/version.cpp
@@ -1,4 +1,3 @@
 #define FORCE_VERSION_H_INCLUDE
 #include "version.h"
-#include <AP_Common/AP_FWVersionDefine.h>
-#undef FORCE_VERSION_H_INCLUDE
\ No newline at end of file
+#undef FORCE_VERSION_H_INCLUDE
diff --git a/Tools/AP_Periph/version.h b/Tools/AP_Periph/version.h
index 090841e1d57fdc..6166fba32d1459 100644
--- a/Tools/AP_Periph/version.h
+++ b/Tools/AP_Periph/version.h
@@ -1,9 +1,19 @@
 #pragma once
 
-#include <GCS_MAVLink/GCS_MAVLink.h>
+#ifndef FORCE_VERSION_H_INCLUDE
+#error version.h should never be included directly. You probably want to include AP_Common/AP_FWVersion.h
+#endif
+
+#include "ap_version.h"
 
 #define THISFIRMWARE "AP_Periph V1.7.0-dev"
 
+// defines needed due to lack of GCS includes
+#define FIRMWARE_VERSION_TYPE_DEV 0
+#define FIRMWARE_VERSION_TYPE_BETA 255
+#define FIRMWARE_VERSION_TYPE_OFFICIAL 255
+
+
 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 1,7,0,FIRMWARE_VERSION_TYPE_DEV
 
@@ -12,7 +22,4 @@
 #define FW_PATCH 0
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
-
-
-
-
+#include <AP_Common/AP_FWVersionDefine.h>

From eacfd24cb982c82ff513ebfb88edf60866d7811a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 13 Jan 2024 12:27:13 +1100
Subject: [PATCH 0502/1335] AP_Scripting: document networking bindings

---
 libraries/AP_Scripting/docs/docs.lua | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 00e2ee4ca174b7..05571a172ec80e 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -3367,3 +3367,24 @@ fs = {}
 ---@param param1 string
 ---@return stat_t_ud|nil
 function fs:stat(param1) end
+
+-- desc
+---@class networking
+networking = {}
+
+-- conver uint32_t address to string
+---@param ip4addr uint32_t_ud
+---@return string
+function networking:address_to_str(ip4addr) end
+
+-- desc
+---@return uint32_t_ud
+function networking:get_gateway_active() end
+
+-- desc
+---@return uint32_t_ud
+function networking:get_netmask_active() end
+
+-- desc
+---@return uint32_t_ud
+function networking:get_ip_active() end

From 2e8be66353c6545eb8e0bc00575e1c823c368217 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 13 Jan 2024 12:55:12 +1100
Subject: [PATCH 0503/1335] CI: added Pixhawk6X-PPPGW to CI builds

---
 .github/workflows/test_chibios.yml | 1 +
 Tools/scripts/build_ci.sh          | 8 ++++++++
 2 files changed, 9 insertions(+)

diff --git a/.github/workflows/test_chibios.yml b/.github/workflows/test_chibios.yml
index f3c2861050d6ba..6fe345defd02f7 100644
--- a/.github/workflows/test_chibios.yml
+++ b/.github/workflows/test_chibios.yml
@@ -158,6 +158,7 @@ jobs:
             signing,
             CubeOrange-PPP,
             CubeOrange-SOHW,
+            Pixhawk6X-PPPGW,
         ]
         toolchain: [
             chibios,
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index f4a8700d01ded0..84bb812a736c95 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -340,6 +340,14 @@ for t in $CI_BUILD_TARGET; do
         Tools/scripts/sitl-on-hardware/sitl-on-hw.py --vehicle plane --simclass Plane --board CubeOrange
         continue
     fi
+
+    if [ "$t" == "Pixhawk6X-PPPGW" ]; then
+        echo "Building Pixhawk6X-PPPGW"
+        $waf configure --board Pixhawk6X-PPPGW
+        $waf clean
+        $waf AP_Periph
+        continue
+    fi
     
     if [ "$t" == "dds-stm32h7" ]; then
         echo "Building with DDS support on a STM32H7"

From e0971c7d1a677e37e80041730f75db125642062b Mon Sep 17 00:00:00 2001
From: TsuyoshiKawamura <kawamura@tajisoft.jp>
Date: Sat, 13 Jan 2024 16:19:58 +0900
Subject: [PATCH 0504/1335] Tools: make target directory before linking

---
 Tools/environment_install/install-prereqs-mac.sh | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/environment_install/install-prereqs-mac.sh b/Tools/environment_install/install-prereqs-mac.sh
index cfbf9858617225..6486b007d6452c 100755
--- a/Tools/environment_install/install-prereqs-mac.sh
+++ b/Tools/environment_install/install-prereqs-mac.sh
@@ -78,6 +78,7 @@ function install_arm_none_eabi_toolchain() {
         )
     fi
     echo "Registering STM32 Toolchain for ccache"
+    sudo mkdir -p /usr/local/opt/ccache/libexec
     sudo ln -s -f $CCACHE_PATH /usr/local/opt/ccache/libexec/arm-none-eabi-g++
     sudo ln -s -f $CCACHE_PATH /usr/local/opt/ccache/libexec/arm-none-eabi-gcc
     echo "Done!"

From d278ed3f2c1d9d1d3e578c8390024323bfa529da Mon Sep 17 00:00:00 2001
From: Siddharth Purohit <siddharthbharatpurohit@gmail.com>
Date: Sat, 13 Jan 2024 18:35:20 +0800
Subject: [PATCH 0505/1335] Tools: add bin file when building binaries for
 Here4FC

---
 Tools/scripts/build_binaries.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/scripts/build_binaries.py b/Tools/scripts/build_binaries.py
index 4d0c1c02f2bc27..6e85a9839a95ef 100755
--- a/Tools/scripts/build_binaries.py
+++ b/Tools/scripts/build_binaries.py
@@ -493,7 +493,7 @@ def build_vehicle(self, tag, vehicle, boards, vehicle_binaries_subdir,
                                          "".join([binaryname, framesuffix]))
                 files_to_copy = []
                 extensions = [".apj", ".abin", "_with_bl.hex", ".hex"]
-                if vehicle == 'AP_Periph':
+                if vehicle == 'AP_Periph' or board == "Here4FC":
                     # need bin file for uavcan-gui-tool and MissionPlanner
                     extensions.append('.bin')
                 for extension in extensions:

From 5ee05b67992ee139ddd36d341e58865d9b6f4f10 Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Mon, 8 Jan 2024 14:32:38 +0000
Subject: [PATCH 0506/1335] Tools: ros2: pass verbose flag to micro-ROS agent.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py b/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py
index 02c8230d5c7d9d..6578e537d8fbc7 100644
--- a/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py
+++ b/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py
@@ -142,6 +142,8 @@ def generate_action(context: LaunchContext, *args, **kwargs) -> ExecuteProcess:
             transport,
             "--middleware",
             middleware,
+            "--verbose",
+            verbose,
         ]
 
         if transport in ["udp4", "udp6", "tcp4", "tcp6"]:

From d53807cb6ca57991c96355d73c2b7165ed71f212 Mon Sep 17 00:00:00 2001
From: AndersonRayner <anderson_rayner@hotmail.com>
Date: Sat, 14 Oct 2023 16:13:37 -0700
Subject: [PATCH 0507/1335] Tools: Update sitl-on-hardware README.md to match
 new file paths.

The sitl-on-hardware paths have changed.  This updates the readme file to reflect the new file locations.
---
 Tools/scripts/sitl-on-hardware/README.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Tools/scripts/sitl-on-hardware/README.md b/Tools/scripts/sitl-on-hardware/README.md
index 081b78c8494212..26135aac74d1c2 100644
--- a/Tools/scripts/sitl-on-hardware/README.md
+++ b/Tools/scripts/sitl-on-hardware/README.md
@@ -7,21 +7,21 @@ Run the sitl-on-hw.sh script to compile and flash for MatekH743.  Adjust for you
 ::
 
 	cd $HOME/ardupilot
-    ./libraries/SITL/examples/on-hardware/sitl-on-hw.py --board	MatekH743 --vehicle copter
+    ./Tools/scripts/sitl-on-hardware/sitl-on-hw.py --board	MatekH743 --vehicle copter
 
 Plane can also be simulated:
 
 ::
 
 	cd $HOME/ardupilot
-    ./libraries/SITL/examples/on-hardware/sitl-on-hw.py --board MatekH743 --vehicle plane
+    ./Tools/scripts/sitl-on-hardware/sitl-on-hw.py --board MatekH743 --vehicle plane
 
 and quadplane:
 
 ::
 
 	cd $HOME/ardupilot
-    ./libraries/SITL/examples/on-hardware/sitl-on-hw.py --board MatekH743 --vehicle plane --simclass QuadPlane
+    ./Tools/scripts/sitl-on-hardware/sitl-on-hw.py --board MatekH743 --vehicle plane --simclass QuadPlane
 
 ## Configuring
 

From c7c2c54c2637297dceb891d26a670804ab2b717e Mon Sep 17 00:00:00 2001
From: MallikarjunSE <mallik2m@gmail.com>
Date: Fri, 12 Jan 2024 13:43:53 +0530
Subject: [PATCH 0508/1335] Tools: Reserve board IDs for Sierra

---
 Tools/AP_Bootloader/board_types.txt | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
index 4344ef812c6df0..63f3bba28ff906 100644
--- a/Tools/AP_Bootloader/board_types.txt
+++ b/Tools/AP_Bootloader/board_types.txt
@@ -284,6 +284,17 @@ AP_HW_AIRVOLUTE_DCS2                 5200
 AP_HW_AOCODA-RC-H743DUAL             5210
 AP_HW_AOCODA-RC-F405V3               5211
 
+#IDs 5301-5399 reserved for Sierra Aerospace
+AP_HW_Sierra-TrueNavPro-G4           5301
+AP_HW_Sierra-TrueNavIC               5302
+AP_HW_Sierra-TrueNorth-G4            5303
+AP_HW_Sierra-TrueSpeed-G4            5304
+AP_HW_Sierra-PrecisionPoint-G4       5305
+AP_HW_Sierra-AeroNex                 5306
+AP_HW_Sierra-TrueFlow                5307
+AP_HW_Sierra-TrueNavIC-Pro           5308
+AP_HW_Sierra-F1-Pro                  5309
+
 # IDs 6000-6099 reserved for SpektreWorks
 
 # OpenDroneID enabled boards. Use 10000 + the base board ID

From f7e94bcc75999f63b2f8dd0e62f65abd434fe192 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:22 +1100
Subject: [PATCH 0509/1335] AP_AHRS: make AHRS attitude member variables
 private

---
 libraries/AP_AHRS/AP_AHRS.h                        | 9 +++++----
 libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp | 6 +++---
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index f8c87da36fd49f..abb36f2e13692b 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -548,10 +548,6 @@ class AP_AHRS {
      */
 
     // roll/pitch/yaw euler angles, all in radians
-    float roll;
-    float pitch;
-    float yaw;
-
     float get_roll() const { return roll; }
     float get_pitch() const { return pitch; }
     float get_yaw() const { return yaw; }
@@ -681,6 +677,11 @@ class AP_AHRS {
 
 private:
 
+    // roll/pitch/yaw euler angles, all in radians
+    float roll;
+    float pitch;
+    float yaw;
+
     // optional view class
     AP_AHRS_View *_view;
 
diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
index 38a4eaefa2becb..a4138916877693 100644
--- a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
+++ b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
@@ -84,9 +84,9 @@ void loop(void)
         hal.console->printf(
                 "r:%4.1f  p:%4.1f y:%4.1f "
                     "drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n",
-                (double)ToDeg(ahrs.roll),
-                (double)ToDeg(ahrs.pitch),
-                (double)ToDeg(ahrs.yaw),
+                (double)ToDeg(ahrs.get_roll()),
+                (double)ToDeg(ahrs.get_pitch()),
+                (double)ToDeg(ahrs.get_yaw()),
                 (double)ToDeg(drift.x),
                 (double)ToDeg(drift.y),
                 (double)ToDeg(drift.z),

From cad4bd41e97f63673418bc05523b0826c50ca989 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:22 +1100
Subject: [PATCH 0510/1335] AP_Compass: make AHRS attitude member variables
 private

---
 libraries/AP_Compass/AP_Compass_Calibration.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Compass/AP_Compass_Calibration.cpp b/libraries/AP_Compass/AP_Compass_Calibration.cpp
index ed8f338e549be9..d573888c77395f 100644
--- a/libraries/AP_Compass/AP_Compass_Calibration.cpp
+++ b/libraries/AP_Compass/AP_Compass_Calibration.cpp
@@ -538,7 +538,7 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
     field = R * field;
 
     Matrix3f dcm;
-    dcm.from_euler(AP::ahrs().roll, AP::ahrs().pitch, radians(yaw_deg));
+    dcm.from_euler(AP::ahrs().get_roll(), AP::ahrs().get_pitch(), radians(yaw_deg));
 
     // Rotate into body frame using provided yaw
     field = dcm.transposed() * field;

From a81b229997735250e4c09fc18d4008edb6132ef9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:22 +1100
Subject: [PATCH 0511/1335] AP_InertialSensor: make AHRS attitude member
 variables private

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index e8bfb60eaed66d..4d4480e43f3501 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1340,7 +1340,7 @@ bool AP_InertialSensor::_calculate_trim(const Vector3f &accel_sample, Vector3f &
     if (view != nullptr) {
         // Use pitch to guess which axis the user is trying to trim
         // 5 deg buffer to favor normal AHRS and avoid floating point funny business
-        if (fabsf(view->pitch) < (fabsf(AP::ahrs().pitch)+radians(5)) ) {
+        if (fabsf(view->pitch) < (fabsf(AP::ahrs().get_pitch())+radians(5)) ) {
             // user is trying to calibrate view
             rotation = view->get_rotation();
             if (!is_zero(view->get_pitch_trim())) {

From 91fbe46466afa86fdad24a5d593a869753debf02 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:22 +1100
Subject: [PATCH 0512/1335] AP_L1_Control: make AHRS attitude member variables
 private

---
 libraries/AP_L1_Control/AP_L1_Control.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_L1_Control/AP_L1_Control.cpp b/libraries/AP_L1_Control/AP_L1_Control.cpp
index 816637af457c6f..2750c232298d0d 100644
--- a/libraries/AP_L1_Control/AP_L1_Control.cpp
+++ b/libraries/AP_L1_Control/AP_L1_Control.cpp
@@ -56,9 +56,9 @@ const AP_Param::GroupInfo AP_L1_Control::var_info[] = {
 float AP_L1_Control::get_yaw() const
 {
     if (_reverse) {
-        return wrap_PI(M_PI + _ahrs.yaw);
+        return wrap_PI(M_PI + _ahrs.get_yaw());
     }
-    return _ahrs.yaw;
+    return _ahrs.get_yaw();
 }
 
 /*
@@ -88,7 +88,7 @@ int32_t AP_L1_Control::nav_roll_cd(void) const
 		Made changes to avoid zero division as proposed by Andrew Tridgell: https://github.com/ArduPilot/ardupilot/pull/24331#discussion_r1267798397		 
 	*/
 	float pitchLimL1 = radians(60); // Suggestion: constraint may be modified to pitch limits if their absolute values are less than 90 degree and more than 60 degrees.
-	float pitchL1 = constrain_float(_ahrs.pitch,-pitchLimL1,pitchLimL1);
+	float pitchL1 = constrain_float(_ahrs.get_pitch(),-pitchLimL1,pitchLimL1);
     ret = degrees(atanf(_latAccDem * (1.0f/(GRAVITY_MSS * cosf(pitchL1))))) * 100.0f;
     ret = constrain_float(ret, -9000, 9000);
     return ret;
@@ -396,7 +396,7 @@ void AP_L1_Control::update_loiter(const Location &center_WP, float radius, int8_
         A_air_unit = A_air.normalized();
     } else {
         if (_groundspeed_vector.length() < 0.1f) {
-            A_air_unit = Vector2f(cosf(_ahrs.yaw), sinf(_ahrs.yaw));
+            A_air_unit = Vector2f(cosf(_ahrs.get_yaw()), sinf(_ahrs.get_yaw()));
         } else {
             A_air_unit = _groundspeed_vector.normalized();
         }
@@ -504,7 +504,7 @@ void AP_L1_Control::update_level_flight(void)
 {
     // copy to _target_bearing_cd and _nav_bearing
     _target_bearing_cd = _ahrs.yaw_sensor;
-    _nav_bearing = _ahrs.yaw;
+    _nav_bearing = _ahrs.get_yaw();
     _bearing_error = 0;
     _crosstrack_error = 0;
 

From c821726bf4e7f6ef2fe7a53648e35cdbdd56c3d7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:22 +1100
Subject: [PATCH 0513/1335] AP_Landing: make AHRS attitude member variables
 private

---
 libraries/AP_Landing/AP_Landing_Deepstall.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Landing/AP_Landing_Deepstall.cpp b/libraries/AP_Landing/AP_Landing_Deepstall.cpp
index d6f24c6ecaca82..0a690acbeb631d 100644
--- a/libraries/AP_Landing/AP_Landing_Deepstall.cpp
+++ b/libraries/AP_Landing/AP_Landing_Deepstall.cpp
@@ -644,7 +644,7 @@ float AP_Landing_Deepstall::update_steering()
             L1_xtrack_i = constrain_float(L1_xtrack_i, -0.5f, 0.5f);
             nu1 += L1_xtrack_i;
         }
-        desired_change = wrap_PI(radians(target_heading_deg) + nu1 - landing.ahrs.yaw) / time_constant;
+        desired_change = wrap_PI(radians(target_heading_deg) + nu1 - landing.ahrs.get_yaw()) / time_constant;
     }
 
     float yaw_rate = landing.ahrs.get_gyro().z;

From 71a00dc7332e492fd2c237bf19126be8174bee71 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:22 +1100
Subject: [PATCH 0514/1335] APM_Control: make AHRS attitude member variables
 private

---
 libraries/APM_Control/AP_PitchController.cpp | 4 ++--
 libraries/APM_Control/AP_YawController.cpp   | 2 +-
 libraries/APM_Control/AR_AttitudeControl.cpp | 6 +++---
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp
index 1c02fdb0a86bf9..be39a6cbdd9af6 100644
--- a/libraries/APM_Control/AP_PitchController.cpp
+++ b/libraries/APM_Control/AP_PitchController.cpp
@@ -273,7 +273,7 @@ float AP_PitchController::get_rate_out(float desired_rate, float scaler)
 float AP_PitchController::_get_coordination_rate_offset(float &aspeed, bool &inverted) const
 {
     float rate_offset;
-    float bank_angle = AP::ahrs().roll;
+    float bank_angle = AP::ahrs().get_roll();
 
     // limit bank angle between +- 80 deg if right way up
     if (fabsf(bank_angle) < radians(90))	{
@@ -296,7 +296,7 @@ float AP_PitchController::_get_coordination_rate_offset(float &aspeed, bool &inv
         // don't do turn coordination handling when at very high pitch angles
         rate_offset = 0;
     } else {
-        rate_offset = cosf(_ahrs.pitch)*fabsf(ToDeg((GRAVITY_MSS / MAX((aspeed * _ahrs.get_EAS2TAS()), MAX(aparm.airspeed_min, 1))) * tanf(bank_angle) * sinf(bank_angle))) * _roll_ff;
+        rate_offset = cosf(_ahrs.get_pitch())*fabsf(ToDeg((GRAVITY_MSS / MAX((aspeed * _ahrs.get_EAS2TAS()), MAX(aparm.airspeed_min, 1))) * tanf(bank_angle) * sinf(bank_angle))) * _roll_ff;
     }
     if (inverted) {
         rate_offset = -rate_offset;
diff --git a/libraries/APM_Control/AP_YawController.cpp b/libraries/APM_Control/AP_YawController.cpp
index f99333aca1e7e2..15f42c2fb505bd 100644
--- a/libraries/APM_Control/AP_YawController.cpp
+++ b/libraries/APM_Control/AP_YawController.cpp
@@ -206,7 +206,7 @@ int32_t AP_YawController::get_servo_out(float scaler, bool disable_integrator)
     // Calculate yaw rate required to keep up with a constant height coordinated turn
     float aspeed;
     float rate_offset;
-    float bank_angle = AP::ahrs().roll;
+    float bank_angle = AP::ahrs().get_roll();
     // limit bank angle between +- 80 deg if right way up
     if (fabsf(bank_angle) < 1.5707964f)	{
         bank_angle = constrain_float(bank_angle,-1.3962634f,1.3962634f);
diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp
index 67f12c20e946af..c537a05868774a 100644
--- a/libraries/APM_Control/AR_AttitudeControl.cpp
+++ b/libraries/APM_Control/AR_AttitudeControl.cpp
@@ -613,7 +613,7 @@ float AR_AttitudeControl::get_steering_out_heading(float heading_rad, float rate
 // return a desired turn-rate given a desired heading in radians
 float AR_AttitudeControl::get_turn_rate_from_heading(float heading_rad, float rate_max_rads) const
 {
-    const float yaw_error = wrap_PI(heading_rad - AP::ahrs().yaw);
+    const float yaw_error = wrap_PI(heading_rad - AP::ahrs().get_yaw());
 
     // Calculate the desired turn rate (in radians) from the angle error (also in radians)
     float desired_rate = _steer_angle_p.get_p(yaw_error);
@@ -884,7 +884,7 @@ float AR_AttitudeControl::get_throttle_out_from_pitch(float desired_pitch, float
     }
 
     // initialise output to feed forward from current pitch angle
-    const float pitch_rad = AP::ahrs().pitch;
+    const float pitch_rad = AP::ahrs().get_pitch();
     float output = sinf(pitch_rad) * _pitch_to_throttle_ff;
 
     // add regular PID control
@@ -940,7 +940,7 @@ float AR_AttitudeControl::get_sail_out_from_heel(float desired_heel, float dt)
     }
     _heel_controller_last_ms = now;
 
-    _sailboat_heel_pid.update_all(desired_heel, fabsf(AP::ahrs().roll), dt);
+    _sailboat_heel_pid.update_all(desired_heel, fabsf(AP::ahrs().get_roll()), dt);
 
     // get feed-forward
     const float ff = _sailboat_heel_pid.get_ff();

From 49c697221afa3d44fc67ac8eec3f5f93451553fb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:23 +1100
Subject: [PATCH 0515/1335] AP_Mount: make AHRS attitude member variables
 private

---
 libraries/AP_Mount/AP_Mount_Backend.cpp | 6 +++---
 libraries/AP_Mount/AP_Mount_Servo.cpp   | 4 ++--
 libraries/AP_Mount/AP_Mount_Siyi.cpp    | 8 ++++----
 libraries/AP_Mount/AP_Mount_Viewpro.cpp | 2 +-
 libraries/AP_Mount/AP_Mount_Xacti.cpp   | 2 +-
 5 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp
index b6080a6f22545b..e9760c7ae08e9d 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.cpp
+++ b/libraries/AP_Mount/AP_Mount_Backend.cpp
@@ -413,7 +413,7 @@ bool AP_Mount_Backend::handle_global_position_int(uint8_t msg_sysid, const mavli
 void AP_Mount_Backend::write_log(uint64_t timestamp_us)
 {
     // return immediately if no yaw estimate
-    float ahrs_yaw = AP::ahrs().yaw;
+    float ahrs_yaw = AP::ahrs().get_yaw();
     if (isnan(ahrs_yaw)) {
         return;
     }
@@ -734,7 +734,7 @@ float AP_Mount_Backend::MountTarget::get_bf_yaw() const
 {
     if (yaw_is_ef) {
         // convert to body-frame
-        return wrap_PI(yaw - AP::ahrs().yaw);
+        return wrap_PI(yaw - AP::ahrs().get_yaw());
     }
 
     // target is already body-frame
@@ -750,7 +750,7 @@ float AP_Mount_Backend::MountTarget::get_ef_yaw() const
     }
 
     // convert to earth-frame
-    return wrap_PI(yaw + AP::ahrs().yaw);
+    return wrap_PI(yaw + AP::ahrs().get_yaw());
 }
 
 // sets roll, pitch, yaw and yaw_is_ef
diff --git a/libraries/AP_Mount/AP_Mount_Servo.cpp b/libraries/AP_Mount/AP_Mount_Servo.cpp
index 8c59eb6abfd28e..2f926c7d848a38 100644
--- a/libraries/AP_Mount/AP_Mount_Servo.cpp
+++ b/libraries/AP_Mount/AP_Mount_Servo.cpp
@@ -160,7 +160,7 @@ void AP_Mount_Servo::update_angle_outputs(const MountTarget& angle_rad)
     }
 
     // retrieve lean angles from ahrs
-    Vector2f ahrs_angle_rad = {ahrs.roll, ahrs.pitch};
+    Vector2f ahrs_angle_rad = {ahrs.get_roll(), ahrs.get_pitch()};
 
     // rotate ahrs roll and pitch angles to gimbal yaw
     if (has_pan_control()) {
@@ -174,7 +174,7 @@ void AP_Mount_Servo::update_angle_outputs(const MountTarget& angle_rad)
     // lead filter
     const Vector3f &gyro = ahrs.get_gyro();
 
-    if (!is_zero(_params.roll_stb_lead) && fabsf(ahrs.pitch) < M_PI/3.0f) {
+    if (!is_zero(_params.roll_stb_lead) && fabsf(ahrs.get_pitch()) < M_PI/3.0f) {
         // Compute rate of change of euler roll angle
         float roll_rate = gyro.x + (ahrs.sin_pitch() / ahrs.cos_pitch()) * (gyro.y * ahrs.sin_roll() + gyro.z * ahrs.cos_roll());
         _angle_bf_output_rad.x -= roll_rate * _params.roll_stb_lead;
diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
index 2854a28c7466c5..2925e5b70e41fa 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.cpp
+++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -709,7 +709,7 @@ void AP_Mount_Siyi::send_target_angles(float pitch_rad, float yaw_rad, bool yaw_
     const float pitch_rate_scalar = constrain_float(100.0 * pitch_err_rad * AP_MOUNT_SIYI_PITCH_P / AP_MOUNT_SIYI_RATE_MAX_RADS, -100, 100);
 
     // convert yaw angle to body-frame
-    float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().yaw) : yaw_rad;
+    float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().get_yaw()) : yaw_rad;
 
     // enforce body-frame yaw angle limits.  If beyond limits always use body-frame control
     const float yaw_bf_min = radians(_params.yaw_angle_min);
@@ -1127,9 +1127,9 @@ void AP_Mount_Siyi::send_attitude(void)
     const uint32_t now_ms = AP_HAL::millis();
 
     attitude.time_boot_ms = now_ms;
-    attitude.roll = ahrs.roll;
-    attitude.pitch = ahrs.pitch;
-    attitude.yaw = ahrs.yaw;
+    attitude.roll = ahrs.get_roll();
+    attitude.pitch = ahrs.get_pitch();
+    attitude.yaw = ahrs.get_yaw();
     attitude.rollspeed = gyro.x;
     attitude.pitchspeed = gyro.y;
     attitude.yawspeed = gyro.z;
diff --git a/libraries/AP_Mount/AP_Mount_Viewpro.cpp b/libraries/AP_Mount/AP_Mount_Viewpro.cpp
index a1180f85e3e58e..03dc19504261e1 100644
--- a/libraries/AP_Mount/AP_Mount_Viewpro.cpp
+++ b/libraries/AP_Mount/AP_Mount_Viewpro.cpp
@@ -544,7 +544,7 @@ bool AP_Mount_Viewpro::send_target_angles(float pitch_rad, float yaw_rad, bool y
     }
 
     // convert yaw angle to body-frame
-    float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().yaw) : yaw_rad;
+    float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().get_yaw()) : yaw_rad;
 
     // enforce body-frame yaw angle limits.  If beyond limits always use body-frame control
     const float yaw_bf_min = radians(_params.yaw_angle_min);
diff --git a/libraries/AP_Mount/AP_Mount_Xacti.cpp b/libraries/AP_Mount/AP_Mount_Xacti.cpp
index adc752fd46947c..239d416455abcd 100644
--- a/libraries/AP_Mount/AP_Mount_Xacti.cpp
+++ b/libraries/AP_Mount/AP_Mount_Xacti.cpp
@@ -379,7 +379,7 @@ void AP_Mount_Xacti::send_target_rates(float pitch_rads, float yaw_rads, bool ya
 void AP_Mount_Xacti::send_target_angles(float pitch_rad, float yaw_rad, bool yaw_is_ef)
 {
     // convert yaw to body frame
-    const float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().yaw) : yaw_rad;
+    const float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().get_yaw()) : yaw_rad;
 
     // send angle target to gimbal
     send_gimbal_control(2, degrees(pitch_rad) * 100, degrees(yaw_bf_rad) * 100);

From 49bc553cda5e93509cdd0684265b9f29a8c542a6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:23 +1100
Subject: [PATCH 0516/1335] AP_OSD: make AHRS attitude member variables private

---
 libraries/AP_OSD/AP_OSD_Screen.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_OSD/AP_OSD_Screen.cpp b/libraries/AP_OSD/AP_OSD_Screen.cpp
index c63a481417b3d7..53cb8ce8e50f1f 100644
--- a/libraries/AP_OSD/AP_OSD_Screen.cpp
+++ b/libraries/AP_OSD/AP_OSD_Screen.cpp
@@ -1571,7 +1571,7 @@ void AP_OSD_Screen::draw_gspeed(uint8_t x, uint8_t y)
     float angle = 0;
     const float length = v.length();
     if (length > 1.0f) {
-        angle = atan2f(v.y, v.x) - ahrs.yaw;
+        angle = atan2f(v.y, v.x) - ahrs.get_yaw();
     }
     draw_speed(x + 1, y, angle, length);
 }
@@ -1822,7 +1822,7 @@ void AP_OSD_Screen::draw_wind(uint8_t x, uint8_t y)
         if (check_option(AP_OSD::OPTION_INVERTED_WIND)) {
             angle = M_PI;
         }
-        angle = angle + atan2f(v.y, v.x) - ahrs.yaw;
+        angle = angle + atan2f(v.y, v.x) - ahrs.get_yaw();
     } 
     draw_speed(x + 1, y, angle, length);
 

From 57b1ab3ad96d131cd9c60f49f3dd4dac659fd4d4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:23 +1100
Subject: [PATCH 0517/1335] AP_RCTelemetry: make AHRS attitude member variables
 private

---
 libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
index 43f68c4c6a13f5..30e16b6d0a8f46 100644
--- a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
+++ b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
@@ -931,9 +931,9 @@ void AP_CRSF_Telem::calc_attitude()
 
     const int16_t INT_PI = 31415;
     // units are radians * 10000
-    _telem.bcast.attitude.roll_angle = htobe16(constrain_int16(roundf(wrap_PI(_ahrs.roll) * 10000.0f), -INT_PI, INT_PI));
-    _telem.bcast.attitude.pitch_angle = htobe16(constrain_int16(roundf(wrap_PI(_ahrs.pitch) * 10000.0f), -INT_PI, INT_PI));
-    _telem.bcast.attitude.yaw_angle = htobe16(constrain_int16(roundf(wrap_PI(_ahrs.yaw) * 10000.0f), -INT_PI, INT_PI));
+    _telem.bcast.attitude.roll_angle = htobe16(constrain_int16(roundf(wrap_PI(_ahrs.get_roll()) * 10000.0f), -INT_PI, INT_PI));
+    _telem.bcast.attitude.pitch_angle = htobe16(constrain_int16(roundf(wrap_PI(_ahrs.get_pitch()) * 10000.0f), -INT_PI, INT_PI));
+    _telem.bcast.attitude.yaw_angle = htobe16(constrain_int16(roundf(wrap_PI(_ahrs.get_yaw()) * 10000.0f), -INT_PI, INT_PI));
 
     _telem_size = sizeof(AP_CRSF_Telem::AttitudeFrame);
     _telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_ATTITUDE;

From ba68d0fcbe8742594a404d73f9be7fe9f7fa5d09 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:23 +1100
Subject: [PATCH 0518/1335] AP_Soaring: make AHRS attitude member variables
 private

---
 libraries/AP_Soaring/AP_Soaring.cpp | 4 ++--
 libraries/AP_Soaring/Variometer.cpp | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Soaring/AP_Soaring.cpp b/libraries/AP_Soaring/AP_Soaring.cpp
index 53e61652848043..47279b5d7b5149 100644
--- a/libraries/AP_Soaring/AP_Soaring.cpp
+++ b/libraries/AP_Soaring/AP_Soaring.cpp
@@ -280,8 +280,8 @@ void SoaringController::init_thermalling()
     // New state vector filter will be reset. Thermal location is placed in front of a/c
     const float init_xr[4] = {_vario.get_trigger_value(),
                               INITIAL_THERMAL_RADIUS,
-                              position.x + thermal_distance_ahead * cosf(_ahrs.yaw),
-                              position.y + thermal_distance_ahead * sinf(_ahrs.yaw)};
+                              position.x + thermal_distance_ahead * cosf(_ahrs.get_yaw()),
+                              position.y + thermal_distance_ahead * sinf(_ahrs.get_yaw())};
 
     const VectorN<float,4> xr{init_xr};
 
diff --git a/libraries/AP_Soaring/Variometer.cpp b/libraries/AP_Soaring/Variometer.cpp
index a7a59f789e1623..835e32ea71d0a3 100644
--- a/libraries/AP_Soaring/Variometer.cpp
+++ b/libraries/AP_Soaring/Variometer.cpp
@@ -62,7 +62,7 @@ void Variometer::update(const float thermal_bank)
     float smoothed_climb_rate = _climb_filter.apply(raw_climb_rate, dt);
 
     // Compute still-air sinkrate
-    float roll = _ahrs.roll;
+    float roll = _ahrs.get_roll();
     float sinkrate = calculate_aircraft_sinkrate(roll);
 
     reading = raw_climb_rate + dsp_cor*_aspd_filt_constrained/GRAVITY_MSS + sinkrate;

From 7f43facb37a22391d4f582affe703d19fe104372 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:23 +1100
Subject: [PATCH 0519/1335] AP_TECS: make AHRS attitude member variables
 private

---
 libraries/AP_TECS/AP_TECS.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index 48f848c8320781..7ca36846257b06 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -856,7 +856,7 @@ void AP_TECS::_update_throttle_without_airspeed(int16_t throttle_nudge)
     // so that the throttle mapping adjusts for the effect of pitch control errors
     _pitch_demand_lpf.apply(_pitch_dem, _DT);
     const float pitch_demand_hpf = _pitch_dem - _pitch_demand_lpf.get();
-    _pitch_measured_lpf.apply(_ahrs.pitch, _DT);
+    _pitch_measured_lpf.apply(_ahrs.get_pitch(), _DT);
     const float pitch_corrected_lpf = _pitch_measured_lpf.get() - radians(0.01f * (float)aparm.pitch_trim_cd);
     const float pitch_blended = pitch_demand_hpf + pitch_corrected_lpf;
 
@@ -1107,7 +1107,7 @@ void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)
         _integSEBdot          = 0.0f;
         _integKE              = 0.0f;
         _last_throttle_dem    = aparm.throttle_cruise * 0.01f;
-        _last_pitch_dem       = _ahrs.pitch;
+        _last_pitch_dem       = _ahrs.get_pitch();
         _hgt_afe              = hgt_afe;
         _hgt_dem_in_prev      = hgt_afe;
         _hgt_dem_lpf          = hgt_afe;
@@ -1138,8 +1138,8 @@ void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)
         const float fc = 1.0f / (M_2PI * _timeConst);
         _pitch_demand_lpf.set_cutoff_frequency(fc);
         _pitch_measured_lpf.set_cutoff_frequency(fc);
-        _pitch_demand_lpf.reset(_ahrs.pitch);
-        _pitch_measured_lpf.reset(_ahrs.pitch);
+        _pitch_demand_lpf.reset(_ahrs.get_pitch());
+        _pitch_measured_lpf.reset(_ahrs.get_pitch());
 
     } else if (_flight_stage == AP_FixedWing::FlightStage::TAKEOFF || _flight_stage == AP_FixedWing::FlightStage::ABORT_LANDING) {
         _PITCHminf            = 0.000174533f * ptchMinCO_cd;
@@ -1159,8 +1159,8 @@ void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)
         _max_climb_scaler = 1.0f;
         _max_sink_scaler = 1.0f;
 
-        _pitch_demand_lpf.reset(_ahrs.pitch);
-        _pitch_measured_lpf.reset(_ahrs.pitch);
+        _pitch_demand_lpf.reset(_ahrs.get_pitch());
+        _pitch_measured_lpf.reset(_ahrs.get_pitch());
     }
 
     if (_flight_stage != AP_FixedWing::FlightStage::TAKEOFF && _flight_stage != AP_FixedWing::FlightStage::ABORT_LANDING) {

From 118332826672238cbebd1209ab2e1d86aa15be07 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:23 +1100
Subject: [PATCH 0520/1335] AP_Vehicle: make AHRS attitude member variables
 private

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 2833a39fc293b1..c94a4c2ee1b5a0 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -879,8 +879,8 @@ void AP_Vehicle::publish_osd_info()
 
 void AP_Vehicle::get_osd_roll_pitch_rad(float &roll, float &pitch) const
 {
-    roll = ahrs.roll;
-    pitch = ahrs.pitch;
+    roll = ahrs.get_roll();
+    pitch = ahrs.get_pitch();
 }
 
 #if HAL_INS_ACCELCAL_ENABLED

From c4dc0ae1014875bb498cf1be12d0a50feee51e4c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:23 +1100
Subject: [PATCH 0521/1335] AP_WindVane: make AHRS attitude member variables
 private

---
 libraries/AP_WindVane/AP_WindVane.cpp      | 8 ++++----
 libraries/AP_WindVane/AP_WindVane_Home.cpp | 2 +-
 libraries/AP_WindVane/AP_WindVane_SITL.cpp | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_WindVane/AP_WindVane.cpp b/libraries/AP_WindVane/AP_WindVane.cpp
index 3b3cb718352426..44845d4d469e87 100644
--- a/libraries/AP_WindVane/AP_WindVane.cpp
+++ b/libraries/AP_WindVane/AP_WindVane.cpp
@@ -321,7 +321,7 @@ void AP_WindVane::update()
         }
     } else {
         // only have direction, can't do true wind calcs, set true direction to apparent + heading
-        _direction_true_raw = wrap_PI(_direction_apparent_raw + AP::ahrs().yaw);
+        _direction_true_raw = wrap_PI(_direction_apparent_raw + AP::ahrs().get_yaw());
         _speed_true_raw = 0.0f;
     }
 
@@ -395,7 +395,7 @@ void AP_WindVane::update()
 
 void AP_WindVane::record_home_heading()
 {
-    _home_heading = AP::ahrs().yaw;
+    _home_heading = AP::ahrs().get_yaw();
 }
 
 // to start direction calibration from mavlink or other
@@ -454,7 +454,7 @@ void AP_WindVane::update_true_wind_speed_and_direction()
     }
 
     // convert apparent wind speed and direction to 2D vector in same frame as vehicle velocity
-    const float wind_dir_180 = _direction_apparent_raw + AP::ahrs().yaw + radians(180);
+    const float wind_dir_180 = _direction_apparent_raw + AP::ahrs().get_yaw() + radians(180);
     const Vector2f wind_apparent_vec(cosf(wind_dir_180) * _speed_apparent, sinf(wind_dir_180) * _speed_apparent);
 
     // add vehicle velocity
@@ -482,7 +482,7 @@ void AP_WindVane::update_apparent_wind_dir_from_true()
     Vector2f wind_apparent_vec = Vector2f(wind_true_vec.x - veh_velocity.x, wind_true_vec.y - veh_velocity.y);
 
     // calculate apartment speed and direction
-    _direction_apparent_raw = wrap_PI(atan2f(wind_apparent_vec.y, wind_apparent_vec.x) - radians(180) - AP::ahrs().yaw);
+    _direction_apparent_raw = wrap_PI(atan2f(wind_apparent_vec.y, wind_apparent_vec.x) - radians(180) - AP::ahrs().get_yaw());
     _speed_apparent_raw = wind_apparent_vec.length();
 }
 
diff --git a/libraries/AP_WindVane/AP_WindVane_Home.cpp b/libraries/AP_WindVane/AP_WindVane_Home.cpp
index c291fb75dc8455..3271f6c1808c0c 100644
--- a/libraries/AP_WindVane/AP_WindVane_Home.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_Home.cpp
@@ -32,7 +32,7 @@ void AP_WindVane_Home::update_direction()
         }
     }
 
-    _frontend._direction_apparent_raw = wrap_PI(direction_apparent_ef - AP::ahrs().yaw);
+    _frontend._direction_apparent_raw = wrap_PI(direction_apparent_ef - AP::ahrs().get_yaw());
 }
 
 #endif  // AP_WINDVANE_HOME_ENABLED
diff --git a/libraries/AP_WindVane/AP_WindVane_SITL.cpp b/libraries/AP_WindVane/AP_WindVane_SITL.cpp
index 061e42158eee41..8fb24172df71eb 100644
--- a/libraries/AP_WindVane/AP_WindVane_SITL.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_SITL.cpp
@@ -41,7 +41,7 @@ void AP_WindVane_SITL::update_direction()
         wind_vector_ef.x += AP::sitl()->state.speedN;
         wind_vector_ef.y += AP::sitl()->state.speedE;
 
-        _frontend._direction_apparent_raw =  wrap_PI(atan2f(wind_vector_ef.y, wind_vector_ef.x) - AP::ahrs().yaw);
+        _frontend._direction_apparent_raw =  wrap_PI(atan2f(wind_vector_ef.y, wind_vector_ef.x) - AP::ahrs().get_yaw());
 
     } else { // WINDVANE_SITL_APARRENT
         // directly read the body frame apparent wind set by physics backend

From caf1e33f179dd4197e5723bc660a81ed6b400419 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:24 +1100
Subject: [PATCH 0522/1335] GCS_MAVLink: make AHRS attitude member variables
 private

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 913e9fe47b2b40..63e2424eb9539d 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -5443,9 +5443,9 @@ void GCS_MAVLINK::send_attitude() const
     mavlink_msg_attitude_send(
         chan,
         AP_HAL::millis(),
-        ahrs.roll,
-        ahrs.pitch,
-        ahrs.yaw,
+        ahrs.get_roll(),
+        ahrs.get_pitch(),
+        ahrs.get_yaw(),
         omega.x,
         omega.y,
         omega.z);

From b3897c020efb4297226f80d8226e239efb32496c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:24 +1100
Subject: [PATCH 0523/1335] ArduPlane: make AHRS attitude member variables
 private

---
 ArduPlane/ArduPlane.cpp      | 4 ++--
 ArduPlane/GCS_Mavlink.cpp    | 6 +++---
 ArduPlane/commands_logic.cpp | 2 +-
 ArduPlane/mode_cruise.cpp    | 2 +-
 ArduPlane/mode_guided.cpp    | 2 +-
 ArduPlane/mode_takeoff.cpp   | 2 +-
 ArduPlane/quadplane.cpp      | 4 ++--
 7 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 02dcd401eb2dda..dd6af0ab6e30bc 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -916,8 +916,8 @@ void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
         return;
     }
 #endif
-    pitch = ahrs.pitch;
-    roll = ahrs.roll;
+    pitch = ahrs.get_pitch();
+    roll = ahrs.get_roll();
     if (!(flight_option_enabled(FlightOptions::OSD_REMOVE_TRIM_PITCH_CD))) {  // correct for TRIM_PITCH_CD
         pitch -= g.pitch_trim_cd * 0.01 * DEG_TO_RAD;
     }
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 3715776f77ab64..9a571e3b5e0ce9 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -129,9 +129,9 @@ void GCS_MAVLINK_Plane::send_attitude() const
 {
     const AP_AHRS &ahrs = AP::ahrs();
 
-    float r = ahrs.roll;
-    float p = ahrs.pitch;
-    float y = ahrs.yaw;
+    float r = ahrs.get_roll();
+    float p = ahrs.get_pitch();
+    float y = ahrs.get_yaw();
 
     if (!(plane.flight_option_enabled(FlightOptions::GCS_REMOVE_TRIM_PITCH_CD))) {
         p -= radians(plane.g.pitch_trim_cd * 0.01f);
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 439c03d80a05e3..972da6f765c8e3 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -1090,7 +1090,7 @@ bool Plane::verify_landing_vtol_approach(const AP_Mission::Mission_Command &cmd)
                 const float breakout_direction_rad = radians(vtol_approach_s.approach_direction_deg + (direction > 0 ? 270 : 90));
 
                 // breakout when within 5 degrees of the opposite direction
-                if (fabsF(wrap_PI(ahrs.yaw - breakout_direction_rad)) < radians(5.0f)) {
+                if (fabsF(wrap_PI(ahrs.get_yaw() - breakout_direction_rad)) < radians(5.0f)) {
                     gcs().send_text(MAV_SEVERITY_INFO, "Starting VTOL land approach path");
                     vtol_approach_s.approach_stage = APPROACH_LINE;
                     set_next_WP(cmd.content.location);
diff --git a/ArduPlane/mode_cruise.cpp b/ArduPlane/mode_cruise.cpp
index 2d8c4c428c2424..3e16928f15bcab 100644
--- a/ArduPlane/mode_cruise.cpp
+++ b/ArduPlane/mode_cruise.cpp
@@ -61,7 +61,7 @@ void ModeCruise::navigate()
 
     // check if we are moving in the direction of the front of the vehicle
     const int32_t ground_course_cd = plane.gps.ground_course_cd();
-    const bool moving_forwards = fabsf(wrap_PI(radians(ground_course_cd * 0.01) - plane.ahrs.yaw)) < M_PI_2;
+    const bool moving_forwards = fabsf(wrap_PI(radians(ground_course_cd * 0.01) - plane.ahrs.get_yaw())) < M_PI_2;
 
     if (!locked_heading &&
         plane.channel_roll->get_control_in() == 0 &&
diff --git a/ArduPlane/mode_guided.cpp b/ArduPlane/mode_guided.cpp
index a523ddf87065ed..b4ae1241e757f6 100644
--- a/ArduPlane/mode_guided.cpp
+++ b/ArduPlane/mode_guided.cpp
@@ -52,7 +52,7 @@ void ModeGuided::update()
 
         float error = 0.0f;
         if (plane.guided_state.target_heading_type == GUIDED_HEADING_HEADING) {
-            error = wrap_PI(plane.guided_state.target_heading - AP::ahrs().yaw);
+            error = wrap_PI(plane.guided_state.target_heading - AP::ahrs().get_yaw());
         } else {
             Vector2f groundspeed = AP::ahrs().groundspeed_vector();
             error = wrap_PI(plane.guided_state.target_heading - atan2f(-groundspeed.y, -groundspeed.x) + M_PI);
diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp
index c303d459b27ff3..b807c64777ec00 100644
--- a/ArduPlane/mode_takeoff.cpp
+++ b/ArduPlane/mode_takeoff.cpp
@@ -81,7 +81,7 @@ void ModeTakeoff::update()
     const float dist = target_dist;
     if (!takeoff_started) {
         const uint16_t altitude = plane.relative_ground_altitude(false,true);
-        const float direction = degrees(ahrs.yaw);
+        const float direction = degrees(ahrs.get_yaw());
         // see if we will skip takeoff as already flying
         if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && ahrs.groundspeed() > 3) {
             if (altitude >= alt) {
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 06e18814c5a59a..25c7ff533ba2a2 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -2636,7 +2636,7 @@ void QuadPlane::vtol_position_controller(void)
             target_speed_xy_cms = diff_wp_norm * target_speed * 100;
             target_accel_cms = diff_wp_norm * (-target_accel*100);
             target_yaw_deg = degrees(diff_wp_norm.angle());
-            const float yaw_err_deg = wrap_180(target_yaw_deg - degrees(plane.ahrs.yaw));
+            const float yaw_err_deg = wrap_180(target_yaw_deg - degrees(plane.ahrs.get_yaw()));
             bool overshoot = (closing_groundspeed < 0 || fabsf(yaw_err_deg) > 60);
             if (overshoot && !poscontrol.overshoot) {
                 gcs().send_text(MAV_SEVERITY_INFO,"VTOL Overshoot d=%.1f cs=%.1f yerr=%.1f",
@@ -3046,7 +3046,7 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
 */
 float QuadPlane::get_scaled_wp_speed(float target_bearing_deg) const
 {
-    const float yaw_difference = fabsf(wrap_180(degrees(plane.ahrs.yaw) - target_bearing_deg));
+    const float yaw_difference = fabsf(wrap_180(degrees(plane.ahrs.get_yaw()) - target_bearing_deg));
     const float wp_speed = wp_nav->get_default_speed_xy() * 0.01;
     if (yaw_difference > 20) {
         // this gives a factor of 2x reduction in max speed when

From 027549404248df6fd75cbd8b45ed460419d4e65d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 23:40:24 +1100
Subject: [PATCH 0524/1335] ArduSub: make AHRS attitude member variables
 private

---
 ArduSub/turn_counter.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduSub/turn_counter.cpp b/ArduSub/turn_counter.cpp
index f2260aa12e47f8..52df84fecb7486 100644
--- a/ArduSub/turn_counter.cpp
+++ b/ArduSub/turn_counter.cpp
@@ -8,11 +8,11 @@ void Sub::update_turn_counter()
     // Determine state
     // 0: 0-90 deg, 1: 90-180 deg, 2: -180--90 deg, 3: -90--0 deg
     uint8_t turn_state;
-    if (ahrs.yaw >= 0.0f && ahrs.yaw < radians(90)) {
+    if (ahrs.get_yaw() >= 0.0f && ahrs.get_yaw() < radians(90)) {
         turn_state = 0;
-    } else if (ahrs.yaw > radians(90)) {
+    } else if (ahrs.get_yaw() > radians(90)) {
         turn_state = 1;
-    } else if (ahrs.yaw < -radians(90)) {
+    } else if (ahrs.get_yaw() < -radians(90)) {
         turn_state = 2;
     } else {
         turn_state = 3;

From bcf6578d56717588c2fe44e29d2f814fd563e361 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 13 Jan 2024 01:02:12 +1100
Subject: [PATCH 0525/1335] AP_Module: make AHRS attitude member variables
 private

---
 libraries/AP_Module/AP_Module.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Module/AP_Module.cpp b/libraries/AP_Module/AP_Module.cpp
index 6d740ecce59a83..3bad1d59ef852c 100644
--- a/libraries/AP_Module/AP_Module.cpp
+++ b/libraries/AP_Module/AP_Module.cpp
@@ -165,9 +165,9 @@ void AP_Module::call_hook_AHRS_update(const AP_AHRS &ahrs)
     state.quat[2] = q[2];
     state.quat[3] = q[3];
 
-    state.eulers[0] = ahrs.roll;
-    state.eulers[1] = ahrs.pitch;
-    state.eulers[2] = ahrs.yaw;
+    state.eulers[0] = ahrs.get_roll();
+    state.eulers[1] = ahrs.get_pitch();
+    state.eulers[2] = ahrs.get_yaw();
 
     Location loc;
     if (ahrs.get_origin(loc)) {

From 6ca3f3114382f74288d422b758d7873c8c6ed3c7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 13 Jan 2024 01:02:12 +1100
Subject: [PATCH 0526/1335] Rover: make AHRS attitude member variables private

---
 Rover/crash_check.cpp | 2 +-
 Rover/mode.cpp        | 2 +-
 Rover/mode_circle.cpp | 4 ++--
 Rover/sailboat.cpp    | 8 ++++----
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/Rover/crash_check.cpp b/Rover/crash_check.cpp
index 284c125a4b9533..feafdf7f6f6ef7 100644
--- a/Rover/crash_check.cpp
+++ b/Rover/crash_check.cpp
@@ -20,7 +20,7 @@ void Rover::crash_check()
     }
 
     // Crashed if pitch/roll > crash_angle
-    if ((g2.crash_angle != 0) && ((fabsf(ahrs.pitch) > radians(g2.crash_angle)) || (fabsf(ahrs.roll) > radians(g2.crash_angle)))) {
+    if ((g2.crash_angle != 0) && ((fabsf(ahrs.get_pitch()) > radians(g2.crash_angle)) || (fabsf(ahrs.get_roll()) > radians(g2.crash_angle)))) {
         crashed = true;
     }
 
diff --git a/Rover/mode.cpp b/Rover/mode.cpp
index 842789c1006698..6173ac337dcdbe 100644
--- a/Rover/mode.cpp
+++ b/Rover/mode.cpp
@@ -290,7 +290,7 @@ void Mode::calc_throttle(float target_speed, bool avoidance_enabled)
 
     // apply object avoidance to desired speed using half vehicle's maximum deceleration
     if (avoidance_enabled) {
-        g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_decel_max(), ahrs.yaw, target_speed, rover.G_Dt);
+        g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_decel_max(), ahrs.get_yaw(), target_speed, rover.G_Dt);
         if (g2.sailboat.tack_enabled() && g2.avoid.limits_active()) {
             // we are a sailboat trying to avoid fence, try a tack
             if (rover.control_mode != &rover.mode_acro) {
diff --git a/Rover/mode_circle.cpp b/Rover/mode_circle.cpp
index 42d6f63833b79b..86ba7dbdae1193 100644
--- a/Rover/mode_circle.cpp
+++ b/Rover/mode_circle.cpp
@@ -116,7 +116,7 @@ void ModeCircle::init_target_yaw_rad()
     // if no position estimate use vehicle yaw
     Vector2f curr_pos_NE;
     if (!AP::ahrs().get_relative_position_NE_origin(curr_pos_NE)) {
-        target.yaw_rad = AP::ahrs().yaw;
+        target.yaw_rad = AP::ahrs().get_yaw();
         return;
     }
 
@@ -126,7 +126,7 @@ void ModeCircle::init_target_yaw_rad()
 
     // if current position is exactly at the center of the circle return vehicle yaw
     if (is_zero(dist_m)) {
-        target.yaw_rad = AP::ahrs().yaw;
+        target.yaw_rad = AP::ahrs().get_yaw();
     } else {
         target.yaw_rad = center_to_veh.angle();
     }
diff --git a/Rover/sailboat.cpp b/Rover/sailboat.cpp
index c547a9cb1fa36c..23f72e8a56af24 100644
--- a/Rover/sailboat.cpp
+++ b/Rover/sailboat.cpp
@@ -329,7 +329,7 @@ float Sailboat::get_VMG() const
         return speed;
     }
 
-    return (speed * cosf(wrap_PI(radians(rover.g2.wp_nav.wp_bearing_cd() * 0.01f) - rover.ahrs.yaw)));
+    return (speed * cosf(wrap_PI(radians(rover.g2.wp_nav.wp_bearing_cd() * 0.01f) - rover.ahrs.get_yaw())));
 }
 
 // handle user initiated tack while in acro mode
@@ -340,7 +340,7 @@ void Sailboat::handle_tack_request_acro()
     }
     // set tacking heading target to the current angle relative to the true wind but on the new tack
     currently_tacking = true;
-    tack_heading_rad = wrap_2PI(rover.ahrs.yaw + 2.0f * wrap_PI((rover.g2.windvane.get_true_wind_direction_rad() - rover.ahrs.yaw)));
+    tack_heading_rad = wrap_2PI(rover.ahrs.get_yaw() + 2.0f * wrap_PI((rover.g2.windvane.get_true_wind_direction_rad() - rover.ahrs.get_yaw())));
 
     tack_request_ms = AP_HAL::millis();
 }
@@ -348,7 +348,7 @@ void Sailboat::handle_tack_request_acro()
 // return target heading in radians when tacking (only used in acro)
 float Sailboat::get_tack_heading_rad()
 {
-    if (fabsf(wrap_PI(tack_heading_rad - rover.ahrs.yaw)) < radians(SAILBOAT_TACKING_ACCURACY_DEG) ||
+    if (fabsf(wrap_PI(tack_heading_rad - rover.ahrs.get_yaw())) < radians(SAILBOAT_TACKING_ACCURACY_DEG) ||
        ((AP_HAL::millis() - tack_request_ms) > SAILBOAT_AUTO_TACKING_TIMEOUT_MS)) {
         clear_tack();
     }
@@ -494,7 +494,7 @@ float Sailboat::calc_heading(float desired_heading_cd)
     // if we are tacking we maintain the target heading until the tack completes or times out
     if (currently_tacking) {
         // check if we have reached target
-        if (fabsf(wrap_PI(tack_heading_rad - rover.ahrs.yaw)) <= radians(SAILBOAT_TACKING_ACCURACY_DEG)) {
+        if (fabsf(wrap_PI(tack_heading_rad - rover.ahrs.get_yaw())) <= radians(SAILBOAT_TACKING_ACCURACY_DEG)) {
             clear_tack();
         } else if ((now - auto_tack_start_ms) > SAILBOAT_AUTO_TACKING_TIMEOUT_MS) {
             // tack has taken too long

From 30146affa5911cd842bfaa4c00e066366a953035 Mon Sep 17 00:00:00 2001
From: Maxim Buzdalov <mbuzdalov@gmail.com>
Date: Sun, 14 Jan 2024 19:33:15 +0000
Subject: [PATCH 0527/1335] AP_ESC_Telem: Log RPM and raw RPM values as floats

---
 libraries/AP_ESC_Telem/AP_ESC_Telem.cpp | 10 +++++-----
 libraries/AP_ESC_Telem/LogStructure.h   |  6 +++---
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
index 5fbaba7ae6dc5a..7bb347220d0c0b 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -502,12 +502,12 @@ void AP_ESC_Telem::update()
 
                 float rpm = 0.0f;
                 get_rpm(i, rpm);
-                float rawrpm = 0.0f;
-                get_raw_rpm(i, rawrpm);
+                float raw_rpm = 0.0f;
+                get_raw_rpm(i, raw_rpm);
 
                 // Write ESC status messages
                 //   id starts from 0
-                //   rpm is eRPM (rpm * 100)
+                //   rpm, raw_rpm is eRPM (in RPM units)
                 //   voltage is in Volt
                 //   current is in Ampere
                 //   esc_temp is in centi-degrees Celsius
@@ -518,8 +518,8 @@ void AP_ESC_Telem::update()
                     LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)),
                     time_us     : AP_HAL::micros64(),
                     instance    : i,
-                    rpm         : (int32_t) rpm * 100,
-                    raw_rpm     : (int32_t) rawrpm * 100,
+                    rpm         : rpm,
+                    raw_rpm     : raw_rpm,
                     voltage     : _telem_data[i].voltage,
                     current     : _telem_data[i].current,
                     esc_temp    : _telem_data[i].temperature_cdeg,
diff --git a/libraries/AP_ESC_Telem/LogStructure.h b/libraries/AP_ESC_Telem/LogStructure.h
index 89d0578875e39a..a3c0dc791cd3df 100644
--- a/libraries/AP_ESC_Telem/LogStructure.h
+++ b/libraries/AP_ESC_Telem/LogStructure.h
@@ -21,8 +21,8 @@ struct PACKED log_Esc {
     LOG_PACKET_HEADER;
     uint64_t time_us;
     uint8_t instance;
-    int32_t rpm;
-    int32_t raw_rpm;
+    float rpm;
+    float raw_rpm;
     float voltage;
     float current;
     int16_t esc_temp;
@@ -33,4 +33,4 @@ struct PACKED log_Esc {
 
 #define LOG_STRUCTURE_FROM_ESC_TELEM \
     { LOG_ESC_MSG, sizeof(log_Esc), \
-      "ESC",  "QBeeffcfcf", "TimeUS,Instance,RPM,RawRPM,Volt,Curr,Temp,CTot,MotTemp,Err", "s#qqvAOaO%", "F-BB--BCB-" , true },
+      "ESC",  "QBffffcfcf", "TimeUS,Instance,RPM,RawRPM,Volt,Curr,Temp,CTot,MotTemp,Err", "s#qqvAOaO%", "F-00--BCB-" , true },

From 79eeb7b46162d948a93b7a20de162f78243bc0d0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 16:49:52 +1100
Subject: [PATCH 0528/1335] Blimp: correct compilation when fence compiled out

---
 Blimp/AP_Arming.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/Blimp/AP_Arming.cpp b/Blimp/AP_Arming.cpp
index 23ba7790f9a175..adbc072e4bf834 100644
--- a/Blimp/AP_Arming.cpp
+++ b/Blimp/AP_Arming.cpp
@@ -29,8 +29,10 @@ bool AP_Arming_Blimp::run_pre_arm_checks(bool display_failure)
         return mandatory_checks(display_failure);
     }
 
-    return fence_checks(display_failure)
-           & parameter_checks(display_failure)
+    return parameter_checks(display_failure)
+#if AP_FENCE_ENABLED
+           & fence_checks(display_failure)
+#endif
            & motor_checks(display_failure)
            & gcs_failsafe_check(display_failure)
            & alt_checks(display_failure)

From 7898d6f107d1fa3ac2010d8c14152fc42a4f0fcb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 17:29:46 +1100
Subject: [PATCH 0529/1335] AP_ExternalAHRS: correct compilation when baro and
 compass externalahrs disabled

---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
index ebf844f32493bf..9019eaef461f01 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
@@ -466,13 +466,17 @@ bool AP_ExternalAHRS_InertialLabs::check_uart()
             last_gps_ms = now_ms;
         }
     }
+#if AP_BARO_EXTERNALAHRS_ENABLED
     if (GOT_MSG(BARO_DATA) &&
         GOT_MSG(TEMPERATURE)) {
         AP::baro().handle_external(baro_data);
     }
+#endif
+    #if AP_COMPASS_EXTERNALAHRS_ENABLED
     if (GOT_MSG(MAG_DATA)) {
         AP::compass().handle_external(mag_data);
     }
+#endif
 #if AP_AIRSPEED_EXTERNAL_ENABLED && (APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane))
     // only on plane and copter as others do not link AP_Airspeed
     if (GOT_MSG(DIFFERENTIAL_PRESSURE) &&

From f72245785484d790b0ee62bb2479ec4c074b946b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 20:41:03 +1100
Subject: [PATCH 0530/1335] AP_ExternalAHRS: correct compilation with
 MicroStrain5 disabled

---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
index 0119e6857eceac..75e8e5228021bb 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
@@ -19,7 +19,7 @@
 #endif
 
 #ifndef AP_MICROSTRAIN_ENABLED
-#define AP_MICROSTRAIN_ENABLED AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
+#define AP_MICROSTRAIN_ENABLED AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED || AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED
 #endif
 
 #ifndef AP_EXTERNAL_AHRS_VECTORNAV_ENABLED

From fe30a93602fa6e097d033c70e72374a32c0d1c27 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 13 Jan 2024 13:50:16 +1100
Subject: [PATCH 0531/1335] build_options.py: correct entries for Ghost telem
 protocol

---
 Tools/scripts/build_options.py    | 2 +-
 Tools/scripts/extract_features.py | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index dd632f33d0f7c7..6a8de5da742a18 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -72,7 +72,7 @@ def __init__(self,
     Feature('Telemetry', 'FrSky D', 'AP_FRSKY_D_TELEM_ENABLED', 'Enable FrSkyD Telemetry', 0, 'FrSky'),
     Feature('Telemetry', 'FrSky SPort', 'AP_FRSKY_SPORT_TELEM_ENABLED', 'Enable FrSkySPort Telemetry', 0, 'FrSky'),  # noqa
     Feature('Telemetry', 'FrSky SPort PassThrough', 'AP_FRSKY_SPORT_PASSTHROUGH_ENABLED', 'Enable FrSkySPort PassThrough Telemetry', 0, 'FrSky SPort,FrSky'),  # noqa
-    Feature('Telemetry', 'GHST', 'HAL_GHST_TELEM_ENABLED', 'Enable Ghost Telemetry', 0, None), # noqa
+    Feature('Telemetry', 'GHST', 'AP_GHST_TELEM_ENABLED', 'Enable Ghost Telemetry', 0, None), # noqa
 
     Feature('Notify', 'PLAY_TUNE', 'AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED', 'Enable MAVLink Play Tune', 0, None),  # noqa
     Feature('Notify', 'TONEALARM', 'AP_NOTIFY_TONEALARM_ENABLED', 'Enable ToneAlarm on PWM', 0, None),  # noqa
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index 8fe5436843064d..7977fabfa36440 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -110,6 +110,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('HAL_MOUNT_STORM32MAVLINK_ENABLED', 'AP_Mount_SToRM32::init',),
 
             ('HAL_{type}_TELEM_ENABLED', r'AP_(?P<type>.*)_Telem::init',),
+            ('AP_{type}_TELEM_ENABLED', r'AP_(?P<type>.*)_Telem::init',),
             ('HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED', 'AP_CRSF_Telem::calc_text_selection',),
             ('AP_LTM_TELEM_ENABLED', 'AP_LTM_Telem::init',),
             ('HAL_HIGH_LATENCY2_ENABLED', 'GCS_MAVLINK::handle_control_high_latency',),

From 4f56691f05fd09790c9f830a625917e13de2643c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 13 Jan 2024 23:07:39 +1100
Subject: [PATCH 0532/1335] AP_Relay: correct compilation when many features
 removed

---
 libraries/AP_Relay/AP_Relay.cpp | 17 +++++++++--------
 1 file changed, 9 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 7225c6c3d30e03..3b70fcb5d18010 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -202,29 +202,30 @@ void AP_Relay::convert_params()
     // Dont need this conversion on periph as relay support is more recent
 
     // Before converting local params we must find any relays being used by index from external libs
-    int8_t relay_index;
-
     int8_t ice_relay = -1;
 #if AP_ICENGINE_ENABLED
     AP_ICEngine *ice = AP::ice();
-    if (ice != nullptr && ice->get_legacy_ignition_relay_index(relay_index)) {
-        ice_relay = relay_index;
+    int8_t ice_relay_index;
+    if (ice != nullptr && ice->get_legacy_ignition_relay_index(ice_relay_index)) {
+        ice_relay = ice_relay_index;
     }
 #endif
 
     int8_t chute_relay = -1;
 #if HAL_PARACHUTE_ENABLED
     AP_Parachute *parachute = AP::parachute();
-    if (parachute != nullptr && parachute->get_legacy_relay_index(relay_index)) {
-        chute_relay = relay_index;
+    int8_t parachute_relay_index;
+    if (parachute != nullptr && parachute->get_legacy_relay_index(parachute_relay_index)) {
+        chute_relay = parachute_relay_index;
     }
 #endif
 
     int8_t cam_relay = -1;
 #if AP_CAMERA_ENABLED
     AP_Camera *camera = AP::camera();
-    if ((camera != nullptr) && (camera->get_legacy_relay_index(relay_index))) {
-        cam_relay = relay_index;
+    int8_t camera_relay_index;
+    if ((camera != nullptr) && (camera->get_legacy_relay_index(camera_relay_index))) {
+        cam_relay = camera_relay_index;
     }
 #endif
 

From 2ca8cc572c94f8e173d7b100386bee92f4441268 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 14 Jan 2024 17:10:20 +1100
Subject: [PATCH 0533/1335] Tools: build_options.py: Ghost telem requires ghost
 RC

---
 Tools/scripts/build_options.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index 6a8de5da742a18..5fcd74bb75b0c3 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -72,7 +72,7 @@ def __init__(self,
     Feature('Telemetry', 'FrSky D', 'AP_FRSKY_D_TELEM_ENABLED', 'Enable FrSkyD Telemetry', 0, 'FrSky'),
     Feature('Telemetry', 'FrSky SPort', 'AP_FRSKY_SPORT_TELEM_ENABLED', 'Enable FrSkySPort Telemetry', 0, 'FrSky'),  # noqa
     Feature('Telemetry', 'FrSky SPort PassThrough', 'AP_FRSKY_SPORT_PASSTHROUGH_ENABLED', 'Enable FrSkySPort PassThrough Telemetry', 0, 'FrSky SPort,FrSky'),  # noqa
-    Feature('Telemetry', 'GHST', 'AP_GHST_TELEM_ENABLED', 'Enable Ghost Telemetry', 0, None), # noqa
+    Feature('Telemetry', 'GHST', 'AP_GHST_TELEM_ENABLED', 'Enable Ghost Telemetry', 0, "RC_GHST"), # noqa
 
     Feature('Notify', 'PLAY_TUNE', 'AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED', 'Enable MAVLink Play Tune', 0, None),  # noqa
     Feature('Notify', 'TONEALARM', 'AP_NOTIFY_TONEALARM_ENABLED', 'Enable ToneAlarm on PWM', 0, None),  # noqa

From ad90e37f214553c540e1a5f5749205531c86f67c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 13:44:36 +1100
Subject: [PATCH 0534/1335] hwdef: remove bad AP_PERIPH_HAVE_LED lines from
 bootloaders

this define is only used within the AP_Periph directory
---
 libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef-bl.dat | 2 --
 libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat | 2 --
 libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat | 2 --
 3 files changed, 6 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef-bl.dat
index d94c02e9142b35..e3e6dca8be5ea1 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef-bl.dat
@@ -50,8 +50,6 @@ define HAL_NO_MONITOR_THREAD
 PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
 
-define AP_PERIPH_HAVE_LED
-
 # order of UARTs
 SERIAL_ORDER
 define HAL_USE_UART FALSE
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat
index 0236dbff1c3a1e..8c302244adfb3b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat
@@ -51,8 +51,6 @@ define HAL_NO_MONITOR_THREAD
 PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
 
-define AP_PERIPH_HAVE_LED
-
 define CAN_APP_NODE_NAME "com.cubepilot.here4fc"
 
 PB6 USART1_TX  USART1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat
index d1d9f2bae5a491..5f8cffae714cd1 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat
@@ -65,8 +65,6 @@ define HAL_DEVICE_THREAD_STACK 2048
 
 define HAL_BARO_ALLOW_INIT_NO_BARO
 
-define AP_PERIPH_HAVE_LED
-
 define HAL_COMPASS_MAX_SENSORS 1
 
 # GPS+MAG

From d4f59cbe5f2358a44f3f1d9716f013569de4d24e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 13:57:23 +1100
Subject: [PATCH 0535/1335] hwdef: remove HAL_NO_LOGGING from Here4FC-bl.dat

this was removed from master a long time ago
---
 libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat | 1 -
 1 file changed, 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat
index 8c302244adfb3b..b83fa886e228f1 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat
@@ -45,7 +45,6 @@ STM32_VDD 330U
 PB8 LED_SCK OUTPUT LOW
 PB9 LED_DI OUTPUT HIGH
 
-define HAL_NO_LOGGING TRUE
 define HAL_NO_MONITOR_THREAD
 
 PA13 JTMS-SWDIO SWD

From 7cf66d917c80622fd7ced353fd7a8954f9636355 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 15 Jan 2024 13:39:14 +1100
Subject: [PATCH 0536/1335] hwdef: correct compilation of revo-mini-sd

this isn't built on the firmware server, so we won't notice when it dies

In this case the SMBUS batter define was being set differently

Also remove some redundant defines which come from includes anyway
---
 libraries/AP_HAL_ChibiOS/hwdef/revo-mini-sd/hwdef.dat | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-sd/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-sd/hwdef.dat
index ce593b2d0efc29..8f1cc5d398adf4 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-sd/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-sd/hwdef.dat
@@ -17,12 +17,8 @@ undef HAL_LOGGING_DATAFLASH_ENABLED
 # filesystem setup on sdcard
 define HAL_OS_FATFS_IO 1
 
-# disable SMBUS monitors to save flash
-define AP_BATTERY_SMBUS_ENABLED 0
-
 # disable parachute and sprayer to save flash
 define HAL_PARACHUTE_ENABLED 0
-define HAL_SPRAYER_ENABLED 0
 
 # reduce max size of embedded params for apj_tool.py
 define AP_PARAM_MAX_EMBEDDED_PARAM 1024
@@ -30,5 +26,3 @@ define HAL_GYROFFT_ENABLED 0
 
 # save some flash
 include ../include/save_some_flash.inc
-
-define AP_GRIPPER_ENABLED 0

From d0e7039b684a991ecbe08624ab04388f75e6ae43 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 15 Jan 2024 13:28:22 +1100
Subject: [PATCH 0537/1335] hwdef: remove un-needed AP_PARAM_MAX_EMBEDDED_PARAM
 default

these boards have <= 1024, and we have code in place which defaults this value tto 1024
---
 libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat      | 2 --
 libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-GSF405A/hwdef.dat    | 2 --
 libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat          | 3 ---
 libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat      | 3 ---
 libraries/AP_HAL_ChibiOS/hwdef/MatekF405-CAN/hwdef.dat     | 5 -----
 libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef.dat      | 2 --
 libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat    | 2 --
 libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat         | 3 ---
 libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat | 2 --
 libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat          | 3 ---
 libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat      | 2 --
 libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat      | 3 ---
 libraries/AP_HAL_ChibiOS/hwdef/revo-mini-sd/hwdef.dat      | 2 --
 13 files changed, 34 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat
index 086240a0f809e9..ea20a6af98b863 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat
@@ -157,8 +157,6 @@ define HAL_BATT_CURR_SCALE 26.7
 #define BOARD_RSSI_ANA_PIN 8
 #define HAL_DEFAULT_AIRSPEED_PIN 10
 
-# reduce max size of embedded params for apj_tool.py
-define AP_PARAM_MAX_EMBEDDED_PARAM 1024
 define HAL_WITH_DSP FALSE
 define HAL_GYROFFT_ENABLED 0
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-GSF405A/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-GSF405A/hwdef.dat
index 85ee746142daea..d1e3894302df9c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-GSF405A/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/JHEMCU-GSF405A/hwdef.dat
@@ -149,8 +149,6 @@ define HAL_OSD_TYPE_DEFAULT 1
 # Font for OSD
 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
 
-# -------reduce max size of embedded params for apj_tool.py
-define AP_PARAM_MAX_EMBEDDED_PARAM 1024
 define HAL_GYROFFT_ENABLED 0
 
 # --------------------- save flash ----------------------
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
index 4c8b7c627e6643..ad7c9ee0344ded 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
@@ -164,6 +164,3 @@ define HAL_MSP_ENABLED 1
 # need to probe external baros even 'though we're minimised:
 undef AP_BARO_PROBE_EXTERNAL_I2C_BUSES
 define AP_BARO_PROBE_EXTERNAL_I2C_BUSES 1
-
-# reduce max size of embedded params for apj_tool.py
-define AP_PARAM_MAX_EMBEDDED_PARAM 1024
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat
index 561fc3011616a4..21f6b672626e0c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7Mini/hwdef.dat
@@ -156,9 +156,6 @@ define STM32_PWM_USE_ADVANCED TRUE
 define HAL_PARACHUTE_ENABLED 0
 define HAL_SPRAYER_ENABLED 0
 
-# reduce max size of embedded params for apj_tool.py
-define AP_PARAM_MAX_EMBEDDED_PARAM 1024
-
 define HAL_MOUNT_ENABLED 0
 
 # save some flash
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-CAN/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-CAN/hwdef.dat
index 78cd31eaaaf3d4..ad148e79bf6622 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-CAN/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-CAN/hwdef.dat
@@ -170,9 +170,4 @@ undef AP_BATTERY_SMBUS_ENABLED
 define AP_BATTERY_SMBUS_ENABLED 0
 define HAL_PARACHUTE_ENABLED 0
 
-# reduce max size of embedded params for apj_tool.py
-define AP_PARAM_MAX_EMBEDDED_PARAM 1024
-
-
-
 define DEFAULT_NTF_LED_TYPES 487
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef.dat
index a69d9a94cf9ca6..ca85f8defc52cc 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-TE/hwdef.dat
@@ -170,8 +170,6 @@ define HAL_BATT_CURR_SCALE 66.7
 define BOARD_RSSI_ANA_PIN 8
 define HAL_DEFAULT_AIRSPEED_PIN 10
 
-# -------reduce max size of embedded params for apj_tool.py
-define AP_PARAM_MAX_EMBEDDED_PARAM 1024
 define HAL_GYROFFT_ENABLED 0
 
 # --------------------- save flash ----------------------
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
index 089fd07fdfebdc..9c942c302b9d98 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405-Wing/hwdef.dat
@@ -182,8 +182,6 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
 
 define STM32_PWM_USE_ADVANCED TRUE
 
-# reduce max size of embedded params for apj_tool.py
-define AP_PARAM_MAX_EMBEDDED_PARAM 1024
 define HAL_GYROFFT_ENABLED 0
 
 # save some flash
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
index effd88691850e2..650d1f960be605 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekF405/hwdef.dat
@@ -160,9 +160,6 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
 define HAL_PARACHUTE_ENABLED 0
 define HAL_SPRAYER_ENABLED 0
 
-# reduce max size of embedded params for apj_tool.py
-define AP_PARAM_MAX_EMBEDDED_PARAM 1024
-
 # save some flash
 include ../include/save_some_flash.inc
 include ../include/minimize_fpv_osd.inc
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat
index 1ddcd7c9eb8aa9..f6052add8b9772 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat
@@ -169,8 +169,6 @@ PC13 PINIO1 OUTPUT GPIO(81) LOW
 
 define STM32_PWM_USE_ADVANCED TRUE
 
-# reduce max size of embedded params for apj_tool.py
-define AP_PARAM_MAX_EMBEDDED_PARAM 1024
 define HAL_WITH_DSP FALSE
 
 # save some flash
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat
index e5a1777c032cca..69124a38f631f3 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SuccexF4/hwdef.dat
@@ -128,9 +128,6 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
 define HAL_PARACHUTE_ENABLED 0
 define HAL_SPRAYER_ENABLED 0
 
-# reduce max size of embedded params for apj_tool.py
-define AP_PARAM_MAX_EMBEDDED_PARAM 1024
-
 # minimal drivers to reduce flash usage
 include ../include/minimize_fpv_osd.inc
 include ../include/no_bootloader_DFU.inc
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat
index f5e2451e2d4538..6cb3544f3ccedb 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VRUBrain-v51/hwdef.dat
@@ -136,8 +136,6 @@ FLASH_RESERVE_START_KB 64
 # enable RAMTROM parameter storage
 #define HAL_WITH_RAMTRON 1
 
-define AP_PARAM_MAX_EMBEDDED_PARAM 1024
-
 # enable FAT filesystem
 define HAL_OS_FATFS_IO 1
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
index d3ed1d6f221517..0c7f94e691e3bc 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/omnibusf4pro/hwdef.dat
@@ -154,9 +154,6 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
 define HAL_PARACHUTE_ENABLED 0
 define HAL_SPRAYER_ENABLED 0
 
-# reduce max size of embedded params for apj_tool.py
-define AP_PARAM_MAX_EMBEDDED_PARAM 1024
-
 # save some flash
 include ../include/save_some_flash.inc
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-sd/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-sd/hwdef.dat
index 8f1cc5d398adf4..28432ba816d6e9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-sd/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/revo-mini-sd/hwdef.dat
@@ -20,8 +20,6 @@ define HAL_OS_FATFS_IO 1
 # disable parachute and sprayer to save flash
 define HAL_PARACHUTE_ENABLED 0
 
-# reduce max size of embedded params for apj_tool.py
-define AP_PARAM_MAX_EMBEDDED_PARAM 1024
 define HAL_GYROFFT_ENABLED 0
 
 # save some flash

From 6ecb8ce0230bed67575bbbd62c63bc77cd4deea6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 17:51:06 +1100
Subject: [PATCH 0538/1335] AP_Relay: add missing SITL include

was being satisfied transitively
---
 libraries/AP_Relay/AP_Relay.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 3b70fcb5d18010..47d2b030b8031b 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -29,6 +29,10 @@
 #include <AP_CANManager/AP_CANManager.h>
 #endif
 
+#if AP_SIM_ENABLED
+#include <SITL/SITL.h>
+#endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
   #define RELAY1_PIN_DEFAULT 13
 

From 38a9960b31e4ac4d68e90ce892fe6455642a359f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 20:37:43 +1100
Subject: [PATCH 0539/1335] AP_Periph: add missing include for AP_RTC

shouldn't be instantiating one of these without directly including the header.

Was being included transitively
---
 Tools/AP_Periph/AP_Periph.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index 488f05cc0c025c..9d4328b0ddeb6b 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -32,6 +32,9 @@
 #if HAL_WITH_ESC_TELEM
 #include <AP_ESC_Telem/AP_ESC_Telem.h>
 #endif
+#ifdef HAL_PERIPH_ENABLE_RTC
+#include <AP_RTC/AP_RTC.h>
+#endif
 #include <AP_RCProtocol/AP_RCProtocol_config.h>
 #include "rc_in.h"
 #include "batt_balance.h"

From fb1209ff3c40551ec91e84fe6b6346e10825054a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 22:08:57 +1100
Subject: [PATCH 0540/1335] AP_Periph: add missing AP_AHRS include

---
 Tools/AP_Periph/AP_Periph.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index 9d4328b0ddeb6b..d0e0c279be8ffc 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -43,6 +43,7 @@
 #if AP_SIM_ENABLED
 #include <SITL/SITL.h>
 #endif
+#include <AP_AHRS/AP_AHRS.h>
 
 #ifdef HAL_PERIPH_ENABLE_RELAY
 #ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT

From 5f5673b58fc4ddb407bf521c23345e66b08e0740 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 15 Jan 2024 14:16:23 -0600
Subject: [PATCH 0541/1335] AP_HAL_ChibiOS: match thread stack pointer types to
 ChibiOS

`__main_thread_stack_base__` and `__main_thread_stack_end__` are
variables whose address is defined to be the corresponding part of the
stack. These are declared as `extern stkalign_t` in ChibiOS code, and
being declared as `extern uint32_t` in ArduPilot code creates a warning
at link time when using LTO. Correct the declaration to eliminate this
warning.

Also update `__main_stack_base__` and `__main_stack_end__` which don't
currently trigger this warning but serve similar purposes and so might
in the future.

The hardware expects an alignment of `stkalign_t` (which is 8 bytes) and
the linker script defines the variable values with this alignment as
well, so this is safe.

No code size or functional change.
---
 libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
index 5a24edd59fe97c..828ceed09ca69a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
@@ -186,10 +186,10 @@ void stm32_flash_protect_flash(bool bootloader, bool protect);
 void stm32_flash_unprotect_flash(void);
 
 // allow stack view code to show free ISR stack
-extern uint32_t __main_stack_base__;
-extern uint32_t __main_stack_end__;
-extern uint32_t __main_thread_stack_base__;
-extern uint32_t __main_thread_stack_end__;
+extern stkalign_t __main_stack_base__;
+extern stkalign_t __main_stack_end__;
+extern stkalign_t __main_thread_stack_base__;
+extern stkalign_t __main_thread_stack_end__;
 
 #ifdef __cplusplus
 }

From d554ade7cea7c43f54c46f30032b1779c140b229 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 15 Jan 2024 14:32:17 -0600
Subject: [PATCH 0542/1335] AP_IOMCU: match thread stack pointer types to
 ChibiOS

`__main_thread_stack_base__` and `__main_thread_stack_end__` are
variables whose address is defined to be the corresponding part of the
stack. These are declared as `extern stkalign_t` in ChibiOS code, and
being declared as `extern uint32_t` in ArduPilot code creates a warning
at link time when using LTO. Correct the declaration to eliminate this
warning.

Also update `__main_stack_base__` and `__main_stack_end__` which don't
currently trigger this warning but serve similar purposes and so might
in the future.

The hardware expects an alignment of `stkalign_t` (which is 8 bytes) and
the linker script defines the variable values with this alignment as
well, so this is safe.

No code size or functional change.
---
 libraries/AP_IOMCU/iofirmware/iofirmware.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
index 2b1e65d145a1ab..6e97fa4cf2714f 100644
--- a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
+++ b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp
@@ -341,8 +341,8 @@ void AP_IOMCU_FW::init()
 
 #if CH_DBG_ENABLE_STACK_CHECK == TRUE
 static void stackCheck(uint16_t& mstack, uint16_t& pstack) {
-    extern uint32_t __main_stack_base__[];
-    extern uint32_t __main_stack_end__[];
+    extern stkalign_t __main_stack_base__[];
+    extern stkalign_t __main_stack_end__[];
     uint32_t stklimit = (uint32_t)__main_stack_end__;
     uint32_t stkbase  = (uint32_t)__main_stack_base__;
     uint32_t *crawl   = (uint32_t *)stkbase;
@@ -354,8 +354,8 @@ static void stackCheck(uint16_t& mstack, uint16_t& pstack) {
     chDbgAssert(free > 0, "mstack exhausted");
     mstack = (uint16_t)free;
 
-    extern uint32_t __main_thread_stack_base__[];
-    extern uint32_t __main_thread_stack_end__[];
+    extern stkalign_t __main_thread_stack_base__[];
+    extern stkalign_t __main_thread_stack_end__[];
     stklimit = (uint32_t)__main_thread_stack_end__;
     stkbase  = (uint32_t)__main_thread_stack_base__;
     crawl   = (uint32_t *)stkbase;

From f7365556d0ec681ba1d7a8a683e3469c7d2a843a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 14:10:40 +1100
Subject: [PATCH 0543/1335] AP_HAL_ChibiOS: tidy disabling of GHST on iomcu

---
 libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_iofirmware.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_iofirmware.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_iofirmware.h
index 269610f5543523..8c441c3397cedc 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_iofirmware.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_iofirmware.h
@@ -35,6 +35,9 @@
 // no crossfire telemetry from iomcu!
 #define HAL_CRSF_TELEM_ENABLED 0
 
+// no ghost telemtry from IOMCU:
+#define AP_GHST_TELEM_ENABLED 0
+
 // allow the IOMCU to have its allowed protocols to be set:
 #define AP_RCPROTOCOL_ENABLE_SET_RC_PROTOCOLS 1
 

From 61c4e4750a848333ecf2d9b3941fab20506fea3e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 14:10:40 +1100
Subject: [PATCH 0544/1335] AP_RCProtocol: tidy disabling of GHST on iomcu

---
 libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
index 195e56bfb91641..9a8a68f871383f 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
@@ -358,7 +358,7 @@ bool AP_RCProtocol_GHST::process_telemetry(bool check_constraint)
     }
 
     if (!telem_available) {
-#if AP_GHST_TELEM_ENABLED && !APM_BUILD_TYPE(APM_BUILD_iofirmware)
+#if AP_GHST_TELEM_ENABLED
         if (AP_GHST_Telem::get_telem_data(&_telemetry_frame, is_tx_active())) {
             telem_available = true;
         } else {

From 2e23fa7612952498c4d8f8e25cf4c092c2e812a9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 14:12:08 +1100
Subject: [PATCH 0545/1335] hwdef: remove ghost telemetry from peripherals

---
 libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
index e0b0f894a666a9..e7f32d724f475e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
@@ -147,6 +147,7 @@
 #endif
 
 #define HAL_CRSF_TELEM_ENABLED 0
+#define AP_GHST_TELEM_ENABLED 0
 
 #ifndef AP_SERVORELAYEVENTS_ENABLED
 #define AP_SERVORELAYEVENTS_ENABLED 0

From 3e955d12fa35543161ea21da8ba5f1b4a9ae8c2b Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 22 Dec 2023 16:07:45 +0000
Subject: [PATCH 0546/1335] Plane: Quadaplane: add helper
 `allow_forward_throttle_in_vtol_mode`

---
 ArduPlane/quadplane.cpp | 6 ++++++
 ArduPlane/quadplane.h   | 5 +++++
 ArduPlane/servos.cpp    | 6 ++----
 3 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 25c7ff533ba2a2..4a372fc15ffc62 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -4742,4 +4742,10 @@ float QuadPlane::get_throttle_input() const
     return ret;
 }
 
+// return true if forward throttle from forward_throttle_pct() should be used
+bool QuadPlane::allow_forward_throttle_in_vtol_mode() const
+{
+    return in_vtol_mode() && motors->armed() && (motors->get_desired_spool_state() != AP_Motors::DesiredSpoolState::SHUT_DOWN);
+}
+
 #endif  // HAL_QUADPLANE_ENABLED
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 2c5a624ff4a4e4..140c47e585aa79 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -729,6 +729,11 @@ class QuadPlane
      */
     void setup_rp_fw_angle_gains(void);
 
+    /*
+      return true if forward throttle from forward_throttle_pct() should be used
+     */
+    bool allow_forward_throttle_in_vtol_mode() const;
+
 public:
     void motor_test_output();
     MAV_RESULT mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor_seq, uint8_t throttle_type,
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index c8f03bb8968486..d77ed1a1723079 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -591,10 +591,8 @@ void Plane::set_throttle(void)
 #if HAL_QUADPLANE_ENABLED
     } else if (quadplane.in_vtol_mode()) {
         float fwd_thr = 0;
-        // if armed and not spooled down ask quadplane code for forward throttle
-        if (quadplane.motors->armed() &&
-            quadplane.motors->get_desired_spool_state() != AP_Motors::DesiredSpoolState::SHUT_DOWN) {
-
+        // if enabled ask quadplane code for forward throttle
+        if (quadplane.allow_forward_throttle_in_vtol_mode()) {
             fwd_thr = constrain_float(quadplane.forward_throttle_pct(), min_throttle, max_throttle);
         }
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, fwd_thr);

From 17fb9455a9ce091b15ce00f5e58f1123ab5a0623 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 22 Dec 2023 16:09:42 +0000
Subject: [PATCH 0547/1335] Plane: `set_throttle` add early return for disarmed
 and throttle suppression

---
 ArduPlane/servos.cpp | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index d77ed1a1723079..65b5260079f217 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -551,7 +551,10 @@ void Plane::set_throttle(void)
             SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
             SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
         }
-    } else if (suppress_throttle()) {
+        return;
+    }
+
+    if (suppress_throttle()) {
         if (g.throttle_suppress_manual) {
             // manual pass through of throttle while throttle is suppressed
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
@@ -565,11 +568,15 @@ void Plane::set_throttle(void)
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
 
         }
+        return;
+    }
+
 #if AP_SCRIPTING_ENABLED
-    } else if (nav_scripting_active()) {
+    if (nav_scripting_active()) {
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
+    } else
 #endif
-    } else if (control_mode == &mode_stabilize ||
+           if (control_mode == &mode_stabilize ||
                control_mode == &mode_training ||
                control_mode == &mode_acro ||
                control_mode == &mode_fbwa ||

From 01c8717308009bedf2ce3e72a49444b775a5417c Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 22 Dec 2023 16:18:29 +0000
Subject: [PATCH 0548/1335] Plane: ask flight mode if min/max throttle limits
 should be applied

---
 ArduPlane/Plane.h    |  1 +
 ArduPlane/mode.cpp   | 32 ++++++++++++++++++++++++++++++++
 ArduPlane/mode.h     |  2 ++
 ArduPlane/servos.cpp | 33 ++++++++++++++++++++++++---------
 4 files changed, 59 insertions(+), 9 deletions(-)

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 8dcb90e47d8dd0..1b8e5ccea25467 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -1095,6 +1095,7 @@ class Plane : public AP_Vehicle {
     // servos.cpp
     void set_servos_idle(void);
     void set_servos();
+    float apply_throttle_limits(float throttle_in);
     void set_throttle(void);
     void set_takeoff_expected(void);
     void set_servos_old_elevons(void);
diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index 6eef3fb0fab389..2d97c9cb1acd7b 100644
--- a/ArduPlane/mode.cpp
+++ b/ArduPlane/mode.cpp
@@ -258,3 +258,35 @@ void Mode::output_rudder_and_steering(float val)
     SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, val);
     SRV_Channels::set_output_scaled(SRV_Channel::k_steering, val);
 }
+
+// true if throttle min/max limits should be applied
+bool Mode::use_throttle_limits() const
+{
+#if AP_SCRIPTING_ENABLED
+    if (plane.nav_scripting_active()) {
+        return false;
+    }
+#endif
+
+    if (this == &plane.mode_stabilize ||
+        this == &plane.mode_training ||
+        this == &plane.mode_acro ||
+        this == &plane.mode_fbwa ||
+        this == &plane.mode_autotune) {
+        // a manual throttle mode
+        return !plane.g.throttle_passthru_stabilize;
+    }
+
+    if (is_guided_mode() && plane.guided_throttle_passthru) {
+        // manual pass through of throttle while in GUIDED
+        return false;
+    }
+
+#if HAL_QUADPLANE_ENABLED
+    if (quadplane.in_vtol_mode()) {
+        return quadplane.allow_forward_throttle_in_vtol_mode();
+    }
+#endif
+
+    return true;
+}
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 2f745074c6f270..1de286f8667e28 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -135,6 +135,8 @@ class Mode
     // true if is taking 
     virtual bool is_taking_off() const;
 
+    // true if throttle min/max limits should be applied
+    bool use_throttle_limits() const;
 
 protected:
 
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 65b5260079f217..c04cc8dbb3e8a0 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -495,11 +495,11 @@ void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle)
     }
 }
 #endif // #if AP_BATTERY_WATT_MAX_ENABLED
-    
+
 /*
-  setup output channels all non-manual modes
+  Apply min/max limits to throttle
  */
-void Plane::set_throttle(void)
+float Plane::apply_throttle_limits(float throttle_in)
 {
     // convert 0 to 100% (or -100 to +100) into PWM
     int8_t min_throttle = aparm.throttle_min.get();
@@ -531,7 +531,6 @@ void Plane::set_throttle(void)
     }
 
     // compensate for battery voltage drop
-    g2.fwd_batt_cmp.update();
     g2.fwd_batt_cmp.apply_min_max(min_throttle, max_throttle);
 
 #if AP_BATTERY_WATT_MAX_ENABLED
@@ -539,6 +538,15 @@ void Plane::set_throttle(void)
     throttle_watt_limiter(min_throttle, max_throttle);
 #endif
 
+    return constrain_float(throttle_in, min_throttle, max_throttle);
+}
+
+/*
+  setup output channels all non-manual modes
+ */
+void Plane::set_throttle(void)
+{
+
     if (!arming.is_armed_and_safety_off()) {
         // Always set 0 scaled even if overriding to zero pwm.
         // This ensures slew limits and other functions using the scaled value pick up in the correct place
@@ -571,6 +579,9 @@ void Plane::set_throttle(void)
         return;
     }
 
+    // Update voltage scaling
+    g2.fwd_batt_cmp.update();
+
 #if AP_SCRIPTING_ENABLED
     if (nav_scripting_active()) {
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
@@ -588,8 +599,7 @@ void Plane::set_throttle(void)
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
         } else {
             // get throttle, but adjust center to output TRIM_THROTTLE if flight option set
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,
-                                            constrain_int16(get_adjusted_throttle_input(true), min_throttle, max_throttle));
+            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_adjusted_throttle_input(true));
         }
     } else if (control_mode->is_guided_mode() &&
                guided_throttle_passthru) {
@@ -600,17 +610,22 @@ void Plane::set_throttle(void)
         float fwd_thr = 0;
         // if enabled ask quadplane code for forward throttle
         if (quadplane.allow_forward_throttle_in_vtol_mode()) {
-            fwd_thr = constrain_float(quadplane.forward_throttle_pct(), min_throttle, max_throttle);
+            fwd_thr = quadplane.forward_throttle_pct();
         }
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, fwd_thr);
 #endif  // HAL_QUADPLANE_ENABLED
 
     } else {
-        // Apply min/max limits and voltage compensation to throttle output from flight mode
+        // Apply voltage compensation to throttle output from flight mode
         const float throttle = g2.fwd_batt_cmp.apply_throttle(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, constrain_float(throttle, min_throttle, max_throttle));
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
     }
 
+    if (control_mode->use_throttle_limits()) {
+        // Apply min/max throttle limits
+        const float limited_throttle = apply_throttle_limits(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, limited_throttle);
+    }
 }
 
 /*

From c0a503d74d8aa05b6803a523fe7506ce9a8a7189 Mon Sep 17 00:00:00 2001
From: Simon Hancock <simon@linkingdrones.com>
Date: Fri, 22 Dec 2023 10:52:52 +0000
Subject: [PATCH 0549/1335] autotest: Provide format and unit/multiplier info
 for log messages Definitions of each character are extracted from
 LogStructure.h Data is extracted by parsing the logging definition struct
 Also parse WriteMessage() calls for messages not defined in struct Add
 support to separate log descriptions for messages with same field list
 Compute derived unit from combination of format, unit and multiplier For XML
 output the format and derived unit into new attributes Add enumerations to
 the XML output (bitmasks were already done) For MD,RST,HTML, output either
 derived unit, 'char[n]', 'bitmask' or 'enum' Fix support for Blimp by adding
 it to the parse_enum.py lookup table

---
 Tools/autotest/logger_metadata/emit_html.py |  14 +-
 Tools/autotest/logger_metadata/emit_md.py   |  14 +-
 Tools/autotest/logger_metadata/emit_rst.py  |  14 +-
 Tools/autotest/logger_metadata/emit_xml.py  |  35 ++-
 Tools/autotest/logger_metadata/parse.py     | 288 +++++++++++++++++++-
 5 files changed, 339 insertions(+), 26 deletions(-)

diff --git a/Tools/autotest/logger_metadata/emit_html.py b/Tools/autotest/logger_metadata/emit_html.py
index 08f16160f0c4a2..506dfbc104565b 100644
--- a/Tools/autotest/logger_metadata/emit_html.py
+++ b/Tools/autotest/logger_metadata/emit_html.py
@@ -37,14 +37,24 @@ def emit(self, doccos, enumerations):
                 print('        <h2>%s</h2>' %
                       docco.description, file=self.fh)
             print('        <table>', file=self.fh)
-            print("        <tr><th>FieldName</th><th>Description</th><tr>",
+            print("        <tr><th>FieldName</th><th>Units/Type</th><th>Description</th><tr>",
                   file=self.fh)
             for f in docco.fields_order:
                 if "description" in docco.fields[f]:
                     fdesc = docco.fields[f]["description"]
                 else:
                     fdesc = ""
-                print('        <tr><td>%s</td><td>%s</td></tr>' % (f, fdesc),
+                if "units" in docco.fields[f] and docco.fields[f]["units"]!="":
+                    ftypeunits = docco.fields[f]["units"]
+                elif "fmt" in docco.fields[f] and "char" in docco.fields[f]["fmt"]:
+                    ftypeunits = docco.fields[f]["fmt"]
+                elif "bitmaskenum" in docco.fields[f]:
+                    ftypeunits = "bitmask"
+                elif "valueenum" in docco.fields[f]:
+                    ftypeunits = "enum"
+                else:
+                    ftypeunits = ""
+                print('        <tr><td>%s</td><td>%s</td><td>%s</td></tr>' % (f, ftypeunits, fdesc),
                       file=self.fh)
             print('        </table>', file=self.fh)
 
diff --git a/Tools/autotest/logger_metadata/emit_md.py b/Tools/autotest/logger_metadata/emit_md.py
index d6d1cb78778ba4..f9ae44492b5744 100644
--- a/Tools/autotest/logger_metadata/emit_md.py
+++ b/Tools/autotest/logger_metadata/emit_md.py
@@ -67,13 +67,23 @@ def emit(self, doccos, enumerations=None):
             if docco.url is not None:
                 desc += f' ([Read more...]({docco.url}))'
             print(desc, file=self.fh)
-            print("\n|FieldName|Description|\n|---|---|", file=self.fh)
+            print("\n|FieldName|Units/Type|Description|\n|---|---|---|", file=self.fh)
             for f in docco.fields_order:
                 if "description" in docco.fields[f]:
                     fdesc = docco.fields[f]["description"]
                 else:
                     fdesc = ""
-                print(f'|{f}|{fdesc}|', file=self.fh)
+                if "units" in docco.fields[f] and docco.fields[f]["units"]!="":
+                    ftypeunits = docco.fields[f]["units"]
+                elif "fmt" in docco.fields[f] and "char" in docco.fields[f]["fmt"]:
+                    ftypeunits = docco.fields[f]["fmt"]
+                elif "bitmaskenum" in docco.fields[f]:
+                    ftypeunits = "bitmask"
+                elif "valueenum" in docco.fields[f]:
+                    ftypeunits = "enum"
+                else:
+                    ftypeunits = ""
+                print(f'|{f}|{ftypeunits}|{fdesc}|', file=self.fh)
             print("", file=self.fh)
         self.stop()
 
diff --git a/Tools/autotest/logger_metadata/emit_rst.py b/Tools/autotest/logger_metadata/emit_rst.py
index 6b48ca5b315e36..7e513a0cc82f07 100644
--- a/Tools/autotest/logger_metadata/emit_rst.py
+++ b/Tools/autotest/logger_metadata/emit_rst.py
@@ -37,17 +37,23 @@ def emit(self, doccos, enumerations):
 
             rows = []
             for f in docco.fields_order:
+                # Populate the description column
                 if "description" in docco.fields[f]:
                     fdesc = docco.fields[f]["description"]
                 else:
                     fdesc = ""
+                # Initialise Type/Unit and check for enum/bitfields
+                ftypeunit = ""
                 fieldnamething = None
                 if "bitmaskenum" in docco.fields[f]:
                     fieldnamething = "bitmaskenum"
                     table_label = "Bitmask values"
+                    ftypeunit = "bitmask"
                 elif "valueenum" in docco.fields[f]:
                     fieldnamething = "valueenum"
                     table_label = "Values"
+                    ftypeunit = "enum"
+                # If an enum/bitmask is defined, build the table
                 if fieldnamething is not None:
                     enum_name = docco.fields[f][fieldnamething]
                     if enum_name not in enumerations:
@@ -62,7 +68,13 @@ def emit(self, doccos, enumerations):
                             comment = ""
                         bitmaskrows.append([enumentry.name, str(enumentry.value), comment])
                     fdesc += "\n%s:\n\n%s" % (table_label, self.tablify(bitmaskrows))
-                rows.append([f, fdesc])
+                # Populate the Type/Units column
+                if "units" in docco.fields[f] and docco.fields[f]["units"] != "":
+                    ftypeunit = docco.fields[f]["units"]
+                elif "fmt" in docco.fields[f] and "char" in docco.fields[f]["fmt"]:
+                    ftypeunit = docco.fields[f]["fmt"]
+                # Add the new row
+                rows.append([f, ftypeunit, fdesc])
 
             print(self.tablify(rows), file=self.fh)
 
diff --git a/Tools/autotest/logger_metadata/emit_xml.py b/Tools/autotest/logger_metadata/emit_xml.py
index c0fc39b0c0dc83..05073364c91aa4 100644
--- a/Tools/autotest/logger_metadata/emit_xml.py
+++ b/Tools/autotest/logger_metadata/emit_xml.py
@@ -31,24 +31,37 @@ def emit(self, doccos, enumerations):
 
             xml_fields = etree.SubElement(xml_logformat, 'fields')
             for f in docco.fields_order:
-                xml_field = etree.SubElement(xml_fields, 'field', name=f)
+                units = docco.fields[f]['units'] if "units" in docco.fields[f] else ""
+                fmt = docco.fields[f]['fmt'] if "fmt" in docco.fields[f] else ""
+                xml_field = etree.SubElement(xml_fields, 'field', name=f, units=units, type=fmt)
                 if "description" in docco.fields[f]:
                     xml_description2 = etree.SubElement(xml_field, 'description')
                     xml_description2.text = docco.fields[f]["description"]
+                # Check for enum/bitfield
+                fieldnamething = None
                 if "bitmaskenum" in docco.fields[f]:
-                    enum_name = docco.fields[f]["bitmaskenum"]
+                    fieldnamething = "bitmaskenum"
+                    xmlenumtag = "bitmask"
+                    xmlentrytag = "bit"
+                elif "valueenum" in docco.fields[f]:
+                    fieldnamething = "valueenum"
+                    xmlenumtag = "enum"
+                    xmlentrytag = "element"
+                # If an enum/bitmask is defined, include this in the XML
+                if fieldnamething is not None:
+                    enum_name = docco.fields[f][fieldnamething]
                     if enum_name not in enumerations:
                         raise Exception("Unknown enum (%s) (have %s)" %
                                         (enum_name, "\n".join(sorted(enumerations.keys()))))
-                    bit_mask = enumerations[enum_name]
-                    xml_bitmask = etree.SubElement(xml_field, 'bitmask')
-                    for bit in bit_mask.entries:
-                        xml_bitmask_bit = etree.SubElement(xml_bitmask, 'bit', name=bit.name)
-                        xml_bitmask_bit_value = etree.SubElement(xml_bitmask_bit, 'value')
-                        xml_bitmask_bit_value.text =  str(bit.value)
-                        if bit.comment is not None:
-                            xml_bitmask_bit_comment = etree.SubElement(xml_bitmask_bit, 'description')
-                            xml_bitmask_bit_comment.text = bit.comment
+                    enum = enumerations[enum_name]
+                    xml_enum = etree.SubElement(xml_field, xmlenumtag, name=enum_name)
+                    for entry in enum.entries:
+                        xml_enum_entry = etree.SubElement(xml_enum, xmlentrytag, name=entry.name)
+                        xml_enum_entry_value = etree.SubElement(xml_enum_entry, 'value')
+                        xml_enum_entry_value.text =  str(entry.value)
+                        if entry.comment is not None:
+                            xml_enum_entry_comment = etree.SubElement(xml_enum_entry, 'description')
+                            xml_enum_entry_comment.text = entry.comment
             if xml_fields.text is None and not len(xml_fields):
                 xml_fields.text = '\n'  # add </param> on next line in case of empty element.
         self.stop()
diff --git a/Tools/autotest/logger_metadata/parse.py b/Tools/autotest/logger_metadata/parse.py
index ea58198ea2bcc8..a3ce3221c6c1ae 100755
--- a/Tools/autotest/logger_metadata/parse.py
+++ b/Tools/autotest/logger_metadata/parse.py
@@ -19,6 +19,7 @@
 topdir = os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../../')
 topdir = os.path.realpath(topdir)
 
+# Regular expressions for finding message information in code comments
 re_loggermessage = re.compile(r"@LoggerMessage\s*:\s*([\w,]+)", re.MULTILINE)
 re_commentline = re.compile(r"\s*//")
 re_description = re.compile(r"\s*//\s*@Description\s*:\s*(.*)")
@@ -29,9 +30,39 @@
 re_fieldvalueenum = re.compile(r"\s*//\s*@FieldValueEnum\s*:\s*(\w+):\s*(.*)")
 re_vehicles = re.compile(r"\s*//\s*@Vehicles\s*:\s*(.*)")
 
+# Regular expressions for finding message definitions in structure format
+re_start_messagedef = re.compile(r"^\s*{?\s*LOG_[A-Z0-9_]+_[MSGTA]+[A-Z0-9_]*\s*,")
+re_deffield = r'[\s\\]*"?([\w\-#?%]+)"?\s*'
+re_full_messagedef = re.compile(r'\s*LOG_\w+\s*,\s*\w+\([^)]+\)[\s\\]*,' + f'{re_deffield},{re_deffield},' + r'[\s\\]*"?([\w,]+)"?[\s\\]*,' + f'{re_deffield},{re_deffield}' , re.MULTILINE)
+re_fmt_define = re.compile(r'#define\s+(\w+_FMT)\s+"([\w\-#?%]+)"')
+re_units_define = re.compile(r'#define\s+(\w+_UNITS)\s+"([\w\-#?%]+)"')
+re_mults_define = re.compile(r'#define\s+(\w+_MULTS)\s+"([\w\-#?%]+)"')
+
+# Regular expressions for finding message definitions in Write calls
+re_start_writecall = re.compile(r"\s*[AP:]*logger[\(\)]*.Write[StreamingCrcl]*\(")
+re_writefield = r'\s*"([\w\-#?%,]+)"\s*'
+re_full_writecall = re.compile(r'\s*[AP:]*logger[\(\)]*.Write[StreamingCrcl]*\(' + f'{re_writefield},{re_writefield},{re_writefield},({re_writefield},{re_writefield})?' , re.MULTILINE)
+
+# Regular expression for extracting unit and multipliers from structure
+re_units_mults_struct = re.compile(r"^\s*{\s*'([\w\-#?%!/])',"+r'\s*"?([\w\-#?%./]*)"?\s*}')
+
 # TODO: validate URLS actually return 200
-# TODO: augment with other information from log definitions; type and units...
 
+# Lookup tables are populated by reading LogStructure.h
+log_fmt_lookup = {}
+log_units_lookup = {}
+log_mult_lookup = {}
+
+# Lookup table to convert multiplier to prefix
+mult_prefix_lookup = {
+    0: "",
+    1: "",
+    1e-1: "d", # deci-
+    1e-2: "c", # centi-
+    1e-3: "m", # milli-
+    1e-6: "μ", # micro-
+    1e-9: "n"  # nano-
+}
 
 class LoggerDocco(object):
 
@@ -53,20 +84,48 @@ def __init__(self, vehicle):
             emit_xml.XMLEmitter(),
             emit_md.MDEmitter(),
         ]
+        self.msg_fmts_list = {}
+        self.msg_units_list = {}
+        self.msg_mults_list = {}
 
     class Docco(object):
 
         def __init__(self, name):
             self.name = name
             self.url = None
-            self.description = None
+            if isinstance(name,list):
+                self.description = [None] * len(name)
+            else:
+                self.description = None
             self.fields = {}
             self.fields_order = []
             self.vehicles = None
             self.bits_enums = []
 
+        def add_name(self, name):
+            # If self.name/description aren't lists, convert them
+            if isinstance(self.name,str):
+                self.name = [self.name]
+                self.description = [self.description]
+            # Replace any existing empty descriptions with empty strings
+            for i in range(0,len(self.description)):
+                if self.description[i] is None:
+                    self.description[i] = ""
+            # Extend the name and description lists
+            if isinstance(name,list):
+                self.name.extend(name)
+                self.description.extend([None] * len(name))
+            else:
+                self.name.append(name)
+                self.description.append(None)
+
         def set_description(self, desc):
-            self.description = desc
+            if isinstance(self.description,list):
+                for i in range(0,len(self.description)):
+                    if self.description[i] is None:
+                        self.description[i] = desc
+            else:
+                self.description = desc
 
         def set_url(self, url):
             self.url = url
@@ -99,13 +158,107 @@ def set_fieldbitmaskenum(self, field, bits):
             self.ensure_field(field)
             self.fields[field]["bitmaskenum"] = bits
 
-        def set_fieldbitmaskvalue(self, field, bits):
+        def set_fieldvalueenum(self, field, bits):
             self.ensure_field(field)
             self.fields[field]["valueenum"] = bits
 
         def set_vehicles(self, vehicles):
             self.vehicles = vehicles
 
+        def set_fmts(self, fmts):
+            # If no fields are defined, do nothing
+            if len(self.fields_order)==0:
+                return
+            # Make sure lengths match up
+            if len(fmts) != len(self.fields_order):
+                print(f"Number of fmts don't match fields: msg={self.name} fmts={fmts} num_fields={len(self.fields_order)}")
+                return
+            # Loop through the list
+            for idx in range(0,len(fmts)):
+                if fmts[idx] in log_fmt_lookup:
+                    self.fields[self.fields_order[idx]]["fmt"] = log_fmt_lookup[fmts[idx]]
+                else:
+                    print(f"Unrecognised format character: {fmts[idx]} in message {self.name}")
+
+        def set_units(self, units, mults):
+            # If no fields are defined, do nothing
+            if len(self.fields_order)==0:
+                return
+            # Make sure lengths match up
+            if len(units) != len(self.fields_order) or len(units) != len(mults):
+                print(f"Number of units/mults/fields don't match: msg={self.name} units={units} mults={mults} num_fields={len(self.fields_order)}")
+                return
+            # Loop through the list
+            for idx in range(0,len(units)):
+                # Get the index into fields from field_order
+                f = self.fields_order[idx]
+                # Convert unit char to base unit
+                if units[idx] in log_units_lookup:
+                    baseunit = log_units_lookup[units[idx]]
+                else:
+                    print(f"Unrecognised units character: {units[idx]} in message {self.name}")
+                    continue
+                # Do nothing if this field has no unit defined
+                if baseunit == "":
+                    continue
+                # Convert mult char to value
+                if mults[idx] in log_mult_lookup:
+                    mult = log_mult_lookup[mults[idx]]
+                    mult_num = float(mult)
+                else:
+                    print(f"Unrecognised multiplier character: {mults[idx]} in message {self.name}")
+                    continue
+                # Check if the defined format for this field contains its own multiplier
+                # If so, the presented value will be the base-unit directly
+                if 'fmt' in self.fields[f] and self.fields[f]['fmt'].endswith("* 100"):
+                    self.fields[f]["units"] = baseunit
+                elif 'fmt' in self.fields[f] and "latitude/longitude" in self.fields[f]['fmt']:
+                    self.fields[f]["units"] = baseunit
+                # Check if we have a defined prefix for this multiplier
+                elif mult_num in mult_prefix_lookup:
+                    self.fields[f]["units"] = f"{mult_prefix_lookup[mult_num]}{baseunit}"
+                # If all else fails, set the unit as the multipler and base unit together
+                else:
+                    self.fields[f]["units"] = f"{mult} {baseunit}"
+
+    def populate_lookups(self):
+        # Initialise the lookup tables
+        # Read the contents of the LogStructure.h file
+        structfile = os.path.join(topdir, "libraries", "AP_Logger", "LogStructure.h")
+        with open(structfile) as f:
+            lines = f.readlines()
+            f.close()
+        # Initialise current section to none
+        section = "none"
+        # Loop through the lines in the file
+        for line in lines:
+            # Look for the start of fmt/unit/mult info
+            if line.startswith("Format characters"):
+                section = "fmt"
+            elif line.startswith("const struct UnitStructure"):
+                section = "units"
+            elif line.startswith("const struct MultiplierStructure"):
+                section = "mult"
+            # Read formats from code comment, e.g.:
+            #    b   : int8_t
+            elif section == "fmt":
+                if "*/" in line:
+                    section = "none"
+                else:
+                    parts = line.split(":")
+                    log_fmt_lookup[parts[0].strip()] = parts[1].strip()
+            # Read units or multipliers from C struct definition, e.g.:
+            #    { '2', 1e2 },  or   { 'J', "W.s" },
+            elif section != "none":
+                if "};" in line:
+                    section = "none"
+                else:
+                    u = re_units_mults_struct.search(line)
+                    if u is not None and section == "units":
+                        log_units_lookup[u.group(1)] = u.group(2)
+                    if u is not None and section == "mult":
+                        log_mult_lookup[u.group(1)] = u.group(2)
+
     def search_for_files(self, dirs_to_search):
         _next = []
         for _dir in dirs_to_search:
@@ -122,17 +275,86 @@ def search_for_files(self, dirs_to_search):
         if len(_next):
             self.search_for_files(_next)
 
+    def parse_messagedef(self,messagedef):
+        # Merge concatinated strings and remove comments
+        messagedef = re.sub(r'"\s+"', '', messagedef)
+        messagedef = re.sub(r'//[^\n]*', '', messagedef)
+        # Extract details from a structure definition
+        d = re_full_messagedef.search(messagedef)
+        if d is not None:
+            self.msg_fmts_list[d.group(1)] = d.group(2)
+            self.msg_units_list[d.group(1)] = d.group(4)
+            self.msg_mults_list[d.group(1)] = d.group(5)
+            return
+        # Extract details from a WriteStreaming call
+        d = re_full_writecall.search(messagedef)
+        if d is not None:
+            if d.group(1) in self.msg_fmts_list:
+                return
+            if d.group(5) is None:
+                self.msg_fmts_list[d.group(1)] = d.group(3)
+            else:
+                self.msg_fmts_list[d.group(1)] = d.group(6)
+                self.msg_units_list[d.group(1)] = d.group(3)
+                self.msg_mults_list[d.group(1)] = d.group(5)
+            return
+        # Didn't parse
+        #print(f"Unable to parse: {messagedef}")
+
+    def search_messagedef_start(self,line,prevmessagedef=""):
+        # Look for the start of a structure definition
+        d = re_start_messagedef.search(line)
+        if d is not None:
+            messagedef = line
+            if "}" in line:
+                self.parse_messagedef(messagedef)
+                return ""
+            else:
+                return messagedef
+        # Look for a new call to WriteStreaming
+        d = re_start_writecall.search(line)
+        if d is not None:
+            messagedef = line
+            if ";" in line:
+                self.parse_messagedef(messagedef)
+                return ""
+            else:
+                return messagedef
+        # If we didn't find a new one, continue with any previous state
+        return prevmessagedef
+
     def parse_file(self, filepath):
         with open(filepath) as f:
             #            print("Opened (%s)" % filepath)
             lines = f.readlines()
             f.close()
-            state_outside = "outside"
-            state_inside = "inside"
-            state = state_outside
-            docco = None
+        state_outside = "outside"
+        state_inside = "inside"
+        messagedef = ""
+        state = state_outside
+        docco = None
         for line in lines:
+            if messagedef:
+                messagedef = messagedef + line
+                if "}" in line or ";" in line:
+                    self.parse_messagedef(messagedef)
+                    messagedef = ""
             if state == state_outside:
+                # Check for start of a message definition
+                messagedef = self.search_messagedef_start(line,messagedef)
+
+                # Check for fmt/unit/mult #define
+                u = re_fmt_define.search(line)
+                if u is not None:
+                    self.msg_fmts_list[u.group(1)] = u.group(2)
+                u = re_units_define.search(line)
+                if u is not None:
+                    self.msg_units_list[u.group(1)] = u.group(2)
+                u = re_mults_define.search(line)
+                if u is not None:
+                    self.msg_mults_list[u.group(1)] = u.group(2)
+
+                # Check for the @LoggerMessage tag indicating the start of the docco block
                 m = re_loggermessage.search(line)
                 if m is None:
                     continue
@@ -142,11 +364,22 @@ def parse_file(self, filepath):
                 state = state_inside
                 docco = LoggerDocco.Docco(name)
             elif state == state_inside:
+                # If this line is not a comment, then this is the end of the docco block
                 if not re_commentline.match(line):
                     state = state_outside
                     if docco.vehicles is None or self.vehicle in docco.vehicles:
                         self.finalise_docco(docco)
+                    messagedef = self.search_messagedef_start(line)
                     continue
+                # Check for an multiple @LoggerMessage lines in this docco block
+                m = re_loggermessage.search(line)
+                if m is not None:
+                    name = m.group(1)
+                    if "," in name:
+                        name = name.split(",")
+                    docco.add_name(name)
+                    continue
+                # Find and extract data from the various docco fields
                 m = re_description.match(line)
                 if m is not None:
                     docco.set_description(m.group(1))
@@ -169,7 +402,7 @@ def parse_file(self, filepath):
                     continue
                 m = re_fieldvalueenum.match(line)
                 if m is not None:
-                    docco.set_fieldbitmaskvalue(m.group(1), m.group(2))
+                    docco.set_fieldvalueenum(m.group(1), m.group(2))
                     continue
                 m = re_vehicles.match(line)
                 if m is not None:
@@ -187,14 +420,48 @@ def emit_output(self):
         new_doccos = []
         for docco in self.doccos:
             if isinstance(docco.name, list):
-                for name in docco.name:
+                for name,desc in zip(docco.name, docco.description):
                     tmpdocco = copy.copy(docco)
                     tmpdocco.name = name
+                    tmpdocco.description = desc
                     new_doccos.append(tmpdocco)
             else:
                 new_doccos.append(docco)
         new_doccos = sorted(new_doccos, key=lambda x : x.name)
 
+        # Try to attach the formats/units/multipliers
+        for docco in new_doccos:
+            # Apply the Formats to the docco
+            if docco.name in self.msg_fmts_list:
+                if "FMT" in self.msg_fmts_list[docco.name]:
+                    if self.msg_fmts_list[docco.name] in self.msg_fmts_list:
+                        docco.set_fmts(self.msg_fmts_list[self.msg_fmts_list[docco.name]])
+                else:
+                    docco.set_fmts(self.msg_fmts_list[docco.name])
+            else:
+                print(f"No formats found for message {docco.name}")
+            # Get the Units
+            units = None
+            if docco.name in self.msg_units_list:
+                if "UNITS" in self.msg_units_list[docco.name]:
+                    if self.msg_units_list[docco.name] in self.msg_units_list:
+                        units = self.msg_units_list[self.msg_units_list[docco.name]]
+                else:
+                    units = self.msg_units_list[docco.name]
+            # Get the Multipliers
+            mults = None
+            if docco.name in self.msg_mults_list:
+                if "MULTS" in self.msg_mults_list[docco.name]:
+                    if self.msg_mults_list[docco.name] in self.msg_mults_list:
+                        mults = self.msg_mults_list[self.msg_mults_list[docco.name]]
+                else:
+                    mults = self.msg_mults_list[docco.name]
+            # Apply the units/mults to the docco
+            if units is not None and mults is not None:
+                docco.set_units(units,mults)
+            elif units is not None or mults is not None:
+                print(f"Cannot find matching units/mults for message {docco.name}")
+
         enums_by_name = {}
         for enum in self.enumerations:
             enums_by_name[enum.name] = enum
@@ -202,6 +469,7 @@ def emit_output(self):
             emitter.emit(new_doccos, enums_by_name)
 
     def run(self):
+        self.populate_lookups()
         self.enumerations = enum_parse.EnumDocco(self.vehicle).get_enumerations()
         self.files = []
         self.search_for_files([self.vehicle_map[self.vehicle], "libraries"])

From f8078a1e743a712d03aa1869b27e13d08fb98ea8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 17:20:40 +1100
Subject: [PATCH 0550/1335] AP_ADSB: de-duplicate packing of operating message

the same message is sent in two places, and much code was duplicated.
---
 libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp | 102 +++++++++------------
 libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.h   |   6 ++
 2 files changed, 51 insertions(+), 57 deletions(-)

diff --git a/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp b/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
index c7fc9990b30446..5d170297a7146f 100644
--- a/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
+++ b/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
@@ -324,38 +324,13 @@ void AP_ADSB_Sagetech_MXS::auto_config_operating()
     mxs_state.op.altHostAvlbl = false;
     mxs_state.op.altRes25 = !mxs_state.inst.altRes100;               // Host Altitude Resolution from install
 
-    int32_t height;
-    if (_frontend._my_loc.initialised() && _frontend._my_loc.get_alt_cm(Location::AltFrame::ABSOLUTE, height)) {
-        mxs_state.op.altitude = height * SAGETECH_SCALE_CM_TO_FEET;         // Height above sealevel in feet
-    } else {
-        mxs_state.op.altitude = 0;
-    }
-
     mxs_state.op.identOn = false;
 
     const auto &my_loc = _frontend._my_loc;
-    float vertRateD;
-    if (my_loc.get_vert_pos_rate_D(vertRateD)) {
-        // convert from down to up, and scale appropriately:
-        mxs_state.op.climbRate = -1 * vertRateD * SAGETECH_SCALE_M_PER_SEC_TO_FT_PER_MIN;
-        mxs_state.op.climbValid = true;
-    } else {
-        mxs_state.op.climbValid = false;
-        mxs_state.op.climbRate = -CLIMB_RATE_LIMIT;
-    }
 
-    const Vector2f speed = my_loc.groundspeed_vector();
-    if (!speed.is_nan() && !speed.is_zero()) {
-        mxs_state.op.headingValid = true;
-        mxs_state.op.airspdValid = true;
-    } else {
-        mxs_state.op.headingValid = false;
-        mxs_state.op.airspdValid = false;
-    }
-    const uint16_t speed_knots = speed.length() * M_PER_SEC_TO_KNOTS;
-    double heading = wrap_360(degrees(speed.angle()));
-    mxs_state.op.airspd = speed_knots;
-    mxs_state.op.heading = heading;
+    populate_op_altitude(my_loc);
+    populate_op_climbrate(my_loc);
+    populate_op_airspeed_and_heading(my_loc);
 
     last.msg.type = SG_MSG_TYPE_HOST_OPMSG;
 
@@ -587,35 +562,9 @@ void AP_ADSB_Sagetech_MXS::send_operating_msg()
 
     const auto &my_loc = _frontend._my_loc;
 
-    int32_t height;
-    if (_frontend._my_loc.initialised() && _frontend._my_loc.get_alt_cm(Location::AltFrame::ABSOLUTE, height)) {
-        mxs_state.op.altitude = height * SAGETECH_SCALE_CM_TO_FEET;         // Height above sealevel in feet
-    } else {
-        mxs_state.op.altitude = 0;
-    }
-
-    float vertRateD;
-    if (my_loc.get_vert_pos_rate_D(vertRateD)) {
-        mxs_state.op.climbRate = -1 * vertRateD * SAGETECH_SCALE_M_PER_SEC_TO_FT_PER_MIN;
-        mxs_state.op.climbValid = true;
-    } else {
-        mxs_state.op.climbValid = false;
-        mxs_state.op.climbRate = -CLIMB_RATE_LIMIT;
-    }
-
-    const Vector2f speed = my_loc.groundspeed_vector();
-    if (!speed.is_nan() && !speed.is_zero()) {
-        mxs_state.op.headingValid = true;
-        mxs_state.op.airspdValid = true;
-    } else {
-        mxs_state.op.headingValid = false;
-        mxs_state.op.airspdValid = false;
-    }
-    const uint16_t speed_knots = (speed.length() * M_PER_SEC_TO_KNOTS);
-    const double heading = wrap_360(degrees(speed.angle()));
-
-    mxs_state.op.airspd = speed_knots;
-    mxs_state.op.heading = heading;
+    populate_op_altitude(my_loc);
+    populate_op_climbrate(my_loc);
+    populate_op_airspeed_and_heading(my_loc);
 
     mxs_state.op.identOn = _frontend.out_state.ctrl.identActive;
     _frontend.out_state.ctrl.identActive = false;                           // only send identButtonActive once per request
@@ -785,5 +734,44 @@ sg_airspeed_t AP_ADSB_Sagetech_MXS::convert_airspeed_knots_to_sg(const float max
     }
 }
 
+void AP_ADSB_Sagetech_MXS::populate_op_altitude(const AP_ADSB::Loc &loc)
+{
+    int32_t height;
+    if (loc.initialised() && loc.get_alt_cm(Location::AltFrame::ABSOLUTE, height)) {
+        mxs_state.op.altitude = height * SAGETECH_SCALE_CM_TO_FEET;         // Height above sealevel in feet
+    } else {
+        mxs_state.op.altitude = 0;
+    }
+}
+
+void AP_ADSB_Sagetech_MXS::populate_op_climbrate(const AP_ADSB::Loc &my_loc)
+{
+    float vertRateD;
+    if (my_loc.get_vert_pos_rate_D(vertRateD)) {
+        // convert from down to up, and scale appropriately:
+        mxs_state.op.climbRate = -1 * vertRateD * SAGETECH_SCALE_M_PER_SEC_TO_FT_PER_MIN;
+        mxs_state.op.climbValid = true;
+    } else {
+        mxs_state.op.climbValid = false;
+        mxs_state.op.climbRate = -CLIMB_RATE_LIMIT;
+    }
+}
+
+void AP_ADSB_Sagetech_MXS::populate_op_airspeed_and_heading(const AP_ADSB::Loc &my_loc)
+{
+    const Vector2f speed = my_loc.groundspeed_vector();
+    if (!speed.is_nan() && !speed.is_zero()) {
+        mxs_state.op.headingValid = true;
+        mxs_state.op.airspdValid = true;
+    } else {
+        mxs_state.op.headingValid = false;
+        mxs_state.op.airspdValid = false;
+    }
+    const uint16_t speed_knots = speed.length() * M_PER_SEC_TO_KNOTS;
+    double heading = wrap_360(degrees(speed.angle()));
+    mxs_state.op.airspd = speed_knots;
+    mxs_state.op.heading = heading;
+}
+
 #endif // HAL_ADSB_SAGETECH_MXS_ENABLED
 
diff --git a/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.h b/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.h
index 5ba13cfc048735..5e8c841039bfeb 100644
--- a/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.h
+++ b/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.h
@@ -260,6 +260,12 @@ class AP_ADSB_Sagetech_MXS : public AP_ADSB_Backend {
         sg_flightid_t fid;
         sg_ack_t ack;
     } mxs_state;
+
+    // helper functions for populating the operating message:
+    void populate_op_altitude(const struct AP_ADSB::Loc &loc);
+    void populate_op_climbrate(const struct AP_ADSB::Loc &loc);
+    void populate_op_airspeed_and_heading(const struct AP_ADSB::Loc &loc);
+
 };
 #endif // HAL_ADSB_SAGETECH_MXS_ENABLED
 

From bced484263a3df5e8379404af6364eec7a7f12ea Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 13:50:43 +1100
Subject: [PATCH 0551/1335] AP_CheckFirmware: rename sim_periph_gps to
 sim_gps_universal, recreate sim_periph_gps

---
 libraries/AP_CheckFirmware/AP_CheckFirmware.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_CheckFirmware/AP_CheckFirmware.h b/libraries/AP_CheckFirmware/AP_CheckFirmware.h
index 648994fe292f8f..99189642e983df 100644
--- a/libraries/AP_CheckFirmware/AP_CheckFirmware.h
+++ b/libraries/AP_CheckFirmware/AP_CheckFirmware.h
@@ -39,7 +39,7 @@ enum class check_fw_result_t : uint8_t {
 #endif
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(APJ_BOARD_ID)
-// this allows for sitl_periph_gps to build
+// this allows for sitl_periph to build
 #define APJ_BOARD_ID 0
 #endif
 

From 48b555f8e651bd00502bec3455ece443829c468a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 13:50:43 +1100
Subject: [PATCH 0552/1335] .github: rename sim_periph_gps to
 sim_gps_universal, recreate sim_periph_gps

---
 .github/workflows/test_coverage.yml    | 2 +-
 .github/workflows/test_sitl_periph.yml | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/test_coverage.yml b/.github/workflows/test_coverage.yml
index dda488770f7762..c6dba24a392fc1 100644
--- a/.github/workflows/test_coverage.yml
+++ b/.github/workflows/test_coverage.yml
@@ -72,7 +72,7 @@ jobs:
             Tools/scripts/run_coverage.py -f
           else
             Tools/scripts/run_coverage.py -i
-            ./waf configure --board sitl_periph_gps --debug --coverage
+            ./waf configure --board sitl_periph_universal --debug --coverage
             ./waf build --target bin/AP_Periph
             Tools/scripts/run_coverage.py -i
             Tools/autotest/autotest.py test.CAN --debug --coverage
diff --git a/.github/workflows/test_sitl_periph.yml b/.github/workflows/test_sitl_periph.yml
index 0f4b5453fbef42..df6588792cfe7c 100644
--- a/.github/workflows/test_sitl_periph.yml
+++ b/.github/workflows/test_sitl_periph.yml
@@ -187,12 +187,12 @@ jobs:
           PATH="/github/home/.local/bin:$PATH"
           python modules/DroneCAN/dronecan_dsdlc/dronecan_dsdlc.py -O dsdlc_generated modules/DroneCAN/DSDL/uavcan modules/DroneCAN/DSDL/dronecan modules/DroneCAN/DSDL/com --run-test
 
-      - name: build sitl_periph_gps
+      - name: build sitl_periph_universal
         shell: bash
         run: |
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl_periph_gps
+          ./waf configure --board sitl_periph_universal
           ./waf build --target bin/AP_Periph
           ccache -s
           ccache -z

From a77df87b01e053b52a2de297e01d5c2462a62e9e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 13:50:43 +1100
Subject: [PATCH 0553/1335] Tools: rename sim_periph_gps to sim_gps_universal,
 recreate sim_periph_gps

---
 Tools/AP_Periph/can.cpp             |   1 +
 Tools/ardupilotwaf/boards.py        | 106 ++++++++++++++++++----------
 Tools/autotest/autotest.py          |  12 ++--
 Tools/autotest/pysim/vehicleinfo.py |   6 +-
 Tools/autotest/sim_vehicle.py       |   8 +--
 Tools/scripts/build_ci.sh           |   2 +-
 Tools/scripts/run_coverage.py       |   4 +-
 7 files changed, 84 insertions(+), 55 deletions(-)

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 9000ab4e33431a..e60d11295188cb 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -34,6 +34,7 @@
 #include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
 #elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <AP_HAL_SITL/CANSocketIface.h>
+#include <AP_HAL_SITL/AP_HAL_SITL.h>
 #endif
 
 #define IFACE_ALL ((1U<<(HAL_NUM_CAN_IFACES))-1U)
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 9330bb6e02804f..35f3ec24b80b4f 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -837,14 +837,65 @@ def get_name(self):
         return self.__class__.__name__
 
 
-class sitl_periph_gps(sitl):
+class sitl_periph(sitl):
     def configure_env(self, cfg, env):
         cfg.env.AP_PERIPH = 1
-        super(sitl_periph_gps, self).configure_env(cfg, env)
+        super(sitl_periph, self).configure_env(cfg, env)
         env.DEFINES.update(
             HAL_BUILD_AP_PERIPH = 1,
             PERIPH_FW = 1,
-            CAN_APP_NODE_NAME = '"org.ardupilot.ap_periph"',
+            HAL_RAM_RESERVE_START = 0,
+
+            CANARD_ENABLE_CANFD = 1,
+            CANARD_ENABLE_TAO_OPTION = 1,
+            CANARD_MULTI_IFACE = 1,
+
+            # FIXME: SITL library should not be using AP_AHRS:
+            AP_AHRS_ENABLED = 1,
+            AP_AHRS_BACKEND_DEFAULT_ENABLED = 0,
+            AP_AHRS_DCM_ENABLED = 1,  # need a default backend
+            HAL_EXTERNAL_AHRS_ENABLED = 0,
+
+            HAL_MAVLINK_BINDINGS_ENABLED = 1,
+
+            AP_AIRSPEED_AUTOCAL_ENABLE = 0,
+            AP_CAN_SLCAN_ENABLED = 0,
+            AP_ICENGINE_ENABLED = 0,
+            AP_MISSION_ENABLED = 0,
+            AP_RCPROTOCOL_ENABLED = 0,
+            AP_RTC_ENABLED = 0,
+            AP_SCHEDULER_ENABLED = 0,
+            AP_SCRIPTING_ENABLED = 0,
+            AP_STATS_ENABLED = 0,
+            AP_UART_MONITOR_ENABLED = 1,
+            COMPASS_CAL_ENABLED = 0,
+            COMPASS_LEARN_ENABLED = 0,
+            COMPASS_MOT_ENABLED = 0,
+            HAL_CAN_DEFAULT_NODE_ID = 0,
+            HAL_CANMANAGER_ENABLED = 0,
+            HAL_GCS_ENABLED = 0,
+            HAL_GENERATOR_ENABLED = 0,
+            HAL_LOGGING_ENABLED = 0,
+            HAL_LOGGING_MAVLINK_ENABLED = 0,
+            HAL_PROXIMITY_ENABLED = 0,
+            HAL_RALLY_ENABLED = 0,
+            HAL_SUPPORT_RCOUT_SERIAL = 0,
+            AP_TERRAIN_AVAILABLE = 0,
+        )
+
+        try:
+            env.CXXFLAGS.remove('-DHAL_NAVEKF2_AVAILABLE=1')
+        except ValueError:
+            pass
+        env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=0']
+
+class sitl_periph_universal(sitl_periph):
+    def configure_env(self, cfg, env):
+        super(sitl_periph_universal, self).configure_env(cfg, env)
+        env.DEFINES.update(
+            CAN_APP_NODE_NAME = '"org.ardupilot.ap_periph_universal"',
+            APJ_BOARD_ID = 100,
+
             HAL_PERIPH_ENABLE_GPS = 1,
             HAL_PERIPH_ENABLE_AIRSPEED = 1,
             HAL_PERIPH_ENABLE_MAG = 1,
@@ -856,48 +907,25 @@ def configure_env(self, cfg, env):
             HAL_PERIPH_ENABLE_RC_OUT = 1,
             HAL_PERIPH_ENABLE_ADSB = 1,
             HAL_PERIPH_ENABLE_SERIAL_OPTIONS = 1,
-            AP_ICENGINE_ENABLED = 0,
             AP_AIRSPEED_ENABLED = 1,
-            AP_AIRSPEED_AUTOCAL_ENABLE = 0,
-            AP_AHRS_ENABLED = 1,
-            AP_UART_MONITOR_ENABLED = 1,
-            HAL_CAN_DEFAULT_NODE_ID = 0,
-            HAL_RAM_RESERVE_START = 0,
-            APJ_BOARD_ID = 100,
-            HAL_GCS_ENABLED = 0,
-            HAL_MAVLINK_BINDINGS_ENABLED = 1,
-            HAL_LOGGING_ENABLED = 0,
-            HAL_LOGGING_MAVLINK_ENABLED = 0,
-            AP_MISSION_ENABLED = 0,
-            HAL_RALLY_ENABLED = 0,
-            AP_SCHEDULER_ENABLED = 0,
-            CANARD_ENABLE_TAO_OPTION = 1,
-            AP_RCPROTOCOL_ENABLED = 0,
-            CANARD_ENABLE_CANFD = 1,
-            CANARD_MULTI_IFACE = 1,
-            HAL_CANMANAGER_ENABLED = 0,
-            COMPASS_CAL_ENABLED = 0,
-            COMPASS_MOT_ENABLED = 0,
-            COMPASS_LEARN_ENABLED = 0,
             AP_BATTERY_ESC_ENABLED = 1,
-            HAL_EXTERNAL_AHRS_ENABLED = 0,
-            HAL_GENERATOR_ENABLED = 0,
-            AP_STATS_ENABLED = 0,
-            HAL_SUPPORT_RCOUT_SERIAL = 0,
-            AP_CAN_SLCAN_ENABLED = 0,
-            HAL_PROXIMITY_ENABLED = 0,
-            AP_SCRIPTING_ENABLED = 0,
-            HAL_NAVEKF3_AVAILABLE = 0,
             HAL_PWM_COUNT = 32,
             HAL_WITH_ESC_TELEM = 1,
-            AP_RTC_ENABLED = 0,
+            AP_TERRAIN_AVAILABLE = 1,
         )
 
-        try:
-            env.CXXFLAGS.remove('-DHAL_NAVEKF2_AVAILABLE=1')
-        except ValueError:
-            pass
-        env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=0']
+class sitl_periph_gps(sitl_periph):
+    def configure_env(self, cfg, env):
+        cfg.env.AP_PERIPH = 1
+        super(sitl_periph_gps, self).configure_env(cfg, env)
+        env.DEFINES.update(
+            HAL_BUILD_AP_PERIPH = 1,
+            PERIPH_FW = 1,
+            CAN_APP_NODE_NAME = '"org.ardupilot.ap_periph_gps"',
+            APJ_BOARD_ID = 101,
+
+            HAL_PERIPH_ENABLE_GPS = 1,
+        )
 
 class esp32(Board):
     abstract = True
diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index 616411b7165a8a..970dc3bde03372 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -286,7 +286,7 @@ def should_run_step(step):
     "Blimp": "blimp",
     "BalanceBot": "ardurover",
     "Sailboat": "ardurover",
-    "SITLPeriphGPS": "sitl_periph_gp.AP_Periph",
+    "SITLPeriphUniversal": "sitl_periph_universal.AP_Periph",
     "CAN": "arducopter",
 }
 
@@ -362,8 +362,8 @@ def find_specific_test_to_run(step):
 }
 
 supplementary_test_binary_map = {
-    "test.CAN": ["sitl_periph_gps:AP_Periph:0:Tools/autotest/default_params/periph.parm,Tools/autotest/default_params/quad-periph.parm", # noqa: E501
-                 "sitl_periph_gps:AP_Periph:1:Tools/autotest/default_params/periph.parm"],
+    "test.CAN": ["sitl_periph_universal:AP_Periph:0:Tools/autotest/default_params/periph.parm,Tools/autotest/default_params/quad-periph.parm", # noqa: E501
+                 "sitl_periph_universal:AP_Periph:1:Tools/autotest/default_params/periph.parm"],
 }
 
 
@@ -441,8 +441,8 @@ def run_step(step):
     if step == 'build.Sub':
         vehicle_binary = 'bin/ardusub'
 
-    if step == 'build.SITLPeriphGPS':
-        vehicle_binary = 'sitl_periph_gps.bin/AP_Periph'
+    if step == 'build.SITLPeriphUniversal':
+        vehicle_binary = 'sitl_periph_universal.bin/AP_Periph'
 
     if step == 'build.Replay':
         return util.build_replay(board='SITL')
@@ -1085,7 +1085,7 @@ def format_epilog(self, formatter):
         'build.Blimp',
         'test.Blimp',
 
-        'build.SITLPeriphGPS',
+        'build.SITLPeriphUniversal',
         'test.CAN',
 
         # convertgps disabled as it takes 5 hours
diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py
index 9709dcd917e0d2..0bba80193313ef 100644
--- a/Tools/autotest/pysim/vehicleinfo.py
+++ b/Tools/autotest/pysim/vehicleinfo.py
@@ -424,10 +424,10 @@ def __init__(self):
             },
         },
     },
-    "sitl_periph_gps": {
+    "sitl_periph_universal": {
         "frames": {
-            "gps": {
-                "configure_target": "sitl_periph_gps",
+            "universal": {
+                "configure_target": "sitl_periph_universal",
                 "waf_target": "bin/AP_Periph",
                 "default_params_filename": "default_params/periph.parm",
                 },
diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py
index 1b46b85a87e31d..80e19d40ae49f2 100755
--- a/Tools/autotest/sim_vehicle.py
+++ b/Tools/autotest/sim_vehicle.py
@@ -672,8 +672,8 @@ def start_antenna_tracker(opts):
 def start_CAN_Periph(opts, frame_info):
     """Compile and run the sitl_periph"""
 
-    progress("Preparing sitl_periph_gps")
-    options = vinfo.options["sitl_periph_gps"]['frames']['gps']
+    progress("Preparing sitl_periph_universal")
+    options = vinfo.options["sitl_periph_universal"]['frames']['universal']
     defaults_path = frame_info.get('periph_params_filename', None)
     if defaults_path is None:
         defaults_path = options.get('default_params_filename', None)
@@ -686,9 +686,9 @@ def start_CAN_Periph(opts, frame_info):
 
     if not cmd_opts.no_rebuild:
         do_build(opts, options)
-    exe = os.path.join(root_dir, 'build/sitl_periph_gps', 'bin/AP_Periph')
+    exe = os.path.join(root_dir, 'build/sitl_periph_universal', 'bin/AP_Periph')
     cmd = ["nice"]
-    cmd_name = "sitl_periph_gps"
+    cmd_name = "sitl_periph_universal"
     if opts.valgrind:
         cmd_name += " (valgrind)"
         cmd.append("valgrind")
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index 84bb812a736c95..57e90829111e93 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -132,7 +132,7 @@ for t in $CI_BUILD_TARGET; do
         echo "Building SITL Periph GPS"
         $waf configure --board sitl
         $waf copter
-        run_autotest "Copter" "build.SITLPeriphGPS" "test.CAN"
+        run_autotest "Copter" "build.SITLPeriphUniversal" "test.CAN"
         continue
     fi
     if [ "$t" == "sitltest-plane" ]; then
diff --git a/Tools/scripts/run_coverage.py b/Tools/scripts/run_coverage.py
index ee6e4c24a34bc6..00036982128b03 100755
--- a/Tools/scripts/run_coverage.py
+++ b/Tools/scripts/run_coverage.py
@@ -238,8 +238,8 @@ def update_stats(self) -> None:
                                     root_dir + "/build/linux/modules/*",
                                     root_dir + "/build/sitl/libraries/*",
                                     root_dir + "/build/sitl/modules/*",
-                                    root_dir + "/build/sitl_periph_gps/libraries/*",
-                                    root_dir + "/build/sitl_periph_gps/modules/*",
+                                    root_dir + "/build/sitl_periph_universal/libraries/*",
+                                    root_dir + "/build/sitl_periph_universal/modules/*",
                                     root_dir + "/libraries/*/examples/*",
                                     root_dir + "/libraries/*/tests/*",
                                     "-o", self.INFO_FILE

From 18c5daaa38b3e5f1855a7b680f10e9e9caa58291 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 13:51:47 +1100
Subject: [PATCH 0554/1335] AP_AHRS: use a switch statement when falling back
 to DCM

---
 libraries/AP_AHRS/AP_AHRS.cpp | 29 ++++++++++++++++-------------
 1 file changed, 16 insertions(+), 13 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index d0985bd80315bd..6be34de803c212 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -1932,35 +1932,38 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
 
 #if AP_AHRS_DCM_ENABLED
     // Handle fallback for fixed wing planes (including VTOL's) and ground vehicles.
-    if (ret != EKFType::DCM &&
-        (_vehicle_class == VehicleClass::FIXED_WING ||
-         _vehicle_class == VehicleClass::GROUND)) {
-
+    if (_vehicle_class == VehicleClass::FIXED_WING ||
+        _vehicle_class == VehicleClass::GROUND) {
         bool should_use_gps = true;
-        nav_filter_status filt_state;
+        nav_filter_status filt_state {};
+        switch (ret) {
+        case EKFType::DCM:
+            // already using DCM
+            break;
 #if HAL_NAVEKF2_AVAILABLE
-        if (ret == EKFType::TWO) {
+        case EKFType::TWO:
             EKF2.getFilterStatus(filt_state);
             should_use_gps = EKF2.configuredToUseGPSForPosXY();
-        }
+            break;
 #endif
 #if HAL_NAVEKF3_AVAILABLE
-        if (ret == EKFType::THREE) {
+        case EKFType::THREE:
             EKF3.getFilterStatus(filt_state);
             should_use_gps = EKF3.configuredToUseGPSForPosXY();
-        }
+            break;
 #endif
 #if AP_AHRS_SIM_ENABLED
-        if (ret == EKFType::SIM) {
+        case EKFType::SIM:
             get_filter_status(filt_state);
-        }
+            break;
 #endif
 #if HAL_EXTERNAL_AHRS_ENABLED
-        if (ret == EKFType::EXTERNAL) {
+        case EKFType::EXTERNAL:
             get_filter_status(filt_state);
             should_use_gps = true;
-        }
+            break;
 #endif
+        }
 
         // Handle fallback for the case where the DCM or EKF is unable to provide attitude or height data.
         const bool can_use_dcm = dcm.yaw_source_available() || fly_forward;

From 02ef8bf18a0c8dbaee0aa4267b847d9595f93480 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 13:52:09 +1100
Subject: [PATCH 0555/1335] AP_AHRS: use AP_AHRS_BACKEND_DEFAULT_ENABLED for
 sim and navkef3

---
 libraries/AP_AHRS/AP_AHRS_config.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_config.h b/libraries/AP_AHRS/AP_AHRS_config.h
index 7338a02787a875..9cfa1715fbec61 100644
--- a/libraries/AP_AHRS/AP_AHRS_config.h
+++ b/libraries/AP_AHRS/AP_AHRS_config.h
@@ -21,11 +21,11 @@
 #endif
 
 #ifndef HAL_NAVEKF3_AVAILABLE
-#define HAL_NAVEKF3_AVAILABLE AP_INERTIALSENSOR_ENABLED
+#define HAL_NAVEKF3_AVAILABLE AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_INERTIALSENSOR_ENABLED
 #endif
 
 #ifndef AP_AHRS_SIM_ENABLED
-#define AP_AHRS_SIM_ENABLED AP_SIM_ENABLED && AP_INERTIALSENSOR_ENABLED
+#define AP_AHRS_SIM_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED && AP_INERTIALSENSOR_ENABLED
 #endif
 
 #ifndef AP_AHRS_POSITION_RESET_ENABLED

From 3c57e9c14a75bc897ae1cf1fb1f13f59baba65c0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 17:22:38 +1100
Subject: [PATCH 0556/1335] AP_HAL: correct blimp SITL-on-hardware build

---
 libraries/AP_HAL/SIMState.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_HAL/SIMState.cpp b/libraries/AP_HAL/SIMState.cpp
index 47cd3d4e79bbf8..fa22817f29cfde 100644
--- a/libraries/AP_HAL/SIMState.cpp
+++ b/libraries/AP_HAL/SIMState.cpp
@@ -39,6 +39,8 @@ using namespace AP_HAL;
 #define AP_SIM_FRAME_CLASS Plane
 #elif APM_BUILD_TYPE(APM_BUILD_Rover)
 #define AP_SIM_FRAME_CLASS SimRover
+#elif APM_BUILD_TYPE(APM_BUILD_Blimp)
+#define AP_SIM_FRAME_CLASS Blimp
 #endif
 #endif
 
@@ -51,6 +53,8 @@ using namespace AP_HAL;
 #define AP_SIM_FRAME_STRING "plane"
 #elif APM_BUILD_TYPE(APM_BUILD_Rover)
 #define AP_SIM_FRAME_STRING "rover"
+#elif APM_BUILD_TYPE(APM_BUILD_Blimp)
+#define AP_SIM_FRAME_STRING "blimp"
 #endif
 #endif
 

From ba97a422b426df62f197b6d9f4a2433e5d8a0f88 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 17:53:45 +1100
Subject: [PATCH 0557/1335] AP_WindVane: correct sitl-on-hardware build for
 Rover

---
 libraries/AP_WindVane/AP_WindVane_SITL.h | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_WindVane/AP_WindVane_SITL.h b/libraries/AP_WindVane/AP_WindVane_SITL.h
index f84d0a815d4e9c..bdfe547f4e088b 100644
--- a/libraries/AP_WindVane/AP_WindVane_SITL.h
+++ b/libraries/AP_WindVane/AP_WindVane_SITL.h
@@ -28,10 +28,8 @@ class AP_WindVane_SITL : public AP_WindVane_Backend
     using AP_WindVane_Backend::AP_WindVane_Backend;
 
     // update state
-    #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-        void update_direction() override;
-        void update_speed() override;
-    #endif
+    void update_direction() override;
+    void update_speed() override;
 };
 
 #endif  // AP_WINDVANE_SIM_ENABLED

From b17b70d1d4026924572c4bb73f5066f6f5456e73 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 17:55:48 +1100
Subject: [PATCH 0558/1335] AP_HAL: correct tracker SITL-on-hardware build

---
 libraries/AP_HAL/SIMState.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_HAL/SIMState.cpp b/libraries/AP_HAL/SIMState.cpp
index fa22817f29cfde..deb8d90c730ceb 100644
--- a/libraries/AP_HAL/SIMState.cpp
+++ b/libraries/AP_HAL/SIMState.cpp
@@ -35,6 +35,8 @@ using namespace AP_HAL;
 #define AP_SIM_FRAME_CLASS MultiCopter
 #elif APM_BUILD_TYPE(APM_BUILD_Heli)
 #define AP_SIM_FRAME_CLASS Helicopter
+#elif APM_BUILD_TYPE(APM_BUILD_AntennaTracker)
+#define AP_SIM_FRAME_CLASS Tracker
 #elif APM_BUILD_TYPE(APM_BUILD_ArduPlane)
 #define AP_SIM_FRAME_CLASS Plane
 #elif APM_BUILD_TYPE(APM_BUILD_Rover)
@@ -49,6 +51,8 @@ using namespace AP_HAL;
 #define AP_SIM_FRAME_STRING "+"
 #elif APM_BUILD_TYPE(APM_BUILD_Heli)
 #define AP_SIM_FRAME_STRING "heli"
+#elif APM_BUILD_TYPE(APM_BUILD_AntennaTracker)
+#define AP_SIM_FRAME_STRING "tracker"
 #elif APM_BUILD_TYPE(APM_BUILD_ArduPlane)
 #define AP_SIM_FRAME_STRING "plane"
 #elif APM_BUILD_TYPE(APM_BUILD_Rover)

From e27a3531078ca11eb7b4304166689618be5c0645 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 17:57:29 +1100
Subject: [PATCH 0559/1335] AP_HAL: correct Sub SITL-on-hardware build

---
 libraries/AP_HAL/SIMState.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_HAL/SIMState.cpp b/libraries/AP_HAL/SIMState.cpp
index deb8d90c730ceb..70fcb9abfaca1b 100644
--- a/libraries/AP_HAL/SIMState.cpp
+++ b/libraries/AP_HAL/SIMState.cpp
@@ -43,6 +43,8 @@ using namespace AP_HAL;
 #define AP_SIM_FRAME_CLASS SimRover
 #elif APM_BUILD_TYPE(APM_BUILD_Blimp)
 #define AP_SIM_FRAME_CLASS Blimp
+#elif APM_BUILD_TYPE(APM_BUILD_ArduSub)
+#define AP_SIM_FRAME_CLASS Submarine
 #endif
 #endif
 
@@ -59,6 +61,8 @@ using namespace AP_HAL;
 #define AP_SIM_FRAME_STRING "rover"
 #elif APM_BUILD_TYPE(APM_BUILD_Blimp)
 #define AP_SIM_FRAME_STRING "blimp"
+#elif APM_BUILD_TYPE(APM_BUILD_ArduSub)
+#define AP_SIM_FRAME_STRING "sub"
 #endif
 #endif
 

From e5ec596a03ba80fcf8588cc16ffa4cae8e1ef4c6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 1 Nov 2023 15:30:14 +1100
Subject: [PATCH 0560/1335] AP_ADSB: emit last char for callsign in statustext

---
 libraries/AP_ADSB/AP_ADSB.cpp | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_ADSB/AP_ADSB.cpp b/libraries/AP_ADSB/AP_ADSB.cpp
index 53ba4291dc0cec..5d1508873149ad 100644
--- a/libraries/AP_ADSB/AP_ADSB.cpp
+++ b/libraries/AP_ADSB/AP_ADSB.cpp
@@ -681,10 +681,9 @@ void AP_ADSB::handle_out_cfg(const mavlink_uavionix_adsb_out_cfg_t &packet)
     out_state.cfg.stall_speed_cm = packet.stallSpeed;
 
     // guard against string with non-null end char
-    const char c = out_state.cfg.callsign[MAVLINK_MSG_UAVIONIX_ADSB_OUT_CFG_FIELD_CALLSIGN_LEN-1];
-    out_state.cfg.callsign[MAVLINK_MSG_UAVIONIX_ADSB_OUT_CFG_FIELD_CALLSIGN_LEN-1] = 0;
-    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "ADSB: Using ICAO_id %d and Callsign %s", (int)out_state.cfg.ICAO_id, out_state.cfg.callsign);
-    out_state.cfg.callsign[MAVLINK_MSG_UAVIONIX_ADSB_OUT_CFG_FIELD_CALLSIGN_LEN-1] = c;
+    char tmp_callsign[MAVLINK_MSG_UAVIONIX_ADSB_OUT_CFG_FIELD_CALLSIGN_LEN+1] {};
+    memcpy(tmp_callsign, out_state.cfg.callsign, MAVLINK_MSG_UAVIONIX_ADSB_OUT_CFG_FIELD_CALLSIGN_LEN);
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "ADSB: Using ICAO_id %d and Callsign %s", (int)out_state.cfg.ICAO_id, tmp_callsign);
 
     // send now
     out_state.last_config_ms = 0;

From 5dbe08c454222b0aca69b47499814604e283d012 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 12 Jan 2024 15:28:00 +1100
Subject: [PATCH 0561/1335] AP_ADSB: send absolute height in GPS packet to MXS
 device

Documentation specifies WGS-84 ellipsoid.
---
 libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp b/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
index 5d170297a7146f..d4964ba131b682 100644
--- a/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
+++ b/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
@@ -641,7 +641,7 @@ void AP_ADSB_Sagetech_MXS::send_gps_msg()
     }
 
     int32_t height;
-    if (_frontend._my_loc.initialised() && _frontend._my_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, height)) {
+    if (_frontend._my_loc.initialised() && _frontend._my_loc.get_alt_cm(Location::AltFrame::ABSOLUTE, height)) {
         gps.height = height * 0.01;
     } else {
         gps.height = 0.0;

From cd44d09d84504f276fc872da11bf7d5f504e202c Mon Sep 17 00:00:00 2001
From: David Buzz <davidbuzz@gmail.com>
Date: Mon, 8 Jan 2024 20:00:11 +1000
Subject: [PATCH 0562/1335] github: actions problem solvers , annotations and
 summary

---
 .github/problem-matchers/autotestfail.json | 17 +++++
 .github/problem-matchers/autotestwarn.json | 17 +++++
 .github/problem-matchers/gcc.json          | 18 +++++
 .github/problem-matchers/python.json       | 22 +++++++
 .github/workflows/esp32_build.yml          | 76 +++++++++++++++-------
 5 files changed, 127 insertions(+), 23 deletions(-)
 create mode 100644 .github/problem-matchers/autotestfail.json
 create mode 100644 .github/problem-matchers/autotestwarn.json
 create mode 100644 .github/problem-matchers/gcc.json
 create mode 100644 .github/problem-matchers/python.json

diff --git a/.github/problem-matchers/autotestfail.json b/.github/problem-matchers/autotestfail.json
new file mode 100644
index 00000000000000..ccda5c1a940f7e
--- /dev/null
+++ b/.github/problem-matchers/autotestfail.json
@@ -0,0 +1,17 @@
+{
+    "__comment": "by buzz try to match common autotest warnings and errors that arent caught by gcc.json or python.json",
+    "problemMatcher": [
+        {
+            "owner": "autotest-fail-matcher",
+            "severity": "error",
+            "pattern": [
+                {
+                    "regexp": "^(.*)(TIMEOUT|Build failed|FAILED STEP):(.*)$",
+                    "column": 1,
+                    "code": 2,
+                    "message": 3
+                }
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/.github/problem-matchers/autotestwarn.json b/.github/problem-matchers/autotestwarn.json
new file mode 100644
index 00000000000000..6aa77a7ece6baa
--- /dev/null
+++ b/.github/problem-matchers/autotestwarn.json
@@ -0,0 +1,17 @@
+{
+    "__comment": "by buzz try to match common autotest warnings and errors that arent caught by gcc.json or python.json",
+    "problemMatcher": [
+        {
+            "owner": "autotest-warn-matcher",
+            "severity": "warning",
+            "pattern": [
+                {
+                    "regexp": "^(.*)(WARN|WARNING):(.*)$",
+                    "column": 1,
+                    "code": 2,
+                    "message": 3
+                }
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/.github/problem-matchers/gcc.json b/.github/problem-matchers/gcc.json
new file mode 100644
index 00000000000000..bd5ab6c00a7608
--- /dev/null
+++ b/.github/problem-matchers/gcc.json
@@ -0,0 +1,18 @@
+{
+    "__comment": "Taken from vscode-cpptools's Extension/package.json gcc rule",
+    "problemMatcher": [
+        {
+            "owner": "gcc-problem-matcher",
+            "pattern": [
+                {
+                    "regexp": "^(.*):(\\d+):(\\d+):\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+                    "file": 1,
+                    "line": 2,
+                    "column": 3,
+                    "severity": 4,
+                    "message": 5
+                }
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/.github/problem-matchers/python.json b/.github/problem-matchers/python.json
new file mode 100644
index 00000000000000..a14ab2dd7610b0
--- /dev/null
+++ b/.github/problem-matchers/python.json
@@ -0,0 +1,22 @@
+{
+    "__comment": "inspired by https://github.com/microsoft/vscode-python/issues/3828#issuecomment-575439587",
+    "problemMatcher": [
+        {
+            "owner": "python-problem-matcher",
+            "pattern": [
+                {
+                    "regexp": "^.*File \\\"([^\\\"]|.*)\\\", line (\\d+).*",
+                    "file": 1,
+                    "line": 2
+                },
+                {
+                    "regexp": "^.*raise.*$"
+                },
+                {
+                    "regexp": "^\\s*(.*)\\s*$",
+                    "message": 1
+                }
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/.github/workflows/esp32_build.yml b/.github/workflows/esp32_build.yml
index 7f2a11bf060ca8..26185663fe7ac5 100644
--- a/.github/workflows/esp32_build.yml
+++ b/.github/workflows/esp32_build.yml
@@ -151,6 +151,7 @@ jobs:
       matrix:
         config: [
             esp32buzz,
+            esp32s3empty,
         ]
         gcc: [10]
 
@@ -158,6 +159,19 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
+
+      - name: Register gcc problem matcher
+        run: echo "::add-matcher::.github/problem-matchers/gcc.json"
+
+      - name: Register python problem matcher
+        run: echo "::add-matcher::.github/problem-matchers/python.json"
+
+      - name: Register autotest warn matcher
+        run: echo "::add-matcher::.github/problem-matchers/autotestwarn.json"
+
+      - name: Register autotest fail matcher
+        run: echo "::add-matcher::.github/problem-matchers/autotestfail.json"
+
       - name: Install Prerequisites
         shell: bash
         run: |
@@ -169,8 +183,8 @@ jobs:
 
           # we actualy want 3.11 .. but the above only gave us 3.10, not ok with esp32 builds.
           sudo add-apt-repository ppa:deadsnakes/ppa
-          sudo apt update
-          sudo apt install python3.11 python3.11-venv python3.11-distutils  -y
+          sudo apt-get update
+          sudo apt-get install python3.11 python3.11-venv python3.11-distutils  -y
           sudo apt-get install python3 python3-pip python3-venv python3-setuptools python3-serial python3-cryptography python3-future python3-pyparsing python3-pyelftools
           update-alternatives --query python
           pip3 install gevent
@@ -181,14 +195,14 @@ jobs:
           update-alternatives --query python
 
           rm -rf /usr/local/bin/cmake
-          sudo apt remove --purge --auto-remove cmake
-          sudo apt update && \
-          sudo apt install -y software-properties-common lsb-release && \
-          sudo apt clean all
+          sudo apt-get remove --purge --auto-remove cmake
+          sudo apt-get update && \
+          sudo apt-get install -y software-properties-common lsb-release && \
+          sudo apt-get clean all
           wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
           sudo apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main"
-          sudo apt update
-          sudo apt install cmake
+          sudo apt-get update
+          sudo apt-get install cmake
 
 
           git submodule update --init --recursive --depth=1
@@ -198,7 +212,7 @@ jobs:
 
           cd modules/esp_idf
           echo "Installing ESP-IDF tools...."
-          ./install.sh esp32,esp32s3 2>&1 > /dev/null
+          ./install.sh esp32,esp32s3 
           cd ../..
           
           
@@ -210,32 +224,48 @@ jobs:
           source ~/.bash_profile
           PATH="/github/home/.local/bin:$PATH"
           echo $PATH
-          
+          echo "### Configure ${{matrix.config}} :rocket:" >> $GITHUB_STEP_SUMMARY
           cd modules/esp_idf
           ./install.sh
           source ./export.sh
           cd ../..
           python -m pip install --progress-bar off future lxml pymavlink MAVProxy pexpect flake8 geocoder empy==3.3.4 dronecan
           which cmake
-          ./waf configure --board ${{matrix.config}}
-          ./waf plane
-          cp build/esp32buzz/esp-idf_build/ardupilot.bin ./ArduPlane.bin
-          cp build/esp32buzz/esp-idf_build/ardupilot.elf ./ArduPlane.elf
-          ./waf copter
-          cp build/esp32buzz/esp-idf_build/ardupilot.bin ./ArduCopter.bin
-          cp build/esp32buzz/esp-idf_build/ardupilot.elf ./ArduCopter.elf
+          ./waf configure --board ${{matrix.config}} 
+          echo './waf configure --board ${{matrix.config}}' >> $GITHUB_STEP_SUMMARY  
+          echo "### Build Plane ${{matrix.config}} :rocket:" >> $GITHUB_STEP_SUMMARY
+          echo './waf plane' >> $GITHUB_STEP_SUMMARY  
+          ./waf plane | tee >( grep -vE 'Compiling|Generat|includes.list|Parsing|Validation|Building|Linking|Detecting|linker|\*\*\*\*\*\*\*|Partition|SubType|Checking|esp-idf' --color=never --line-buffered > summary.log)  
+          cat summary.log >> $GITHUB_STEP_SUMMARY 
+
+          cp build/${{matrix.config}}/esp-idf_build/ardupilot.bin ./ArduPlane.${{matrix.config}}.bin
+          cp build/${{matrix.config}}/esp-idf_build/ardupilot.elf ./ArduPlane.${{matrix.config}}.elf
+          echo "### Build Copter ${{matrix.config}} :rocket:" >> $GITHUB_STEP_SUMMARY
+          echo './waf copter' >> $GITHUB_STEP_SUMMARY  
+          ./waf copter | tee >( grep -vE 'Compiling|Generat|includes.list|Parsing|Validation|Building|Linking|Detecting|linker|\*\*\*\*\*\*\*|Partition|SubType|Checking|esp-idf' --color=never --line-buffered > summary2.log)  
+
+          cat summary2.log >> $GITHUB_STEP_SUMMARY  
+
+          cp build/${{matrix.config}}/esp-idf_build/ardupilot.bin ./ArduCopter.${{matrix.config}}.bin
+          cp build/${{matrix.config}}/esp-idf_build/ardupilot.elf ./ArduCopter.${{matrix.config}}.elf
+
+          cp build/${{matrix.config}}/esp-idf_build/bootloader/bootloader.bin ./bootloader.${{matrix.config}}.bin
+          cp build/${{matrix.config}}/esp-idf_build/partition_table/partition-table.bin ./partition-table.${{matrix.config}}.bin
+
+          echo "### Assets avail in artifact:" >> $GITHUB_STEP_SUMMARY
+          ls bootloader* partition* Ardu*.elf Ardu*.bin >> $GITHUB_STEP_SUMMARY
 
       - name: Archive artifacts
         uses: actions/upload-artifact@v3
         with:
            name: esp32-binaries -${{matrix.config}}
            path: |
-              /home/runner/work/ardupilot/ardupilot/ArduPlane.bin
-              /home/runner/work/ardupilot/ardupilot/ArduPlane.elf
-              /home/runner/work/ardupilot/ardupilot/ArduCopter.bin
-              /home/runner/work/ardupilot/ardupilot/ArduCopter.elf
-              /home/runner/work/ardupilot/ardupilot/build/esp32buzz/esp-idf_build/bootloader/bootloader.bin
-              /home/runner/work/ardupilot/ardupilot/build/esp32buzz/esp-idf_build/partition_table/partition-table.bin
+              /home/runner/work/ardupilot/ardupilot/ArduPlane.${{matrix.config}}.bin
+              /home/runner/work/ardupilot/ardupilot/ArduPlane.${{matrix.config}}.elf
+              /home/runner/work/ardupilot/ardupilot/ArduCopter.${{matrix.config}}.bin
+              /home/runner/work/ardupilot/ardupilot/ArduCopter.${{matrix.config}}.elf
+              /home/runner/work/ardupilot/ardupilot/bootloader.${{matrix.config}}.bin
+              /home/runner/work/ardupilot/ardupilot/partition-table.${{matrix.config}}.bin
 
 
            retention-days: 14

From 8b9831dc74aa5daf8a0ac9b0e92fd8655bc18505 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 09:16:57 +1100
Subject: [PATCH 0563/1335] AP_AHRS: correct compilation when AP_AHRS_ENABLED
 is off

e.g. CubeOrange-periph-heavy
---
 libraries/AP_AHRS/AP_AHRS_config.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_config.h b/libraries/AP_AHRS/AP_AHRS_config.h
index 9cfa1715fbec61..fd56a5f6deabf8 100644
--- a/libraries/AP_AHRS/AP_AHRS_config.h
+++ b/libraries/AP_AHRS/AP_AHRS_config.h
@@ -29,6 +29,6 @@
 #endif
 
 #ifndef AP_AHRS_POSITION_RESET_ENABLED
-#define AP_AHRS_POSITION_RESET_ENABLED (BOARD_FLASH_SIZE>1024)
+#define AP_AHRS_POSITION_RESET_ENABLED (BOARD_FLASH_SIZE>1024 && AP_AHRS_ENABLED)
 #endif
 

From 4dd958bdd71ff425461cc989a09365baf32d31e8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 09:16:57 +1100
Subject: [PATCH 0564/1335] AP_Arming: correct compilation when AP_AHRS_ENABLED
 is off

e.g. CubeOrange-periph-heavy
---
 libraries/AP_Arming/AP_Arming.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index ff6362b68849d4..eb9fca91e0e7d3 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -579,6 +579,7 @@ bool AP_Arming::compass_checks(bool report)
             return false;
         }
 
+#if AP_AHRS_ENABLED
         // if ahrs is using compass and we have location, check mag field versus expected earth magnetic model
         Location ahrs_loc;
         AP_AHRS &ahrs = AP::ahrs();
@@ -597,6 +598,7 @@ bool AP_Arming::compass_checks(bool report)
                 return false;
             }           
         }
+#endif  // AP_AHRS_ENABLED
     }
 
     return true;

From 1051da5cb484ded75ac92d6ed59c9516f2fbeb64 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 09:16:57 +1100
Subject: [PATCH 0565/1335] AP_InertialSensor: correct compilation when
 AP_AHRS_ENABLED is off

e.g. CubeOrange-periph-heavy
---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp     | 11 +++++++++--
 .../AP_InertialSensor/AP_InertialSensor_Backend.cpp   | 10 ++++++++--
 2 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 4d4480e43f3501..37504d8897abf3 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1460,7 +1460,7 @@ bool AP_InertialSensor::get_accel_health_all(void) const
     return (get_accel_count() > 0);
 }
 
-#if HAL_GCS_ENABLED
+#if HAL_GCS_ENABLED && AP_AHRS_ENABLED
 /*
   calculate the trim_roll and trim_pitch. This is used for redoing the
   trim without needing a full accel cal
@@ -1521,6 +1521,7 @@ MAV_RESULT AP_InertialSensor::calibrate_trim()
 
     // reset ahrs's trim to suggested values from calibration routine
     ahrs.set_trim(trim_rad);
+
     last_accel_cal_ms = AP_HAL::millis();
     _trimming_accel = false;
     return MAV_RESULT_ACCEPTED;
@@ -1530,7 +1531,7 @@ MAV_RESULT AP_InertialSensor::calibrate_trim()
     _trimming_accel = false;
     return MAV_RESULT_FAILED;
 }
-#endif  // HAL_GCS_ENABLED
+#endif  // HAL_GCS_ENABLED && AP_AHRS_ENABLED
 
 /*
   check if the accelerometers are calibrated in 3D and that current number of accels matched number when calibrated
@@ -2408,7 +2409,9 @@ bool AP_InertialSensor::calibrate_gyros()
     if (!gyro_calibrated_ok_all()) {
         return false;
     }
+#if AP_AHRS_ENABLED
     AP::ahrs().reset_gyro_drift();
+#endif
     return true;
 }
 
@@ -2550,8 +2553,10 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
 #endif
         }
 
+#if AP_AHRS_ENABLED
         // force trim to zero
         AP::ahrs().set_trim(Vector3f(0, 0, 0));
+#endif
     } else {
         DEV_PRINTF("\nFAILED\n");
         // restore old values
@@ -2572,8 +2577,10 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
         update();
     }
 
+#if AP_AHRS_ENABLED
     // and reset state estimators
     AP::ahrs().reset();
+#endif
 
     // stop flashing leds
     AP_Notify::flags.initialising = false;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index 9ceb54c12d210a..3c45c611b1b3c4 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -218,7 +218,7 @@ void AP_InertialSensor_Backend::apply_gyro_filters(const uint8_t instance, const
             continue;
         }
         bool inactive = notch.is_inactive();
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_AHRS_ENABLED
         // by default we only run the expensive notch filters on the
         // currently active IMU we reset the inactive notch filters so
         // that if we switch IMUs we're not left with old data
@@ -442,8 +442,14 @@ void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sa
         return;
     }
 
+#if AP_AHRS_ENABLED
+    const bool log_because_primary_gyro = _imu.raw_logging_option_set(AP_InertialSensor::RAW_LOGGING_OPTION::PRIMARY_GYRO_ONLY) && (instance == AP::ahrs().get_primary_gyro_index());
+#else
+    const bool log_because_primary_gyro = false;
+#endif
+
     if (_imu.raw_logging_option_set(AP_InertialSensor::RAW_LOGGING_OPTION::ALL_GYROS) ||
-        (_imu.raw_logging_option_set(AP_InertialSensor::RAW_LOGGING_OPTION::PRIMARY_GYRO_ONLY) && (instance == AP::ahrs().get_primary_gyro_index())) ||
+        log_because_primary_gyro ||
         should_log_imu_raw()) {
 
         if (_imu.raw_logging_option_set(AP_InertialSensor::RAW_LOGGING_OPTION::PRE_AND_POST_FILTER)) {

From 7b5a4d9f2c5ccf4f84baac762852ba55606a8127 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 09:16:57 +1100
Subject: [PATCH 0566/1335] AP_LTM_Telem: correct compilation when
 AP_AHRS_ENABLED is off

e.g. CubeOrange-periph-heavy
---
 libraries/AP_LTM_Telem/AP_LTM_Telem.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_LTM_Telem/AP_LTM_Telem.cpp b/libraries/AP_LTM_Telem/AP_LTM_Telem.cpp
index e6ad80edbf21d8..d4599d28d16fd4 100644
--- a/libraries/AP_LTM_Telem/AP_LTM_Telem.cpp
+++ b/libraries/AP_LTM_Telem/AP_LTM_Telem.cpp
@@ -70,6 +70,7 @@ void AP_LTM_Telem::send_Gframe(void)
     int32_t lon = 0;                        // longtitude
     uint8_t gndspeed = 0;                   // gps ground speed (m/s)
     int32_t alt = 0;
+#if AP_AHRS_ENABLED
     {
         AP_AHRS &ahrs = AP::ahrs();
         WITH_SEMAPHORE(ahrs.get_semaphore());
@@ -83,6 +84,7 @@ void AP_LTM_Telem::send_Gframe(void)
             gndspeed = (uint8_t) roundf(gps.ground_speed());
         }
     }
+#endif
 
     uint8_t lt_buff[LTM_GFRAME_SIZE];
     // protocol: START(2 bytes)FRAMEID(1byte)LAT(cm,4 bytes)LON(cm,4bytes)SPEED(m/s,1bytes)ALT(cm,4bytes)SATS(6bits)FIX(2bits)CRC(xor,1byte)
@@ -168,6 +170,7 @@ void AP_LTM_Telem::send_Aframe(void)
     int16_t pitch;
     int16_t roll;
     int16_t heading;
+#if AP_AHRS_ENABLED
     {
         AP_AHRS &ahrs = AP::ahrs();
         WITH_SEMAPHORE(ahrs.get_semaphore());
@@ -175,6 +178,11 @@ void AP_LTM_Telem::send_Aframe(void)
         roll = roundf(ahrs.roll_sensor * 0.01);   // attitude roll in degrees
         heading = roundf(ahrs.yaw_sensor * 0.01); // heading in degrees
     }
+#else
+    pitch = 0;
+    roll = 0;
+    heading = 0;
+#endif
 
     uint8_t lt_buff[LTM_AFRAME_SIZE];
     // A Frame: $T(2 bytes)A(1byte)PITCH(2 bytes)ROLL(2bytes)HEADING(2bytes)CRC(xor,1byte)

From 7e0ea05ae9c5a6d8607e49d425bd8bd66c0ecda3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 09:16:57 +1100
Subject: [PATCH 0567/1335] AP_VisualOdom: correct compilation when
 AP_AHRS_ENABLED is off

e.g. CubeOrange-periph-heavy
---
 libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
index 5519f86d452d8c..568a4b6a0112d9 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
@@ -56,6 +56,7 @@ void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_messa
 
     // send to EKF
     const float time_delta_sec = packet.time_delta_usec * 1.0E-6;
+#if AP_AHRS_ENABLED
     AP::ahrs().writeBodyFrameOdom(packet.confidence,
                                   position_delta,
                                   angle_delta,
@@ -63,6 +64,7 @@ void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_messa
                                   now_ms,
                                   _frontend.get_delay_ms(),
                                   _frontend.get_pos_offset());
+#endif
 
     // log sensor data
     Write_VisualOdom(time_delta_sec,

From 5b5ee4e95d964eaf3bc07c7b69fa04a39ff759e8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 09:16:57 +1100
Subject: [PATCH 0568/1335] GCS_MAVLink: correct compilation when
 AP_AHRS_ENABLED is off

e.g. CubeOrange-periph-heavy
---
 libraries/GCS_MAVLink/GCS.cpp        |  7 +++++-
 libraries/GCS_MAVLink/GCS_Common.cpp | 35 ++++++++++++++++++++++++++++
 2 files changed, 41 insertions(+), 1 deletion(-)

diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index 0393f04930bb0a..f79133297f16ad 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -261,7 +261,7 @@ void GCS::update_sensor_status_flags()
     control_sensors_health |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
 #endif
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && AP_AHRS_ENABLED
     if (ahrs.get_ekf_type() == 10) {
         // always show EKF type 10 as healthy. This prevents spurious error
         // messages in xplane and other simulators that use EKF type 10
@@ -290,7 +290,12 @@ void GCS::update_sensor_status_flags()
     if (airspeed && airspeed->enabled()) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
         const bool use = airspeed->use();
+#if AP_AHRS_ENABLED
         const bool enabled = AP::ahrs().airspeed_sensor_enabled();
+#else
+        const AP_Airspeed *_airspeed = AP::airspeed();
+        const bool enabled = (_airspeed != nullptr && _airspeed->use());
+#endif
         if (use) {
             control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
         }
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 63e2424eb9539d..b5afa34ea05577 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -554,6 +554,7 @@ void GCS_MAVLINK::send_proximity()
 // report AHRS2 state
 void GCS_MAVLINK::send_ahrs2()
 {
+#if AP_AHRS_ENABLED
     const AP_AHRS &ahrs = AP::ahrs();
     Vector3f euler;
     Location loc {};
@@ -568,6 +569,7 @@ void GCS_MAVLINK::send_ahrs2()
                                loc.lat,
                                loc.lng);
     }
+#endif
 }
 
 MissionItemProtocol *GCS::get_prot_for_mission_type(const MAV_MISSION_TYPE mission_type) const
@@ -2191,6 +2193,7 @@ void GCS_MAVLINK::send_scaled_pressure3()
 
 void GCS_MAVLINK::send_ahrs()
 {
+#if AP_AHRS_ENABLED
     const AP_AHRS &ahrs = AP::ahrs();
     const Vector3f &omega_I = ahrs.get_gyro_drift();
     mavlink_msg_ahrs_send(
@@ -2202,6 +2205,7 @@ void GCS_MAVLINK::send_ahrs()
         0,
         ahrs.get_error_rp(),
         ahrs.get_error_yaw());
+#endif
 }
 
 /*
@@ -2752,6 +2756,7 @@ void GCS_MAVLINK::send_autopilot_version() const
  */
 void GCS_MAVLINK::send_local_position() const
 {
+#if AP_AHRS_ENABLED
     const AP_AHRS &ahrs = AP::ahrs();
 
     Vector3f local_position, velocity;
@@ -2770,6 +2775,7 @@ void GCS_MAVLINK::send_local_position() const
         velocity.x,
         velocity.y,
         velocity.z);
+#endif
 }
 
 /*
@@ -3134,11 +3140,13 @@ float GCS_MAVLINK::vfr_hud_airspeed() const
 
 float GCS_MAVLINK::vfr_hud_climbrate() const
 {
+#if AP_AHRS_ENABLED
     Vector3f velned;
     if (AP::ahrs().get_velocity_NED(velned) || 
         AP::ahrs().get_vert_pos_rate_D(velned.z)) {
         return -velned.z;
     }
+#endif
     return 0;
 }
 
@@ -3149,6 +3157,7 @@ float GCS_MAVLINK::vfr_hud_alt() const
 
 void GCS_MAVLINK::send_vfr_hud()
 {
+#if AP_AHRS_ENABLED
     AP_AHRS &ahrs = AP::ahrs();
 
     // return values ignored; we send stale data
@@ -3162,6 +3171,7 @@ void GCS_MAVLINK::send_vfr_hud()
         abs(vfr_hud_throttle()),
         vfr_hud_alt(),
         vfr_hud_climbrate());
+#endif
 }
 
 /*
@@ -3514,6 +3524,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_camera(const mavlink_command_int_t &packe
 #endif
 
 
+#if AP_AHRS_ENABLED
 // sets ekf_origin if it has not been set.
 //  should only be used when there is no GPS to provide an absolute position
 void GCS_MAVLINK::set_ekf_origin(const Location& loc)
@@ -3561,6 +3572,7 @@ void GCS_MAVLINK::handle_set_gps_global_origin(const mavlink_message_t &msg)
     ekf_origin.alt = packet.altitude / 10;
     set_ekf_origin(ekf_origin);
 }
+#endif  // AP_AHRS_ENABLED
 
 /*
   handle a DATA96 message
@@ -3931,9 +3943,11 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
         handle_common_param_message(msg);
         break;
 
+#if AP_AHRS_ENABLED
     case MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN:
         handle_set_gps_global_origin(msg);
         break;
+#endif
 
 #if AP_MAVLINK_MSG_DEVICE_OP_ENABLED
     case MAVLINK_MSG_ID_DEVICE_OP_READ:
@@ -4448,9 +4462,11 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_comm
 #endif
 
 #if AP_INERTIALSENSOR_ENABLED
+#if AP_AHRS_ENABLED
     if (packet.x == 2) {
         return AP::ins().calibrate_trim();
     }
+#endif
 
     if (packet.x == 4) {
         // simple accel calibration
@@ -4623,6 +4639,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_debug_trap(const mavlink_command_int_t &p
     return MAV_RESULT_UNSUPPORTED;
 }
 
+#if AP_AHRS_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_set_ekf_source_set(const mavlink_command_int_t &packet)
 {
     // source set must be between 1 and 3
@@ -4634,6 +4651,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_set_ekf_source_set(const mavlink_command_
     }
     return MAV_RESULT_DENIED;
 }
+#endif
 
 #if AP_GRIPPER_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_do_gripper(const mavlink_command_int_t &packet)
@@ -5242,8 +5260,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
         }
 #endif // AP_SCRIPTING_ENABLED
 
+#if AP_AHRS_ENABLED
     case MAV_CMD_SET_EKF_SOURCE_SET:
         return handle_command_set_ekf_source_set(packet);
+#endif
 
     case MAV_CMD_START_RX_PAIR:
         return handle_START_RX_PAIR(packet);
@@ -5438,6 +5458,7 @@ void GCS_MAVLINK::send_extended_sys_state() const
 
 void GCS_MAVLINK::send_attitude() const
 {
+#if AP_AHRS_ENABLED
     const AP_AHRS &ahrs = AP::ahrs();
     const Vector3f omega = ahrs.get_gyro();
     mavlink_msg_attitude_send(
@@ -5449,10 +5470,12 @@ void GCS_MAVLINK::send_attitude() const
         omega.x,
         omega.y,
         omega.z);
+#endif
 }
 
 void GCS_MAVLINK::send_attitude_quaternion() const
 {
+#if AP_AHRS_ENABLED
     const AP_AHRS &ahrs = AP::ahrs();
     Quaternion quat;
     if (!ahrs.get_quaternion(quat)) {
@@ -5472,19 +5495,26 @@ void GCS_MAVLINK::send_attitude_quaternion() const
         omega.z, // yawspeed
         repr_offseq_q
         );
+#endif
 }
 
 int32_t GCS_MAVLINK::global_position_int_alt() const {
     return global_position_current_loc.alt * 10UL;
 }
 int32_t GCS_MAVLINK::global_position_int_relative_alt() const {
+#if AP_AHRS_ENABLED
     float posD;
     AP::ahrs().get_relative_position_D_home(posD);
     posD *= -1000.0f; // change from down to up and metres to millimeters
     return posD;
+#else
+    return 0;
+#endif
 }
+
 void GCS_MAVLINK::send_global_position_int()
 {
+#if AP_AHRS_ENABLED
     AP_AHRS &ahrs = AP::ahrs();
 
     UNUSED_RESULT(ahrs.get_location(global_position_current_loc)); // return value ignored; we send stale data
@@ -5505,6 +5535,7 @@ void GCS_MAVLINK::send_global_position_int()
         vel.y * 100,                     // Y speed cm/s (+ve East)
         vel.z * 100,                     // Z speed cm/s (+ve Down)
         ahrs.yaw_sensor);                // compass heading in 1/100 degree
+#endif  // AP_AHRS_ENABLED
 }
 
 #if HAL_MOUNT_ENABLED
@@ -5802,10 +5833,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
 #endif
 #endif // AP_BATTERY_ENABLED
 
+#if AP_AHRS_ENABLED
     case MSG_EKF_STATUS_REPORT:
         CHECK_PAYLOAD_SIZE(EKF_STATUS_REPORT);
         AP::ahrs().send_ekf_status_report(*this);
         break;
+#endif
 
     case MSG_MEMINFO:
         CHECK_PAYLOAD_SIZE(MEMINFO);
@@ -6721,6 +6754,7 @@ GCS &gcs()
 #if HAL_HIGH_LATENCY2_ENABLED
 void GCS_MAVLINK::send_high_latency2() const
 {
+#if AP_AHRS_ENABLED
     AP_AHRS &ahrs = AP::ahrs();
     Location global_position_current;
     UNUSED_RESULT(ahrs.get_location(global_position_current));
@@ -6799,6 +6833,7 @@ void GCS_MAVLINK::send_high_latency2() const
         base_mode(), // Field for custom payload. base mode (arming status) in ArduPilot's case
         0, // Field for custom payload.
         0); // Field for custom payload.
+#endif
 }
 
 int8_t GCS_MAVLINK::high_latency_air_temperature() const

From b42138bfb682a9579305f3ab2919ec24e2aa4dbc Mon Sep 17 00:00:00 2001
From: Joshua Henderson <hendjoshsr71@gmail.com>
Date: Tue, 16 Jan 2024 01:12:10 -0500
Subject: [PATCH 0569/1335] Tools :  completion add submoduleclean &
 submodule_force_clean

---
 Tools/completion/bash/_waf | 2 ++
 Tools/completion/zsh/_waf  | 4 +++-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/Tools/completion/bash/_waf b/Tools/completion/bash/_waf
index 5eb71bd2e76cdd..a62a4a12510c61 100755
--- a/Tools/completion/bash/_waf
+++ b/Tools/completion/bash/_waf
@@ -31,6 +31,8 @@ _waf()
     opts+=" configure"
     opts+=" clean"
     opts+=" distclean"
+    opts+=" submodule_force_clean"
+    opts+=" submodulesync"
 
     # Prevent word reuse TODO: add -vvv case
     lim=$((COMP_CWORD - 1))
diff --git a/Tools/completion/zsh/_waf b/Tools/completion/zsh/_waf
index e2d0ce6d632cb0..4b70537d005ba5 100644
--- a/Tools/completion/zsh/_waf
+++ b/Tools/completion/zsh/_waf
@@ -89,7 +89,9 @@ _waf_cmds() {
     'build:executes the build' \
     'configure:configures the project' \
     'clean:cleans the project' \
-    'distclean:removes build folders and data'
+    'distclean:removes build folders and data' \
+    'submodule_force_clean:removes all submodules, then checkouts all current submodules and synchronizes them' \
+    'submodulesync:checkouts all current submodules and synchronizes them'
   )
   _describe -t commands 'command' commands "$@" && ret=0
 }

From f1ca5bea49cffef2feb1745ae0cec8834d330229 Mon Sep 17 00:00:00 2001
From: Joshua Henderson <hendjoshsr71@gmail.com>
Date: Tue, 16 Jan 2024 01:17:00 -0500
Subject: [PATCH 0570/1335] waf : wscript add submoduleclean &
 submodule_force_clean

---
 BUILD.md |  5 +++++
 wscript  | 23 +++++++++++++++++++++++
 2 files changed, 28 insertions(+)

diff --git a/BUILD.md b/BUILD.md
index ae32c0a9107e7a..5e11d2c83808ee 100644
--- a/BUILD.md
+++ b/BUILD.md
@@ -102,6 +102,11 @@ list some basic and more used commands as example.
     Cleaning the build is very often not necessary and discouraged. We do
     incremental builds reducing the build time by orders of magnitude.
 
+    If submodules are failing to be synchronized, `submodulesync` may be used
+    to resync the submodules. This is usually necessary when shifting development
+    between stable releases or a stable release and the master branch.
+
+    In some some cases `submodule_force_clean` may be necessary. This removes all submodules and then performs a `submodulesync`. (Note whitelisted modules like esp_idf is not removed.)
 
 * **Upload or install**
 
diff --git a/wscript b/wscript
index 8d2c2a68b2b299..c21a031e52f920 100644
--- a/wscript
+++ b/wscript
@@ -86,6 +86,29 @@ def _set_build_context_variant(board):
             continue
         c.variant = board
 
+# Remove all submodules and then sync
+@conf
+def submodule_force_clean(ctx):
+    whitelist = {
+                            'COLCON_IGNORE',
+                            'esp_idf',
+                          }
+
+    # Get all items in the modules folder
+    module_list = os.scandir('modules')
+
+    # Delete all directories except those in the whitelist
+    for module in module_list:
+        if (module.is_dir()) and (module.name not in whitelist):
+            shutil.rmtree(module)
+
+    submodulesync(ctx)
+
+# run Tools/gittools/submodule-sync.sh to sync submodules
+@conf
+def submodulesync(ctx):
+    subprocess.call(['Tools/gittools/submodule-sync.sh'])
+
 def init(ctx):
     # Generate Task List, so that VS Code extension can keep track
     # of changes to possible build targets

From 94cc6fbe96fe067b432feb3f2fcd6ad6ea366602 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Tue, 16 Jan 2024 16:17:32 -0600
Subject: [PATCH 0571/1335] RC_Channel:update aux switch name to RELAY1

---
 libraries/RC_Channel/RC_Channel.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index f454515aefab8c..f3c6653f3478d9 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -131,7 +131,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
     // @Values{Copter}: 25:AttCon Feed Forward
     // @Values{Copter}: 26:AttCon Accel Limits
     // @Values{Copter, Rover, Plane}: 27:Retract Mount1
-    // @Values{Copter, Rover, Plane}: 28:Relay On/Off
+    // @Values{Copter, Rover, Plane}: 28:Relay1 On/Off
     // @Values{Copter, Plane}: 29:Landing Gear
     // @Values{Copter}: 30:Lost Copter Sound
     // @Values{Rover}: 30:Lost Rover Sound

From 4853ba632fab5e8503a3ff686c384e34086eb5a2 Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Mon, 15 Jan 2024 17:15:19 +0100
Subject: [PATCH 0572/1335] AC_AttitudeControl: Spell correction

---
 libraries/AC_AttitudeControl/ControlMonitor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AC_AttitudeControl/ControlMonitor.cpp b/libraries/AC_AttitudeControl/ControlMonitor.cpp
index 5efdb1606c56da..6bd67607358201 100644
--- a/libraries/AC_AttitudeControl/ControlMonitor.cpp
+++ b/libraries/AC_AttitudeControl/ControlMonitor.cpp
@@ -38,7 +38,7 @@ void AC_AttitudeControl::control_monitor_update(void)
 }
 
 /*
-  log a CRTL message
+  log a CTRL message
  */
 void AC_AttitudeControl::control_monitor_log(void) const
 {

From bfab6e5ee70444dd5c5b6a92f6a5c6c8638acc42 Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Mon, 15 Jan 2024 17:15:19 +0100
Subject: [PATCH 0573/1335] AP_BattMonitor: Spell correction

---
 libraries/AP_BattMonitor/AP_BattMonitor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.cpp b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
index bf04aeb514aac4..e62ddc28b112cf 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
@@ -651,7 +651,7 @@ void AP_BattMonitor::convert_dynamic_param_groups(uint8_t instance)
     }
 }
 
-// read - For all active instances read voltage & current; log BAT, BCL, POWR
+// read - For all active instances read voltage & current; log BAT, BCL, POWR, MCU
 void AP_BattMonitor::read()
 {
 #if HAL_LOGGING_ENABLED

From 413af641be20d289938949f917d235697f204c6a Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Mon, 15 Jan 2024 17:15:19 +0100
Subject: [PATCH 0574/1335] ArduCopter: Spell correction

---
 ArduCopter/system.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 4c740a2e3b3e1c..40c077fc627773 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -207,7 +207,7 @@ void Copter::init_ardupilot()
 
     motors->output_min();  // output lowest possible value to motors
 
-    // attempt to set the intial_mode, else set to STABILIZE
+    // attempt to set the initial_mode, else set to STABILIZE
     if (!set_mode((enum Mode::Number)g.initial_mode.get(), ModeReason::INITIALISED)) {
         // set mode to STABILIZE will trigger mode change notification to pilot
         set_mode(Mode::Number::STABILIZE, ModeReason::UNAVAILABLE);

From 2564ca03e2f68d53ce441006561b266d55927aed Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Mon, 15 Jan 2024 17:15:19 +0100
Subject: [PATCH 0575/1335] Tools: Spell correction

---
 Tools/autotest/param_metadata/param_parse.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/autotest/param_metadata/param_parse.py b/Tools/autotest/param_metadata/param_parse.py
index fdb1465e29cc4d..b76a23bf4b41ab 100755
--- a/Tools/autotest/param_metadata/param_parse.py
+++ b/Tools/autotest/param_metadata/param_parse.py
@@ -66,7 +66,7 @@ def find_vehicle_parameter_filepath(vehicle_name):
         "Sub": "ArduSub",
     }
 
-    # first try ArduCopter/Parmameters.cpp
+    # first try ArduCopter/Parameters.cpp
     for top_dir in apm_path, apm_tools_path:
         path = os.path.join(top_dir, vehicle_name, "Parameters.cpp")
         if os.path.exists(path):

From 51ed5b8dd9c65a9ace01f635dff11a216f403968 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 16 Jan 2024 17:49:18 +1100
Subject: [PATCH 0576/1335] Tools: param_parse.py: remove xmlemit_mp

this was used for a while to create xml files suitable for MissionPlanner toconsume.  MissionPlanner now uses apm.pdef.xml
---
 Tools/autotest/param_metadata/param_parse.py |  4 +-
 Tools/autotest/param_metadata/xmlemit_mp.py  | 91 --------------------
 2 files changed, 1 insertion(+), 94 deletions(-)
 delete mode 100644 Tools/autotest/param_metadata/xmlemit_mp.py

diff --git a/Tools/autotest/param_metadata/param_parse.py b/Tools/autotest/param_metadata/param_parse.py
index b76a23bf4b41ab..60466c75ec9234 100755
--- a/Tools/autotest/param_metadata/param_parse.py
+++ b/Tools/autotest/param_metadata/param_parse.py
@@ -22,7 +22,6 @@
 from xmlemit import XmlEmit
 from mdemit import MDEmit
 from jsonemit import JSONEmit
-from xmlemit_mp import XmlEmitMP
 
 parser = ArgumentParser(description="Parse ArduPilot parameters.")
 parser.add_argument("-v", "--verbose", dest='verbose', action='store_true', default=False, help="show debugging output")
@@ -36,7 +35,7 @@
                     dest='output_format',
                     action='store',
                     default='all',
-                    choices=['all', 'html', 'rst', 'rstlatexpdf', 'wiki', 'xml', 'json', 'edn', 'md', 'xml_mp'],
+                    choices=['all', 'html', 'rst', 'rstlatexpdf', 'wiki', 'xml', 'json', 'edn', 'md'],
                     help="what output format to use")
 
 args = parser.parse_args()
@@ -631,7 +630,6 @@ def validate(param, is_library=False):
     'rst': RSTEmit,
     'rstlatexpdf': RSTLATEXPDFEmit,
     'md': MDEmit,
-    'xml_mp': XmlEmitMP,
 }
 
 try:
diff --git a/Tools/autotest/param_metadata/xmlemit_mp.py b/Tools/autotest/param_metadata/xmlemit_mp.py
deleted file mode 100644
index 846993ee59e67f..00000000000000
--- a/Tools/autotest/param_metadata/xmlemit_mp.py
+++ /dev/null
@@ -1,91 +0,0 @@
-from xml.sax.saxutils import escape, quoteattr
-
-from emit import Emit
-from param import known_param_fields, known_units
-from lxml import etree
-
-# Emit ArduPilot documentation in an machine readable XML format for Mission Planner
-class XmlEmitMP(Emit):
-    def __init__(self, *args, **kwargs):
-        Emit.__init__(self, *args, **kwargs)
-        self.mp_fname = 'ParameterMetaData.xml'
-        self.f = open(self.mp_fname, mode='w')
-        self.preamble = '''<?xml version="1.0" encoding="utf-8"?>\n'''
-        self.f.write(self.preamble)
-        self.f.write('<Params>\n')
-        self.gname = None
-        self.skip_name = False
-
-    def close(self):
-        self.f.write('  </%s>\n' % self.gname)
-        self.f.write('''</Params>\n''')
-        self.f.close()
-        # sort and reformat XML
-        parser = etree.XMLParser(remove_blank_text=True)
-        tree = etree.parse(self.mp_fname, parser)
-        root = tree.getroot()
-        vehicle = tree.find(self.gname)
-        sort_xml_node(vehicle)
-        sorted_unicode = etree.tostring(root, pretty_print=True, encoding='unicode')
-        f = open(self.mp_fname, mode='w')
-        f.write(self.preamble)
-        f.write(sorted_unicode)
-        f.close()
-
-    def emit_comment(self, s):
-        self.f.write("<!-- " + s + " -->")
-
-    def start_libraries(self):
-        self.skip_name = True
-
-    def emit(self, g):
-        t = ""
-        if not self.skip_name:
-            self.gname = g.reference
-            if self.gname == "ArduCopter":
-                self.gname = "ArduCopter2"
-            if self.gname == "APMrover2" or self.gname == "Rover":
-                self.gname = "ArduRover"
-            t = '  <%s>\n' % self.gname
-
-        for param in g.params:
-            # Begin our parameter node
-            # Get param name and and remove key
-            name = param.name.split(':')[-1]
-
-            t += '    <%s>\n' % name
-
-            if hasattr(param, 'DisplayName'):
-                t += '      <DisplayName>%s</DisplayName>\n' % param.DisplayName
-
-            if hasattr(param, 'Description'):
-                t += '      <Description>%s</Description>\n' % escape(param.Description)  # i.e. parameter docs
-            if hasattr(param, 'User'):
-                t += '      <User>%s</User>\n' % param.User  # i.e. Standard or Advanced
-
-            # not used yet
-            # if hasattr(param, 'Calibration'):
-            #     t += '  <Calibration>%s</Calibration\n' % quoteattr(param.Calibration)
-
-            # Add values as chidren of this node
-            for field in param.__dict__.keys():
-                if field not in ['name', 'DisplayName', 'Description', 'User'] and field in known_param_fields:
-                    t += '      <%s>%s</%s>\n' % (field, escape(param.__dict__[field]), field)
-
-            t += '    </%s>\n' % name
-
-        # print t
-        self.f.write(t)
-
-
-def sort_xml_node(node):
-    if not isinstance(node.tag, str):
-        # not a TAG, it is comment or DATA
-        # no need to sort
-        return
-    # sort child along attr
-    node[:] = sorted(node, key=lambda field: field.tag)
-
-    # and recurse
-    for child in node:
-        child[:] = sorted(child, key=lambda field: field.tag)

From 0c98369fd583d5ec27d1b0f153b8777cbb6b6b34 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 16 Jan 2024 17:50:25 +1100
Subject: [PATCH 0577/1335] Tools: remove script which generates
 MissionPlanner-style xml files

it now uses apm.pdef.xml
---
 Tools/scripts/generate_mp_paramfile.sh | 45 --------------------------
 1 file changed, 45 deletions(-)
 delete mode 100755 Tools/scripts/generate_mp_paramfile.sh

diff --git a/Tools/scripts/generate_mp_paramfile.sh b/Tools/scripts/generate_mp_paramfile.sh
deleted file mode 100755
index 753d14bff6c891..00000000000000
--- a/Tools/scripts/generate_mp_paramfile.sh
+++ /dev/null
@@ -1,45 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-set -x
-
-echo "Remove previous param file"
-rm -f ParameterMetaDataBackup.xml
-rm -f ParameterMetaData.xml
-
-echo "Create first parameter file"
-./Tools/autotest/param_metadata/param_parse.py --vehicle ArduCopter --format xml_mp
-echo "Remove the last line"
-sed -i -e '$d' ParameterMetaData.xml
-echo "Copy parameters to the complete file"
-cp ParameterMetaData.xml ParameterMetaDataBackup.xml
-
-echo "Create the second parameter file"
-./Tools/autotest/param_metadata/param_parse.py --vehicle ArduPlane --format xml_mp
-echo "Remove the two first lines and the last one"
-sed -i -e '1d' -e '2d' -e '$d' ParameterMetaData.xml
-echo "Append parameters to the complete file"
-cat ParameterMetaData.xml >> ParameterMetaDataBackup.xml
-
-./Tools/autotest/param_metadata/param_parse.py --vehicle Rover --format xml_mp
-echo "Remove the two first lines and the last one"
-sed -i -e '1d' -e '2d' -e '$d' ParameterMetaData.xml
-echo "Append parameters to the complete file"
-cat ParameterMetaData.xml >> ParameterMetaDataBackup.xml
-
-./Tools/autotest/param_metadata/param_parse.py --vehicle ArduSub --format xml_mp
-echo "Remove the two first lines and the last one"
-sed -i -e '1d' -e '2d' -e '$d' ParameterMetaData.xml
-echo "Append parameters to the complete file"
-cat ParameterMetaData.xml >> ParameterMetaDataBackup.xml
-
-./Tools/autotest/param_metadata/param_parse.py --vehicle AntennaTracker --format xml_mp
-echo "Remove the two first lines"
-sed -i -e '1d' -e '2d' ParameterMetaData.xml
-echo "Append parameters to the complete file"
-cat ParameterMetaData.xml >> ParameterMetaDataBackup.xml
-
-echo "Remove vehile param file"
-rm -f ParameterMetaData.xml
-echo "Rename complete param file"
-mv ParameterMetaDataBackup.xml ParameterMetaData.xml

From 0850a5fa43652bd7590594081946023ff7850b17 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 28 Nov 2023 12:13:11 +1100
Subject: [PATCH 0578/1335] AP_AHRS: create and use an AP_AHRS_EXTERNAL_ENABLED

---
 libraries/AP_AHRS/AP_AHRS.cpp          | 126 ++++++++++++-------------
 libraries/AP_AHRS/AP_AHRS.h            |   6 +-
 libraries/AP_AHRS/AP_AHRS_External.cpp |   2 +-
 libraries/AP_AHRS/AP_AHRS_External.h   |   6 +-
 libraries/AP_AHRS/AP_AHRS_config.h     |   5 +
 5 files changed, 76 insertions(+), 69 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 6be34de803c212..f77ea3551c1c79 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -252,7 +252,7 @@ void AP_AHRS::init()
 #if AP_AHRS_DCM_ENABLED
     dcm.init();
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     external.init();
 #endif
 
@@ -321,7 +321,7 @@ void AP_AHRS::reset_gyro_drift(void)
 #if AP_AHRS_DCM_ENABLED
     dcm.reset_gyro_drift();
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     external.reset_gyro_drift();
 #endif
 
@@ -400,7 +400,7 @@ void AP_AHRS::update(bool skip_ins_update)
     update_SITL();
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     update_external();
 #endif
     
@@ -458,7 +458,7 @@ void AP_AHRS::update(bool skip_ins_update)
             shortname = "SIM";
             break;
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
         case EKFType::EXTERNAL:
             shortname = "External";
             break;
@@ -685,7 +685,7 @@ void AP_AHRS::update_EKF3(void)
 }
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
 void AP_AHRS::update_external(void)
 {
     external.update();
@@ -695,7 +695,7 @@ void AP_AHRS::update_external(void)
         copy_estimates_from_backend_estimates(external_estimates);
     }
 }
-#endif // HAL_EXTERNAL_AHRS_ENABLED
+#endif // AP_AHRS_EXTERNAL_ENABLED
 
 void AP_AHRS::reset()
 {
@@ -709,7 +709,7 @@ void AP_AHRS::reset()
     sim.reset();
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     external.reset();
 #endif
 
@@ -754,7 +754,7 @@ bool AP_AHRS::_get_location(Location &loc) const
         return sim_estimates.get_location(loc);
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return external_estimates.get_location(loc);
 #endif
@@ -812,7 +812,7 @@ bool AP_AHRS::_wind_estimate(Vector3f &wind) const
         return EKF3.getWind(wind);
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return external.wind_estimate(wind);
 #endif
@@ -942,7 +942,7 @@ bool AP_AHRS::_airspeed_estimate(float &airspeed_ret, AirspeedEstimateType &airs
         break;
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
 #if AP_AHRS_DCM_ENABLED
         airspeed_estimate_type = AirspeedEstimateType::DCM_SYNTHETIC;
@@ -996,7 +996,7 @@ bool AP_AHRS::_airspeed_estimate_true(float &airspeed_ret) const
 #if AP_AHRS_SIM_ENABLED
     case EKFType::SIM:
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
 #endif
         break;
@@ -1033,7 +1033,7 @@ bool AP_AHRS::_airspeed_vector_true(Vector3f &vec) const
         break;
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         break;
 #endif
@@ -1065,7 +1065,7 @@ bool AP_AHRS::airspeed_health_data(float &innovation, float &innovationVariance,
         break;
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         break;
 #endif
@@ -1108,7 +1108,7 @@ bool AP_AHRS::use_compass(void)
         return sim.use_compass();
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         break;
 #endif
@@ -1155,7 +1155,7 @@ bool AP_AHRS::_get_quaternion(Quaternion &quat) const
         }
         break;
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         // we assume the external AHRS isn't trimmed with the autopilot!
         return external.get_quaternion(quat);
@@ -1206,7 +1206,7 @@ bool AP_AHRS::_get_secondary_attitude(Vector3f &eulers) const
         return false;
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL: {
         // External is secondary
         eulers[0] = external_estimates.roll_rad;
@@ -1267,7 +1267,7 @@ bool AP_AHRS::_get_secondary_quaternion(Quaternion &quat) const
         return false;
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         // External is secondary
         return external.get_quaternion(quat);
@@ -1319,7 +1319,7 @@ bool AP_AHRS::_get_secondary_position(Location &loc) const
         return false;
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         // External is secondary
         return external_estimates.get_location(loc);
@@ -1359,7 +1359,7 @@ Vector2f AP_AHRS::_groundspeed_vector(void)
     case EKFType::SIM:
         return sim.groundspeed_vector();
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL: {
         return external.groundspeed_vector();
     }
@@ -1383,7 +1383,7 @@ float AP_AHRS::_groundspeed(void)
     case EKFType::THREE:
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
 #endif
 
@@ -1431,7 +1431,7 @@ bool AP_AHRS::set_origin(const Location &loc)
         // simulation backend
         return false;
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         // don't allow origin set with external AHRS
         return false;
@@ -1485,7 +1485,7 @@ bool AP_AHRS::_get_velocity_NED(Vector3f &vec) const
     case EKFType::SIM:
         return sim.get_velocity_NED(vec);
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return external.get_velocity_NED(vec);
 #endif
@@ -1520,7 +1520,7 @@ bool AP_AHRS::get_mag_field_NED(Vector3f &vec) const
     case EKFType::SIM:
         return false;
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return false;
 #endif
@@ -1552,7 +1552,7 @@ bool AP_AHRS::get_mag_field_correction(Vector3f &vec) const
     case EKFType::SIM:
         return false;
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return false;
 #endif
@@ -1587,7 +1587,7 @@ bool AP_AHRS::get_vert_pos_rate_D(float &velocity) const
     case EKFType::SIM:
         return sim.get_vert_pos_rate_D(velocity);
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return external.get_vert_pos_rate_D(velocity);
 #endif
@@ -1618,7 +1618,7 @@ bool AP_AHRS::get_hagl(float &height) const
     case EKFType::SIM:
         return sim.get_hagl(height);
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL: {
         return false;
     }
@@ -1672,7 +1672,7 @@ bool AP_AHRS::get_relative_position_NED_origin(Vector3f &vec) const
     case EKFType::SIM:
         return sim.get_relative_position_NED_origin(vec);
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL: {
         return external.get_relative_position_NED_origin(vec);
     }
@@ -1725,7 +1725,7 @@ bool AP_AHRS::get_relative_position_NE_origin(Vector2f &posNE) const
         return sim.get_relative_position_NE_origin(posNE);
     }
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return external.get_relative_position_NE_origin(posNE);
 #endif
@@ -1780,7 +1780,7 @@ bool AP_AHRS::get_relative_position_D_origin(float &posD) const
     case EKFType::SIM:
         return sim.get_relative_position_D_origin(posD);
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return external.get_relative_position_D_origin(posD);
 #endif
@@ -1832,7 +1832,7 @@ AP_AHRS::EKFType AP_AHRS::ekf_type(void) const
     case EKFType::SIM:
         return type;
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return type;
 #endif
@@ -1923,7 +1923,7 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
         ret = EKFType::SIM;
         break;
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         ret = EKFType::EXTERNAL;
         break;
@@ -1957,7 +1957,7 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
             get_filter_status(filt_state);
             break;
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
         case EKFType::EXTERNAL:
             get_filter_status(filt_state);
             should_use_gps = true;
@@ -2053,7 +2053,7 @@ AP_AHRS::EKFType AP_AHRS::fallback_active_EKF_type(void) const
     }
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     if (external.healthy()) {
         return EKFType::EXTERNAL;
     }
@@ -2064,7 +2064,7 @@ AP_AHRS::EKFType AP_AHRS::fallback_active_EKF_type(void) const
     return EKFType::THREE;
 #elif HAL_NAVEKF2_AVAILABLE
     return EKFType::TWO;
-#elif HAL_EXTERNAL_AHRS_ENABLED
+#elif AP_AHRS_EXTERNAL_ENABLED
     return EKFType::EXTERNAL;
 #endif
 }
@@ -2089,7 +2089,7 @@ bool AP_AHRS::_get_secondary_EKF_type(EKFType &secondary_ekf_type) const
             return true;
         }
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
         if ((EKFType)_ekf_type.get() == EKFType::EXTERNAL) {
             secondary_ekf_type = EKFType::EXTERNAL;
             return true;
@@ -2106,7 +2106,7 @@ bool AP_AHRS::_get_secondary_EKF_type(EKFType &secondary_ekf_type) const
 #if AP_AHRS_SIM_ENABLED
     case EKFType::SIM:
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
 #endif
         // DCM is secondary
@@ -2171,7 +2171,7 @@ bool AP_AHRS::healthy(void) const
     case EKFType::SIM:
         return sim.healthy();
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return external.healthy();
 #endif
@@ -2192,7 +2192,7 @@ bool AP_AHRS::pre_arm_check(bool requires_position, char *failure_msg, uint8_t f
         ret = false;
     }
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     // Always check external AHRS if enabled
     // it is a source for IMU data even if not being used as direct AHRS replacement
     if (AP::externalAHRS().enabled() || (ekf_type() == EKFType::EXTERNAL)) {
@@ -2223,7 +2223,7 @@ bool AP_AHRS::pre_arm_check(bool requires_position, char *failure_msg, uint8_t f
         return dcm.pre_arm_check(requires_position, failure_msg, failure_msg_len) && ret;
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return external.pre_arm_check(requires_position, failure_msg, failure_msg_len);
 #endif
@@ -2277,7 +2277,7 @@ bool AP_AHRS::initialised(void) const
     case EKFType::SIM:
         return true;
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return external.initialised();
 #endif
@@ -2310,7 +2310,7 @@ bool AP_AHRS::get_filter_status(nav_filter_status &status) const
     case EKFType::SIM:
         return sim.get_filter_status(status);
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return external.get_filter_status(status);
 #endif
@@ -2407,7 +2407,7 @@ void AP_AHRS::getControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler
         sim.get_control_limits(ekfGndSpdLimit, ekfNavVelGainScaler);
         break;
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         // no limit on gains, large vel limit
         ekfGndSpdLimit = 400;
@@ -2455,7 +2455,7 @@ bool AP_AHRS::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
     case EKFType::SIM:
         return sim.get_mag_offsets(mag_idx, magOffsets);
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return false;
 #endif
@@ -2490,7 +2490,7 @@ void AP_AHRS::_getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const
     case EKFType::SIM:
         break;
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         break;
 #endif
@@ -2634,7 +2634,7 @@ uint32_t AP_AHRS::getLastYawResetAngle(float &yawAng)
     case EKFType::SIM:
         return sim.getLastYawResetAngle(yawAng);
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return external.getLastYawResetAngle(yawAng);
 #endif
@@ -2667,7 +2667,7 @@ uint32_t AP_AHRS::getLastPosNorthEastReset(Vector2f &pos)
     case EKFType::SIM:
         return sim.getLastPosNorthEastReset(pos);
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return 0;
 #endif
@@ -2700,7 +2700,7 @@ uint32_t AP_AHRS::getLastVelNorthEastReset(Vector2f &vel) const
     case EKFType::SIM:
         return sim.getLastVelNorthEastReset(vel);
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return 0;
 #endif
@@ -2733,7 +2733,7 @@ uint32_t AP_AHRS::getLastPosDownReset(float &posDelta)
     case EKFType::SIM:
         return sim.getLastPosDownReset(posDelta);
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return 0;
 #endif
@@ -2784,7 +2784,7 @@ bool AP_AHRS::resetHeightDatum(void)
     case EKFType::SIM:
         return sim.resetHeightDatum();
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return false;
 #endif
@@ -2808,7 +2808,7 @@ void AP_AHRS::send_ekf_status_report(GCS_MAVLINK &link) const
         break;
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL: {
         external.send_ekf_status_report(link);
         break;
@@ -2851,7 +2851,7 @@ bool AP_AHRS::_get_origin(EKFType type, Location &ret) const
     case EKFType::SIM:
         return sim.get_origin(ret);
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return external.get_origin(ret);
 #endif
@@ -2960,7 +2960,7 @@ bool AP_AHRS::get_hgt_ctrl_limit(float& limit) const
     case EKFType::SIM:
         return sim.get_hgt_ctrl_limit(limit);
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return false;
 #endif
@@ -3027,7 +3027,7 @@ bool AP_AHRS::get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &
         return sim.get_innovations(velInnov, posInnov, magInnov, tasInnov, yawInnov);
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return false;
 #endif
@@ -3053,7 +3053,7 @@ bool AP_AHRS::is_vibration_affected() const
 #if AP_AHRS_SIM_ENABLED
     case EKFType::SIM:
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
 #endif
         return false;
@@ -3095,7 +3095,7 @@ bool AP_AHRS::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3
         return sim.get_variances(velVar, posVar, hgtVar, magVar, tasVar);
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return false;
 #endif
@@ -3133,7 +3133,7 @@ bool AP_AHRS::get_vel_innovations_and_variances_for_source(uint8_t source, Vecto
         return false;
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         return false;
 #endif
@@ -3194,7 +3194,7 @@ uint8_t AP_AHRS::_get_primary_IMU_index() const
     case EKFType::SIM:
         break;
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         break;
 #endif
@@ -3219,7 +3219,7 @@ int8_t AP_AHRS::_get_primary_core_index() const
         // we have only one core
         return 0;
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         // we have only one core
         return 0;
@@ -3267,7 +3267,7 @@ void AP_AHRS::check_lane_switch(void)
         break;
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         break;
 #endif
@@ -3299,7 +3299,7 @@ void AP_AHRS::request_yaw_reset(void)
         break;
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
         break;
 #endif
@@ -3371,7 +3371,7 @@ bool AP_AHRS::using_noncompass_for_yaw(void) const
 #if AP_AHRS_SIM_ENABLED
     case EKFType::SIM:
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
 #endif
         return false; 
@@ -3398,7 +3398,7 @@ bool AP_AHRS::using_extnav_for_yaw(void) const
 #if AP_AHRS_SIM_ENABLED
     case EKFType::SIM:
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
 #endif
         return false;
@@ -3441,7 +3441,7 @@ const EKFGSF_yaw *AP_AHRS::get_yaw_estimator(void) const
 #if AP_AHRS_SIM_ENABLED
     case EKFType::SIM:
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     case EKFType::EXTERNAL:
 #endif
         return nullptr;
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index abb36f2e13692b..a4bd0c3979d4f8 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -443,7 +443,7 @@ class AP_AHRS {
 #if AP_AHRS_SIM_ENABLED
         SIM = 10,
 #endif
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
         EXTERNAL = 11,
 #endif
     };
@@ -800,7 +800,7 @@ class AP_AHRS {
     void update_SITL(void);
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     void update_external(void);
 #endif    
 
@@ -1002,7 +1002,7 @@ class AP_AHRS {
     struct AP_AHRS_Backend::Estimates sim_estimates;
 #endif
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
     AP_AHRS_External external;
     struct AP_AHRS_Backend::Estimates external_estimates;
 #endif
diff --git a/libraries/AP_AHRS/AP_AHRS_External.cpp b/libraries/AP_AHRS/AP_AHRS_External.cpp
index 0c4be3d5bd614e..8cdf8ecb52bb03 100644
--- a/libraries/AP_AHRS/AP_AHRS_External.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_External.cpp
@@ -1,6 +1,6 @@
 #include "AP_AHRS_External.h"
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#if AP_AHRS_EXTERNAL_ENABLED
 
 #include <AP_ExternalAHRS/AP_ExternalAHRS.h>
 #include <AP_AHRS/AP_AHRS.h>
diff --git a/libraries/AP_AHRS/AP_AHRS_External.h b/libraries/AP_AHRS/AP_AHRS_External.h
index 4d63a0702907de..6ca69f73f8f4ac 100644
--- a/libraries/AP_AHRS/AP_AHRS_External.h
+++ b/libraries/AP_AHRS/AP_AHRS_External.h
@@ -21,9 +21,11 @@
  *
  */
 
-#include "AP_AHRS_Backend.h"
+#include "AP_AHRS_config.h"
+
+#if AP_AHRS_EXTERNAL_ENABLED
 
-#if HAL_EXTERNAL_AHRS_ENABLED
+#include "AP_AHRS_Backend.h"
 
 class AP_AHRS_External : public AP_AHRS_Backend {
 public:
diff --git a/libraries/AP_AHRS/AP_AHRS_config.h b/libraries/AP_AHRS/AP_AHRS_config.h
index fd56a5f6deabf8..3b27e786065181 100644
--- a/libraries/AP_AHRS/AP_AHRS_config.h
+++ b/libraries/AP_AHRS/AP_AHRS_config.h
@@ -2,6 +2,7 @@
 
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_InertialSensor/AP_InertialSensor_config.h>
+#include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
 
 #ifndef AP_AHRS_ENABLED
 #define AP_AHRS_ENABLED 1
@@ -15,6 +16,10 @@
 #define AP_AHRS_DCM_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && AP_INERTIALSENSOR_ENABLED
 #endif
 
+#ifndef AP_AHRS_EXTERNAL_ENABLED
+#define AP_AHRS_EXTERNAL_ENABLED AP_AHRS_BACKEND_DEFAULT_ENABLED && HAL_EXTERNAL_AHRS_ENABLED
+#endif
+
 #ifndef HAL_NAVEKF2_AVAILABLE
 // EKF2 slated compiled out by default in 4.5, slated to be removed.
 #define HAL_NAVEKF2_AVAILABLE 0

From d7fa5a47def67a7551e6a9f2b895bfa8877e60d5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 28 Nov 2023 13:09:41 +1100
Subject: [PATCH 0579/1335] AP_AHRS: add missing include for GPSUse

---
 libraries/AP_AHRS/AP_AHRS.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index a4bd0c3979d4f8..31130035514442 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -25,6 +25,7 @@
 
 #include <AP_HAL/Semaphores.h>
 
+#include "AP_AHRS_Backend.h"
 #include <AP_NavEKF2/AP_NavEKF2.h>
 #include <AP_NavEKF3/AP_NavEKF3.h>
 #include <AP_NavEKF/AP_Nav_Common.h>              // definitions shared by inertial and ekf nav filters

From 29f1953ad7c557f1bd1692e4284a021bdc30bf3e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 18:54:04 +1100
Subject: [PATCH 0580/1335] AP_HAL_ChibiOS: remove bad default from kha_eth
 hwdef

off is the default, but you have to use 0 not FALSE or it's a redefinition error
---
 libraries/AP_HAL_ChibiOS/hwdef/kha_eth/hwdef.dat | 1 -
 1 file changed, 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/kha_eth/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/kha_eth/hwdef.dat
index 72def407252939..fa1157f699a4f5 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/kha_eth/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/kha_eth/hwdef.dat
@@ -140,7 +140,6 @@ define HAL_PERIPH_SHOW_SERIAL_MANAGER_PARAMS
 
 define PERIPH_FW TRUE
 #define NO_DATAFLASH TRUE
-define HAL_LOGGING_ENABLED FALSE
 
 #################################
 # AP_Periph - configurations specific to this App

From 2359ffc7da2794c831f7165442e8f38ef5cf47de Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:03 +1000
Subject: [PATCH 0581/1335] AC_AttitudeControl: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AC_AttitudeControl/AC_PosControl.cpp  | 2 ++
 libraries/AC_AttitudeControl/ControlMonitor.cpp | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 282237fb3a961d..e82241ab3c5d45 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -1160,6 +1160,7 @@ void AC_PosControl::standby_xyz_reset()
     init_ekf_xy_reset();
 }
 
+#if HAL_LOGGING_ENABLED
 // write PSC and/or PSCZ logs
 void AC_PosControl::write_log()
 {
@@ -1180,6 +1181,7 @@ void AC_PosControl::write_log()
                                 -_accel_desired.z, -get_accel_target_cmss().z, -get_z_accel_cmss());
     }
 }
+#endif  // HAL_LOGGING_ENABLED
 
 /// crosstrack_error - returns horizontal error to the closest point to the current track
 float AC_PosControl::crosstrack_error() const
diff --git a/libraries/AC_AttitudeControl/ControlMonitor.cpp b/libraries/AC_AttitudeControl/ControlMonitor.cpp
index 6bd67607358201..1535a9f273a376 100644
--- a/libraries/AC_AttitudeControl/ControlMonitor.cpp
+++ b/libraries/AC_AttitudeControl/ControlMonitor.cpp
@@ -37,6 +37,7 @@ void AC_AttitudeControl::control_monitor_update(void)
     control_monitor_filter_pid(iyaw.P + iyaw.D + iyaw.FF,  _control_monitor.rms_yaw);
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   log a CTRL message
  */
@@ -59,6 +60,7 @@ void AC_AttitudeControl::control_monitor_log(void) const
                                            (double)safe_sqrt(_control_monitor.rms_yaw));
 
 }
+#endif  // HAL_LOGGING_ENABLED
 
 /*
   return current controller RMS filter value for roll

From 65baf8abc794266068a2e2bd750e07debcc3901b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:04 +1000
Subject: [PATCH 0582/1335] AC_Autorotation: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AC_Autorotation/AC_Autorotation.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AC_Autorotation/AC_Autorotation.cpp b/libraries/AC_Autorotation/AC_Autorotation.cpp
index 7ce790517d942b..627dd7894ec317 100644
--- a/libraries/AC_Autorotation/AC_Autorotation.cpp
+++ b/libraries/AC_Autorotation/AC_Autorotation.cpp
@@ -252,6 +252,7 @@ float AC_Autorotation::get_rpm(bool update_counter)
 }
 
 
+#if HAL_LOGGING_ENABLED
 void AC_Autorotation::Log_Write_Autorotation(void) const
 {
 // @LoggerMessage: AROT
@@ -289,7 +290,7 @@ void AC_Autorotation::Log_Write_Autorotation(void) const
                         (double)_accel_target,
                         (double)_pitch_target);
 }
-
+#endif  // HAL_LOGGING_ENABLED
 
 // Initialise forward speed controller
 void AC_Autorotation::init_fwd_spd_controller(void)

From 2eede45f3ad138820750ff421937fdb3e5f114c5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:04 +1000
Subject: [PATCH 0583/1335] AC_AutoTune: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AC_AutoTune/AC_AutoTune.cpp       | 13 ++++++---
 libraries/AC_AutoTune/AC_AutoTune.h         |  5 ++++
 libraries/AC_AutoTune/AC_AutoTune_Heli.cpp  | 20 ++++++++------
 libraries/AC_AutoTune/AC_AutoTune_Heli.h    |  2 ++
 libraries/AC_AutoTune/AC_AutoTune_Multi.cpp | 30 +++++++++++----------
 libraries/AC_AutoTune/AC_AutoTune_Multi.h   |  2 ++
 6 files changed, 46 insertions(+), 26 deletions(-)

diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp
index 3c081f31488f11..998297d0219877 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune.cpp
@@ -75,7 +75,7 @@ bool AC_AutoTune::init_internals(bool _use_poshold,
         level_start_time_ms = step_start_time_ms;
         // reset gains to tuning-start gains (i.e. low I term)
         load_gains(GAIN_INTRA_TEST);
-        AP::logger().Write_Event(LogEvent::AUTOTUNE_RESTART);
+        LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_RESTART);
         update_gcs(AUTOTUNE_MESSAGE_STARTED);
         break;
 
@@ -83,7 +83,7 @@ bool AC_AutoTune::init_internals(bool _use_poshold,
         // we have completed a tune and the pilot wishes to test the new gains
         load_gains(GAIN_TUNED);
         update_gcs(AUTOTUNE_MESSAGE_TESTING);
-        AP::logger().Write_Event(LogEvent::AUTOTUNE_PILOT_TESTING);
+        LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_PILOT_TESTING);
         break;
     }
 
@@ -102,7 +102,8 @@ void AC_AutoTune::stop()
     attitude_control->use_sqrt_controller(true);
 
     update_gcs(AUTOTUNE_MESSAGE_STOPPED);
-    AP::logger().Write_Event(LogEvent::AUTOTUNE_OFF);
+
+    LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_OFF);
 
     // Note: we leave the mode as it was so that we know how the autotune ended
     // we expect the caller will change the flight mode back to the flight mode indicated by the flight mode switch
@@ -400,10 +401,12 @@ void AC_AutoTune::control_attitude()
             step = WAITING_FOR_LEVEL;
         }
 
+#if HAL_LOGGING_ENABLED
         // log this iterations lean angle and rotation rate
         Log_AutoTuneDetails();
         ahrs_view->Write_Rate(*motors, *attitude_control, *pos_control);
         log_pids();
+#endif
         break;
     }
 
@@ -412,8 +415,10 @@ void AC_AutoTune::control_attitude()
         // re-enable rate limits
         attitude_control->use_sqrt_controller(true);
 
+#if HAL_LOGGING_ENABLED
         // log the latest gains
         Log_AutoTune();
+#endif
 
         // Announce tune type test results
         // must be done before updating method because this method changes parameters for next test
@@ -519,7 +524,7 @@ void AC_AutoTune::control_attitude()
                 if (complete) {
                     mode = SUCCESS;
                     update_gcs(AUTOTUNE_MESSAGE_SUCCESS);
-                    AP::logger().Write_Event(LogEvent::AUTOTUNE_SUCCESS);
+                    LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_SUCCESS);
                     AP_Notify::events.autotune_complete = true;
                 } else {
                     AP_Notify::events.autotune_next_axis = true;
diff --git a/libraries/AC_AutoTune/AC_AutoTune.h b/libraries/AC_AutoTune/AC_AutoTune.h
index a901b50e06b692..4c2198c11ac88c 100644
--- a/libraries/AC_AutoTune/AC_AutoTune.h
+++ b/libraries/AC_AutoTune/AC_AutoTune.h
@@ -92,8 +92,10 @@ class AC_AutoTune
     // init pos controller Z velocity and accel limits
     virtual void init_z_limits() = 0;
 
+#if HAL_LOGGING_ENABLED
     // log PIDs at full rate for during twitch
     virtual void log_pids() = 0;
+#endif
 
     //
     // methods to load and save gains
@@ -151,9 +153,12 @@ class AC_AutoTune
     // reverse direction for twitch test
     virtual bool twitch_reverse_direction() = 0;
 
+
+#if HAL_LOGGING_ENABLED
     virtual void Log_AutoTune() = 0;
     virtual void Log_AutoTuneDetails() = 0;
     virtual void Log_AutoTuneSweep() = 0;
+#endif
 
     // internal init function, should be called from init()
     bool init_internals(bool use_poshold,
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
index 0defc67f671503..0f972a48938076 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune_Heli.cpp
@@ -250,12 +250,12 @@ void AC_AutoTune_Heli::test_run(AxisType test_axis, const float dir_sign)
         if ((tune_type == RP_UP || tune_type == RD_UP) && (max_rate_p.max_allowed <= 0.0f || max_rate_d.max_allowed <= 0.0f)) {
             gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Max Gain Determination Failed");
             mode = FAILED;
-            AP::logger().Write_Event(LogEvent::AUTOTUNE_FAILED);
+            LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_FAILED);
             update_gcs(AUTOTUNE_MESSAGE_FAILED);
         } else if ((tune_type == MAX_GAINS || tune_type == RP_UP || tune_type == RD_UP || tune_type == SP_UP) && exceeded_freq_range(start_freq)){
             gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: Exceeded frequency range");
             mode = FAILED;
-            AP::logger().Write_Event(LogEvent::AUTOTUNE_FAILED);
+            LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_FAILED);
             update_gcs(AUTOTUNE_MESSAGE_FAILED);
         } else if (tune_type == TUNE_COMPLETE) {
             counter = AUTOTUNE_SUCCESS_COUNT;
@@ -442,7 +442,7 @@ void AC_AutoTune_Heli::backup_gains_and_initialise()
     tune_yaw_sp = attitude_control->get_angle_yaw_p().kP();
     tune_yaw_accel = attitude_control->get_accel_yaw_max_cdss();
 
-    AP::logger().Write_Event(LogEvent::AUTOTUNE_INITIALISED);
+    LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_INITIALISED);
 }
 
 // load_orig_gains - set gains to their original values
@@ -660,7 +660,7 @@ void AC_AutoTune_Heli::save_tuning_gains()
 
     // update GCS and log save gains event
     update_gcs(AUTOTUNE_MESSAGE_SAVED_GAINS);
-    AP::logger().Write_Event(LogEvent::AUTOTUNE_SAVEDGAINS);
+    LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_SAVEDGAINS);
 
     reset();
 }
@@ -1166,8 +1166,10 @@ void AC_AutoTune_Heli::dwell_test_run(uint8_t freq_resp_input, float start_frq,
                 if (dwell_type == DRB) {test_accel_max = freqresp.get_accel_max();}
                 // reset cycle_complete to allow indication of next cycle
                 freqresp.reset_cycle_complete();
+#if HAL_LOGGING_ENABLED
                 // log sweep data
                 Log_AutoTuneSweep();
+#endif
             } else {
                 dwell_gain = freqresp.get_gain();
                 dwell_phase = freqresp.get_phase();
@@ -1383,14 +1385,14 @@ void AC_AutoTune_Heli::updating_rate_ff_up(float &tune_ff, float rate_target, fl
         if (tune_ff <= AUTOTUNE_RFF_MIN) {
             tune_ff = AUTOTUNE_RFF_MIN;
             counter = AUTOTUNE_SUCCESS_COUNT;
-            AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
+            LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
         }
     } else if (is_positive(rate_target * meas_rate) && fabsf(meas_rate) < 0.95f * fabsf(rate_target)) {
         tune_ff = 1.02f * tune_ff;
         if (tune_ff >= AUTOTUNE_RFF_MAX) {
             tune_ff = AUTOTUNE_RFF_MAX;
             counter = AUTOTUNE_SUCCESS_COUNT;
-            AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
+            LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
         }
     } else {
         if (!is_zero(meas_rate)) {
@@ -1547,7 +1549,7 @@ void AC_AutoTune_Heli::updating_angle_p_up(float &tune_p, float *freq, float *ga
             // exceeded max response gain at the minimum allowable tuning gain. terminate testing.
             tune_p = AUTOTUNE_SP_MIN;
             counter = AUTOTUNE_SUCCESS_COUNT;
-            AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
+            LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
         } else if (gain[freq_cnt] > gain[freq_cnt_max]) {
             freq_cnt_max = freq_cnt;
             phase_max = phase[freq_cnt];
@@ -1579,7 +1581,7 @@ void AC_AutoTune_Heli::updating_angle_p_up(float &tune_p, float *freq, float *ga
                 if (tune_p >= AUTOTUNE_SP_MAX) {
                     tune_p = AUTOTUNE_SP_MAX;
                     counter = AUTOTUNE_SUCCESS_COUNT;
-                    AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
+                    LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
                 }
             }
             curr_test.freq = freq[freq_cnt];
@@ -1722,6 +1724,7 @@ void AC_AutoTune_Heli::updating_max_gains(float *freq, float *gain, float *phase
 
 }
 
+#if HAL_LOGGING_ENABLED
 // log autotune summary data
 void AC_AutoTune_Heli::Log_AutoTune()
 {
@@ -1840,6 +1843,7 @@ void AC_AutoTune_Heli::Log_Write_AutoTuneSweep(float freq, float gain, float pha
         gain,
         phase);
 }
+#endif  // HAL_LOGGING_ENABLED
 
 // reset the test variables for each vehicle
 void AC_AutoTune_Heli::reset_vehicle_test_variables()
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.h b/libraries/AC_AutoTune/AC_AutoTune_Heli.h
index 5da4dc658182e9..4890a0da8e2cef 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Heli.h
+++ b/libraries/AC_AutoTune/AC_AutoTune_Heli.h
@@ -103,6 +103,7 @@ class AC_AutoTune_Heli : public AC_AutoTune
     // reverse direction for twitch test
     bool twitch_reverse_direction() override { return positive_direction; }
 
+#if HAL_LOGGING_ENABLED
     // methods to log autotune summary data
     void Log_AutoTune() override;
     void Log_Write_AutoTune(uint8_t _axis, uint8_t tune_step, float dwell_freq, float meas_gain, float meas_phase, float new_gain_rff, float new_gain_rp, float new_gain_rd, float new_gain_sp, float max_accel);
@@ -114,6 +115,7 @@ class AC_AutoTune_Heli : public AC_AutoTune
     // methods to log autotune frequency response results
     void Log_AutoTuneSweep() override;
     void Log_Write_AutoTuneSweep(float freq, float gain, float phase);
+#endif
 
     // send intermittent updates to user on status of tune
     void do_gcs_announcements() override;
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
index c8ff8cc4114b3e..f304c3e70acb91 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp
@@ -192,7 +192,7 @@ void AC_AutoTune_Multi::backup_gains_and_initialise()
     tune_yaw_sp = attitude_control->get_angle_yaw_p().kP();
     tune_yaw_accel = attitude_control->get_accel_yaw_max_cdss();
 
-    AP::logger().Write_Event(LogEvent::AUTOTUNE_INITIALISED);
+    LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_INITIALISED);
 }
 
 // load_orig_gains - set gains to their original values
@@ -464,7 +464,7 @@ void AC_AutoTune_Multi::save_tuning_gains()
 
     // update GCS and log save gains event
     update_gcs(AUTOTUNE_MESSAGE_SAVED_GAINS);
-    AP::logger().Write_Event(LogEvent::AUTOTUNE_SAVEDGAINS);
+    LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_SAVEDGAINS);
 
     reset();
 }
@@ -796,7 +796,7 @@ void AC_AutoTune_Multi::updating_rate_d_up(float &tune_d, float tune_d_min, floa
                 // We have reached minimum D gain so stop tuning
                 tune_d = tune_d_min;
                 counter = AUTOTUNE_SUCCESS_COUNT;
-                AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
+                LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
             }
         }
     } else if ((meas_rate_max < rate_target*(1.0f-AUTOTUNE_D_UP_DOWN_MARGIN)) && (tune_p <= tune_p_max)) {
@@ -805,7 +805,7 @@ void AC_AutoTune_Multi::updating_rate_d_up(float &tune_d, float tune_d_min, floa
         tune_p += tune_p*tune_p_step_ratio;
         if (tune_p >= tune_p_max) {
             tune_p = tune_p_max;
-            AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
+            LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
         }
     } else {
         // we have a good measurement of bounce back
@@ -826,7 +826,7 @@ void AC_AutoTune_Multi::updating_rate_d_up(float &tune_d, float tune_d_min, floa
                 if (tune_d >= tune_d_max) {
                     tune_d = tune_d_max;
                     counter = AUTOTUNE_SUCCESS_COUNT;
-                    AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
+                    LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
                 }
             } else {
                 ignore_next = false;
@@ -851,7 +851,7 @@ void AC_AutoTune_Multi::updating_rate_d_down(float &tune_d, float tune_d_min, fl
                 // We have reached minimum D so stop tuning
                 tune_d = tune_d_min;
                 counter = AUTOTUNE_SUCCESS_COUNT;
-                AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
+                LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
             }
         }
     } else if ((meas_rate_max < rate_target*(1.0f-AUTOTUNE_D_UP_DOWN_MARGIN)) && (tune_p <= tune_p_max)) {
@@ -860,7 +860,7 @@ void AC_AutoTune_Multi::updating_rate_d_down(float &tune_d, float tune_d_min, fl
         tune_p += tune_p*tune_p_step_ratio;
         if (tune_p >= tune_p_max) {
             tune_p = tune_p_max;
-            AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
+            LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
         }
     } else {
         // we have a good measurement of bounce back
@@ -884,7 +884,7 @@ void AC_AutoTune_Multi::updating_rate_d_down(float &tune_d, float tune_d_min, fl
             if (tune_d <= tune_d_min) {
                 tune_d = tune_d_min;
                 counter = AUTOTUNE_SUCCESS_COUNT;
-                AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
+                LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
             }
         }
     }
@@ -909,14 +909,14 @@ void AC_AutoTune_Multi::updating_rate_p_up_d_down(float &tune_d, float tune_d_mi
         // do not decrease the D term past the minimum
         if (tune_d <= tune_d_min) {
             tune_d = tune_d_min;
-            AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
+            LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
         }
         // decrease P gain to match D gain reduction
         tune_p -= tune_p*tune_p_step_ratio;
         // do not decrease the P term past the minimum
         if (tune_p <= tune_p_min) {
             tune_p = tune_p_min;
-            AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
+            LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
         }
         // cancel change in direction
         positive_direction = !positive_direction;
@@ -932,7 +932,7 @@ void AC_AutoTune_Multi::updating_rate_p_up_d_down(float &tune_d, float tune_d_mi
             if (tune_p >= tune_p_max) {
                 tune_p = tune_p_max;
                 counter = AUTOTUNE_SUCCESS_COUNT;
-                AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
+                LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
             }
         } else {
             ignore_next = false;
@@ -964,8 +964,8 @@ void AC_AutoTune_Multi::updating_angle_p_down(float &tune_p, float tune_p_min, f
         if (tune_p <= tune_p_min) {
             tune_p = tune_p_min;
             counter = AUTOTUNE_SUCCESS_COUNT;
-            AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
-        }
+            LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
+       }
     }
 }
 
@@ -991,7 +991,7 @@ void AC_AutoTune_Multi::updating_angle_p_up(float &tune_p, float tune_p_max, flo
             if (tune_p >= tune_p_max) {
                 tune_p = tune_p_max;
                 counter = AUTOTUNE_SUCCESS_COUNT;
-                AP::logger().Write_Event(LogEvent::AUTOTUNE_REACHED_LIMIT);
+                LOGGER_WRITE_EVENT(LogEvent::AUTOTUNE_REACHED_LIMIT);
             }
         } else {
             ignore_next = false;
@@ -999,6 +999,7 @@ void AC_AutoTune_Multi::updating_angle_p_up(float &tune_p, float tune_p_max, flo
     }
 }
 
+#if HAL_LOGGING_ENABLED
 void AC_AutoTune_Multi::Log_AutoTune()
 {
     if ((tune_type == SP_DOWN) || (tune_type == SP_UP)) {
@@ -1093,6 +1094,7 @@ void AC_AutoTune_Multi::Log_Write_AutoTuneDetails(float angle_cd, float rate_cds
         angle_cd*0.01f,
         rate_cds*0.01f);
 }
+#endif  // HAL_LOGGING_ENABLED
 
 void AC_AutoTune_Multi::twitch_test_init()
 {
diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.h b/libraries/AC_AutoTune/AC_AutoTune_Multi.h
index c199c18ca2dc9b..ac2a0c6892a0e0 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_Multi.h
+++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.h
@@ -108,6 +108,7 @@ class AC_AutoTune_Multi : public AC_AutoTune
     // reverse direction for twitch test
     bool twitch_reverse_direction() override { return !positive_direction; }
 
+#if HAL_LOGGING_ENABLED
     void Log_AutoTune() override;
     void Log_AutoTuneDetails() override;
     void Log_AutoTuneSweep() override {
@@ -116,6 +117,7 @@ class AC_AutoTune_Multi : public AC_AutoTune
     }
     void Log_Write_AutoTune(uint8_t axis, uint8_t tune_step, float meas_target, float meas_min, float meas_max, float new_gain_rp, float new_gain_rd, float new_gain_sp, float new_ddt);
     void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds);
+#endif
 
     void set_tune_sequence() override {
         tune_seq[0] = RD_UP;

From b1c29c50336ded4ddce4588ee1fef6f3d8e4dbc5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:04 +1000
Subject: [PATCH 0584/1335] AC_Avoidance: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AC_Avoidance/AC_Avoid.cpp             | 2 ++
 libraries/AC_Avoidance/AC_Avoidance_Logging.cpp | 6 ++++++
 libraries/AC_Avoidance/AP_OABendyRuler.cpp      | 2 +-
 libraries/AC_Avoidance/AP_OABendyRuler.h        | 5 +++++
 libraries/AC_Avoidance/AP_OADijkstra.h          | 6 ++++++
 5 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/libraries/AC_Avoidance/AC_Avoid.cpp b/libraries/AC_Avoidance/AC_Avoid.cpp
index 8e5067f3be6935..9745d4abb62b5b 100644
--- a/libraries/AC_Avoidance/AC_Avoid.cpp
+++ b/libraries/AC_Avoidance/AC_Avoid.cpp
@@ -259,6 +259,7 @@ void AC_Avoid::adjust_velocity(Vector3f &desired_vel_cms, bool &backing_up, floa
         _last_limit_time = AP_HAL::millis();
     }
 
+#if HAL_LOGGING_ENABLED
     if (limits_active()) {
         // log at not more than 10hz (adjust_velocity method can be potentially called at 400hz!)
         uint32_t now = AP_HAL::millis();
@@ -275,6 +276,7 @@ void AC_Avoid::adjust_velocity(Vector3f &desired_vel_cms, bool &backing_up, floa
             _last_log_ms = 0;
         }
     }
+#endif
 }
 
 /*
diff --git a/libraries/AC_Avoidance/AC_Avoidance_Logging.cpp b/libraries/AC_Avoidance/AC_Avoidance_Logging.cpp
index f02ad8a2fd743d..7a6b3354f9b4c0 100644
--- a/libraries/AC_Avoidance/AC_Avoidance_Logging.cpp
+++ b/libraries/AC_Avoidance/AC_Avoidance_Logging.cpp
@@ -1,3 +1,7 @@
+#include <AP_Logger/AP_Logger_config.h>
+
+#if HAL_LOGGING_ENABLED
+
 #include "AC_Avoid.h"
 #include "AP_OADijkstra.h"
 #include "AP_OABendyRuler.h"
@@ -76,3 +80,5 @@ void AC_Avoid::Write_SimpleAvoidance(const uint8_t state, const Vector3f& desire
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
+
+#endif  // HAL_LOGGING_ENABLED
diff --git a/libraries/AC_Avoidance/AP_OABendyRuler.cpp b/libraries/AC_Avoidance/AP_OABendyRuler.cpp
index de7f42fce20fb4..ed122bff29c414 100644
--- a/libraries/AC_Avoidance/AP_OABendyRuler.cpp
+++ b/libraries/AC_Avoidance/AP_OABendyRuler.cpp
@@ -318,7 +318,7 @@ bool AP_OABendyRuler::search_vertical_path(const Location &current_loc, const Lo
                         destination_new = current_loc;
                         destination_new.offset_bearing_and_pitch(bearing_to_dest, pitch_delta, distance_to_dest);
                         _current_lookahead = MIN(_lookahead, _current_lookahead * 1.1f);
-                    
+
                         Write_OABendyRuler((uint8_t)OABendyType::OA_BENDY_VERTICAL, active, bearing_to_dest, pitch_delta, false, margin, destination, destination_new);
                         return active;
                     }
diff --git a/libraries/AC_Avoidance/AP_OABendyRuler.h b/libraries/AC_Avoidance/AP_OABendyRuler.h
index 1b480bdbcfcab5..35e9b4a1c38328 100644
--- a/libraries/AC_Avoidance/AP_OABendyRuler.h
+++ b/libraries/AC_Avoidance/AP_OABendyRuler.h
@@ -3,6 +3,7 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Common/Location.h>
 #include <AP_Math/AP_Math.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 /*
  * BendyRuler avoidance algorithm for avoiding the polygon and circular fence and dynamic objects detected by the proximity sensor
@@ -67,7 +68,11 @@ class AP_OABendyRuler {
     bool calc_margin_from_object_database(const Location &start, const Location &end, float &margin) const;
 
     // Logging function
+#if HAL_LOGGING_ENABLED
     void Write_OABendyRuler(const uint8_t type, const bool active, const float target_yaw, const float target_pitch, const bool resist_chg, const float margin, const Location &final_dest, const Location &oa_dest) const;
+#else
+    void Write_OABendyRuler(const uint8_t type, const bool active, const float target_yaw, const float target_pitch, const bool resist_chg, const float margin, const Location &final_dest, const Location &oa_dest) const {}
+#endif
 
     // OA common parameters
     float _margin_max;              // object avoidance will ignore objects more than this many meters from vehicle
diff --git a/libraries/AC_Avoidance/AP_OADijkstra.h b/libraries/AC_Avoidance/AP_OADijkstra.h
index 97c832a78a2515..b0beeea2113fe9 100644
--- a/libraries/AC_Avoidance/AP_OADijkstra.h
+++ b/libraries/AC_Avoidance/AP_OADijkstra.h
@@ -4,6 +4,7 @@
 #include <AP_Common/Location.h>
 #include <AP_Math/AP_Math.h>
 #include "AP_OAVisGraph.h"
+#include <AP_Logger/AP_Logger_config.h>
 
 /*
  * Dijkstra's algorithm for path planning around polygon fence
@@ -204,9 +205,14 @@ class AP_OADijkstra {
     AP_OADijkstra_Error _error_last_id;                 // last error id sent to GCS
     uint32_t _error_last_report_ms;                     // last time an error message was sent to GCS
 
+#if HAL_LOGGING_ENABLED
     // Logging functions
     void Write_OADijkstra(const uint8_t state, const uint8_t error_id, const uint8_t curr_point, const uint8_t tot_points, const Location &final_dest, const Location &oa_dest) const;
     void Write_Visgraph_point(const uint8_t version, const uint8_t point_num, const int32_t Lat, const int32_t Lon) const;
+#else
+    void Write_OADijkstra(const uint8_t state, const uint8_t error_id, const uint8_t curr_point, const uint8_t tot_points, const Location &final_dest, const Location &oa_dest) const {}
+    void Write_Visgraph_point(const uint8_t version, const uint8_t point_num, const int32_t Lat, const int32_t Lon) const {}
+#endif
     uint8_t _log_num_points;
     uint8_t _log_visgraph_version;
 

From 78daf8911b977ba2ac915824e5d018651bfbe472 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:04 +1000
Subject: [PATCH 0585/1335] AC_Fence: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AC_Fence/AC_Fence.cpp            | 6 ++++++
 libraries/AC_Fence/AC_PolyFence_loader.cpp | 2 ++
 2 files changed, 8 insertions(+)

diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp
index b537085e42113f..ac9d7f50a031ab 100644
--- a/libraries/AC_Fence/AC_Fence.cpp
+++ b/libraries/AC_Fence/AC_Fence.cpp
@@ -160,11 +160,13 @@ AC_Fence::AC_Fence()
 /// enable the Fence code generally; a master switch for all fences
 void AC_Fence::enable(bool value)
 {
+#if HAL_LOGGING_ENABLED
     if (_enabled && !value) {
         AP::logger().Write_Event(LogEvent::FENCE_DISABLE);
     } else if (!_enabled && value) {
         AP::logger().Write_Event(LogEvent::FENCE_ENABLE);
     }
+#endif
     _enabled.set(value);
     if (!value) {
         clear_breach(AC_FENCE_TYPE_ALT_MIN | AC_FENCE_TYPE_ALT_MAX | AC_FENCE_TYPE_CIRCLE | AC_FENCE_TYPE_POLYGON);
@@ -177,19 +179,23 @@ void AC_Fence::enable(bool value)
 /// enable/disable fence floor only
 void AC_Fence::enable_floor()
 {
+#if HAL_LOGGING_ENABLED
     if (!_floor_enabled) {
         // Floor is currently disabled, enable it
         AP::logger().Write_Event(LogEvent::FENCE_FLOOR_ENABLE);
     }
+#endif
     _floor_enabled = true;
 }
 
 void AC_Fence::disable_floor()
 {
+#if HAL_LOGGING_ENABLED
     if (_floor_enabled) {
         // Floor is currently enabled, disable it
         AP::logger().Write_Event(LogEvent::FENCE_FLOOR_DISABLE);
     }
+#endif
     _floor_enabled = false;
     clear_breach(AC_FENCE_TYPE_ALT_MIN);
 }
diff --git a/libraries/AC_Fence/AC_PolyFence_loader.cpp b/libraries/AC_Fence/AC_PolyFence_loader.cpp
index 1b42ded2738094..12ddba86bbb5a4 100644
--- a/libraries/AC_Fence/AC_PolyFence_loader.cpp
+++ b/libraries/AC_Fence/AC_PolyFence_loader.cpp
@@ -1121,8 +1121,10 @@ bool AC_PolyFence_loader::write_fence(const AC_PolyFenceItem *new_items, uint16_
     gcs().send_text(MAV_SEVERITY_DEBUG, "Fence Indexed OK");
 #endif
 
+#if HAL_LOGGING_ENABLED
     // start logger logging new fence
     AP::logger().Write_Fence();
+#endif
 
     void_index();
 

From 26b665ed82149dd7fe4ee3e04e5e9965a8abadc2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:04 +1000
Subject: [PATCH 0586/1335] AC_PrecLand: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AC_PrecLand/AC_PrecLand.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AC_PrecLand/AC_PrecLand.cpp b/libraries/AC_PrecLand/AC_PrecLand.cpp
index 57223e1f666c93..49c7a11060a90a 100644
--- a/libraries/AC_PrecLand/AC_PrecLand.cpp
+++ b/libraries/AC_PrecLand/AC_PrecLand.cpp
@@ -310,11 +310,13 @@ void AC_PrecLand::update(float rangefinder_alt_cm, bool rangefinder_alt_valid)
     // check the status of the landing target location
     check_target_status(rangefinder_alt_m, rangefinder_alt_valid);
 
+#if HAL_LOGGING_ENABLED
     const uint32_t now = AP_HAL::millis();
     if (now - last_log_ms > 40) {  // 25Hz
         last_log_ms = now;
         Write_Precland();
     }
+#endif
 }
 
 // check the status of the target
@@ -740,6 +742,7 @@ void AC_PrecLand::run_output_prediction()
     _last_valid_target_ms = AP_HAL::millis();
 }
 
+#if HAL_LOGGING_ENABLED
 // Write a precision landing entry
 void AC_PrecLand::Write_Precland()
 {
@@ -773,6 +776,7 @@ void AC_PrecLand::Write_Precland()
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
+#endif
 
 // singleton instance
 AC_PrecLand *AC_PrecLand::_singleton;

From d28a867453ddc2a20b37f62332a63f148d9bcc94 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:04 +1000
Subject: [PATCH 0587/1335] AC_WPNav: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AC_WPNav/AC_Circle.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp
index ca804a54916c94..b1f88a40947f3b 100644
--- a/libraries/AC_WPNav/AC_Circle.cpp
+++ b/libraries/AC_WPNav/AC_Circle.cpp
@@ -121,7 +121,7 @@ void AC_Circle::set_center(const Location& center)
         } else {
             // failed to convert location so set to current position and log error
             set_center(_inav.get_position_neu_cm(), false);
-            AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_CIRCLE_INIT);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_CIRCLE_INIT);
         }
     } else {
         // convert Location with alt-above-home, alt-above-origin or absolute alt
@@ -129,7 +129,7 @@ void AC_Circle::set_center(const Location& center)
         if (!center.get_vector_from_origin_NEU(circle_center_neu)) {
             // default to current position and log error
             circle_center_neu = _inav.get_position_neu_cm();
-            AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_CIRCLE_INIT);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_CIRCLE_INIT);
         }
         set_center(circle_center_neu, false);
     }

From 7cf033efd936929c1855ef3d765f90be4860a594 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:04 +1000
Subject: [PATCH 0588/1335] AP_AHRS: allow compilation with HAL_LOGGING_ENABLED
 false

---
 libraries/AP_AHRS/AP_AHRS.cpp         | 8 +++++++-
 libraries/AP_AHRS/AP_AHRS_Backend.cpp | 2 ++
 libraries/AP_AHRS/AP_AHRS_Logging.cpp | 6 ++++++
 3 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index f77ea3551c1c79..889272b2d438bb 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -559,6 +559,7 @@ void AP_AHRS::update_EKF2(void)
         if (start_time_ms == 0) {
             start_time_ms = AP_HAL::millis();
         }
+#if HAL_LOGGING_ENABLED
         // if we're doing Replay logging then don't allow any data
         // into the EKF yet.  Don't allow it to block us for long.
         if (!hal.util->was_watchdog_reset()) {
@@ -568,6 +569,7 @@ void AP_AHRS::update_EKF2(void)
                 }
             }
         }
+#endif
 
         if (AP_HAL::millis() - start_time_ms > startup_delay_ms) {
             _ekf2_started = EKF2.InitialiseFilter();
@@ -626,6 +628,7 @@ void AP_AHRS::update_EKF3(void)
         if (start_time_ms == 0) {
             start_time_ms = AP_HAL::millis();
         }
+#if HAL_LOGGING_ENABLED
         // if we're doing Replay logging then don't allow any data
         // into the EKF yet.  Don't allow it to block us for long.
         if (!hal.util->was_watchdog_reset()) {
@@ -635,6 +638,7 @@ void AP_AHRS::update_EKF3(void)
                 }
             }
         }
+#endif
         if (AP_HAL::millis() - start_time_ms > startup_delay_ms) {
             _ekf3_started = EKF3.InitialiseFilter();
         }
@@ -2896,7 +2900,7 @@ bool AP_AHRS::set_home(const Location &loc)
         return false;
     }
 
-#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN)
+#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN) && HAL_LOGGING_ENABLED
     if (!_home_is_set) {
         // record home is set
         AP::logger().Write_Event(LogEvent::SET_HOME);
@@ -2906,7 +2910,9 @@ bool AP_AHRS::set_home(const Location &loc)
     _home = tmp;
     _home_is_set = true;
 
+#if HAL_LOGGING_ENABLED
     Log_Write_Home_And_Origin();
+#endif
 
     // send new home and ekf origin to GCS
     GCS_SEND_MESSAGE(MSG_HOME);
diff --git a/libraries/AP_AHRS/AP_AHRS_Backend.cpp b/libraries/AP_AHRS/AP_AHRS_Backend.cpp
index 763716e148c694..5075f824ef44dd 100644
--- a/libraries/AP_AHRS/AP_AHRS_Backend.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_Backend.cpp
@@ -244,6 +244,7 @@ Vector2f AP_AHRS::body_to_earth2D(const Vector2f &bf) const
                     bf.x * _sin_yaw + bf.y * _cos_yaw);
 }
 
+#if HAL_LOGGING_ENABLED
 // log ahrs home and EKF origin
 void AP_AHRS::Log_Write_Home_And_Origin()
 {
@@ -260,6 +261,7 @@ void AP_AHRS::Log_Write_Home_And_Origin()
         Write_Origin(LogOriginType::ahrs_home, _home);
     }
 }
+#endif
 
 // get apparent to true airspeed ratio
 float AP_AHRS_Backend::get_EAS2TAS(void) {
diff --git a/libraries/AP_AHRS/AP_AHRS_Logging.cpp b/libraries/AP_AHRS/AP_AHRS_Logging.cpp
index 8d602b81cedd10..a5d77476238d53 100644
--- a/libraries/AP_AHRS/AP_AHRS_Logging.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_Logging.cpp
@@ -1,3 +1,7 @@
+#include <AP_Logger/AP_Logger_config.h>
+
+#if HAL_LOGGING_ENABLED
+
 #include "AP_AHRS.h"
 #include <AP_Logger/AP_Logger.h>
 
@@ -184,3 +188,5 @@ void AP_AHRS_View::Write_Rate(const AP_Motors &motors, const AC_AttitudeControl
         AP::logger().WriteBlock(&pkt_ATSC, sizeof(pkt_ATSC));
     }
 }
+
+#endif  // HAL_LOGGING_ENABLED

From 43ed929b0ab4a9acf9136edbe14b7c08b49db75a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:04 +1000
Subject: [PATCH 0589/1335] AP_Airspeed: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Airspeed/AP_Airspeed.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp
index 65c0b7b2911312..8191cc41ee9322 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed.cpp
@@ -755,6 +755,7 @@ void AP_Airspeed::handle_external(const AP_ExternalAHRS::airspeed_data_message_t
 }
 #endif 
 
+#if HAL_LOGGING_ENABLED
 // @LoggerMessage: HYGR
 // @Description: Hygrometer data
 // @Field: TimeUS: Time since system startup
@@ -812,6 +813,7 @@ void AP_Airspeed::Log_Airspeed()
 #endif
     }
 }
+#endif
 
 bool AP_Airspeed::use(uint8_t i) const
 {

From 8640a96851c424983d38906e283e5b12e8761e7f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:05 +1000
Subject: [PATCH 0590/1335] AP_Arming: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Arming/AP_Arming.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index eb9fca91e0e7d3..a2fa77d6e092b1 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -1666,6 +1666,7 @@ bool AP_Arming::arm_checks(AP_Arming::Method method)
     // the arming check flag is set - disabling the arming check
     // should not stop logging from working.
 
+#if HAL_LOGGING_ENABLED
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger->logging_present()) {
         // If we're configured to log, prep it
@@ -1676,6 +1677,8 @@ bool AP_Arming::arm_checks(AP_Arming::Method method)
             return false;
         }
     }
+#endif  // HAL_LOGGING_ENABLED
+
     return true;
 }
 

From 4f6f6a7ff6f4e9e577f508987fcc664d79a49f65 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:05 +1000
Subject: [PATCH 0591/1335] AP_Baro: allow compilation with HAL_LOGGING_ENABLED
 false

---
 libraries/AP_Baro/AP_Baro.cpp         | 2 ++
 libraries/AP_Baro/AP_Baro_Logging.cpp | 6 ++++++
 2 files changed, 8 insertions(+)

diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 5435ae060c86cc..84bfbadc9fd989 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -874,6 +874,7 @@ void AP_Baro::_probe_i2c_barometers(void)
     }
 }
 
+#if HAL_LOGGING_ENABLED
 bool AP_Baro::should_log() const
 {
     AP_Logger *logger = AP_Logger::get_singleton();
@@ -888,6 +889,7 @@ bool AP_Baro::should_log() const
     }
     return true;
 }
+#endif
 
 /*
   call update on all drivers
diff --git a/libraries/AP_Baro/AP_Baro_Logging.cpp b/libraries/AP_Baro/AP_Baro_Logging.cpp
index a697d22661074f..91c622aaa0f207 100644
--- a/libraries/AP_Baro/AP_Baro_Logging.cpp
+++ b/libraries/AP_Baro/AP_Baro_Logging.cpp
@@ -1,3 +1,7 @@
+#include <AP_Logger/AP_Logger_config.h>
+
+#if HAL_LOGGING_ENABLED
+
 #include "AP_Baro.h"
 
 #include <AP_Logger/AP_Logger.h>
@@ -44,3 +48,5 @@ void AP_Baro::Write_Baro(void)
         Write_Baro_instance(time_us, i);
     }
 }
+
+#endif

From cddb58e105e360ad517538d8ea7d28fccbb3e3f6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:05 +1000
Subject: [PATCH 0592/1335] AP_BattMonitor: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp
index 4f3433d87added..4b5d4fe2c57e1d 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp
@@ -1,3 +1,7 @@
+#include <AP_Logger/AP_Logger_config.h>
+
+#if HAL_LOGGING_ENABLED
+
 #include "AP_BattMonitor_Backend.h"
 #include <AP_Logger/AP_Logger.h>
 
@@ -83,3 +87,5 @@ void AP_BattMonitor_Backend::Log_Write_BCL(const uint8_t instance, const uint64_
     }
 #endif
 }
+
+#endif  // HAL_LOGGING_ENABLED

From 6e27488bfdf951e9b00307b6047b136f9628b2f1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:05 +1000
Subject: [PATCH 0593/1335] AP_Beacon: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Beacon/AP_Beacon.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Beacon/AP_Beacon.cpp b/libraries/AP_Beacon/AP_Beacon.cpp
index 23c8e217245f22..0a2a04e71cb983 100644
--- a/libraries/AP_Beacon/AP_Beacon.cpp
+++ b/libraries/AP_Beacon/AP_Beacon.cpp
@@ -391,6 +391,7 @@ bool AP_Beacon::device_ready(void) const
     return ((_driver != nullptr) && (_type != AP_BeaconType_None));
 }
 
+#if HAL_LOGGING_ENABLED
 // Write beacon sensor (position) data
 void AP_Beacon::log()
 {
@@ -417,6 +418,7 @@ void AP_Beacon::log()
     };
     AP::logger().WriteBlock(&pkt_beacon, sizeof(pkt_beacon));
 }
+#endif
 
 // singleton instance
 AP_Beacon *AP_Beacon::_singleton;

From 4b30963d1df0decf1a58e4e411b69565a4b5091c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:05 +1000
Subject: [PATCH 0594/1335] AP_Camera: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Camera/AP_Camera_Backend.cpp | 8 ++++++++
 libraries/AP_Camera/AP_Camera_Logging.cpp | 5 +++--
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Camera/AP_Camera_Backend.cpp b/libraries/AP_Camera/AP_Camera_Backend.cpp
index f6cf2c2d2b6089..4781c4180721a9 100644
--- a/libraries/AP_Camera/AP_Camera_Backend.cpp
+++ b/libraries/AP_Camera/AP_Camera_Backend.cpp
@@ -140,7 +140,9 @@ bool AP_Camera_Backend::take_picture()
         image_index++;
         last_picture_time_ms = now_ms;
         IGNORE_RETURN(AP::ahrs().get_location(last_location));
+#if HAL_LOGGING_ENABLED
         log_picture();
+#endif
         return true;
     }
 
@@ -358,16 +360,20 @@ void AP_Camera_Backend::feedback_pin_timer()
 void AP_Camera_Backend::check_feedback()
 {
     if (feedback_trigger_logged_count != feedback_trigger_count) {
+#if HAL_LOGGING_ENABLED
         const uint32_t timestamp32 = feedback_trigger_timestamp_us;
+#endif
         feedback_trigger_logged_count = feedback_trigger_count;
 
         // we should consider doing this inside the ISR and pin_timer
         prep_mavlink_msg_camera_feedback(feedback_trigger_timestamp_us);
 
+#if HAL_LOGGING_ENABLED
         // log camera message
         uint32_t tdiff = AP_HAL::micros() - timestamp32;
         uint64_t timestamp = AP_HAL::micros64();
         Write_Camera(timestamp - tdiff);
+#endif
     }
 }
 
@@ -386,6 +392,7 @@ void AP_Camera_Backend::prep_mavlink_msg_camera_feedback(uint64_t timestamp_us)
     GCS_SEND_MESSAGE(MSG_CAMERA_FEEDBACK);
 }
 
+#if HAL_LOGGING_ENABLED
 // log picture
 void AP_Camera_Backend::log_picture()
 {
@@ -404,5 +411,6 @@ void AP_Camera_Backend::log_picture()
         Write_Trigger();
     }
 }
+#endif
 
 #endif // AP_CAMERA_ENABLED
diff --git a/libraries/AP_Camera/AP_Camera_Logging.cpp b/libraries/AP_Camera/AP_Camera_Logging.cpp
index 903f42a8a8ab58..d49a6200c13d95 100644
--- a/libraries/AP_Camera/AP_Camera_Logging.cpp
+++ b/libraries/AP_Camera/AP_Camera_Logging.cpp
@@ -1,7 +1,8 @@
 #include "AP_Camera_Backend.h"
 #include <AP_Mount/AP_Mount.h>
+#include <AP_Logger/AP_Logger_config.h>
 
-#if AP_CAMERA_ENABLED
+#if AP_CAMERA_ENABLED && HAL_LOGGING_ENABLED
 
 #include <AP_Logger/AP_Logger.h>
 #include <AP_GPS/AP_GPS.h>
@@ -85,4 +86,4 @@ void AP_Camera_Backend::Write_Trigger()
     Write_CameraInfo(LOG_TRIGGER_MSG, 0);
 }
 
-#endif
+#endif  // AP_CAMERA_ENABLED && HAL_LOGGING_ENABLED

From 8828659b3362ff47b42df375b74fd2de97313746 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:05 +1000
Subject: [PATCH 0595/1335] AP_DAL: allow compilation with HAL_LOGGING_ENABLED
 false

---
 libraries/AP_DAL/AP_DAL.cpp | 4 ++++
 libraries/AP_DAL/AP_DAL.h   | 7 +++++++
 2 files changed, 11 insertions(+)

diff --git a/libraries/AP_DAL/AP_DAL.cpp b/libraries/AP_DAL/AP_DAL.cpp
index b05c411e5d523c..986fe66bcf0251 100644
--- a/libraries/AP_DAL/AP_DAL.cpp
+++ b/libraries/AP_DAL/AP_DAL.cpp
@@ -38,11 +38,13 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
     _last_imu_time_us = imu_us;
 
     // we force write all msgs when logging starts
+#if HAL_LOGGING_ENABLED
     bool logging = AP::logger().logging_started() && AP::logger().allow_start_ekf();
     if (logging && !logging_started) {
         force_write = true;
     }
     logging_started = logging;
+#endif
 
     end_frame();
 
@@ -280,6 +282,7 @@ uint8_t AP_DAL::logging_core(uint8_t c) const
 #endif
 }
 
+#if HAL_LOGGING_ENABLED
 // write out a DAL log message. If old_msg is non-null, then
 // only write if the content has changed
 void AP_DAL::WriteLogMessage(enum LogMessages msg_type, void *msg, const void *old_msg, uint8_t msg_size)
@@ -301,6 +304,7 @@ void AP_DAL::WriteLogMessage(enum LogMessages msg_type, void *msg, const void *o
         _end = 0;
     }
 }
+#endif
 
 /*
   check if we are low on CPU for this core. This needs to capture the
diff --git a/libraries/AP_DAL/AP_DAL.h b/libraries/AP_DAL/AP_DAL.h
index 671499b547baa2..d8c92e01b53912 100644
--- a/libraries/AP_DAL/AP_DAL.h
+++ b/libraries/AP_DAL/AP_DAL.h
@@ -324,9 +324,11 @@ class AP_DAL {
     // map core number for replay
     uint8_t logging_core(uint8_t c) const;
 
+#if HAL_LOGGING_ENABLED
     // write out a DAL log message. If old_msg is non-null, then
     // only write if the content has changed
     static void WriteLogMessage(enum LogMessages msg_type, void *msg, const void *old_msg, uint8_t msg_size);
+#endif
 
 private:
 
@@ -376,10 +378,15 @@ class AP_DAL {
     bool init_done;
 };
 
+#if HAL_LOGGING_ENABLED
 #define WRITE_REPLAY_BLOCK(sname,v) AP_DAL::WriteLogMessage(LOG_## sname ##_MSG, &v, nullptr, offsetof(log_ ##sname, _end))
 #define WRITE_REPLAY_BLOCK_IFCHANGED(sname,v,old) do { static_assert(sizeof(v) == sizeof(old), "types must match"); \
                                                       AP_DAL::WriteLogMessage(LOG_## sname ##_MSG, &v, &old, offsetof(log_ ##sname, _end)); } \
                                                  while (0)
+#else
+#define WRITE_REPLAY_BLOCK(sname,v) do { (void)v; } while (false)
+#define WRITE_REPLAY_BLOCK_IFCHANGED(sname,v,old) do { (void)old; } while (false)
+#endif
 
 namespace AP {
     AP_DAL &dal();

From dd4d01771759e160c697c18bd6db5bba4797c4f2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:05 +1000
Subject: [PATCH 0596/1335] AP_DroneCAN: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_DroneCAN/AP_DroneCAN.cpp            | 6 ++++++
 libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp | 6 +++++-
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index 5667f5a54af4f5..810e1ba0748578 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -1354,6 +1354,7 @@ void AP_DroneCAN::handle_traffic_report(const CanardRxTransfer& transfer, const
  */
 void AP_DroneCAN::handle_actuator_status(const CanardRxTransfer& transfer, const uavcan_equipment_actuator_Status& msg)
 {
+#if HAL_LOGGING_ENABLED
     // log as CSRV message
     AP::logger().Write_ServoStatus(AP_HAL::micros64(),
                                    msg.actuator_id,
@@ -1362,6 +1363,7 @@ void AP_DroneCAN::handle_actuator_status(const CanardRxTransfer& transfer, const
                                    msg.speed,
                                    msg.power_rating_pct,
                                    0, 0, 0, 0, 0, 0);
+#endif
 }
 
 #if AP_DRONECAN_HIMARK_SERVO_SUPPORT
@@ -1370,6 +1372,7 @@ void AP_DroneCAN::handle_actuator_status(const CanardRxTransfer& transfer, const
  */
 void AP_DroneCAN::handle_himark_servoinfo(const CanardRxTransfer& transfer, const com_himark_servo_ServoInfo &msg)
 {
+#if HAL_LOGGING_ENABLED
     // log as CSRV message
     AP::logger().Write_ServoStatus(AP_HAL::micros64(),
                                    msg.servo_id,
@@ -1383,12 +1386,14 @@ void AP_DroneCAN::handle_himark_servoinfo(const CanardRxTransfer& transfer, cons
                                    msg.motor_temp*0.2-40,
                                    msg.pcb_temp*0.2-40,
                                    msg.error_status);
+#endif
 }
 #endif // AP_DRONECAN_HIMARK_SERVO_SUPPORT
 
 #if AP_DRONECAN_VOLZ_FEEDBACK_ENABLED
 void AP_DroneCAN::handle_actuator_status_Volz(const CanardRxTransfer& transfer, const com_volz_servo_ActuatorStatus& msg)
 {
+#if HAL_LOGGING_ENABLED
     AP::logger().WriteStreaming(
         "CVOL",
         "TimeUS,Id,Pos,Cur,V,Pow,T",
@@ -1402,6 +1407,7 @@ void AP_DroneCAN::handle_actuator_status_Volz(const CanardRxTransfer& transfer,
         msg.voltage * 0.2f,
         msg.motor_pwm * (100.0/255.0),
         int16_t(msg.motor_temperature) - 50);
+#endif
 }
 #endif
 
diff --git a/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp b/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
index 02b5ed7453647a..1164d4f7346c5d 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
@@ -352,12 +352,14 @@ void AP_DroneCAN_DNA_Server::verify_nodes()
         return;
     }
 
+#if HAL_LOGGING_ENABLED
     uint8_t log_count = AP::logger().get_log_start_count();
     if (log_count != last_logging_count) {
         last_logging_count = log_count;
         logged.clearall();
     }
-    
+#endif
+
     //Check if we got acknowledgement from previous request
     //except for requests using our own node_id
     if (curr_verifying_node == self_node_id) {
@@ -438,6 +440,7 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co
     /*
       if we haven't logged this node then log it now
      */
+#if HAL_LOGGING_ENABLED
     if (!logged.get(transfer.source_node_id) && AP::logger().logging_started()) {
         logged.set(transfer.source_node_id);
         uint64_t uid[2];
@@ -462,6 +465,7 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co
                            rsp.software_version.minor,
                            rsp.software_version.vcs_commit);
     }
+#endif
 
     if (isNodeIDOccupied(transfer.source_node_id)) {
         //if node_id already registered, just verify if Unique ID matches as well

From a7b658c260e5b11371b8975b095cfa8151dfc64f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:05 +1000
Subject: [PATCH 0597/1335] AP_ESC_Telem: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_ESC_Telem/AP_ESC_Telem.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
index 7bb347220d0c0b..4af6e8bd72dcb0 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -490,11 +490,14 @@ void AP_ESC_Telem::update_rpm(const uint8_t esc_index, const float new_rpm, cons
 
 void AP_ESC_Telem::update()
 {
+#if HAL_LOGGING_ENABLED
     AP_Logger *logger = AP_Logger::get_singleton();
+#endif
 
     const uint32_t now_us = AP_HAL::micros();
 
     for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
+#if HAL_LOGGING_ENABLED
         // Push received telemetry data into the logging system
         if (logger && logger->logging_enabled()) {
             if (_telem_data[i].last_update_ms != _last_telem_log_ms[i]
@@ -532,6 +535,7 @@ void AP_ESC_Telem::update()
                 _last_rpm_log_us[i] = _rpm_data[i].last_update_us;
             }
         }
+#endif  // HAL_LOGGING_ENABLED
 
         if ((now_us - _rpm_data[i].last_update_us) > ESC_RPM_DATA_TIMEOUT_US) {
             _rpm_data[i].data_valid = false;

From f92b02afd06b70ef5ebc8799154b1b3b94120d17 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:05 +1000
Subject: [PATCH 0598/1335] AP_ExternalAHRS: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp | 4 +++-
 libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp    | 5 ++++-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
index 9019eaef461f01..d10ca6997c7cd7 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
@@ -489,6 +489,7 @@ bool AP_ExternalAHRS_InertialLabs::check_uart()
 #endif // AP_AIRSPEED_EXTERNAL_ENABLED
     buffer_ofs = 0;
 
+#if HAL_LOGGING_ENABLED
     if (GOT_MSG(POSITION) &&
         GOT_MSG(ORIENTATION_ANGLES) &&
         GOT_MSG(VELOCITIES)) {
@@ -564,7 +565,8 @@ bool AP_ExternalAHRS_InertialLabs::check_uart()
                                     state2.true_airspeed,
                                     state2.wind_speed.x, state2.wind_speed.y, state2.wind_speed.z);
     }
-        
+#endif  // HAL_LOGGING_ENABLED
+
     return true;
 }
 
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
index 66c20f05590e22..26f379868a2dff 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
@@ -513,6 +513,7 @@ void AP_ExternalAHRS_VectorNav::process_packet1(const uint8_t *b)
     }
 
 
+#if HAL_LOGGING_ENABLED
     // @LoggerMessage: EAH1
     // @Description: External AHRS data
     // @Field: TimeUS: Time since system startup
@@ -541,6 +542,7 @@ void AP_ExternalAHRS_VectorNav::process_packet1(const uint8_t *b)
                        float(pkt1.positionLLA[2]),
                        pkt1.posU, pkt1.velU,
                        pkt1.yprU[2], pkt1.yprU[1], pkt1.yprU[0]);
+#endif  // HAL_LOGGING_ENABLED
 }
 
 /*
@@ -651,6 +653,7 @@ void AP_ExternalAHRS_VectorNav::process_packet_VN_100(const uint8_t *b)
         AP::ins().handle_external(ins);
     }
 
+#if HAL_LOGGING_ENABLED
     // @LoggerMessage: EAH3
     // @Description: External AHRS data
     // @Field: TimeUS: Time since system startup
@@ -681,7 +684,7 @@ void AP_ExternalAHRS_VectorNav::process_packet_VN_100(const uint8_t *b)
                        state.accel[0], state.accel[1], state.accel[2],
                        state.gyro[0], state.gyro[1], state.gyro[2],
                        state.quat[0], state.quat[1], state.quat[2], state.quat[3]);
-
+#endif  // HAL_LOGGING_ENABLED
 }
 
 

From 6627c1f4e4150feac704a409a8d08f39ea23caf5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:05 +1000
Subject: [PATCH 0599/1335] AP_Follow: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Follow/AP_Follow.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Follow/AP_Follow.cpp b/libraries/AP_Follow/AP_Follow.cpp
index 274ddf4d935c22..a06b922feaac2c 100644
--- a/libraries/AP_Follow/AP_Follow.cpp
+++ b/libraries/AP_Follow/AP_Follow.cpp
@@ -395,8 +395,9 @@ void AP_Follow::handle_msg(const mavlink_message_t &msg)
         break;
     }
     }
-    
+
     if (updated) {
+#if HAL_LOGGING_ENABLED
         // get estimated location and velocity
         Location loc_estimate{};
         Vector3f vel_estimate;
@@ -431,6 +432,7 @@ void AP_Follow::handle_msg(const mavlink_message_t &msg)
                                                loc_estimate.lng,
                                                loc_estimate.alt
                                                );
+#endif
     }
 }
 

From 52c806e32ed1b870074e7a970692cee3e4f1e7be Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:05 +1000
Subject: [PATCH 0600/1335] AP_Generator: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Generator/AP_Generator_IE_2400.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Generator/AP_Generator_IE_2400.h b/libraries/AP_Generator/AP_Generator_IE_2400.h
index c98238f53f7c53..a52c53cc856166 100644
--- a/libraries/AP_Generator/AP_Generator_IE_2400.h
+++ b/libraries/AP_Generator/AP_Generator_IE_2400.h
@@ -4,6 +4,8 @@
 
 #if AP_GENERATOR_IE_2400_ENABLED
 
+#include <AP_Logger/AP_Logger_config.h>
+
 class AP_Generator_IE_2400 : public AP_Generator_IE_FuelCell
 {
     // Inherit constructor

From fa8f3b57157cdad993a7cb954f2d66746fd63402 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:06 +1000
Subject: [PATCH 0601/1335] AP_GPS: allow compilation with HAL_LOGGING_ENABLED
 false

---
 libraries/AP_GPS/AP_GPS.cpp          | 2 ++
 libraries/AP_GPS/AP_GPS_DroneCAN.cpp | 2 ++
 libraries/AP_GPS/GPS_Backend.cpp     | 1 +
 3 files changed, 5 insertions(+)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index b947175b0bf620..3257eb82308c5f 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -2254,6 +2254,7 @@ bool AP_GPS::get_undulation(uint8_t instance, float &undulation) const
     return true;
 }
 
+#if HAL_LOGGING_ENABLED
 // Logging support:
 // Write an GPS packet
 void AP_GPS::Write_GPS(uint8_t i)
@@ -2310,6 +2311,7 @@ void AP_GPS::Write_GPS(uint8_t i)
     };
     AP::logger().WriteBlock(&pkt2, sizeof(pkt2));
 }
+#endif
 
 /*
   get GPS based yaw
diff --git a/libraries/AP_GPS/AP_GPS_DroneCAN.cpp b/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
index 2471d3958019f4..5da56758a517c3 100644
--- a/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
+++ b/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
@@ -526,10 +526,12 @@ void AP_GPS_DroneCAN::handle_status_msg(const ardupilot_gnss_Status& msg)
     healthy = msg.healthy;
     status_flags = msg.status;
     if (error_code != msg.error_codes) {
+#if HAL_LOGGING_ENABLED
         AP::logger().Write_MessageF("GPS %d: error changed (0x%08x/0x%08x)",
                                     (unsigned int)(state.instance + 1),
                                     error_code,
                                     msg.error_codes);
+#endif
         error_code = msg.error_codes;
     }
 }
diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
index 095bb27366d7a4..7dc6dfd670e167 100644
--- a/libraries/AP_GPS/GPS_Backend.cpp
+++ b/libraries/AP_GPS/GPS_Backend.cpp
@@ -23,6 +23,7 @@
 #include <time.h>
 #include <AP_Common/time.h>
 #include <AP_InternalError/AP_InternalError.h>
+#include <AP_AHRS/AP_AHRS.h>
 
 #define GPS_BACKEND_DEBUGGING 0
 

From 1c395966ce088d7958d37e10926ba987541a0031 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:06 +1000
Subject: [PATCH 0602/1335] AP_Gripper: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Gripper/AP_Gripper_EPM.cpp   | 4 ++--
 libraries/AP_Gripper/AP_Gripper_Servo.cpp | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Gripper/AP_Gripper_EPM.cpp b/libraries/AP_Gripper/AP_Gripper_EPM.cpp
index 5762597f50f010..76c2f67381f900 100644
--- a/libraries/AP_Gripper/AP_Gripper_EPM.cpp
+++ b/libraries/AP_Gripper/AP_Gripper_EPM.cpp
@@ -66,7 +66,7 @@ void AP_Gripper_EPM::grab()
         SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.grab_pwm);
     }
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load grabbing");
-    AP::logger().Write_Event(LogEvent::GRIPPER_GRAB);
+    LOGGER_WRITE_EVENT(LogEvent::GRIPPER_GRAB);
 }
 
 // release - move epm pwm output to the release position
@@ -90,7 +90,7 @@ void AP_Gripper_EPM::release()
         SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.release_pwm);
     }
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load releasing");
-    AP::logger().Write_Event(LogEvent::GRIPPER_RELEASE);
+    LOGGER_WRITE_EVENT(LogEvent::GRIPPER_RELEASE);
 }
 
 // neutral - return the epm pwm output to the neutral position
diff --git a/libraries/AP_Gripper/AP_Gripper_Servo.cpp b/libraries/AP_Gripper/AP_Gripper_Servo.cpp
index 0ef9957da0fec9..a2d13897727ba0 100644
--- a/libraries/AP_Gripper/AP_Gripper_Servo.cpp
+++ b/libraries/AP_Gripper/AP_Gripper_Servo.cpp
@@ -40,7 +40,7 @@ void AP_Gripper_Servo::grab()
     SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.grab_pwm);
     _last_grab_or_release = AP_HAL::millis();
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load grabbing");
-    AP::logger().Write_Event(LogEvent::GRIPPER_GRAB);
+    LOGGER_WRITE_EVENT(LogEvent::GRIPPER_GRAB);
 }
 
 void AP_Gripper_Servo::release()
@@ -65,7 +65,7 @@ void AP_Gripper_Servo::release()
     SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.release_pwm);
     _last_grab_or_release = AP_HAL::millis();
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load releasing");
-    AP::logger().Write_Event(LogEvent::GRIPPER_RELEASE);
+    LOGGER_WRITE_EVENT(LogEvent::GRIPPER_RELEASE);
 }
 
 bool AP_Gripper_Servo::has_state_pwm(const uint16_t pwm) const

From d89d8ee564376878b5b2837c486c529fda75f2c1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:06 +1000
Subject: [PATCH 0603/1335] AP_GyroFFT: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_GyroFFT/AP_GyroFFT.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_GyroFFT/AP_GyroFFT.cpp b/libraries/AP_GyroFFT/AP_GyroFFT.cpp
index 886baa3749c370..5a1c0e79666842 100644
--- a/libraries/AP_GyroFFT/AP_GyroFFT.cpp
+++ b/libraries/AP_GyroFFT/AP_GyroFFT.cpp
@@ -473,7 +473,7 @@ uint16_t AP_GyroFFT::run_cycle()
     _thread_state._last_output_us[_update_axis] = AP_HAL::micros();
     _output_cycle_micros = _thread_state._last_output_us[_update_axis] - now;
 
-#if AP_SIM_ENABLED
+#if AP_SIM_ENABLED && HAL_LOGGING_ENABLED
     // extra logging when running simulations
     AP::logger().WriteStreaming(
         "FTN3",
@@ -966,6 +966,8 @@ float AP_GyroFFT::calculate_weighted_freq_hz(const Vector3f& energy, const Vecto
 // @Field: FHZ: FFT health, Z-axis
 // @Field: Tc: FFT cycle time
 
+#if HAL_LOGGING_ENABLED
+
 // log gyro fft messages
 void AP_GyroFFT::write_log_messages()
 {
@@ -1048,6 +1050,8 @@ void AP_GyroFFT::log_noise_peak(uint8_t id, FrequencyPeak peak) const
         get_center_freq_energy(peak).z);
 }
 
+#endif
+
 // return an average noise bandwidth weighted by bin energy
 // called from main thread
 float AP_GyroFFT::get_weighted_noise_center_bandwidth_hz() const

From 6a897f01d8ca768d3a9afb583559499c328fa1d2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:06 +1000
Subject: [PATCH 0604/1335] AP_InertialSensor: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp | 3 +++
 libraries/AP_InertialSensor/AP_InertialSensor_Backend.h   | 2 +-
 libraries/AP_InertialSensor/AP_InertialSensor_Logging.cpp | 6 ++++++
 libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp | 1 +
 4 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index 3c45c611b1b3c4..85c9ed8f34e359 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -1,6 +1,7 @@
 #define AP_INLINE_VECTOR_OPS
 
 #include <AP_HAL/AP_HAL.h>
+#include <AP_AHRS/AP_AHRS.h>
 #include "AP_InertialSensor.h"
 #include "AP_InertialSensor_Backend.h"
 #include <AP_Logger/AP_Logger.h>
@@ -816,6 +817,7 @@ void AP_InertialSensor_Backend::update_accel(uint8_t instance) /* front end */
     }
 }
 
+#if HAL_LOGGING_ENABLED
 bool AP_InertialSensor_Backend::should_log_imu_raw() const
 {
     if (_imu._log_raw_bit == (uint32_t)-1) {
@@ -831,6 +833,7 @@ bool AP_InertialSensor_Backend::should_log_imu_raw() const
     }
     return true;
 }
+#endif  // HAL_LOGGING_ENABLED
 
 // log an unexpected change in a register for an IMU
 void AP_InertialSensor_Backend::log_register_change(uint32_t bus_id, const AP_HAL::Device::checkreg &reg)
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
index 880571ee4f51e1..e51d9362b80b50 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
@@ -312,7 +312,7 @@ class AP_InertialSensor_Backend
     */
     void notify_accel_fifo_reset(uint8_t instance) __RAMFUNC__;
     void notify_gyro_fifo_reset(uint8_t instance) __RAMFUNC__;
-    
+
     // log an unexpected change in a register for an IMU
     void log_register_change(uint32_t bus_id, const AP_HAL::Device::checkreg &reg) __RAMFUNC__;
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Logging.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Logging.cpp
index e59019d7ded194..2318766a6720a6 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Logging.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Logging.cpp
@@ -1,3 +1,7 @@
+#include <AP_Logger/AP_Logger_config.h>
+
+#if HAL_LOGGING_ENABLED
+
 #include "AP_InertialSensor.h"
 #include "AP_InertialSensor_Backend.h"
 
@@ -188,3 +192,5 @@ void AP_InertialSensor::write_notch_log_messages() const
         }
     }
 }
+
+#endif  // HAL_LOGGING_ENABLED
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
index 486d14965a116f..ef5062cb93d257 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
@@ -26,6 +26,7 @@
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Common/ExpandingString.h>
 #include <AP_Notify/AP_Notify.h>
+#include "AP_InertialSensor.h"
 
 // this scale factor ensures params are easy to work with in GUI parameter editors
 #define SCALE_FACTOR 1.0e6

From 14beb2f1918b0cbcc9e594803d0b4ab672decfec Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:06 +1000
Subject: [PATCH 0605/1335] AP_IOMCU: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_IOMCU/AP_IOMCU.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp
index 4768ec6e2fb925..bfefb6c253cb78 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.cpp
+++ b/libraries/AP_IOMCU/AP_IOMCU.cpp
@@ -504,6 +504,7 @@ void AP_IOMCU::write_log()
     uint32_t now = AP_HAL::millis();
     if (now - last_log_ms >= 1000U) {
         last_log_ms = now;
+#if HAL_LOGGING_ENABLED
         if (AP_Logger::get_singleton()) {
 // @LoggerMessage: IOMC
 // @Description: IOMCU diagnostic information
@@ -525,6 +526,7 @@ void AP_IOMCU::write_log()
                                reg_status.num_errors,
                                num_delayed);
         }
+#endif  // HAL_LOGGING_ENABLED
 #if IOMCU_DEBUG_ENABLE
         static uint32_t last_io_print;
         if (now - last_io_print >= 5000) {
@@ -548,6 +550,7 @@ void AP_IOMCU::write_log()
     }
 }
 
+
 /*
   read servo output values
  */

From 97c8d149f7b185a3fea7782a948e4d6da4a3c070 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:06 +1000
Subject: [PATCH 0606/1335] AP_LandingGear: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_LandingGear/AP_LandingGear.cpp | 6 ++++--
 libraries/AP_LandingGear/AP_LandingGear.h   | 5 +++++
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_LandingGear/AP_LandingGear.cpp b/libraries/AP_LandingGear/AP_LandingGear.cpp
index 8f77d5e3df7501..7ac89719947864 100644
--- a/libraries/AP_LandingGear/AP_LandingGear.cpp
+++ b/libraries/AP_LandingGear/AP_LandingGear.cpp
@@ -174,7 +174,7 @@ void AP_LandingGear::deploy()
     // set deployed flag
     _deployed = true;
     _have_changed = true;
-    AP::logger().Write_Event(LogEvent::LANDING_GEAR_DEPLOYED);
+    LOGGER_WRITE_EVENT(LogEvent::LANDING_GEAR_DEPLOYED);
 }
 
 /// retract - retract landing gear
@@ -190,7 +190,7 @@ void AP_LandingGear::retract()
     // reset deployed flag
     _deployed = false;
     _have_changed = true;
-    AP::logger().Write_Event(LogEvent::LANDING_GEAR_RETRACTED);
+    LOGGER_WRITE_EVENT(LogEvent::LANDING_GEAR_RETRACTED);
 
     // send message only if output has been configured
     if (SRV_Channels::function_assigned(SRV_Channel::k_landing_gear_control)) {
@@ -303,6 +303,7 @@ void AP_LandingGear::update(float height_above_ground_m)
     _last_height_above_ground = alt_m;
 }
 
+#if HAL_LOGGING_ENABLED
 // log weight on wheels state
 void AP_LandingGear::log_wow_state(LG_WOW_State state)
 {
@@ -310,6 +311,7 @@ void AP_LandingGear::log_wow_state(LG_WOW_State state)
                                            AP_HAL::micros64(),
                                            (int8_t)gear_state_current, (int8_t)state);
 }
+#endif
 
 bool AP_LandingGear::check_before_land(void)
 {
diff --git a/libraries/AP_LandingGear/AP_LandingGear.h b/libraries/AP_LandingGear/AP_LandingGear.h
index 6cafc77d5ad89d..cfa0eebaae7faf 100644
--- a/libraries/AP_LandingGear/AP_LandingGear.h
+++ b/libraries/AP_LandingGear/AP_LandingGear.h
@@ -8,6 +8,7 @@
 
 #include <AP_Param/AP_Param.h>
 #include <AP_Common/AP_Common.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 /// @class  AP_LandingGear
 /// @brief  Class managing the control of landing gear
@@ -122,8 +123,12 @@ class AP_LandingGear {
     /// deploy - deploy the landing gear
     void deploy();
 
+#if HAL_LOGGING_ENABLED
     // log weight on wheels state
     void log_wow_state(LG_WOW_State state);
+#else
+    void log_wow_state(LG_WOW_State state) {}
+#endif
 
     static AP_LandingGear *_singleton;
 };

From a5ccb1d3128d59abffa4312a4731ab454938f093 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:06 +1000
Subject: [PATCH 0607/1335] AP_Landing: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Landing/AP_Landing.cpp           | 2 ++
 libraries/AP_Landing/AP_Landing_Deepstall.cpp | 2 ++
 libraries/AP_Landing/AP_Landing_Slope.cpp     | 2 ++
 3 files changed, 6 insertions(+)

diff --git a/libraries/AP_Landing/AP_Landing.cpp b/libraries/AP_Landing/AP_Landing.cpp
index 211ecdd46f1da3..ca396805cf3128 100644
--- a/libraries/AP_Landing/AP_Landing.cpp
+++ b/libraries/AP_Landing/AP_Landing.cpp
@@ -625,6 +625,7 @@ bool AP_Landing::is_complete(void) const
 
 void AP_Landing::Log(void) const
 {
+#if HAL_LOGGING_ENABLED
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         type_slope_log();
@@ -637,6 +638,7 @@ void AP_Landing::Log(void) const
     default:
         break;
     }
+#endif
 }
 
 /*
diff --git a/libraries/AP_Landing/AP_Landing_Deepstall.cpp b/libraries/AP_Landing/AP_Landing_Deepstall.cpp
index 0a690acbeb631d..e465b869de1a60 100644
--- a/libraries/AP_Landing/AP_Landing_Deepstall.cpp
+++ b/libraries/AP_Landing/AP_Landing_Deepstall.cpp
@@ -456,6 +456,7 @@ const AP_PIDInfo& AP_Landing_Deepstall::get_pid_info(void) const
     return ds_PID.get_pid_info();
 }
 
+#if HAL_LOGGING_ENABLED
 void AP_Landing_Deepstall::Log(void) const {
     const AP_PIDInfo& pid_info = ds_PID.get_pid_info();
     struct log_DSTL pkt = {
@@ -479,6 +480,7 @@ void AP_Landing_Deepstall::Log(void) const {
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
+#endif
 
 // termination handling, expected to set the servo outputs
 bool AP_Landing_Deepstall::terminate(void) {
diff --git a/libraries/AP_Landing/AP_Landing_Slope.cpp b/libraries/AP_Landing/AP_Landing_Slope.cpp
index 4ec0c7cfa7c15d..7b4182e0afd6a7 100644
--- a/libraries/AP_Landing/AP_Landing_Slope.cpp
+++ b/libraries/AP_Landing/AP_Landing_Slope.cpp
@@ -407,6 +407,7 @@ bool AP_Landing::type_slope_is_complete(void) const
     return (type_slope_stage == SlopeStage::FINAL);
 }
 
+#if HAL_LOGGING_ENABLED
 void AP_Landing::type_slope_log(void) const
 {
 // @LoggerMessage: LAND
@@ -429,6 +430,7 @@ void AP_Landing::type_slope_log(void) const
                                             (double)alt_offset,
                                             (double)height_flare_log);
 }
+#endif
 
 bool AP_Landing::type_slope_is_throttle_suppressed(void) const
 {

From 9168a8fc500cf40ae710b96d99c3f1057f87f49f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:06 +1000
Subject: [PATCH 0608/1335] AP_Math: allow compilation with HAL_LOGGING_ENABLED
 false

---
 libraries/AP_Math/SCurve.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_Math/SCurve.cpp b/libraries/AP_Math/SCurve.cpp
index 074b3e06036e7e..fa907ec87c48ce 100644
--- a/libraries/AP_Math/SCurve.cpp
+++ b/libraries/AP_Math/SCurve.cpp
@@ -883,6 +883,7 @@ void SCurve::calculate_path(float Sm, float Jm, float V0, float Am, float Vm, fl
         // @Field: t4_out: segment duration
         // @Field: t6_out: segment duration
 
+#if HAL_LOGGING_ENABLED
         static bool logged_scve;  // only log once
         if (!logged_scve) {
             logged_scve = true;
@@ -906,6 +907,8 @@ void SCurve::calculate_path(float Sm, float Jm, float V0, float Am, float Vm, fl
                 (double)t6_out
                 );
         }
+#endif  // HAL_LOGGING_ENABLED
+
 #endif  // APM_BUILD_COPTER_OR_HELI
 
         Jm_out = 0.0f;

From f930c38712b045cd7fb419ac37e689cf76102315 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:06 +1000
Subject: [PATCH 0609/1335] APM_Control: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/APM_Control/AP_AutoTune.cpp   | 2 ++
 libraries/APM_Control/AR_PosControl.cpp | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index 87c84ee94a1c34..d93dbb0d3a6bee 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -247,6 +247,7 @@ void AP_AutoTune::update(AP_PIDInfo &pinfo, float scaler, float angle_err_deg)
 
     const uint32_t now = AP_HAL::millis();
 
+#if HAL_LOGGING_ENABLED
     if (now - last_log_ms >= 40) {
         // log at 25Hz
         struct log_ATRP pkt = {
@@ -269,6 +270,7 @@ void AP_AutoTune::update(AP_PIDInfo &pinfo, float scaler, float angle_err_deg)
         AP::logger().WriteBlock(&pkt, sizeof(pkt));
         last_log_ms = now;
     }
+#endif
 
     if (new_state == state) {
         if (state == ATState::IDLE &&
diff --git a/libraries/APM_Control/AR_PosControl.cpp b/libraries/APM_Control/AR_PosControl.cpp
index 4107082558054b..112c508934b609 100644
--- a/libraries/APM_Control/AR_PosControl.cpp
+++ b/libraries/APM_Control/AR_PosControl.cpp
@@ -363,6 +363,7 @@ void AR_PosControl::get_srate(float &velocity_srate)
     velocity_srate = _pid_vel.get_pid_info_x().slew_rate;
 }
 
+#if HAL_LOGGING_ENABLED
 // write PSC logs
 void AR_PosControl::write_log()
 {
@@ -401,6 +402,7 @@ void AR_PosControl::write_log()
                             _accel_target.y * 100.0,    // target accel
                             curr_accel_NED.y);      // accel
 }
+#endif
 
 /// initialise ekf xy position reset check
 void AR_PosControl::init_ekf_xy_reset()

From bccfd98d0e3bd3584273bee325e1fa8fbccc1dfe Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:07 +1000
Subject: [PATCH 0610/1335] AP_Motors: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Motors/AP_MotorsMulticopter.cpp | 2 ++
 libraries/AP_Motors/AP_MotorsMulticopter.h   | 2 ++
 libraries/AP_Motors/AP_Motors_Class.h        | 3 +++
 3 files changed, 7 insertions(+)

diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
index 5359ad16e70409..cc7eb0fd3e7f7a 100644
--- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
@@ -378,6 +378,7 @@ float AP_MotorsMulticopter::get_current_limit_max_throttle()
     return get_throttle_hover() + ((1.0 - get_throttle_hover()) * _throttle_limit);
 }
 
+#if HAL_LOGGING_ENABLED
 // 10hz logging of voltage scaling and max trust
 void AP_MotorsMulticopter::Log_Write()
 {
@@ -393,6 +394,7 @@ void AP_MotorsMulticopter::Log_Write()
     };
     AP::logger().WriteBlock(&pkt_mot, sizeof(pkt_mot));
 }
+#endif
 
 // convert actuator output (0~1) range to pwm range
 int16_t AP_MotorsMulticopter::output_to_pwm(float actuator)
diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.h b/libraries/AP_Motors/AP_MotorsMulticopter.h
index f6e07e204a74c4..3f97e5105a3bda 100644
--- a/libraries/AP_Motors/AP_MotorsMulticopter.h
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.h
@@ -89,8 +89,10 @@ class AP_MotorsMulticopter : public AP_Motors {
     // convert values to PWM min and max if not configured
     void                convert_pwm_min_max_param(int16_t radio_min, int16_t radio_max);
 
+#if HAL_LOGGING_ENABLED
     // 10hz logging of voltage scaling and max trust
     void                Log_Write() override;
+#endif
 
     // Run arming checks
     bool arming_checks(size_t buflen, char *buffer) const override;
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index b8b39fbfb55665..92c62bf0540773 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -5,6 +5,7 @@
 #include <Filter/Filter.h>         // filter library
 #include <Filter/DerivativeFilter.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 // offsets for motors in motor_out and _motor_filtered arrays
 #define AP_MOTORS_MOT_1 0U
@@ -275,8 +276,10 @@ class AP_Motors {
     void set_frame_string(const char * str);
 #endif
 
+#if HAL_LOGGING_ENABLED
     // write log, to be called at 10hz
     virtual void Log_Write() {};
+#endif
 
     enum MotorOptions : uint8_t {
         BATT_RAW_VOLTAGE = (1 << 0U)

From a6db3bd069efc21817d93cbdc9894da53fbc4b98 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:07 +1000
Subject: [PATCH 0611/1335] AP_Mount: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Mount/AP_Mount.cpp              |  2 ++
 libraries/AP_Mount/AP_Mount_Backend.cpp      |  2 ++
 libraries/AP_Mount/AP_Mount_SoloGimbal.cpp   | 11 +++++++++--
 libraries/AP_Mount/SoloGimbal.cpp            |  2 ++
 libraries/AP_Mount/SoloGimbal_Parameters.cpp |  4 +++-
 5 files changed, 18 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index 4bb18ad3608b58..b6e7543ec01ce8 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -712,6 +712,7 @@ void AP_Mount::set_attitude_euler(uint8_t instance, float roll_deg, float pitch_
     backend->set_attitude_euler(roll_deg, pitch_deg, yaw_bf_deg);
 }
 
+#if HAL_LOGGING_ENABLED
 // write mount log packet for all backends
 void AP_Mount::write_log()
 {
@@ -731,6 +732,7 @@ void AP_Mount::write_log(uint8_t instance, uint64_t timestamp_us)
     }
     backend->write_log(timestamp_us);
 }
+#endif
 
 // point at system ID sysid
 void AP_Mount::set_target_sysid(uint8_t instance, uint8_t sysid)
diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp
index e9760c7ae08e9d..28536134adaee3 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.cpp
+++ b/libraries/AP_Mount/AP_Mount_Backend.cpp
@@ -409,6 +409,7 @@ bool AP_Mount_Backend::handle_global_position_int(uint8_t msg_sysid, const mavli
     return true;
 }
 
+#if HAL_LOGGING_ENABLED
 // write mount log packet
 void AP_Mount_Backend::write_log(uint64_t timestamp_us)
 {
@@ -456,6 +457,7 @@ void AP_Mount_Backend::write_log(uint64_t timestamp_us)
     };
     AP::logger().WriteCriticalBlock(&pkt, sizeof(pkt));
 }
+#endif
 
 #if AP_MOUNT_POI_TO_LATLONALT_ENABLED
 // get poi information.  Returns true on success and fills in gimbal attitude, location and poi location
diff --git a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
index 6dbf8cdbd3b260..b188f945a2f23f 100644
--- a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
+++ b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
@@ -125,19 +125,26 @@ void AP_Mount_SoloGimbal::handle_gimbal_report(mavlink_channel_t chan, const mav
     _gimbal.update_target(Vector3f{mnt_target.angle_rad.roll, mnt_target.angle_rad.pitch, mnt_target.angle_rad.get_bf_yaw()});
     _gimbal.receive_feedback(chan,msg);
 
+#if HAL_LOGGING_ENABLED
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger == nullptr) {
         return;
     }
-
-    if(!_params_saved && logger->logging_started()) {
+#endif
+    if(!_params_saved
+#if HAL_LOGGING_ENABLED
+       && logger->logging_started()
+#endif
+        ) {
         _gimbal.fetch_params();       //last parameter save might not be stored in logger so retry
         _params_saved = true;
     }
 
+#if HAL_LOGGING_ENABLED
     if (_gimbal.get_log_dt() > 1.0f/25.0f) {
         _gimbal.write_logs();
     }
+#endif
 }
 
 void AP_Mount_SoloGimbal::handle_param_value(const mavlink_message_t &msg)
diff --git a/libraries/AP_Mount/SoloGimbal.cpp b/libraries/AP_Mount/SoloGimbal.cpp
index 01b8aec8297b5e..4503c02cec3f5c 100644
--- a/libraries/AP_Mount/SoloGimbal.cpp
+++ b/libraries/AP_Mount/SoloGimbal.cpp
@@ -400,6 +400,7 @@ void SoloGimbal::update_target(const Vector3f &newTarget)
     _att_target_euler_rad.x = constrain_float(_att_target_euler_rad.x,radians(-30),radians(30));
 }
 
+#if HAL_LOGGING_ENABLED
 void SoloGimbal::write_logs()
 {
     AP_Logger &logger = AP::logger();
@@ -481,6 +482,7 @@ void SoloGimbal::write_logs()
     _log_del_ang.zero();
     _log_del_vel.zero();
 }
+#endif
 
 bool SoloGimbal::joints_near_limits() const
 {
diff --git a/libraries/AP_Mount/SoloGimbal_Parameters.cpp b/libraries/AP_Mount/SoloGimbal_Parameters.cpp
index 8245086ba32a72..60bf156acb3ba2 100644
--- a/libraries/AP_Mount/SoloGimbal_Parameters.cpp
+++ b/libraries/AP_Mount/SoloGimbal_Parameters.cpp
@@ -187,10 +187,12 @@ void SoloGimbal_Parameters::handle_param_value(const mavlink_message_t &msg)
     mavlink_param_value_t packet;
     mavlink_msg_param_value_decode(&msg, &packet);
 
+#if HAL_LOGGING_ENABLED
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger != nullptr) {
         logger->Write_Parameter(packet.param_id, packet.param_value);
     }
+#endif
 
     for(uint8_t i=0; i<MAVLINK_GIMBAL_NUM_TRACKED_PARAMS; i++) {
         if (!strcmp(packet.param_id, get_param_name((gmb_param_t)i))) {
@@ -294,4 +296,4 @@ bool SoloGimbal_Parameters::flashing()
     return _flashing_step != GMB_PARAM_NOT_FLASHING;
 }
 
-#endif // HAL_SOLO_GIMBAL_ENABLED
\ No newline at end of file
+#endif // HAL_SOLO_GIMBAL_ENABLED

From 3a76ce316296a9c87c198c41ef73850fb7e02d2a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:07 +1000
Subject: [PATCH 0612/1335] AP_NavEKF2: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp
index 5f5d25f048ae6c..73874b775f95cf 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp
@@ -1,3 +1,7 @@
+#include <AP_Logger/AP_Logger_config.h>
+
+#if HAL_LOGGING_ENABLED
+
 #include "AP_NavEKF2.h"
 #include "AP_NavEKF2_core.h"
 
@@ -331,3 +335,5 @@ void NavEKF2_core::Log_Write_GSF(uint64_t time_us) const
     }
     yawEstimator->Log_Write(time_us, LOG_NKY0_MSG, LOG_NKY1_MSG, DAL_CORE(core_index));
 }
+
+#endif  // HAL_LOGGING_ENABLED

From 0afed2f8c2fd8f53afa8d29e908a40c8e672ec47 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:07 +1000
Subject: [PATCH 0613/1335] AP_NavEKF3: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp      | 6 ++++++
 libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp | 2 ++
 2 files changed, 8 insertions(+)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
index 100c47a253c87d..1f60ae65f932c6 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
@@ -1,3 +1,7 @@
+#include <AP_Logger/AP_Logger_config.h>
+
+#if HAL_LOGGING_ENABLED
+
 #include "AP_NavEKF3.h"
 #include "AP_NavEKF3_core.h"
 
@@ -440,3 +444,5 @@ void NavEKF3_core::Log_Write_GSF(uint64_t time_us)
     }
     yawEstimator->Log_Write(time_us, LOG_XKY0_MSG, LOG_XKY1_MSG, DAL_CORE(core_index));
 }
+
+#endif  // HAL_LOGGING_ENABLED
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index e409061698bf2c..9ebe777515a84e 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -1394,6 +1394,7 @@ void NavEKF3_core::updateMovementCheck(void)
 
     if (logStatusChange || imuSampleTime_ms - lastMoveCheckLogTime_ms > 200) {
         lastMoveCheckLogTime_ms = imuSampleTime_ms;
+#if HAL_LOGGING_ENABLED
         const struct log_XKFM pkt{
             LOG_PACKET_HEADER_INIT(LOG_XKFM_MSG),
             time_us            : dal.micros64(),
@@ -1405,6 +1406,7 @@ void NavEKF3_core::updateMovementCheck(void)
             accel_diff_ratio   : float(accel_diff_ratio),
         };
         AP::logger().WriteBlock(&pkt, sizeof(pkt));
+#endif
     }
 }
 

From a9b328e4de6710df3df068831fb2cda216a4d0f1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:07 +1000
Subject: [PATCH 0614/1335] AP_NavEKF: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_NavEKF/AP_NavEKF_Source.cpp | 2 ++
 libraries/AP_NavEKF/EKFGSF_Logging.cpp   | 4 ++++
 2 files changed, 6 insertions(+)

diff --git a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
index 0f80af9f69e37f..2805bb81fbf0cc 100644
--- a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
@@ -153,12 +153,14 @@ void AP_NavEKF_Source::setPosVelYawSourceSet(uint8_t source_set_idx)
     // sanity check source idx
     if (source_set_idx < AP_NAKEKF_SOURCE_SET_MAX) {
         active_source_set = source_set_idx;
+#if HAL_LOGGING_ENABLED
         static const LogEvent evt[AP_NAKEKF_SOURCE_SET_MAX] {
             LogEvent::EK3_SOURCES_SET_TO_PRIMARY,
             LogEvent::EK3_SOURCES_SET_TO_SECONDARY,
             LogEvent::EK3_SOURCES_SET_TO_TERTIARY,
         };
         AP::logger().Write_Event(evt[active_source_set]);
+#endif
     }
 }
 
diff --git a/libraries/AP_NavEKF/EKFGSF_Logging.cpp b/libraries/AP_NavEKF/EKFGSF_Logging.cpp
index 64673085ce9f91..68e57afa7b7bd7 100644
--- a/libraries/AP_NavEKF/EKFGSF_Logging.cpp
+++ b/libraries/AP_NavEKF/EKFGSF_Logging.cpp
@@ -2,6 +2,8 @@
 
 #include <AP_Logger/AP_Logger.h>
 
+#if HAL_LOGGING_ENABLED
+
 #pragma GCC diagnostic ignored "-Wnarrowing"
 
 void EKFGSF_yaw::Log_Write(uint64_t time_us, LogMessages id0, LogMessages id1, uint8_t core_index)
@@ -48,3 +50,5 @@ void EKFGSF_yaw::Log_Write(uint64_t time_us, LogMessages id0, LogMessages id1, u
     };
     AP::logger().WriteBlock(&ky1, sizeof(ky1));
 }
+
+#endif  // HAL_LOGGING_ENABLED

From db5591a0ea29924d9827bb92e9a87166ca65b099 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:07 +1000
Subject: [PATCH 0615/1335] AP_OpticalFlow: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_OpticalFlow/AP_OpticalFlow.cpp            | 1 +
 libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp | 1 +
 libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.h   | 3 +++
 3 files changed, 5 insertions(+)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
index be86676d59ac56..0a5c89aa6689d0 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
@@ -14,6 +14,7 @@
 #include "AP_OpticalFlow_UPFLOW.h"
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h>
+#include <AP_AHRS/AP_AHRS.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp
index a23397881e3aaa..6b28d68d4c5448 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp
@@ -22,6 +22,7 @@
 
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
+#include <AP_AHRS/AP_AHRS.h>
 
 const uint32_t AP_OPTICALFLOW_CAL_TIMEOUT_SEC = 120;        // calibration timesout after 120 seconds
 const uint32_t AP_OPTICALFLOW_CAL_STATUSINTERVAL_SEC = 3;   // status updates printed at 3 second intervals
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.h
index 13b9c5c0dc8c99..3f894ce4751472 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <AP_Math/AP_Math.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 #define AP_OPTICALFLOW_CAL_MAX_SAMPLES 50  // number of samples required before calibration begins
 
@@ -53,8 +54,10 @@ class AP_OpticalFlow_Calibrator {
     // calculate mean squared residual for all samples of a single axis (0 or 1) given a scalar parameter
     float calc_mean_squared_residuals(uint8_t axis, float scalar) const;
 
+#if HAL_LOGGING_ENABLED
     // log a sample
     void log_sample(uint8_t axis, uint8_t sample_num, float flow_rate, float body_rate, float los_pred);
+#endif
 
     // calibration states
     enum class CalState {

From 1cc2517e1e95d74a803afeed3aba894fc50c39b8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:07 +1000
Subject: [PATCH 0616/1335] AP_Parachute: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Parachute/AP_Parachute.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Parachute/AP_Parachute.cpp b/libraries/AP_Parachute/AP_Parachute.cpp
index 4cdf7ce692443c..aae6ea9bc9b942 100644
--- a/libraries/AP_Parachute/AP_Parachute.cpp
+++ b/libraries/AP_Parachute/AP_Parachute.cpp
@@ -93,7 +93,7 @@ void AP_Parachute::enabled(bool on_off)
     // clear release_time
     _release_time = 0;
 
-    AP::logger().Write_Event(_enabled ? LogEvent::PARACHUTE_ENABLED : LogEvent::PARACHUTE_DISABLED);
+    LOGGER_WRITE_EVENT(_enabled ? LogEvent::PARACHUTE_ENABLED : LogEvent::PARACHUTE_DISABLED);
 }
 
 /// release - release parachute
@@ -105,7 +105,7 @@ void AP_Parachute::release()
     }
 
     GCS_SEND_TEXT(MAV_SEVERITY_INFO,"Parachute: Released");
-    AP::logger().Write_Event(LogEvent::PARACHUTE_RELEASED);
+    LOGGER_WRITE_EVENT(LogEvent::PARACHUTE_RELEASED);
 
     // set release time to current system time
     if (_release_time == 0) {

From bf49716520d895178721fdd7d88661f35c50a9b0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:07 +1000
Subject: [PATCH 0617/1335] AP_PiccoloCAN: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
index ef07781772cec2..bbaec88f3e4d03 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
@@ -361,6 +361,7 @@ void AP_PiccoloCAN::update()
     }
 #endif // AP_EFI_CURRAWONG_ECU_ENABLED
 
+#if HAL_LOGGING_ENABLED
     AP_Logger *logger = AP_Logger::get_singleton();
 
     // Push received telemetry data into the logging system
@@ -397,6 +398,9 @@ void AP_PiccoloCAN::update()
             }
         }
     }
+#else
+    (void)timestamp;
+#endif  // HAL_LOGGING_ENABLED
 }
 
 #if HAL_GCS_ENABLED

From 38115bd5fbadf0c65e221be626b16cc1d665b000 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:07 +1000
Subject: [PATCH 0618/1335] AP_Rally: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Rally/AP_Rally.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Rally/AP_Rally.cpp b/libraries/AP_Rally/AP_Rally.cpp
index d3b8284a963aa6..eb112d1c81e71a 100644
--- a/libraries/AP_Rally/AP_Rally.cpp
+++ b/libraries/AP_Rally/AP_Rally.cpp
@@ -116,7 +116,9 @@ bool AP_Rally::set_rally_point_with_index(uint8_t i, const RallyLocation &rallyL
 
     _last_change_time_ms = AP_HAL::millis();
 
+#if HAL_LOGGING_ENABLED
     AP::logger().Write_RallyPoint(_rally_point_total_count, i, rallyLoc);
+#endif
 
     return true;
 }

From 330dd7221f19eb042c17385600f24f9130d3b790 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:07 +1000
Subject: [PATCH 0619/1335] AP_RangeFinder: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_RangeFinder/AP_RangeFinder.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.cpp b/libraries/AP_RangeFinder/AP_RangeFinder.cpp
index b9ea6f90765edd..8d245855c6e4b2 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder.cpp
@@ -786,6 +786,7 @@ bool RangeFinder::get_temp(enum Rotation orientation, float &temp) const
     return backend->get_temp(temp);
 }
 
+#if HAL_LOGGING_ENABLED
 // Write an RFND (rangefinder) packet
 void RangeFinder::Log_RFND() const
 {
@@ -816,6 +817,7 @@ void RangeFinder::Log_RFND() const
         AP::logger().WriteBlock(&pkt, sizeof(pkt));
     }
 }
+#endif  // HAL_LOGGING_ENABLED
 
 bool RangeFinder::prearm_healthy(char *failure_msg, const uint8_t failure_msg_len) const
 {

From 2d3fed97845c44473cf92de3ff046072fa0047f3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:08 +1000
Subject: [PATCH 0620/1335] AP_Scheduler: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Scheduler/AP_Scheduler.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp
index 93f55a22778646..5fd91703b114b3 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.cpp
+++ b/libraries/AP_Scheduler/AP_Scheduler.cpp
@@ -420,6 +420,7 @@ void AP_Scheduler::loop()
 #endif
 }
 
+#if HAL_LOGGING_ENABLED
 void AP_Scheduler::update_logging()
 {
     if (debug_flags()) {
@@ -462,6 +463,7 @@ void AP_Scheduler::Log_Write_Performance()
     };
     AP::logger().WriteCriticalBlock(&pkt, sizeof(pkt));
 }
+#endif  // HAL_LOGGING_ENABLED
 
 // display task statistics as text buffer for @SYS/tasks.txt
 void AP_Scheduler::task_info(ExpandingString &str)

From 5bb3e0aa18e8fc52a5e5caddb55d7b3373e625c9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:08 +1000
Subject: [PATCH 0621/1335] AP_SmartRTL: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_SmartRTL/AP_SmartRTL.cpp | 2 ++
 libraries/AP_SmartRTL/AP_SmartRTL.h   | 5 +++++
 2 files changed, 7 insertions(+)

diff --git a/libraries/AP_SmartRTL/AP_SmartRTL.cpp b/libraries/AP_SmartRTL/AP_SmartRTL.cpp
index 0de442dc7faaad..173d12c8f4079c 100644
--- a/libraries/AP_SmartRTL/AP_SmartRTL.cpp
+++ b/libraries/AP_SmartRTL/AP_SmartRTL.cpp
@@ -869,6 +869,7 @@ void AP_SmartRTL::deactivate(SRTL_Actions action, const char *reason)
     GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "SmartRTL deactivated: %s", reason);
 }
 
+#if HAL_LOGGING_ENABLED
 // logging
 void AP_SmartRTL::log_action(SRTL_Actions action, const Vector3f &point) const
 {
@@ -876,6 +877,7 @@ void AP_SmartRTL::log_action(SRTL_Actions action, const Vector3f &point) const
         AP::logger().Write_SRTL(_active, _path_points_count, _path_points_max, action, point);
     }
 }
+#endif
 
 // returns true if the two loops overlap (used within add_loop to determine which loops to keep or throw away)
 bool AP_SmartRTL::loops_overlap(const prune_loop_t &loop1, const prune_loop_t &loop2) const
diff --git a/libraries/AP_SmartRTL/AP_SmartRTL.h b/libraries/AP_SmartRTL/AP_SmartRTL.h
index a83cad692a0344..144762e512839d 100644
--- a/libraries/AP_SmartRTL/AP_SmartRTL.h
+++ b/libraries/AP_SmartRTL/AP_SmartRTL.h
@@ -3,6 +3,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/Bitmask.h>
 #include <AP_Math/AP_Math.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 // definitions and macros
 #define SMARTRTL_ACCURACY_DEFAULT        2.0f   // default _ACCURACY parameter value.  Points will be no closer than this distance (in meters) together.
@@ -172,8 +173,12 @@ class AP_SmartRTL {
     // de-activate SmartRTL, send warning to GCS and logger
     void deactivate(SRTL_Actions action, const char *reason);
 
+#if HAL_LOGGING_ENABLED
     // logging
     void log_action(SRTL_Actions action, const Vector3f &point = Vector3f()) const;
+#else
+    void log_action(SRTL_Actions action, const Vector3f &point = Vector3f()) const {}
+#endif
 
     // parameters
     AP_Float _accuracy;

From 7d798943fc5cf9705ce4185b8159d6e94a0e1860 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:08 +1000
Subject: [PATCH 0622/1335] AP_Soaring: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Soaring/AP_Soaring.cpp | 4 ++++
 libraries/AP_Soaring/Variometer.cpp | 6 +++++-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Soaring/AP_Soaring.cpp b/libraries/AP_Soaring/AP_Soaring.cpp
index 47279b5d7b5149..56fb621b19b7a8 100644
--- a/libraries/AP_Soaring/AP_Soaring.cpp
+++ b/libraries/AP_Soaring/AP_Soaring.cpp
@@ -337,6 +337,7 @@ void SoaringController::update_thermalling()
     _position_x_filter.apply(_ekf.X[2], deltaT);
     _position_y_filter.apply(_ekf.X[3], deltaT);
 
+#if HAL_LOGGING_ENABLED
     // write log - save the data.
     // @LoggerMessage: SOAR
     // @Vehicles: Plane
@@ -367,6 +368,7 @@ void SoaringController::update_thermalling()
                                            (double)wind_drift.x,
                                            (double)wind_drift.y,
                                            (double)_thermalability);
+#endif
 }
 
 void SoaringController::update_cruising()
@@ -388,6 +390,7 @@ void SoaringController::update_cruising()
     // Update the calculation.
     _speedToFly.update(wx, wz, thermal_vspeed, CLmin, CLmax);
 
+#if HAL_LOGGING_ENABLED
     AP::logger().WriteStreaming("SORC", "TimeUS,wx,wz,wexp,CLmin,CLmax,Vopt", "Qffffff",
                                        AP_HAL::micros64(),
                                        (double)wx,
@@ -396,6 +399,7 @@ void SoaringController::update_cruising()
                                        (double)CLmin,
                                        (double)CLmax,
                                        (double)_speedToFly.speed_to_fly());
+#endif
 }
 
 void SoaringController::update_vario()
diff --git a/libraries/AP_Soaring/Variometer.cpp b/libraries/AP_Soaring/Variometer.cpp
index 835e32ea71d0a3..c3ed0fc0cd24e6 100644
--- a/libraries/AP_Soaring/Variometer.cpp
+++ b/libraries/AP_Soaring/Variometer.cpp
@@ -79,6 +79,7 @@ void Variometer::update(const float thermal_bank)
 
     _expected_thermalling_sink = calculate_aircraft_sinkrate(radians(thermal_bank));
 
+#if HAL_LOGGING_ENABLED
 // @LoggerMessage: VAR
 // @Vehicles: Plane
 // @Description: Variometer data
@@ -107,9 +108,12 @@ void Variometer::update(const float thermal_bank)
                        (double)_expected_thermalling_sink,
                        (double)dsp,
                        (double)dsp_bias);
+#else
+    (void)filtered_reading;
+    (void)smoothed_climb_rate;
+#endif
 }
 
-
 float Variometer::calculate_aircraft_sinkrate(float phi) const
 {
     // Remove aircraft sink rate

From 512c1f030fd3a9a6fd95685dbc5a5e69f79c6f75 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:08 +1000
Subject: [PATCH 0623/1335] AP_TECS: allow compilation with HAL_LOGGING_ENABLED
 false

---
 libraries/AP_TECS/AP_TECS.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index 7ca36846257b06..c5aaeabc0e082d 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -788,6 +788,7 @@ void AP_TECS::_update_throttle_with_airspeed(void)
         // Sum the components.
         _throttle_dem = _throttle_dem + _integTHR_state;
 
+#if HAL_LOGGING_ENABLED
         if (AP::logger().should_log(_log_bitmask)){
             AP::logger().WriteStreaming("TEC3","TimeUS,KED,PED,KEDD,PEDD,TEE,TEDE,FFT,Imin,Imax,I,Emin,Emax",
                                         "Qffffffffffff",
@@ -805,6 +806,7 @@ void AP_TECS::_update_throttle_with_airspeed(void)
                                         (double)SPE_err_min,
                                         (double)SPE_err_max);
         }
+#endif
     }
 
     // Constrain throttle demand and record clipping
@@ -1057,6 +1059,7 @@ void AP_TECS::_update_pitch(void)
 
     _last_pitch_dem = _pitch_dem;
 
+#if HAL_LOGGING_ENABLED
     if (AP::logger().should_log(_log_bitmask)){
         // log to AP_Logger
         // @LoggerMessage: TEC2
@@ -1094,6 +1097,7 @@ void AP_TECS::_update_pitch(void)
                                     (double)_PITCHminf,
                                     (double)_PITCHmaxf);
     }
+#endif
 }
 
 void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)
@@ -1372,6 +1376,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
         _flags.badDescent = false;
     }
 
+#if HAL_LOGGING_ENABLED
     if (AP::logger().should_log(_log_bitmask)){
         // log to AP_Logger
         // @LoggerMessage: TECS
@@ -1414,4 +1419,5 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
                                     (double)_TAS_rate_dem,
                                     _flags_byte);
     }
+#endif
 }

From 3ae9e36bd3b20df344f47cad4021fd8b4a0c85f9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:08 +1000
Subject: [PATCH 0624/1335] AP_TemperatureSensor: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.cpp b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.cpp
index 4aadb2cf49a03f..e1a68421e2b693 100644
--- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.cpp
+++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.cpp
@@ -40,6 +40,7 @@ bool AP_TemperatureSensor_Backend::healthy(void) const
     return (_state.last_time_ms > 0) && (AP_HAL::millis() - _state.last_time_ms < 5000);
 }
 
+#if HAL_LOGGING_ENABLED
 void AP_TemperatureSensor_Backend::Log_Write_TEMP() const
 {
     AP::logger().Write("TEMP",
@@ -49,6 +50,7 @@ void AP_TemperatureSensor_Backend::Log_Write_TEMP() const
             "Q"               "B"           "f"    , // types
      AP_HAL::micros64(), _state.instance, _state.temperature);
 }
+#endif
 
 void AP_TemperatureSensor_Backend::set_temperature(const float temperature)
 {

From 573a7b172ea9b2a5bedcef3f95ec80c5b5b0ec46 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:08 +1000
Subject: [PATCH 0625/1335] AP_Terrain: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Terrain/AP_Terrain.cpp | 3 +++
 libraries/AP_Terrain/AP_Terrain.h   | 3 +++
 2 files changed, 6 insertions(+)

diff --git a/libraries/AP_Terrain/AP_Terrain.cpp b/libraries/AP_Terrain/AP_Terrain.cpp
index 7e9e75403662ec..d2aab8bf1d8aba 100644
--- a/libraries/AP_Terrain/AP_Terrain.cpp
+++ b/libraries/AP_Terrain/AP_Terrain.cpp
@@ -26,6 +26,7 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <AP_Filesystem/AP_Filesystem.h>
+#include <AP_Rally/AP_Rally.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -439,6 +440,7 @@ bool AP_Terrain::pre_arm_checks(char *failure_msg, uint8_t failure_msg_len) cons
     return true;
 }
 
+#if HAL_LOGGING_ENABLED
 void AP_Terrain::log_terrain_data()
 {
     if (!allocate()) {
@@ -472,6 +474,7 @@ void AP_Terrain::log_terrain_data()
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
+#endif
 
 /*
   allocate terrain cache. Making this dynamically allocated allows
diff --git a/libraries/AP_Terrain/AP_Terrain.h b/libraries/AP_Terrain/AP_Terrain.h
index ff55ce0dbbcb05..8a6be4579db06c 100644
--- a/libraries/AP_Terrain/AP_Terrain.h
+++ b/libraries/AP_Terrain/AP_Terrain.h
@@ -27,6 +27,7 @@
 #include <AP_Common/Location.h>
 #include <AP_Param/AP_Param.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 #define TERRAIN_DEBUG 0
 
@@ -172,10 +173,12 @@ class AP_Terrain {
      */
     float lookahead(float bearing, float distance, float climb_ratio);
 
+#if HAL_LOGGING_ENABLED
     /*
       log terrain status to AP_Logger
      */
     void log_terrain_data();
+#endif
 
     /*
       get some statistics for TERRAIN_REPORT

From 6c10b384422bc7e359587aa9507093e518fb5731 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:08 +1000
Subject: [PATCH 0626/1335] AP_Torqeedo: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Torqeedo/AP_Torqeedo.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/libraries/AP_Torqeedo/AP_Torqeedo.cpp b/libraries/AP_Torqeedo/AP_Torqeedo.cpp
index 1fd14eded794b3..fab624127f46ac 100644
--- a/libraries/AP_Torqeedo/AP_Torqeedo.cpp
+++ b/libraries/AP_Torqeedo/AP_Torqeedo.cpp
@@ -564,6 +564,7 @@ void AP_Torqeedo::parse_message()
                         esc_temp,
                         motor_temp);
 
+#if HAL_LOGGING_ENABLED
                 // log data
                 if ((_options & options::LOG) != 0) {
                     // @LoggerMessage: TRST
@@ -592,6 +593,7 @@ void AP_Torqeedo::parse_message()
                                       _display_system_state.batt_voltage,
                                       _display_system_state.batt_current);
                 }
+#endif
 
                 // send to GCS
                 if ((_options & options::DEBUG_TO_GCS) != 0) {
@@ -625,6 +627,7 @@ void AP_Torqeedo::parse_message()
                 _display_system_setup.batt_type = _received_buff[9];
                 _display_system_setup.master_sw_version =  UINT16_VALUE(_received_buff[10], _received_buff[11]);
 
+#if HAL_LOGGING_ENABLED
                 // log data
                 if ((_options & options::LOG) != 0) {
                     // @LoggerMessage: TRSE
@@ -647,6 +650,7 @@ void AP_Torqeedo::parse_message()
                                        _display_system_setup.batt_type,
                                        _display_system_setup.master_sw_version);
                 }
+#endif
 
                 // send to GCS
                 if ((_options & options::DEBUG_TO_GCS) != 0) {
@@ -694,6 +698,7 @@ void AP_Torqeedo::parse_message()
                         _motor_param.pcb_temp,      // esc temp
                         _motor_param.stator_temp);  // motor temp
 
+#if HAL_LOGGING_ENABLED
                 // log data
                 if ((_options & options::LOG) != 0) {
                     // @LoggerMessage: TRMP
@@ -714,6 +719,7 @@ void AP_Torqeedo::parse_message()
                                        _motor_param.pcb_temp,
                                        _motor_param.stator_temp);
                 }
+#endif
 
                 // send to GCS
                 if ((_options & options::DEBUG_TO_GCS) != 0) {
@@ -736,6 +742,7 @@ void AP_Torqeedo::parse_message()
                 _motor_status.status_flags_value = _received_buff[2];
                 _motor_status.error_flags_value = UINT16_VALUE(_received_buff[3], _received_buff[4]);
 
+#if HAL_LOGGING_ENABLED
                 // log data
                 if ((_options & options::LOG) != 0) {
                     // @LoggerMessage: TRMS
@@ -748,6 +755,7 @@ void AP_Torqeedo::parse_message()
                                        _motor_status.status_flags_value,
                                        _motor_status.error_flags_value);
                 }
+#endif
 
                 // send to GCS
                 if ((_options & options::DEBUG_TO_GCS) != 0) {
@@ -1084,6 +1092,7 @@ void AP_Torqeedo::log_TRQD(bool force_logging)
     const bool health = healthy();
     int16_t actual_motor_speed = get_motor_speed_limited();
 
+#if HAL_LOGGING_ENABLED
     if ((_options & options::LOG) != 0) {
         // @LoggerMessage: TRQD
         // @Description: Torqeedo Status
@@ -1101,6 +1110,7 @@ void AP_Torqeedo::log_TRQD(bool force_logging)
                            _parse_success_count,
                            _parse_error_count);
     }
+#endif
 
     if ((_options & options::DEBUG_TO_GCS) != 0) {
         GCS_SEND_TEXT(MAV_SEVERITY_INFO,"TRQD h:%u dspd:%d spd:%d succ:%ld err:%ld",

From 62ac11666921bb504460b9b9bed1cb9ec3f89a84 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:08 +1000
Subject: [PATCH 0627/1335] AP_Tuning: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Tuning/AP_Tuning.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_Tuning/AP_Tuning.cpp b/libraries/AP_Tuning/AP_Tuning.cpp
index b07aec2d8e6510..490416fdab8405 100644
--- a/libraries/AP_Tuning/AP_Tuning.cpp
+++ b/libraries/AP_Tuning/AP_Tuning.cpp
@@ -227,10 +227,14 @@ void AP_Tuning::check_input(uint8_t flightmode)
     changed = true;
     need_revert |= (1U << current_parm_index);
     set_value(current_parm, new_value);
+
+#if HAL_LOGGING_ENABLED
     Log_Write_Parameter_Tuning(new_value);
+#endif
 }
 
 
+#if HAL_LOGGING_ENABLED
 /*
   log a tuning change
  */
@@ -250,6 +254,7 @@ void AP_Tuning::Log_Write_Parameter_Tuning(float value)
                                            (double)value,
                                            (double)center_value);
 }
+#endif
 
 /*
   save parameters in the set

From 1b288416e161831bd0da4e8a786fee31f40c7f1f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:08 +1000
Subject: [PATCH 0628/1335] AP_Vehicle: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index c94a4c2ee1b5a0..83a0e80fc76fb8 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -476,7 +476,7 @@ void AP_Vehicle::loop()
     }
     const uint32_t new_internal_errors = AP::internalerror().errors();
     if(_last_internal_errors != new_internal_errors) {
-        AP::logger().Write_Error(LogErrorSubsystem::INTERNAL_ERROR, LogErrorCode::INTERNAL_ERRORS_DETECTED);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::INTERNAL_ERROR, LogErrorCode::INTERNAL_ERRORS_DETECTED);
         GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Internal Errors 0x%x", (unsigned)new_internal_errors);
         _last_internal_errors = new_internal_errors;
     }
@@ -598,10 +598,12 @@ void AP_Vehicle::scheduler_delay_callback()
 
     static uint32_t last_1hz, last_50hz, last_5s;
 
+#if HAL_LOGGING_ENABLED
     AP_Logger &logger = AP::logger();
 
     // don't allow potentially expensive logging calls:
     logger.EnableWrites(false);
+#endif
 
     const uint32_t tnow = AP_HAL::millis();
     if (tnow - last_1hz > 1000) {
@@ -626,7 +628,9 @@ void AP_Vehicle::scheduler_delay_callback()
         }
     }
 
+#if HAL_LOGGING_ENABLED
     logger.EnableWrites(true);
+#endif
 }
 
 // if there's been a watchdog reset, notify the world via a statustext:
@@ -807,7 +811,7 @@ void AP_Vehicle::update_dynamic_notch_at_specified_rate()
 void AP_Vehicle::notify_no_such_mode(uint8_t mode_number)
 {
     GCS_SEND_TEXT(MAV_SEVERITY_WARNING,"No such mode %u", mode_number);
-    AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode_number));
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode_number));
 }
 
 // reboot the vehicle in an orderly manner, doing various cleanups and

From 03be6e13b75884a7f073c0ddd7c1296355e5f1d9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:09 +1000
Subject: [PATCH 0629/1335] AP_VisualOdom: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp   | 2 ++
 libraries/AP_VisualOdom/AP_VisualOdom_Backend.h     | 4 ++++
 libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp | 4 ++++
 libraries/AP_VisualOdom/AP_VisualOdom_Logging.cpp   | 3 ++-
 libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp       | 5 +++++
 5 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
index 568a4b6a0112d9..051981041d8421 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
@@ -66,11 +66,13 @@ void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_messa
                                   _frontend.get_pos_offset());
 #endif
 
+#if HAL_LOGGING_ENABLED
     // log sensor data
     Write_VisualOdom(time_delta_sec,
                                   angle_delta,
                                   position_delta,
                                   packet.confidence);
+#endif
 }
 #endif  // HAL_GCS_ENABLED
 
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
index ce2033ca4ce2f2..9f5225aa9e9a4d 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
@@ -18,6 +18,8 @@
 
 #if HAL_VISUALODOM_ENABLED
 
+#include <AP_Logger/AP_Logger_config.h>
+
 class AP_VisualOdom_Backend
 {
 public:
@@ -57,10 +59,12 @@ class AP_VisualOdom_Backend
         return _frontend.get_type();
     }
 
+#if HAL_LOGGING_ENABLED
     // Logging Functions
     void Write_VisualOdom(float time_delta, const Vector3f &angle_delta, const Vector3f &position_delta, float confidence);
     void Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter, bool ignored);
     void Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, bool ignored);
+#endif
 
     AP_VisualOdom &_frontend;   // reference to frontend
     uint32_t _last_update_ms;   // system time of last update from sensor (used by health checks)
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
index ebec6eebdd0e91..cc063d85901049 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
@@ -72,8 +72,10 @@ void AP_VisualOdom_IntelT265::handle_pose_estimate(uint64_t remote_time_us, uint
     float yaw;
     att.to_euler(roll, pitch, yaw);
 
+#if HAL_LOGGING_ENABLED
     // log sensor data
     Write_VisualPosition(remote_time_us, time_ms, pos.x, pos.y, pos.z, degrees(roll), degrees(pitch), wrap_360(degrees(yaw)), posErr, angErr, reset_counter, !consume);
+#endif
 
     // store corrected attitude for use in pre-arm checks
     _attitude_last = att;
@@ -99,7 +101,9 @@ void AP_VisualOdom_IntelT265::handle_vision_speed_estimate(uint64_t remote_time_
     // record time for health monitoring
     _last_update_ms = AP_HAL::millis();
 
+#if HAL_LOGGING_ENABLED
     Write_VisualVelocity(remote_time_us, time_ms, vel_corrected, reset_counter, !consume);
+#endif
 }
 
 // apply rotation and correction to position
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Logging.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_Logging.cpp
index 36486b1e4a9f20..4a92a983606f8c 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Logging.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Logging.cpp
@@ -1,6 +1,7 @@
 #include "AP_VisualOdom_Backend.h"
+#include <AP_Logger/AP_Logger_config.h>
 
-#if HAL_VISUALODOM_ENABLED
+#if HAL_VISUALODOM_ENABLED && HAL_LOGGING_ENABLED
 
 #include <AP_Logger/AP_Logger.h>
 
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
index 0117e56af84575..5e4af959fabcda 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
@@ -21,6 +21,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
+#include <AP_Logger/AP_Logger.h>
 
 // consume vision pose estimate data and send to EKF. distances in meters
 void AP_VisualOdom_MAV::handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter)
@@ -39,8 +40,10 @@ void AP_VisualOdom_MAV::handle_pose_estimate(uint64_t remote_time_us, uint32_t t
     float yaw;
     attitude.to_euler(roll, pitch, yaw);
 
+#if HAL_LOGGING_ENABLED
     // log sensor data
     Write_VisualPosition(remote_time_us, time_ms, pos.x, pos.y, pos.z, degrees(roll), degrees(pitch), degrees(yaw), posErr, angErr, reset_counter, false);
+#endif
 
     // record time for health monitoring
     _last_update_ms = AP_HAL::millis();
@@ -54,7 +57,9 @@ void AP_VisualOdom_MAV::handle_vision_speed_estimate(uint64_t remote_time_us, ui
     // record time for health monitoring
     _last_update_ms = AP_HAL::millis();
 
+#if HAL_LOGGING_ENABLED
     Write_VisualVelocity(remote_time_us, time_ms, vel, reset_counter, false);
+#endif
 }
 
 #endif  // AP_VISUALODOM_MAV_ENABLED

From 9de01998c39b9c905205c740319b005ec8839f6c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:09 +1000
Subject: [PATCH 0630/1335] AP_WheelEncoder: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_WheelEncoder/AP_WheelEncoder.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_WheelEncoder/AP_WheelEncoder.cpp b/libraries/AP_WheelEncoder/AP_WheelEncoder.cpp
index 2ca8cde3a34e38..610a7cd8e2bd7e 100644
--- a/libraries/AP_WheelEncoder/AP_WheelEncoder.cpp
+++ b/libraries/AP_WheelEncoder/AP_WheelEncoder.cpp
@@ -201,6 +201,7 @@ void AP_WheelEncoder::update(void)
     }
 }
 
+#if HAL_LOGGING_ENABLED
 // log wheel encoder information
 void AP_WheelEncoder::Log_Write() const
 {
@@ -219,6 +220,7 @@ void AP_WheelEncoder::Log_Write() const
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
+#endif
 
 // check if an instance is healthy
 bool AP_WheelEncoder::healthy(uint8_t instance) const

From 8801b78a9cac2ee84b89a49796befe590df34a6c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:09 +1000
Subject: [PATCH 0631/1335] AP_Winch: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Winch/AP_Winch.cpp       | 2 ++
 libraries/AP_Winch/AP_Winch.h         | 3 +++
 libraries/AP_Winch/AP_Winch_Backend.h | 4 ++++
 libraries/AP_Winch/AP_Winch_Daiwa.cpp | 2 ++
 libraries/AP_Winch/AP_Winch_Daiwa.h   | 2 ++
 libraries/AP_Winch/AP_Winch_PWM.cpp   | 2 ++
 libraries/AP_Winch/AP_Winch_PWM.h     | 2 ++
 7 files changed, 17 insertions(+)

diff --git a/libraries/AP_Winch/AP_Winch.cpp b/libraries/AP_Winch/AP_Winch.cpp
index 4a3a41db4021e9..5738fdfea957b0 100644
--- a/libraries/AP_Winch/AP_Winch.cpp
+++ b/libraries/AP_Winch/AP_Winch.cpp
@@ -159,7 +159,9 @@ bool AP_Winch::pre_arm_check(char *failmsg, uint8_t failmsg_len) const
     }
 
 PASS_TO_BACKEND(update)
+#if HAL_LOGGING_ENABLED
 PASS_TO_BACKEND(write_log)
+#endif
 
 #undef PASS_TO_BACKEND
 
diff --git a/libraries/AP_Winch/AP_Winch.h b/libraries/AP_Winch/AP_Winch.h
index df1ecf9c896c8c..8a3b0f72a82179 100644
--- a/libraries/AP_Winch/AP_Winch.h
+++ b/libraries/AP_Winch/AP_Winch.h
@@ -23,6 +23,7 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_Param/AP_Param.h>
 #include <AC_PID/AC_PID.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 class AP_Winch_Backend;
 
@@ -64,8 +65,10 @@ class AP_Winch {
     // send status to ground station
     void send_status(const class GCS_MAVLINK &channel);
 
+#if HAL_LOGGING_ENABLED
     // write log
     void write_log();
+#endif
 
     // returns true if pre arm checks have passed
     bool pre_arm_check(char *failmsg, uint8_t failmsg_len) const;
diff --git a/libraries/AP_Winch/AP_Winch_Backend.h b/libraries/AP_Winch/AP_Winch_Backend.h
index 0504a753db86b0..d03adde34595b1 100644
--- a/libraries/AP_Winch/AP_Winch_Backend.h
+++ b/libraries/AP_Winch/AP_Winch_Backend.h
@@ -19,6 +19,8 @@
 
 #if AP_WINCH_ENABLED
 
+#include <AP_Logger/AP_Logger_config.h>
+
 class AP_Winch_Backend {
 public:
     AP_Winch_Backend(struct AP_Winch::Backend_Config &_config) :
@@ -39,8 +41,10 @@ class AP_Winch_Backend {
     // send status to ground station
     virtual void send_status(const GCS_MAVLINK &channel) = 0;
 
+#if HAL_LOGGING_ENABLED
     // write log
     virtual void write_log() = 0;
+#endif
 
     // helper to check if option enabled
     bool option_enabled(AP_Winch::Options option) const {
diff --git a/libraries/AP_Winch/AP_Winch_Daiwa.cpp b/libraries/AP_Winch/AP_Winch_Daiwa.cpp
index d80a8f58760d3c..88f61844726317 100644
--- a/libraries/AP_Winch/AP_Winch_Daiwa.cpp
+++ b/libraries/AP_Winch/AP_Winch_Daiwa.cpp
@@ -86,6 +86,7 @@ void AP_Winch_Daiwa::send_status(const GCS_MAVLINK &channel)
         status_bitmask);
 }
 
+#if HAL_LOGGING_ENABLED
 // write log
 void AP_Winch_Daiwa::write_log()
 {
@@ -102,6 +103,7 @@ void AP_Winch_Daiwa::write_log()
             latest.voltage,
             constrain_int16(latest.motor_temp, INT8_MIN, INT8_MAX));
 }
+#endif
 
 // read incoming data from winch and update intermediate and latest structures
 void AP_Winch_Daiwa::read_data_from_winch()
diff --git a/libraries/AP_Winch/AP_Winch_Daiwa.h b/libraries/AP_Winch/AP_Winch_Daiwa.h
index 301a73d9e9b070..a49eb9e58fa3f2 100644
--- a/libraries/AP_Winch/AP_Winch_Daiwa.h
+++ b/libraries/AP_Winch/AP_Winch_Daiwa.h
@@ -52,8 +52,10 @@ class AP_Winch_Daiwa : public AP_Winch_Backend {
     // send status to ground station
     void send_status(const GCS_MAVLINK &channel) override;
 
+#if HAL_LOGGING_ENABLED
     // write log
     void write_log() override;
+#endif
 
 private:
 
diff --git a/libraries/AP_Winch/AP_Winch_PWM.cpp b/libraries/AP_Winch/AP_Winch_PWM.cpp
index ba8d89a8c4498b..7607cd97e26a46 100644
--- a/libraries/AP_Winch/AP_Winch_PWM.cpp
+++ b/libraries/AP_Winch/AP_Winch_PWM.cpp
@@ -93,6 +93,7 @@ void AP_Winch_PWM::send_status(const GCS_MAVLINK &channel)
 }
 
 // write log
+#if HAL_LOGGING_ENABLED
 void AP_Winch_PWM::write_log()
 {
     AP::logger().Write_Winch(
@@ -108,5 +109,6 @@ void AP_Winch_PWM::write_log()
             0,              // voltage (unsupported)
             0);             // temp (unsupported)
 }
+#endif
 
 #endif  // AP_WINCH_PWM_ENABLED
diff --git a/libraries/AP_Winch/AP_Winch_PWM.h b/libraries/AP_Winch/AP_Winch_PWM.h
index 58ef71f3c6bbc1..9fd6ff2eda6aad 100644
--- a/libraries/AP_Winch/AP_Winch_PWM.h
+++ b/libraries/AP_Winch/AP_Winch_PWM.h
@@ -36,8 +36,10 @@ class AP_Winch_PWM : public AP_Winch_Backend {
     // send status to ground station
     void send_status(const GCS_MAVLINK &channel) override;
 
+#if HAL_LOGGING_ENABLED
     // write log
     void write_log() override;
+#endif
 
 private:
 

From 4cf71de64689d414dbd19c7d23d739b14ae163a4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:09 +1000
Subject: [PATCH 0632/1335] GCS_MAVLink: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/GCS_MAVLink/GCS.cpp                 |  1 +
 libraries/GCS_MAVLink/GCS_Common.cpp          | 25 ++++++++++++++++++-
 libraries/GCS_MAVLink/GCS_Param.cpp           |  6 ++++-
 .../GCS_MAVLink/MissionItemProtocol_Rally.cpp |  2 ++
 .../MissionItemProtocol_Waypoints.cpp         |  2 ++
 5 files changed, 34 insertions(+), 2 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index f79133297f16ad..ee191bdef24a27 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -17,6 +17,7 @@
 #include <AP_VisualOdom/AP_VisualOdom.h>
 #include <AP_Notify/AP_Notify.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
+#include <AP_GPS/AP_GPS.h>
 
 #include "MissionItemProtocol_Waypoints.h"
 #include "MissionItemProtocol_Rally.h"
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index b5afa34ea05577..e72ed983fa9790 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -872,10 +872,12 @@ void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg, bool log_rad
     }
 #endif
 
+#if HAL_LOGGING_ENABLED
     //log rssi, noise, etc if logging Performance monitoring data
     if (log_radio) {
         AP::logger().Write_Radio(packet);
     }
+#endif
 }
 
 void GCS_MAVLINK::handle_mission_item(const mavlink_message_t &msg)
@@ -1838,6 +1840,7 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
         }
     }
 
+#if HAL_LOGGING_ENABLED
     // consider logging mavlink stats:
     if (is_active() || is_streaming()) {
         if (tnow - last_mavlink_stats_logged > 1000) {
@@ -1845,6 +1848,7 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
             last_mavlink_stats_logged = tnow;
         }
     }
+#endif
 
 #if GCS_DEBUG_SEND_MESSAGE_TIMINGS
 
@@ -1921,6 +1925,7 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
 #endif
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   record stats about this link to logger
 */
@@ -1957,6 +1962,7 @@ void GCS_MAVLINK::log_mavlink_stats()
 
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
+#endif
 
 /*
   send the SYSTEM_TIME message
@@ -2279,12 +2285,14 @@ void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, u
         }
     } while (false);
 
+#if HAL_LOGGING_ENABLED
     // given we don't really know what these methods get up to, we
     // don't hold the statustext semaphore while doing them:
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger != nullptr) {
         logger->Write_Message(first_piece_of_text);
     }
+#endif
 
 #if AP_FRSKY_TELEM_ENABLED
     frsky = AP::frsky_telem();
@@ -3394,13 +3402,15 @@ void GCS_MAVLINK::handle_timesync(const mavlink_message_t &msg)
             // response to an ancient request...
             return;
         }
-        const uint64_t round_trip_time_us = (timesync_receive_timestamp_ns() - _timesync_request.sent_ts1)*0.001f;
 #if 0
         gcs().send_text(MAV_SEVERITY_INFO,
                         "timesync response sysid=%u (latency=%fms)",
                         msg.sysid,
                         round_trip_time_us*0.001f);
 #endif
+
+#if HAL_LOGGING_ENABLED
+        const uint64_t round_trip_time_us = (timesync_receive_timestamp_ns() - _timesync_request.sent_ts1)*0.001f;
         AP_Logger *logger = AP_Logger::get_singleton();
         if (logger != nullptr) {
             AP::logger().Write(
@@ -3414,6 +3424,7 @@ void GCS_MAVLINK::handle_timesync(const mavlink_message_t &msg)
                 round_trip_time_us
                 );
         }
+#endif  // HAL_LOGGING_ENABLED
         return;
     }
 
@@ -3452,6 +3463,7 @@ void GCS_MAVLINK::send_timesync()
 
 void GCS_MAVLINK::handle_statustext(const mavlink_message_t &msg) const
 {
+#if HAL_LOGGING_ENABLED
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger == nullptr) {
         return;
@@ -3476,6 +3488,7 @@ void GCS_MAVLINK::handle_statustext(const mavlink_message_t &msg) const
     memcpy(&text[offset], packet.text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
 
     logger->Write_Message(text);
+#endif
 }
 
 
@@ -3484,6 +3497,7 @@ void GCS_MAVLINK::handle_statustext(const mavlink_message_t &msg) const
  */
 void GCS_MAVLINK::handle_named_value(const mavlink_message_t &msg) const
 {
+#if HAL_LOGGING_ENABLED
     auto *logger = AP_Logger::get_singleton();
     if (logger == nullptr) {
         return;
@@ -3499,6 +3513,7 @@ void GCS_MAVLINK::handle_named_value(const mavlink_message_t &msg) const
                   p.value,
                   msg.sysid,
                   msg.compid);
+#endif
 }
 
 #if AP_RTC_ENABLED
@@ -3546,7 +3561,9 @@ void GCS_MAVLINK::set_ekf_origin(const Location& loc)
         return;
     }
 
+#if HAL_LOGGING_ENABLED
     ahrs.Log_Write_Home_And_Origin();
+#endif
 
     // send ekf origin to GCS
     if (!try_send_message(MSG_ORIGIN)) {
@@ -3961,6 +3978,7 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
     case MAVLINK_MSG_ID_TIMESYNC:
         handle_timesync(msg);
         break;
+#if HAL_LOGGING_ENABLED
     case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
     case MAVLINK_MSG_ID_LOG_REQUEST_DATA:
     case MAVLINK_MSG_ID_LOG_ERASE:
@@ -3968,6 +3986,7 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
     case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS:
         AP::logger().handle_mavlink_msg(*this, msg);
         break;
+#endif
 
     case MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL:
         handle_file_transfer_protocol(msg);
@@ -4923,10 +4942,12 @@ void GCS_MAVLINK::handle_command_long(const mavlink_message_t &msg)
                                  msg.sysid,
                                  msg.compid);
 
+#if HAL_LOGGING_ENABLED
     // log the packet:
     mavlink_command_int_t packet_int;
     convert_COMMAND_LONG_to_COMMAND_INT(packet, packet_int);
     AP::logger().Write_Command(packet_int, msg.sysid, msg.compid, result, true);
+#endif
 
     hal.util->persistent_data.last_mavlink_cmd = 0;
 }
@@ -5313,7 +5334,9 @@ void GCS_MAVLINK::handle_command_int(const mavlink_message_t &msg)
                                  msg.sysid,
                                  msg.compid);
 
+#if HAL_LOGGING_ENABLED
     AP::logger().Write_Command(packet, msg.sysid, msg.compid, result);
+#endif
 
     hal.util->persistent_data.last_mavlink_cmd = 0;
 }
diff --git a/libraries/GCS_MAVLink/GCS_Param.cpp b/libraries/GCS_MAVLink/GCS_Param.cpp
index 75cc85b63f6c0a..a4c8c1df5182cb 100644
--- a/libraries/GCS_MAVLink/GCS_Param.cpp
+++ b/libraries/GCS_MAVLink/GCS_Param.cpp
@@ -314,11 +314,13 @@ void GCS_MAVLINK::handle_param_set(const mavlink_message_t &msg)
     if (force_save && (parameter_flags & AP_PARAM_FLAG_ENABLE)) {
         AP_Param::invalidate_count();
     }
-    
+
+#if HAL_LOGGING_ENABLED
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger != nullptr) {
         logger->Write_Parameter(key, vp->cast_to_float(var_type));
     }
+#endif
 }
 
 void GCS_MAVLINK::send_parameter_value(const char *param_name, ap_var_type param_type, float param_value)
@@ -351,11 +353,13 @@ void GCS::send_parameter_value(const char *param_name, ap_var_type param_type, f
     gcs().send_to_active_channels(MAVLINK_MSG_ID_PARAM_VALUE,
                                   (const char *)&packet);
 
+#if HAL_LOGGING_ENABLED
     // also log to AP_Logger
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger != nullptr) {
         logger->Write_Parameter(param_name, param_value);
     }
+#endif
 }
 
 
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp b/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp
index 8c9271884537cd..ee33e55188e35c 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Rally.cpp
@@ -43,7 +43,9 @@ MAV_MISSION_RESULT MissionItemProtocol_Rally::append_item(const mavlink_mission_
 
 MAV_MISSION_RESULT MissionItemProtocol_Rally::complete(const GCS_MAVLINK &_link)
 {
+#if HAL_LOGGING_ENABLED
     AP::logger().Write_Rally();
+#endif
     return MAV_MISSION_ACCEPTED;
 }
 
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp b/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp
index 311b27e157d85e..3605dc152b85f1 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Waypoints.cpp
@@ -58,7 +58,9 @@ bool MissionItemProtocol_Waypoints::clear_all_items()
 MAV_MISSION_RESULT MissionItemProtocol_Waypoints::complete(const GCS_MAVLINK &_link)
 {
     _link.send_text(MAV_SEVERITY_INFO, "Flight plan received");
+#if HAL_LOGGING_ENABLED
     AP::logger().Write_EntireMission();
+#endif
     return MAV_MISSION_ACCEPTED;
 }
 

From fdfe6eeb65029a9333c2461925a76340500f4d0a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:09 +1000
Subject: [PATCH 0633/1335] RC_Channel: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/RC_Channel/RC_Channel.cpp  | 9 +++++++--
 libraries/RC_Channel/RC_Channels.cpp | 2 ++
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index f3c6653f3478d9..cebb53ae2f9e54 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -877,14 +877,14 @@ void RC_Channel::do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag)
             return;
         }
         avoidance->enable();
-        AP::logger().Write_Event(LogEvent::AVOIDANCE_ADSB_ENABLE);
+        LOGGER_WRITE_EVENT(LogEvent::AVOIDANCE_ADSB_ENABLE);
         GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "ADSB Avoidance Enabled");
         return;
     }
 
     // disable AP_Avoidance
     avoidance->disable();
-    AP::logger().Write_Event(LogEvent::AVOIDANCE_ADSB_DISABLE);
+    LOGGER_WRITE_EVENT(LogEvent::AVOIDANCE_ADSB_DISABLE);
     GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "ADSB Avoidance Disabled");
 #endif
 }
@@ -1216,6 +1216,7 @@ bool RC_Channel::run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFun
 #endif
     const bool ret = do_aux_function(ch_option, pos);
 
+#if HAL_LOGGING_ENABLED
     // @LoggerMessage: AUXF
     // @Description: Auxiliary function invocation information
     // @Field: TimeUS: Time since system startup
@@ -1238,6 +1239,8 @@ bool RC_Channel::run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFun
         uint8_t(source),
         uint8_t(ret)
     );
+#endif
+
     return ret;
 }
 
@@ -1544,6 +1547,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
     }
 #endif
 
+#if HAL_LOGGING_ENABLED
     case AUX_FUNC::LOG_PAUSE: {
         AP_Logger *logger = AP_Logger::get_singleton();
         switch (ch_flag) {
@@ -1559,6 +1563,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
         }
         break;
     }
+#endif
 
 #if COMPASS_CAL_ENABLED
     case AUX_FUNC::MAG_CAL: {
diff --git a/libraries/RC_Channel/RC_Channels.cpp b/libraries/RC_Channel/RC_Channels.cpp
index 8578904f5a4603..0ecdaba6d9fbf9 100644
--- a/libraries/RC_Channel/RC_Channels.cpp
+++ b/libraries/RC_Channel/RC_Channels.cpp
@@ -169,10 +169,12 @@ void RC_Channels::read_aux_all()
         }
         need_log |= c->read_aux();
     }
+#if HAL_LOGGING_ENABLED
     if (need_log) {
         // guarantee that we log when a switch changes
         AP::logger().Write_RCIN();
     }
+#endif
 }
 
 void RC_Channels::init_aux_all()

From 7377b3f8f2336c43d9fbdf254c0df8612f46af87 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:09 +1000
Subject: [PATCH 0634/1335] ArduCopter: allow compilation with
 HAL_LOGGING_ENABLED false

---
 ArduCopter/AP_Arming.cpp      |  8 +++++++-
 ArduCopter/AP_State.cpp       |  8 ++++----
 ArduCopter/Copter.cpp         | 23 ++++++++++++++++++++---
 ArduCopter/Copter.h           |  4 ++++
 ArduCopter/GCS_Mavlink.cpp    |  4 ++++
 ArduCopter/Log.cpp            | 27 ++-------------------------
 ArduCopter/Parameters.cpp     |  2 ++
 ArduCopter/RC_Channel.cpp     | 16 ++++++++--------
 ArduCopter/avoidance_adsb.cpp |  6 ++++--
 ArduCopter/config.h           |  5 +----
 ArduCopter/crash_check.cpp    | 10 +++++-----
 ArduCopter/ekf_check.cpp      | 16 ++++++++--------
 ArduCopter/events.cpp         | 20 ++++++++++----------
 ArduCopter/failsafe.cpp       |  4 ++--
 ArduCopter/fence.cpp          |  4 ++--
 ArduCopter/heli.cpp           |  4 ++--
 ArduCopter/land_detector.cpp  |  4 +++-
 ArduCopter/mode.cpp           | 12 +++++++-----
 ArduCopter/mode.h             |  2 ++
 ArduCopter/mode_auto.cpp      | 14 ++++++++++----
 ArduCopter/mode_autotune.cpp  |  2 ++
 ArduCopter/mode_flip.cpp      |  6 +++---
 ArduCopter/mode_flowhold.cpp  |  5 +++++
 ArduCopter/mode_guided.cpp    | 25 +++++++++++++++++++++----
 ArduCopter/mode_land.cpp      |  2 +-
 ArduCopter/mode_rtl.cpp       | 16 +++++++++-------
 ArduCopter/mode_systemid.cpp  |  2 ++
 ArduCopter/mode_throw.cpp     |  6 ++++--
 ArduCopter/mode_zigzag.cpp    |  4 ++--
 ArduCopter/motors.cpp         |  4 ++--
 ArduCopter/radio.cpp          |  2 +-
 ArduCopter/system.cpp         | 10 +++++-----
 ArduCopter/terrain.cpp        |  2 ++
 ArduCopter/toy_mode.cpp       |  3 ++-
 ArduCopter/tuning.cpp         |  2 ++
 35 files changed, 170 insertions(+), 114 deletions(-)

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 72bc9addf073bf..30226a9020bbc5 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -694,8 +694,10 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
         return false;
     }
 
+#if HAL_LOGGING_ENABLED
     // let logger know that we're armed (it may open logs e.g.)
     AP::logger().set_vehicle_armed(true);
+#endif
 
     // disable cpu failsafe because initialising everything takes a while
     copter.failsafe_disable();
@@ -722,7 +724,7 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
     if (!ahrs.home_is_set()) {
         // Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
         ahrs.resetHeightDatum();
-        AP::logger().Write_Event(LogEvent::EKF_ALT_RESET);
+        LOGGER_WRITE_EVENT(LogEvent::EKF_ALT_RESET);
 
         // we have reset height, so arming height is zero
         copter.arming_altitude_m = 0;
@@ -755,8 +757,10 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
     // finally actually arm the motors
     copter.motors->armed(true);
 
+#if HAL_LOGGING_ENABLED
     // log flight mode in case it was changed while vehicle was disarmed
     AP::logger().Write_Mode((uint8_t)copter.flightmode->mode_number(), copter.control_mode_reason);
+#endif
 
     // re-enable failsafe
     copter.failsafe_enable();
@@ -837,7 +841,9 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
     copter.mode_auto.mission.reset();
 #endif
 
+#if HAL_LOGGING_ENABLED
     AP::logger().set_vehicle_armed(false);
+#endif
 
     hal.util->set_soft_armed(false);
 
diff --git a/ArduCopter/AP_State.cpp b/ArduCopter/AP_State.cpp
index a3e60e80763791..3fe709b83e756d 100644
--- a/ArduCopter/AP_State.cpp
+++ b/ArduCopter/AP_State.cpp
@@ -9,7 +9,7 @@ void Copter::set_auto_armed(bool b)
 
     ap.auto_armed = b;
     if(b){
-        AP::logger().Write_Event(LogEvent::AUTO_ARMED);
+        LOGGER_WRITE_EVENT(LogEvent::AUTO_ARMED);
     }
 }
 
@@ -24,17 +24,17 @@ void Copter::set_simple_mode(SimpleMode b)
     if (simple_mode != b) {
         switch (b) {
             case SimpleMode::NONE:
-                AP::logger().Write_Event(LogEvent::SET_SIMPLE_OFF);
+                LOGGER_WRITE_EVENT(LogEvent::SET_SIMPLE_OFF);
                 gcs().send_text(MAV_SEVERITY_INFO, "SIMPLE mode off");
                 break;
             case SimpleMode::SIMPLE:
-                AP::logger().Write_Event(LogEvent::SET_SIMPLE_ON);
+                LOGGER_WRITE_EVENT(LogEvent::SET_SIMPLE_ON);
                 gcs().send_text(MAV_SEVERITY_INFO, "SIMPLE mode on");
                 break;
             case SimpleMode::SUPERSIMPLE:
                 // initialise super simple heading
                 update_super_simple_bearing(true);
-                AP::logger().Write_Event(LogEvent::SET_SUPERSIMPLE_ON);
+                LOGGER_WRITE_EVENT(LogEvent::SET_SUPERSIMPLE_ON);
                 gcs().send_text(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on");
                 break;
         }
diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index c1218651342394..740bb95e5f45f0 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -143,7 +143,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     // camera mount's fast update
     FAST_TASK_CLASS(AP_Mount, &copter.camera_mount, update_fast),
 #endif
+#if HAL_LOGGING_ENABLED
     FAST_TASK(Log_Video_Stabilisation),
+#endif
 
     SCHED_TASK(rc_loop,              250,    130,  3),
     SCHED_TASK(throttle_loop,         50,     75,  6),
@@ -188,7 +190,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if FRAME_CONFIG == HELI_FRAME
     SCHED_TASK(check_dynamic_flight,  50,     75,  72),
 #endif
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     SCHED_TASK(loop_rate_logging, LOOP_RATE,    50,  75),
 #endif
     SCHED_TASK(one_hz_loop,            1,    100,  81),
@@ -209,14 +211,16 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if AP_CAMERA_ENABLED
     SCHED_TASK_CLASS(AP_Camera,            &copter.camera,              update,          50,  75, 111),
 #endif
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     SCHED_TASK(ten_hz_logging_loop,   10,    350, 114),
     SCHED_TASK(twentyfive_hz_logging, 25,    110, 117),
     SCHED_TASK_CLASS(AP_Logger,            &copter.logger,              periodic_tasks, 400, 300, 120),
 #endif
     SCHED_TASK_CLASS(AP_InertialSensor,    &copter.ins,                 periodic,       400,  50, 123),
 
+#if HAL_LOGGING_ENABLED
     SCHED_TASK_CLASS(AP_Scheduler,         &copter.scheduler,           update_logging, 0.1,  75, 126),
+#endif
 #if AP_RPM_ENABLED
     SCHED_TASK_CLASS(AP_RPM,               &copter.rpm_sensor,          update,          40, 200, 129),
 #endif
@@ -512,6 +516,7 @@ void Copter::update_batt_compass(void)
     }
 }
 
+#if HAL_LOGGING_ENABLED
 // Full rate logging of attitude, rate and pid loops
 // should be run at loop rate
 void Copter::loop_rate_logging()
@@ -609,6 +614,7 @@ void Copter::twentyfive_hz_logging()
     }
 #endif
 }
+#endif  // HAL_LOGGING_ENABLED
 
 // three_hz_loop - 3hz loop
 void Copter::three_hz_loop()
@@ -638,9 +644,11 @@ void Copter::three_hz_loop()
 // one_hz_loop - runs at 1Hz
 void Copter::one_hz_loop()
 {
+#if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_ANY)) {
         Log_Write_Data(LogDataID::AP_STATE, ap.value);
     }
+#endif
 
     if (!motors->armed()) {
         update_using_interlock();
@@ -657,8 +665,10 @@ void Copter::one_hz_loop()
     // update assigned functions and enable auxiliary servos
     SRV_Channels::enable_aux_servos();
 
+#if HAL_LOGGING_ENABLED
     // log terrain data
     terrain_logging();
+#endif
 
 #if HAL_ADSB_ENABLED
     adsb.set_is_flying(!ap.land_complete);
@@ -685,10 +695,12 @@ void Copter::init_simple_bearing()
     super_simple_cos_yaw = simple_cos_yaw;
     super_simple_sin_yaw = simple_sin_yaw;
 
+#if HAL_LOGGING_ENABLED
     // log the simple bearing
     if (should_log(MASK_LOG_ANY)) {
         Log_Write_Data(LogDataID::INIT_SIMPLE_BEARING, ahrs.yaw_sensor);
     }
+#endif
 }
 
 // update_simple_mode - rotates pilot input if we are in simple mode
@@ -757,6 +769,7 @@ void Copter::update_altitude()
     // read in baro altitude
     read_barometer();
 
+#if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_CTUN)) {
         Log_Write_Control_Tuning();
         if (!should_log(MASK_LOG_FTN_FAST)) {
@@ -766,6 +779,7 @@ void Copter::update_altitude()
 #endif
         }
     }
+#endif
 }
 
 // vehicle specific waypoint info helpers
@@ -808,7 +822,10 @@ bool Copter::get_rate_ef_targets(Vector3f& rate_ef_targets) const
   constructor for main Copter class
  */
 Copter::Copter(void)
-    : logger(g.log_bitmask),
+    :
+#if HAL_LOGGING_ENABLED
+    logger(g.log_bitmask),
+#endif
     flight_modes(&g.flight_mode1),
     simple_cos_yaw(1.0f),
     super_simple_cos_yaw(1.0),
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index bb468a39939a52..8685f4cb8f6262 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -252,7 +252,9 @@ class Copter : public AP_Vehicle {
     RC_Channel *channel_throttle;
     RC_Channel *channel_yaw;
 
+#if HAL_LOGGING_ENABLED
     AP_Logger logger;
+#endif
 
     // flight modes convenience array
     AP_Int8 *flight_modes;
@@ -836,6 +838,7 @@ class Copter : public AP_Vehicle {
     // standby.cpp
     void standby_update();
 
+#if HAL_LOGGING_ENABLED
     // Log.cpp
     void Log_Write_Control_Tuning();
     void Log_Write_Attitude();
@@ -857,6 +860,7 @@ class Copter : public AP_Vehicle {
     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_Vehicle_Startup_Messages();
     void log_init(void);
+#endif  // HAL_LOGGING_ENABLED
 
     // mode.cpp
     bool set_mode(Mode::Number mode, ModeReason reason);
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 7f86eabc8ef5ea..e07bd005d0275c 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1488,7 +1488,11 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
     case MAVLINK_MSG_ID_RADIO:
     case MAVLINK_MSG_ID_RADIO_STATUS:       // MAV ID: 109
     {
+#if HAL_LOGGING_ENABLED
         handle_radio_status(msg, copter.should_log(MASK_LOG_PM));
+#else
+        handle_radio_status(msg, false);
+#endif
         break;
     }
 
diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp
index 027544771d9112..4d9e4ef87b01b6 100644
--- a/ArduCopter/Log.cpp
+++ b/ArduCopter/Log.cpp
@@ -1,6 +1,6 @@
 #include "Copter.h"
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
 
 // Code to Write and Read packets from AP_Logger log memory
 // Code to interact with the user to dump or erase logs
@@ -576,27 +576,4 @@ void Copter::log_init(void)
     logger.Init(log_structure, ARRAY_SIZE(log_structure));
 }
 
-#else // LOGGING_ENABLED
-
-void Copter::Log_Write_Control_Tuning() {}
-void Copter::Log_Write_Attitude(void) {}
-void Copter::Log_Write_EKF_POS() {}
-void Copter::Log_Write_Data(LogDataID id, int32_t value) {}
-void Copter::Log_Write_Data(LogDataID id, uint32_t value) {}
-void Copter::Log_Write_Data(LogDataID id, int16_t value) {}
-void Copter::Log_Write_Data(LogDataID id, uint16_t value) {}
-void Copter::Log_Write_Data(LogDataID id, float value) {}
-void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {}
-void Copter::Log_Write_Guided_Position_Target(ModeGuided::SubMode target_type, const Vector3f& pos_target, bool terrain_alt, const Vector3f& vel_target, const Vector3f& accel_target) {}
-void Copter::Log_Write_Guided_Attitude_Target(ModeGuided::SubMode target_type, float roll, float pitch, float yaw, const Vector3f &ang_vel, float thrust, float climb_rate) {}
-void Copter::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 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_Vehicle_Startup_Messages() {}
-
-#if FRAME_CONFIG == HELI_FRAME
-void Copter::Log_Write_Heli() {}
-#endif
-
-void Copter::log_init(void) {}
-
-#endif // LOGGING_ENABLED
+#endif // HAL_LOGGING_ENABLED
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index e3b949b7c322f5..d1de6fe45d78fc 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -554,9 +554,11 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECT(camera_mount,           "MNT",  AP_Mount),
 #endif
 
+#if HAL_LOGGING_ENABLED
     // @Group: LOG
     // @Path: ../libraries/AP_Logger/AP_Logger.cpp
     GOBJECT(logger,           "LOG",  AP_Logger),
+#endif
 
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
index f400694b451b38..b613cb141aee43 100644
--- a/ArduCopter/RC_Channel.cpp
+++ b/ArduCopter/RC_Channel.cpp
@@ -229,7 +229,7 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
                     // only altitude will matter to the AP mission script for takeoff.
                     if (copter.mode_auto.mission.add_cmd(cmd)) {
                         // log event
-                        AP::logger().Write_Event(LogEvent::SAVEWP_ADD_WP);
+                        LOGGER_WRITE_EVENT(LogEvent::SAVEWP_ADD_WP);
                     }
                 }
 
@@ -247,7 +247,7 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
                 // save command
                 if (copter.mode_auto.mission.add_cmd(cmd)) {
                     // log event
-                    AP::logger().Write_Event(LogEvent::SAVEWP_ADD_WP);
+                    LOGGER_WRITE_EVENT(LogEvent::SAVEWP_ADD_WP);
                 }
             }
 #endif
@@ -276,15 +276,15 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
             switch(ch_flag) {
                 case AuxSwitchPos::LOW:
                     copter.g.acro_trainer.set((uint8_t)ModeAcro::Trainer::OFF);
-                    AP::logger().Write_Event(LogEvent::ACRO_TRAINER_OFF);
+                    LOGGER_WRITE_EVENT(LogEvent::ACRO_TRAINER_OFF);
                     break;
                 case AuxSwitchPos::MIDDLE:
                     copter.g.acro_trainer.set((uint8_t)ModeAcro::Trainer::LEVELING);
-                    AP::logger().Write_Event(LogEvent::ACRO_TRAINER_LEVELING);
+                    LOGGER_WRITE_EVENT(LogEvent::ACRO_TRAINER_LEVELING);
                     break;
                 case AuxSwitchPos::HIGH:
                     copter.g.acro_trainer.set((uint8_t)ModeAcro::Trainer::LIMITED);
-                    AP::logger().Write_Event(LogEvent::ACRO_TRAINER_LIMITED);
+                    LOGGER_WRITE_EVENT(LogEvent::ACRO_TRAINER_LIMITED);
                     break;
             }
 #endif
@@ -540,12 +540,12 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
             switch (ch_flag) {
                 case AuxSwitchPos::HIGH:
                     copter.standby_active = true;
-                    AP::logger().Write_Event(LogEvent::STANDBY_ENABLE);
+                    LOGGER_WRITE_EVENT(LogEvent::STANDBY_ENABLE);
                     gcs().send_text(MAV_SEVERITY_INFO, "Stand By Enabled");
                     break;
                 default:
                     copter.standby_active = false;
-                    AP::logger().Write_Event(LogEvent::STANDBY_DISABLE);
+                    LOGGER_WRITE_EVENT(LogEvent::STANDBY_DISABLE);
                     gcs().send_text(MAV_SEVERITY_INFO, "Stand By Disabled");
                     break;
                 }
@@ -683,7 +683,7 @@ void Copter::save_trim()
     float roll_trim = ToRad((float)channel_roll->get_control_in()/100.0f);
     float pitch_trim = ToRad((float)channel_pitch->get_control_in()/100.0f);
     ahrs.add_trim(roll_trim, pitch_trim);
-    AP::logger().Write_Event(LogEvent::SAVE_TRIM);
+    LOGGER_WRITE_EVENT(LogEvent::SAVE_TRIM);
     gcs().send_text(MAV_SEVERITY_INFO, "Trim saved");
 }
 
diff --git a/ArduCopter/avoidance_adsb.cpp b/ArduCopter/avoidance_adsb.cpp
index 85fee2d7525225..bd541c355117af 100644
--- a/ArduCopter/avoidance_adsb.cpp
+++ b/ArduCopter/avoidance_adsb.cpp
@@ -88,10 +88,12 @@ MAV_COLLISION_ACTION AP_Avoidance_Copter::handle_avoidance(const AP_Avoidance::O
         }
     }
 
+#if HAL_LOGGING_ENABLED
     if (failsafe_state_change) {
         AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_ADSB,
                                  LogErrorCode(actual_action));
     }
+#endif
 
     // return with action taken
     return actual_action;
@@ -102,8 +104,8 @@ void AP_Avoidance_Copter::handle_recovery(RecoveryAction recovery_action)
     // check we are coming out of failsafe
     if (copter.failsafe.adsb) {
         copter.failsafe.adsb = false;
-        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_ADSB,
-                                 LogErrorCode::ERROR_RESOLVED);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_ADSB,
+                           LogErrorCode::ERROR_RESOLVED);
 
         // restore flight mode if requested and user has not changed mode since
         if (copter.control_mode_reason == ModeReason::AVOIDANCE) {
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index ace8cc43f2edc3..97793741c9895f 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -239,7 +239,7 @@
 //////////////////////////////////////////////////////////////////////////////
 // System ID - conduct system identification tests on vehicle
 #ifndef MODE_SYSTEMID_ENABLED
-# define MODE_SYSTEMID_ENABLED ENABLED
+# define MODE_SYSTEMID_ENABLED HAL_LOGGING_ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -529,9 +529,6 @@
 //////////////////////////////////////////////////////////////////////////////
 // Logging control
 //
-#ifndef LOGGING_ENABLED
- # define LOGGING_ENABLED                ENABLED
-#endif
 
 // Default logging bitmask
 #ifndef DEFAULT_LOG_BITMASK
diff --git a/ArduCopter/crash_check.cpp b/ArduCopter/crash_check.cpp
index 786e56b5a0e522..2ce5d89420cc84 100644
--- a/ArduCopter/crash_check.cpp
+++ b/ArduCopter/crash_check.cpp
@@ -88,7 +88,7 @@ void Copter::crash_check()
 
     // check if crashing for 2 seconds
     if (crash_counter >= (CRASH_CHECK_TRIGGER_SEC * scheduler.get_loop_rate_hz())) {
-        AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_CRASH);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_CRASH);
         // send message to gcs
         gcs().send_text(MAV_SEVERITY_EMERGENCY,"Crash: Disarming: AngErr=%.0f>%.0f, Accel=%.1f<%.1f", angle_error, CRASH_CHECK_ANGLE_DEVIATION_DEG, filtered_acc, CRASH_CHECK_ACCEL_MAX);
         // disarm motors
@@ -163,7 +163,7 @@ void Copter::thrust_loss_check()
     if (thrust_loss_counter >= (THRUST_LOSS_CHECK_TRIGGER_SEC * scheduler.get_loop_rate_hz())) {
         // reset counter
         thrust_loss_counter = 0;
-        AP::logger().Write_Error(LogErrorSubsystem::THRUST_LOSS_CHECK, LogErrorCode::FAILSAFE_OCCURRED);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::THRUST_LOSS_CHECK, LogErrorCode::FAILSAFE_OCCURRED);
         // send message to gcs
         gcs().send_text(MAV_SEVERITY_EMERGENCY, "Potential Thrust Loss (%d)", (int)motors->get_lost_motor() + 1);
         // enable thrust loss handling
@@ -322,7 +322,7 @@ void Copter::parachute_check()
     } else if (control_loss_count >= (PARACHUTE_CHECK_TRIGGER_SEC*scheduler.get_loop_rate_hz())) {
         // reset control loss counter
         control_loss_count = 0;
-        AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_LOSS_OF_CONTROL);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_LOSS_OF_CONTROL);
         // release parachute
         parachute_release();
     }
@@ -357,7 +357,7 @@ void Copter::parachute_manual_release()
     if (ap.land_complete) {
         // warn user of reason for failure
         gcs().send_text(MAV_SEVERITY_INFO,"Parachute: Landed");
-        AP::logger().Write_Error(LogErrorSubsystem::PARACHUTES, LogErrorCode::PARACHUTE_LANDED);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::PARACHUTES, LogErrorCode::PARACHUTE_LANDED);
         return;
     }
 
@@ -365,7 +365,7 @@ void Copter::parachute_manual_release()
     if ((parachute.alt_min() != 0 && (current_loc.alt < (int32_t)parachute.alt_min() * 100))) {
         // warn user of reason for failure
         gcs().send_text(MAV_SEVERITY_ALERT,"Parachute: Too low");
-        AP::logger().Write_Error(LogErrorSubsystem::PARACHUTES, LogErrorCode::PARACHUTE_TOO_LOW);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::PARACHUTES, LogErrorCode::PARACHUTE_TOO_LOW);
         return;
     }
 
diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp
index 12a582d71c790a..87cbd20f6e7a34 100644
--- a/ArduCopter/ekf_check.cpp
+++ b/ArduCopter/ekf_check.cpp
@@ -80,7 +80,7 @@ void Copter::ekf_check()
                 // limit count from climbing too high
                 ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX;
                 ekf_check_state.bad_variance = true;
-                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE);
+                LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE);
                 // send message to gcs
                 if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
                     gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF variance");
@@ -97,7 +97,7 @@ void Copter::ekf_check()
             // if variances are flagged as bad and the counter reaches zero then clear flag
             if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) {
                 ekf_check_state.bad_variance = false;
-                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
+                LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
                 // clear failsafe
                 failsafe_ekf_off_event();
             }
@@ -156,7 +156,7 @@ void Copter::failsafe_ekf_event()
 {
     // EKF failsafe event has occurred
     failsafe.ekf = true;
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
 
     // if disarmed take no action
     if (!motors->armed()) {
@@ -207,7 +207,7 @@ void Copter::failsafe_ekf_off_event(void)
         AP_Notify::flags.failsafe_ekf = false;
         gcs().send_text(MAV_SEVERITY_CRITICAL, "EKF Failsafe Cleared");
     }
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED);
 }
 
 // re-check if the flight mode requires GPS but EKF failsafe is active
@@ -232,14 +232,14 @@ void Copter::check_ekf_reset()
     if (new_ekfYawReset_ms != ekfYawReset_ms) {
         attitude_control->inertial_frame_reset();
         ekfYawReset_ms = new_ekfYawReset_ms;
-        AP::logger().Write_Event(LogEvent::EKF_YAW_RESET);
+        LOGGER_WRITE_EVENT(LogEvent::EKF_YAW_RESET);
     }
 
     // check for change in primary EKF, reset attitude target and log.  AC_PosControl handles position target adjustment
     if ((ahrs.get_primary_core_index() != ekf_primary_core) && (ahrs.get_primary_core_index() != -1)) {
         attitude_control->inertial_frame_reset();
         ekf_primary_core = ahrs.get_primary_core_index();
-        AP::logger().Write_Error(LogErrorSubsystem::EKF_PRIMARY, LogErrorCode(ekf_primary_core));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::EKF_PRIMARY, LogErrorCode(ekf_primary_core));
         gcs().send_text(MAV_SEVERITY_WARNING, "EKF primary changed:%d", (unsigned)ekf_primary_core);
     }
 }
@@ -285,7 +285,7 @@ void Copter::check_vibration()
             vibration_check.clear_ms = 0;
             vibration_check.high_vibes = true;
             pos_control->set_vibe_comp(true);
-            AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_OCCURRED);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_OCCURRED);
             gcs().send_text(MAV_SEVERITY_CRITICAL, "Vibration compensation ON");
         }
     } else {
@@ -300,7 +300,7 @@ void Copter::check_vibration()
             vibration_check.high_vibes = false;
             pos_control->set_vibe_comp(false);
             vibration_check.clear_ms = 0;
-            AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_RESOLVED);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_RESOLVED);
             gcs().send_text(MAV_SEVERITY_CRITICAL, "Vibration compensation OFF");
         }
     }
diff --git a/ArduCopter/events.cpp b/ArduCopter/events.cpp
index 94077c5088040c..2160e222498b41 100644
--- a/ArduCopter/events.cpp
+++ b/ArduCopter/events.cpp
@@ -12,7 +12,7 @@ bool Copter::failsafe_option(FailsafeOption opt) const
 
 void Copter::failsafe_radio_on_event()
 {
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_OCCURRED);
 
     // set desired action based on FS_THR_ENABLE parameter
     FailsafeAction desired_action;
@@ -83,7 +83,7 @@ void Copter::failsafe_radio_off_event()
 {
     // no need to do anything except log the error as resolved
     // user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_RESOLVED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_RESOLVED);
     gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe Cleared");
 }
 
@@ -98,7 +98,7 @@ void Copter::announce_failsafe(const char *type, const char *action_undertaken)
 
 void Copter::handle_battery_failsafe(const char *type_str, const int8_t action)
 {
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_BATT, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_BATT, LogErrorCode::FAILSAFE_OCCURRED);
 
     FailsafeAction desired_action = (FailsafeAction)action;
 
@@ -162,7 +162,7 @@ void Copter::failsafe_gcs_check()
 // failsafe_gcs_on_event - actions to take when GCS contact is lost
 void Copter::failsafe_gcs_on_event(void)
 {
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_OCCURRED);
     RC_Channels::clear_overrides();
 
     // convert the desired failsafe response to the FailsafeAction enum
@@ -236,7 +236,7 @@ void Copter::failsafe_gcs_on_event(void)
 void Copter::failsafe_gcs_off_event(void)
 {
     gcs().send_text(MAV_SEVERITY_WARNING, "GCS Failsafe Cleared");
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_RESOLVED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_RESOLVED);
 }
 
 // executes terrain failsafe if data is missing for longer than a few seconds
@@ -251,7 +251,7 @@ void Copter::failsafe_terrain_check()
         if (trigger_event) {
             failsafe_terrain_on_event();
         } else {
-            AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::ERROR_RESOLVED);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::ERROR_RESOLVED);
             failsafe.terrain = false;
         }
     }
@@ -282,7 +282,7 @@ void Copter::failsafe_terrain_on_event()
 {
     failsafe.terrain = true;
     gcs().send_text(MAV_SEVERITY_CRITICAL,"Failsafe: Terrain data missing");
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::FAILSAFE_OCCURRED);
 
     if (should_disarm_on_failsafe()) {
         arming.disarm(AP_Arming::Method::TERRAINFAILSAFE);
@@ -306,10 +306,10 @@ void Copter::gpsglitch_check()
     if (ap.gps_glitching != gps_glitching) {
         ap.gps_glitching = gps_glitching;
         if (gps_glitching) {
-            AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::GPS_GLITCH);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::GPS, LogErrorCode::GPS_GLITCH);
             gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch or Compass error");
         } else {
-            AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::ERROR_RESOLVED);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::GPS, LogErrorCode::ERROR_RESOLVED);
             gcs().send_text(MAV_SEVERITY_CRITICAL,"Glitch cleared");
         }
     }
@@ -361,7 +361,7 @@ void Copter::failsafe_deadreckon_check()
         if (failsafe.deadreckon && copter.flightmode->requires_GPS()) {
 
             // log error
-            AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_DEADRECKON, LogErrorCode::FAILSAFE_OCCURRED);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_DEADRECKON, LogErrorCode::FAILSAFE_OCCURRED);
 
             // immediately disarm while landed
             if (should_disarm_on_failsafe()) {
diff --git a/ArduCopter/failsafe.cpp b/ArduCopter/failsafe.cpp
index 9adf95db03489b..88ae35572f7939 100644
--- a/ArduCopter/failsafe.cpp
+++ b/ArduCopter/failsafe.cpp
@@ -43,7 +43,7 @@ void Copter::failsafe_check()
         failsafe_last_timestamp = tnow;
         if (in_failsafe) {
             in_failsafe = false;
-            AP::logger().Write_Error(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_RESOLVED);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_RESOLVED);
         }
         return;
     }
@@ -58,7 +58,7 @@ void Copter::failsafe_check()
             motors->output_min();
         }
 
-        AP::logger().Write_Error(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_OCCURRED);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_OCCURRED);
     }
 
     if (failsafe_enabled && in_failsafe && tnow - failsafe_last_timestamp > 1000000) {
diff --git a/ArduCopter/fence.cpp b/ArduCopter/fence.cpp
index 122d49a96544a5..3bfe085c2b8697 100644
--- a/ArduCopter/fence.cpp
+++ b/ArduCopter/fence.cpp
@@ -79,11 +79,11 @@ void Copter::fence_check()
             }
         }
 
-        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
 
     } else if (orig_breaches) {
         // record clearing of breach
-        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
     }
 }
 
diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index fb7bb9babfcbf7..a9c9fde1ac7cfa 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -184,9 +184,9 @@ void Copter::heli_update_rotor_speed_targets()
 
     // when rotor_runup_complete changes to true, log event
     if (!rotor_runup_complete_last && motors->rotor_runup_complete()) {
-        AP::logger().Write_Event(LogEvent::ROTOR_RUNUP_COMPLETE);
+        LOGGER_WRITE_EVENT(LogEvent::ROTOR_RUNUP_COMPLETE);
     } else if (rotor_runup_complete_last && !motors->rotor_runup_complete() && !heli_flags.in_autorotation) {
-        AP::logger().Write_Event(LogEvent::ROTOR_SPEED_BELOW_CRITICAL);
+        LOGGER_WRITE_EVENT(LogEvent::ROTOR_SPEED_BELOW_CRITICAL);
     }
     rotor_runup_complete_last = motors->rotor_runup_complete();
 }
diff --git a/ArduCopter/land_detector.cpp b/ArduCopter/land_detector.cpp
index c6b038c4a7c484..4a4cdd3fca86b5 100644
--- a/ArduCopter/land_detector.cpp
+++ b/ArduCopter/land_detector.cpp
@@ -139,11 +139,13 @@ void Copter::set_land_complete(bool b)
 
     land_detector_count = 0;
 
+#if HAL_LOGGING_ENABLED
     if(b){
         AP::logger().Write_Event(LogEvent::LAND_COMPLETE);
     } else {
         AP::logger().Write_Event(LogEvent::NOT_LANDED);
     }
+#endif
     ap.land_complete = b;
 
 #if STATS_ENABLED == ENABLED
@@ -170,7 +172,7 @@ void Copter::set_land_complete_maybe(bool b)
         return;
 
     if (b) {
-        AP::logger().Write_Event(LogEvent::LAND_COMPLETE_MAYBE);
+        LOGGER_WRITE_EVENT(LogEvent::LAND_COMPLETE_MAYBE);
     }
     ap.land_complete_maybe = b;
 }
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 3313ab35509bb9..f235cc22ef3906 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -191,7 +191,7 @@ Mode *Copter::mode_from_mode_num(const Mode::Number mode)
 void Copter::mode_change_failed(const Mode *mode, const char *reason)
 {
     gcs().send_text(MAV_SEVERITY_WARNING, "Mode change to %s failed: %s", mode->name(), reason);
-    AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode->mode_number()));
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode->mode_number()));
     // make sad noise
     if (copter.ap.initialised) {
         AP_Notify::events.user_mode_change_failed = 1;
@@ -360,7 +360,9 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
     // update flight mode
     flightmode = new_flightmode;
     control_mode_reason = reason;
+#if HAL_LOGGING_ENABLED
     logger.Write_Mode((uint8_t)flightmode->mode_number(), reason);
+#endif
     gcs().send_message(MSG_HEARTBEAT);
 
 #if HAL_ADSB_ENABLED
@@ -700,7 +702,7 @@ void Mode::land_run_horizontal_control()
     // process pilot inputs
     if (!copter.failsafe.radio) {
         if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
-            AP::logger().Write_Event(LogEvent::LAND_CANCELLED_BY_PILOT);
+            LOGGER_WRITE_EVENT(LogEvent::LAND_CANCELLED_BY_PILOT);
             // exit land if throttle is high
             if (!set_mode(Mode::Number::LOITER, ModeReason::THROTTLE_LAND_ESCAPE)) {
                 set_mode(Mode::Number::ALT_HOLD, ModeReason::THROTTLE_LAND_ESCAPE);
@@ -720,7 +722,7 @@ void Mode::land_run_horizontal_control()
             // record if pilot has overridden roll or pitch
             if (!vel_correction.is_zero()) {
                 if (!copter.ap.land_repo_active) {
-                    AP::logger().Write_Event(LogEvent::LAND_REPO_ACTIVE);
+                    LOGGER_WRITE_EVENT(LogEvent::LAND_REPO_ACTIVE);
                 }
                 copter.ap.land_repo_active = true;
 #if AC_PRECLAND_ENABLED
@@ -815,7 +817,7 @@ void Mode::precland_retry_position(const Vector3f &retry_pos)
 {
     if (!copter.failsafe.radio) {
         if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
-            AP::logger().Write_Event(LogEvent::LAND_CANCELLED_BY_PILOT);
+            LOGGER_WRITE_EVENT(LogEvent::LAND_CANCELLED_BY_PILOT);
             // exit land if throttle is high
             if (!set_mode(Mode::Number::LOITER, ModeReason::THROTTLE_LAND_ESCAPE)) {
                 set_mode(Mode::Number::ALT_HOLD, ModeReason::THROTTLE_LAND_ESCAPE);
@@ -833,7 +835,7 @@ void Mode::precland_retry_position(const Vector3f &retry_pos)
             // record if pilot has overridden roll or pitch
             if (!is_zero(target_roll) || !is_zero(target_pitch)) {
                 if (!copter.ap.land_repo_active) {
-                    AP::logger().Write_Event(LogEvent::LAND_REPO_ACTIVE);
+                    LOGGER_WRITE_EVENT(LogEvent::LAND_REPO_ACTIVE);
                 }
                 // this flag will be checked by prec land state machine later and any further landing retires will be cancelled
                 copter.ap.land_repo_active = true;
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index afb348c1dc6526..dd06ee0149c296 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -743,7 +743,9 @@ class AutoTune : public AC_AutoTune_Multi
     float get_pilot_desired_climb_rate_cms(void) const override;
     void get_pilot_desired_rp_yrate_cd(float &roll_cd, float &pitch_cd, float &yaw_rate_cds) override;
     void init_z_limits() override;
+#if HAL_LOGGING_ENABLED
     void log_pids() override;
+#endif
 };
 
 class ModeAutoTune : public Mode {
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index c33c9d98d7ecba..4185f35e032082 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -167,7 +167,9 @@ void ModeAuto::run()
     if (auto_RTL && (!(mission.get_in_landing_sequence_flag() || mission.state() == AP_Mission::mission_state::MISSION_COMPLETE))) {
         auto_RTL = false;
         // log exit from Auto RTL
+#if HAL_LOGGING_ENABLED
         copter.logger.Write_Mode((uint8_t)copter.flightmode->mode_number(), ModeReason::AUTO_RTL_EXIT);
+#endif
     }
 }
 
@@ -219,8 +221,10 @@ bool ModeAuto::jump_to_landing_sequence_auto_RTL(ModeReason reason)
         // if not already in auto switch to auto
         if ((copter.flightmode == &copter.mode_auto) || set_mode(Mode::Number::AUTO, reason)) {
             auto_RTL = true;
+#if HAL_LOGGING_ENABLED
             // log entry into AUTO RTL
             copter.logger.Write_Mode((uint8_t)copter.flightmode->mode_number(), reason);
+#endif
 
             // make happy noise
             if (copter.ap.initialised) {
@@ -236,7 +240,7 @@ bool ModeAuto::jump_to_landing_sequence_auto_RTL(ModeReason reason)
         gcs().send_text(MAV_SEVERITY_WARNING, "Mode change to AUTO RTL failed: No landing sequence found");
     }
 
-    AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(Number::AUTO_RTL));
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(Number::AUTO_RTL));
     // make sad noise
     if (copter.ap.initialised) {
         AP_Notify::events.user_mode_change_failed = 1;
@@ -338,7 +342,7 @@ void ModeAuto::takeoff_start(const Location& dest_loc)
         // get altitude target above EKF origin
         if (!dest.get_alt_cm(Location::AltFrame::ABOVE_ORIGIN, alt_target_cm)) {
             // this failure could only happen if take-off alt was specified as an alt-above terrain and we have no terrain data
-            AP::logger().Write_Error(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
             // fall back to altitude above current altitude
             alt_target_cm = current_alt_cm + dest.alt;
         }
@@ -618,10 +622,12 @@ bool ModeAuto::set_speed_down(float speed_down_cms)
 // start_command - this function will be called when the ap_mission lib wishes to start a new command
 bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
 {
+#if HAL_LOGGING_ENABLED
     // To-Do: logging when new commands start/end
     if (copter.should_log(MASK_LOG_CMD)) {
         copter.logger.Write_Mission_Cmd(mission, cmd);
     }
+#endif
 
     switch(cmd.id) {
 
@@ -1577,7 +1583,7 @@ void ModeAuto::do_land(const AP_Mission::Mission_Command& cmd)
             // this can only fail due to missing terrain database alt or rangefinder alt
             // use current alt-above-home and report error
             target_loc.set_alt_cm(copter.current_loc.alt, Location::AltFrame::ABOVE_HOME);
-            AP::logger().Write_Error(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
             gcs().send_text(MAV_SEVERITY_CRITICAL, "Land: no terrain data, using alt-above-home");
         }
 
@@ -1954,7 +1960,7 @@ void ModeAuto::do_payload_place(const AP_Mission::Mission_Command& cmd)
             // this can only fail due to missing terrain database alt or rangefinder alt
             // use current alt-above-home and report error
             target_loc.set_alt_cm(copter.current_loc.alt, Location::AltFrame::ABOVE_HOME);
-            AP::logger().Write_Error(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
             gcs().send_text(MAV_SEVERITY_CRITICAL, "PayloadPlace: no terrain data, using alt-above-home");
         }
         if (!wp_start(target_loc)) {
diff --git a/ArduCopter/mode_autotune.cpp b/ArduCopter/mode_autotune.cpp
index 73699663a35926..0a7da76b07932f 100644
--- a/ArduCopter/mode_autotune.cpp
+++ b/ArduCopter/mode_autotune.cpp
@@ -98,12 +98,14 @@ void AutoTune::init_z_limits()
     copter.pos_control->set_correction_speed_accel_z(-copter.get_pilot_speed_dn(), copter.g.pilot_speed_up, copter.g.pilot_accel_z);
 }
 
+#if HAL_LOGGING_ENABLED
 void AutoTune::log_pids()
 {
     copter.logger.Write_PID(LOG_PIDR_MSG, copter.attitude_control->get_rate_roll_pid().get_pid_info());
     copter.logger.Write_PID(LOG_PIDP_MSG, copter.attitude_control->get_rate_pitch_pid().get_pid_info());
     copter.logger.Write_PID(LOG_PIDY_MSG, copter.attitude_control->get_rate_yaw_pid().get_pid_info());
 }
+#endif
 
 /*
   check if we have a good position estimate
diff --git a/ArduCopter/mode_flip.cpp b/ArduCopter/mode_flip.cpp
index bade71e5e95264..938b44db7db10e 100644
--- a/ArduCopter/mode_flip.cpp
+++ b/ArduCopter/mode_flip.cpp
@@ -76,7 +76,7 @@ bool ModeFlip::init(bool ignore_checks)
     }
 
     // log start of flip
-    AP::logger().Write_Event(LogEvent::FLIP_START);
+    LOGGER_WRITE_EVENT(LogEvent::FLIP_START);
 
     // capture current attitude which will be used during the FlipState::Recovery stage
     const float angle_max = copter.aparm.angle_max;
@@ -194,7 +194,7 @@ void ModeFlip::run()
                 copter.set_mode(Mode::Number::STABILIZE, ModeReason::UNKNOWN);
             }
             // log successful completion
-            AP::logger().Write_Event(LogEvent::FLIP_END);
+            LOGGER_WRITE_EVENT(LogEvent::FLIP_END);
         }
         break;
 
@@ -206,7 +206,7 @@ void ModeFlip::run()
             copter.set_mode(Mode::Number::STABILIZE, ModeReason::UNKNOWN);
         }
         // log abandoning flip
-        AP::logger().Write_Error(LogErrorSubsystem::FLIP, LogErrorCode::FLIP_ABANDONED);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIP, LogErrorCode::FLIP_ABANDONED);
         break;
     }
 
diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
index 91814ab45f3469..ddb55d3d6d6adf 100644
--- a/ArduCopter/mode_flowhold.cpp
+++ b/ArduCopter/mode_flowhold.cpp
@@ -202,6 +202,7 @@ void ModeFlowHold::flowhold_flow_to_angle(Vector2f &bf_angles, bool stick_input)
     bf_angles.x = constrain_float(bf_angles.x, -copter.aparm.angle_max, copter.aparm.angle_max);
     bf_angles.y = constrain_float(bf_angles.y, -copter.aparm.angle_max, copter.aparm.angle_max);
 
+#if HAL_LOGGING_ENABLED
 // @LoggerMessage: FHLD
 // @Description: FlowHold mode messages
 // @URL: https://ardupilot.org/copter/docs/flowhold-mode.html
@@ -222,6 +223,7 @@ void ModeFlowHold::flowhold_flow_to_angle(Vector2f &bf_angles, bool stick_input)
                                                (double)quality_filtered,
                                                (double)xy_I.x, (double)xy_I.y);
     }
+#endif  // HAL_LOGGING_ENABLED
 }
 
 // flowhold_run - runs the flowhold controller
@@ -478,6 +480,7 @@ void ModeFlowHold::update_height_estimate(void)
     // new height estimate for logging
     height_estimate = ins_height + height_offset;
 
+#if HAL_LOGGING_ENABLED
 // @LoggerMessage: FHXY
 // @Description: Height estimation using optical flow sensor 
 // @Field: TimeUS: Time since system startup
@@ -504,6 +507,8 @@ void ModeFlowHold::update_height_estimate(void)
                                            (double)ins_height,
                                            (double)last_ins_height,
                                            dt_ms);
+#endif
+
     gcs().send_named_float("HEST", height_estimate);
     delta_velocity_ne.zero();
     last_ins_height = ins_height;
diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index 9c2914de8b7bf4..ba9a52f60ed269 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -332,7 +332,7 @@ bool ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, floa
     // reject destination if outside the fence
     const Location dest_loc(destination, terrain_alt ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
     if (!copter.fence.check_destination_within_fence(dest_loc)) {
-        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
         return false;
     }
@@ -351,8 +351,10 @@ bool ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, floa
         // no need to check return status because terrain data is not used
         wp_nav->set_wp_destination(destination, terrain_alt);
 
+#if HAL_LOGGING_ENABLED
         // log target
         copter.Log_Write_Guided_Position_Target(guided_mode, destination, terrain_alt, Vector3f(), Vector3f());
+#endif
         send_notification = true;
         return true;
     }
@@ -391,8 +393,10 @@ bool ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, floa
     guided_accel_target_cmss.zero();
     update_time_ms = millis();
 
+#if HAL_LOGGING_ENABLED
     // log target
     copter.Log_Write_Guided_Position_Target(guided_mode, guided_pos_target_cm.tofloat(), guided_pos_terrain_alt, guided_vel_target_cms, guided_accel_target_cmss);
+#endif
 
     send_notification = true;
 
@@ -424,7 +428,7 @@ bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float y
     // reject destination outside the fence.
     // Note: there is a danger that a target specified as a terrain altitude might not be checked if the conversion to alt-above-home fails
     if (!copter.fence.check_destination_within_fence(dest_loc)) {
-        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
         return false;
     }
@@ -438,7 +442,7 @@ bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float y
 
         if (!wp_nav->set_wp_destination_loc(dest_loc)) {
             // failure to set destination can only be because of missing terrain data
-            AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
             // failure is propagated to GCS with NAK
             return false;
         }
@@ -446,8 +450,11 @@ bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float y
         // set yaw state
         set_yaw_state(use_yaw, yaw_cd, use_yaw_rate, yaw_rate_cds, relative_yaw);
 
+#if HAL_LOGGING_ENABLED
         // log target
         copter.Log_Write_Guided_Position_Target(guided_mode, Vector3f(dest_loc.lat, dest_loc.lng, dest_loc.alt), (dest_loc.get_alt_frame() == Location::AltFrame::ABOVE_TERRAIN), Vector3f(), Vector3f());
+#endif
+
         send_notification = true;
         return true;
     }
@@ -493,7 +500,9 @@ bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float y
     update_time_ms = millis();
 
     // log target
+#if HAL_LOGGING_ENABLED
     copter.Log_Write_Guided_Position_Target(guided_mode, Vector3f(dest_loc.lat, dest_loc.lng, dest_loc.alt), guided_pos_terrain_alt, guided_vel_target_cms, guided_accel_target_cmss);
+#endif
 
     send_notification = true;
 
@@ -518,10 +527,12 @@ void ModeGuided::set_accel(const Vector3f& acceleration, bool use_yaw, float yaw
     guided_accel_target_cmss = acceleration;
     update_time_ms = millis();
 
+#if HAL_LOGGING_ENABLED
     // log target
     if (log_request) {
         copter.Log_Write_Guided_Position_Target(guided_mode, guided_pos_target_cm.tofloat(), guided_pos_terrain_alt, guided_vel_target_cms, guided_accel_target_cmss);
     }
+#endif
 }
 
 // set_velocity - sets guided mode's target velocity
@@ -548,10 +559,12 @@ void ModeGuided::set_velaccel(const Vector3f& velocity, const Vector3f& accelera
     guided_accel_target_cmss = acceleration;
     update_time_ms = millis();
 
+#if HAL_LOGGING_ENABLED
     // log target
     if (log_request) {
         copter.Log_Write_Guided_Position_Target(guided_mode, guided_pos_target_cm.tofloat(), guided_pos_terrain_alt, guided_vel_target_cms, guided_accel_target_cmss);
     }
+#endif
 }
 
 // set_destination_posvel - set guided mode position and velocity target
@@ -567,7 +580,7 @@ bool ModeGuided::set_destination_posvelaccel(const Vector3f& destination, const
     // reject destination if outside the fence
     const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
     if (!copter.fence.check_destination_within_fence(dest_loc)) {
-        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
         return false;
     }
@@ -587,8 +600,10 @@ bool ModeGuided::set_destination_posvelaccel(const Vector3f& destination, const
     guided_vel_target_cms = velocity;
     guided_accel_target_cmss = acceleration;
 
+#if HAL_LOGGING_ENABLED
     // log target
     copter.Log_Write_Guided_Position_Target(guided_mode, guided_pos_target_cm.tofloat(), guided_pos_terrain_alt, guided_vel_target_cms, guided_accel_target_cmss);
+#endif
     return true;
 }
 
@@ -648,8 +663,10 @@ void ModeGuided::set_angle(const Quaternion &attitude_quat, const Vector3f &ang_
     float roll_rad, pitch_rad, yaw_rad;
     attitude_quat.to_euler(roll_rad, pitch_rad, yaw_rad);
 
+#if HAL_LOGGING_ENABLED
     // log target
     copter.Log_Write_Guided_Attitude_Target(guided_mode, roll_rad, pitch_rad, yaw_rad, ang_vel, guided_angle_state.thrust, guided_angle_state.climb_rate_cms * 0.01);
+#endif
 }
 
 // takeoff_run - takeoff in guided mode
diff --git a/ArduCopter/mode_land.cpp b/ArduCopter/mode_land.cpp
index 377bef5ee9253b..1f34e20fbf3380 100644
--- a/ArduCopter/mode_land.cpp
+++ b/ArduCopter/mode_land.cpp
@@ -102,7 +102,7 @@ void ModeLand::nogps_run()
     // process pilot inputs
     if (!copter.failsafe.radio) {
         if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
-            AP::logger().Write_Event(LogEvent::LAND_CANCELLED_BY_PILOT);
+            LOGGER_WRITE_EVENT(LogEvent::LAND_CANCELLED_BY_PILOT);
             // exit land if throttle is high
             copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::THROTTLE_LAND_ESCAPE);
         }
diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp
index a8421d9009741e..b8a6cd9bbe7af5 100644
--- a/ArduCopter/mode_rtl.cpp
+++ b/ArduCopter/mode_rtl.cpp
@@ -39,7 +39,9 @@ bool ModeRTL::init(bool ignore_checks)
 // re-start RTL with terrain following disabled
 void ModeRTL::restart_without_terrain()
 {
-    AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::RESTARTED_RTL);
+#if HAL_LOGGING_ENABLED
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::RESTARTED_RTL);
+#endif
     terrain_following_allowed = false;
     _state = SubMode::STARTING;
     _state_complete = true;
@@ -134,7 +136,7 @@ void ModeRTL::climb_start()
     if (!wp_nav->set_wp_destination_loc(rtl_path.climb_target) || !wp_nav->set_wp_destination_next_loc(rtl_path.return_target)) {
         // this should not happen because rtl_build_path will have checked terrain data was available
         gcs().send_text(MAV_SEVERITY_CRITICAL,"RTL: unexpected error setting climb target");
-        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
         copter.set_mode(Mode::Number::LAND, ModeReason::TERRAIN_FAILSAFE);
         return;
     }
@@ -275,7 +277,7 @@ void ModeRTL::descent_run()
     // process pilot's input
     if (!copter.failsafe.radio) {
         if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
-            AP::logger().Write_Event(LogEvent::LAND_CANCELLED_BY_PILOT);
+            LOGGER_WRITE_EVENT(LogEvent::LAND_CANCELLED_BY_PILOT);
             // exit land if throttle is high
             if (!copter.set_mode(Mode::Number::LOITER, ModeReason::THROTTLE_LAND_ESCAPE)) {
                 copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::THROTTLE_LAND_ESCAPE);
@@ -292,7 +294,7 @@ void ModeRTL::descent_run()
             // record if pilot has overridden roll or pitch
             if (!vel_correction.is_zero()) {
                 if (!copter.ap.land_repo_active) {
-                    AP::logger().Write_Event(LogEvent::LAND_REPO_ACTIVE);
+                    LOGGER_WRITE_EVENT(LogEvent::LAND_REPO_ACTIVE);
                 }
                 copter.ap.land_repo_active = true;
             }
@@ -426,7 +428,7 @@ void ModeRTL::compute_return_target()
         switch (wp_nav->get_terrain_source()) {
         case AC_WPNav::TerrainSource::TERRAIN_UNAVAILABLE:
             alt_type = ReturnTargetAltType::RELATIVE;
-            AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::RTL_MISSING_RNGFND);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::RTL_MISSING_RNGFND);
             gcs().send_text(MAV_SEVERITY_CRITICAL, "RTL: no terrain data, using alt-above-home");
             break;
         case AC_WPNav::TerrainSource::TERRAIN_FROM_RANGEFINDER:
@@ -447,7 +449,7 @@ void ModeRTL::compute_return_target()
             // fallback to relative alt and warn user
             alt_type = ReturnTargetAltType::RELATIVE;
             gcs().send_text(MAV_SEVERITY_CRITICAL, "RTL: rangefinder unhealthy, using alt-above-home");
-            AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::RTL_MISSING_RNGFND);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::RTL_MISSING_RNGFND);
         }
     }
 
@@ -463,7 +465,7 @@ void ModeRTL::compute_return_target()
         } else {
             // fallback to relative alt and warn user
             alt_type = ReturnTargetAltType::RELATIVE;
-            AP::logger().Write_Error(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
             gcs().send_text(MAV_SEVERITY_CRITICAL, "RTL: no terrain data, using alt-above-home");
         }
     }
diff --git a/ArduCopter/mode_systemid.cpp b/ArduCopter/mode_systemid.cpp
index 15dc1eba4f0ede..801f903205deb2 100644
--- a/ArduCopter/mode_systemid.cpp
+++ b/ArduCopter/mode_systemid.cpp
@@ -99,7 +99,9 @@ bool ModeSystemId::init(bool ignore_checks)
 
     gcs().send_text(MAV_SEVERITY_INFO, "SystemID Starting: axis=%d", (unsigned)axis);
 
+#if HAL_LOGGING_ENABLED
     copter.Log_Write_SysID_Setup(axis, waveform_magnitude, frequency_start, frequency_stop, time_fade_in, time_const_freq, time_record, time_fade_out);
+#endif
 
     return true;
 }
diff --git a/ArduCopter/mode_throw.cpp b/ArduCopter/mode_throw.cpp
index a2f71ff42f24d4..884b7a22be88d5 100644
--- a/ArduCopter/mode_throw.cpp
+++ b/ArduCopter/mode_throw.cpp
@@ -200,6 +200,7 @@ void ModeThrow::run()
         break;
     }
 
+#if HAL_LOGGING_ENABLED
     // log at 10hz or if stage changes
     uint32_t now = AP_HAL::millis();
     if ((stage != prev_stage) || (now - last_log_ms) > 100) {
@@ -213,7 +214,7 @@ void ModeThrow::run()
         const bool attitude_ok = (stage > Throw_Uprighting) || throw_attitude_good();
         const bool height_ok = (stage > Throw_HgtStabilise) || throw_height_good();
         const bool pos_ok = (stage > Throw_PosHold) || throw_position_good();
-        
+
 // @LoggerMessage: THRO
 // @Description: Throw Mode messages
 // @URL: https://ardupilot.org/copter/docs/throw-mode.html
@@ -227,7 +228,7 @@ void ModeThrow::run()
 // @Field: AttOk: True if the vehicle is upright 
 // @Field: HgtOk: True if the vehicle is within 50cm of the demanded height
 // @Field: PosOk: True if the vehicle is within 50cm of the demanded horizontal position
-        
+
         AP::logger().WriteStreaming(
             "THRO",
             "TimeUS,Stage,Vel,VelZ,Acc,AccEfZ,Throw,AttOk,HgtOk,PosOk",
@@ -245,6 +246,7 @@ void ModeThrow::run()
             height_ok,
             pos_ok);
     }
+#endif  // HAL_LOGGING_ENABLED
 }
 
 bool ModeThrow::throw_detected()
diff --git a/ArduCopter/mode_zigzag.cpp b/ArduCopter/mode_zigzag.cpp
index 2952158ec615a6..fbf43aa50ed458 100644
--- a/ArduCopter/mode_zigzag.cpp
+++ b/ArduCopter/mode_zigzag.cpp
@@ -171,12 +171,12 @@ void ModeZigZag::save_or_move_to_destination(Destination ab_dest)
                 // store point A
                 dest_A = curr_pos;
                 gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: point A stored");
-                AP::logger().Write_Event(LogEvent::ZIGZAG_STORE_A);
+                LOGGER_WRITE_EVENT(LogEvent::ZIGZAG_STORE_A);
             } else {
                 // store point B
                 dest_B = curr_pos;
                 gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: point B stored");
-                AP::logger().Write_Event(LogEvent::ZIGZAG_STORE_B);
+                LOGGER_WRITE_EVENT(LogEvent::ZIGZAG_STORE_B);
             }
             // if both A and B have been stored advance state
             if (!dest_A.is_zero() && !dest_B.is_zero() && !is_zero((dest_B - dest_A).length_squared())) {
diff --git a/ArduCopter/motors.cpp b/ArduCopter/motors.cpp
index 84ab92733927ff..34a3ff201b6ce3 100644
--- a/ArduCopter/motors.cpp
+++ b/ArduCopter/motors.cpp
@@ -165,10 +165,10 @@ void Copter::motors_output()
     bool interlock = motors->armed() && !ap.in_arming_delay && (!ap.using_interlock || ap.motor_interlock_switch) && !SRV_Channels::get_emergency_stop();
     if (!motors->get_interlock() && interlock) {
         motors->set_interlock(true);
-        AP::logger().Write_Event(LogEvent::MOTORS_INTERLOCK_ENABLED);
+        LOGGER_WRITE_EVENT(LogEvent::MOTORS_INTERLOCK_ENABLED);
     } else if (motors->get_interlock() && !interlock) {
         motors->set_interlock(false);
-        AP::logger().Write_Event(LogEvent::MOTORS_INTERLOCK_DISABLED);
+        LOGGER_WRITE_EVENT(LogEvent::MOTORS_INTERLOCK_DISABLED);
     }
 
     if (ap.motor_test) {
diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp
index 57043fba918396..430bed7e93836b 100644
--- a/ArduCopter/radio.cpp
+++ b/ArduCopter/radio.cpp
@@ -121,7 +121,7 @@ void Copter::read_radio()
     }
 
     // Log an error and enter failsafe.
-    AP::logger().Write_Error(LogErrorSubsystem::RADIO, LogErrorCode::RADIO_LATE_FRAME);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::RADIO, LogErrorCode::RADIO_LATE_FRAME);
     set_failsafe_radio(true);
 }
 
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 40c077fc627773..83c4cbf5b8db50 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -55,7 +55,7 @@ void Copter::init_ardupilot()
     osd.init();
 #endif
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     log_init();
 #endif
 
@@ -183,8 +183,10 @@ void Copter::init_ardupilot()
     g2.smart_rtl.init();
 #endif
 
+#if HAL_LOGGING_ENABLED
     // initialise AP_Logger library
     logger.setVehicle_Startup_Writer(FUNCTOR_BIND(&copter, &Copter::Log_Write_Vehicle_Startup_Messages, void));
+#endif
 
     startup_INS_ground();
 
@@ -352,18 +354,16 @@ void Copter::update_auto_armed()
     }
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   should we log a message type now?
  */
 bool Copter::should_log(uint32_t mask)
 {
-#if LOGGING_ENABLED == ENABLED
     ap.logging_started = logger.logging_started();
     return logger.should_log(mask);
-#else
-    return false;
-#endif
 }
+#endif
 
 /*
   allocate the motors class
diff --git a/ArduCopter/terrain.cpp b/ArduCopter/terrain.cpp
index 77765bb61b86b6..5933de460ee752 100644
--- a/ArduCopter/terrain.cpp
+++ b/ArduCopter/terrain.cpp
@@ -17,6 +17,7 @@ void Copter::terrain_update()
 #endif
 }
 
+#if HAL_LOGGING_ENABLED
 // log terrain data - should be called at 1hz
 void Copter::terrain_logging()
 {
@@ -26,3 +27,4 @@ void Copter::terrain_logging()
     }
 #endif
 }
+#endif
diff --git a/ArduCopter/toy_mode.cpp b/ArduCopter/toy_mode.cpp
index d212cb43358817..c1cea4d4cc3328 100644
--- a/ArduCopter/toy_mode.cpp
+++ b/ArduCopter/toy_mode.cpp
@@ -991,6 +991,7 @@ void ToyMode::thrust_limiting(float *thrust, uint8_t num_motors)
     uint16_t pwm[4];
     hal.rcout->read(pwm, 4);
 
+#if HAL_LOGGING_ENABLED
 // @LoggerMessage: THST
 // @Description: Maximum thrust limitation based on battery voltage in Toy Mode
 // @Field: TimeUS: Time since system startup
@@ -1008,7 +1009,7 @@ void ToyMode::thrust_limiting(float *thrust, uint8_t num_motors)
                                                (double)thrust_mul,
                                                pwm[0], pwm[1], pwm[2], pwm[3]);
     }
-                                           
+#endif
 }
 
 #if ENABLE_LOAD_TEST
diff --git a/ArduCopter/tuning.cpp b/ArduCopter/tuning.cpp
index db7f15c8899a21..babc53b9ff2672 100644
--- a/ArduCopter/tuning.cpp
+++ b/ArduCopter/tuning.cpp
@@ -28,7 +28,9 @@ void Copter::tuning()
 
     const uint16_t radio_in = rc6->get_radio_in();
     float tuning_value = linear_interpolate(g2.tuning_min, g2.tuning_max, radio_in, rc6->get_radio_min(), rc6->get_radio_max());
+#if HAL_LOGGING_ENABLED
     Log_Write_Parameter_Tuning(g.radio_tuning, tuning_value, g2.tuning_min, g2.tuning_max);
+#endif
 
     switch(g.radio_tuning) {
 

From 6ee5ab41fd6aff617178102c2fbcc4a11219fbbd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:09 +1000
Subject: [PATCH 0635/1335] ArduPlane: allow compilation with
 HAL_LOGGING_ENABLED false

---
 ArduPlane/AP_Arming.cpp      |  2 ++
 ArduPlane/ArduPlane.cpp      | 17 ++++++++++++++---
 ArduPlane/GCS_Mavlink.cpp    |  4 ++++
 ArduPlane/GCS_Mavlink.h      |  2 +-
 ArduPlane/Log.cpp            | 18 ++----------------
 ArduPlane/Parameters.cpp     |  2 ++
 ArduPlane/Plane.cpp          |  2 ++
 ArduPlane/Plane.h            |  2 ++
 ArduPlane/commands_logic.cpp |  4 ++++
 ArduPlane/config.h           |  4 ----
 ArduPlane/ekf_check.cpp      |  8 ++++----
 ArduPlane/fence.cpp          |  4 ++--
 ArduPlane/is_flying.cpp      |  2 ++
 ArduPlane/qautotune.cpp      |  2 ++
 ArduPlane/qautotune.h        |  2 ++
 ArduPlane/quadplane.cpp      | 19 +++++++++++++++++--
 ArduPlane/system.cpp         | 12 ++++++------
 ArduPlane/tailsitter.cpp     |  2 ++
 18 files changed, 70 insertions(+), 38 deletions(-)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index 2905175fdeb151..01783e023bf2d0 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -397,7 +397,9 @@ void AP_Arming_Plane::update_soft_armed()
 #endif
 
     hal.util->set_soft_armed(_armed);
+#if HAL_LOGGING_ENABLED
     AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
+#endif
 
     // update delay_arming oneshot
     if (delay_arming &&
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index dd6af0ab6e30bc..afab49e76f42cb 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -104,11 +104,15 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if AP_CAMERA_ENABLED
     SCHED_TASK_CLASS(AP_Camera, &plane.camera, update,      50, 100, 108),
 #endif // CAMERA == ENABLED
+#if HAL_LOGGING_ENABLED
     SCHED_TASK_CLASS(AP_Scheduler, &plane.scheduler, update_logging,         0.2,    100, 111),
+#endif
     SCHED_TASK(compass_save,          0.1,    200, 114),
+#if HAL_LOGGING_ENABLED
     SCHED_TASK(Log_Write_FullRate,        400,    300, 117),
     SCHED_TASK(update_logging10,        10,    300, 120),
     SCHED_TASK(update_logging25,        25,    300, 123),
+#endif
 #if HAL_SOARING_ENABLED
     SCHED_TASK(update_soaring,         50,    400, 126),
 #endif
@@ -117,7 +121,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Terrain, &plane.terrain, update, 10, 200, 132),
 #endif // AP_TERRAIN_AVAILABLE
     SCHED_TASK(update_is_flying_5Hz,    5,    100, 135),
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     SCHED_TASK_CLASS(AP_Logger,         &plane.logger, periodic_tasks, 50, 400, 138),
 #endif
     SCHED_TASK_CLASS(AP_InertialSensor, &plane.ins,    periodic,       50,  50, 141),
@@ -161,9 +165,11 @@ void Plane::ahrs_update()
 
     ahrs.update();
 
+#if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_IMU)) {
         AP::ins().Write_IMU();
     }
+#endif
 
     // calculate a scaled roll limit based on current pitch
     roll_limit_cd = aparm.roll_limit_cd;
@@ -194,9 +200,11 @@ void Plane::ahrs_update()
     quadplane.inertial_nav.update();
 #endif
 
+#if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_VIDEO_STABILISATION)) {
         ahrs.write_video_stabilisation();
     }
+#endif
 }
 
 /*
@@ -234,6 +242,7 @@ void Plane::update_compass(void)
     compass.read();
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   do 10Hz logging
  */
@@ -286,7 +295,7 @@ void Plane::update_logging25(void)
     if (should_log(MASK_LOG_IMU))
         AP::ins().Write_Vibration();
 }
-
+#endif  // HAL_LOGGING_ENABLED
 
 /*
   check for AFS failsafe check
@@ -333,7 +342,7 @@ void Plane::one_second_loop()
     AP_Notify::flags.pre_arm_gps_check = true;
     AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::Required::NO;
 
-#if AP_TERRAIN_AVAILABLE
+#if AP_TERRAIN_AVAILABLE && HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_GPS)) {
         terrain.log_terrain_data();
     }
@@ -528,7 +537,9 @@ void Plane::set_flight_stage(AP_FixedWing::FlightStage fs)
     }
 
     flight_stage = fs;
+#if HAL_LOGGING_ENABLED
     Log_Write_Status();
+#endif
 }
 
 void Plane::update_alt()
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 9a571e3b5e0ce9..ca666ee1957b95 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1230,7 +1230,11 @@ void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg)
     case MAVLINK_MSG_ID_RADIO:
     case MAVLINK_MSG_ID_RADIO_STATUS:
     {
+#if HAL_LOGGING_ENABLED
         handle_radio_status(msg, plane.should_log(MASK_LOG_PM));
+#else
+        handle_radio_status(msg, false);
+#endif
         break;
     }
 
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index 41cb8e6b123f5f..e497a567106a9d 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -48,7 +48,7 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK
 
 private:
 
-    void send_pid_info(const AP_PIDInfo *pid_info, const uint8_t axis, const float achieved);
+    void send_pid_info(const struct AP_PIDInfo *pid_info, const uint8_t axis, const float achieved);
 
     void handleMessage(const mavlink_message_t &msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index a5e97fe2ae4970..d8a729dd2ab1e6 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -1,6 +1,6 @@
 #include "Plane.h"
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
 
 // Write an attitude packet
 void Plane::Log_Write_Attitude(void)
@@ -500,18 +500,4 @@ void Plane::log_init(void)
     logger.Init(log_structure, ARRAY_SIZE(log_structure));
 }
 
-#else // LOGGING_ENABLED
-
-void Plane::Log_Write_Attitude(void) {}
-void Plane::Log_Write_Fast(void) {}
-void Plane::Log_Write_Control_Tuning() {}
-void Plane::Log_Write_OFG_Guided() {}
-void Plane::Log_Write_Nav_Tuning() {}
-void Plane::Log_Write_Status() {}
-void Plane::Log_Write_Guided(void) {}
-void Plane::Log_Write_RC(void) {}
-void Plane::Log_Write_Vehicle_Startup_Messages() {}
-
-void Plane::log_init(void) {}
-
-#endif // LOGGING_ENABLED
+#endif // HAL_LOGGING_ENABLED
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index dd55010d46adce..fc651b1db717b2 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -909,9 +909,11 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(camera_mount,           "MNT",  AP_Mount),
 #endif
 
+#if HAL_LOGGING_ENABLED
     // @Group: LOG
     // @Path: ../libraries/AP_Logger/AP_Logger.cpp
     GOBJECT(logger,           "LOG",  AP_Logger),
+#endif
 
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
diff --git a/ArduPlane/Plane.cpp b/ArduPlane/Plane.cpp
index dff3166b02ea12..07055294b523a0 100644
--- a/ArduPlane/Plane.cpp
+++ b/ArduPlane/Plane.cpp
@@ -24,7 +24,9 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
   constructor for main Plane class
  */
 Plane::Plane(void)
+#if HAL_LOGGING_ENABLED
     : logger(g.log_bitmask)
+#endif
 {
     // C++11 doesn't allow in-class initialisation of bitfields
     auto_state.takeoff_complete = true;
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 1b8e5ccea25467..f8fe4b1747d7ea 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -193,7 +193,9 @@ class Plane : public AP_Vehicle {
     RC_Channel *channel_flap;
     RC_Channel *channel_airbrake;
 
+#if HAL_LOGGING_ENABLED
     AP_Logger logger;
+#endif
 
     // scaled roll limit based on pitch
     int32_t roll_limit_cd;
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 972da6f765c8e3..256827193a141e 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -12,10 +12,12 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
     plane.target_altitude.terrain_following_pending = false;
 #endif
 
+#if HAL_LOGGING_ENABLED
     // log when new commands start
     if (should_log(MASK_LOG_CMD)) {
         logger.Write_Mission_Cmd(mission, cmd);
     }
+#endif
 
     // special handling for nav vs non-nav commands
     if (AP_Mission::is_nav_cmd(cmd)) {
@@ -359,7 +361,9 @@ void Plane::do_RTL(int32_t rtl_altitude_AMSL_cm)
     setup_glide_slope();
     setup_turn_angle();
 
+#if HAL_LOGGING_ENABLED
     logger.Write_Mode(control_mode->mode_number(), control_mode_reason);
+#endif
 }
 
 Location Plane::calc_best_rally_or_home_location(const Location &_current_loc, float rtl_home_alt_amsl_cm) const
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index a8c6c890c96cb0..8675b3dc45d935 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -186,10 +186,6 @@
 // Logging control
 //
 
-#ifndef LOGGING_ENABLED
- # define LOGGING_ENABLED                ENABLED
-#endif
-
 #define DEFAULT_LOG_BITMASK   0xffff
 
 
diff --git a/ArduPlane/ekf_check.cpp b/ArduPlane/ekf_check.cpp
index e36e4ef1abcdf7..ae8f2415bbf7c1 100644
--- a/ArduPlane/ekf_check.cpp
+++ b/ArduPlane/ekf_check.cpp
@@ -74,7 +74,7 @@ void Plane::ekf_check()
                 // limit count from climbing too high
                 ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX;
                 ekf_check_state.bad_variance = true;
-                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE);
+                LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE);
                 // send message to gcs
                 if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
                     gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF variance");
@@ -91,7 +91,7 @@ void Plane::ekf_check()
             // if compass is flagged as bad and the counter reaches zero then clear flag
             if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) {
                 ekf_check_state.bad_variance = false;
-                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
+                LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
                 // clear failsafe
                 failsafe_ekf_off_event();
             }
@@ -155,7 +155,7 @@ void Plane::failsafe_ekf_event()
 
     // EKF failsafe event has occurred
     ekf_check_state.failsafe_on = true;
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
 
     // if not in a VTOL mode requiring position, then nothing needs to be done
 #if HAL_QUADPLANE_ENABLED
@@ -182,5 +182,5 @@ void Plane::failsafe_ekf_off_event(void)
     }
 
     ekf_check_state.failsafe_on = false;
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED);
 }
diff --git a/ArduPlane/fence.cpp b/ArduPlane/fence.cpp
index 640ad65869926d..22dfbf2015d4c8 100644
--- a/ArduPlane/fence.cpp
+++ b/ArduPlane/fence.cpp
@@ -114,10 +114,10 @@ void Plane::fence_check()
             break;
         }
 
-        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
     } else if (orig_breaches) {
         // record clearing of breach
-        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
     }
 }
 
diff --git a/ArduPlane/is_flying.cpp b/ArduPlane/is_flying.cpp
index ffe578736aff14..bbb24ebe16eb4e 100644
--- a/ArduPlane/is_flying.cpp
+++ b/ArduPlane/is_flying.cpp
@@ -170,7 +170,9 @@ void Plane::update_is_flying_5Hz(void)
 
     crash_detection_update();
 
+#if HAL_LOGGING_ENABLED
     Log_Write_Status();
+#endif
 
     // tell AHRS flying state
     set_likely_flying(new_is_flying);
diff --git a/ArduPlane/qautotune.cpp b/ArduPlane/qautotune.cpp
index 141ae621d88bfc..916908c8530483 100644
--- a/ArduPlane/qautotune.cpp
+++ b/ArduPlane/qautotune.cpp
@@ -51,6 +51,7 @@ void QAutoTune::init_z_limits()
 }
 
 
+#if HAL_LOGGING_ENABLED
 // log VTOL PIDs for during twitch
 void QAutoTune::log_pids(void)
 {
@@ -58,6 +59,7 @@ void QAutoTune::log_pids(void)
     AP::logger().Write_PID(LOG_PIQP_MSG, plane.quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
     AP::logger().Write_PID(LOG_PIQY_MSG, plane.quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
 }
+#endif
 
 #endif // QAUTOTUNE_ENABLED
 
diff --git a/ArduPlane/qautotune.h b/ArduPlane/qautotune.h
index 3ec890ac3dc3f9..938c8e47e43323 100644
--- a/ArduPlane/qautotune.h
+++ b/ArduPlane/qautotune.h
@@ -26,7 +26,9 @@ class QAutoTune : public AC_AutoTune_Multi
     float get_pilot_desired_climb_rate_cms(void) const override;
     void get_pilot_desired_rp_yrate_cd(float &roll_cd, float &pitch_cd, float &yaw_rate_cds) override;
     void init_z_limits() override;
+#if HAL_LOGGING_ENABLED
     void log_pids() override;
+#endif
 };
 
 #endif // QAUTOTUNE_ENABLED
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 4a372fc15ffc62..b8e5e99735810d 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1053,7 +1053,7 @@ void QuadPlane::check_yaw_reset(void)
     if (new_ekfYawReset_ms != ekfYawReset_ms) {
         attitude_control->inertial_frame_reset();
         ekfYawReset_ms = new_ekfYawReset_ms;
-        AP::logger().Write_Event(LogEvent::EKF_YAW_RESET);
+        LOGGER_WRITE_EVENT(LogEvent::EKF_YAW_RESET);
     }
 }
 
@@ -1866,6 +1866,7 @@ void QuadPlane::update(void)
 
     tiltrotor.update();
 
+#if HAL_LOGGING_ENABLED
     // motors logging
     if (motors->armed()) {
         const bool motors_active = in_vtol_mode() || assisted_flight;
@@ -1886,7 +1887,9 @@ void QuadPlane::update(void)
             Log_Write_QControl_Tuning();
         }
     }
-
+#else
+    (void)now;
+#endif  // HAL_LOGGING_ENABLED
 }
 
 /*
@@ -2296,6 +2299,7 @@ void QuadPlane::poscontrol_init_approach(void)
     poscontrol.slow_descent = false;
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   log the QPOS message
  */
@@ -2309,6 +2313,7 @@ void QuadPlane::log_QPOS(void)
                                 poscontrol.target_accel,
                                 poscontrol.overshoot);
 }
+#endif
 
 /*
   change position control state
@@ -2346,9 +2351,13 @@ void QuadPlane::PosControlState::set_state(enum position_control_state s)
             qp.landing_detect.lower_limit_start_ms = 0;
         }
         // double log to capture the state change
+#if HAL_LOGGING_ENABLED
         qp.log_QPOS();
+#endif
         state = s;
+#if HAL_LOGGING_ENABLED
         qp.log_QPOS();
+#endif
         last_log_ms = now;
         overshoot = false;
     }
@@ -2926,11 +2935,13 @@ void QuadPlane::vtol_position_controller(void)
         run_z_controller();
     }
 
+#if HAL_LOGGING_ENABLED
     if (now_ms - poscontrol.last_log_ms >= 40) {
         // log poscontrol at 25Hz
         poscontrol.last_log_ms = now_ms;
         log_QPOS();
     }
+#endif
 }
 
 /*
@@ -3025,6 +3036,7 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
     // acceleration capability.
     const float nav_pitch_lower_limit_cd = - (int32_t)((float)aparm.angle_max * (1.0f - fwd_thr_scaler) + q_fwd_pitch_lim_cd * fwd_thr_scaler);
 
+#if HAL_LOGGING_ENABLED
     // Diagnostics logging - remove when feature is fully flight tested.
     AP::logger().WriteStreaming("FWDT",
                                 "TimeUS,fts,qfplcd,npllcd,npcd,qft",  // labels
@@ -3035,6 +3047,7 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
                                 (double)nav_pitch_lower_limit_cd,
                                 (double)plane.nav_pitch_cd,
                                 (double)q_fwd_throttle);
+#endif
 
     plane.nav_pitch_cd = MAX(plane.nav_pitch_cd, (int32_t)nav_pitch_lower_limit_cd);
 }
@@ -3640,6 +3653,7 @@ bool QuadPlane::verify_vtol_land(void)
     return false;
 }
 
+#if HAL_LOGGING_ENABLED
 // Write a control tuning packet
 void QuadPlane::Log_Write_QControl_Tuning()
 {
@@ -3671,6 +3685,7 @@ void QuadPlane::Log_Write_QControl_Tuning()
     // write multicopter position control message
     pos_control->write_log();
 }
+#endif
 
 
 /*
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 7c7066bef06b60..1cb09f97b28de0 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -76,7 +76,7 @@ void Plane::init_ardupilot()
     osd.init();
 #endif
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     log_init();
 #endif
 
@@ -182,7 +182,7 @@ void Plane::startup_ground(void)
     mission.init();
 
     // initialise AP_Logger library
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     logger.setVehicle_Startup_Writer(
         FUNCTOR_BIND(&plane, &Plane::Log_Write_Vehicle_Startup_Messages, void)
         );
@@ -341,7 +341,9 @@ bool Plane::set_mode(Mode &new_mode, const ModeReason reason)
     old_mode.exit();
 
     // log and notify mode change
+#if HAL_LOGGING_ENABLED
     logger.Write_Mode(control_mode->mode_number(), control_mode_reason);
+#endif
     notify_mode(*control_mode);
     gcs().send_message(MSG_HEARTBEAT);
 
@@ -466,17 +468,15 @@ void Plane::notify_mode(const Mode& mode)
     notify.set_flight_mode_str(mode.name4());
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   should we log a message type now?
  */
 bool Plane::should_log(uint32_t mask)
 {
-#if LOGGING_ENABLED == ENABLED
     return logger.should_log(mask);
-#else
-    return false;
-#endif
 }
+#endif
 
 /*
   return throttle percentage from 0 to 100 for normal use and -100 to 100 when using reverse thrust
diff --git a/ArduPlane/tailsitter.cpp b/ArduPlane/tailsitter.cpp
index a94e4cb8c5ea0a..93055be44a6e8c 100644
--- a/ArduPlane/tailsitter.cpp
+++ b/ArduPlane/tailsitter.cpp
@@ -783,6 +783,7 @@ void Tailsitter::speed_scaling(void)
 
 }
 
+#if HAL_LOGGING_ENABLED
 // Write tailsitter specific log
 void Tailsitter::write_log()
 {
@@ -799,6 +800,7 @@ void Tailsitter::write_log()
     };
     plane.logger.WriteBlock(&pkt, sizeof(pkt));
 }
+#endif  // HAL_LOGGING_ENABLED
 
 // return true if pitch control should be relaxed
 // on vectored belly sitters the pitch control is not relaxed in order to keep motors pointing and avoid risk of props hitting the ground

From 8e91c72089f0c1c8072cb9f0c33de523f57d3efe Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 10 Jan 2024 14:37:03 +1100
Subject: [PATCH 0636/1335] Blimp: allow compilation with HAL_LOGGING_ENABLED
 false

---
 Blimp/AP_Arming.cpp   |  8 +++++++-
 Blimp/AP_State.cpp    |  2 +-
 Blimp/Blimp.cpp       | 19 ++++++++++++++++---
 Blimp/Blimp.h         |  4 ++++
 Blimp/Fins.cpp        |  4 ++++
 Blimp/GCS_Mavlink.cpp |  4 ++++
 Blimp/Log.cpp         | 21 ++-------------------
 Blimp/Loiter.cpp      |  6 ++++++
 Blimp/Parameters.cpp  |  2 ++
 Blimp/RC_Channel.cpp  |  2 +-
 Blimp/config.h        |  7 -------
 Blimp/ekf_check.cpp   | 16 ++++++++--------
 Blimp/events.cpp      | 10 +++++-----
 Blimp/failsafe.cpp    |  4 ++--
 Blimp/mode.cpp        |  8 +++++---
 Blimp/radio.cpp       |  4 ++--
 Blimp/system.cpp      | 10 +++++-----
 17 files changed, 74 insertions(+), 57 deletions(-)

diff --git a/Blimp/AP_Arming.cpp b/Blimp/AP_Arming.cpp
index adbc072e4bf834..2011502b2f98df 100644
--- a/Blimp/AP_Arming.cpp
+++ b/Blimp/AP_Arming.cpp
@@ -304,8 +304,10 @@ bool AP_Arming_Blimp::arm(const AP_Arming::Method method, const bool do_arming_c
         return false;
     }
 
+#if HAL_LOGGING_ENABLED
     // let logger know that we're armed (it may open logs e.g.)
     AP::logger().set_vehicle_armed(true);
+#endif
 
     // notify that arming will occur (we do this early to give plenty of warning)
     AP_Notify::flags.armed = true;
@@ -323,7 +325,7 @@ bool AP_Arming_Blimp::arm(const AP_Arming::Method method, const bool do_arming_c
     if (!ahrs.home_is_set()) {
         // Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
         ahrs.resetHeightDatum();
-        AP::logger().Write_Event(LogEvent::EKF_ALT_RESET);
+        LOGGER_WRITE_EVENT(LogEvent::EKF_ALT_RESET);
 
         // we have reset height, so arming height is zero
         blimp.arming_altitude_m = 0;
@@ -342,8 +344,10 @@ bool AP_Arming_Blimp::arm(const AP_Arming::Method method, const bool do_arming_c
     // finally actually arm the motors
     blimp.motors->armed(true);
 
+#if HAL_LOGGING_ENABLED
     // log flight mode in case it was changed while vehicle was disarmed
     AP::logger().Write_Mode((uint8_t)blimp.control_mode, blimp.control_mode_reason);
+#endif
 
     // perf monitor ignores delay due to arming
     AP::scheduler().perf_info.ignore_this_loop();
@@ -391,7 +395,9 @@ bool AP_Arming_Blimp::disarm(const AP_Arming::Method method, bool do_disarm_chec
     // send disarm command to motors
     blimp.motors->armed(false);
 
+#if HAL_LOGGING_ENABLED
     AP::logger().set_vehicle_armed(false);
+#endif
 
     hal.util->set_soft_armed(false);
 
diff --git a/Blimp/AP_State.cpp b/Blimp/AP_State.cpp
index 47214730d99b8e..5dcebd68952333 100644
--- a/Blimp/AP_State.cpp
+++ b/Blimp/AP_State.cpp
@@ -10,7 +10,7 @@ void Blimp::set_auto_armed(bool b)
 
     ap.auto_armed = b;
     if (b) {
-        AP::logger().Write_Event(LogEvent::AUTO_ARMED);
+        LOGGER_WRITE_EVENT(LogEvent::AUTO_ARMED);
     }
 }
 
diff --git a/Blimp/Blimp.cpp b/Blimp/Blimp.cpp
index fc03cc4c8fb04b..45a1c0d65bcc69 100644
--- a/Blimp/Blimp.cpp
+++ b/Blimp/Blimp.cpp
@@ -76,7 +76,7 @@ const AP_Scheduler::Task Blimp::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_ServoRelayEvents,  &blimp.ServoRelayEvents,      update_events, 50,     75,  27),
 #endif
     SCHED_TASK_CLASS(AP_Baro,              &blimp.barometer,             accumulate,    50,     90,  30),
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     SCHED_TASK(full_rate_logging,     50,    50,  33),
 #endif
     SCHED_TASK_CLASS(AP_Notify,            &blimp.notify,              update,          50,  90,  36),
@@ -86,13 +86,15 @@ const AP_Scheduler::Task Blimp::scheduler_tasks[] = {
     SCHED_TASK(gpsglitch_check,       10,     50,  48),
     SCHED_TASK_CLASS(GCS,                  (GCS*)&blimp._gcs,          update_receive, 400, 180,  51),
     SCHED_TASK_CLASS(GCS,                  (GCS*)&blimp._gcs,          update_send,    400, 550,  54),
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     SCHED_TASK(ten_hz_logging_loop,   10,    350,  57),
     SCHED_TASK(twentyfive_hz_logging, 25,    110,  60),
     SCHED_TASK_CLASS(AP_Logger,      &blimp.logger,           periodic_tasks, 400, 300,  63),
 #endif
     SCHED_TASK_CLASS(AP_InertialSensor,    &blimp.ins,                 periodic,       400,  50,  66),
+#if HAL_LOGGING_ENABLED
     SCHED_TASK_CLASS(AP_Scheduler,         &blimp.scheduler,           update_logging, 0.1,  75,  69),
+#endif
 #if STATS_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Stats,             &blimp.g2.stats,            update,           1, 100,  75),
 #endif
@@ -141,6 +143,7 @@ void Blimp::update_batt_compass(void)
     }
 }
 
+#if HAL_LOGGING_ENABLED
 // Full rate logging of attitude, rate and pid loops
 void Blimp::full_rate_logging()
 {
@@ -190,6 +193,7 @@ void Blimp::twentyfive_hz_logging()
         AP::ins().Write_IMU();
     }
 }
+#endif  // HAL_LOGGING_ENABLED
 
 // three_hz_loop - 3.3hz loop
 void Blimp::three_hz_loop()
@@ -201,9 +205,11 @@ void Blimp::three_hz_loop()
 // one_hz_loop - runs at 1Hz
 void Blimp::one_hz_loop()
 {
+#if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_ANY)) {
         Log_Write_Data(LogDataID::AP_STATE, ap.value);
     }
+#endif
 
     // update assigned functions and enable auxiliary servos
     SRV_Channels::enable_aux_servos();
@@ -226,6 +232,7 @@ void Blimp::read_AHRS(void)
     vel_ned_filtd = {vel_xy_filtd.x, vel_xy_filtd.y, vel_z_filter.apply(vel_ned.z)};
     vel_yaw_filtd = vel_yaw_filter.apply(vel_yaw);
 
+#if HAL_LOGGING_ENABLED
     AP::logger().WriteStreaming("VNF", "TimeUS,X,XF,Y,YF,Z,ZF,Yaw,YawF,PX,PY,PZ,PYaw", "Qffffffffffff",
                                 AP_HAL::micros64(),
                                 vel_ned.x,
@@ -240,6 +247,7 @@ void Blimp::read_AHRS(void)
                                 pos_ned.y,
                                 pos_ned.z,
                                 blimp.ahrs.get_yaw());
+#endif
 }
 
 // read baro and log control tuning
@@ -248,12 +256,14 @@ void Blimp::update_altitude()
     // read in baro altitude
     read_barometer();
 
+#if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_CTUN)) {
         AP::ins().write_notch_log_messages();
 #if HAL_GYROFFT_ENABLED
         gyro_fft.write_log_messages();
 #endif
     }
+#endif
 }
 
 //Conversions are in 2D so that up remains up in world frame when the blimp is not exactly level.
@@ -278,7 +288,10 @@ void Blimp::rotate_NE_to_BF(Vector2f &vec)
   constructor for main Blimp class
  */
 Blimp::Blimp(void)
-    : logger(g.log_bitmask),
+    :
+#if HAL_LOGGING_ENABLED
+      logger(g.log_bitmask),
+#endif
       flight_modes(&g.flight_mode1),
       control_mode(Mode::Number::MANUAL),
       rc_throttle_control_in_filter(1.0f),
diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
index 32ac39b5bddf4f..1b3d3309b3ac7f 100644
--- a/Blimp/Blimp.h
+++ b/Blimp/Blimp.h
@@ -114,7 +114,9 @@ class Blimp : public AP_Vehicle
     RC_Channel *channel_up;
     RC_Channel *channel_yaw;
 
+#if HAL_LOGGING_ENABLED
     AP_Logger logger;
+#endif
 
     // flight modes convenience array
     AP_Int8 *flight_modes;
@@ -352,6 +354,7 @@ class Blimp : public AP_Vehicle
     // landing_gear.cpp
     void landinggear_update();
 
+#if HAL_LOGGING_ENABLED
     // Log.cpp
     void Log_Write_Performance();
     void Log_Write_Attitude();
@@ -370,6 +373,7 @@ class Blimp : public AP_Vehicle
     void log_init(void);
     void Write_FINI(float right, float front, float down, float yaw);
     void Write_FINO(float *amp, float *off);
+#endif
 
     // mode.cpp
     bool set_mode(Mode::Number mode, ModeReason reason);
diff --git a/Blimp/Fins.cpp b/Blimp/Fins.cpp
index 0247a5795fbc0c..8e1eade2a2e6b7 100644
--- a/Blimp/Fins.cpp
+++ b/Blimp/Fins.cpp
@@ -80,7 +80,9 @@ void Fins::output()
         yaw_out   = 0;
     }
 
+#if HAL_LOGGING_ENABLED
     blimp.Write_FINI(right_out, front_out, down_out, yaw_out);
+#endif
 
     //Constrain after logging so as to still show when sub-optimal tuning is causing massive overshoots.
     right_out = constrain_float(right_out, -1, 1);
@@ -130,7 +132,9 @@ void Fins::output()
         SRV_Channels::set_output_scaled(SRV_Channels::get_motor_function(i), _pos[i] * FIN_SCALE_MAX);
     }
 
+#if HAL_LOGGING_ENABLED
     blimp.Write_FINO(_amp, _off);
+#endif
 }
 
 void Fins::output_min()
diff --git a/Blimp/GCS_Mavlink.cpp b/Blimp/GCS_Mavlink.cpp
index 8eaf6473dd9738..3e7f084ff0034c 100644
--- a/Blimp/GCS_Mavlink.cpp
+++ b/Blimp/GCS_Mavlink.cpp
@@ -518,7 +518,11 @@ void GCS_MAVLINK_Blimp::handleMessage(const mavlink_message_t &msg)
 
     case MAVLINK_MSG_ID_RADIO:
     case MAVLINK_MSG_ID_RADIO_STATUS: {     // MAV ID: 109
+#if HAL_LOGGING_ENABLED
         handle_radio_status(msg, blimp.should_log(MASK_LOG_PM));
+#else
+        handle_radio_status(msg, false);
+#endif
         break;
     }
 
diff --git a/Blimp/Log.cpp b/Blimp/Log.cpp
index 17c3161faba385..7d62fc9d5ebc6b 100644
--- a/Blimp/Log.cpp
+++ b/Blimp/Log.cpp
@@ -1,6 +1,6 @@
 #include "Blimp.h"
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
 
 // Code to Write and Read packets from AP_Logger log memory
 // Code to interact with the user to dump or erase logs
@@ -407,21 +407,4 @@ void Blimp::log_init(void)
     logger.Init(log_structure, ARRAY_SIZE(log_structure));
 }
 
-#else // LOGGING_ENABLED
-
-void Blimp::Log_Write_Performance() {}
-void Blimp::Log_Write_Attitude(void) {}
-void Blimp::Log_Write_PIDs(void) {}
-void Blimp::Log_Write_EKF_POS() {}
-void Blimp::Log_Write_Data(LogDataID id, int32_t value) {}
-void Blimp::Log_Write_Data(LogDataID id, uint32_t value) {}
-void Blimp::Log_Write_Data(LogDataID id, int16_t value) {}
-void Blimp::Log_Write_Data(LogDataID id, uint16_t value) {}
-void Blimp::Log_Write_Data(LogDataID id, float value) {}
-void Blimp::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {}
-void Blimp::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
-void Blimp::Log_Write_Vehicle_Startup_Messages() {}
-
-void Blimp::log_init(void) {}
-
-#endif // LOGGING_ENABLED
+#endif // HAL_LOGGING_ENABLED
diff --git a/Blimp/Loiter.cpp b/Blimp/Loiter.cpp
index 8c6b5d5e7aea7c..52e85f1b536990 100644
--- a/Blimp/Loiter.cpp
+++ b/Blimp/Loiter.cpp
@@ -25,10 +25,12 @@ void Loiter::run(Vector3f& target_pos, float& target_yaw, Vector4b axes_disabled
     }
     scaler_yyaw = scaler_yyaw*MA + scaler_yyaw_n*MO;
 
+#if HAL_LOGGING_ENABLED
     AP::logger().WriteStreaming("BSC", "TimeUS,xz,yyaw,xzn,yyawn",
                                 "Qffff",
                                 AP_HAL::micros64(),
                                 scaler_xz, scaler_yyaw, scaler_xz_n, scaler_yyaw_n);
+#endif
 
     float yaw_ef = blimp.ahrs.get_yaw();
     Vector3f err_xyz = target_pos - blimp.pos_ned;
@@ -120,9 +122,11 @@ void Loiter::run(Vector3f& target_pos, float& target_yaw, Vector4b axes_disabled
         blimp.motors->yaw_out = act_yaw;
     }
 
+#if HAL_LOGGING_ENABLED
     AP::logger().Write_PSCN(target_pos.x * 100.0, blimp.pos_ned.x * 100.0, 0.0, target_vel_ef_c.x * 100.0, blimp.vel_ned_filtd.x * 100.0, 0.0, 0.0, 0.0);
     AP::logger().Write_PSCE(target_pos.y * 100.0, blimp.pos_ned.y * 100.0, 0.0, target_vel_ef_c.y * 100.0, blimp.vel_ned_filtd.y * 100.0, 0.0, 0.0, 0.0);
     AP::logger().Write_PSCD(-target_pos.z * 100.0, -blimp.pos_ned.z * 100.0, 0.0, -target_vel_ef_c.z * 100.0, -blimp.vel_ned_filtd.z * 100.0, 0.0, 0.0, 0.0);
+#endif
 }
 
 void Loiter::run_vel(Vector3f& target_vel_ef, float& target_vel_yaw, Vector4b axes_disabled)
@@ -196,7 +200,9 @@ void Loiter::run_vel(Vector3f& target_vel_ef, float& target_vel_yaw, Vector4b ax
         blimp.motors->yaw_out = act_yaw;
     }
 
+#if HAL_LOGGING_ENABLED
     AP::logger().Write_PSCN(0.0, blimp.pos_ned.x * 100.0, 0.0, target_vel_ef_c.x * 100.0, blimp.vel_ned_filtd.x * 100.0, 0.0, 0.0, 0.0);
     AP::logger().Write_PSCE(0.0, blimp.pos_ned.y * 100.0, 0.0, target_vel_ef_c.y * 100.0, blimp.vel_ned_filtd.y * 100.0, 0.0, 0.0, 0.0);
     AP::logger().Write_PSCD(0.0, -blimp.pos_ned.z * 100.0, 0.0, -target_vel_ef_c.z * 100.0, -blimp.vel_ned_filtd.z * 100.0, 0.0, 0.0, 0.0);
+#endif
 }
diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp
index 593e9f26687f74..3c19c9f516be85 100644
--- a/Blimp/Parameters.cpp
+++ b/Blimp/Parameters.cpp
@@ -341,9 +341,11 @@ const AP_Param::Info Blimp::var_info[] = {
     // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
     GOBJECT(ahrs,                   "AHRS_",    AP_AHRS),
 
+#if HAL_LOGGING_ENABLED
     // @Group: LOG
     // @Path: ../libraries/AP_Logger/AP_Logger.cpp
     GOBJECT(logger,           "LOG",  AP_Logger),
+#endif
 
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
diff --git a/Blimp/RC_Channel.cpp b/Blimp/RC_Channel.cpp
index 7709867cf25c4a..ba94d82a173df4 100644
--- a/Blimp/RC_Channel.cpp
+++ b/Blimp/RC_Channel.cpp
@@ -132,7 +132,7 @@ void Blimp::save_trim()
     float roll_trim = ToRad((float)channel_right->get_control_in()/100.0f);
     float pitch_trim = ToRad((float)channel_front->get_control_in()/100.0f);
     ahrs.add_trim(roll_trim, pitch_trim);
-    AP::logger().Write_Event(LogEvent::SAVE_TRIM);
+    LOGGER_WRITE_EVENT(LogEvent::SAVE_TRIM);
     gcs().send_text(MAV_SEVERITY_INFO, "Trim saved");
 }
 
diff --git a/Blimp/config.h b/Blimp/config.h
index 9c5908f65fed98..90985635a29432 100644
--- a/Blimp/config.h
+++ b/Blimp/config.h
@@ -111,13 +111,6 @@
 # define AUTO_DISARMING_DELAY  10
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// Logging control
-//
-#ifndef LOGGING_ENABLED
-# define LOGGING_ENABLED                ENABLED
-#endif
-
 // Default logging bitmask
 #ifndef DEFAULT_LOG_BITMASK
 # define DEFAULT_LOG_BITMASK \
diff --git a/Blimp/ekf_check.cpp b/Blimp/ekf_check.cpp
index fd524b99ab91a5..6b91eb6ec8ab1c 100644
--- a/Blimp/ekf_check.cpp
+++ b/Blimp/ekf_check.cpp
@@ -69,7 +69,7 @@ void Blimp::ekf_check()
                 // limit count from climbing too high
                 ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX;
                 ekf_check_state.bad_variance = true;
-                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE);
+                LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE);
                 // send message to gcs
                 if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
                     gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF variance");
@@ -86,7 +86,7 @@ void Blimp::ekf_check()
             // if compass is flagged as bad and the counter reaches zero then clear flag
             if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) {
                 ekf_check_state.bad_variance = false;
-                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
+                LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
                 // clear failsafe
                 failsafe_ekf_off_event();
             }
@@ -145,7 +145,7 @@ void Blimp::failsafe_ekf_event()
 
     // EKF failsafe event has occurred
     failsafe.ekf = true;
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
 
     // does this mode require position?
     if (!blimp.flightmode->requires_GPS() && (g.fs_ekf_action != FS_EKF_ACTION_LAND_EVEN_MANUAL)) {
@@ -171,7 +171,7 @@ void Blimp::failsafe_ekf_off_event(void)
     }
 
     failsafe.ekf = false;
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED);
 }
 
 // check for ekf yaw reset and adjust target heading, also log position reset
@@ -182,13 +182,13 @@ void Blimp::check_ekf_reset()
     uint32_t new_ekfYawReset_ms = ahrs.getLastYawResetAngle(yaw_angle_change_rad);
     if (new_ekfYawReset_ms != ekfYawReset_ms) {
         ekfYawReset_ms = new_ekfYawReset_ms;
-        AP::logger().Write_Event(LogEvent::EKF_YAW_RESET);
+        LOGGER_WRITE_EVENT(LogEvent::EKF_YAW_RESET);
     }
 
     // check for change in primary EKF, reset attitude target and log.  AC_PosControl handles position target adjustment
     if ((ahrs.get_primary_core_index() != ekf_primary_core) && (ahrs.get_primary_core_index() != -1)) {
         ekf_primary_core = ahrs.get_primary_core_index();
-        AP::logger().Write_Error(LogErrorSubsystem::EKF_PRIMARY, LogErrorCode(ekf_primary_core));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::EKF_PRIMARY, LogErrorCode(ekf_primary_core));
         gcs().send_text(MAV_SEVERITY_WARNING, "EKF primary changed:%d", (unsigned)ekf_primary_core);
     }
 }
@@ -232,7 +232,7 @@ void Blimp::check_vibration()
                 // restore ekf gains, reset timers and update user
                 vibration_check.high_vibes = false;
                 vibration_check.clear_ms = 0;
-                AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_RESOLVED);
+                LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_RESOLVED);
                 gcs().send_text(MAV_SEVERITY_CRITICAL, "Vibration compensation OFF");
             }
         }
@@ -252,7 +252,7 @@ void Blimp::check_vibration()
         if (!vibration_check.high_vibes) {
             // switch ekf to use resistant gains
             vibration_check.high_vibes = true;
-            AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_OCCURRED);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_VIBE, LogErrorCode::FAILSAFE_OCCURRED);
             gcs().send_text(MAV_SEVERITY_CRITICAL, "Vibration compensation ON");
         }
     }
diff --git a/Blimp/events.cpp b/Blimp/events.cpp
index 452f624c5b879f..d7d7f7f52c33df 100644
--- a/Blimp/events.cpp
+++ b/Blimp/events.cpp
@@ -14,7 +14,7 @@ bool Blimp::failsafe_option(FailsafeOption opt) const
 
 void Blimp::failsafe_radio_on_event()
 {
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_OCCURRED);
 
     // set desired action based on FS_THR_ENABLE parameter
     Failsafe_Action desired_action;
@@ -59,13 +59,13 @@ void Blimp::failsafe_radio_off_event()
 {
     // no need to do anything except log the error as resolved
     // user can now override roll, pitch, yaw and throttle and even use flight mode switch to restore previous flight mode
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_RESOLVED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_RADIO, LogErrorCode::FAILSAFE_RESOLVED);
     gcs().send_text(MAV_SEVERITY_WARNING, "Radio Failsafe Cleared");
 }
 
 void Blimp::handle_battery_failsafe(const char *type_str, const int8_t action)
 {
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_BATT, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_BATT, LogErrorCode::FAILSAFE_OCCURRED);
 
     Failsafe_Action desired_action = (Failsafe_Action)action;
 
@@ -168,10 +168,10 @@ void Blimp::gpsglitch_check()
     if (ap.gps_glitching != gps_glitching) {
         ap.gps_glitching = gps_glitching;
         if (gps_glitching) {
-            AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::GPS_GLITCH);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::GPS, LogErrorCode::GPS_GLITCH);
             gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch");
         } else {
-            AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::ERROR_RESOLVED);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::GPS, LogErrorCode::ERROR_RESOLVED);
             gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch cleared");
         }
     }
diff --git a/Blimp/failsafe.cpp b/Blimp/failsafe.cpp
index 0c05d3ea9183c0..3ea0d1199c43e5 100644
--- a/Blimp/failsafe.cpp
+++ b/Blimp/failsafe.cpp
@@ -43,7 +43,7 @@ void Blimp::failsafe_check()
         failsafe_last_timestamp = tnow;
         if (in_failsafe) {
             in_failsafe = false;
-            AP::logger().Write_Error(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_RESOLVED);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_RESOLVED);
         }
         return;
     }
@@ -59,7 +59,7 @@ void Blimp::failsafe_check()
             //TODO: this may not work correctly.
         }
 
-        AP::logger().Write_Error(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_OCCURRED);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::CPU, LogErrorCode::FAILSAFE_OCCURRED);
     }
 
     if (failsafe_enabled && in_failsafe && tnow - failsafe_last_timestamp > 1000000) {
diff --git a/Blimp/mode.cpp b/Blimp/mode.cpp
index b7d80bd906100f..9165036cb7639e 100644
--- a/Blimp/mode.cpp
+++ b/Blimp/mode.cpp
@@ -78,7 +78,7 @@ bool Blimp::set_mode(Mode::Number mode, ModeReason reason)
         new_flightmode->requires_GPS() &&
         !blimp.position_ok()) {
         gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: %s requires position", new_flightmode->name());
-        AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
         return false;
     }
 
@@ -89,13 +89,13 @@ bool Blimp::set_mode(Mode::Number mode, ModeReason reason)
         flightmode->has_manual_throttle() &&
         !new_flightmode->has_manual_throttle()) {
         gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: %s need alt estimate", new_flightmode->name());
-        AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
         return false;
     }
 
     if (!new_flightmode->init(ignore_checks)) {
         gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed %s", new_flightmode->name());
-        AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
         return false;
     }
 
@@ -109,7 +109,9 @@ bool Blimp::set_mode(Mode::Number mode, ModeReason reason)
     flightmode = new_flightmode;
     control_mode = mode;
     control_mode_reason = reason;
+#if HAL_LOGGING_ENABLED
     logger.Write_Mode((uint8_t)control_mode, reason);
+#endif
     gcs().send_message(MSG_HEARTBEAT);
 
     // update notify object
diff --git a/Blimp/radio.cpp b/Blimp/radio.cpp
index 861c057820a5fc..02a42672e1843e 100644
--- a/Blimp/radio.cpp
+++ b/Blimp/radio.cpp
@@ -93,7 +93,7 @@ void Blimp::read_radio()
     }
 
     // Nobody ever talks to us.  Log an error and enter failsafe.
-    AP::logger().Write_Error(LogErrorSubsystem::RADIO, LogErrorCode::RADIO_LATE_FRAME);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::RADIO, LogErrorCode::RADIO_LATE_FRAME);
     set_failsafe_radio(true);
 }
 
@@ -155,4 +155,4 @@ void Blimp::set_throttle_zero_flag(int16_t throttle_control)
         ap.throttle_zero = true;
     }
     //TODO: This may not be needed
-}
\ No newline at end of file
+}
diff --git a/Blimp/system.cpp b/Blimp/system.cpp
index f3d8bdc08e69f1..83b2b832e184ac 100644
--- a/Blimp/system.cpp
+++ b/Blimp/system.cpp
@@ -38,7 +38,7 @@ void Blimp::init_ardupilot()
     // setup telem slots with serial ports
     gcs().setup_uarts();
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     log_init();
 #endif
 
@@ -81,8 +81,10 @@ void Blimp::init_ardupilot()
     barometer.set_log_baro_bit(MASK_LOG_IMU);
     barometer.calibrate();
 
+#if HAL_LOGGING_ENABLED
     // initialise AP_Logger library
     logger.setVehicle_Startup_Writer(FUNCTOR_BIND(&blimp, &Blimp::Log_Write_Vehicle_Startup_Messages, void));
+#endif
 
     startup_INS_ground();
 
@@ -224,18 +226,16 @@ void Blimp::update_auto_armed()
     }
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   should we log a message type now?
  */
 bool Blimp::should_log(uint32_t mask)
 {
-#if LOGGING_ENABLED == ENABLED
     ap.logging_started = logger.logging_started();
     return logger.should_log(mask);
-#else
-    return false;
-#endif
 }
+#endif
 
 // return MAV_TYPE corresponding to frame class
 MAV_TYPE Blimp::get_frame_mav_type()

From b94fc26c5f88ce4ce9ddf1b5c85af6ac455cc163 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 10 Jan 2024 15:21:39 +1100
Subject: [PATCH 0637/1335] AP_AIS: correct compilation when
 HAL_LOGGING_ENABLED is false

---
 libraries/AP_AIS/AP_AIS.cpp | 56 +++++++++++++++++++++++++++++++++++++
 1 file changed, 56 insertions(+)

diff --git a/libraries/AP_AIS/AP_AIS.cpp b/libraries/AP_AIS/AP_AIS.cpp
index c08a4dea0318f9..a47c57ee6fc315 100644
--- a/libraries/AP_AIS/AP_AIS.cpp
+++ b/libraries/AP_AIS/AP_AIS.cpp
@@ -31,6 +31,7 @@
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <GCS_MAVLink/GCS.h>
+#include <AP_AHRS/AP_AHRS.h>
 
 const AP_Param::GroupInfo AP_AIS::var_info[] = {
 
@@ -120,20 +121,26 @@ void AP_AIS::update()
 
             if (_incoming.total  > AIVDM_BUFFER_SIZE)  {
                 // no point in trying to decode it wont fit
+#if HAL_LOGGING_ENABLED
                 if (log_all || log_unsupported) {
                     log_raw(&_incoming);
                 }
+#endif
                 break;
             }
+#if HAL_LOGGING_ENABLED
             if (log_all) {
                 log_raw(&_incoming);
             }
+#endif
 
             if (_incoming.num == 1 && _incoming.total == 1) {
                 // single part message
                 if (!payload_decode(_incoming.payload) && log_unsupported) {
+#if HAL_LOGGING_ENABLED
                     // could not decode so log
                     log_raw(&_incoming);
+#endif
                 }
             } else if (_incoming.num == _incoming.total) {
                 // last part of a multi part message
@@ -154,12 +161,14 @@ void AP_AIS::update()
                 // did we find the right number?
                 if (_incoming.num != index) {
                     // could not find all of the message, save messages
+#if HAL_LOGGING_ENABLED
                     if (log_unsupported) {
                         for (uint8_t i = 0; i < index; i++) {
                             log_raw(&_AIVDM_buffer[msg_parts[i]]);
                         }
                         log_raw(&_incoming);
                     }
+#endif
                     // remove
                     for (uint8_t i = 0; i < index; i++) {
                         buffer_shift(msg_parts[i]);
@@ -174,17 +183,23 @@ void AP_AIS::update()
                     strncat(multi,_AIVDM_buffer[msg_parts[i]].payload,sizeof(multi));
                 }
                 strncat(multi,_incoming.payload,sizeof(multi));
+#if HAL_LOGGING_ENABLED
                 const bool decoded = payload_decode(multi);
+#endif
                 for (uint8_t i = 0; i < _incoming.total; i++) {
+#if HAL_LOGGING_ENABLED
                     // unsupported type, log and discard
                     if (!decoded && log_unsupported) {
                         log_raw(&_AIVDM_buffer[msg_parts[i]]);
                     }
+#endif
                     buffer_shift(msg_parts[i]);
                 }
+#if HAL_LOGGING_ENABLED
                 if (!decoded && log_unsupported) {
                     log_raw(&_incoming);
                 }
+#endif
             } else {
                 // multi part message, store in buffer
                 bool fits_in = false;
@@ -198,10 +213,12 @@ void AP_AIS::update()
                 }
                 if (!fits_in) {
                     // remove the oldest message
+#if HAL_LOGGING_ENABLED
                     if (log_unsupported) {
                         // log the unused message before removing it
                         log_raw(&_AIVDM_buffer[0]);
                     }
+#endif
                     buffer_shift(0);
                     _AIVDM_buffer[AIVDM_BUFFER_SIZE - 1] = _incoming;
                 }
@@ -393,6 +410,7 @@ bool AP_AIS::decode_position_report(const char *payload, uint8_t type)
     bool raim = get_bits(payload, 148, 148);
     uint32_t radio = get_bits(payload, 149, 167);
 
+#if HAL_LOGGING_ENABLED
     // log the raw infomation
     if ((_log_options & AIS_OPTIONS_LOG_DECODED) != 0) {
         const struct log_AIS_msg1 pkt{
@@ -416,6 +434,19 @@ bool AP_AIS::decode_position_report(const char *payload, uint8_t type)
         };
         AP::logger().WriteBlock(&pkt, sizeof(pkt));
     }
+#else
+    (void)repeat;
+    (void)nav;
+    (void)rot;
+    (void)sog;
+    (void)pos_acc;
+    (void)cog;
+    (void)head;
+    (void)sec_utc;
+    (void)maneuver;
+    (void)raim;
+    (void)radio;
+#endif
 
     uint16_t index;
     if (!get_vessel_index(mmsi, index, lat, lon)) {
@@ -482,6 +513,7 @@ bool AP_AIS::decode_base_station_report(const char *payload)
     bool raim          = get_bits(payload, 148, 148);
     uint32_t radio     = get_bits(payload, 149, 167);
 
+#if HAL_LOGGING_ENABLED
     // log the raw infomation
     if ((_log_options & AIS_OPTIONS_LOG_DECODED) != 0) {
         struct log_AIS_msg4 pkt {
@@ -504,6 +536,19 @@ bool AP_AIS::decode_base_station_report(const char *payload)
         };
         AP::logger().WriteBlock(&pkt, sizeof(pkt));
     }
+#else
+    (void)repeat;
+    (void)year;
+    (void)month;
+    (void)day;
+    (void)hour;
+    (void)minute;
+    (void)second;
+    (void)fix;
+    (void)epfd;
+    (void)raim;
+    (void)radio;
+#endif
 
     uint16_t index;
     if (!get_vessel_index(mmsi, index)) {
@@ -548,6 +593,7 @@ bool AP_AIS::decode_static_and_voyage_data(const char *payload)
     bool dte            = get_bits(payload, 422, 422);
     // 423 - 426: spare
 
+#if HAL_LOGGING_ENABLED
     // log the raw infomation
     if ((_log_options & AIS_OPTIONS_LOG_DECODED) != 0) {
         struct log_AIS_msg5 pkt {
@@ -574,6 +620,14 @@ bool AP_AIS::decode_static_and_voyage_data(const char *payload)
         strncpy(pkt.dest, dest, sizeof(pkt.dest));
         AP::logger().WriteBlock(&pkt, sizeof(pkt));
     }
+#else
+    (void)repeat;
+    (void)ver;
+    (void)imo;
+    (void)fix;
+    (void)draught;
+    (void)dte;
+#endif
 
     uint16_t index;
     if (!get_vessel_index(mmsi, index)) {
@@ -699,6 +753,7 @@ uint8_t AP_AIS::payload_char_decode(const char c)
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 // Functions for decoding and logging AIVDM NMEA sentence
 
+#if HAL_LOGGING_ENABLED
 // log a raw AIVDM a message
 void AP_AIS::log_raw(const AIVDM *msg)
 {
@@ -713,6 +768,7 @@ void AP_AIS::log_raw(const AIVDM *msg)
     memcpy(pkt.payload, msg->payload, sizeof(pkt.payload));
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
+#endif
 
 // add a single character to the buffer and attempt to decode
 // returns true if a complete sentence was successfully decoded

From 8bdd0294b87a63cf712e92a015b4ddae01816a20 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 10 Jan 2024 15:21:43 +1100
Subject: [PATCH 0638/1335] Rover: correct compilation when HAL_LOGGING_ENABLED
 is false

---
 Rover/AP_Arming.cpp    |  2 ++
 Rover/GCS_Mavlink.cpp  |  4 ++++
 Rover/Log.cpp          |  2 +-
 Rover/Parameters.cpp   |  2 ++
 Rover/Rover.cpp        | 13 +++++++++++--
 Rover/Rover.h          |  4 ++++
 Rover/config.h         |  7 -------
 Rover/crash_check.cpp  |  4 ++--
 Rover/cruise_learn.cpp |  8 ++++++++
 Rover/ekf_check.cpp    |  8 ++++----
 Rover/fence.cpp        |  4 ++--
 Rover/mode_auto.cpp    |  2 ++
 Rover/mode_dock.cpp    |  2 ++
 Rover/system.cpp       | 12 ++++++++----
 14 files changed, 52 insertions(+), 22 deletions(-)

diff --git a/Rover/AP_Arming.cpp b/Rover/AP_Arming.cpp
index 02744eacd19190..36a28aea8780d4 100644
--- a/Rover/AP_Arming.cpp
+++ b/Rover/AP_Arming.cpp
@@ -106,7 +106,9 @@ void AP_Arming_Rover::update_soft_armed()
 {
     hal.util->set_soft_armed(is_armed() &&
                              hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
+#if HAL_LOGGING_ENABLED
     AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
+#endif
 }
 
 /*
diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index e13e35bebc255c..bf86b9c7e3ba88 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -1065,7 +1065,11 @@ void GCS_MAVLINK_Rover::handle_set_position_target_global_int(const mavlink_mess
 
 void GCS_MAVLINK_Rover::handle_radio(const mavlink_message_t &msg)
 {
+#if HAL_LOGGING_ENABLED
     handle_radio_status(msg, rover.should_log(MASK_LOG_PM));
+#else
+    handle_radio_status(msg, false);
+#endif
 }
 
 /*
diff --git a/Rover/Log.cpp b/Rover/Log.cpp
index 36403f66d253ed..f102fa95c0ca41 100644
--- a/Rover/Log.cpp
+++ b/Rover/Log.cpp
@@ -2,7 +2,7 @@
 
 #include <AP_RangeFinder/AP_RangeFinder_Backend.h>
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
 
 // Write an attitude packet
 void Rover::Log_Write_Attitude()
diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index ac1bdb29abdc14..ec6c8063cac8ad 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -316,9 +316,11 @@ const AP_Param::Info Rover::var_info[] = {
     // @Path: ../libraries/AP_Arming/AP_Arming.cpp
     GOBJECT(arming,                 "ARMING_", AP_Arming),
 
+#if HAL_LOGGING_ENABLED
     // @Group: LOG
     // @Path: ../libraries/AP_Logger/AP_Logger.cpp
     GOBJECT(logger,           "LOG",  AP_Logger),
+#endif
 
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index 82b7f46e371397..8e0faed41e530c 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -89,8 +89,10 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_WindVane,         &rover.g2.windvane,      update,         20,  100,  30),
     SCHED_TASK(update_wheel_encoder,   50,    200,  36),
     SCHED_TASK(update_compass,         10,    200,  39),
+#if HAL_LOGGING_ENABLED
     SCHED_TASK(update_logging1,        10,    200,  45),
     SCHED_TASK(update_logging2,        10,    200,  48),
+#endif
     SCHED_TASK_CLASS(GCS,                 (GCS*)&rover._gcs,       update_receive,                    400,    500,  51),
     SCHED_TASK_CLASS(GCS,                 (GCS*)&rover._gcs,       update_send,                       400,   1000,  54),
     SCHED_TASK_CLASS(RC_Channels,         (RC_Channels*)&rover.g2.rc_channels, read_mode_switch,        7,    200,  57),
@@ -123,11 +125,13 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AC_Sprayer,          &rover.g2.sprayer,       update,          3,  90,  99),
 #endif
     SCHED_TASK(compass_save,            0.1,  200, 105),
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     SCHED_TASK_CLASS(AP_Logger,           &rover.logger,           periodic_tasks, 50,  300, 108),
 #endif
     SCHED_TASK_CLASS(AP_InertialSensor,   &rover.ins,              periodic,      400,  200, 111),
+#if HAL_LOGGING_ENABLED
     SCHED_TASK_CLASS(AP_Scheduler,        &rover.scheduler,        update_logging, 0.1, 200, 114),
+#endif
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button,           &rover.button,           update,          5,  200, 117),
 #endif
@@ -156,7 +160,9 @@ constexpr int8_t Rover::_failsafe_priorities[7];
 Rover::Rover(void) :
     AP_Vehicle(),
     param_loader(var_info),
+#if HAL_LOGGING_ENABLED
     logger{g.log_bitmask},
+#endif
     modes(&g.mode1),
     control_mode(&mode_initializing)
 {
@@ -336,6 +342,7 @@ void Rover::ahrs_update()
         ground_speed = ahrs.groundspeed();
     }
 
+#if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_ATTITUDE_FAST)) {
         Log_Write_Attitude();
         Log_Write_Sail();
@@ -348,6 +355,7 @@ void Rover::ahrs_update()
     if (should_log(MASK_LOG_VIDEO_STABILISATION)) {
         ahrs.write_video_stabilisation();
     }
+#endif
 }
 
 /*
@@ -376,6 +384,7 @@ void Rover::gcs_failsafe_check(void)
     failsafe_trigger(FAILSAFE_EVENT_GCS, "GCS", do_failsafe);
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   log some key data - 10Hz
  */
@@ -435,7 +444,7 @@ void Rover::update_logging2(void)
     }
 #endif
 }
-
+#endif  // HAL_LOGGING_ENABLED
 
 /*
   once a second events
diff --git a/Rover/Rover.h b/Rover/Rover.h
index c6aa6db49702cc..cbc508cd2c0a84 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -136,7 +136,9 @@ class Rover : public AP_Vehicle {
     RC_Channel *channel_pitch;
     RC_Channel *channel_walking_height;
 
+#if HAL_LOGGING_ENABLED
     AP_Logger logger;
+#endif
 
     // flight modes convenience array
     AP_Int8 *modes;
@@ -226,7 +228,9 @@ class Rover : public AP_Vehicle {
     static const AP_Scheduler::Task scheduler_tasks[];
 
     static const AP_Param::Info var_info[];
+#if HAL_LOGGING_ENABLED
     static const LogStructure log_structure[];
+#endif
 
     // time that rudder/steering arming has been running
     uint32_t rudder_arm_timer;
diff --git a/Rover/config.h b/Rover/config.h
index 7a280e88f3497a..ef64d393c06927 100644
--- a/Rover/config.h
+++ b/Rover/config.h
@@ -45,13 +45,6 @@
   #define CRUISE_SPEED    2  // in m/s
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// Logging control
-//
-#ifndef LOGGING_ENABLED
-  #define LOGGING_ENABLED ENABLED
-#endif
-
 #define DEFAULT_LOG_BITMASK    0xffff
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/Rover/crash_check.cpp b/Rover/crash_check.cpp
index feafdf7f6f6ef7..061e57ae9ce639 100644
--- a/Rover/crash_check.cpp
+++ b/Rover/crash_check.cpp
@@ -45,8 +45,8 @@ void Rover::crash_check()
     }
 
     if (crashed) {
-        AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK,
-                                 LogErrorCode::CRASH_CHECK_CRASH);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::CRASH_CHECK,
+                           LogErrorCode::CRASH_CHECK_CRASH);
 
         if (is_balancebot()) {
             // send message to gcs
diff --git a/Rover/cruise_learn.cpp b/Rover/cruise_learn.cpp
index 55d0e338ca155d..e844011296e2cc 100644
--- a/Rover/cruise_learn.cpp
+++ b/Rover/cruise_learn.cpp
@@ -15,7 +15,9 @@ void Rover::cruise_learn_start()
     cruise_learn.throttle_filt.reset(g2.motors.get_throttle());
     cruise_learn.learn_start_ms = AP_HAL::millis();
     cruise_learn.log_count = 0;
+#if HAL_LOGGING_ENABLED
     log_write_cruise_learn();
+#endif
     gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning started");
 }
 
@@ -29,10 +31,12 @@ void Rover::cruise_learn_update()
         cruise_learn.speed_filt.apply(speed, 0.02f);
         cruise_learn.throttle_filt.apply(g2.motors.get_throttle(), 0.02f);
         // 10Hz logging
+#if HAL_LOGGING_ENABLED
         if (cruise_learn.log_count % 5 == 0) {
             log_write_cruise_learn();
         }
         cruise_learn.log_count += 1;
+#endif
         // check how long it took to learn
         if (AP_HAL::millis() - cruise_learn.learn_start_ms >= 2000) {
             cruise_learn_complete();
@@ -56,10 +60,13 @@ void Rover::cruise_learn_complete()
             gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning failed");
         }
         cruise_learn.learn_start_ms = 0;
+#if HAL_LOGGING_ENABLED
         log_write_cruise_learn();
+#endif
     }
 }
 
+#if HAL_LOGGING_ENABLED
 // logging for cruise learn
 void Rover::log_write_cruise_learn() const
 {
@@ -77,3 +84,4 @@ void Rover::log_write_cruise_learn() const
                        cruise_learn.speed_filt.get(),
                        cruise_learn.throttle_filt.get());
 }
+#endif
diff --git a/Rover/ekf_check.cpp b/Rover/ekf_check.cpp
index 7f6d04b6376979..cf20b559703d73 100644
--- a/Rover/ekf_check.cpp
+++ b/Rover/ekf_check.cpp
@@ -53,7 +53,7 @@ void Rover::ekf_check()
                 ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX;
                 ekf_check_state.bad_variance = true;
 
-                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK,
+                LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK,
                                          LogErrorCode::EKFCHECK_BAD_VARIANCE);
                 // send message to gcs
                 if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
@@ -71,7 +71,7 @@ void Rover::ekf_check()
             // if variance is flagged as bad and the counter reaches zero then clear flag
             if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) {
                 ekf_check_state.bad_variance = false;
-                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK,
+                LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK,
                                          LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
                 // clear failsafe
                 failsafe_ekf_off_event();
@@ -156,7 +156,7 @@ void Rover::failsafe_ekf_event()
 
     // EKF failsafe event has occurred
     failsafe.ekf = true;
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV,
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV,
                              LogErrorCode::FAILSAFE_OCCURRED);
 
     // does this mode require position?
@@ -189,7 +189,7 @@ void Rover::failsafe_ekf_off_event(void)
     }
 
     failsafe.ekf = false;
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV,
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV,
                              LogErrorCode::FAILSAFE_RESOLVED);
     gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF failsafe cleared");
 }
diff --git a/Rover/fence.cpp b/Rover/fence.cpp
index 7150c88c467ccc..4c29b48d243dcd 100644
--- a/Rover/fence.cpp
+++ b/Rover/fence.cpp
@@ -51,11 +51,11 @@ void Rover::fence_check()
                 set_mode(mode_hold, ModeReason::FENCE_BREACHED);
             }
         }
-        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
 
     } else if (orig_breaches) {
         // record clearing of breach
-        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE,
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE,
                                  LogErrorCode::ERROR_RESOLVED);
     }
 #endif // AP_FENCE_ENABLED
diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
index 5d2029b8201d25..d10f64fdfd81fc 100644
--- a/Rover/mode_auto.cpp
+++ b/Rover/mode_auto.cpp
@@ -512,10 +512,12 @@ void ModeAuto::send_guided_position_target()
 /********************************************************************************/
 bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
 {
+#if HAL_LOGGING_ENABLED
     // log when new commands start
     if (rover.should_log(MASK_LOG_CMD)) {
         rover.logger.Write_Mission_Cmd(mission, cmd);
     }
+#endif
 
     switch (cmd.id) {
     case MAV_CMD_NAV_WAYPOINT:  // Navigate to Waypoint
diff --git a/Rover/mode_dock.cpp b/Rover/mode_dock.cpp
index 4d52cb2af8ee03..89f8d89af7361a 100644
--- a/Rover/mode_dock.cpp
+++ b/Rover/mode_dock.cpp
@@ -171,6 +171,7 @@ void ModeDock::update()
     calc_steering_from_turn_rate(desired_turn_rate);
     calc_throttle(desired_speed, true);
 
+#if HAL_LOGGING_ENABLED
 // @LoggerMessage: DOCK
 // @Description: Dock mode target information
 // @Field: TimeUS: Time since system startup
@@ -196,6 +197,7 @@ void ModeDock::update()
             target_cm.y,
             desired_speed,
             desired_turn_rate);
+#endif
 }
 
 float ModeDock::apply_slowdown(float desired_speed)
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 492463e8a2345a..07ff6415499f8b 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -54,7 +54,7 @@ void Rover::init_ardupilot()
     osd.init();
 #endif
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     log_init();
 #endif
 
@@ -179,7 +179,7 @@ void Rover::startup_ground(void)
     mode_auto.mission.init();
 
     // initialise AP_Logger library
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     logger.setVehicle_Startup_Writer(
         FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void)
         );
@@ -259,8 +259,8 @@ bool Rover::set_mode(Mode &new_mode, ModeReason reason)
     Mode &old_mode = *control_mode;
     if (!new_mode.enter()) {
         // Log error that we failed to enter desired flight mode
-        AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE,
-                                 LogErrorCode(new_mode.mode_number()));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE,
+                           LogErrorCode(new_mode.mode_number()));
         gcs().send_text(MAV_SEVERITY_WARNING, "Flight mode change failed");
         return false;
     }
@@ -281,7 +281,9 @@ bool Rover::set_mode(Mode &new_mode, ModeReason reason)
     old_mode.exit();
 
     control_mode_reason = reason;
+#if HAL_LOGGING_ENABLED
     logger.Write_Mode((uint8_t)control_mode->mode_number(), control_mode_reason);
+#endif
     gcs().send_message(MSG_HEARTBEAT);
 
     notify_mode(control_mode);
@@ -340,6 +342,7 @@ uint8_t Rover::check_digital_pin(uint8_t pin)
     return hal.gpio->read(pin);
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   should we log a message type now?
  */
@@ -347,6 +350,7 @@ bool Rover::should_log(uint32_t mask)
 {
     return logger.should_log(mask);
 }
+#endif
 
 // returns true if vehicle is a boat
 // this affects whether the vehicle tries to maintain position after reaching waypoints

From 9a853b3d4af105da64a34030aa3930aaf2e8580c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 10 Jan 2024 15:21:23 +1100
Subject: [PATCH 0639/1335] AP_WindVane: correct compilation when
 HAL_LOGGING_ENABLED is false

---
 libraries/AP_WindVane/AP_WindVane.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_WindVane/AP_WindVane.cpp b/libraries/AP_WindVane/AP_WindVane.cpp
index 44845d4d469e87..7d336a41c570c2 100644
--- a/libraries/AP_WindVane/AP_WindVane.cpp
+++ b/libraries/AP_WindVane/AP_WindVane.cpp
@@ -372,6 +372,7 @@ void AP_WindVane::update()
         _direction_true = _direction_true_raw;
     }
 
+#if HAL_LOGGING_ENABLED
 // @LoggerMessage: WIND
 // @Description: Windvane readings
 // @Field: TimeUS: Time since system startup
@@ -390,6 +391,7 @@ void AP_WindVane::update()
                         _speed_apparent_raw,
                         _speed_apparent,
                         _speed_true);
+#endif
 
 }
 

From 852944a1b102dea6b7931920b4031f41065ebba4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 10 Jan 2024 15:34:30 +1100
Subject: [PATCH 0640/1335] Sub: correct compilation when HAL_LOGGING_ENABLED
 is false

---
 ArduSub/AP_Arming_Sub.cpp           |  6 ++++++
 ArduSub/ArduSub.cpp                 | 12 ++++++++++++
 ArduSub/Log.cpp                     | 18 ++----------------
 ArduSub/Parameters.cpp              |  2 ++
 ArduSub/Sub.cpp                     |  5 ++++-
 ArduSub/Sub.h                       |  5 +++++
 ArduSub/commands_logic.cpp          |  4 +++-
 ArduSub/config.h                    |  3 ---
 ArduSub/failsafe.cpp                | 28 ++++++++++++++--------------
 ArduSub/fence.cpp                   |  4 ++--
 ArduSub/mode.cpp                    |  8 +++++---
 ArduSub/mode_guided.cpp             | 27 +++++++++++++++++++++------
 ArduSub/surface_bottom_detector.cpp |  8 ++++----
 ArduSub/system.cpp                  | 10 ++++------
 ArduSub/terrain.cpp                 |  2 ++
 15 files changed, 86 insertions(+), 56 deletions(-)

diff --git a/ArduSub/AP_Arming_Sub.cpp b/ArduSub/AP_Arming_Sub.cpp
index 66dfecff2b37bd..463d78a4eaabcf 100644
--- a/ArduSub/AP_Arming_Sub.cpp
+++ b/ArduSub/AP_Arming_Sub.cpp
@@ -91,8 +91,10 @@ bool AP_Arming_Sub::arm(AP_Arming::Method method, bool do_arming_checks)
         return false;
     }
 
+#if HAL_LOGGING_ENABLED
     // let logger know that we're armed (it may open logs e.g.)
     AP::logger().set_vehicle_armed(true);
+#endif
 
     // disable cpu failsafe because initialising everything takes a while
     sub.mainloop_failsafe_disable();
@@ -133,8 +135,10 @@ bool AP_Arming_Sub::arm(AP_Arming::Method method, bool do_arming_checks)
     // finally actually arm the motors
     sub.motors.armed(true);
 
+#if HAL_LOGGING_ENABLED
     // log flight mode in case it was changed while vehicle was disarmed
     AP::logger().Write_Mode((uint8_t)sub.control_mode, sub.control_mode_reason);
+#endif
 
     // reenable failsafe
     sub.mainloop_failsafe_enable();
@@ -182,7 +186,9 @@ bool AP_Arming_Sub::disarm(const AP_Arming::Method method, bool do_disarm_checks
     // reset the mission
     sub.mission.reset();
 
+#if HAL_LOGGING_ENABLED
     AP::logger().set_vehicle_armed(false);
+#endif
 
     hal.util->set_soft_armed(false);
 
diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index e8012d2e91f612..d70b7e1e822441 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -89,11 +89,15 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
 #if AP_CAMERA_ENABLED
     SCHED_TASK_CLASS(AP_Camera,           &sub.camera,       update,              50,  75,  48),
 #endif
+#if HAL_LOGGING_ENABLED
     SCHED_TASK(ten_hz_logging_loop,   10,    350,  51),
     SCHED_TASK(twentyfive_hz_logging, 25,    110,  54),
     SCHED_TASK_CLASS(AP_Logger,           &sub.logger,       periodic_tasks,     400, 300,  57),
+#endif
     SCHED_TASK_CLASS(AP_InertialSensor,   &sub.ins,          periodic,           400,  50,  60),
+#if HAL_LOGGING_ENABLED
     SCHED_TASK_CLASS(AP_Scheduler,        &sub.scheduler,    update_logging,     0.1,  75,  63),
+#endif
 #if AP_RPM_ENABLED
     SCHED_TASK_CLASS(AP_RPM,              &sub.rpm_sensor,   update,              10, 200,  66),
 #endif
@@ -177,6 +181,7 @@ void Sub::update_batt_compass()
     }
 }
 
+#if HAL_LOGGING_ENABLED
 // ten_hz_logging_loop
 // should be run at 10hz
 void Sub::ten_hz_logging_loop()
@@ -237,6 +242,7 @@ void Sub::twentyfive_hz_logging()
         AP::ins().Write_IMU();
     }
 }
+#endif  // HAL_LOGGING_ENABLED
 
 // three_hz_loop - 3.3hz loop
 void Sub::three_hz_loop()
@@ -274,9 +280,11 @@ void Sub::one_hz_loop()
     AP_Notify::flags.pre_arm_gps_check = position_ok();
     AP_Notify::flags.flying = motors.armed();
 
+#if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_ANY)) {
         Log_Write_Data(LogDataID::AP_STATE, ap.value);
     }
+#endif
 
     if (!motors.armed()) {
         motors.update_throttle_range();
@@ -285,8 +293,10 @@ void Sub::one_hz_loop()
     // update assigned functions and enable auxiliary servos
     SRV_Channels::enable_aux_servos();
 
+#if HAL_LOGGING_ENABLED
     // log terrain data
     terrain_logging();
+#endif
 
     // need to set "likely flying" when armed to allow for compass
     // learning to run
@@ -311,6 +321,7 @@ void Sub::update_altitude()
     // read in baro altitude
     read_barometer();
 
+#if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_CTUN)) {
         Log_Write_Control_Tuning();
         AP::ins().write_notch_log_messages();
@@ -318,6 +329,7 @@ void Sub::update_altitude()
         gyro_fft.write_log_messages();
 #endif
     }
+#endif  // HAL_LOGGING_ENABLED
 }
 
 bool Sub::control_check_barometer()
diff --git a/ArduSub/Log.cpp b/ArduSub/Log.cpp
index f2649bc8417a92..63d3feb8ff222d 100644
--- a/ArduSub/Log.cpp
+++ b/ArduSub/Log.cpp
@@ -1,6 +1,6 @@
 #include "Sub.h"
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
 
 // Code to Write and Read packets from AP_Logger log memory
 // Code to interact with the user to dump or erase logs
@@ -289,18 +289,4 @@ void Sub::log_init()
     logger.Init(log_structure, ARRAY_SIZE(log_structure));
 }
 
-#else // LOGGING_ENABLED
-
-void Sub::Log_Write_Control_Tuning() {}
-void Sub::Log_Write_Attitude(void) {}
-void Sub::Log_Write_Data(LogDataID id, int32_t value) {}
-void Sub::Log_Write_Data(LogDataID id, uint32_t value) {}
-void Sub::Log_Write_Data(LogDataID id, int16_t value) {}
-void Sub::Log_Write_Data(LogDataID id, uint16_t value) {}
-void Sub::Log_Write_Data(LogDataID id, float value) {}
-void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
-void Sub::Log_Write_Vehicle_Startup_Messages() {}
-
-void Sub::log_init(void) {}
-
-#endif // LOGGING_ENABLED
+#endif // HAL_LOGGING_ENABLED
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 5711f4fe31dc8e..d58bbf275a970d 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -561,9 +561,11 @@ const AP_Param::Info Sub::var_info[] = {
     GOBJECT(camera_mount,           "MNT",  AP_Mount),
 #endif
 
+#if HAL_LOGGING_ENABLED
     // @Group: LOG
     // @Path: ../libraries/AP_Logger/AP_Logger.cpp
     GOBJECT(logger,           "LOG",  AP_Logger),
+#endif
 
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index 2a90c7f3a685e3..304ed327249e55 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -24,7 +24,10 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
   constructor for main Sub class
  */
 Sub::Sub()
-    : logger(g.log_bitmask),
+    :
+#if HAL_LOGGING_ENABLED
+          logger(g.log_bitmask),
+#endif
           control_mode(Mode::Number::MANUAL),
           motors(MAIN_LOOP_RATE),
           auto_mode(Auto_WP),
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 482aabfc388920..53de38af092b79 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -62,6 +62,7 @@
 #include <AP_JSButton/AP_JSButton.h>   // Joystick/gamepad button function assignment
 #include <AP_LeakDetector/AP_LeakDetector.h> // Leak detector
 #include <AP_Proximity/AP_Proximity.h>
+#include <AP_Rally/AP_Rally.h>
 
 // Local modules
 #include "defines.h"
@@ -145,7 +146,9 @@ class Sub : public AP_Vehicle {
     RC_Channel *channel_forward;
     RC_Channel *channel_lateral;
 
+#if HAL_LOGGING_ENABLED
     AP_Logger logger;
+#endif
 
     AP_LeakDetector leak_detector;
 
@@ -399,6 +402,7 @@ class Sub : public AP_Vehicle {
     float get_pilot_desired_climb_rate(float throttle_control);
     float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
     void rotate_body_frame_to_NE(float &x, float &y);
+#if HAL_LOGGING_ENABLED
     void Log_Write_Control_Tuning();
     void Log_Write_Attitude();
     void Log_Write_Data(LogDataID id, int32_t value);
@@ -408,6 +412,7 @@ class Sub : public AP_Vehicle {
     void Log_Write_Data(LogDataID id, float value);
     void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
     void Log_Write_Vehicle_Startup_Messages();
+#endif
     void load_parameters(void) override;
     void userhook_init();
     void userhook_FastLoop();
diff --git a/ArduSub/commands_logic.cpp b/ArduSub/commands_logic.cpp
index 681022a3dd93bf..48051f9ff42837 100644
--- a/ArduSub/commands_logic.cpp
+++ b/ArduSub/commands_logic.cpp
@@ -7,10 +7,12 @@ static enum AutoSurfaceState auto_surface_state = AUTO_SURFACE_STATE_GO_TO_LOCAT
 // start_command - this function will be called when the ap_mission lib wishes to start a new command
 bool Sub::start_command(const AP_Mission::Mission_Command& cmd)
 {
+#if HAL_LOGGING_ENABLED
     // To-Do: logging when new commands start/end
     if (should_log(MASK_LOG_CMD)) {
         logger.Write_Mission_Cmd(mission, cmd);
     }
+#endif
 
     const Location &target_loc = cmd.content.location;
 
@@ -347,7 +349,7 @@ void Sub::do_circle(const AP_Mission::Mission_Command& cmd)
         } else {
             // default to current altitude above origin
             circle_center.set_alt_cm(current_loc.alt, current_loc.get_alt_frame());
-            AP::logger().Write_Error(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
         }
     }
 
diff --git a/ArduSub/config.h b/ArduSub/config.h
index 4a517afe13adbb..bb77f88ea24084 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -186,9 +186,6 @@
 //////////////////////////////////////////////////////////////////////////////
 // Logging control
 //
-#ifndef LOGGING_ENABLED
-# define LOGGING_ENABLED                ENABLED
-#endif
 
 // Statistics
 #ifndef STATS_ENABLED
diff --git a/ArduSub/failsafe.cpp b/ArduSub/failsafe.cpp
index 5c0d08d32499cf..80c74ed45829d1 100644
--- a/ArduSub/failsafe.cpp
+++ b/ArduSub/failsafe.cpp
@@ -37,7 +37,7 @@ void Sub::mainloop_failsafe_check()
         failsafe_last_timestamp = tnow;
         if (in_failsafe) {
             in_failsafe = false;
-            AP::logger().Write_Error(LogErrorSubsystem::CPU,LogErrorCode::FAILSAFE_RESOLVED);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::CPU,LogErrorCode::FAILSAFE_RESOLVED);
         }
         return;
     }
@@ -51,7 +51,7 @@ void Sub::mainloop_failsafe_check()
         if (motors.armed()) {
             motors.output_min();
         }
-        AP::logger().Write_Error(LogErrorSubsystem::CPU,LogErrorCode::FAILSAFE_OCCURRED);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::CPU,LogErrorCode::FAILSAFE_OCCURRED);
     }
 
     if (failsafe_enabled && in_failsafe && tnow - failsafe_last_timestamp > 1000000) {
@@ -73,7 +73,7 @@ void Sub::failsafe_sensors_check()
     // We need a depth sensor to do any sort of auto z control
     if (sensor_health.depth) {
         if (failsafe.sensor_health) {
-            AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_SENSORS, LogErrorCode::ERROR_RESOLVED);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_SENSORS, LogErrorCode::ERROR_RESOLVED);
             failsafe.sensor_health = false;
         }
         return;
@@ -86,7 +86,7 @@ void Sub::failsafe_sensors_check()
 
     failsafe.sensor_health = true;
     gcs().send_text(MAV_SEVERITY_CRITICAL, "Depth sensor error!");
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_SENSORS, LogErrorCode::BAD_DEPTH);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_SENSORS, LogErrorCode::BAD_DEPTH);
 
     if (control_mode == Mode::Number::ALT_HOLD || control_mode == Mode::Number::SURFACE || sub.flightmode->requires_GPS()) {
         // This should always succeed
@@ -137,7 +137,7 @@ void Sub::failsafe_ekf_check()
     failsafe.ekf = true;
     AP_Notify::flags.ekf_bad = true;
 
-    AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE);
 
     if (AP_HAL::millis() > failsafe.last_ekf_warn_ms + 20000) {
         failsafe.last_ekf_warn_ms = AP_HAL::millis();
@@ -152,7 +152,7 @@ void Sub::failsafe_ekf_check()
 // Battery failsafe handler
 void Sub::handle_battery_failsafe(const char* type_str, const int8_t action)
 {
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_BATT, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_BATT, LogErrorCode::FAILSAFE_OCCURRED);
 
     switch((Failsafe_Action)action) {
         case Failsafe_Action_Surface:
@@ -187,7 +187,7 @@ void Sub::failsafe_pilot_input_check()
 
     failsafe.pilot_input = true;
 
-    AP::logger().Write_Error(LogErrorSubsystem::PILOT_INPUT, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::PILOT_INPUT, LogErrorCode::FAILSAFE_OCCURRED);
     gcs().send_text(MAV_SEVERITY_CRITICAL, "Lost manual control");
 
     set_neutral_controls();
@@ -270,7 +270,7 @@ void Sub::failsafe_leak_check()
     // Do nothing if we are dry, or if leak failsafe action is disabled
     if (status == false || g.failsafe_leak == FS_LEAK_DISABLED) {
         if (failsafe.leak) {
-            AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_LEAK, LogErrorCode::FAILSAFE_RESOLVED);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_LEAK, LogErrorCode::FAILSAFE_RESOLVED);
         }
         AP_Notify::flags.leak_detected = false;
         failsafe.leak = false;
@@ -295,7 +295,7 @@ void Sub::failsafe_leak_check()
 
     failsafe.leak = true;
 
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_LEAK, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_LEAK, LogErrorCode::FAILSAFE_OCCURRED);
 
     // Handle failsafe action
     if (failsafe.leak && g.failsafe_leak == FS_LEAK_SURFACE && motors.armed()) {
@@ -324,7 +324,7 @@ void Sub::failsafe_gcs_check()
     if (tnow - gcs_last_seen_ms < FS_GCS_TIMEOUT_MS) {
         // Log event if we are recovering from previous gcs failsafe
         if (failsafe.gcs) {
-            AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_RESOLVED);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_RESOLVED);
         }
         failsafe.gcs = false;
         return;
@@ -346,7 +346,7 @@ void Sub::failsafe_gcs_check()
     }
 
     failsafe.gcs = true;
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_GCS, LogErrorCode::FAILSAFE_OCCURRED);
 
     // handle failsafe action
     if (g.failsafe_gcs == FS_GCS_DISARM) {
@@ -412,7 +412,7 @@ void Sub::failsafe_crash_check()
     }
 
     failsafe.crash = true;
-    AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_CRASH);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::CRASH_CHECK, LogErrorCode::CRASH_CHECK_CRASH);
 
     // disarm motors
     if (g.fs_crash_check == FS_CRASH_DISARM) {
@@ -435,7 +435,7 @@ void Sub::failsafe_terrain_check()
             gcs().send_text(MAV_SEVERITY_CRITICAL,"Failsafe terrain triggered");
             failsafe_terrain_on_event();
         } else {
-            AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::ERROR_RESOLVED);
+            LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::ERROR_RESOLVED);
             failsafe.terrain = false;
         }
     }
@@ -467,7 +467,7 @@ void Sub::failsafe_terrain_set_status(bool data_ok)
 void Sub::failsafe_terrain_on_event()
 {
     failsafe.terrain = true;
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_TERRAIN, LogErrorCode::FAILSAFE_OCCURRED);
 
     // If rangefinder is enabled, we can recover from this failsafe
     if (!rangefinder_state.enabled || !sub.mode_auto.auto_terrain_recover_start()) {
diff --git a/ArduSub/fence.cpp b/ArduSub/fence.cpp
index c39e84aebf5319..7e895c20da429e 100644
--- a/ArduSub/fence.cpp
+++ b/ArduSub/fence.cpp
@@ -41,10 +41,10 @@ void Sub::fence_check()
             //            }
         }
 
-        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
     } else if (orig_breaches) {
         // record clearing of breach
-        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
     }
 }
 
diff --git a/ArduSub/mode.cpp b/ArduSub/mode.cpp
index 323836c2f94abb..9a945d85e49eb1 100644
--- a/ArduSub/mode.cpp
+++ b/ArduSub/mode.cpp
@@ -86,7 +86,7 @@ bool Sub::set_mode(Mode::Number mode, ModeReason reason)
     if (new_flightmode->requires_GPS() &&
         !sub.position_ok()) {
         gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: %s requires position", new_flightmode->name());
-        AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
         return false;
     }
 
@@ -96,13 +96,13 @@ bool Sub::set_mode(Mode::Number mode, ModeReason reason)
         flightmode->has_manual_throttle() &&
         !new_flightmode->has_manual_throttle()) {
         gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: %s need alt estimate", new_flightmode->name());
-        AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
         return false;
     }
 
     if (!new_flightmode->init(false)) {
         gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed %s", new_flightmode->name());
-        AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode));
         return false;
     }
 
@@ -116,7 +116,9 @@ bool Sub::set_mode(Mode::Number mode, ModeReason reason)
     flightmode = new_flightmode;
     control_mode = mode;
     control_mode_reason = reason;
+#if HAL_LOGGING_ENABLED
     logger.Write_Mode((uint8_t)control_mode, reason);
+#endif
     gcs().send_message(MSG_HEARTBEAT);
 
     // update notify object
diff --git a/ArduSub/mode_guided.cpp b/ArduSub/mode_guided.cpp
index 25857bf5c94e64..ff1bb07df5681a 100644
--- a/ArduSub/mode_guided.cpp
+++ b/ArduSub/mode_guided.cpp
@@ -170,7 +170,7 @@ bool ModeGuided::guided_set_destination(const Vector3f& destination)
     // reject destination if outside the fence
     const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
     if (!sub.fence.check_destination_within_fence(dest_loc)) {
-        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
         return false;
     }
@@ -179,8 +179,11 @@ bool ModeGuided::guided_set_destination(const Vector3f& destination)
     // no need to check return status because terrain data is not used
     sub.wp_nav.set_wp_destination(destination, false);
 
+#if HAL_LOGGING_ENABLED
     // log target
     sub.Log_Write_GuidedTarget(sub.guided_mode, destination, Vector3f());
+#endif
+
     return true;
 }
 
@@ -198,7 +201,7 @@ bool ModeGuided::guided_set_destination(const Location& dest_loc)
     // reject destination outside the fence.
     // Note: there is a danger that a target specified as a terrain altitude might not be checked if the conversion to alt-above-home fails
     if (!sub.fence.check_destination_within_fence(dest_loc)) {
-        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
         return false;
     }
@@ -206,13 +209,16 @@ bool ModeGuided::guided_set_destination(const Location& dest_loc)
 
     if (!sub.wp_nav.set_wp_destination_loc(dest_loc)) {
         // failure to set destination can only be because of missing terrain data
-        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::FAILED_TO_SET_DESTINATION);
         // failure is propagated to GCS with NAK
         return false;
     }
 
+#if HAL_LOGGING_ENABLED
     // log target
     sub.Log_Write_GuidedTarget(sub.guided_mode, Vector3f(dest_loc.lat, dest_loc.lng, dest_loc.alt),Vector3f());
+#endif
+
     return true;
 }
 
@@ -230,7 +236,7 @@ bool ModeGuided::guided_set_destination(const Vector3f& destination, bool use_ya
     // reject destination if outside the fence
     const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
     if (!sub.fence.check_destination_within_fence(dest_loc)) {
-        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
         return false;
     }
@@ -244,8 +250,11 @@ bool ModeGuided::guided_set_destination(const Vector3f& destination, bool use_ya
     // no need to check return status because terrain data is not used
     sub.wp_nav.set_wp_destination(destination, false);
 
+#if HAL_LOGGING_ENABLED
     // log target
     sub.Log_Write_GuidedTarget(sub.guided_mode, destination, Vector3f());
+#endif
+
     return true;
 }
 
@@ -293,7 +302,7 @@ bool ModeGuided::guided_set_destination_posvel(const Vector3f& destination, cons
     // reject destination if outside the fence
     const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
     if (!sub.fence.check_destination_within_fence(dest_loc)) {
-        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
         return false;
     }
@@ -308,8 +317,11 @@ bool ModeGuided::guided_set_destination_posvel(const Vector3f& destination, cons
     position_control->input_pos_vel_accel_z(dz, posvel_vel_target_cms.z, 0);
     posvel_pos_target_cm.z = dz;
 
+#if HAL_LOGGING_ENABLED
     // log target
     sub.Log_Write_GuidedTarget(sub.guided_mode, destination, velocity);
+#endif
+
     return true;
 }
 
@@ -325,7 +337,7 @@ bool ModeGuided::guided_set_destination_posvel(const Vector3f& destination, cons
     // reject destination if outside the fence
     const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
     if (!sub.fence.check_destination_within_fence(dest_loc)) {
-        AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
         // failure is propagated to GCS with NAK
         return false;
     }
@@ -344,8 +356,11 @@ bool ModeGuided::guided_set_destination_posvel(const Vector3f& destination, cons
     position_control->input_pos_vel_accel_z(dz, posvel_vel_target_cms.z, 0);
     posvel_pos_target_cm.z = dz;
 
+#if HAL_LOGGING_ENABLED
     // log target
     sub.Log_Write_GuidedTarget(sub.guided_mode, destination, velocity);
+#endif
+
     return true;
 }
 
diff --git a/ArduSub/surface_bottom_detector.cpp b/ArduSub/surface_bottom_detector.cpp
index 0338e77c99d4c3..ca1b58646e337b 100644
--- a/ArduSub/surface_bottom_detector.cpp
+++ b/ArduSub/surface_bottom_detector.cpp
@@ -90,9 +90,9 @@ void Sub::set_surfaced(bool at_surface)
     surface_detector_count = 0;
 
     if (ap.at_surface) {
-        AP::logger().Write_Event(LogEvent::SURFACED);
+        LOGGER_WRITE_EVENT(LogEvent::SURFACED);
     } else {
-        AP::logger().Write_Event(LogEvent::NOT_SURFACED);
+        LOGGER_WRITE_EVENT(LogEvent::NOT_SURFACED);
     }
 }
 
@@ -108,8 +108,8 @@ void Sub::set_bottomed(bool at_bottom)
     bottom_detector_count = 0;
 
     if (ap.at_bottom) {
-        AP::logger().Write_Event(LogEvent::BOTTOMED);
+        LOGGER_WRITE_EVENT(LogEvent::BOTTOMED);
     } else {
-        AP::logger().Write_Event(LogEvent::NOT_BOTTOMED);
+        LOGGER_WRITE_EVENT(LogEvent::NOT_BOTTOMED);
     }
 }
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index 487abe625e063a..67a5d15c70b913 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -62,7 +62,7 @@ void Sub::init_ardupilot()
     // setup telem slots with serial ports
     gcs().setup_uarts();
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     log_init();
 #endif
 
@@ -161,7 +161,7 @@ void Sub::init_ardupilot()
     mission.init();
 
     // initialise AP_Logger library
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     logger.setVehicle_Startup_Writer(FUNCTOR_BIND(&sub, &Sub::Log_Write_Vehicle_Startup_Messages, void));
 #endif
 
@@ -264,18 +264,16 @@ bool Sub::optflow_position_ok()
     return (filt_status.flags.horiz_pos_rel && !filt_status.flags.const_pos_mode);
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   should we log a message type now?
  */
 bool Sub::should_log(uint32_t mask)
 {
-#if LOGGING_ENABLED == ENABLED
     ap.logging_started = logger.logging_started();
     return logger.should_log(mask);
-#else
-    return false;
-#endif
 }
+#endif
 
 #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
 #include <AP_Avoidance/AP_Avoidance.h>
diff --git a/ArduSub/terrain.cpp b/ArduSub/terrain.cpp
index 30b7351ce4b8c4..50249ade7b3322 100644
--- a/ArduSub/terrain.cpp
+++ b/ArduSub/terrain.cpp
@@ -17,6 +17,7 @@ void Sub::terrain_update()
 #endif
 }
 
+#if HAL_LOGGING_ENABLED
 // log terrain data - should be called at 1hz
 void Sub::terrain_logging()
 {
@@ -26,4 +27,5 @@ void Sub::terrain_logging()
     }
 #endif
 }
+#endif  // HAL_LOGGING_ENABLED
 

From dae819ba5478ead5464d6a771a951121e9ddd622 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 10 Jan 2024 15:40:09 +1100
Subject: [PATCH 0641/1335] Tracker: correct compilation when
 HAL_LOGGING_ENABLED is false

---
 AntennaTracker/Log.cpp        | 13 ++-----------
 AntennaTracker/Parameters.cpp |  2 ++
 AntennaTracker/Tracker.cpp    |  6 +++++-
 AntennaTracker/Tracker.h      |  2 ++
 AntennaTracker/config.h       |  3 ---
 AntennaTracker/system.cpp     | 13 +++++++++++--
 AntennaTracker/tracking.cpp   |  4 ++++
 7 files changed, 26 insertions(+), 17 deletions(-)

diff --git a/AntennaTracker/Log.cpp b/AntennaTracker/Log.cpp
index 742d0247189d56..5a70a09eb44305 100644
--- a/AntennaTracker/Log.cpp
+++ b/AntennaTracker/Log.cpp
@@ -1,6 +1,6 @@
 #include "Tracker.h"
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
 
 // Code to Write and Read packets from AP_Logger log memory
 
@@ -98,13 +98,4 @@ void Tracker::log_init(void)
     logger.Init(log_structure, ARRAY_SIZE(log_structure));
 }
 
-#else // LOGGING_ENABLED
-
-void Tracker::Log_Write_Attitude(void) {}
-
-void Tracker::log_init(void) {}
-void Tracker::Log_Write_Vehicle_Pos(int32_t lat, int32_t lng, int32_t alt, const Vector3f& vel) {}
-void Tracker::Log_Write_Vehicle_Baro(float pressure, float altitude) {}
-void Tracker::Log_Write_Vehicle_Startup_Messages() {}
-
-#endif // LOGGING_ENABLED
+#endif // HAL_LOGGING_ENABLED
diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index 2d20396ecfc694..2d7dc5d80513ca 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -576,9 +576,11 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
     PARAM_VEHICLE_INFO,
 
+#if HAL_LOGGING_ENABLED
     // @Group: LOG
     // @Path: ../libraries/AP_Logger/AP_Logger.cpp
     GOBJECT(logger,           "LOG",  AP_Logger),
+#endif
 
 #if HAL_NAVEKF2_AVAILABLE
     // @Group: EK2_
diff --git a/AntennaTracker/Tracker.cpp b/AntennaTracker/Tracker.cpp
index fbf3427c501c55..c81279dd832e5e 100644
--- a/AntennaTracker/Tracker.cpp
+++ b/AntennaTracker/Tracker.cpp
@@ -59,8 +59,8 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK_CLASS(GCS,              (GCS*)&tracker._gcs, update_receive, 50, 1700, 45),
     SCHED_TASK_CLASS(GCS,              (GCS*)&tracker._gcs, update_send,    50, 3000, 50),
     SCHED_TASK_CLASS(AP_Baro,           &tracker.barometer, accumulate,     50,  900, 55),
+#if HAL_LOGGING_ENABLED
     SCHED_TASK(ten_hz_logging_loop,    10,    300, 60),
-#if LOGGING_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Logger,   &tracker.logger, periodic_tasks, 50,  300, 65),
 #endif
     SCHED_TASK_CLASS(AP_InertialSensor, &tracker.ins,       periodic,       50,   50, 70),
@@ -107,6 +107,7 @@ void Tracker::one_second_loop()
     g.pidYaw2Srv.set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
 }
 
+#if HAL_LOGGING_ENABLED
 void Tracker::ten_hz_logging_loop()
 {
     if (should_log(MASK_LOG_IMU)) {
@@ -122,6 +123,7 @@ void Tracker::ten_hz_logging_loop()
         logger.Write_RCOUT();
     }
 }
+#endif
 
 Mode *Tracker::mode_from_mode_num(const Mode::Number num)
 {
@@ -164,7 +166,9 @@ void Tracker::stats_update(void)
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 Tracker::Tracker(void)
+#if HAL_LOGGING_ENABLED
     : logger(g.log_bitmask)
+#endif
 {
 }
 
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 55c76985b22b55..d003b038b6fb22 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -79,7 +79,9 @@ class Tracker : public AP_Vehicle {
 
     uint32_t start_time_ms = 0;
 
+#if HAL_LOGGING_ENABLED
     AP_Logger logger;
+#endif
 
     /**
        antenna control channels
diff --git a/AntennaTracker/config.h b/AntennaTracker/config.h
index 745f266a1a41c9..1aa7984e6e6317 100644
--- a/AntennaTracker/config.h
+++ b/AntennaTracker/config.h
@@ -57,9 +57,6 @@
 //
 // Logging control
 //
-#ifndef LOGGING_ENABLED
-# define LOGGING_ENABLED        ENABLED
-#endif
 
 // Default logging bitmask
 #ifndef DEFAULT_LOG_BITMASK
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index 3e296c3fa5a77f..db008dc75f05f9 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -32,7 +32,7 @@ void Tracker::init_ardupilot()
     // try to initialise stream rates in the main loop.
     gcs().update_send();
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     log_init();
 #endif
 
@@ -56,8 +56,10 @@ void Tracker::init_ardupilot()
 
     barometer.calibrate();
 
+#if HAL_LOGGING_ENABLED
     // initialise AP_Logger library
     logger.setVehicle_Startup_Writer(FUNCTOR_BIND(&tracker, &Tracker::Log_Write_Vehicle_Startup_Messages, void));
+#endif
 
     // initialise rc channels including setting mode
     rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
@@ -152,13 +154,17 @@ bool Tracker::set_home(const Location &temp)
 void Tracker::arm_servos()
 {
     hal.util->set_soft_armed(true);
+#if HAL_LOGGING_ENABLED
     logger.set_vehicle_armed(true);
+#endif
 }
 
 void Tracker::disarm_servos()
 {
     hal.util->set_soft_armed(false);
+#if HAL_LOGGING_ENABLED
     logger.set_vehicle_armed(false);
+#endif
 }
 
 /*
@@ -189,8 +195,10 @@ void Tracker::set_mode(Mode &newmode, const ModeReason reason)
         disarm_servos();
     }
 
+#if HAL_LOGGING_ENABLED
 	// log mode change
 	logger.Write_Mode((uint8_t)mode->number(), reason);
+#endif
     gcs().send_message(MSG_HEARTBEAT);
 
     nav_status.bearing = ahrs.yaw_sensor * 0.01f;
@@ -228,6 +236,7 @@ bool Tracker::set_mode(const uint8_t new_mode, const ModeReason reason)
     return true;
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   should we log a message type now?
  */
@@ -238,7 +247,7 @@ bool Tracker::should_log(uint32_t mask)
     }
     return true;
 }
-
+#endif
 
 #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
 #include <AP_Avoidance/AP_Avoidance.h>
diff --git a/AntennaTracker/tracking.cpp b/AntennaTracker/tracking.cpp
index cd0bf531336ede..facd7141b53ebc 100644
--- a/AntennaTracker/tracking.cpp
+++ b/AntennaTracker/tracking.cpp
@@ -138,10 +138,12 @@ void Tracker::tracking_update_position(const mavlink_global_position_int_t &msg)
     vehicle.vel = Vector3f(msg.vx/100.0f, msg.vy/100.0f, msg.vz/100.0f);
     vehicle.last_update_us = AP_HAL::micros();
     vehicle.last_update_ms = AP_HAL::millis();
+#if HAL_LOGGING_ENABLED
     // log vehicle as GPS2
     if (should_log(MASK_LOG_GPS)) {
         Log_Write_Vehicle_Pos(vehicle.location.lat, vehicle.location.lng, vehicle.location.alt, vehicle.vel);
     }
+#endif
 }
 
 
@@ -167,8 +169,10 @@ void Tracker::tracking_update_pressure(const mavlink_scaled_pressure_t &msg)
 		}
     }
 
+#if HAL_LOGGING_ENABLED
     // log vehicle baro data
     Log_Write_Vehicle_Baro(aircraft_pressure, alt_diff);
+#endif
 }
 
 /**

From 5ae4355e26b9280249267291463b93d66fbea6cd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jan 2024 17:17:05 +1100
Subject: [PATCH 0642/1335] SITL: correct compilation when HAL_LOGGING_ENABLED
 is false

---
 libraries/SITL/SIM_Aircraft.cpp    | 2 ++
 libraries/SITL/SIM_Blimp.cpp       | 2 ++
 libraries/SITL/SIM_JSON_Master.cpp | 2 ++
 libraries/SITL/SIM_Morse.cpp       | 1 -
 libraries/SITL/SIM_Webots.cpp      | 1 -
 libraries/SITL/SITL.cpp            | 2 ++
 6 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
index 58b22308a0e80c..12a96753d0924a 100644
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@@ -456,6 +456,7 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
         last_speedup = sitl->speedup;
     }
 
+#if HAL_LOGGING_ENABLED
     // for EKF comparison log relhome pos and velocity at loop rate
     static uint16_t last_ticks;
     uint16_t ticks = AP::scheduler().ticks();
@@ -482,6 +483,7 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
                                     airspeed_pitot,
                                     achieved_rate_hz/rate_hz);
     }
+#endif
 }
 
 // returns perpendicular height to surface downward-facing rangefinder
diff --git a/libraries/SITL/SIM_Blimp.cpp b/libraries/SITL/SIM_Blimp.cpp
index c5f8835b851b50..844fed4f8d6736 100644
--- a/libraries/SITL/SIM_Blimp.cpp
+++ b/libraries/SITL/SIM_Blimp.cpp
@@ -106,6 +106,7 @@ void Blimp::calculate_forces(const struct sitl_input &input, Vector3f &body_acc,
 
   Vector3f rot_T{0,0,0};
 
+#if HAL_LOGGING_ENABLED
   AP::logger().WriteStreaming("SFT", "TimeUS,f0,f1,f2,f3",
                               "Qffff",
                               AP_HAL::micros64(),
@@ -138,6 +139,7 @@ void Blimp::calculate_forces(const struct sitl_input &input, Vector3f &body_acc,
                               "Qfff",
                               AP_HAL::micros64(),
                               rot_T.x, rot_T.y, rot_T.z);
+#endif  // HAL_LOGGING_ENABLED
 
 #if 0 //"Wobble" attempt
   rot_T.y = fin[0].Fz * radius + fin[1].Fz * radius;
diff --git a/libraries/SITL/SIM_JSON_Master.cpp b/libraries/SITL/SIM_JSON_Master.cpp
index 885e469564c168..0130a7067dc068 100644
--- a/libraries/SITL/SIM_JSON_Master.cpp
+++ b/libraries/SITL/SIM_JSON_Master.cpp
@@ -99,6 +99,7 @@ void JSON_Master::receive(struct sitl_input &input)
             }
         }
 
+#if HAL_LOGGING_ENABLED
         const bool use_servos = list->instance == master_instance;
 
 // @LoggerMessage: SLV1
@@ -158,6 +159,7 @@ void JSON_Master::receive(struct sitl_input &input)
                        buffer.pwm[11],
                        buffer.pwm[12],
                        buffer.pwm[13]);
+#endif
 
         if (list->instance == master_instance) {
             // Use the servo outs from this instance
diff --git a/libraries/SITL/SIM_Morse.cpp b/libraries/SITL/SIM_Morse.cpp
index c4c62498697301..a23669b0f5fb76 100644
--- a/libraries/SITL/SIM_Morse.cpp
+++ b/libraries/SITL/SIM_Morse.cpp
@@ -29,7 +29,6 @@
 #include <sys/types.h>
 
 #include <AP_HAL/AP_HAL.h>
-#include <AP_Logger/AP_Logger.h>
 #include "pthread.h"
 #include <AP_HAL/utility/replace.h>
 
diff --git a/libraries/SITL/SIM_Webots.cpp b/libraries/SITL/SIM_Webots.cpp
index 134fdc62369791..80a8583c410922 100644
--- a/libraries/SITL/SIM_Webots.cpp
+++ b/libraries/SITL/SIM_Webots.cpp
@@ -29,7 +29,6 @@
 #include <sys/types.h>
 
 #include <AP_HAL/AP_HAL.h>
-#include <AP_Logger/AP_Logger.h>
 #include "pthread.h"
 #include <AP_HAL/utility/replace.h>
 
diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
index 2ff2220aa7ed7f..2aeed73ab6ed28 100644
--- a/libraries/SITL/SITL.cpp
+++ b/libraries/SITL/SITL.cpp
@@ -1169,6 +1169,7 @@ void SIM::sim_state_send(mavlink_channel_t chan) const
             (int32_t)(state.longitude*1.0e7));
 }
 
+#if HAL_LOGGING_ENABLED
 /* report SITL state to AP_Logger */
 void SIM::Log_Write_SIMSTATE()
 {
@@ -1196,6 +1197,7 @@ void SIM::Log_Write_SIMSTATE()
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
+#endif
 
 /*
  convert a set of roll rates from earth frame to body frame

From 486cbb78909ed03e65d090e0b092bb5892d62554 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:06 +1000
Subject: [PATCH 0643/1335] AP_Logger: allow compilation with
 HAL_LOGGING_ENABLED false

---
 libraries/AP_Logger/AP_Logger.h                      | 12 ++++++++++++
 libraries/AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp |  8 +++++---
 2 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h
index cf6d232f85c582..cab112ea654c38 100644
--- a/libraries/AP_Logger/AP_Logger.h
+++ b/libraries/AP_Logger/AP_Logger.h
@@ -5,6 +5,8 @@
 
 #include "AP_Logger_config.h"
 
+#if HAL_LOGGING_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
@@ -609,3 +611,13 @@ class AP_Logger
 namespace AP {
     AP_Logger &logger();
 };
+
+#define LOGGER_WRITE_ERROR(subsys, err) AP::logger().Write_Error(subsys, err)
+#define LOGGER_WRITE_EVENT(evt) AP::logger().Write_Event(evt)
+
+#else
+
+#define LOGGER_WRITE_ERROR(subsys, err)
+#define LOGGER_WRITE_EVENT(evt)
+
+#endif  // HAL_LOGGING_ENABLED
diff --git a/libraries/AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp b/libraries/AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp
index 3403d5f059363b..08486b60e9b19e 100644
--- a/libraries/AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp
+++ b/libraries/AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp
@@ -17,13 +17,15 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <GCS_MAVLink/GCS_config.h>
+#include <AP_Logger/AP_Logger_config.h>
+
+#if HAL_LOGGING_ENABLED && HAL_GCS_ENABLED
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS.h> // for LOG_ENTRY
 
-#if HAL_GCS_ENABLED
-
 extern const AP_HAL::HAL& hal;
 
 /**
@@ -327,4 +329,4 @@ bool AP_Logger::handle_log_send_data()
     return true;
 }
 
-#endif
+#endif  // HAL_LOGGING_ENABLED && HAL_GCS_ENABLED

From c4a342f0af95556620ec77ccf94b7b58452dec68 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 15 Jan 2024 11:34:04 +1100
Subject: [PATCH 0644/1335] AP_HAL_ChibiOS: use @ROMFS/defaults.parm rather
 than apj_tool for defaul parms

---
 libraries/AP_HAL_ChibiOS/Util.h               |  5 ++
 .../hwdef/scripts/chibios_hwdef.py            | 48 ++++++++++++++++---
 2 files changed, 47 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/Util.h b/libraries/AP_HAL_ChibiOS/Util.h
index f0aecae053c953..5af64e1c7791bc 100644
--- a/libraries/AP_HAL_ChibiOS/Util.h
+++ b/libraries/AP_HAL_ChibiOS/Util.h
@@ -39,6 +39,11 @@ class ChibiOS::Util : public AP_HAL::Util {
     bool run_debug_shell(AP_HAL::BetterStream *stream) override { return false; }
     uint32_t available_memory() override;
 
+    // get path to custom defaults file for AP_Param
+    const char* get_custom_defaults_file() const override {
+        return "@ROMFS/defaults.parm";
+    }
+
     // Special Allocation Routines
     void *malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type) override;
     void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type) override;
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 7f248d2d358efe..f093f63c3bbb6c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -33,6 +33,10 @@ def __init__(self, quiet=False, bootloader=False, signed_fw=False, outdir=None,
         self.default_params_filepath = default_params_filepath
         self.quiet = quiet
 
+        # if true then parameters will be appended in special apj-tool
+        # section at end of binary:
+        self.force_apj_default_parameters = False
+
         self.default_gpio = ['INPUT', 'FLOATING']
 
         self.vtypes = []
@@ -2520,6 +2524,9 @@ def write_all_lines(self, hwdat):
         if not self.is_periph_fw():
             self.romfs["hwdef.dat"] = hwdat
 
+    def write_define(self, f, name, value):
+        f.write(f"#define {name} {value}\n")
+
     def write_hwdef_header(self, outfilename):
         '''write hwdef header file'''
         self.progress("Writing hwdef setup in %s" % outfilename)
@@ -2582,6 +2589,11 @@ def write_hwdef_header(self, outfilename):
 
         self.write_peripheral_enable(f)
 
+        if os.path.exists(self.processed_defaults_filepath()):
+            self.write_define(f, 'AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED', 1)
+        else:
+            self.write_define(f, 'AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED', 0)
+
         if self.mcu_series.startswith("STM32H7"):
             # add in ADC3 on H7 to get MCU temperature and reference voltage
             self.periph_list.append('ADC3')
@@ -2827,14 +2839,14 @@ def write_processed_defaults_file(self, filepath):
 
         if defaults_abspath is None:
             self.progress("No default parameter file found")
-            return
+            return False
 
         content = self.get_processed_defaults_file(defaults_abspath)
 
         with open(filepath, "w") as processed_defaults_fh:
             processed_defaults_fh.write(content)
 
-        self.env_vars['DEFAULT_PARAMETERS'] = filepath
+        return True
 
     def write_env_py(self, filename):
         '''write out env.py for environment variables to control the build process'''
@@ -3046,7 +3058,6 @@ def process_line(self, line):
             if result:
                 self.intdefines[result.group(1)] = int(result.group(2))
 
-
     def progress(self, message):
         if self.quiet:
             return
@@ -3141,6 +3152,31 @@ def add_normal_firmware_defaults(self, f):
 
         self.add_firmware_defaults_from_file(f, "defaults_normal.h", "normal")
 
+    def processed_defaults_filepath(self):
+        return os.path.join(self.outdir, "processed_defaults.parm")
+
+    def write_default_parameters(self):
+        '''handle default parameters'''
+
+        if self.is_bootloader_fw():
+            return
+
+        if self.is_io_fw():
+            return
+
+        filepath = self.processed_defaults_filepath()
+        if not self.write_processed_defaults_file(filepath):
+            return
+
+        if self.get_config('FORCE_APJ_DEFAULT_PARAMETERS', default=False):
+            # set env variable so that post-processing in waf uses
+            # apj-tool to append parameters to image:
+            if os.path.exists(filepath):
+                self.env_vars['DEFAULT_PARAMETERS'] = filepath
+            return
+
+        self.romfs_add('defaults.parm', filepath)
+
     def run(self):
 
         # process input file
@@ -3156,6 +3192,9 @@ def run(self):
         # build a list for peripherals for DMA resolver
         self.periph_list = self.build_peripheral_list()
 
+        # write out a default parameters file, decide how to use it:
+        self.write_default_parameters()
+
         # write out hw.dat for ROMFS
         self.write_all_lines(os.path.join(self.outdir, "hw.dat"))
 
@@ -3174,9 +3213,6 @@ def run(self):
         # exist in the same directory as the ldscript.ld file we generate.
         self.copy_common_linkerscript(self.outdir)
 
-        if not self.is_bootloader_fw():
-            self.write_processed_defaults_file(os.path.join(self.outdir, "processed_defaults.parm"))
-
         self.write_env_py(os.path.join(self.outdir, "env.py"))
 
 

From 58408cd0b5a2d6e10fe1ec3f7fa7e6f05402f43d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 15 Jan 2024 11:34:05 +1100
Subject: [PATCH 0645/1335] AP_Logger: use @ROMFS/defaults.parm rather than
 apj_tool for defaul parms

---
 libraries/AP_Logger/AP_Logger.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Logger/AP_Logger.cpp b/libraries/AP_Logger/AP_Logger.cpp
index 6373b9d2d64c6d..aa19981e0f2962 100644
--- a/libraries/AP_Logger/AP_Logger.cpp
+++ b/libraries/AP_Logger/AP_Logger.cpp
@@ -1573,6 +1573,7 @@ void AP_Logger::prepare_at_arming_sys_file_logging()
         "@ROMFS/hwdef.dat",
         "@SYS/storage.bin",
         "@SYS/crash_dump.bin",
+        "@ROMFS/defaults.parm",
     };
     for (const auto *name : log_content_filenames) {
         log_file_content(at_arm_file_content, name);

From 27fa5f8d2c823e6506103320dd3aa4a223067eff Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 15 Jan 2024 11:34:05 +1100
Subject: [PATCH 0646/1335] AP_Param: use @ROMFS/defaults.parm rather than
 apj_tool for defaul parms

---
 libraries/AP_Param/AP_Param.cpp      | 29 +++++++++++++++++-----------
 libraries/AP_Param/AP_Param.h        | 16 ++++++++++-----
 libraries/AP_Param/AP_Param_config.h | 13 +++++++++++++
 3 files changed, 42 insertions(+), 16 deletions(-)
 create mode 100644 libraries/AP_Param/AP_Param_config.h

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index 56d9cbf8ecbf63..f1c6d949f60441 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -39,6 +39,8 @@
     #include <SITL/SITL.h>
 #endif
 
+#include "AP_Param_config.h"
+
 extern const AP_HAL::HAL &hal;
 
 uint16_t AP_Param::sentinal_offset;
@@ -1543,14 +1545,7 @@ bool AP_Param::load_all()
  */
 void AP_Param::reload_defaults_file(bool last_pass)
 {
-#if AP_PARAM_MAX_EMBEDDED_PARAM > 0
-    if (param_defaults_data.length != 0) {
-        load_embedded_param_defaults(last_pass);
-        return;
-    }
-#endif
-
-#if AP_FILESYSTEM_POSIX_ENABLED
+#if AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED
     /*
       if the HAL specifies a defaults parameter file then override
       defaults using that file
@@ -1558,12 +1553,25 @@ void AP_Param::reload_defaults_file(bool last_pass)
     const char *default_file = hal.util->get_custom_defaults_file();
     if (default_file) {
         if (load_defaults_file(default_file, last_pass)) {
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
             printf("Loaded defaults from %s\n", default_file);
+#endif
         } else {
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
             AP_HAL::panic("Failed to load defaults from %s\n", default_file);
+#else
+            printf("Failed to load defaults from %s\n", default_file);
+#endif
         }
     }
+#endif  // AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED
+
+#if AP_PARAM_MAX_EMBEDDED_PARAM > 0
+    if (param_defaults_data.length != 0) {
+        load_embedded_param_defaults(last_pass);
+    }
 #endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL && !defined(HAL_BUILD_AP_PERIPH)
     hal.util->set_cmdline_parameters();
 #endif
@@ -2136,8 +2144,7 @@ bool AP_Param::parse_param_line(char *line, char **vname, float &value, bool &re
 }
 
 
-// FIXME: make this AP_FILESYSTEM_FILE_READING_ENABLED
-#if AP_FILESYSTEM_FATFS_ENABLED || AP_FILESYSTEM_POSIX_ENABLED
+#if AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED
 
 // increments num_defaults for each default found in filename
 bool AP_Param::count_defaults_in_file(const char *filename, uint16_t &num_defaults)
@@ -2283,8 +2290,8 @@ bool AP_Param::load_defaults_file(const char *filename, bool last_pass)
 
     return true;
 }
+#endif // AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED
 
-#endif // AP_FILESYSTEM_FATFS_ENABLED || AP_FILESYSTEM_POSIX_ENABLED
 
 #if AP_PARAM_MAX_EMBEDDED_PARAM > 0
 /*
diff --git a/libraries/AP_Param/AP_Param.h b/libraries/AP_Param/AP_Param.h
index db8fbde15f4607..85b211f7ade376 100644
--- a/libraries/AP_Param/AP_Param.h
+++ b/libraries/AP_Param/AP_Param.h
@@ -29,6 +29,8 @@
 #include <StorageManager/StorageManager.h>
 #include <AP_Scripting/AP_Scripting_config.h>
 
+#include "AP_Param_config.h"
+
 #include "float.h"
 
 #define AP_MAX_NAME_SIZE 16
@@ -46,11 +48,15 @@
   maximum size of embedded parameter file
  */
 #ifndef AP_PARAM_MAX_EMBEDDED_PARAM
-#if BOARD_FLASH_SIZE <= 1024
-# define AP_PARAM_MAX_EMBEDDED_PARAM 1024
-#else
-# define AP_PARAM_MAX_EMBEDDED_PARAM 8192
-#endif
+  #if FORCE_APJ_DEFAULT_PARAMETERS
+    #if BOARD_FLASH_SIZE <= 1024
+      #define AP_PARAM_MAX_EMBEDDED_PARAM 1024
+    #else
+      #define AP_PARAM_MAX_EMBEDDED_PARAM 8192
+    #endif
+  #else
+    #define AP_PARAM_MAX_EMBEDDED_PARAM 0
+  #endif
 #endif
 
 // allow for dynamically added tables when scripting enabled
diff --git a/libraries/AP_Param/AP_Param_config.h b/libraries/AP_Param/AP_Param_config.h
new file mode 100644
index 00000000000000..181c9f04c39b70
--- /dev/null
+++ b/libraries/AP_Param/AP_Param_config.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#include <AP_Filesystem/AP_Filesystem_config.h>
+
+#ifndef AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED
+#define AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED AP_FILESYSTEM_FILE_READING_ENABLED
+#endif
+
+#ifndef FORCE_APJ_DEFAULT_PARAMETERS
+#define FORCE_APJ_DEFAULT_PARAMETERS 0
+#endif

From 3aab3bac524ef80f509312c6fa32964b256ed506 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 15 Jan 2024 14:49:35 +1100
Subject: [PATCH 0647/1335] Tools/AP_HAL_ChibiOS: move defaults from tools to
 hwdef directory

Tools: move defaults from tools to hwdef directory
---
 .../AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm         | 0
 libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat       | 4 ----
 .../AP_HAL_ChibiOS/hwdef/CubeOrange-bdshot/defaults.parm      | 1 +
 libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-bdshot/hwdef.dat    | 2 --
 .../AP_HAL_ChibiOS/hwdef/CubeOrangePlus-bdshot/defaults.parm  | 1 +
 .../AP_HAL_ChibiOS/hwdef/CubeOrangePlus-bdshot/hwdef.dat      | 2 --
 .../AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm               | 0
 libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat             | 4 ----
 libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat         | 2 --
 .../AP_HAL_ChibiOS/hwdef/skyviper-v2450}/defaults.parm        | 0
 libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat       | 2 --
 11 files changed, 2 insertions(+), 16 deletions(-)
 rename Tools/Frame_params/Solo_Copter-4_GreenCube.param => libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm (100%)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-bdshot/defaults.parm
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-bdshot/defaults.parm
 rename Tools/Frame_params/Solo_Copter-4.param => libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm (100%)
 rename {Tools/Frame_params/SkyViper-2450GPS => libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450}/defaults.parm (100%)

diff --git a/Tools/Frame_params/Solo_Copter-4_GreenCube.param b/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm
similarity index 100%
rename from Tools/Frame_params/Solo_Copter-4_GreenCube.param
rename to libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat
index 0266753fe17401..c02f667fd2ad56 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat
@@ -6,10 +6,6 @@
 
 include ../CubeBlack/hwdef.dat
 
-# pull Solo's default parameters from /Tools/Frame_params
-# these are parameters the Solo requires for proper operation that are different from the 4 standard defaults.
-env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-4_GreenCube.param'
-
 undef AP_NOTIFY_OREOLED_ENABLED
 define AP_NOTIFY_OREOLED_ENABLED 1
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-bdshot/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-bdshot/defaults.parm
new file mode 100644
index 00000000000000..e189e7c80162da
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-bdshot/defaults.parm
@@ -0,0 +1 @@
+@include ../CubeOrange/defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-bdshot/hwdef.dat
index 4f3c0cd9ba3c36..6666bb218600ea 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-bdshot/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-bdshot/hwdef.dat
@@ -10,5 +10,3 @@ PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
 PE9  TIM1_CH1 TIM1 PWM(4) GPIO(53) # this will automatically be shared with TIM1_CH1
 PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) BIDIR
 PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) BIDIR
-
-env DEFAULT_PARAMETERS libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-bdshot/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-bdshot/defaults.parm
new file mode 100644
index 00000000000000..591b7847763ef2
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-bdshot/defaults.parm
@@ -0,0 +1 @@
+@include ../CubeOrangePlus/defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-bdshot/hwdef.dat
index 4962342835feeb..d2f45607b7eea2 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-bdshot/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus-bdshot/hwdef.dat
@@ -10,5 +10,3 @@ PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
 PE9  TIM1_CH1 TIM1 PWM(4) GPIO(53) # this will automatically be shared with TIM1_CH1
 PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) BIDIR
 PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) BIDIR
-
-env DEFAULT_PARAMETERS libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/defaults.parm
diff --git a/Tools/Frame_params/Solo_Copter-4.param b/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm
similarity index 100%
rename from Tools/Frame_params/Solo_Copter-4.param
rename to libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat
index 8f15b713acb7da..899a75f1e9858e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat
@@ -12,10 +12,6 @@ env OPTIMIZE -O2
 SPIDEV icm20948_ext   SPI4 DEVID1  MPU_EXT_CS   MODE3  4*MHZ  8*MHZ
 SPIDEV icm20602_ext   SPI4 DEVID3  GYRO_EXT_CS  MODE3  4*MHZ  8*MHZ
 
-# pull Solo's default parameters from /Tools/Frame_params
-# these are parameters the Solo requires for proper operation that are different from the copter defaults.
-env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-4.param'
-
 # three IMUs, but allow for different variants. First two IMUs are
 # isolated, 3rd isn't
 IMU Invensense SPI:mpu9250_ext ROTATION_PITCH_180
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat
index b79ad277a9f5fc..e3d937b832b72b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat
@@ -188,7 +188,5 @@ BARO MS56XX SPI:ms5611_int
 # reserve plenty of memory for DMA for LED buffers
 define DMA_RESERVE_SIZE 32768
 
-# .env DEFAULT_PARAMETERS 'Tools/Frame_params/LuminousBee4_outdoor.param'
-
 # bootloader embedding / bootloader flashing not available
 define AP_BOOTLOADER_FLASHING_ENABLED 0
diff --git a/Tools/Frame_params/SkyViper-2450GPS/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/defaults.parm
similarity index 100%
rename from Tools/Frame_params/SkyViper-2450GPS/defaults.parm
rename to libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat
index 831c079648e98b..7ca9230dffddbd 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat
@@ -61,8 +61,6 @@ PA1 UART4_RX UART4 NODMA
 # use flash storage
 STORAGE_FLASH_PAGE 22
 
-env DEFAULT_PARAMETERS 'Tools/Frame_params/SkyViper-2450GPS/defaults.parm'
-
 # the web UI uses an abin file for firmware uploads
 env BUILD_ABIN True
 

From 0b7f6c90e56a27254281ffe2a206dfea997ec13a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 17 Jan 2024 12:33:16 +1100
Subject: [PATCH 0648/1335] autotest: stop testing embedded param parser

we're moving to ROMFS defaults files
---
 Tools/autotest/arduplane.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index be66a0447821f3..629d71de4c3f24 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -5392,7 +5392,6 @@ def tests(self):
             self.GlideSlopeThresh,
             self.HIGH_LATENCY2,
             self.MidAirDisarmDisallowed,
-            self.EmbeddedParamParser,
             self.AerobaticsScripting,
             self.MANUAL_CONTROL,
             self.RunMissionScript,

From 3f9062d676c449555a02d29471f3c5fef3afb4c0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 17 Jan 2024 12:48:19 +1100
Subject: [PATCH 0649/1335] Tools: extend error message when not finding
 defaults

---
 Tools/scripts/apj_tool.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/scripts/apj_tool.py b/Tools/scripts/apj_tool.py
index 55f6a9496f059c..e52e178fc439dd 100755
--- a/Tools/scripts/apj_tool.py
+++ b/Tools/scripts/apj_tool.py
@@ -232,7 +232,7 @@ def defaults_contents(firmware, ofs, length):
     have_defaults = defaults.find()
 
     if not have_defaults and not args.extract:
-        print("Error: Param defaults support not found in firmware")
+        print("Error: Param defaults support not found in firmware; see https://ardupilot.org/copter/docs/common-oem-customizations.html for embedding defaults.parm")
         sys.exit(1)
 
     if have_defaults:

From 7c52d8b468845213b5b3d7dc22ec045b436a03a7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 17 Jan 2024 13:11:52 +1100
Subject: [PATCH 0650/1335] build_options.py: add option to force APJ_TOOL
 parameter area

---
 Tools/scripts/build_options.py    | 1 +
 Tools/scripts/extract_features.py | 1 +
 2 files changed, 2 insertions(+)

diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index 5fcd74bb75b0c3..eab4918c876299 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -375,6 +375,7 @@ def __init__(self,
     #    Feature('Filesystem', 'FILESYSTEM_POSIX', 'AP_FILESYSTEM_POSIX_ENABLED', 'Enable POSIX filesystem', 0, None),
     Feature('Filesystem', 'FILESYSTEM_ROMFS', 'AP_FILESYSTEM_ROMFS_ENABLED', 'Enable @ROMFS/ filesystem', 0, None),
     Feature('Filesystem', 'FILESYSTEM_SYS', 'AP_FILESYSTEM_SYS_ENABLED', 'Enable @SYS/ filesystem', 0, None),
+    Feature('Filesystem', 'APJ_TOOL_PARAMETERS', 'FORCE_APJ_DEFAULT_PARAMETERS', 'Enable apj_tool parameter area', 0, None),
 
     Feature('Networking', 'PPP Support', 'AP_NETWORKING_BACKEND_PPP', 'Enable PPP networking', 0, None),
 ]
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index 7977fabfa36440..31b63b2ddad875 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -239,6 +239,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('AP_DRONECAN_SERIAL_ENABLED', 'AP_DroneCAN_Serial::update'),
             ('AP_SERIALMANAGER_IMUOUT_ENABLED', 'AP_InertialSensor::send_uart_data'),
             ('AP_NETWORKING_BACKEND_PPP', 'AP_Networking_PPP::init'),
+            ('FORCE_APJ_DEFAULT_PARAMETERS', 'AP_Param::param_defaults_data'),
         ]
 
     def progress(self, msg):

From efd5fec24da45f1334763719e3044bcc657fccc8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 17 Jan 2024 12:29:44 +1100
Subject: [PATCH 0651/1335] AP_HAL_SITL: allow sim_vehicle.py -I to work again

... or at least not die instantly because instance-0 has bound this port
---
 libraries/AP_HAL_SITL/SITL_State.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index 02810a9ac3b433..5bc6b410dd4d29 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -663,7 +663,7 @@ void SITL_State::multicast_state_open(void)
     }
 
     sockaddr.sin_addr.s_addr = htonl(INADDR_ANY);
-    sockaddr.sin_port = htons(SITL_SERVO_PORT);
+    sockaddr.sin_port = htons(SITL_SERVO_PORT + _instance);
 
     ret = bind(servo_in_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
     if (ret == -1) {

From 407b8a6003e7028034f67fc300fa6b1b386fcd3b Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sun, 14 Jan 2024 13:38:02 +0000
Subject: [PATCH 0652/1335] AP_RCProtocol: add is_detected() so that telemetry
 implementations can defer actions

---
 libraries/AP_RCProtocol/AP_RCProtocol_Backend.h | 4 ++++
 libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp  | 2 +-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
index cbb0b1135be712..e0a128dc30a3cd 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
@@ -95,6 +95,10 @@ class AP_RCProtocol_Backend {
         return true;
     }
 
+    bool is_detected() const {
+        return frontend._detected_protocol != AP_RCProtocol::NONE && frontend.backend[frontend._detected_protocol] == this;
+    }
+
 #if AP_VIDEOTX_ENABLED
     // called by static methods to confiig video transmitters:
     static void configure_vtx(uint8_t band, uint8_t channel, uint8_t power, uint8_t pitmode);
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
index df47ab768d619e..b9d68b63900b5a 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
@@ -302,7 +302,7 @@ void AP_RCProtocol_CRSF::update(void)
 
     // never received RC frames, but have received CRSF frames so make sure we give the telemetry opportunity to run
     uint32_t now = AP_HAL::micros();
-    if (_last_frame_time_us > 0 && (!get_rc_frame_count() || !is_tx_active())
+    if (_last_frame_time_us > 0 && (!get_rc_input_count() || !is_tx_active())
         && now - _last_frame_time_us > CRSF_INTER_FRAME_TIME_US_250HZ) {
         process_telemetry(false);
         _last_frame_time_us = now;

From 567c7a2b1bfbcd7a884827f2b0046c08d42ebe9a Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sun, 14 Jan 2024 13:38:22 +0000
Subject: [PATCH 0653/1335] AP_RCTelemetry: check that CRSF and GHST have been
 detected before sending a version ping or doing rf changes

---
 libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp | 9 +++++++--
 libraries/AP_RCTelemetry/AP_GHST_Telem.cpp | 5 +++++
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
index 30e16b6d0a8f46..145f4b867cdce8 100644
--- a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
+++ b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
@@ -185,9 +185,14 @@ bool AP_CRSF_Telem::process_rf_mode_changes()
     if (crsf != nullptr) {
         uart = crsf->get_UART();
     }
+
     if (uart == nullptr) {
         return true;
     }
+
+    if (!crsf->is_detected()) {
+        return false;
+    }
     // not ready yet
     if (!uart->is_initialized()) {
         return false;
@@ -402,11 +407,11 @@ bool AP_CRSF_Telem::is_packet_ready(uint8_t idx, bool queue_empty)
     case GENERAL_COMMAND:
         return _baud_rate_request.pending;
     case VERSION_PING:
-        return _crsf_version.pending;
+        return _crsf_version.pending && AP::crsf()->is_detected(); // only send pings if protocol has been detected
     case HEARTBEAT:
         return true; // always send heartbeat if enabled
     case DEVICE_PING:
-        return !_crsf_version.pending; // only send pings if version has been negotiated
+        return !_crsf_version.pending;  // only send pings if version has been negotiated
     default:
         return _enable_telemetry;
     }
diff --git a/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp b/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp
index 72e2d2a09e7e00..cdbcea0a543332 100644
--- a/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp
+++ b/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp
@@ -111,9 +111,14 @@ bool AP_GHST_Telem::process_rf_mode_changes()
     if (ghost != nullptr) {
         uart = ghost->get_UART();
     }
+
     if (uart == nullptr) {
         return true;
     }
+
+    if (!ghost->is_detected()) {
+        return false;
+    }
     // not ready yet
     if (!uart->is_initialized()) {
         return false;

From 0154277989c8bfe42e3a0d1fe383855bce655d98 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 16 Jan 2024 15:11:45 +1100
Subject: [PATCH 0654/1335] RC_Channel: param_parse.py: sort RCn_OPTIONS
 progamatically

---
 libraries/RC_Channel/RC_Channel.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index cebb53ae2f9e54..296afb878ba854 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -107,6 +107,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
     // @Param: OPTION
     // @DisplayName: RC input option
     // @Description: Function assigned to this RC channel
+    // @SortValues: AlphabeticalZeroAtTop
     // @Values{Copter, Rover, Plane, Blimp}: 0:Do Nothing
     // @Values{Copter}: 2:FLIP Mode
     // @Values{Copter}: 3:Simple Mode

From e7cd43ad8666b8b365c2f92dec5d2df1f2835c92 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 16 Jan 2024 15:11:45 +1100
Subject: [PATCH 0655/1335] Tools: param_parse.py: sort RCn_OPTIONS
 progamatically

---
 Tools/autotest/param_metadata/htmlemit.py |  2 +-
 Tools/autotest/param_metadata/jsonemit.py |  9 ++++--
 Tools/autotest/param_metadata/mdemit.py   |  2 +-
 Tools/autotest/param_metadata/param.py    |  1 +
 Tools/autotest/param_metadata/rstemit.py  |  2 +-
 Tools/autotest/param_metadata/xmlemit.py  | 38 +++++++++++++++++++++--
 6 files changed, 45 insertions(+), 9 deletions(-)

diff --git a/Tools/autotest/param_metadata/htmlemit.py b/Tools/autotest/param_metadata/htmlemit.py
index 1d9e76534168a7..201a13ef9a85b6 100644
--- a/Tools/autotest/param_metadata/htmlemit.py
+++ b/Tools/autotest/param_metadata/htmlemit.py
@@ -65,7 +65,7 @@ def emit(self, g):
             t += "<ul>\n"
 
             for field in param.__dict__.keys():
-                if field not in ['name', 'DisplayName', 'Description', 'User'] and field in known_param_fields:
+                if field not in ['name', 'DisplayName', 'Description', 'User', 'SortValues'] and field in known_param_fields:
                     if field == 'Values' and Emit.prog_values_field.match(param.__dict__[field]):
                         values = (param.__dict__[field]).split(',')
                         t += "<table><th>Value</th><th>Meaning</th>\n"
diff --git a/Tools/autotest/param_metadata/jsonemit.py b/Tools/autotest/param_metadata/jsonemit.py
index 9d50c908db6ee8..b94316fec97a19 100644
--- a/Tools/autotest/param_metadata/jsonemit.py
+++ b/Tools/autotest/param_metadata/jsonemit.py
@@ -55,9 +55,12 @@ def emit(self, g):
             if ':' in name:
                 name = name.split(':')[1]
 
-            # Remove real_path key
-            if 'real_path' in param.__dict__:
-                param.__dict__.pop('real_path')
+            # Remove various unwanted keys
+            for key in 'real_path', 'SortValues':
+                try:
+                    param.__dict__.pop(key)
+                except KeyError:
+                    pass
 
             # Get range section if available
             range_json = {}
diff --git a/Tools/autotest/param_metadata/mdemit.py b/Tools/autotest/param_metadata/mdemit.py
index d97ed1f3e69dcb..e6edba803bd8c0 100644
--- a/Tools/autotest/param_metadata/mdemit.py
+++ b/Tools/autotest/param_metadata/mdemit.py
@@ -90,7 +90,7 @@ def emit(self, g):
             t += "\n\n%s" % param.Description
             
             for field in param.__dict__.keys():
-                if field not in ['name', 'DisplayName', 'Description', 'User'] and field in known_param_fields:
+                if field not in ['name', 'DisplayName', 'Description', 'User', 'SortValues'] and field in known_param_fields:
                     if field == 'Values' and Emit.prog_values_field.match(param.__dict__[field]):
                         values = (param.__dict__[field]).split(',')
                         t += "\n\n|Value|Meaning|"
diff --git a/Tools/autotest/param_metadata/param.py b/Tools/autotest/param_metadata/param.py
index 3cc5266a47ecc4..818a0f9b97f971 100644
--- a/Tools/autotest/param_metadata/param.py
+++ b/Tools/autotest/param_metadata/param.py
@@ -51,6 +51,7 @@ def has_param(self, pname):
              'ReadOnly',
              'Calibration',
              'Vector3Parameter',
+             'SortValues'
                       ]
 
 # Follow SI units conventions from:
diff --git a/Tools/autotest/param_metadata/rstemit.py b/Tools/autotest/param_metadata/rstemit.py
index d81f8d6b237434..4fa423b69089b3 100755
--- a/Tools/autotest/param_metadata/rstemit.py
+++ b/Tools/autotest/param_metadata/rstemit.py
@@ -263,7 +263,7 @@ def emit(self, g):
             headings = []
             row = []
             for field in sorted(param.__dict__.keys()):
-                if (field not in ['name', 'DisplayName', 'Description', 'User', 'RebootRequired'] and
+                if (field not in ['name', 'DisplayName', 'Description', 'User', 'SortValues', 'RebootRequired'] and
                         field in known_param_fields):
                     headings.append(field)
                     if field in field_table_info and Emit.prog_values_field.match(param.__dict__[field]):
diff --git a/Tools/autotest/param_metadata/xmlemit.py b/Tools/autotest/param_metadata/xmlemit.py
index c9262590af094f..7d19234baa5021 100644
--- a/Tools/autotest/param_metadata/xmlemit.py
+++ b/Tools/autotest/param_metadata/xmlemit.py
@@ -2,6 +2,7 @@
 
 from emit import Emit
 from param import known_param_fields, known_units
+import re
 
 # Emit ArduPilot documentation in an machine readable XML format
 class XmlEmit(Emit):
@@ -30,6 +31,18 @@ def emit_comment(self, s):
     def start_libraries(self):
         self.current_element = self.libraries
 
+    def sorted_Values_keys(self, nv_pairs, zero_at_top=False):
+        '''sorts name/value pairs derived from items in @Values.  Sorts by
+        value, with special attention paid to common "Do nothing" values'''
+        keys = nv_pairs.keys()
+        def sort_key(value):
+            description = nv_pairs[value]
+            if zero_at_top and value == "0":
+                # make sure this item goes at the top of the list:
+                return "AAAAAAA"
+            return description
+        return sorted(keys, key=sort_key)
+
     def emit(self, g):
         xml_parameters = etree.SubElement(self.current_element, 'parameters', name=g.reference)  # i.e. ArduPlane
 
@@ -50,17 +63,36 @@ def emit(self, g):
 
             # Add values as chidren of this node
             for field in param.__dict__.keys():
-                if field not in ['name', 'DisplayName', 'Description', 'User'] and field in known_param_fields:
+                if field not in ['name', 'DisplayName', 'Description', 'User', 'SortValues'] and field in known_param_fields:
                     if field == 'Values' and Emit.prog_values_field.match(param.__dict__[field]):
                         xml_values = etree.SubElement(xml_param, 'values')
                         values = (param.__dict__[field]).split(',')
+                        nv_unsorted = {}
                         for value in values:
                             v = value.split(':')
                             if len(v) != 2:
                                 raise ValueError("Bad value (%s)" % v)
                             # i.e. numeric value, string label
-                            xml_value = etree.SubElement(xml_values, 'value', code=v[0])
-                            xml_value.text = v[1]
+                            if v[0] in nv_unsorted:
+                                raise ValueError("%s already exists" % v[0])
+                            nv_unsorted[v[0]] = v[1]
+
+                        all_keys = nv_unsorted.keys()
+                        if hasattr(param, 'SortValues'):
+                            sort = getattr(param, 'SortValues').lower()
+                            zero_at_top = False
+                            if sort == 'alphabeticalzeroattop':
+                                zero_at_top = True
+                            else:
+                                raise ValueError("Unknown sort (%s)" % sort)
+
+                            all_keys = self.sorted_Values_keys(nv_unsorted, zero_at_top=zero_at_top)
+
+                        for key in all_keys:
+                            value = nv_unsorted[key]
+
+                            xml_value = etree.SubElement(xml_values, 'value', code=key)
+                            xml_value.text = value
 
                     elif field == 'Units':
                         abreviated_units = param.__dict__[field]

From a1fe322f4643fa018395428eb83827a2ea4eb09c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 16 Jan 2024 16:08:33 +1100
Subject: [PATCH 0656/1335] Tools: param_parse.py: stop emitting field text in
 JSON output

---
 Tools/autotest/param_metadata/jsonemit.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/autotest/param_metadata/jsonemit.py b/Tools/autotest/param_metadata/jsonemit.py
index b94316fec97a19..8352b684951cb7 100644
--- a/Tools/autotest/param_metadata/jsonemit.py
+++ b/Tools/autotest/param_metadata/jsonemit.py
@@ -56,7 +56,7 @@ def emit(self, g):
                 name = name.split(':')[1]
 
             # Remove various unwanted keys
-            for key in 'real_path', 'SortValues':
+            for key in 'real_path', 'SortValues', '__field_text':
                 try:
                     param.__dict__.pop(key)
                 except KeyError:

From 15cea77e98d51a5371c38115ee56eb7a85ab26ff Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 17 Apr 2023 22:58:21 +1000
Subject: [PATCH 0657/1335] GCS_MAVLink: exclude entire case statement for can
 filter modify

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index e72ed983fa9790..7f53c14d032252 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4217,11 +4217,11 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
         break;
 #endif
 
-    case MAVLINK_MSG_ID_CAN_FILTER_MODIFY:
 #if HAL_CANMANAGER_ENABLED
+    case MAVLINK_MSG_ID_CAN_FILTER_MODIFY:
         AP::can().handle_can_filter_modify(msg);
-#endif
         break;
+#endif
 
 #if AP_OPENDRONEID_ENABLED
     case MAVLINK_MSG_ID_OPEN_DRONE_ID_ARM_STATUS:

From 2bc5078c7a0b25704d1bec3de292d250a8cdd179 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Thu, 4 Jan 2024 01:02:08 +0000
Subject: [PATCH 0658/1335] AP_Relay: Check for pin conflicts between relays

---
 libraries/AP_Relay/AP_Relay.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 47d2b030b8031b..33c1a2d48e8cd0 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -472,6 +472,18 @@ bool AP_Relay::arming_checks(size_t buflen, char *buffer) const
             }
             return false;
         }
+
+        // Each pin can only be used by a single relay
+        for (uint8_t j=i+1; j<ARRAY_SIZE(_params); j++) {
+            if (!function_valid((AP_Relay_Params::FUNCTION)_params[j].function.get())) {
+                // Relay disabled
+                continue;
+            }
+            if (pin == _params[j].pin.get()) {
+                hal.util->snprintf(buffer, buflen, "pin conflict RELAY%u_PIN = RELAY%u_PIN", int(i+1), int(j+1));
+                return false;
+            }
+        }
     }
     return true;
 }

From 7e79a130533958e7a06500c85407483ac297095d Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 17 Jan 2024 20:18:18 +0000
Subject: [PATCH 0659/1335] Plane: ask mode if battery voltage compensation
 should be done

---
 ArduPlane/mode.cpp   | 32 ++++++++++++++++++++++++++++++++
 ArduPlane/mode.h     |  3 +++
 ArduPlane/servos.cpp |  3 ++-
 3 files changed, 37 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index 2d97c9cb1acd7b..ec10b69631370f 100644
--- a/ArduPlane/mode.cpp
+++ b/ArduPlane/mode.cpp
@@ -290,3 +290,35 @@ bool Mode::use_throttle_limits() const
 
     return true;
 }
+
+// true if voltage correction should be applied to throttle
+bool Mode::use_battery_compensation() const
+{
+#if AP_SCRIPTING_ENABLED
+    if (plane.nav_scripting_active()) {
+        return false;
+    }
+#endif
+
+    if (this == &plane.mode_stabilize ||
+        this == &plane.mode_training ||
+        this == &plane.mode_acro ||
+        this == &plane.mode_fbwa ||
+        this == &plane.mode_autotune) {
+        // a manual throttle mode
+        return false;
+    }
+
+    if (is_guided_mode() && plane.guided_throttle_passthru) {
+        // manual pass through of throttle while in GUIDED
+        return false;
+    }
+
+#if HAL_QUADPLANE_ENABLED
+    if (quadplane.in_vtol_mode()) {
+        return false;
+    }
+#endif
+
+    return true;
+}
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 1de286f8667e28..d2a4d3d11e9373 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -138,6 +138,9 @@ class Mode
     // true if throttle min/max limits should be applied
     bool use_throttle_limits() const;
 
+    // true if voltage correction should be applied to throttle
+    bool use_battery_compensation() const;
+
 protected:
 
     // subclasses override this to perform checks before entering the mode
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index c04cc8dbb3e8a0..08b102acd9ae67 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -614,8 +614,9 @@ void Plane::set_throttle(void)
         }
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, fwd_thr);
 #endif  // HAL_QUADPLANE_ENABLED
+    }
 
-    } else {
+    if (control_mode->use_battery_compensation()) {
         // Apply voltage compensation to throttle output from flight mode
         const float throttle = g2.fwd_batt_cmp.apply_throttle(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);

From f77f8e5ad798f11ad11bdac18b9696837787b3e0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 10:34:59 +1100
Subject: [PATCH 0660/1335] AP_HAL: added is_write_locked() for UARTs

---
 libraries/AP_HAL/UARTDriver.h | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/libraries/AP_HAL/UARTDriver.h b/libraries/AP_HAL/UARTDriver.h
index a7e0c61ef2f628..d876de6a93d4e6 100644
--- a/libraries/AP_HAL/UARTDriver.h
+++ b/libraries/AP_HAL/UARTDriver.h
@@ -178,6 +178,13 @@ class AP_HAL::UARTDriver : public AP_HAL::BetterStream {
     }
 #endif
 
+    /*
+      return true if the port is currently locked for writing
+     */
+    bool is_write_locked(void) const {
+        return lock_write_key != 0;
+    }
+
 protected:
     // key for a locked port
     uint32_t lock_write_key;

From 1d6f1b9d8f1b6f732005216379b375834ce0a4ec Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 10:35:19 +1100
Subject: [PATCH 0661/1335] GCS_MAVLink: fixed passthru for SITL

prevent panic when we expect zero writes
---
 libraries/GCS_MAVLink/GCS_MAVLink.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.cpp b/libraries/GCS_MAVLink/GCS_MAVLink.cpp
index 436a26f5f6e1a9..c4f531822d2c3d 100644
--- a/libraries/GCS_MAVLink/GCS_MAVLink.cpp
+++ b/libraries/GCS_MAVLink/GCS_MAVLink.cpp
@@ -140,7 +140,7 @@ void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len)
     }
     const size_t written = mavlink_comm_port[chan]->write(buf, len);
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    if (written < len) {
+    if (written < len && !mavlink_comm_port[chan]->is_write_locked()) {
         AP_HAL::panic("Short write on UART: %lu < %u", (unsigned long)written, len);
     }
 #else

From e958e7b720a4facad5f1a13da4e3b2cf6efd7d23 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 18 Jan 2024 07:37:38 +1100
Subject: [PATCH 0662/1335] hwdef: enable ROMFS if we have a defaults filepath
 to embed

---
 libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index f093f63c3bbb6c..3aefbfb3b8f085 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -2591,6 +2591,7 @@ def write_hwdef_header(self, outfilename):
 
         if os.path.exists(self.processed_defaults_filepath()):
             self.write_define(f, 'AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED', 1)
+            self.write_define(f, 'AP_FILESYSTEM_ROMFS_ENABLED', 1)
         else:
             self.write_define(f, 'AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED', 0)
 

From bd2d0100cde3aace9624cd86a48a3ac5bdf60bfd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 18 Jan 2024 12:03:33 +1100
Subject: [PATCH 0663/1335] AP_Param: include defaulkts-file-parsing when
 AP_PARAM_DYNAMIC_ENABLED

---
 libraries/AP_Param/AP_Param.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index f1c6d949f60441..463b7f080a29ff 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -2144,7 +2144,7 @@ bool AP_Param::parse_param_line(char *line, char **vname, float &value, bool &re
 }
 
 
-#if AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED
+#if AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED || AP_PARAM_DYNAMIC_ENABLED
 
 // increments num_defaults for each default found in filename
 bool AP_Param::count_defaults_in_file(const char *filename, uint16_t &num_defaults)

From 8e2a634c72545e8a19d5b06ab0ed22a2cc5dc9dd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 18 Jan 2024 13:34:57 +1100
Subject: [PATCH 0664/1335] hwdef: don't enable filesystem-romfs just because
 we have a defaults file

---
 libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 3aefbfb3b8f085..f093f63c3bbb6c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -2591,7 +2591,6 @@ def write_hwdef_header(self, outfilename):
 
         if os.path.exists(self.processed_defaults_filepath()):
             self.write_define(f, 'AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED', 1)
-            self.write_define(f, 'AP_FILESYSTEM_ROMFS_ENABLED', 1)
         else:
             self.write_define(f, 'AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED', 0)
 

From 6ce4dfea5747e959746f652fe823c7e7458693bb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 18 Jan 2024 13:35:43 +1100
Subject: [PATCH 0665/1335] AP_Param: use ROMFS API for defaults file parsing
 if no AP_FileSystem

---
 libraries/AP_Param/AP_Param.cpp | 81 +++++++++++++++++++++++++--------
 libraries/AP_Param/AP_Param.h   |  9 ++++
 2 files changed, 72 insertions(+), 18 deletions(-)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index 463b7f080a29ff..20a28c7e4a0765 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -35,6 +35,8 @@
 #include <AP_InternalError/AP_InternalError.h>
 #include <AP_Filesystem/AP_Filesystem.h>
 #include <stdio.h>
+#include <AP_ROMFS/AP_ROMFS.h>
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     #include <SITL/SITL.h>
 #endif
@@ -1546,24 +1548,20 @@ bool AP_Param::load_all()
 void AP_Param::reload_defaults_file(bool last_pass)
 {
 #if AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED
+
     /*
       if the HAL specifies a defaults parameter file then override
       defaults using that file
      */
     const char *default_file = hal.util->get_custom_defaults_file();
     if (default_file) {
-        if (load_defaults_file(default_file, last_pass)) {
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-            printf("Loaded defaults from %s\n", default_file);
-#endif
-        } else {
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-            AP_HAL::panic("Failed to load defaults from %s\n", default_file);
-#else
-            printf("Failed to load defaults from %s\n", default_file);
+#if AP_FILESYSTEM_FILE_READING_ENABLED
+        load_defaults_file_from_filesystem(default_file, last_pass);
+#elif defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H)
+        load_defaults_file_from_romfs(default_file, last_pass);
 #endif
-        }
     }
+
 #endif  // AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED
 
 #if AP_PARAM_MAX_EMBEDDED_PARAM > 0
@@ -1577,6 +1575,47 @@ void AP_Param::reload_defaults_file(bool last_pass)
 #endif
 }
 
+#if AP_FILESYSTEM_FILE_READING_ENABLED
+void AP_Param::load_defaults_file_from_filesystem(const char *default_file, bool last_pass)
+{
+    if (load_defaults_file(default_file, last_pass)) {
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+        printf("Loaded defaults from %s\n", default_file);
+#endif
+    } else {
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+        AP_HAL::panic("Failed to load defaults from %s\n", default_file);
+#else
+        printf("Failed to load defaults from %s\n", default_file);
+#endif
+    }
+}
+#endif  // AP_FILESYSTEM_FILE_READING_ENABLED
+
+#if defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H)
+void AP_Param::load_defaults_file_from_romfs(const char *default_file, bool last_pass)
+{
+    const char *prefix = "@ROMFS/";
+    if (strncmp(default_file, prefix, strlen(prefix)) != 0) {
+        // does not start with ROMFS, do not attempt to retrieve from it
+        return;
+    }
+
+    // filename without the prefix:
+    const char *trimmed_filename = &default_file[strlen(prefix)];
+
+    uint32_t string_length;
+    const uint8_t *text = AP_ROMFS::find_decompress(trimmed_filename, string_length);
+    if (text == nullptr) {
+        return;
+    }
+
+    load_param_defaults((const char*)text, string_length, last_pass);
+
+    AP_ROMFS::free(text);
+
+}
+#endif  // HAL_HAVE_AP_ROMFS_EMBEDDED_H
 
 /* 
    Load all variables from EEPROM for a particular object. This is
@@ -2293,14 +2332,12 @@ bool AP_Param::load_defaults_file(const char *filename, bool last_pass)
 #endif // AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED
 
 
-#if AP_PARAM_MAX_EMBEDDED_PARAM > 0
+#if AP_PARAM_MAX_EMBEDDED_PARAM > 0 || (!AP_FILESYSTEM_FILE_READING_ENABLED && defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H))
 /*
-  count the number of embedded parameter defaults
+  count the number of parameter defaults present in supplied string
  */
-bool AP_Param::count_embedded_param_defaults(uint16_t &count)
+bool AP_Param::count_param_defaults(const volatile char *ptr, int32_t length, uint16_t &count)
 {
-    const volatile char *ptr = param_defaults_data.data;
-    int32_t length = param_defaults_data.length;
     count = 0;
     
     while (length>0) {
@@ -2341,12 +2378,22 @@ bool AP_Param::count_embedded_param_defaults(uint16_t &count)
     return true;
 }
 
+#if AP_PARAM_MAX_EMBEDDED_PARAM > 0
 /*
  * load a default set of parameters from a embedded parameter region
  * @last_pass: if this is the last pass on defaults - unknown parameters are
  *             ignored but if this is set a warning will be emitted
  */
 void AP_Param::load_embedded_param_defaults(bool last_pass)
+{
+    load_param_defaults(param_defaults_data.data, param_defaults_data.length, last_pass);
+}
+#endif  // AP_PARAM_MAX_EMBEDDED_PARAM > 0
+
+/*
+ *  load parameter defaults from supplied string
+ */
+void AP_Param::load_param_defaults(const volatile char *ptr, int32_t length, bool last_pass)
 {
     delete[] param_overrides;
     param_overrides = nullptr;
@@ -2355,7 +2402,7 @@ void AP_Param::load_embedded_param_defaults(bool last_pass)
     num_read_only = 0;
 
     uint16_t num_defaults = 0;
-    if (!count_embedded_param_defaults(num_defaults)) {
+    if (!count_param_defaults(ptr, length, num_defaults)) {
         return;
     }
 
@@ -2367,8 +2414,6 @@ void AP_Param::load_embedded_param_defaults(bool last_pass)
 
     param_overrides_len = num_defaults;
 
-    const volatile char *ptr = param_defaults_data.data;
-    int32_t length = param_defaults_data.length;
     uint16_t idx = 0;
     
     while (idx < num_defaults && length > 0) {
diff --git a/libraries/AP_Param/AP_Param.h b/libraries/AP_Param/AP_Param.h
index 85b211f7ade376..40aebd852cd00a 100644
--- a/libraries/AP_Param/AP_Param.h
+++ b/libraries/AP_Param/AP_Param.h
@@ -732,8 +732,17 @@ class AP_Param
       load a parameter defaults file. This happens as part of load_all()
      */
     static bool count_defaults_in_file(const char *filename, uint16_t &num_defaults);
+    static bool count_param_defaults(const volatile char *ptr, int32_t length, uint16_t &count);
     static bool read_param_defaults_file(const char *filename, bool last_pass, uint16_t &idx);
 
+    // load a defaults.parm using AP_FileSystem:
+    static void load_defaults_file_from_filesystem(const char *filename, bool lastpass);
+    // load an @ROMFS defaults.parm using ROMFS API:
+    static void load_defaults_file_from_romfs(const char *filename, bool lastpass);
+
+    // load defaults from supplied string:
+    static void load_param_defaults(const volatile char *ptr, int32_t length, bool last_pass);
+
     /*
       load defaults from embedded parameters
      */

From fb26452b8db27bca2591968eae79c8f0d2b61c48 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 08:11:59 +1100
Subject: [PATCH 0666/1335] Tools: added linux boards to build sizes web page

---
 Tools/scripts/build_sizes/build_sizes.py | 23 +++++++++++++++++------
 1 file changed, 17 insertions(+), 6 deletions(-)

diff --git a/Tools/scripts/build_sizes/build_sizes.py b/Tools/scripts/build_sizes/build_sizes.py
index d347278f17f7e8..76cbb7af746e29 100755
--- a/Tools/scripts/build_sizes/build_sizes.py
+++ b/Tools/scripts/build_sizes/build_sizes.py
@@ -23,6 +23,8 @@
 warning_flash_free = 5000
 warning_build_days = 3
 
+LINUX_BINARIES = ["arduplane", "arducopter", "arducopter-heli", "ardurover", "ardusub", "antennatracker"]
+
 
 class APJInfo:
     def __init__(self, vehicle, board, githash, mtime, flash_free):
@@ -34,20 +36,29 @@ def __init__(self, vehicle, board, githash, mtime, flash_free):
         self.warning = 0
 
 
-def apj_list(basedir):
+def firmware_list(basedir):
     '''list of APJInfo for one directory'''
     boards = []
     for root, subdirs, files in os.walk(basedir):
         for f in files:
-            if not fnmatch.fnmatch(f, "*.apj"):
+            if not fnmatch.fnmatch(f, "*.apj") and f not in LINUX_BINARIES:
                 continue
             fname = os.path.join(root, f)
             board = os.path.basename(root)
             vehicle = fname.split('/')[-4]
-            fw_json = json.load(open(fname, "r"))
-            githash = fw_json['git_identity']
-            flash_free = fw_json.get('flash_free', -1)
             mtime = os.stat(fname).st_mtime
+            if f in LINUX_BINARIES:
+                git_version = os.path.join(root, "git-version.txt")
+                try:
+                    line = open(git_version, 'r').readline()
+                    githash = line.split()[1][:8]
+                except OSError:
+                    githash = "unknown"
+                flash_free = 999999
+            else:
+                fw_json = json.load(open(fname, "r"))
+                githash = fw_json['git_identity']
+                flash_free = fw_json.get('flash_free', -1)
             apjinfo = APJInfo(vehicle, board, githash, mtime, flash_free)
             boards.append(apjinfo)
     return boards
@@ -117,7 +128,7 @@ def write_table(h, build_type):
     boards = []
 
     for build in builds:
-        boards.extend(apj_list(os.path.join(args.basedir, build, build_type)))
+        boards.extend(firmware_list(os.path.join(args.basedir, build, build_type)))
 
     max_mtime = 0
     for apjinfo in boards:

From 2e9a43d78124c47378a53b25db91fba5e53380c4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 17:29:54 +1100
Subject: [PATCH 0667/1335] AP_Bootloader: reverse an ID for Tulip Battery
 monitor

---
 Tools/AP_Bootloader/board_types.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
index 63f3bba28ff906..5e7947506c9cb0 100644
--- a/Tools/AP_Bootloader/board_types.txt
+++ b/Tools/AP_Bootloader/board_types.txt
@@ -257,6 +257,7 @@ AP_HW_YJUAV_A6SE_H743                1141
 AP_HW_FSO_POWER_STACK                1142
 AP_HW_ATOMRCF405NAVI_DLX             1143
 AP_HW_YJUAV_A6Ultra                  1144
+AP_HW_TULIP_BATTMON                  1145
 
 
 AP_HW_ESP32_PERIPH                   1205

From f67d8956778de0ed1e5ddebf159ecd1ca0f6f3d7 Mon Sep 17 00:00:00 2001
From: Jackwooh <153261604+Jackwooh@users.noreply.github.com>
Date: Fri, 15 Dec 2023 12:25:25 +0530
Subject: [PATCH 0668/1335] AP_ExternalAHRS: Reserve aaeron ID

Added new EAHRS_TYPE
---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
index 557f1e9c699940..c904c68072d19b 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -60,6 +60,7 @@ class AP_ExternalAHRS {
 #endif
         // 8 reserved for SBG
         // 9 reserved for EulerNav
+        // 10 reserved for Aeron
     };
 
     static AP_ExternalAHRS *get_singleton(void) {

From cf496a3c00641c858d9df48e5264c44ba8eb3ef0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 20 Jan 2024 09:56:12 +1100
Subject: [PATCH 0669/1335] AP_RTC: remove pointless assignment of
 total_delay_ms

this is a stack variable, so assigning a new value to it in a return statement is pointless.

Pointed out by clang-scan-build
---
 libraries/AP_RTC/AP_RTC.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_RTC/AP_RTC.cpp b/libraries/AP_RTC/AP_RTC.cpp
index 77c763b528e0c0..36d78b4043c798 100644
--- a/libraries/AP_RTC/AP_RTC.cpp
+++ b/libraries/AP_RTC/AP_RTC.cpp
@@ -243,7 +243,7 @@ uint32_t AP_RTC::get_time_utc(int32_t hour, int32_t min, int32_t sec, int32_t ms
         total_delay_ms += ms - curr_ms;
     }
     if (largest_element == 1 && total_delay_ms < 0) {
-        return static_cast<uint32_t>(total_delay_ms += 1000);
+        return static_cast<uint32_t>(total_delay_ms + 1000);
     }
 
     // calculate sec to target
@@ -251,7 +251,7 @@ uint32_t AP_RTC::get_time_utc(int32_t hour, int32_t min, int32_t sec, int32_t ms
         total_delay_ms += (sec - curr_sec)*1000;
     }
     if (largest_element == 2 && total_delay_ms < 0) {
-        return static_cast<uint32_t>(total_delay_ms += (60*1000));
+        return static_cast<uint32_t>(total_delay_ms + (60*1000));
     }
 
     // calculate min to target
@@ -259,7 +259,7 @@ uint32_t AP_RTC::get_time_utc(int32_t hour, int32_t min, int32_t sec, int32_t ms
         total_delay_ms += (min - curr_min)*60*1000;
     }
     if (largest_element == 3 && total_delay_ms < 0) {
-        return static_cast<uint32_t>(total_delay_ms += (60*60*1000));
+        return static_cast<uint32_t>(total_delay_ms + (60*60*1000));
     }
 
     // calculate hours to target
@@ -267,7 +267,7 @@ uint32_t AP_RTC::get_time_utc(int32_t hour, int32_t min, int32_t sec, int32_t ms
         total_delay_ms += (hour - curr_hour)*60*60*1000;
     }
     if (largest_element == 4 && total_delay_ms < 0) {
-        return static_cast<uint32_t>(total_delay_ms += (24*60*60*1000));
+        return static_cast<uint32_t>(total_delay_ms + (24*60*60*1000));
     }
 
     // total delay in milliseconds

From 0e2461ffd2780b0e5128790a2cb1c2da2371a97c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 20 Jan 2024 10:03:15 +1100
Subject: [PATCH 0670/1335] AP_AccelCal: remove pointless assignment when
 counting calibrators

cal isn't used after the assignment is made.

Pointed out by clang-scan-build
---
 libraries/AP_AccelCal/AP_AccelCal.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_AccelCal/AP_AccelCal.cpp b/libraries/AP_AccelCal/AP_AccelCal.cpp
index 8cf1fc126a3500..d4fa4cba030b4b 100644
--- a/libraries/AP_AccelCal/AP_AccelCal.cpp
+++ b/libraries/AP_AccelCal/AP_AccelCal.cpp
@@ -44,9 +44,8 @@ void AP_AccelCal::update()
     if (_started) {
         update_status();
 
-        AccelCalibrator *cal;
         uint8_t num_active_calibrators = 0;
-        for(uint8_t i=0; (cal = get_calibrator(i)); i++) {
+        for(uint8_t i=0; get_calibrator(i) != nullptr; i++) {
             num_active_calibrators++;
         }
         if (num_active_calibrators != _num_active_calibrators) {
@@ -56,6 +55,7 @@ void AP_AccelCal::update()
         if(_start_collect_sample) {
             collect_sample();
         }
+        AccelCalibrator *cal;
         switch(_status) {
             case ACCEL_CAL_NOT_STARTED:
                 fail();

From 1bac278a38715691b28e49bd97f99c0dfd3e622c Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Wed, 17 Jan 2024 21:55:12 -0600
Subject: [PATCH 0671/1335] Tools: add button build server option

---
 Tools/scripts/build_options.py    | 1 +
 Tools/scripts/extract_features.py | 1 +
 2 files changed, 2 insertions(+)

diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index eab4918c876299..28a1721d524df4 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -311,6 +311,7 @@ def __init__(self,
     Feature('Other', 'SDCARD_MISSION', 'AP_SDCARD_STORAGE_ENABLED', 'Enable storing mission on microSD cards', 0, None),
     Feature('Other', 'COMPASS_CAL', 'COMPASS_CAL_ENABLED', 'Enable "tumble" compass calibration', 0, None),
     Feature('Other', 'DRONECAN_SERIAL', 'AP_DRONECAN_SERIAL_ENABLED', 'Enable DroneCAN virtual serial ports', 0, None),
+    Feature('Other', 'Buttons', 'HAL_BUTTON_ENABLED', 'Enable Buttons', 0, None),
 
     # MAVLink section for mavlink features and/or message handling,
     # rather than for e.g. mavlink-based sensor drivers
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index 31b63b2ddad875..f208aee9b53035 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -240,6 +240,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('AP_SERIALMANAGER_IMUOUT_ENABLED', 'AP_InertialSensor::send_uart_data'),
             ('AP_NETWORKING_BACKEND_PPP', 'AP_Networking_PPP::init'),
             ('FORCE_APJ_DEFAULT_PARAMETERS', 'AP_Param::param_defaults_data'),
+            ('HAL_BUTTON_ENABLED', 'AP_Button::update'),
         ]
 
     def progress(self, msg):

From 78b0ddcf457376e9ba103583231c038fa5522cdf Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Tue, 21 Nov 2023 18:10:49 +1100
Subject: [PATCH 0672/1335] AP_GPS: add support for setting L5 override

---
 libraries/AP_GPS/AP_GPS.cpp       |  2 +-
 libraries/AP_GPS/AP_GPS.h         |  1 +
 libraries/AP_GPS/AP_GPS_UBLOX.cpp | 40 +++++++++++++++++++++++++++++--
 libraries/AP_GPS/AP_GPS_UBLOX.h   | 11 +++++++--
 4 files changed, 49 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 3257eb82308c5f..27226db02b490d 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -347,7 +347,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     // @Param: _DRV_OPTIONS
     // @DisplayName: driver options
     // @Description: Additional backend specific options
-    // @Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL
+    // @Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL, 5: Override GPS satellite health of L5 band from L1 health 
     // @User: Advanced
     AP_GROUPINFO("_DRV_OPTIONS", 22, AP_GPS, _driver_options, 0),
 
diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
index eedc1a0c5a43a4..a5ca9cdceaddd1 100644
--- a/libraries/AP_GPS/AP_GPS.h
+++ b/libraries/AP_GPS/AP_GPS.h
@@ -624,6 +624,7 @@ class AP_GPS
         UBX_Use115200     = (1U << 2U),
         UAVCAN_MBUseDedicatedBus  = (1 << 3U),
         HeightEllipsoid   = (1U << 4),
+        GPSL5HealthOverride = (1U << 5)
     };
 
     // check if an option is set
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index 323a0f0f1cbbb6..720bf23c0c6b35 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -241,6 +241,18 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_M10[] {
 };
 
 
+/*
+  config changes for L5 modules
+*/
+const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_L5_ovrd_ena[] {
+    {ConfigKey::CFG_SIGNAL_GPS_L5_ENA, 1},
+    {ConfigKey::CFG_SIGNAL_L5_HEALTH_OVRD, 1},
+};
+
+const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_L5_ovrd_dis[] {
+    {ConfigKey::CFG_SIGNAL_L5_HEALTH_OVRD, 0},
+};
+
 void
 AP_GPS_UBLOX::_request_next_config(void)
 {
@@ -436,7 +448,24 @@ AP_GPS_UBLOX::_request_next_config(void)
         }
         break;
     }
-        
+
+    case STEP_L5: {
+        if (supports_l5 && option_set(AP_GPS::DriverOptions::GPSL5HealthOverride)) {
+            const config_list *list = config_L5_ovrd_ena;
+            const uint8_t list_length = ARRAY_SIZE(config_L5_ovrd_ena);
+            if (!_configure_config_set(list, list_length, CONFIG_L5, UBX_VALSET_LAYER_ALL)) {
+                _next_message--;
+            }
+        } else if (supports_l5 && !option_set(AP_GPS::DriverOptions::GPSL5HealthOverride)) {
+            const config_list *list = config_L5_ovrd_dis;
+            const uint8_t list_length = ARRAY_SIZE(config_L5_ovrd_dis);
+            if (!_configure_config_set(list, list_length, CONFIG_L5, UBX_VALSET_LAYER_ALL)) {
+                _next_message--;
+            }
+        }
+        break;
+    }
+
     default:
         // this case should never be reached, do a full reset if it is hit
         _next_message = STEP_PVT;
@@ -1314,6 +1343,12 @@ AP_GPS_UBLOX::_parse_gps(void)
                     }
                     _hardware_generation = UBLOX_F9;
                 }
+                // check if L1L5 in extension
+                if (memmem(_buffer.mon_ver.extension, sizeof(_buffer.mon_ver.extension), "L1L5", 4) != nullptr) {
+                    supports_l5 = true;
+                    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "u-blox supports L5 Band");
+                    _unconfigured_messages |= CONFIG_L5;
+                }
                 if (strncmp(_version.swVersion, "EXT CORE 4", 10) == 0) {
                     // a M9
                     _hardware_generation = UBLOX_M9;
@@ -1995,7 +2030,8 @@ static const char *reasons[] = {"navigation rate",
                                 "Time mode settings",
                                 "RTK MB",
                                 "TIM TM2",
-                                "M10"};
+                                "M10",
+                                "L5 Enable Disable"};
 
 static_assert((1 << ARRAY_SIZE(reasons)) == CONFIG_LAST, "UBLOX: Missing configuration description");
 
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.h b/libraries/AP_GPS/AP_GPS_UBLOX.h
index 68afe623b4880c..cbf21f925dddbe 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.h
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.h
@@ -100,7 +100,8 @@
 #define CONFIG_RTK_MOVBASE   (1<<17)
 #define CONFIG_TIM_TM2       (1<<18)
 #define CONFIG_M10           (1<<19)
-#define CONFIG_LAST          (1<<20) // this must always be the last bit
+#define CONFIG_L5            (1<<20)
+#define CONFIG_LAST          (1<<21) // this must always be the last bit
 
 #define CONFIG_REQUIRED_INITIAL (CONFIG_RATE_NAV | CONFIG_RATE_POSLLH | CONFIG_RATE_STATUS | CONFIG_RATE_VELNED)
 
@@ -317,6 +318,8 @@ class AP_GPS_UBLOX : public AP_GPS_Backend
         CFG_SIGNAL_NAVIC_ENA            = 0x10310026,
         CFG_SIGNAL_NAVIC_L5_ENA         = 0x1031001d,
 
+        CFG_SIGNAL_L5_HEALTH_OVRD       = 0x10320001,
+
         // other keys
         CFG_NAVSPG_DYNMODEL             = 0x20110021,
 
@@ -513,7 +516,7 @@ class AP_GPS_UBLOX : public AP_GPS_Backend
     struct PACKED ubx_mon_ver {
         char swVersion[30];
         char hwVersion[10];
-        char extension; // extensions are not enabled
+        char extension[50]; // extensions are not enabled
     };
     struct PACKED ubx_nav_svinfo_header {
         uint32_t itow;
@@ -738,6 +741,7 @@ class AP_GPS_UBLOX : public AP_GPS_Backend
         STEP_RTK_MOVBASE, // setup moving baseline
         STEP_TIM_TM2,
         STEP_M10,
+        STEP_L5,
         STEP_LAST
     };
 
@@ -872,7 +876,10 @@ class AP_GPS_UBLOX : public AP_GPS_Backend
     RTCM3_Parser *rtcm3_parser;
 #endif // GPS_MOVING_BASELINE
 
+    bool supports_l5;
     static const config_list config_M10[];
+    static const config_list config_L5_ovrd_ena[];
+    static const config_list config_L5_ovrd_dis[];
 };
 
 #endif

From 55a922563bbf666c7169d74b0e055ba449f4c8a9 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Thu, 23 Nov 2023 14:23:03 +1100
Subject: [PATCH 0673/1335] AP_GPS: set L5 config only on BBR and RAM

---
 libraries/AP_GPS/AP_GPS_UBLOX.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index 720bf23c0c6b35..f80395328e5789 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -245,8 +245,8 @@ const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_M10[] {
   config changes for L5 modules
 */
 const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_L5_ovrd_ena[] {
-    {ConfigKey::CFG_SIGNAL_GPS_L5_ENA, 1},
     {ConfigKey::CFG_SIGNAL_L5_HEALTH_OVRD, 1},
+    {ConfigKey::CFG_SIGNAL_GPS_L5_ENA, 1},
 };
 
 const AP_GPS_UBLOX::config_list AP_GPS_UBLOX::config_L5_ovrd_dis[] {
@@ -453,13 +453,13 @@ AP_GPS_UBLOX::_request_next_config(void)
         if (supports_l5 && option_set(AP_GPS::DriverOptions::GPSL5HealthOverride)) {
             const config_list *list = config_L5_ovrd_ena;
             const uint8_t list_length = ARRAY_SIZE(config_L5_ovrd_ena);
-            if (!_configure_config_set(list, list_length, CONFIG_L5, UBX_VALSET_LAYER_ALL)) {
+            if (!_configure_config_set(list, list_length, CONFIG_L5, UBX_VALSET_LAYER_RAM | UBX_VALSET_LAYER_BBR)) {
                 _next_message--;
             }
         } else if (supports_l5 && !option_set(AP_GPS::DriverOptions::GPSL5HealthOverride)) {
             const config_list *list = config_L5_ovrd_dis;
             const uint8_t list_length = ARRAY_SIZE(config_L5_ovrd_dis);
-            if (!_configure_config_set(list, list_length, CONFIG_L5, UBX_VALSET_LAYER_ALL)) {
+            if (!_configure_config_set(list, list_length, CONFIG_L5, UBX_VALSET_LAYER_RAM | UBX_VALSET_LAYER_BBR)) {
                 _next_message--;
             }
         }

From 6aaf6883efac1fd12c961a37b150e8403044c56e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 21 Jan 2024 08:41:31 +1100
Subject: [PATCH 0674/1335] AP_GPS: make L1/L5 check work on M10 modules too

tested on SierraAerospace L1L5 module
---
 libraries/AP_GPS/AP_GPS.cpp       |  2 +-
 libraries/AP_GPS/AP_GPS_UBLOX.cpp | 20 +++++++++++++-------
 2 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 27226db02b490d..25a790787a8d42 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -347,7 +347,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     // @Param: _DRV_OPTIONS
     // @DisplayName: driver options
     // @Description: Additional backend specific options
-    // @Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL, 5: Override GPS satellite health of L5 band from L1 health 
+    // @Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL, 5:Override GPS satellite health of L5 band from L1 health
     // @User: Advanced
     AP_GROUPINFO("_DRV_OPTIONS", 22, AP_GPS, _driver_options, 0),
 
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index f80395328e5789..0f8e7063e6bae1 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -1323,7 +1323,8 @@ AP_GPS_UBLOX::_parse_gps(void)
                 log_mon_hw2();  
             }
             break;
-        case MSG_MON_VER:
+        case MSG_MON_VER: {
+            bool check_L1L5 = false;
             _have_version = true;
             strncpy(_version.hwVersion, _buffer.mon_ver.hwVersion, sizeof(_version.hwVersion));
             strncpy(_version.swVersion, _buffer.mon_ver.swVersion, sizeof(_version.swVersion));
@@ -1343,16 +1344,11 @@ AP_GPS_UBLOX::_parse_gps(void)
                     }
                     _hardware_generation = UBLOX_F9;
                 }
-                // check if L1L5 in extension
-                if (memmem(_buffer.mon_ver.extension, sizeof(_buffer.mon_ver.extension), "L1L5", 4) != nullptr) {
-                    supports_l5 = true;
-                    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "u-blox supports L5 Band");
-                    _unconfigured_messages |= CONFIG_L5;
-                }
                 if (strncmp(_version.swVersion, "EXT CORE 4", 10) == 0) {
                     // a M9
                     _hardware_generation = UBLOX_M9;
                 }
+                check_L1L5 = true;
             }
             // check for M10
             if (strncmp(_version.hwVersion, "000A0000", 8) == 0) {
@@ -1360,8 +1356,18 @@ AP_GPS_UBLOX::_parse_gps(void)
                     _hardware_generation = UBLOX_M10;
                     _unconfigured_messages |= CONFIG_M10;
                 }
+                check_L1L5 = true;
+            }
+            if (check_L1L5) {
+                // check if L1L5 in extension
+                if (memmem(_buffer.mon_ver.extension, sizeof(_buffer.mon_ver.extension), "L1L5", 4) != nullptr) {
+                    supports_l5 = true;
+                    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "u-blox supports L5 Band");
+                    _unconfigured_messages |= CONFIG_L5;
+                }
             }
             break;
+        }
         default:
             unexpected_message();
         }

From 754d3df304ba16d34ecf4264cacf8b2d3be05dcb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 21 Jan 2024 10:46:50 +1100
Subject: [PATCH 0675/1335] AP_GPS: support newer M10 versions with L1L5

---
 libraries/AP_GPS/AP_GPS_UBLOX.cpp | 37 ++++++++++++++++++++++---------
 1 file changed, 27 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index 0f8e7063e6bae1..f073201373b554 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -50,6 +50,9 @@
 // use this to enable debugging of moving baseline configs
 #define UBLOX_MB_DEBUGGING 0
 
+// debug VALGET/VALSET configuration
+#define UBLOX_CFG_DEBUGGING 0
+
 extern const AP_HAL::HAL& hal;
 
 #if UBLOX_DEBUGGING
@@ -78,6 +81,19 @@ extern const AP_HAL::HAL& hal;
  # define MB_Debug(fmt, args ...)
 #endif
 
+#if UBLOX_CFG_DEBUGGING
+#if defined(HAL_BUILD_AP_PERIPH)
+ extern "C" {
+   void can_printf(const char *fmt, ...);
+ }
+ # define CFG_Debug(fmt, args ...)  do {can_printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args);} while(0)
+#else
+ # define CFG_Debug(fmt, args ...)  do {hal.console->printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); hal.scheduler->delay(1); } while(0)
+#endif
+#else
+ # define CFG_Debug(fmt, args ...)
+#endif
+
 AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port, AP_GPS::GPS_Role _role) :
     AP_GPS_Backend(_gps, _state, _port),
     _next_message(STEP_PVT),
@@ -1031,13 +1047,13 @@ AP_GPS_UBLOX::_parse_gps(void)
                           likely this device does not support fetching multiple keys at once, go one at a time
                         */
                         if (active_config.fetch_index == -1) {
-                            Debug("NACK starting %u", unsigned(active_config.count));
+                            CFG_Debug("NACK starting %u", unsigned(active_config.count));
                             active_config.fetch_index = 0;
                         } else {
                             // the device does not support the config key we asked for,
                             // consider the bit as done
                             active_config.done_mask |= (1U<<active_config.fetch_index);
-                            Debug("NACK %d 0x%x done=0x%x",
+                            CFG_Debug("NACK %d 0x%x done=0x%x",
                                      int(active_config.fetch_index),
                                      unsigned(active_config.list[active_config.fetch_index].key),
                                      unsigned(active_config.done_mask));
@@ -1279,9 +1295,10 @@ AP_GPS_UBLOX::_parse_gps(void)
                         _cfg_needs_save = true;
                     } else {
                         active_config.done_mask |= (1U << cfg_idx);
-                        Debug("done %u mask=0x%x",
-                              unsigned(cfg_idx),
-                              unsigned(active_config.done_mask));
+                        CFG_Debug("done %u mask=0x%x all_mask=0x%x",
+                                  unsigned(cfg_idx),
+                                  unsigned(active_config.done_mask),
+                                  (1U<<active_config.count)-1);
                         if (active_config.done_mask == (1U<<active_config.count)-1) {
                             // all done!
                             _unconfigured_messages &= ~active_config.unconfig_bit;
@@ -1293,7 +1310,7 @@ AP_GPS_UBLOX::_parse_gps(void)
                         active_config.fetch_index++;
                         if (active_config.fetch_index < active_config.count) {
                             _configure_valget(active_config.list[active_config.fetch_index].key);
-                            Debug("valget %d 0x%x", int(active_config.fetch_index),
+                            CFG_Debug("valget %d 0x%x", int(active_config.fetch_index),
                                   unsigned(active_config.list[active_config.fetch_index].key));
                         }
                     }
@@ -1352,10 +1369,10 @@ AP_GPS_UBLOX::_parse_gps(void)
             }
             // check for M10
             if (strncmp(_version.hwVersion, "000A0000", 8) == 0) {
-                if (strncmp(_version.swVersion, "ROM SPG 5", 9) == 0) {
-                    _hardware_generation = UBLOX_M10;
-                    _unconfigured_messages |= CONFIG_M10;
-                }
+                _hardware_generation = UBLOX_M10;
+                _unconfigured_messages |= CONFIG_M10;
+                // M10 does not support CONFIG_GNSS
+                _unconfigured_messages &= ~CONFIG_GNSS;
                 check_L1L5 = true;
             }
             if (check_L1L5) {

From ebe7fc23b314f705377db73872f9ef01d839f8c3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 15 Jan 2024 14:12:52 +1100
Subject: [PATCH 0676/1335] Tools: build a web enabled bootloader in CI

---
 Tools/scripts/build_ci.sh | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index 57e90829111e93..4dbc66c4bff61b 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -346,6 +346,9 @@ for t in $CI_BUILD_TARGET; do
         $waf configure --board Pixhawk6X-PPPGW
         $waf clean
         $waf AP_Periph
+        $waf configure --board Pixhawk6X-PPPGW --bootloader
+        $waf clean
+        $waf bootloader
         continue
     fi
     

From 4289a4bb3a6e1f98d6c53a6077d2dd6cddc4df28 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 13 Jan 2024 16:30:44 +1100
Subject: [PATCH 0677/1335] GCS_MAVLink: added AP_HAVE_GCS_SEND_TEXT

---
 libraries/GCS_MAVLink/GCS.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index d477ea2977365f..ba3913d0a442f1 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -1337,11 +1337,13 @@ GCS &gcs();
 // send text when we do have a GCS
 #if !defined(HAL_BUILD_AP_PERIPH)
 #define GCS_SEND_TEXT(severity, format, args...) gcs().send_text(severity, format, ##args)
+#define AP_HAVE_GCS_SEND_TEXT 1
 #else
 extern "C" {
 void can_printf(const char *fmt, ...);
 }
 #define GCS_SEND_TEXT(severity, format, args...) (void)severity; can_printf(format, ##args)
+#define AP_HAVE_GCS_SEND_TEXT 1
 #endif
 
 #define GCS_SEND_MESSAGE(msg) gcs().send_message(msg)
@@ -1354,11 +1356,13 @@ void can_printf(const char *fmt, ...);
 }
 #define GCS_SEND_TEXT(severity, format, args...) can_printf(format, ##args)
 #define GCS_SEND_MESSAGE(msg)
+#define AP_HAVE_GCS_SEND_TEXT 1
 
 #else // HAL_GCS_ENABLED
 // empty send text when we have no GCS
 #define GCS_SEND_TEXT(severity, format, args...)
 #define GCS_SEND_MESSAGE(msg)
+#define AP_HAVE_GCS_SEND_TEXT 0
 
 #endif // HAL_GCS_ENABLED
 

From 654b70da67dc13e1c63a9a514d86106ee7b5c149 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 13 Jan 2024 16:29:47 +1100
Subject: [PATCH 0678/1335] HAL_ChibiOS: allow HAL_Semaphore in the bootloader

---
 libraries/AP_HAL_ChibiOS/Semaphores.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/Semaphores.cpp b/libraries/AP_HAL_ChibiOS/Semaphores.cpp
index 47e24348aff111..9ed38a1ee2f93a 100644
--- a/libraries/AP_HAL_ChibiOS/Semaphores.cpp
+++ b/libraries/AP_HAL_ChibiOS/Semaphores.cpp
@@ -53,6 +53,9 @@ bool Semaphore::take(uint32_t timeout_ms)
     if (take_nonblocking()) {
         return true;
     }
+#ifdef HAL_BOOTLOADER_BUILD
+    return false;
+#else
     uint64_t start = AP_HAL::micros64();
     do {
         hal.scheduler->delay_microseconds(200);
@@ -61,6 +64,7 @@ bool Semaphore::take(uint32_t timeout_ms)
         }
     } while ((AP_HAL::micros64() - start) < timeout_ms*1000);
     return false;
+#endif
 }
 
 bool Semaphore::take_nonblocking()

From 9f646c823829c7912773a72678c0e937051430d5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 13 Jan 2024 16:29:09 +1100
Subject: [PATCH 0679/1335] AP_Networking: allow reuse of some of AP_Networking
 in bootloader

---
 libraries/AP_Networking/AP_Networking.cpp     |  2 ++
 .../AP_Networking/AP_Networking_ChibiOS.cpp   |  8 ++++--
 .../AP_Networking/AP_Networking_ChibiOS.h     |  3 ++-
 libraries/AP_Networking/config/lwipopts.h     | 26 +++++++++++++++----
 .../AP_Networking/lwip_hal/arch/sys_arch.cpp  | 16 +++++++-----
 5 files changed, 41 insertions(+), 14 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking.cpp b/libraries/AP_Networking/AP_Networking.cpp
index 303b50ab9861b6..3506e472e3c125 100644
--- a/libraries/AP_Networking/AP_Networking.cpp
+++ b/libraries/AP_Networking/AP_Networking.cpp
@@ -214,10 +214,12 @@ void AP_Networking::announce_address_changes()
         return;
     }
 
+#if AP_HAVE_GCS_SEND_TEXT
     char ipstr[16];
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: IP      %s", SocketAPM::inet_addr_to_str(get_ip_active(), ipstr, sizeof(ipstr)));
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Mask    %s", SocketAPM::inet_addr_to_str(get_netmask_active(), ipstr, sizeof(ipstr)));
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Gateway %s", SocketAPM::inet_addr_to_str(get_gateway_active(), ipstr, sizeof(ipstr)));
+#endif
 
     announce_ms = as.last_change_ms;
 }
diff --git a/libraries/AP_Networking/AP_Networking_ChibiOS.cpp b/libraries/AP_Networking/AP_Networking_ChibiOS.cpp
index 3b330425164969..889a8526be7523 100644
--- a/libraries/AP_Networking/AP_Networking_ChibiOS.cpp
+++ b/libraries/AP_Networking/AP_Networking_ChibiOS.cpp
@@ -13,6 +13,7 @@
 #if LWIP_DHCP
 #include <lwip/dhcp.h>
 #endif
+#include <lwip/etharp.h>
 #include <hal.h>
 #include "../../modules/ChibiOS/os/various/evtimer.h"
 #include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
@@ -62,11 +63,14 @@ bool AP_Networking_ChibiOS::allocate_buffers()
     if (mem == nullptr) {
         return false;
     }
+
+#ifndef HAL_BOOTLOADER_BUILD
     // ensure our memory is aligned
     // ref. Cortex-M7 peripherals PM0253, section 4.6.4 MPU region base address register
     if (((uint32_t)mem) % size) {
         AP_HAL::panic("Bad alignment of ETH memory");
     }
+#endif
 
     // for total_size == 9240, size should be 16384 and (rasr-1) should be 13 (MPU_RASR_SIZE_16K)
     const uint32_t rasr_size = MPU_RASR_SIZE(rasr-1);
@@ -139,8 +143,8 @@ bool AP_Networking_ChibiOS::init()
 
 void AP_Networking_ChibiOS::link_up_cb(void *p)
 {
-    auto *driver = (AP_Networking_ChibiOS *)p;
 #if LWIP_DHCP
+    auto *driver = (AP_Networking_ChibiOS *)p;
     if (driver->frontend.get_dhcp_enabled()) {
         dhcp_start(driver->thisif);
     }
@@ -149,8 +153,8 @@ void AP_Networking_ChibiOS::link_up_cb(void *p)
 
 void AP_Networking_ChibiOS::link_down_cb(void *p)
 {
-    auto *driver = (AP_Networking_ChibiOS *)p;
 #if LWIP_DHCP
+    auto *driver = (AP_Networking_ChibiOS *)p;
     if (driver->frontend.get_dhcp_enabled()) {
         dhcp_stop(driver->thisif);
     }
diff --git a/libraries/AP_Networking/AP_Networking_ChibiOS.h b/libraries/AP_Networking/AP_Networking_ChibiOS.h
index 96bd7977ec0538..7ca302f615662c 100644
--- a/libraries/AP_Networking/AP_Networking_ChibiOS.h
+++ b/libraries/AP_Networking/AP_Networking_ChibiOS.h
@@ -8,6 +8,7 @@
 class AP_Networking_ChibiOS : public AP_Networking_Backend
 {
 public:
+    friend class BL_Network;
     using AP_Networking_Backend::AP_Networking_Backend;
 
     /* Do not allow copies */
@@ -17,7 +18,7 @@ class AP_Networking_ChibiOS : public AP_Networking_Backend
     void update() override;
 
 private:
-    bool allocate_buffers(void);
+    static bool allocate_buffers(void);
     void thread(void);
     static void link_up_cb(void*);
     static void link_down_cb(void*);
diff --git a/libraries/AP_Networking/config/lwipopts.h b/libraries/AP_Networking/config/lwipopts.h
index 78ea48e8270271..2eec204914516f 100644
--- a/libraries/AP_Networking/config/lwipopts.h
+++ b/libraries/AP_Networking/config/lwipopts.h
@@ -31,6 +31,8 @@
  */
 #pragma once
 
+#include "hwdef.h"
+
 #ifdef   __cplusplus
 extern "C"
 {
@@ -78,13 +80,17 @@ extern "C"
 #define LWIP_SNMP_V3               (LWIP_SNMP)
 #endif
 
-#define LWIP_DNS                   LWIP_UDP
-#define LWIP_MDNS_RESPONDER        LWIP_UDP
+#define LWIP_DNS                   0
+#define LWIP_MDNS_RESPONDER        0
 
 #define LWIP_NUM_NETIF_CLIENT_DATA (LWIP_MDNS_RESPONDER)
 
+#ifndef LWIP_HAVE_LOOPIF
 #define LWIP_HAVE_LOOPIF           1
+#endif
+#ifndef LWIP_NETIF_LOOPBACK
 #define LWIP_NETIF_LOOPBACK        1
+#endif
 #define LWIP_LOOPBACK_MAX_PBUFS    10
 
 #define TCP_LISTEN_BACKLOG         1
@@ -254,14 +260,18 @@ a lot of data that needs to be copied, this should be set high. */
 #define LWIP_ARP                1
 #define ARP_TABLE_SIZE          10
 #define ARP_QUEUEING            1
+#ifndef ARP_PROXYARP_SUPPORT
 #define ARP_PROXYARP_SUPPORT    1
+#endif
 
 
 /* ---------- IP options ---------- */
 /* Define IP_FORWARD to 1 if you wish to have the ability to forward
    IP packets across network interfaces. If you are going to run lwIP
    on a device with only one network interface, define this to 0. */
+#ifndef IP_FORWARD
 #define IP_FORWARD              1
+#endif
 
 /*
   extra header space when forwarding for adding the ethernet header
@@ -284,7 +294,9 @@ a lot of data that needs to be copied, this should be set high. */
 /* ---------- DHCP options ---------- */
 /* Define LWIP_DHCP to 1 if you want DHCP configuration of
    interfaces. */
+#ifndef LWIP_DHCP
 #define LWIP_DHCP               1
+#endif
 
 /* 1 if you want to do an ARP check on the offered address
    (recommended). */
@@ -297,13 +309,15 @@ a lot of data that needs to be copied, this should be set high. */
 
 
 /* ---------- UDP options ---------- */
+#ifndef LWIP_UDP
 #define LWIP_UDP                1
+#endif
 #define LWIP_UDPLITE            LWIP_UDP
 #define UDP_TTL                 255
 
 
 /* ---------- RAW options ---------- */
-#define LWIP_RAW                1
+#define LWIP_RAW                0
 
 
 /* ---------- Statistics options ---------- */
@@ -312,11 +326,13 @@ a lot of data that needs to be copied, this should be set high. */
 #define LWIP_STATS_DISPLAY      0
 
 /* ---------- NETBIOS options ---------- */
-#define LWIP_NETBIOS_RESPOND_NAME_QUERY 1
+#define LWIP_NETBIOS_RESPOND_NAME_QUERY 0
 
 /* ---------- PPP options ---------- */
 
+#ifndef PPP_SUPPORT
 #define PPP_SUPPORT             1      /* Set > 0 for PPP */
+#endif
 
 #if PPP_SUPPORT
 
@@ -328,7 +344,7 @@ a lot of data that needs to be copied, this should be set high. */
  * in this file.
  */
 #define PPPOE_SUPPORT           0
-#define PPPOS_SUPPORT           1
+#define PPPOS_SUPPORT           PPP_SUPPORT
 
 #define PAP_SUPPORT             0      /* Set > 0 for PAP. */
 #define CHAP_SUPPORT            0      /* Set > 0 for CHAP. */
diff --git a/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp b/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
index 83053a9ee2629e..c84133a294bbd5 100644
--- a/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
+++ b/libraries/AP_Networking/lwip_hal/arch/sys_arch.cpp
@@ -10,6 +10,10 @@
 #include <AP_HAL/Semaphores.h>
 #include <AP_Math/AP_Math.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
+#endif
+
 #include <string.h>
 #include <sys/time.h>
 #include <sys/types.h>
@@ -63,8 +67,12 @@ class ThreadWrapper {
         arg(_arg)
         {}
     bool create(const char *name, int stacksize, int prio) {
+#ifdef HAL_BOOTLOADER_BUILD
+        return thread_create_alloc(MAX(stacksize,2048), name, 60, function, arg);
+#else
         return hal.scheduler->thread_create(
             FUNCTOR_BIND_MEMBER(&ThreadWrapper::run, void), name, MAX(stacksize,2048), AP_HAL::Scheduler::PRIORITY_NET, prio);
+#endif
     }
 private:
     void run(void) {
@@ -373,9 +381,7 @@ sys_init(void)
 sys_prot_t
 sys_arch_protect(void)
 {
-    if (hal.scheduler != nullptr) {
-        lwprot_mutex.take_blocking();
-    }
+    lwprot_mutex.take_blocking();
     return 0;
 }
 
@@ -383,9 +389,7 @@ void
 sys_arch_unprotect(sys_prot_t pval)
 {
     LWIP_UNUSED_ARG(pval);
-    if (hal.scheduler != nullptr) {
-        lwprot_mutex.give();
-    }
+    lwprot_mutex.give();
 }
 
 #endif // AP_NETWORKING_NEED_LWIP

From 69f23edd4a24251a81bdca057a7fa2969d93f344 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 13 Jan 2024 16:30:17 +1100
Subject: [PATCH 0680/1335] hwdef: added bootloader web server for
 Pixhawk6X-PPPGW

---
 .../hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat        | 39 +++++++++++++++++++
 .../AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat  |  1 -
 .../hwdef/scripts/chibios_hwdef.py            |  2 +
 .../hwdef/scripts/defaults_bootloader.h       | 27 +++++++++++++
 4 files changed, 68 insertions(+), 1 deletion(-)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat
new file mode 100644
index 00000000000000..43181e9a48ba4a
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat
@@ -0,0 +1,39 @@
+include ../Pixhawk6X/hwdef-bl.dat
+
+# setup build for a peripheral bootloader
+env AP_PERIPH 1
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_PIXHAWK6X_PERIPH
+
+# CAN bus
+PD0  CAN1_RX CAN1
+PD1  CAN1_TX CAN1
+
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+
+PC1 ETH_MDC              ETH1
+PA2 ETH_MDIO             ETH1
+PC4 ETH_RMII_RXD0        ETH1
+PC5 ETH_RMII_RXD1        ETH1
+PG13 ETH_RMII_TXD0       ETH1
+PG12 ETH_RMII_TXD1       ETH1
+PB11 ETH_RMII_TX_EN      ETH1
+PA7 ETH_RMII_CRS_DV      ETH1
+PA1 ETH_RMII_REF_CLK     ETH1
+
+PG15 Ethernet_PWR_EN OUTPUT HIGH # disable power on ethernet
+
+define BOARD_PHY_ID  MII_LAN8742A_ID
+define BOARD_PHY_RMII
+
+define CH_CFG_USE_EVENTS 1
+undef CH_CFG_USE_SEMAPHORES
+define CH_CFG_USE_SEMAPHORES 1
+
+undef SERIAL_ORDER
+SERIAL_ORDER
+
+ROMFS_WILDCARD Tools/AP_Bootloader/Web/*.html
+env ROMFS_UNCOMPRESSED True
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
index a67d7f9ab062f5..8074aa2a07cd8b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
@@ -85,7 +85,6 @@ IOMCU_UART USART6
 # uart6, RX only, RC input, if no IOMCU
 # PC7 USART6_RX USART6
 
-# ethernet (not implemented yet)
 PC1 ETH_MDC              ETH1
 PA2 ETH_MDIO             ETH1
 PC4 ETH_RMII_RXD0        ETH1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index f093f63c3bbb6c..e65e9c5f79b623 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -1261,7 +1261,9 @@ def write_mcu_config(self, f):
 #ifndef CH_CFG_USE_MUTEXES
 #define CH_CFG_USE_MUTEXES FALSE
 #endif
+#ifndef CH_CFG_USE_EVENTS
 #define CH_CFG_USE_EVENTS FALSE
+#endif
 #define CH_CFG_USE_EVENTS_TIMEOUT FALSE
 #define CH_CFG_OPTIMIZE_SPEED FALSE
 #define HAL_USE_EMPTY_STORAGE 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h
index c002446c74b436..ce6514e51f2df0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_bootloader.h
@@ -35,3 +35,30 @@
 #ifndef AP_WATCHDOG_SAVE_FAULT_ENABLED
 #define AP_WATCHDOG_SAVE_FAULT_ENABLED 0
 #endif
+
+// less LWIP functionality in the bootloader
+#define LWIP_DHCP 0
+#define LWIP_UDP 0
+#define LWIP_PPP 0
+#define LWIP_IGMP 0
+#define LWIP_ALTCP 0
+#define IP_FORWARD 0
+#define LWIP_SINGLE_NETIF 1
+#define SO_REUSE 0
+#define LWIP_SOCKET_POLL 0
+#define LINK_STATS 0
+#define ICMP_STATS 0
+#define IPFRAG_STATS 0
+#define TCP_STATS 0
+#define ARP_PROXYARP_SUPPORT 0
+#define LWIP_HAVE_LOOPIF 0
+#define LWIP_NETIF_LOOPBACK 0
+
+/*
+  we need DMA on H7 to allow for ECC error checking
+  Note that ChibiOS uses #ifdef for STM32_DMA_REQUIRED not #if
+ */
+#if !defined(STM32_DMA_REQUIRED) && defined(STM32H7)
+#define STM32_DMA_REQUIRED 1
+#endif
+

From c84459f51850be2f487b2c10366b4363388981e5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 15 Jan 2024 09:08:42 +1100
Subject: [PATCH 0681/1335] AP_Scripting: added reboot() binding to AP_Periph

---
 libraries/AP_Scripting/generator/description/bindings.desc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 909defc96aa622..0f4194a9bc8ab6 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -662,6 +662,7 @@ singleton AP_Periph_FW rename periph
 singleton AP_Periph_FW method get_yaw_earth float
 singleton AP_Periph_FW method get_vehicle_state uint32_t
 singleton AP_Periph_FW method can_printf void "%s"'literal string
+singleton AP_Periph_FW method reboot void boolean
 
 include AP_Motors/AP_Motors_Class.h depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
 singleton AP::motors() depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI

From c064e8eb5a5a5f9841bbe67188e135caea487459 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 15 Jan 2024 09:09:30 +1100
Subject: [PATCH 0682/1335] AP_Scripting: added docs for reboot in periph

---
 libraries/AP_Scripting/docs/docs.lua | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 05571a172ec80e..0d4ac3d3a7d1d7 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1483,6 +1483,10 @@ function periph:get_yaw_earth() end
 ---@param text string
 function periph:can_printf(text) end
 
+-- desc
+---@param hold_in_bootloader boolean
+function periph:reboot(hold_in_bootloader) end
+
 -- desc
 ---@class ins
 ins = {}

From 46f65aec4e9352005d800bf2dfaa3df3ee5d09fe Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 15 Jan 2024 09:08:23 +1100
Subject: [PATCH 0683/1335] AP_Periph: moved web UI script to Tools/AP_Periph

for use in multiple boards
---
 .../AP_Periph/Web}/scripts/pppgw_webui.lua                      | 0
 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat        | 2 +-
 2 files changed, 1 insertion(+), 1 deletion(-)
 rename {libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW => Tools/AP_Periph/Web}/scripts/pppgw_webui.lua (100%)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/scripts/pppgw_webui.lua b/Tools/AP_Periph/Web/scripts/pppgw_webui.lua
similarity index 100%
rename from libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/scripts/pppgw_webui.lua
rename to Tools/AP_Periph/Web/scripts/pppgw_webui.lua
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
index e6a89919116c34..d49206568c65e9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
@@ -63,4 +63,4 @@ define AP_FILESYSTEM_ROMFS_ENABLED 1
 // allow scripts to add parameters
 define AP_PARAM_DYNAMIC_ENABLED 1
 
-
+ROMFS_DIRECTORY Tools/AP_Periph/Web

From 59fe2c9d4e5b579035be5666f303d7553e1e8961 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 15 Jan 2024 09:09:43 +1100
Subject: [PATCH 0684/1335] AP_Periph: added reboot for scripting

---
 Tools/AP_Periph/AP_Periph.cpp | 8 ++++++++
 Tools/AP_Periph/AP_Periph.h   | 5 ++++-
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
index 41bf37b92c9d20..8a08df7aed9fa6 100644
--- a/Tools/AP_Periph/AP_Periph.cpp
+++ b/Tools/AP_Periph/AP_Periph.cpp
@@ -594,6 +594,14 @@ void AP_Periph_FW::prepare_reboot()
         hal.scheduler->delay(40);
 }
 
+/*
+  reboot, optionally holding in bootloader. For scripting
+ */
+void AP_Periph_FW::reboot(bool hold_in_bootloader)
+{
+    hal.scheduler->reboot(hold_in_bootloader);
+}
+
 AP_Periph_FW *AP_Periph_FW::_singleton;
 
 AP_Periph_FW& AP::periph()
diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index d0e0c279be8ffc..991ddf2b23e36f 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -468,7 +468,10 @@ class AP_Periph_FW {
                               uint16_t data_type_id,
                               CanardTransferType transfer_type,
                               uint8_t source_node_id);
-    
+
+    // reboot the peripheral, optionally holding in bootloader
+    void reboot(bool hold_in_bootloader);
+
 #if AP_UART_MONITOR_ENABLED
     void handle_tunnel_Targetted(CanardInstance* canard_instance, CanardRxTransfer* transfer);
     void send_serial_monitor_data();

From e9b84fa94dcae488a6752e9b7d29ac66375bd8f1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 14 Jan 2024 18:30:50 +1100
Subject: [PATCH 0685/1335] AP_Networking: allow hwdef.dat to override more
 options

---
 libraries/AP_Networking/config/lwipopts.h | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/libraries/AP_Networking/config/lwipopts.h b/libraries/AP_Networking/config/lwipopts.h
index 2eec204914516f..c1342901c60585 100644
--- a/libraries/AP_Networking/config/lwipopts.h
+++ b/libraries/AP_Networking/config/lwipopts.h
@@ -31,7 +31,10 @@
  */
 #pragma once
 
+#include <AP_HAL/AP_HAL_Boards.h>
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 #include "hwdef.h"
+#endif
 
 #ifdef   __cplusplus
 extern "C"
@@ -72,7 +75,9 @@ extern "C"
 #define LWIP_NETCONN               (NO_SYS==0)
 #define LWIP_NETIF_API             (NO_SYS==0)
 
+#ifndef LWIP_IGMP
 #define LWIP_IGMP                  LWIP_IPV4
+#endif
 #define LWIP_ICMP                  LWIP_IPV4
 
 #define LWIP_SNMP                  LWIP_UDP
@@ -216,7 +221,9 @@ a lot of data that needs to be copied, this should be set high. */
 #define LWIP_TCP                1
 #define TCP_TTL                 255
 
+#ifndef LWIP_ALTCP
 #define LWIP_ALTCP              (LWIP_TCP)
+#endif
 #ifdef LWIP_HAVE_MBEDTLS
 #define LWIP_ALTCP_TLS          (LWIP_TCP)
 #define LWIP_ALTCP_TLS_MBEDTLS  (LWIP_TCP)

From 40a029c15dda1cd677b4f056a552e949102a4451 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 14 Jan 2024 18:30:21 +1100
Subject: [PATCH 0686/1335] AP_HAL: allow socket build for bootloader

---
 libraries/AP_HAL/utility/Socket.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index ccb8cb3f394d57..60647814b950aa 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -99,6 +99,7 @@ void SOCKET_CLASS_NAME::make_sockaddr(const char *address, uint16_t port, struct
     sockaddr.sin_addr.s_addr = htonl(inet_str_to_addr(address));
 }
 
+#if !defined(HAL_BOOTLOADER_BUILD)
 /*
   connect the socket
  */
@@ -185,6 +186,7 @@ bool SOCKET_CLASS_NAME::connect(const char *address, uint16_t port)
     fd_in = -1;
     return false;
 }
+#endif // HAL_BOOTLOADER_BUILD
 
 /*
   connect the socket with a timeout

From 7c711d752549026e1cc6b75c50e961540b4fe166 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 13 Jan 2024 16:28:10 +1100
Subject: [PATCH 0687/1335] AP_Bootloader: added option web interface to the
 bootloader

for loading firmware via ethernet
---
 Tools/AP_Bootloader/AP_Bootloader.cpp      |  17 +-
 Tools/AP_Bootloader/AP_Bootloader_config.h |   5 +
 Tools/AP_Bootloader/Web/index.html         |  22 +
 Tools/AP_Bootloader/network.cpp            | 509 +++++++++++++++++++++
 Tools/AP_Bootloader/network.h              |  43 ++
 Tools/AP_Bootloader/support.cpp            |  35 +-
 Tools/AP_Bootloader/support.h              |   4 +
 Tools/AP_Bootloader/wscript                |   2 +
 8 files changed, 634 insertions(+), 3 deletions(-)
 create mode 100644 Tools/AP_Bootloader/Web/index.html
 create mode 100644 Tools/AP_Bootloader/network.cpp
 create mode 100644 Tools/AP_Bootloader/network.h

diff --git a/Tools/AP_Bootloader/AP_Bootloader.cpp b/Tools/AP_Bootloader/AP_Bootloader.cpp
index 7e4b80cad15a4b..60555c213fe7a8 100644
--- a/Tools/AP_Bootloader/AP_Bootloader.cpp
+++ b/Tools/AP_Bootloader/AP_Bootloader.cpp
@@ -37,6 +37,7 @@
 #include <AP_FlashIface/AP_FlashIface_JEDEC.h>
 #endif
 #include <AP_CheckFirmware/AP_CheckFirmware.h>
+#include "network.h"
 
 extern "C" {
     int main(void);
@@ -61,10 +62,20 @@ struct boardinfo board_info = {
 AP_FlashIface_JEDEC ext_flash;
 #endif
 
+#if AP_BOOTLOADER_NETWORK_ENABLED
+static BL_Network network;
+#endif
+
 int main(void)
 {
     custom_startup();
 
+    flash_init();
+
+#ifdef STM32H7
+    check_ecc_errors();
+#endif
+    
 #ifdef STM32F427xx
     if (BOARD_FLASH_SIZE > 1024 && check_limit_flash_1M()) {
         board_info.fw_size = (1024 - (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB))*1024;
@@ -183,8 +194,10 @@ int main(void)
 #if HAL_USE_CAN == TRUE || HAL_NUM_CAN_IFACES
     can_start();
 #endif
-    flash_init();
 
+#if AP_BOOTLOADER_NETWORK_ENABLED
+    network.init();
+#endif
 
 #if AP_BOOTLOADER_FLASH_FROM_SD_ENABLED
     if (flash_from_sd()) {
@@ -198,7 +211,7 @@ int main(void)
         jump_to_app();
     }
 #else
-    // CAN only
+    // CAN and network only
     while (true) {
         uint32_t t0 = AP_HAL::millis();
         while (timeout == 0 || AP_HAL::millis() - t0 <= timeout) {
diff --git a/Tools/AP_Bootloader/AP_Bootloader_config.h b/Tools/AP_Bootloader/AP_Bootloader_config.h
index 459fca73cd89eb..869ebf16301cb6 100644
--- a/Tools/AP_Bootloader/AP_Bootloader_config.h
+++ b/Tools/AP_Bootloader/AP_Bootloader_config.h
@@ -1,7 +1,12 @@
 #pragma once
 
 #include "hwdef.h"
+#include <AP_Networking/AP_Networking_Config.h>
 
 #ifndef AP_BOOTLOADER_FLASH_FROM_SD_ENABLED
 #define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 0
 #endif
+
+#ifndef AP_BOOTLOADER_NETWORK_ENABLED
+#define AP_BOOTLOADER_NETWORK_ENABLED AP_NETWORKING_ENABLED
+#endif
diff --git a/Tools/AP_Bootloader/Web/index.html b/Tools/AP_Bootloader/Web/index.html
new file mode 100644
index 00000000000000..44ace6fa0af2ab
--- /dev/null
+++ b/Tools/AP_Bootloader/Web/index.html
@@ -0,0 +1,22 @@
+<HTML>
+ <HEAD>
+  <TITLE>AP_Bootloader</TITLE>
+ </HEAD>
+
+<h1>Bootloader</h1>
+
+<table>
+  <tr><td>Board Type</td><td>{BOARD_NAME}</td></tr>
+  <tr><td>Board ID</td><td>{BOARD_ID}</td></tr>
+  <tr><td>Flash Size</td><td>{FLASH_SIZE}</td></tr>
+</table>
+
+<h1>Firmware Update</h1>
+
+<form action="" method="post" enctype="multipart/form-data">
+  <input type="file" name="fileToUpload" id="fileToUpload">
+  <input type="submit" value="Upload" name="submit">
+</form>
+
+ </BODY>
+</HTML>
diff --git a/Tools/AP_Bootloader/network.cpp b/Tools/AP_Bootloader/network.cpp
new file mode 100644
index 00000000000000..243d0b83f631cd
--- /dev/null
+++ b/Tools/AP_Bootloader/network.cpp
@@ -0,0 +1,509 @@
+/*
+  support for networking enabled bootloader
+ */
+
+#include "network.h"
+
+#if AP_BOOTLOADER_NETWORK_ENABLED
+
+#include <AP_Networking/AP_Networking.h>
+#include <AP_Networking/AP_Networking_ChibiOS.h>
+
+#include <lwip/ip_addr.h>
+#include <lwip/tcpip.h>
+#include <lwip/netifapi.h>
+#include <lwip/etharp.h>
+#if LWIP_DHCP
+#include <lwip/dhcp.h>
+#endif
+#include <hal.h>
+#include "../../modules/ChibiOS/os/various/evtimer.h"
+#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
+#include <AP_HAL/utility/Socket.h>
+#include <AP_ROMFS/AP_ROMFS.h>
+#include "support.h"
+#include "bl_protocol.h"
+#include <AP_CheckFirmware/AP_CheckFirmware.h>
+
+#ifndef AP_NETWORKING_DEFAULT_MAC_ADDR
+#define AP_NETWORKING_DEFAULT_MAC_ADDR "C2:AF:51:03:CF:46"
+#endif
+
+#ifndef AP_BOOTLOADER_NETWORK_USE_DHCP
+#define AP_BOOTLOADER_NETWORK_USE_DHCP 0
+#endif
+
+#define LWIP_SEND_TIMEOUT_MS 50
+#define LWIP_NETIF_MTU       1500
+#define LWIP_LINK_POLL_INTERVAL TIME_S2I(5)
+
+#define PERIODIC_TIMER_ID       1
+#define FRAME_RECEIVED_ID       2
+
+#define MIN(a,b) ((a)<(b)?(a):(b))
+
+void BL_Network::link_up_cb(void *p)
+{
+#if AP_BOOTLOADER_NETWORK_USE_DHCP
+    auto *driver = (AP_Networking_ChibiOS *)p;
+    dhcp_start(driver->thisif);
+#endif
+}
+
+void BL_Network::link_down_cb(void *p)
+{
+#if AP_BOOTLOADER_NETWORK_USE_DHCP
+    auto *driver = (BL_Network *)p;
+    dhcp_stop(driver->thisif);
+#endif
+}
+
+/*
+ * This function does the actual transmission of the packet. The packet is
+ * contained in the pbuf that is passed to the function. This pbuf
+ * might be chained.
+ *
+ * @param netif the lwip network interface structure for this ethernetif
+ * @param p the MAC packet to send (e.g. IP packet including MAC addresses and type)
+ * @return ERR_OK if the packet could be sent
+ *         an err_t value if the packet couldn't be sent
+ *
+ * @note Returning ERR_MEM here if a DMA queue of your MAC is full can lead to
+ *       strange results. You might consider waiting for space in the DMA queue
+ *       to become available since the stack doesn't retry to send a packet
+ *       dropped because of memory failure (except for the TCP timers).
+ */
+int8_t BL_Network::low_level_output(struct netif *netif, struct pbuf *p)
+{
+    struct pbuf *q;
+    MACTransmitDescriptor td;
+    (void)netif;
+
+    if (macWaitTransmitDescriptor(&ETHD1, &td, TIME_MS2I(LWIP_SEND_TIMEOUT_MS)) != MSG_OK) {
+        return ERR_TIMEOUT;
+    }
+
+#if ETH_PAD_SIZE
+    pbuf_header(p, -ETH_PAD_SIZE);        /* drop the padding word */
+#endif
+
+    /* Iterates through the pbuf chain. */
+    for(q = p; q != NULL; q = q->next) {
+        macWriteTransmitDescriptor(&td, (uint8_t *)q->payload, (size_t)q->len);
+    }
+    macReleaseTransmitDescriptorX(&td);
+
+#if ETH_PAD_SIZE
+    pbuf_header(p, ETH_PAD_SIZE);         /* reclaim the padding word */
+#endif
+
+    return ERR_OK;
+}
+
+/*
+ * Receives a frame.
+ * Allocates a pbuf and transfers the bytes of the incoming
+ * packet from the interface into the pbuf.
+ *
+ * @param netif the lwip network interface structure for this ethernetif
+ * @return a pbuf filled with the received packet (including MAC header)
+ *         NULL on memory error
+ */
+bool BL_Network::low_level_input(struct netif *netif, struct pbuf **pbuf)
+{
+    MACReceiveDescriptor rd;
+    struct pbuf *q;
+    u16_t len;
+
+    (void)netif;
+
+    if (macWaitReceiveDescriptor(&ETHD1, &rd, TIME_IMMEDIATE) != MSG_OK) {
+        return false;
+    }
+
+    len = (u16_t)rd.size;
+
+#if ETH_PAD_SIZE
+    len += ETH_PAD_SIZE;        /* allow room for Ethernet padding */
+#endif
+
+    /* We allocate a pbuf chain of pbufs from the pool. */
+    *pbuf = pbuf_alloc(PBUF_RAW, len, PBUF_POOL);
+
+    if (*pbuf != nullptr) {
+#if ETH_PAD_SIZE
+        pbuf_header(*pbuf, -ETH_PAD_SIZE); /* drop the padding word */
+#endif
+
+        /* Iterates through the pbuf chain. */
+        for(q = *pbuf; q != NULL; q = q->next) {
+            macReadReceiveDescriptor(&rd, (uint8_t *)q->payload, (size_t)q->len);
+        }
+        macReleaseReceiveDescriptorX(&rd);
+
+#if ETH_PAD_SIZE
+        pbuf_header(*pbuf, ETH_PAD_SIZE); /* reclaim the padding word */
+#endif
+    } else {
+        macReleaseReceiveDescriptorX(&rd);     // Drop packet
+    }
+  
+    return true;
+}
+
+int8_t BL_Network::ethernetif_init(struct netif *netif)
+{
+    netif->state = NULL;
+    netif->name[0] = 'm';
+    netif->name[1] = 's';
+    netif->output = etharp_output;
+    netif->linkoutput = low_level_output;
+
+    /* set MAC hardware address length */
+    netif->hwaddr_len = ETHARP_HWADDR_LEN;
+
+    /* maximum transfer unit */
+    netif->mtu = LWIP_NETIF_MTU;
+
+    /* device capabilities */
+    netif->flags = NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP;
+
+#if LWIP_IGMP
+    // also enable multicast
+    netif->flags |= NETIF_FLAG_IGMP;
+#endif
+
+    return ERR_OK;
+}
+
+/*
+  networking thread
+*/
+void BL_Network::net_thread()
+{
+    /* start tcpip thread */
+    tcpip_init(NULL, NULL);
+
+    thread_sleep_ms(100);
+
+    AP_Networking::convert_str_to_macaddr(AP_NETWORKING_DEFAULT_MAC_ADDR, thisif->hwaddr);
+
+    struct {
+        ip4_addr_t ip, gateway, netmask;
+    } addr {};
+
+    addr.ip.addr = htonl(SocketAPM::inet_str_to_addr("192.168.2.201"));
+    addr.gateway.addr = htonl(SocketAPM::inet_str_to_addr("192.168.2.10"));
+    addr.netmask.addr = htonl(SocketAPM::inet_str_to_addr("255.255.255.0"));
+
+    const MACConfig mac_config = {thisif->hwaddr};
+    macStart(&ETHD1, &mac_config);
+
+    /* Add interface. */
+    auto result = netifapi_netif_add(thisif, &addr.ip, &addr.netmask, &addr.gateway, NULL, ethernetif_init, tcpip_input);
+    if (result != ERR_OK) {
+        AP_HAL::panic("Failed to initialise netif");
+    }
+
+    netifapi_netif_set_default(thisif);
+    netifapi_netif_set_up(thisif);
+
+    /* Setup event sources.*/
+    event_timer_t evt;
+    event_listener_t el0, el1;
+    
+    evtObjectInit(&evt, LWIP_LINK_POLL_INTERVAL);
+    evtStart(&evt);
+    chEvtRegisterMask(&evt.et_es, &el0, PERIODIC_TIMER_ID);
+    chEvtRegisterMaskWithFlags(macGetEventSource(&ETHD1), &el1,
+                               FRAME_RECEIVED_ID, MAC_FLAGS_RX);
+    chEvtAddEvents(PERIODIC_TIMER_ID | FRAME_RECEIVED_ID);
+
+    while (true) {
+        eventmask_t mask = chEvtWaitAny(ALL_EVENTS);
+        if (mask & PERIODIC_TIMER_ID) {
+            bool current_link_status = macPollLinkStatus(&ETHD1);
+            if (current_link_status != netif_is_link_up(thisif)) {
+                if (current_link_status) {
+                    tcpip_callback_with_block((tcpip_callback_fn) netif_set_link_up, thisif, 0);
+                    tcpip_callback_with_block(link_up_cb, this, 0);
+                }
+                else {
+                    tcpip_callback_with_block((tcpip_callback_fn) netif_set_link_down, thisif, 0);
+                    tcpip_callback_with_block(link_down_cb, this, 0);
+                }
+            }
+        }
+
+        if (mask & FRAME_RECEIVED_ID) {
+            struct pbuf *p;
+            while (low_level_input(thisif, &p)) {
+                if (p != NULL) {
+                    struct eth_hdr *ethhdr = (struct eth_hdr *)p->payload;
+                    switch (htons(ethhdr->type)) {
+                        /* IP or ARP packet? */
+                    case ETHTYPE_IP:
+                    case ETHTYPE_ARP:
+                        /* full packet send to tcpip_thread to process */
+                        if (thisif->input(p, thisif) == ERR_OK) {
+                            break;
+                        }
+                        /* Falls through */
+                    default:
+                        pbuf_free(p);
+                    }
+                }
+            }
+        }
+    }
+}
+
+void BL_Network::net_thread_trampoline(void *ctx)
+{
+    auto *net = (BL_Network *)ctx;
+    net->net_thread();
+}
+
+void BL_Network::web_server_trampoline(void *ctx)
+{
+    auto *net = (BL_Network *)ctx;
+    net->web_server();
+}
+
+#define STR_HELPER(x) #x
+#define STR(x) STR_HELPER(x)
+
+BL_Network::web_var BL_Network::variables[] = {
+    { "BOARD_NAME", CHIBIOS_BOARD_NAME },
+    { "BOARD_ID", STR(APJ_BOARD_ID)  },
+    { "FLASH_SIZE", STR(BOARD_FLASH_SIZE)  },
+};
+
+/*
+  substitute variables of the form {VARNAME}
+ */
+char *BL_Network::substitute_vars(const char *str, uint32_t size)
+{
+    // assume 1024 is enough room for new variables
+    char *result = (char *)malloc(strlen(str) + 1024);
+    if (result == nullptr) {
+        return nullptr;
+    }
+    char *p = result;
+    const char *str0 = str;
+    while (*str && str-str0<size) {
+        if (*str != '{') {
+            *p++ = *str++;
+            continue;
+        }
+        char *q = strchr(str+1, '}');
+        if (q == nullptr) {
+            *p++ = *str++;
+            continue;
+        }
+        const uint32_t len = (q - str)-1;
+        bool found = false;
+        for (auto &v : variables) {
+            if (strlen(v.name) == len && strncmp(v.name, str+1, len) == 0) {
+                found = true;
+                strcpy(p, v.value);
+                p += strlen(v.value);
+                str = q+1;
+                break;
+            }
+        }
+        if (found) {
+            continue;
+        }
+        *p++ = *str++;
+    }
+    *p = '\0';
+    return result;
+}
+
+/*
+  read HTTP headers, returing as a single string
+ */
+char *BL_Network::read_headers(SocketAPM *sock)
+{
+    char *ret = (char *)malloc(1024);
+    char *p = ret;
+    while (true) {
+        char c;
+        auto n = sock->recv(&c, 1, 100);
+        if (n != 1) {
+            break;
+        }
+        *p++ = c;
+        if (p-ret >= 4 && strcmp(p-4, "\r\n\r\n") == 0) {
+            break;
+        }
+    }
+    return ret;
+}
+
+/*
+  handle an incoming HTTP POST request
+ */
+void BL_Network::handle_post(SocketAPM *sock, uint32_t content_length)
+{
+    /*
+      skip over form boundary. We don't care about the filename as we
+      only support one file
+     */
+    uint8_t state = 0;
+    while (true) {
+        char c;
+        if (sock->recv(&c, 1, 100) != 1) {
+            return;
+        }
+        content_length--;
+        // absorb up to \r\n\r\n
+        if (c == '\r') {
+            if (state == 2) {
+                state = 3;
+            } else {
+                state = 1;
+            }
+        } else if (c == '\n') {
+            if (state == 1 || state == 3) {
+                state++;
+            } else {
+                state = 0;
+            }
+            if (state == 4) {
+                break;
+            }
+        } else {
+            state = 0;
+        }
+    }
+    /*
+      erase all of flash
+     */
+    flash_set_keep_unlocked(true);
+    uint32_t sec=0;
+    while (flash_func_erase_sector(sec)) {
+        sec++;
+    }
+    /*
+      receive file and write to flash
+     */
+    uint32_t buf[128];
+    uint32_t ofs = 0;
+
+    // must be multiple of 4
+    content_length &= ~3;
+
+    const uint32_t max_ofs = MIN(BOARD_FLASH_SIZE*1024, content_length);
+    while (ofs < max_ofs) {
+        const uint32_t needed = MIN(sizeof(buf), max_ofs-ofs);
+        auto n = sock->recv((void*)buf, needed, 10000);
+        if (n <= 0) {
+            break;
+        }
+        // we need a whole number of words
+        if (n % 4 != 0 && n < needed) {
+            auto n2 = sock->recv(((uint8_t*)buf)+n, 4 - n%4, 10000);
+            if (n2 > 0) {
+                n += n2;
+            }
+        }
+        flash_write_buffer(ofs, buf, n/4);
+        ofs += n;
+    }
+    if (ofs % 32 != 0) {
+        // pad to 32 bytes
+        memset(buf, 0xff, sizeof(buf));
+        flash_write_buffer(ofs, buf, (32 - ofs%32)/4);
+    }
+    flash_write_flush();
+    flash_set_keep_unlocked(false);
+    const auto ok = check_good_firmware();
+    if (ok == check_fw_result_t::CHECK_FW_OK) {
+        jump_to_app();
+    }
+}
+
+/*
+  handle an incoming HTTP request
+ */
+void BL_Network::handle_request(SocketAPM *sock)
+{
+    /*
+      read HTTP headers
+     */
+    char *headers = read_headers(sock);
+
+    if (strncmp(headers, "POST / ", 7) == 0) {
+        const char *clen = "\r\nContent-Length:";
+        const char *p = strstr(headers, clen);
+        if (p != nullptr) {
+            p += strlen(clen);
+            const uint32_t content_length = atoi(p);
+            handle_post(sock, content_length);
+        }
+    }
+
+    uint32_t size = 0;
+    /*
+      we only need one URL in the bootloader
+    */
+    const char *header = "HTTP/1.1 200 OK\r\n"
+        "Content-Type: text/html\r\n"
+        "Connection: close\r\n"
+        "\r\n";
+    const auto *msg = AP_ROMFS::find_decompress("index.html", size);
+    sock->send(header, strlen(header));
+    char *msg2 = substitute_vars((const char *)msg, size);
+    sock->send(msg2, strlen(msg2));
+    delete msg2;
+    delete headers;
+    AP_ROMFS::free(msg);
+}
+
+/*
+  web server thread
+ */
+void BL_Network::web_server(void)
+{
+    auto *listen_socket = new SocketAPM(0);
+    listen_socket->bind("0.0.0.0", 80);
+    listen_socket->listen(20);
+
+    while (true) {
+        auto *sock = listen_socket->accept(20);
+        if (sock == nullptr) {
+            continue;
+        }
+        handle_request(sock);
+        delete sock;
+    }
+}
+
+/*
+  initialise bootloader networking
+ */
+void BL_Network::init()
+{
+    AP_Networking_ChibiOS::allocate_buffers();
+
+    macInit();
+
+    thisif = new netif;
+
+    net_thread_ctx = thread_create_alloc(THD_WORKING_AREA_SIZE(2048),
+                                         "network",
+                                         60,
+                                         net_thread_trampoline,
+                                         this);
+
+    thread_create_alloc(THD_WORKING_AREA_SIZE(2048),
+                        "web_server",
+                        60,
+                        web_server_trampoline,
+                        this);
+}
+
+#endif // AP_BOOTLOADER_NETWORK_ENABLED
+
diff --git a/Tools/AP_Bootloader/network.h b/Tools/AP_Bootloader/network.h
new file mode 100644
index 00000000000000..e7df5c4f350b2f
--- /dev/null
+++ b/Tools/AP_Bootloader/network.h
@@ -0,0 +1,43 @@
+/*
+  support for networking enabled bootloader
+ */
+
+#include "AP_Bootloader_config.h"
+
+#if AP_BOOTLOADER_NETWORK_ENABLED
+
+#include <hal.h>
+
+class SocketAPM;
+
+class BL_Network {
+public:
+    void init(void);
+private:
+    struct netif *thisif;
+    thread_t *net_thread_ctx;
+
+    static void net_thread_trampoline(void*);
+    static void web_server_trampoline(void*);
+
+    void net_thread(void);
+    void web_server(void);
+    void handle_request(SocketAPM *);
+    void handle_post(SocketAPM *, uint32_t content_length);
+    char *read_headers(SocketAPM *);
+
+    static void link_up_cb(void *p);
+    static void link_down_cb(void *p);
+    static int8_t low_level_output(struct netif *netif, struct pbuf *p);
+    static bool low_level_input(struct netif *netif, struct pbuf **pbuf);
+    static int8_t ethernetif_init(struct netif *netif);
+
+    static char *substitute_vars(const char *msg, uint32_t size);
+    static struct web_var {
+        const char *name;
+        const char *value;
+    } variables[];
+};
+
+#endif // AP_BOOTLOADER_NETWORK_ENABLED
+
diff --git a/Tools/AP_Bootloader/support.cpp b/Tools/AP_Bootloader/support.cpp
index c9f37b2b60e2e4..0954f7b753f369 100644
--- a/Tools/AP_Bootloader/support.cpp
+++ b/Tools/AP_Bootloader/support.cpp
@@ -353,7 +353,7 @@ void uprintf(const char *fmt, ...)
 #endif
 }
 
-static void thread_sleep_ms(uint32_t ms)
+void thread_sleep_ms(uint32_t ms)
 {
     while (ms > 0) {
         // don't sleep more than 65 at a time, to cope with 16 bit
@@ -486,3 +486,36 @@ void port_setbaud(uint32_t baudrate)
 }
 #endif // BOOTLOADER_DEV_LIST
 
+#ifdef STM32H7
+/*
+  check if flash has any ECC errors and if it does then erase all of
+  flash
+ */
+void check_ecc_errors(void)
+{
+    __disable_fault_irq();
+    auto *dma = dmaStreamAlloc(STM32_DMA_STREAM_ID(1, 1), 0, nullptr, nullptr);
+    uint32_t buf[32];
+    uint32_t ofs = 0;
+    while (ofs < BOARD_FLASH_SIZE*1024 && FLASH->SR1 == 0 && FLASH->SR2 == 0) {
+        dmaStartMemCopy(dma,
+                        STM32_DMA_CR_PL(0) | STM32_DMA_CR_PSIZE_BYTE |
+                        STM32_DMA_CR_MSIZE_BYTE,
+                        ofs+(uint8_t*)FLASH_BASE, buf, sizeof(buf));
+        dmaWaitCompletion(dma);
+        ofs += sizeof(buf);
+    }
+    dmaStreamFree(dma);
+    
+    if (ofs < BOARD_FLASH_SIZE*1024) {
+        // we must have ECC errors in flash
+        flash_set_keep_unlocked(true);
+        for (uint32_t i=0; i<num_pages; i++) {
+            stm32_flash_erasepage(flash_base_page+i);
+        }
+        flash_set_keep_unlocked(false);
+    }
+    __enable_fault_irq();
+}
+#endif // STM32H7
+
diff --git a/Tools/AP_Bootloader/support.h b/Tools/AP_Bootloader/support.h
index 8c153903f3e2ec..1eebcd22fe705f 100644
--- a/Tools/AP_Bootloader/support.h
+++ b/Tools/AP_Bootloader/support.h
@@ -45,8 +45,12 @@ void led_on(unsigned led);
 void led_off(unsigned led);
 void led_toggle(unsigned led);
 
+void thread_sleep_ms(uint32_t ms);
+
 void custom_startup(void);
 
+void check_ecc_errors(void);
+
 // printf to debug uart (or USB)
 extern "C" {
 void uprintf(const char *fmt, ...) FMT_PRINTF(1,2);
diff --git a/Tools/AP_Bootloader/wscript b/Tools/AP_Bootloader/wscript
index 705e269182d381..19c29da5dfc9ea 100644
--- a/Tools/AP_Bootloader/wscript
+++ b/Tools/AP_Bootloader/wscript
@@ -19,6 +19,8 @@ def build(bld):
         'AP_Math',
         'AP_CheckFirmware',
         'AP_HAL',
+        'AP_Networking',
+        'AP_ROMFS',
         ])
 
     # build external libcanard library

From 9904dca5584b214e74035485caf953db0eb2b73d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 15 Jan 2024 13:09:34 +1100
Subject: [PATCH 0688/1335] AP_Periph: added reboot link to web UI

---
 Tools/AP_Periph/Web/scripts/pppgw_webui.lua | 32 +++++++++++++++++++++
 Tools/AP_Periph/can.cpp                     |  6 ++--
 Tools/AP_Periph/networking.cpp              | 14 +++++++++
 Tools/AP_Periph/networking.h                |  1 +
 4 files changed, 51 insertions(+), 2 deletions(-)

diff --git a/Tools/AP_Periph/Web/scripts/pppgw_webui.lua b/Tools/AP_Periph/Web/scripts/pppgw_webui.lua
index b7f9854e4d7611..3390a89dc4bbdb 100644
--- a/Tools/AP_Periph/Web/scripts/pppgw_webui.lua
+++ b/Tools/AP_Periph/Web/scripts/pppgw_webui.lua
@@ -198,6 +198,7 @@ local DYNAMIC_PAGES = {
   <div id="main">
     <ul>
       <li><a href="mnt/">Filesystem Access</a></li>
+      <li><a href="?FWUPDATE">Reboot for Firmware Update</a></li>
     </ul>
     </div>
 <h2>Controller Status</h2>
@@ -219,6 +220,15 @@ local DYNAMIC_PAGES = {
 ]]
 }
 
+reboot_counter = 0
+
+local ACTION_PAGES = {
+   ["/?FWUPDATE"] = function()
+      periph:can_printf("Rebooting for firmware update")
+      reboot_counter = 50
+   end
+}
+
 --[[
  builtin javascript library functions
 --]]
@@ -835,6 +845,21 @@ local function Client(_sock, _idx)
          end
       end
 
+      if ACTION_PAGES[path] ~= nil then
+         DEBUG(string.format("Running ACTION %s", path))
+         local fn = ACTION_PAGES[path]
+         self.send_header(200, "OK", {["Content-Type"]=CONTENT_TEXT_HTML})
+         self.sendstring([[
+<html>
+<head>
+<meta http-equiv="refresh" content="2; url=/">
+</head>
+</html>
+]])
+         fn()
+         return
+      end
+
       if DYNAMIC_PAGES[path] ~= nil then
          self.file_download(path)
          return
@@ -956,6 +981,13 @@ end
 local function update()
    check_new_clients()
    check_clients()
+   if reboot_counter then
+      reboot_counter = reboot_counter - 1
+      if reboot_counter == 0 then
+         periph:can_printf("Rebooting")
+         periph:reboot(true)
+      end
+   end
    return update,5
 end
 
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index e60d11295188cb..662141a0eb4a06 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -368,8 +368,10 @@ void AP_Periph_FW::handle_begin_firmware_update(CanardInstance* canard_instance,
 {
 #if HAL_RAM_RESERVE_START >= 256
     // setup information on firmware request at start of ram
-    struct app_bootloader_comms *comms = (struct app_bootloader_comms *)HAL_RAM0_START;
-    memset(comms, 0, sizeof(struct app_bootloader_comms));
+    auto *comms = (struct app_bootloader_comms *)HAL_RAM0_START;
+    if (comms->magic != APP_BOOTLOADER_COMMS_MAGIC) {
+        memset(comms, 0, sizeof(*comms));
+    }
     comms->magic = APP_BOOTLOADER_COMMS_MAGIC;
 
     uavcan_protocol_file_BeginFirmwareUpdateRequest req;
diff --git a/Tools/AP_Periph/networking.cpp b/Tools/AP_Periph/networking.cpp
index 41fb6ee0426036..ae82c3fd676aea 100644
--- a/Tools/AP_Periph/networking.cpp
+++ b/Tools/AP_Periph/networking.cpp
@@ -181,6 +181,20 @@ void Networking_Periph::update(void)
         p.update();
     }
 #endif
+
+#if HAL_RAM_RESERVE_START >= 256
+    if (!got_addresses && networking_lib.get_ip_active() != 0) {
+        got_addresses = true;
+        auto *comms = (struct app_bootloader_comms *)HAL_RAM0_START;
+        if (comms->magic != APP_BOOTLOADER_COMMS_MAGIC) {
+            memset(comms, 0, sizeof(*comms));
+        }
+        comms->magic = APP_BOOTLOADER_COMMS_MAGIC;
+        comms->ip = networking_lib.get_ip_active();
+        comms->netmask = networking_lib.get_netmask_active();
+        comms->gateway = networking_lib.get_gateway_active();
+    }
+#endif // HAL_RAM_RESERVE_START
 }
 
 #endif  // HAL_PERIPH_ENABLE_NETWORKING
diff --git a/Tools/AP_Periph/networking.h b/Tools/AP_Periph/networking.h
index 71cdc1754ea3af..2392764e2e1f62 100644
--- a/Tools/AP_Periph/networking.h
+++ b/Tools/AP_Periph/networking.h
@@ -62,6 +62,7 @@ class Networking_Periph {
 #endif // HAL_PERIPH_NETWORK_NUM_PASSTHRU
 
     AP_Networking networking_lib;
+    bool got_addresses;
 
 #if AP_NETWORKING_BACKEND_PPP
     AP_Int8 ppp_port;

From 2fee9e69db658b0cd1e002f2d808ddeb8bd08070 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 15 Jan 2024 13:09:49 +1100
Subject: [PATCH 0689/1335] HAL_ChibiOS: support ROMFS_DIRECTORY in hwdef.dat

---
 .../AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py     | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index e65e9c5f79b623..8eb594fcf4d2c5 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -2868,10 +2868,13 @@ def romfs_wildcard(self, pattern):
             if fnmatch.fnmatch(f, pattern):
                 self.romfs[f] = os.path.join(pattern_dir, f)
 
-    def romfs_add_dir(self, subdirs):
+    def romfs_add_dir(self, subdirs, relative_to_base=False):
         '''add a filesystem directory to ROMFS'''
         for dirname in subdirs:
-            romfs_dir = os.path.join(os.path.dirname(args.hwdef[0]), dirname)
+            if relative_to_base:
+                romfs_dir = os.path.join(os.path.dirname(__file__), '..', '..', '..', '..', dirname)
+            else:
+                romfs_dir = os.path.join(os.path.dirname(args.hwdef[0]), dirname)
             if not self.is_bootloader_fw() and os.path.exists(romfs_dir):
                 for root, d, files in os.walk(romfs_dir):
                     for f in files:
@@ -2880,6 +2883,8 @@ def romfs_add_dir(self, subdirs):
                             continue
                         fullpath = os.path.join(root, f)
                         relpath = os.path.normpath(os.path.join(dirname, os.path.relpath(root, romfs_dir), f))
+                        if relative_to_base:
+                            relpath = relpath[len(dirname)+1:]
                         self.romfs[relpath] = fullpath
 
     def valid_type(self, ptype, label):
@@ -3010,6 +3015,8 @@ def process_line(self, line):
             self.romfs_add(a[1], a[2])
         elif a[0] == 'ROMFS_WILDCARD':
             self.romfs_wildcard(a[1])
+        elif a[0] == 'ROMFS_DIRECTORY':
+            self.romfs_add_dir([a[1]], relative_to_base=True)
         elif a[0] == 'undef':
             for u in a[1:]:
                 self.progress("Removing %s" % u)

From 771e4be86d5631ec98bc0649056069624adfbbd8 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 15 Jan 2024 15:15:08 +1100
Subject: [PATCH 0690/1335] AP_Bootloader: added CubeRed Periph board ID

---
 Tools/AP_Bootloader/board_types.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
index 5e7947506c9cb0..19978d60983b30 100644
--- a/Tools/AP_Bootloader/board_types.txt
+++ b/Tools/AP_Bootloader/board_types.txt
@@ -274,6 +274,7 @@ AP_HW_VIMDRONES_MOSAIC_H             1406
 AP_HW_VIMDRONES_PERIPH               1407
 
 AP_HW_PIXHAWK6X_PERIPH               1408
+AP_HW_CUBERED_PERIPH                 1409
 
 
 # IDs 5000-5099 reserved for Carbonix

From ec9a8d71671f0b85566051d9482033472aa4651d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 15 Jan 2024 15:16:35 +1100
Subject: [PATCH 0691/1335] waf: CubePilot-PPPGW needs fiprintf

---
 Tools/ardupilotwaf/chibios.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index b84d6e89514e4b..4d33d62c2a9d39 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -731,7 +731,7 @@ def build(bld):
     # errors if we accidentially try to use one of those functions either
     # directly or via another libc call
     wraplist = ['sscanf', 'fprintf', 'snprintf', 'vsnprintf','vasprintf','asprintf','vprintf','scanf',
-                'fiprintf','printf',
+                'printf',
                 'fopen', 'fflush', 'fwrite', 'fread', 'fputs', 'fgets',
                 'clearerr', 'fseek', 'ferror', 'fclose', 'tmpfile', 'getc', 'ungetc', 'feof',
                 'ftell', 'freopen', 'remove', 'vfprintf', 'fscanf',

From a155f592a438cd1ed1e88230c6dc36b6b3b738e1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 15 Jan 2024 15:16:48 +1100
Subject: [PATCH 0692/1335] hwdef: added CubePilot PPPGW builds

---
 .../hwdef/CubePilot-PPPGW/defaults.parm       |  9 +++
 .../hwdef/CubePilot-PPPGW/hwdef-bl.dat        | 34 ++++++++++
 .../hwdef/CubePilot-PPPGW/hwdef.dat           |  2 +
 .../hwdef/CubeRedPrimary-PPPGW/defaults.parm  | 14 ++++
 .../hwdef/CubeRedPrimary-PPPGW/hwdef-bl.dat   | 53 +++++++++++++++
 .../hwdef/CubeRedPrimary-PPPGW/hwdef.dat      | 65 +++++++++++++++++++
 6 files changed, 177 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/defaults.parm
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/defaults.parm
index a10bbb4937c85f..89ab4beebb035b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/defaults.parm
@@ -1,5 +1,14 @@
 NET_ENABLED 1
+NET_OPTIONS 1
 
 # enable hw flow control
 UART1_RTSCTS 1
 
+# swap TX and RX
+UART1_OPTIONS 8
+
+SCR_ENABLE 1
+SCR_VM_I_COUNT 1000000
+
+WEB_ENABLE 1
+WEB_PORT 80
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat
index dbde2799b74f11..23470eeecbd9f8 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat
@@ -1 +1,35 @@
 include ../CubePilot-CANMod/hwdef-bl.dat
+
+# Ethernet
+PC1  ETH_MDC            ETH1
+PA2  ETH_MDIO           ETH1
+PC4  ETH_RMII_RXD0      ETH1
+PC5  ETH_RMII_RXD1      ETH1
+PB12 ETH_RMII_TXD0      ETH1
+PB13 ETH_RMII_TXD1      ETH1
+PB11 ETH_RMII_TX_EN     ETH1
+PA7  ETH_RMII_CRS_DV    ETH1
+PA1  ETH_RMII_REF_CLK   ETH1
+
+define BOARD_PHY_ID  MII_LAN8720_ID
+define BOARD_PHY_RMII
+
+define CH_CFG_USE_EVENTS 1
+undef CH_CFG_USE_SEMAPHORES
+define CH_CFG_USE_SEMAPHORES 1
+undef CH_CFG_USE_MUTEXES
+define CH_CFG_USE_MUTEXES 1
+undef CH_CFG_USE_HEAP
+define CH_CFG_USE_MEMCORE 1
+define CH_CFG_USE_HEAP 1
+define CH_CFG_USE_REGISTRY 1
+define CH_CFG_USE_DYNAMIC 1
+define CH_CFG_USE_WAITEXIT 1
+
+define AP_NETWORKING_ENABLED 1
+
+undef SERIAL_ORDER
+SERIAL_ORDER
+
+ROMFS_WILDCARD Tools/AP_Bootloader/Web/*.html
+env ROMFS_UNCOMPRESSED True
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat
index b221026451ee35..630087bb60c3e7 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat
@@ -31,3 +31,5 @@ define AP_FILESYSTEM_ROMFS_ENABLED 1
 
 // allow scripts to add parameters
 define AP_PARAM_DYNAMIC_ENABLED 1
+
+ROMFS_DIRECTORY Tools/AP_Periph/Web
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/defaults.parm
new file mode 100644
index 00000000000000..89ab4beebb035b
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/defaults.parm
@@ -0,0 +1,14 @@
+NET_ENABLED 1
+NET_OPTIONS 1
+
+# enable hw flow control
+UART1_RTSCTS 1
+
+# swap TX and RX
+UART1_OPTIONS 8
+
+SCR_ENABLE 1
+SCR_VM_I_COUNT 1000000
+
+WEB_ENABLE 1
+WEB_PORT 80
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef-bl.dat
new file mode 100644
index 00000000000000..061cd14624d3e2
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef-bl.dat
@@ -0,0 +1,53 @@
+include ../CubeRedPrimary/hwdef-bl.dat
+
+# setup build for a peripheral bootloader
+env AP_PERIPH 1
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_CUBERED_PERIPH
+
+# CAN config
+PE10 GPIOCAN1_TERM OUTPUT HIGH
+PG4 GPIOCAN2_TERM OUTPUT HIGH
+
+PB8    CAN1_RX    CAN1
+PB9    CAN1_TX    CAN1
+
+PB5    CAN2_RX    CAN2
+PB6    CAN2_TX    CAN2
+
+# Ethernet
+PC1  ETH_MDC            ETH1
+PA2  ETH_MDIO           ETH1
+PC4  ETH_RMII_RXD0      ETH1
+PC5  ETH_RMII_RXD1      ETH1
+PB12 ETH_RMII_TXD0      ETH1
+PB13 ETH_RMII_TXD1      ETH1
+PB11 ETH_RMII_TX_EN     ETH1
+PA7  ETH_RMII_CRS_DV    ETH1
+PA1  ETH_RMII_REF_CLK   ETH1
+
+define BOARD_PHY_ID  MII_LAN8720_ID
+define BOARD_PHY_RMII
+
+# Refer to https://maclookup.app/vendors/cubepilot-pty-ltd
+# Note, lower 3 bytes (ADDR3,4,5) will be replaced with the platform UUID
+define AP_NETWORKING_DEFAULT_MAC_ADDR "A8:B0:28:00:00:00"
+
+define CH_CFG_USE_EVENTS 1
+undef CH_CFG_USE_SEMAPHORES
+define CH_CFG_USE_SEMAPHORES 1
+define AP_NETWORKING_ENABLED 1
+
+define CH_CFG_USE_MEMCORE 1
+define CH_CFG_USE_HEAP 1
+define CH_CFG_USE_MUTEXES 1
+define CH_CFG_USE_DYNAMIC 1
+define CH_CFG_USE_WAITEXIT 1
+define CH_CFG_USE_REGISTRY 1
+
+undef SERIAL_ORDER
+SERIAL_ORDER
+
+ROMFS_WILDCARD Tools/AP_Bootloader/Web/*.html
+env ROMFS_UNCOMPRESSED True
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat
new file mode 100644
index 00000000000000..1c0143664b0a8d
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat
@@ -0,0 +1,65 @@
+include ../CubeRedPrimary/hwdef.dat
+
+undef ROMFS
+undef HAL_HAVE_SAFETY_SWITCH
+undef HAL_WITH_IO_MCU_BIDIR_DSHOT
+undef COMPASS
+undef BARO
+undef DEFAULT_SERIAL7_PROTOCOL
+
+define AP_ADVANCEDFAILSAFE_ENABLED 0
+
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_CUBERED_PERIPH
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+define AP_CAN_SLCAN_ENABLED 0
+
+define HAL_PERIPH_ENABLE_NETWORKING
+define HAL_PERIPH_ENABLE_SERIAL_OPTIONS
+
+define AP_NETWORKING_BACKEND_PPP 1
+
+define HAL_NO_MONITOR_THREAD
+define HAL_DISABLE_LOOP_DELAY
+
+define HAL_USE_RTC FALSE
+define DISABLE_SERIAL_ESC_COMM TRUE
+
+define HAL_NO_RCIN_THREAD
+
+# use amber LED
+define HAL_GPIO_PIN_LED HAL_GPIO_PIN_FMU_LED_AMBER
+
+undef HAL_OS_FATFS_IO
+
+undef SDMMC1
+
+MAIN_STACK 0x2000
+PROCESS_STACK 0x6000
+
+define HAL_CAN_DRIVER_DEFAULT 1
+
+# listen for reboot command from uploader.py script
+# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
+define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
+
+// use main fw bootloader
+define AP_BOOTLOADER_FLASHING_ENABLED 0
+
+define AP_PERIPH_NET_PPP_PORT_DEFAULT 1
+define AP_PERIPH_NET_PPP_BAUD_DEFAULT 12500000
+
+// add scripting for web interface
+define AP_SCRIPTING_ENABLED 1
+
+// ROMFS filesystem only
+define AP_FILESYSTEM_ROMFS_ENABLED 1
+
+// allow scripts to add parameters
+define AP_PARAM_DYNAMIC_ENABLED 1
+
+ROMFS_DIRECTORY Tools/AP_Periph/Web

From 82dea9c037e1c6a157d5b8395eb42084ab48364e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 16 Jan 2024 08:08:00 +1100
Subject: [PATCH 0693/1335] HAL_ChibiOS: ensure our reserved ram is not in
 available ram regions

this prevents a fault when the ram0 region is filled in by the periph
code on boards that do dynamic memory allocation
---
 .../hwdef/scripts/chibios_hwdef.py            | 24 +++++++++----------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 8eb594fcf4d2c5..f32d432d0fefc4 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -1108,6 +1108,17 @@ def write_mcu_config(self, f):
         f.write('\n')
 
         ram_map = self.get_ram_map()
+
+        ram0_index = self.env_vars['APP_RAM_START']
+        if ram0_index is None:
+            ram0_index = 0
+        ram0_start_address = ram_map[ram0_index][0]
+        f.write('#define HAL_RAM0_START 0x%08x\n' % ram0_start_address)
+
+        ram_reserve_start = self.get_ram_reserve_start()
+        if ram_reserve_start > 0:
+            f.write('#define HAL_RAM_RESERVE_START 0x%08x\n' % ram_reserve_start)
+
         f.write('// memory regions\n')
         regions = []
         cc_regions = []
@@ -1115,8 +1126,7 @@ def write_mcu_config(self, f):
         for (address, size, flags) in ram_map:
             size *= 1024
             cc_regions.append('{0x%08x, 0x%08x, CRASH_CATCHER_BYTE }' % (address, address + size))
-            if self.env_vars['APP_RAM_START'] is not None and address == ram_map[self.env_vars['APP_RAM_START']][0]:
-                ram_reserve_start = self.get_ram_reserve_start()
+            if address == ram0_start_address:
                 address += ram_reserve_start
                 size -= ram_reserve_start
             regions.append('{(void*)0x%08x, 0x%08x, 0x%02x }' % (address, size, flags))
@@ -1125,14 +1135,6 @@ def write_mcu_config(self, f):
         f.write('#define HAL_CC_MEMORY_REGIONS %s\n' % ', '.join(cc_regions))
         f.write('#define HAL_MEMORY_TOTAL_KB %u\n' % (total_memory/1024))
 
-        if self.env_vars['APP_RAM_START'] is not None:
-            f.write('#define HAL_RAM0_START 0x%08x\n' % ram_map[self.env_vars['APP_RAM_START']][0])
-        else:
-            f.write('#define HAL_RAM0_START 0x%08x\n' % ram_map[0][0])
-        ram_reserve_start = self.get_ram_reserve_start()
-        if ram_reserve_start > 0:
-            f.write('#define HAL_RAM_RESERVE_START 0x%08x\n' % ram_reserve_start)
-
         f.write('\n// CPU serial number (12 bytes)\n')
         udid_start = self.get_mcu_config('UDID_START')
         if udid_start is None:
@@ -3058,8 +3060,6 @@ def process_line(self, line):
             value = ' '.join(a[2:])
             if name == 'AP_PERIPH' and value != "1":
                 raise ValueError("AP_PERIPH may only have value 1")
-            if name == 'APP_RAM_START':
-                value = int(value, 0)
             self.env_vars[name] = value
         elif a[0] == 'define':
             # extract numerical defines for processing by other parts of the script

From 212bde0b612f34919522d7a748b2bc14c028ea0b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 16 Jan 2024 08:33:55 +1100
Subject: [PATCH 0694/1335] AP_Bootloader: use IP address from periph if
 available

---
 Tools/AP_Bootloader/AP_Bootloader.cpp |  4 ++
 Tools/AP_Bootloader/app_comms.h       |  5 ++-
 Tools/AP_Bootloader/can.cpp           |  3 +-
 Tools/AP_Bootloader/network.cpp       | 54 +++++++++++++++++++++------
 Tools/AP_Bootloader/network.h         |  6 +++
 Tools/AP_Bootloader/support.cpp       |  3 ++
 6 files changed, 61 insertions(+), 14 deletions(-)

diff --git a/Tools/AP_Bootloader/AP_Bootloader.cpp b/Tools/AP_Bootloader/AP_Bootloader.cpp
index 60555c213fe7a8..7f9964d3b24f2d 100644
--- a/Tools/AP_Bootloader/AP_Bootloader.cpp
+++ b/Tools/AP_Bootloader/AP_Bootloader.cpp
@@ -97,6 +97,10 @@ int main(void)
     stm32_flash_unprotect_flash();
 #endif
 
+#if AP_BOOTLOADER_NETWORK_ENABLED
+    network.save_comms_ip();
+#endif
+
 #if AP_FASTBOOT_ENABLED
     enum rtc_boot_magic m = check_fast_reboot();
     bool was_watchdog = stm32_was_watchdog_reset();
diff --git a/Tools/AP_Bootloader/app_comms.h b/Tools/AP_Bootloader/app_comms.h
index 04c0dcb0b98e76..2a03f9cc277eb6 100644
--- a/Tools/AP_Bootloader/app_comms.h
+++ b/Tools/AP_Bootloader/app_comms.h
@@ -10,7 +10,10 @@
 
 struct app_bootloader_comms {
     uint32_t magic;
-    uint32_t reserved[4];
+    uint32_t ip;
+    uint32_t netmask;
+    uint32_t gateway;
+    uint32_t reserved;
     uint8_t server_node_id;
     uint8_t my_node_id;
     uint8_t path[201];
diff --git a/Tools/AP_Bootloader/can.cpp b/Tools/AP_Bootloader/can.cpp
index 24ed583284eba6..8e1aaea200a4d5 100644
--- a/Tools/AP_Bootloader/can.cpp
+++ b/Tools/AP_Bootloader/can.cpp
@@ -725,9 +725,8 @@ bool can_check_update(void)
             fw_update.reads[i].offset = i*sizeof(uavcan_protocol_file_ReadResponse::data.data);
         }
         memcpy(fw_update.path, comms->path, sizeof(uavcan_protocol_file_Path::path.data)+1);
+        memset(comms, 0, sizeof(*comms));
         ret = true;
-        // clear comms region
-        memset(comms, 0, sizeof(struct app_bootloader_comms));
     }
 #endif
 #if defined(CAN1_BASE) && defined(RCC_APB1ENR_CAN1EN)
diff --git a/Tools/AP_Bootloader/network.cpp b/Tools/AP_Bootloader/network.cpp
index 243d0b83f631cd..9b6c433f2ef5a4 100644
--- a/Tools/AP_Bootloader/network.cpp
+++ b/Tools/AP_Bootloader/network.cpp
@@ -24,9 +24,22 @@
 #include "support.h"
 #include "bl_protocol.h"
 #include <AP_CheckFirmware/AP_CheckFirmware.h>
+#include "app_comms.h"
 
-#ifndef AP_NETWORKING_DEFAULT_MAC_ADDR
-#define AP_NETWORKING_DEFAULT_MAC_ADDR "C2:AF:51:03:CF:46"
+#ifndef AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR
+#define AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR "C2:AF:51:03:CF:46"
+#endif
+
+#ifndef AP_NETWORKING_BOOTLOADER_DEFAULT_IP
+#define AP_NETWORKING_BOOTLOADER_DEFAULT_IP "192.168.1.100"
+#endif
+
+#ifndef AP_NETWORKING_BOOTLOADER_DEFAULT_GATEWAY
+#define AP_NETWORKING_BOOTLOADER_DEFAULT_GATEWAY "192.168.1.1"
+#endif
+
+#ifndef AP_NETWORKING_BOOTLOADER_DEFAULT_NETMASK
+#define AP_NETWORKING_BOOTLOADER_DEFAULT_NETMASK "255.255.255.0"
 #endif
 
 #ifndef AP_BOOTLOADER_NETWORK_USE_DHCP
@@ -186,21 +199,27 @@ void BL_Network::net_thread()
 
     thread_sleep_ms(100);
 
-    AP_Networking::convert_str_to_macaddr(AP_NETWORKING_DEFAULT_MAC_ADDR, thisif->hwaddr);
+    AP_Networking::convert_str_to_macaddr(AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR, thisif->hwaddr);
 
-    struct {
-        ip4_addr_t ip, gateway, netmask;
-    } addr {};
-
-    addr.ip.addr = htonl(SocketAPM::inet_str_to_addr("192.168.2.201"));
-    addr.gateway.addr = htonl(SocketAPM::inet_str_to_addr("192.168.2.10"));
-    addr.netmask.addr = htonl(SocketAPM::inet_str_to_addr("255.255.255.0"));
+    ip4_addr_t ip, gateway, netmask;
+    if (addr.ip == 0) {
+        // no IP from AP_Periph, use defaults
+        ip.addr = htonl(SocketAPM::inet_str_to_addr(AP_NETWORKING_BOOTLOADER_DEFAULT_IP));
+        gateway.addr = htonl(SocketAPM::inet_str_to_addr(AP_NETWORKING_BOOTLOADER_DEFAULT_GATEWAY));
+        netmask.addr = htonl(SocketAPM::inet_str_to_addr(AP_NETWORKING_BOOTLOADER_DEFAULT_NETMASK));
+    } else {
+        // use addresses from AP_Periph
+        ip.addr = htonl(addr.ip);
+        netmask.addr = htonl(addr.netmask);
+        gateway.addr = htonl(addr.gateway);
+    }
 
     const MACConfig mac_config = {thisif->hwaddr};
     macStart(&ETHD1, &mac_config);
 
     /* Add interface. */
-    auto result = netifapi_netif_add(thisif, &addr.ip, &addr.netmask, &addr.gateway, NULL, ethernetif_init, tcpip_input);
+
+    auto result = netifapi_netif_add(thisif, &ip, &netmask, &gateway, NULL, ethernetif_init, tcpip_input);
     if (result != ERR_OK) {
         AP_HAL::panic("Failed to initialise netif");
     }
@@ -505,5 +524,18 @@ void BL_Network::init()
                         this);
 }
 
+/*
+  save IP address from AP_Periph
+ */
+void BL_Network::save_comms_ip(void)
+{
+    struct app_bootloader_comms *comms = (struct app_bootloader_comms *)HAL_RAM0_START;
+    if (comms->magic == APP_BOOTLOADER_COMMS_MAGIC && comms->ip != 0) {
+        addr.ip = comms->ip;
+        addr.netmask = comms->netmask;
+        addr.gateway = comms->gateway;
+    }
+}
+
 #endif // AP_BOOTLOADER_NETWORK_ENABLED
 
diff --git a/Tools/AP_Bootloader/network.h b/Tools/AP_Bootloader/network.h
index e7df5c4f350b2f..a3f46a9c3e2de5 100644
--- a/Tools/AP_Bootloader/network.h
+++ b/Tools/AP_Bootloader/network.h
@@ -13,6 +13,8 @@ class SocketAPM;
 class BL_Network {
 public:
     void init(void);
+    void save_comms_ip(void);
+
 private:
     struct netif *thisif;
     thread_t *net_thread_ctx;
@@ -37,6 +39,10 @@ class BL_Network {
         const char *name;
         const char *value;
     } variables[];
+
+    struct {
+        uint32_t ip, gateway, netmask;
+    } addr;
 };
 
 #endif // AP_BOOTLOADER_NETWORK_ENABLED
diff --git a/Tools/AP_Bootloader/support.cpp b/Tools/AP_Bootloader/support.cpp
index 0954f7b753f369..7f75e68494f7f8 100644
--- a/Tools/AP_Bootloader/support.cpp
+++ b/Tools/AP_Bootloader/support.cpp
@@ -150,6 +150,9 @@ bool flash_func_is_erased(uint32_t sector)
 
 bool flash_func_erase_sector(uint32_t sector, bool force_erase)
 {
+    if (sector >= num_pages) {
+        return false;
+    }
 #if AP_BOOTLOADER_ALWAYS_ERASE
     return stm32_flash_erasepage(flash_base_page+sector);
 #else

From 38d7af450f3c34b3fc7d0bbbc6f52cee041a4b8f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 07:52:00 +1100
Subject: [PATCH 0695/1335] AP_Periph: prevent wrap of free memory in VSSC

---
 Tools/AP_Periph/can.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 662141a0eb4a06..1b65a36b93f9a9 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -1356,7 +1356,7 @@ void AP_Periph_FW::node_status_send(void)
         uint8_t buffer[UAVCAN_PROTOCOL_NODESTATUS_MAX_SIZE];
         node_status.uptime_sec = AP_HAL::millis() / 1000U;
 
-        node_status.vendor_specific_status_code = hal.util->available_memory();
+        node_status.vendor_specific_status_code = MIN(hal.util->available_memory(), UINT16_MAX);
 
         uint32_t len = uavcan_protocol_NodeStatus_encode(&node_status, buffer, !canfdout());
 

From 91cc0d7dbae39875aa0d940620abaa43b2f3122d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 09:10:36 +1100
Subject: [PATCH 0696/1335] HAL_ChibiOS: ensure periph uses same RAM0 address
 as bootloader

this fixes passing of addresses for boards that use an ALT_RAM_MAP
---
 .../hwdef/scripts/chibios_hwdef.py            | 35 ++++++-------------
 1 file changed, 11 insertions(+), 24 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index f32d432d0fefc4..2a4b3e1abae5d9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -689,11 +689,13 @@ def get_mcu_config(self, name, required=False):
         return lib.mcu[name]
 
     def get_ram_reserve_start(self):
-        '''get amount of memory to reserve for bootloader comms'''
+        '''get amount of memory to reserve for bootloader comms and the address if non-zero'''
         ram_reserve_start = self.get_config('RAM_RESERVE_START', default=0, type=int)
         if ram_reserve_start == 0 and self.is_periph_fw():
             ram_reserve_start = 256
-        return ram_reserve_start
+        ram_map_bootloader = self.get_ram_map(use_bootloader=True)
+        ram0_start_address = ram_map_bootloader[0][0]
+        return ram_reserve_start, ram0_start_address
 
     def make_line(self, label):
         '''return a line for a label'''
@@ -757,19 +759,11 @@ def has_sdcard_spi(self):
                 return True
         return False
 
-    def get_ram_map(self):
+    def get_ram_map(self, use_bootloader=False):
         '''get RAM_MAP. May be different for bootloader'''
-        if 'APP_RAM_START' not in self.env_vars:
-            self.env_vars['APP_RAM_START'] = None
-        if self.is_bootloader_fw():
+        if self.is_bootloader_fw() or use_bootloader:
             ram_map = self.get_mcu_config('RAM_MAP_BOOTLOADER', False)
             if ram_map is not None:
-                app_ram_map = self.get_mcu_config('RAM_MAP', False)
-                if app_ram_map is not None and app_ram_map[0][0] != ram_map[0][0]:
-                    # we need to find the location of app_ram_map[0] in ram_map
-                    for i in range(len(ram_map)):
-                        if app_ram_map[0][0] == ram_map[i][0] and self.env_vars['APP_RAM_START'] is None:
-                            self.env_vars['APP_RAM_START'] = i
                 return ram_map
         elif self.env_vars['EXT_FLASH_SIZE_MB'] and not self.env_vars['INT_FLASH_PRIMARY']:
             ram_map = self.get_mcu_config('RAM_MAP_EXTERNAL_FLASH', False)
@@ -1107,18 +1101,13 @@ def write_mcu_config(self, f):
             f.write('#define APP_START_OFFSET_KB %u\n' % self.get_config('APP_START_OFFSET_KB', default=0, type=int))
         f.write('\n')
 
-        ram_map = self.get_ram_map()
-
-        ram0_index = self.env_vars['APP_RAM_START']
-        if ram0_index is None:
-            ram0_index = 0
-        ram0_start_address = ram_map[ram0_index][0]
+        ram_reserve_start,ram0_start_address = self.get_ram_reserve_start()
         f.write('#define HAL_RAM0_START 0x%08x\n' % ram0_start_address)
-
-        ram_reserve_start = self.get_ram_reserve_start()
         if ram_reserve_start > 0:
             f.write('#define HAL_RAM_RESERVE_START 0x%08x\n' % ram_reserve_start)
 
+        ram_map = self.get_ram_map()
+
         f.write('// memory regions\n')
         regions = []
         cc_regions = []
@@ -1391,10 +1380,8 @@ def write_ldscript(self, fname):
         if ext_flash_size > 32:
             self.error("We only support 24bit addressing over external flash")
 
-        if self.env_vars['APP_RAM_START'] is None:
-            # default to start of ram for shared ram
-            # possibly reserve some memory for app/bootloader comms
-            ram_reserve_start = self.get_ram_reserve_start()
+        ram_reserve_start,ram0_start_address = self.get_ram_reserve_start()
+        if ram_reserve_start > 0 and ram0_start_address == ram0_start:
             ram0_start += ram_reserve_start
             ram0_len -= ram_reserve_start
         if ext_flash_length == 0 or self.is_bootloader_fw():

From 4e49481d3a5694ff14eb6b2acc91a04c25a09229 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 09:10:55 +1100
Subject: [PATCH 0697/1335] hwdef: enable USB for bootloader on Pixhawk6X-PPPGW

---
 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat
index 43181e9a48ba4a..b78dd641a87265 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat
@@ -32,8 +32,7 @@ define CH_CFG_USE_EVENTS 1
 undef CH_CFG_USE_SEMAPHORES
 define CH_CFG_USE_SEMAPHORES 1
 
-undef SERIAL_ORDER
-SERIAL_ORDER
+SERIAL_ORDER OTG1
 
 ROMFS_WILDCARD Tools/AP_Bootloader/Web/*.html
 env ROMFS_UNCOMPRESSED True

From 07fee626d96228fade9f9a8b1b6c8c7d63c2e40c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 09:11:12 +1100
Subject: [PATCH 0698/1335] AP_HAL: added IP4_STR_LEN

---
 libraries/AP_HAL/utility/Socket.cpp | 3 +--
 libraries/AP_HAL/utility/Socket.hpp | 2 ++
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL/utility/Socket.cpp b/libraries/AP_HAL/utility/Socket.cpp
index 60647814b950aa..841c0c3c928c21 100644
--- a/libraries/AP_HAL/utility/Socket.cpp
+++ b/libraries/AP_HAL/utility/Socket.cpp
@@ -360,8 +360,7 @@ ssize_t SOCKET_CLASS_NAME::recv(void *buf, size_t size, uint32_t timeout_ms)
  */
 void SOCKET_CLASS_NAME::last_recv_address(const char *&ip_addr, uint16_t &port) const
 {
-    // 16 bytes for aaa.bbb.ccc.ddd with null term
-    static char buf[16];
+    static char buf[IP4_STR_LEN];
     auto *str = last_recv_address(buf, sizeof(buf), port);
     ip_addr = str;
 }
diff --git a/libraries/AP_HAL/utility/Socket.hpp b/libraries/AP_HAL/utility/Socket.hpp
index ae4ae6cebe331c..8847ce958f55b8 100644
--- a/libraries/AP_HAL/utility/Socket.hpp
+++ b/libraries/AP_HAL/utility/Socket.hpp
@@ -25,6 +25,8 @@
 #error "Don't include Socket.hpp directly"
 #endif
 
+#define IP4_STR_LEN 16
+
 class SOCKET_CLASS_NAME {
 public:
     SOCKET_CLASS_NAME(bool _datagram);

From b48a01dbc87e10f2666b06c8136290d5e8fae002 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 09:11:26 +1100
Subject: [PATCH 0699/1335] AP_HAL: allow mutexes in bootloader

---
 libraries/AP_HAL/Semaphores.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_HAL/Semaphores.cpp b/libraries/AP_HAL/Semaphores.cpp
index 65890007e236b7..1ebb9cbe222d18 100644
--- a/libraries/AP_HAL/Semaphores.cpp
+++ b/libraries/AP_HAL/Semaphores.cpp
@@ -12,14 +12,18 @@ WithSemaphore::WithSemaphore(AP_HAL::Semaphore *mtx, uint32_t line) :
 WithSemaphore::WithSemaphore(AP_HAL::Semaphore &mtx, uint32_t line) :
     _mtx(mtx)
 {
+#ifndef HAL_BOOTLOADER_BUILD
     bool in_main = hal.scheduler->in_main_thread();
     if (in_main) {
         hal.util->persistent_data.semaphore_line = line;
     }
+#endif
     _mtx.take_blocking();
+#ifndef HAL_BOOTLOADER_BUILD
     if (in_main) {
         hal.util->persistent_data.semaphore_line = 0;
     }
+#endif
 }
 
 WithSemaphore::~WithSemaphore()

From 1bee4630cc3ad284b2c345d50e63a97109602dde Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 09:12:42 +1100
Subject: [PATCH 0700/1335] AP_Bootloader: show IP as CAN debug msg in
 bootloader

this also saves a few bytes of flash for normal periph bootloader
---
 Tools/AP_Bootloader/can.cpp     | 79 +++++++++++++++++++++++++++------
 Tools/AP_Bootloader/can.h       |  1 +
 Tools/AP_Bootloader/network.cpp |  5 ++-
 3 files changed, 70 insertions(+), 15 deletions(-)

diff --git a/Tools/AP_Bootloader/can.cpp b/Tools/AP_Bootloader/can.cpp
index 8e1aaea200a4d5..3f9947d7b4bf76 100644
--- a/Tools/AP_Bootloader/can.cpp
+++ b/Tools/AP_Bootloader/can.cpp
@@ -75,6 +75,10 @@ static void processTx(void);
 #define FW_UPDATE_PIPELINE_LEN 4
 #endif
 
+#if CH_CFG_USE_MUTEXES == TRUE
+static HAL_Semaphore can_mutex;
+#endif
+
 static struct {
     uint32_t rtt_ms;
     uint32_t ofs;
@@ -625,6 +629,29 @@ static void processRx(void)
 }
 #endif //#if HAL_USE_CAN
 
+/*
+  wrapper around broadcast
+ */
+static void canard_broadcast(uint64_t data_type_signature,
+                             uint16_t data_type_id,
+                             uint8_t &transfer_id,
+                             uint8_t priority,
+                             const void* payload,
+                             uint16_t payload_len)
+{
+#if CH_CFG_USE_MUTEXES == TRUE
+    WITH_SEMAPHORE(can_mutex);
+#endif
+    canardBroadcast(&canard,
+                    data_type_signature,
+                    data_type_id,
+                    &transfer_id,
+                    priority,
+                    payload,
+                    payload_len);
+}
+
+
 /*
   handle waiting for a node ID
  */
@@ -663,13 +690,12 @@ static void can_handle_DNA(void)
     memmove(&allocation_request[1], &my_unique_id[node_id_allocation_unique_id_offset], uid_size);
 
     // Broadcasting the request
-    canardBroadcast(&canard,
-                    UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_SIGNATURE,
-                    UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID,
-                    &node_id_allocation_transfer_id,
-                    CANARD_TRANSFER_PRIORITY_LOW,
-                    &allocation_request[0],
-                    (uint16_t) (uid_size + 1));
+    canard_broadcast(UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_SIGNATURE,
+                     UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID,
+                     node_id_allocation_transfer_id,
+                     CANARD_TRANSFER_PRIORITY_LOW,
+                     &allocation_request[0],
+                     (uint16_t) (uid_size + 1));
 
     // Preparing for timeout; if response is received, this value will be updated from the callback.
     node_id_allocation_unique_id_offset = 0;
@@ -684,13 +710,12 @@ static void send_node_status(void)
 
     static uint8_t transfer_id;  // Note that the transfer ID variable MUST BE STATIC (or heap-allocated)!
 
-    canardBroadcast(&canard,
-                    UAVCAN_PROTOCOL_NODESTATUS_SIGNATURE,
-                    UAVCAN_PROTOCOL_NODESTATUS_ID,
-                    &transfer_id,
-                    CANARD_TRANSFER_PRIORITY_LOW,
-                    buffer,
-                    len);
+    canard_broadcast(UAVCAN_PROTOCOL_NODESTATUS_SIGNATURE,
+                     UAVCAN_PROTOCOL_NODESTATUS_ID,
+                     transfer_id,
+                     CANARD_TRANSFER_PRIORITY_LOW,
+                     buffer,
+                     len);
 }
 
 
@@ -832,4 +857,30 @@ void can_update()
     } while (fw_update.node_id != 0);
 }
 
+// printf to CAN LogMessage for debugging
+void can_printf(const char *fmt, ...)
+{
+    // only on H7 for now, where we have plenty of flash
+#if defined(STM32H7)
+    uavcan_protocol_debug_LogMessage pkt {};
+    uint8_t buffer[UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_MAX_SIZE] {};
+    va_list ap;
+    va_start(ap, fmt);
+    uint32_t n = vsnprintf((char*)pkt.text.data, sizeof(pkt.text.data), fmt, ap);
+    va_end(ap);
+    pkt.text.len = MIN(n, sizeof(pkt.text.data));
+
+    uint32_t len = uavcan_protocol_debug_LogMessage_encode(&pkt, buffer, true);
+    static uint8_t logmsg_transfer_id;
+
+    canard_broadcast(UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_SIGNATURE,
+                     UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_ID,
+                     logmsg_transfer_id,
+                     CANARD_TRANSFER_PRIORITY_LOW,
+                     buffer,
+                     len);
+#endif // defined(STM32H7)
+}
+
+
 #endif // HAL_USE_CAN
diff --git a/Tools/AP_Bootloader/can.h b/Tools/AP_Bootloader/can.h
index 96b662a072c1c4..8f3945ed181430 100644
--- a/Tools/AP_Bootloader/can.h
+++ b/Tools/AP_Bootloader/can.h
@@ -2,3 +2,4 @@ void can_start();
 void can_update();
 void can_set_node_id(uint8_t node_id);
 bool can_check_update(void);
+void can_printf(const char *fmt, ...);
diff --git a/Tools/AP_Bootloader/network.cpp b/Tools/AP_Bootloader/network.cpp
index 9b6c433f2ef5a4..5fa3d25dc643f9 100644
--- a/Tools/AP_Bootloader/network.cpp
+++ b/Tools/AP_Bootloader/network.cpp
@@ -25,6 +25,7 @@
 #include "bl_protocol.h"
 #include <AP_CheckFirmware/AP_CheckFirmware.h>
 #include "app_comms.h"
+#include "can.h"
 
 #ifndef AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR
 #define AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR "C2:AF:51:03:CF:46"
@@ -57,10 +58,12 @@
 
 void BL_Network::link_up_cb(void *p)
 {
+    auto *driver = (BL_Network *)p;
 #if AP_BOOTLOADER_NETWORK_USE_DHCP
-    auto *driver = (AP_Networking_ChibiOS *)p;
     dhcp_start(driver->thisif);
 #endif
+    char ipstr[IP4_STR_LEN];
+    can_printf("IP %s", SocketAPM::inet_addr_to_str(ntohl(driver->thisif->ip_addr.addr), ipstr, sizeof(ipstr)));
 }
 
 void BL_Network::link_down_cb(void *p)

From 29876f649ad34bf1528fef881aec19e8e808e50c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 09:33:40 +1100
Subject: [PATCH 0701/1335] AP_Bootloader: added reboot button

---
 Tools/AP_Bootloader/Web/index.html |  1 +
 Tools/AP_Bootloader/network.cpp    | 19 ++++++++++++++++---
 Tools/AP_Bootloader/network.h      |  2 ++
 3 files changed, 19 insertions(+), 3 deletions(-)

diff --git a/Tools/AP_Bootloader/Web/index.html b/Tools/AP_Bootloader/Web/index.html
index 44ace6fa0af2ab..a48662e049031e 100644
--- a/Tools/AP_Bootloader/Web/index.html
+++ b/Tools/AP_Bootloader/Web/index.html
@@ -16,6 +16,7 @@ <h1>Firmware Update</h1>
 <form action="" method="post" enctype="multipart/form-data">
   <input type="file" name="fileToUpload" id="fileToUpload">
   <input type="submit" value="Upload" name="submit">
+  <input type="button" onclick="location.href='/REBOOT';" value="Reboot" />
 </form>
 
  </BODY>
diff --git a/Tools/AP_Bootloader/network.cpp b/Tools/AP_Bootloader/network.cpp
index 5fa3d25dc643f9..9b865614336bba 100644
--- a/Tools/AP_Bootloader/network.cpp
+++ b/Tools/AP_Bootloader/network.cpp
@@ -467,6 +467,10 @@ void BL_Network::handle_request(SocketAPM *sock)
         }
     }
 
+    if (strncmp(headers, "GET /REBOOT", 11) == 0) {
+        need_reboot = true;
+    }
+    
     uint32_t size = 0;
     /*
       we only need one URL in the bootloader
@@ -477,9 +481,14 @@ void BL_Network::handle_request(SocketAPM *sock)
         "\r\n";
     const auto *msg = AP_ROMFS::find_decompress("index.html", size);
     sock->send(header, strlen(header));
-    char *msg2 = substitute_vars((const char *)msg, size);
-    sock->send(msg2, strlen(msg2));
-    delete msg2;
+    if (need_reboot) {
+        const char *str = "<html><head><meta http-equiv=\"refresh\" content=\"2; url=/\"></head></html>";
+        sock->send(str, strlen(str));
+    } else {
+        char *msg2 = substitute_vars((const char *)msg, size);
+        sock->send(msg2, strlen(msg2));
+        delete msg2;
+    }
     delete headers;
     AP_ROMFS::free(msg);
 }
@@ -495,6 +504,10 @@ void BL_Network::web_server(void)
 
     while (true) {
         auto *sock = listen_socket->accept(20);
+        if (need_reboot) {
+            need_reboot = false;
+            NVIC_SystemReset();
+        }
         if (sock == nullptr) {
             continue;
         }
diff --git a/Tools/AP_Bootloader/network.h b/Tools/AP_Bootloader/network.h
index a3f46a9c3e2de5..3da28ff132362b 100644
--- a/Tools/AP_Bootloader/network.h
+++ b/Tools/AP_Bootloader/network.h
@@ -43,6 +43,8 @@ class BL_Network {
     struct {
         uint32_t ip, gateway, netmask;
     } addr;
+
+    bool need_reboot;
 };
 
 #endif // AP_BOOTLOADER_NETWORK_ENABLED

From e18abc3a9b1f7d002ad80577380130c7fe4df24c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 10:57:33 +1100
Subject: [PATCH 0702/1335] AP_Bootloader: added progress and status to fw
 upload

---
 Tools/AP_Bootloader/Web/index.html | 28 ++++++++++
 Tools/AP_Bootloader/network.cpp    | 88 ++++++++++++++++++++++++++----
 Tools/AP_Bootloader/network.h      |  6 ++
 3 files changed, 110 insertions(+), 12 deletions(-)

diff --git a/Tools/AP_Bootloader/Web/index.html b/Tools/AP_Bootloader/Web/index.html
index a48662e049031e..f287a58c94dfd4 100644
--- a/Tools/AP_Bootloader/Web/index.html
+++ b/Tools/AP_Bootloader/Web/index.html
@@ -3,6 +3,30 @@
   <TITLE>AP_Bootloader</TITLE>
  </HEAD>
 
+ <script>
+   function dynamic_load(div_id, uri, period_ms) {
+       var xhr = new XMLHttpRequest();
+       xhr.open('GET', uri);
+       
+       xhr.setRequestHeader("Cache-Control", "no-cache, no-store, max-age=0");
+       xhr.setRequestHeader("Expires", "Tue, 01 Jan 1980 1:00:00 GMT");
+       xhr.setRequestHeader("Pragma", "no-cache");
+       
+       xhr.onload = function () {
+           if (xhr.status === 200) {
+               var output = document.getElementById(div_id);
+               if (uri.endsWith('.shtml') || uri.endsWith('.html')) {
+                   output.innerHTML = xhr.responseText;
+               } else {
+                   output.textContent = xhr.responseText;
+               }
+           }
+           setTimeout(function() { dynamic_load(div_id,uri, period_ms); }, period_ms);
+       }
+       xhr.send();
+   }
+ </script>
+
 <h1>Bootloader</h1>
 
 <table>
@@ -19,5 +43,9 @@ <h1>Firmware Update</h1>
   <input type="button" onclick="location.href='/REBOOT';" value="Reboot" />
 </form>
 
+<hr>
+<body onload="javascript: dynamic_load('bootloader_status','/bootloader_status.html',100)">
+<div id="bootloader_status"></div>
+
  </BODY>
 </HTML>
diff --git a/Tools/AP_Bootloader/network.cpp b/Tools/AP_Bootloader/network.cpp
index 9b865614336bba..2139203ce20230 100644
--- a/Tools/AP_Bootloader/network.cpp
+++ b/Tools/AP_Bootloader/network.cpp
@@ -26,6 +26,8 @@
 #include <AP_CheckFirmware/AP_CheckFirmware.h>
 #include "app_comms.h"
 #include "can.h"
+#include <stdio.h>
+#include <stdarg.h>
 
 #ifndef AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR
 #define AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR "C2:AF:51:03:CF:46"
@@ -403,9 +405,11 @@ void BL_Network::handle_post(SocketAPM *sock, uint32_t content_length)
     /*
       erase all of flash
      */
+    status_printf("Erasing ...");
     flash_set_keep_unlocked(true);
     uint32_t sec=0;
     while (flash_func_erase_sector(sec)) {
+        thread_sleep_ms(10);
         sec++;
     }
     /*
@@ -433,6 +437,8 @@ void BL_Network::handle_post(SocketAPM *sock, uint32_t content_length)
         }
         flash_write_buffer(ofs, buf, n/4);
         ofs += n;
+        uint8_t pct = ofs*100/max_ofs;
+        status_printf("Flashing %u%%", unsigned(pct));
     }
     if (ofs % 32 != 0) {
         // pad to 32 bytes
@@ -443,7 +449,12 @@ void BL_Network::handle_post(SocketAPM *sock, uint32_t content_length)
     flash_set_keep_unlocked(false);
     const auto ok = check_good_firmware();
     if (ok == check_fw_result_t::CHECK_FW_OK) {
-        jump_to_app();
+        need_launch = true;
+        status_printf("Flash done: OK");
+        const char *str = "<html><head><meta http-equiv=\"refresh\" content=\"4; url=/\"></head><body>Flash OK, booting</body></html>";
+        sock->send(str, strlen(str));
+    } else {
+        status_printf("Flash done: ERR:%u", unsigned(ok));
     }
 }
 
@@ -457,6 +468,12 @@ void BL_Network::handle_request(SocketAPM *sock)
      */
     char *headers = read_headers(sock);
 
+    const char *header = "HTTP/1.1 200 OK\r\n"
+        "Content-Type: text/html\r\n"
+        "Connection: close\r\n"
+        "\r\n";
+    sock->send(header, strlen(header));
+
     if (strncmp(headers, "POST / ", 7) == 0) {
         const char *clen = "\r\nContent-Length:";
         const char *p = strstr(headers, clen);
@@ -464,23 +481,33 @@ void BL_Network::handle_request(SocketAPM *sock)
             p += strlen(clen);
             const uint32_t content_length = atoi(p);
             handle_post(sock, content_length);
+            delete headers;
+            delete sock;
+            return;
         }
     }
 
-    if (strncmp(headers, "GET /REBOOT", 11) == 0) {
+    /*
+      check for async status
+     */
+    const char *get_status = "GET /bootloader_status.html";
+    if (strncmp(headers, get_status, strlen(get_status)) == 0) {
+        {
+            WITH_SEMAPHORE(status_mtx);
+            sock->send(bl_status, strlen(bl_status));
+        }
+        delete headers;
+        delete sock;
+        return;
+    }
+
+    const char *get_reboot = "GET /REBOOT";
+    if (strncmp(headers, get_reboot, strlen(get_reboot)) == 0) {
         need_reboot = true;
     }
     
     uint32_t size = 0;
-    /*
-      we only need one URL in the bootloader
-    */
-    const char *header = "HTTP/1.1 200 OK\r\n"
-        "Content-Type: text/html\r\n"
-        "Connection: close\r\n"
-        "\r\n";
     const auto *msg = AP_ROMFS::find_decompress("index.html", size);
-    sock->send(header, strlen(header));
     if (need_reboot) {
         const char *str = "<html><head><meta http-equiv=\"refresh\" content=\"2; url=/\"></head></html>";
         sock->send(str, strlen(str));
@@ -490,9 +517,22 @@ void BL_Network::handle_request(SocketAPM *sock)
         delete msg2;
     }
     delete headers;
+    delete sock;
     AP_ROMFS::free(msg);
 }
 
+struct req_context {
+    BL_Network *driver;
+    SocketAPM *sock;
+};
+
+void BL_Network::net_request_trampoline(void *ctx)
+{
+    auto *req = (req_context *)ctx;
+    req->driver->handle_request(req->sock);
+    delete req;
+}
+
 /*
   web server thread
  */
@@ -508,11 +548,23 @@ void BL_Network::web_server(void)
             need_reboot = false;
             NVIC_SystemReset();
         }
+        if (need_launch) {
+            need_launch = false;
+            thread_sleep_ms(1000);
+            jump_to_app();
+        }
         if (sock == nullptr) {
             continue;
         }
-        handle_request(sock);
-        delete sock;
+        // a neq thread for each connection to allow for AJAX
+        auto *req = new req_context;
+        req->driver = this;
+        req->sock = sock;
+        thread_create_alloc(THD_WORKING_AREA_SIZE(2048),
+                            "net_request",
+                            60,
+                            net_request_trampoline,
+                            req);
     }
 }
 
@@ -553,5 +605,17 @@ void BL_Network::save_comms_ip(void)
     }
 }
 
+/*
+  update status message
+ */
+void BL_Network::status_printf(const char *fmt, ...)
+{
+    WITH_SEMAPHORE(status_mtx);
+    va_list ap;
+    va_start(ap, fmt);
+    vsnprintf(bl_status, sizeof(bl_status), fmt, ap);
+    va_end(ap);
+}
+
 #endif // AP_BOOTLOADER_NETWORK_ENABLED
 
diff --git a/Tools/AP_Bootloader/network.h b/Tools/AP_Bootloader/network.h
index 3da28ff132362b..599724e785afdc 100644
--- a/Tools/AP_Bootloader/network.h
+++ b/Tools/AP_Bootloader/network.h
@@ -24,6 +24,7 @@ class BL_Network {
 
     void net_thread(void);
     void web_server(void);
+    static void net_request_trampoline(void *);
     void handle_request(SocketAPM *);
     void handle_post(SocketAPM *, uint32_t content_length);
     char *read_headers(SocketAPM *);
@@ -45,6 +46,11 @@ class BL_Network {
     } addr;
 
     bool need_reboot;
+    bool need_launch;
+    HAL_Semaphore status_mtx;
+    char bl_status[256];
+
+    void status_printf(const char *fmt, ...);
 };
 
 #endif // AP_BOOTLOADER_NETWORK_ENABLED

From f225d797d233641f28baca63a68371f421f1478c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 11:19:49 +1100
Subject: [PATCH 0703/1335] hwdef: use common include for network bootloader

---
 .../hwdef/CubePilot-PPPGW/hwdef-bl.dat        | 21 +++----------------
 .../hwdef/CubeRedPrimary-PPPGW/hwdef-bl.dat   | 21 ++++---------------
 .../hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat        | 15 ++++++-------
 .../hwdef/include/network_bootloader.inc      | 19 +++++++++++++++++
 4 files changed, 32 insertions(+), 44 deletions(-)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/include/network_bootloader.inc

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat
index 23470eeecbd9f8..83e9d53d2fcf35 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat
@@ -14,22 +14,7 @@ PA1  ETH_RMII_REF_CLK   ETH1
 define BOARD_PHY_ID  MII_LAN8720_ID
 define BOARD_PHY_RMII
 
-define CH_CFG_USE_EVENTS 1
-undef CH_CFG_USE_SEMAPHORES
-define CH_CFG_USE_SEMAPHORES 1
-undef CH_CFG_USE_MUTEXES
-define CH_CFG_USE_MUTEXES 1
-undef CH_CFG_USE_HEAP
-define CH_CFG_USE_MEMCORE 1
-define CH_CFG_USE_HEAP 1
-define CH_CFG_USE_REGISTRY 1
-define CH_CFG_USE_DYNAMIC 1
-define CH_CFG_USE_WAITEXIT 1
+include ../include/network_bootloader.inc
 
-define AP_NETWORKING_ENABLED 1
-
-undef SERIAL_ORDER
-SERIAL_ORDER
-
-ROMFS_WILDCARD Tools/AP_Bootloader/Web/*.html
-env ROMFS_UNCOMPRESSED True
+# allow USB bootloader too
+SERIAL_ORDER OTG1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef-bl.dat
index 061cd14624d3e2..b34964db7c6f09 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef-bl.dat
@@ -32,22 +32,9 @@ define BOARD_PHY_RMII
 
 # Refer to https://maclookup.app/vendors/cubepilot-pty-ltd
 # Note, lower 3 bytes (ADDR3,4,5) will be replaced with the platform UUID
-define AP_NETWORKING_DEFAULT_MAC_ADDR "A8:B0:28:00:00:00"
+define AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR "A8:B0:28:00:00:00"
 
-define CH_CFG_USE_EVENTS 1
-undef CH_CFG_USE_SEMAPHORES
-define CH_CFG_USE_SEMAPHORES 1
-define AP_NETWORKING_ENABLED 1
+# allow load from USB too
+SERIAL_ORDER OTG1
 
-define CH_CFG_USE_MEMCORE 1
-define CH_CFG_USE_HEAP 1
-define CH_CFG_USE_MUTEXES 1
-define CH_CFG_USE_DYNAMIC 1
-define CH_CFG_USE_WAITEXIT 1
-define CH_CFG_USE_REGISTRY 1
-
-undef SERIAL_ORDER
-SERIAL_ORDER
-
-ROMFS_WILDCARD Tools/AP_Bootloader/Web/*.html
-env ROMFS_UNCOMPRESSED True
+include ../include/network_bootloader.inc
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat
index b78dd641a87265..77e0825f9e4145 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef-bl.dat
@@ -1,5 +1,9 @@
 include ../Pixhawk6X/hwdef-bl.dat
 
+undef UART7
+undef UART2
+undef UART3
+
 # setup build for a peripheral bootloader
 env AP_PERIPH 1
 
@@ -10,9 +14,6 @@ APJ_BOARD_ID AP_HW_PIXHAWK6X_PERIPH
 PD0  CAN1_RX CAN1
 PD1  CAN1_TX CAN1
 
-PB12 CAN2_RX CAN2
-PB13 CAN2_TX CAN2
-
 PC1 ETH_MDC              ETH1
 PA2 ETH_MDIO             ETH1
 PC4 ETH_RMII_RXD0        ETH1
@@ -28,11 +29,7 @@ PG15 Ethernet_PWR_EN OUTPUT HIGH # disable power on ethernet
 define BOARD_PHY_ID  MII_LAN8742A_ID
 define BOARD_PHY_RMII
 
-define CH_CFG_USE_EVENTS 1
-undef CH_CFG_USE_SEMAPHORES
-define CH_CFG_USE_SEMAPHORES 1
+include ../include/network_bootloader.inc
 
+# allow load from USB
 SERIAL_ORDER OTG1
-
-ROMFS_WILDCARD Tools/AP_Bootloader/Web/*.html
-env ROMFS_UNCOMPRESSED True
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/include/network_bootloader.inc b/libraries/AP_HAL_ChibiOS/hwdef/include/network_bootloader.inc
new file mode 100644
index 00000000000000..4b886896bf20b1
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/include/network_bootloader.inc
@@ -0,0 +1,19 @@
+define CH_CFG_USE_EVENTS 1
+undef CH_CFG_USE_SEMAPHORES
+define CH_CFG_USE_SEMAPHORES 1
+undef CH_CFG_USE_MUTEXES
+define CH_CFG_USE_MUTEXES 1
+undef CH_CFG_USE_HEAP
+define CH_CFG_USE_MEMCORE 1
+define CH_CFG_USE_HEAP 1
+define CH_CFG_USE_REGISTRY 1
+define CH_CFG_USE_DYNAMIC 1
+define CH_CFG_USE_WAITEXIT 1
+
+define AP_NETWORKING_ENABLED 1
+
+ROMFS_WILDCARD Tools/AP_Bootloader/Web/*.html
+env ROMFS_UNCOMPRESSED True
+
+# don't combine sdcard bl and network bl
+undef AP_BOOTLOADER_FLASH_FROM_SD_ENABLED

From b8e14c166f6fc35776bda7f85222069a49cb0cbd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 14:04:12 +1100
Subject: [PATCH 0704/1335] AP_Periph: fixed SITL build

---
 Tools/AP_Periph/can.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 1b65a36b93f9a9..d01fcf9f9be664 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -1356,7 +1356,7 @@ void AP_Periph_FW::node_status_send(void)
         uint8_t buffer[UAVCAN_PROTOCOL_NODESTATUS_MAX_SIZE];
         node_status.uptime_sec = AP_HAL::millis() / 1000U;
 
-        node_status.vendor_specific_status_code = MIN(hal.util->available_memory(), UINT16_MAX);
+        node_status.vendor_specific_status_code = MIN(hal.util->available_memory(), unsigned(UINT16_MAX));
 
         uint32_t len = uavcan_protocol_NodeStatus_encode(&node_status, buffer, !canfdout());
 

From 3a84f35593ca45f5dd2effc30954c2bc0cb35505 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 14:37:01 +1100
Subject: [PATCH 0705/1335] HAL_ChibiOS: support building with no GPIOs

---
 libraries/AP_HAL_ChibiOS/GPIO.cpp             | 29 +++++++++++++++++--
 .../hwdef/scripts/chibios_hwdef.py            | 13 +++++----
 2 files changed, 33 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/GPIO.cpp b/libraries/AP_HAL_ChibiOS/GPIO.cpp
index 93d72a948c3281..f62bd73c27bfd2 100644
--- a/libraries/AP_HAL_ChibiOS/GPIO.cpp
+++ b/libraries/AP_HAL_ChibiOS/GPIO.cpp
@@ -37,9 +37,8 @@ using namespace ChibiOS;
 extern AP_IOMCU iomcu;
 #endif
 
-
 // GPIO pin table from hwdef.dat
-static struct gpio_entry {
+struct gpio_entry {
     uint8_t pin_num;
     bool enabled;
     uint8_t pwm_num;
@@ -51,13 +50,22 @@ static struct gpio_entry {
     uint16_t isr_quota;
     uint8_t isr_disabled_ticks;
     AP_HAL::GPIO::INTERRUPT_TRIGGER_TYPE isr_mode;
-} _gpio_tab[] = HAL_GPIO_PINS;
+};
+
+#ifdef HAL_GPIO_PINS
+#define HAVE_GPIO_PINS 1
+static struct gpio_entry _gpio_tab[] = HAL_GPIO_PINS;
+#else
+#define HAVE_GPIO_PINS 0
+#endif
+
 
 /*
   map a user pin number to a GPIO table entry
  */
 static struct gpio_entry *gpio_by_pin_num(uint8_t pin_num, bool check_enabled=true)
 {
+#if HAVE_GPIO_PINS
     for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
         const auto &t = _gpio_tab[i];
         if (pin_num == t.pin_num) {
@@ -67,6 +75,7 @@ static struct gpio_entry *gpio_by_pin_num(uint8_t pin_num, bool check_enabled=tr
             return &_gpio_tab[i];
         }
     }
+#endif
     return NULL;
 }
 
@@ -79,7 +88,9 @@ GPIO::GPIO()
 void GPIO::init()
 {
 #if !APM_BUILD_TYPE(APM_BUILD_iofirmware) && !defined(HAL_BOOTLOADER_BUILD)
+#if HAL_WITH_IO_MCU || HAVE_GPIO_PINS
     uint8_t chan_offset = 0;
+#endif
 #if HAL_WITH_IO_MCU
     if (AP_BoardConfig::io_enabled()) {
         uint8_t GPIO_mask = 0;
@@ -93,12 +104,14 @@ void GPIO::init()
     }
 #endif
     // auto-disable pins being used for PWM output
+#if HAVE_GPIO_PINS
     for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
         struct gpio_entry *g = &_gpio_tab[i];
         if (g->pwm_num != 0) {
             g->enabled = SRV_Channels::is_GPIO((g->pwm_num-1)+chan_offset);
         }
     }
+#endif // HAVE_GPIO_PINS
 #endif // HAL_BOOTLOADER_BUILD
 #ifdef HAL_PIN_ALT_CONFIG
     setup_alt_config();
@@ -139,6 +152,7 @@ void GPIO::setup_alt_config(void)
         if (alt_config == alt.alternate) {
             if (alt.periph_type == PERIPH_TYPE::GPIO) {
                 // enable pin in GPIO table
+#if HAVE_GPIO_PINS
                 for (uint8_t j=0; j<ARRAY_SIZE(_gpio_tab); j++) {
                     struct gpio_entry *g = &_gpio_tab[j];
                     if (g->pal_line == alt.line) {
@@ -146,6 +160,7 @@ void GPIO::setup_alt_config(void)
                         break;
                     }
                 }
+#endif // HAVE_GPIO_PINS
                 continue;
             }
             const iomode_t mode = alt.mode & ~PAL_STM32_HIGH;
@@ -523,7 +538,9 @@ bool GPIO::valid_pin(uint8_t pin) const
 // servo_ch uses zero-based indexing
 bool GPIO::pin_to_servo_channel(uint8_t pin, uint8_t& servo_ch) const
 {
+#if HAL_WITH_IO_MCU || HAVE_GPIO_PINS
     uint8_t fmu_chan_offset = 0;
+#endif
 #if HAL_WITH_IO_MCU
     if (AP_BoardConfig::io_enabled()) {
         // check if this is one of the main pins
@@ -537,6 +554,7 @@ bool GPIO::pin_to_servo_channel(uint8_t pin, uint8_t& servo_ch) const
     }
 #endif
 
+#if HAVE_GPIO_PINS
     // search _gpio_tab for matching pin
     for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
         if (_gpio_tab[i].pin_num == pin) {
@@ -547,6 +565,7 @@ bool GPIO::pin_to_servo_channel(uint8_t pin, uint8_t& servo_ch) const
             return true;
         }
     }
+#endif // HAVE_GPIO_PINS
     return false;
 }
 
@@ -581,6 +600,7 @@ void GPIO::timer_tick()
 {
     // allow 100k interrupts/second max for GPIO interrupt sources, which is
     // 10k per 100ms call to timer_tick()
+#if HAVE_GPIO_PINS
     const uint16_t quota = 10000U;
     for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
         if (_gpio_tab[i].isr_quota != 1) {
@@ -628,17 +648,20 @@ void GPIO::timer_tick()
             }
         }
     }
+#endif // HAVE_GPIO_PINS
 }
 
 // Check for ISR floods
 bool GPIO::arming_checks(size_t buflen, char *buffer) const
 {
+#if HAVE_GPIO_PINS
     for (uint8_t i=0; i<ARRAY_SIZE(_gpio_tab); i++) {
         if (_gpio_tab[i].isr_disabled_ticks != 0) {
             hal.util->snprintf(buffer, buflen, "Pin %u disabled (ISR flood)", _gpio_tab[i].pin_num);
             return false;
         }
     }
+#endif // HAVE_GPIO_PINS
     return true;
 }
 #endif // IOMCU_FW
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 2a4b3e1abae5d9..26d14b190536f0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -2383,12 +2383,13 @@ def write_GPIO_config(self, f):
         gpios = sorted(gpios)
         for (gpio, pwm, port, pin, p, enabled) in gpios:
             f.write('#define HAL_GPIO_LINE_GPIO%u PAL_LINE(GPIO%s,%uU)\n' % (gpio, port, pin))
-        f.write('#define HAL_GPIO_PINS { \\\n')
-        for (gpio, pwm, port, pin, p, enabled) in gpios:
-            f.write('{ %3u, %s, %2u, PAL_LINE(GPIO%s,%uU)}, /* %s */ \\\n' %
-                    (gpio, enabled, pwm, port, pin, p))
-        # and write #defines for use by config code
-        f.write('}\n\n')
+        if len(gpios) > 0:
+            f.write('#define HAL_GPIO_PINS { \\\n')
+            for (gpio, pwm, port, pin, p, enabled) in gpios:
+                f.write('{ %3u, %s, %2u, PAL_LINE(GPIO%s,%uU)}, /* %s */ \\\n' %
+                        (gpio, enabled, pwm, port, pin, p))
+            # and write #defines for use by config code
+            f.write('}\n\n')
         f.write('// full pin define list\n')
         last_label = None
         for label in sorted(list(set(self.bylabel.keys()))):

From 286b52e2cd8a71dabe7026b49be141396d547bd5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 16:34:39 +1100
Subject: [PATCH 0706/1335] AP_Bootloader: added bl network status to CAN

---
 Tools/AP_Bootloader/network.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/Tools/AP_Bootloader/network.cpp b/Tools/AP_Bootloader/network.cpp
index 2139203ce20230..af1b9d94a0f8d3 100644
--- a/Tools/AP_Bootloader/network.cpp
+++ b/Tools/AP_Bootloader/network.cpp
@@ -422,6 +422,7 @@ void BL_Network::handle_post(SocketAPM *sock, uint32_t content_length)
     content_length &= ~3;
 
     const uint32_t max_ofs = MIN(BOARD_FLASH_SIZE*1024, content_length);
+    uint8_t last_pct = 0;
     while (ofs < max_ofs) {
         const uint32_t needed = MIN(sizeof(buf), max_ofs-ofs);
         auto n = sock->recv((void*)buf, needed, 10000);
@@ -438,7 +439,10 @@ void BL_Network::handle_post(SocketAPM *sock, uint32_t content_length)
         flash_write_buffer(ofs, buf, n/4);
         ofs += n;
         uint8_t pct = ofs*100/max_ofs;
-        status_printf("Flashing %u%%", unsigned(pct));
+        if (pct % 10 == 0 && last_pct != pct) {
+            last_pct = pct;
+            status_printf("Flashing %u%%", unsigned(pct));
+        }
     }
     if (ofs % 32 != 0) {
         // pad to 32 bytes
@@ -615,6 +619,7 @@ void BL_Network::status_printf(const char *fmt, ...)
     va_start(ap, fmt);
     vsnprintf(bl_status, sizeof(bl_status), fmt, ap);
     va_end(ap);
+    can_printf("%s", bl_status);
 }
 
 #endif // AP_BOOTLOADER_NETWORK_ENABLED

From 1bf1689f2fc218ea3f629af2c0aba154050a48fc Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 16:47:08 +1100
Subject: [PATCH 0707/1335] AP_Bootloader: only erase the number of sectors we
 need

---
 Tools/AP_Bootloader/network.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/Tools/AP_Bootloader/network.cpp b/Tools/AP_Bootloader/network.cpp
index af1b9d94a0f8d3..6731ca875dbecb 100644
--- a/Tools/AP_Bootloader/network.cpp
+++ b/Tools/AP_Bootloader/network.cpp
@@ -28,6 +28,7 @@
 #include "can.h"
 #include <stdio.h>
 #include <stdarg.h>
+#include <AP_HAL_ChibiOS/hwdef/common/flash.h>
 
 #ifndef AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR
 #define AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR "C2:AF:51:03:CF:46"
@@ -411,6 +412,9 @@ void BL_Network::handle_post(SocketAPM *sock, uint32_t content_length)
     while (flash_func_erase_sector(sec)) {
         thread_sleep_ms(10);
         sec++;
+        if (stm32_flash_getpageaddr(sec) - stm32_flash_getpageaddr(0) >= content_length) {
+            break;
+        }
     }
     /*
       receive file and write to flash

From 855a5d28c016cc7a4d2fe662df959da1e7c42224 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 19:38:42 +1100
Subject: [PATCH 0708/1335] hwdef: use a common PPPGW include

and fixed missing RTC bindings in web server
---
 .../hwdef/CubePilot-PPPGW/hwdef.dat           | 20 +---------------
 .../hwdef/CubeRedPrimary-PPPGW/hwdef.dat      | 24 +------------------
 .../hwdef/Pixhawk6X-PPPGW/hwdef.dat           | 23 +-----------------
 .../hwdef/include/network_PPPGW.inc           | 21 ++++++++++++++++
 4 files changed, 24 insertions(+), 64 deletions(-)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/include/network_PPPGW.inc

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat
index 630087bb60c3e7..70c50244fd8ef4 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat
@@ -14,22 +14,4 @@ PD14 UART8_CTS UART8
 
 SERIAL_ORDER OTG1 UART8
 
-undef AP_RC_CHANNEL_ENABLED
-define AP_RC_CHANNEL_ENABLED 0
-
-define HAL_PERIPH_ENABLE_SERIAL_OPTIONS
-define AP_NETWORKING_BACKEND_PPP 1
-
-define AP_PERIPH_NET_PPP_PORT_DEFAULT 1
-define AP_PERIPH_NET_PPP_BAUD_DEFAULT 12500000
-
-// add scripting for web interface
-define AP_SCRIPTING_ENABLED 1
-
-// ROMFS filesystem only
-define AP_FILESYSTEM_ROMFS_ENABLED 1
-
-// allow scripts to add parameters
-define AP_PARAM_DYNAMIC_ENABLED 1
-
-ROMFS_DIRECTORY Tools/AP_Periph/Web
+include ../include/network_PPPGW.inc
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat
index 1c0143664b0a8d..b718f762d545fe 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat
@@ -35,31 +35,9 @@ define HAL_NO_RCIN_THREAD
 define HAL_GPIO_PIN_LED HAL_GPIO_PIN_FMU_LED_AMBER
 
 undef HAL_OS_FATFS_IO
-
 undef SDMMC1
 
 MAIN_STACK 0x2000
 PROCESS_STACK 0x6000
 
-define HAL_CAN_DRIVER_DEFAULT 1
-
-# listen for reboot command from uploader.py script
-# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
-define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
-
-// use main fw bootloader
-define AP_BOOTLOADER_FLASHING_ENABLED 0
-
-define AP_PERIPH_NET_PPP_PORT_DEFAULT 1
-define AP_PERIPH_NET_PPP_BAUD_DEFAULT 12500000
-
-// add scripting for web interface
-define AP_SCRIPTING_ENABLED 1
-
-// ROMFS filesystem only
-define AP_FILESYSTEM_ROMFS_ENABLED 1
-
-// allow scripts to add parameters
-define AP_PARAM_DYNAMIC_ENABLED 1
-
-ROMFS_DIRECTORY Tools/AP_Periph/Web
+include ../include/network_PPPGW.inc
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
index d49206568c65e9..f2db5f603874f5 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
@@ -42,25 +42,4 @@ undef SDMMC1
 MAIN_STACK 0x2000
 PROCESS_STACK 0x6000
 
-define HAL_CAN_DRIVER_DEFAULT 1
-
-# listen for reboot command from uploader.py script
-# undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
-define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
-
-// use main fw bootloader
-define AP_BOOTLOADER_FLASHING_ENABLED 0
-
-define AP_PERIPH_NET_PPP_PORT_DEFAULT 1
-define AP_PERIPH_NET_PPP_BAUD_DEFAULT 12500000
-
-// add scripting for web interface
-define AP_SCRIPTING_ENABLED 1
-
-// ROMFS filesystem only
-define AP_FILESYSTEM_ROMFS_ENABLED 1
-
-// allow scripts to add parameters
-define AP_PARAM_DYNAMIC_ENABLED 1
-
-ROMFS_DIRECTORY Tools/AP_Periph/Web
+include ../include/network_PPPGW.inc
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/include/network_PPPGW.inc b/libraries/AP_HAL_ChibiOS/hwdef/include/network_PPPGW.inc
new file mode 100644
index 00000000000000..a0188bc94fc6bd
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/include/network_PPPGW.inc
@@ -0,0 +1,21 @@
+undef AP_RC_CHANNEL_ENABLED
+define AP_RC_CHANNEL_ENABLED 0
+
+define HAL_PERIPH_ENABLE_RTC
+
+define HAL_PERIPH_ENABLE_SERIAL_OPTIONS
+define AP_NETWORKING_BACKEND_PPP 1
+
+define AP_PERIPH_NET_PPP_PORT_DEFAULT 1
+define AP_PERIPH_NET_PPP_BAUD_DEFAULT 12500000
+
+// add scripting for web interface
+define AP_SCRIPTING_ENABLED 1
+
+// ROMFS filesystem only
+define AP_FILESYSTEM_ROMFS_ENABLED 1
+
+// allow scripts to add parameters
+define AP_PARAM_DYNAMIC_ENABLED 1
+
+ROMFS_DIRECTORY Tools/AP_Periph/Web

From 335ed9ebf1356f681ce3f871c9cb6f54508de27b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 17 Jan 2024 19:47:53 +1100
Subject: [PATCH 0709/1335] AP_Bootloader: save a few bytes of flash

---
 Tools/AP_Bootloader/AP_Bootloader.cpp | 2 ++
 Tools/AP_Bootloader/can.cpp           | 3 ++-
 Tools/AP_Bootloader/network.cpp       | 3 ++-
 Tools/AP_Bootloader/support.cpp       | 3 ---
 4 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/Tools/AP_Bootloader/AP_Bootloader.cpp b/Tools/AP_Bootloader/AP_Bootloader.cpp
index 7f9964d3b24f2d..da268f948f6249 100644
--- a/Tools/AP_Bootloader/AP_Bootloader.cpp
+++ b/Tools/AP_Bootloader/AP_Bootloader.cpp
@@ -68,7 +68,9 @@ static BL_Network network;
 
 int main(void)
 {
+#ifdef AP_BOOTLOADER_CUSTOM_HERE4
     custom_startup();
+#endif
 
     flash_init();
 
diff --git a/Tools/AP_Bootloader/can.cpp b/Tools/AP_Bootloader/can.cpp
index 3f9947d7b4bf76..ad92aa41e7a930 100644
--- a/Tools/AP_Bootloader/can.cpp
+++ b/Tools/AP_Bootloader/can.cpp
@@ -750,8 +750,9 @@ bool can_check_update(void)
             fw_update.reads[i].offset = i*sizeof(uavcan_protocol_file_ReadResponse::data.data);
         }
         memcpy(fw_update.path, comms->path, sizeof(uavcan_protocol_file_Path::path.data)+1);
-        memset(comms, 0, sizeof(*comms));
         ret = true;
+        // clear comms region
+        memset(comms, 0, sizeof(struct app_bootloader_comms));
     }
 #endif
 #if defined(CAN1_BASE) && defined(RCC_APB1ENR_CAN1EN)
diff --git a/Tools/AP_Bootloader/network.cpp b/Tools/AP_Bootloader/network.cpp
index 6731ca875dbecb..334d297f18d2c9 100644
--- a/Tools/AP_Bootloader/network.cpp
+++ b/Tools/AP_Bootloader/network.cpp
@@ -409,7 +409,8 @@ void BL_Network::handle_post(SocketAPM *sock, uint32_t content_length)
     status_printf("Erasing ...");
     flash_set_keep_unlocked(true);
     uint32_t sec=0;
-    while (flash_func_erase_sector(sec)) {
+    while (flash_func_sector_size(sec) != 0 &&
+           flash_func_erase_sector(sec)) {
         thread_sleep_ms(10);
         sec++;
         if (stm32_flash_getpageaddr(sec) - stm32_flash_getpageaddr(0) >= content_length) {
diff --git a/Tools/AP_Bootloader/support.cpp b/Tools/AP_Bootloader/support.cpp
index 7f75e68494f7f8..0954f7b753f369 100644
--- a/Tools/AP_Bootloader/support.cpp
+++ b/Tools/AP_Bootloader/support.cpp
@@ -150,9 +150,6 @@ bool flash_func_is_erased(uint32_t sector)
 
 bool flash_func_erase_sector(uint32_t sector, bool force_erase)
 {
-    if (sector >= num_pages) {
-        return false;
-    }
 #if AP_BOOTLOADER_ALWAYS_ERASE
     return stm32_flash_erasepage(flash_base_page+sector);
 #else

From ae031c4f3f9773cbf8ca37955578b83acf376c2f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 10:42:47 +1100
Subject: [PATCH 0710/1335] AP_Bootloader: prevent external flash in DroneCAN
 bootloader

---
 Tools/AP_Bootloader/can.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/Tools/AP_Bootloader/can.cpp b/Tools/AP_Bootloader/can.cpp
index ad92aa41e7a930..0026ffc9c5bbc5 100644
--- a/Tools/AP_Bootloader/can.cpp
+++ b/Tools/AP_Bootloader/can.cpp
@@ -63,6 +63,10 @@ static ChibiOS::CANIface can_iface[HAL_NUM_CAN_IFACES];
 #define CAN_APP_NODE_NAME "org.ardupilot." CHIBIOS_BOARD_NAME
 #endif
 
+#ifdef EXT_FLASH_SIZE_MB
+static_assert(EXT_FLASH_SIZE_MB == 0, "DroneCAN bootloader cannot support external flash");
+#endif
+
 static uint8_t node_id_allocation_transfer_id;
 static uavcan_protocol_NodeStatus node_status;
 static uint32_t send_next_node_id_allocation_request_at_ms;

From 9bf5842ab27a87ca75d4cb642eadc3d8c5a30982 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Jan 2024 07:20:54 +1100
Subject: [PATCH 0711/1335] AP_Bootloader: rename web request thread

---
 Tools/AP_Bootloader/network.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Tools/AP_Bootloader/network.cpp b/Tools/AP_Bootloader/network.cpp
index 334d297f18d2c9..3cacc529c2699a 100644
--- a/Tools/AP_Bootloader/network.cpp
+++ b/Tools/AP_Bootloader/network.cpp
@@ -565,12 +565,12 @@ void BL_Network::web_server(void)
         if (sock == nullptr) {
             continue;
         }
-        // a neq thread for each connection to allow for AJAX
+        // a new thread for each connection to allow for AJAX
         auto *req = new req_context;
         req->driver = this;
         req->sock = sock;
         thread_create_alloc(THD_WORKING_AREA_SIZE(2048),
-                            "net_request",
+                            "web_request",
                             60,
                             net_request_trampoline,
                             req);

From 9bb29aec36d3cf01117024397aefb5a419364550 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 10:43:11 +1100
Subject: [PATCH 0712/1335] AP_Periph: ensure no external flash in periph

bootloader protocol cannot support it in its current form
---
 Tools/AP_Periph/can.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index d01fcf9f9be664..3bd020cd2ff8e0 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -148,6 +148,10 @@ HALSITL::CANIface* AP_Periph_FW::can_iface_periph[HAL_NUM_CAN_IFACES];
 SLCAN::CANIface AP_Periph_FW::slcan_interface;
 #endif
 
+#ifdef EXT_FLASH_SIZE_MB
+static_assert(EXT_FLASH_SIZE_MB == 0, "DroneCAN bootloader cannot support external flash");
+#endif
+
 /*
  * Node status variables
  */

From b49a7da32aedb38fac160e533b86ccfc8c46b050 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 10:45:59 +1100
Subject: [PATCH 0713/1335] hwdef: disable use of external flash in PPPGW

we cannot upload new firmware on CAN or network with external flash
---
 libraries/AP_HAL_ChibiOS/hwdef/include/network_PPPGW.inc      | 3 +++
 libraries/AP_HAL_ChibiOS/hwdef/include/network_bootloader.inc | 3 +++
 2 files changed, 6 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/include/network_PPPGW.inc b/libraries/AP_HAL_ChibiOS/hwdef/include/network_PPPGW.inc
index a0188bc94fc6bd..c49bfa387cc845 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/include/network_PPPGW.inc
+++ b/libraries/AP_HAL_ChibiOS/hwdef/include/network_PPPGW.inc
@@ -19,3 +19,6 @@ define AP_FILESYSTEM_ROMFS_ENABLED 1
 define AP_PARAM_DYNAMIC_ENABLED 1
 
 ROMFS_DIRECTORY Tools/AP_Periph/Web
+
+# we don't want to use external flash with network bootloader
+EXT_FLASH_SIZE_MB 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/include/network_bootloader.inc b/libraries/AP_HAL_ChibiOS/hwdef/include/network_bootloader.inc
index 4b886896bf20b1..67dbc2df6366c0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/include/network_bootloader.inc
+++ b/libraries/AP_HAL_ChibiOS/hwdef/include/network_bootloader.inc
@@ -15,5 +15,8 @@ define AP_NETWORKING_ENABLED 1
 ROMFS_WILDCARD Tools/AP_Bootloader/Web/*.html
 env ROMFS_UNCOMPRESSED True
 
+# we don't want to use external flash with network bootloader
+EXT_FLASH_SIZE_MB 0
+
 # don't combine sdcard bl and network bl
 undef AP_BOOTLOADER_FLASH_FROM_SD_ENABLED

From 3e35773c8a15675b4b54fb25a0d289aa934ba0ab Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 10:47:08 +1100
Subject: [PATCH 0714/1335] Tools: added bootloader for PPPGW targets

---
 Tools/bootloaders/CubePilot-PPPGW_bl.bin      | Bin 31136 -> 90532 bytes
 Tools/bootloaders/CubeRedPrimary-PPPGW_bl.bin | Bin 0 -> 92968 bytes
 Tools/bootloaders/Pixhawk6X-PPPGW_bl.bin      | Bin 0 -> 93756 bytes
 3 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100755 Tools/bootloaders/CubeRedPrimary-PPPGW_bl.bin
 create mode 100755 Tools/bootloaders/Pixhawk6X-PPPGW_bl.bin

diff --git a/Tools/bootloaders/CubePilot-PPPGW_bl.bin b/Tools/bootloaders/CubePilot-PPPGW_bl.bin
index 91f4c3cc91a6b3842fcb15d271b8db7cc55d87c8..024aaaa4e7f85796681d1e0115a6abd084683b32 100755
GIT binary patch
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diff --git a/Tools/bootloaders/Pixhawk6X-PPPGW_bl.bin b/Tools/bootloaders/Pixhawk6X-PPPGW_bl.bin
new file mode 100755
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HcmV?d00001


From 5e7b211b79e9ec24db81941aebb488dcd4d1cb30 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Jan 2024 07:52:07 +1100
Subject: [PATCH 0715/1335] HAL_ChibiOS: moved M4 disable into H757 script

this fixes assert checking in the bootloader and for boards other than
CubeRedPrimary
---
 libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat | 4 ----
 libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H757xx.py   | 3 +++
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat
index 76d2add5d96cb1..95690d23169b21 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary/hwdef.dat
@@ -46,10 +46,6 @@ CANFD_SUPPORTED 8
 
 STM32_ST_USE_TIMER 12
 
-# disable core m4 use to silence the asserts
-# checking allocation of peripherals
-define STM32_HAS_M4 0
-
 define CH_CFG_ST_RESOLUTION 16
 
 # use last 2 pages for flash storage
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H757xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H757xx.py
index f781463e298cb9..d849d07aedff84 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H757xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H757xx.py
@@ -71,6 +71,9 @@
         'HAL_HAVE_HARDWARE_DOUBLE' : '1',
         'HAL_WITH_MCU_MONITORING' : '1',
         'STM32H7' : '1',
+        # disable core m4 use to silence the asserts
+        # checking allocation of peripherals
+        'STM32_HAS_M4' : '0',
     }
 }
 

From f7c7ee00e989bdbe170aeedcd228de3800b19cc1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Jan 2024 07:52:43 +1100
Subject: [PATCH 0716/1335] HAL_ChibiOS: added a delete_next thread field for
 cleanup

allows for cleanup of web server threads in bootloader
---
 libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h                | 2 ++
 libraries/AP_HAL_ChibiOS/hwdef/include/network_bootloader.inc | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h
index f673dcc4b93f63..d71f13ea412b79 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h
@@ -708,8 +708,10 @@ extern "C" {
  * @brief   Threads descriptor structure extension.
  * @details User fields added to the end of the @p thread_t structure.
  */
+#ifndef CH_CFG_THREAD_EXTRA_FIELDS
 #define CH_CFG_THREAD_EXTRA_FIELDS                                          \
   /* Add threads custom fields here.*/
+#endif
 
 /**
  * @brief   Threads initialization hook.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/include/network_bootloader.inc b/libraries/AP_HAL_ChibiOS/hwdef/include/network_bootloader.inc
index 67dbc2df6366c0..0703f3397a7f61 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/include/network_bootloader.inc
+++ b/libraries/AP_HAL_ChibiOS/hwdef/include/network_bootloader.inc
@@ -20,3 +20,5 @@ EXT_FLASH_SIZE_MB 0
 
 # don't combine sdcard bl and network bl
 undef AP_BOOTLOADER_FLASH_FROM_SD_ENABLED
+
+define CH_CFG_THREAD_EXTRA_FIELDS struct ch_thread *delete_next;

From 2f71e023db36975cbcd24e8ba8c7a94eb9de6942 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Jan 2024 07:53:00 +1100
Subject: [PATCH 0717/1335] AP_Bootloader: added cleanup of web server threads

---
 Tools/AP_Bootloader/network.cpp | 15 +++++++++++++++
 Tools/AP_Bootloader/network.h   |  3 +++
 2 files changed, 18 insertions(+)

diff --git a/Tools/AP_Bootloader/network.cpp b/Tools/AP_Bootloader/network.cpp
index 3cacc529c2699a..2a78b199a96047 100644
--- a/Tools/AP_Bootloader/network.cpp
+++ b/Tools/AP_Bootloader/network.cpp
@@ -539,7 +539,14 @@ void BL_Network::net_request_trampoline(void *ctx)
 {
     auto *req = (req_context *)ctx;
     req->driver->handle_request(req->sock);
+
+    auto *driver = req->driver;
+    auto *thd = chThdGetSelfX();
     delete req;
+
+    WITH_SEMAPHORE(driver->web_delete_mtx);
+    thd->delete_next = driver->web_delete_list;
+    driver->web_delete_list = thd;
 }
 
 /*
@@ -574,6 +581,14 @@ void BL_Network::web_server(void)
                             60,
                             net_request_trampoline,
                             req);
+
+        // cleanup any finished threads
+        WITH_SEMAPHORE(web_delete_mtx);
+        while (web_delete_list != nullptr) {
+            auto *thd = web_delete_list;
+            web_delete_list = thd->delete_next;
+            chThdRelease(thd);
+        }
     }
 }
 
diff --git a/Tools/AP_Bootloader/network.h b/Tools/AP_Bootloader/network.h
index 599724e785afdc..f7f55eebebd52b 100644
--- a/Tools/AP_Bootloader/network.h
+++ b/Tools/AP_Bootloader/network.h
@@ -19,6 +19,9 @@ class BL_Network {
     struct netif *thisif;
     thread_t *net_thread_ctx;
 
+    HAL_Semaphore web_delete_mtx;
+    thread_t *web_delete_list;
+
     static void net_thread_trampoline(void*);
     static void web_server_trampoline(void*);
 

From f7f9fda6a73eeeedf4d0d3785072cd29b9deedd2 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Thu, 11 Jan 2024 16:45:56 -0600
Subject: [PATCH 0718/1335] Plane:expand description of AUTOTUNE_OPTIONS

---
 ArduPlane/Parameters.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index fc651b1db717b2..ab52e5103d9d01 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -41,9 +41,9 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: AUTOTUNE_OPTIONS
     // @DisplayName: Autotune options bitmask
-    // @Description: Autotune specific options
-    // @Bitmask: 0: Disable FLTD update
-    // @Bitmask: 1: Disable FLTT update
+    // @Description: Fixed Wing Autotune specific options. Useful on QuadPlanes with higher INS_GYRO_FILTER settings to prevent these filter values from being set too agressively during Fixed Wing Autotune.
+    // @Bitmask: 0: Disable FLTD update by Autotune
+    // @Bitmask: 1: Disable FLTT update by Autotune
     // @User: Advanced
     ASCALAR(autotune_options, "AUTOTUNE_OPTIONS",  0),
 

From 8be6f1b57ed84eef1de1251d266518a41a648f6f Mon Sep 17 00:00:00 2001
From: MallikarjunSE <mallik2m@gmail.com>
Date: Sat, 20 Jan 2024 09:43:46 +0530
Subject: [PATCH 0719/1335] Tools: add TrueNavIC bootloader

---
 Tools/bootloaders/Sierra-TrueNavIC_bl.bin |  Bin 0 -> 17732 bytes
 Tools/bootloaders/Sierra-TrueNavIC_bl.hex | 1111 +++++++++++++++++++++
 2 files changed, 1111 insertions(+)
 create mode 100755 Tools/bootloaders/Sierra-TrueNavIC_bl.bin
 create mode 100644 Tools/bootloaders/Sierra-TrueNavIC_bl.hex

diff --git a/Tools/bootloaders/Sierra-TrueNavIC_bl.bin b/Tools/bootloaders/Sierra-TrueNavIC_bl.bin
new file mode 100755
index 0000000000000000000000000000000000000000..f4cbd81f201bb8ac4d662d411db300f4cd16a322
GIT binary patch
literal 17732
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diff --git a/Tools/bootloaders/Sierra-TrueNavIC_bl.hex b/Tools/bootloaders/Sierra-TrueNavIC_bl.hex
new file mode 100644
index 00000000000000..cc08da520c12ab
--- /dev/null
+++ b/Tools/bootloaders/Sierra-TrueNavIC_bl.hex
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From 6231a5edfdd75156c348e8c70f77be4cfc667079 Mon Sep 17 00:00:00 2001
From: MallikarjunSE <mallik2m@gmail.com>
Date: Sat, 20 Jan 2024 09:45:06 +0530
Subject: [PATCH 0720/1335] AP_HAL_ChibiOS: add TrueNavIC hwdef

---
 .../hwdef/Sierra-TrueNavIC/hwdef-bl.dat       |  59 +++++++++
 .../hwdef/Sierra-TrueNavIC/hwdef.dat          | 122 ++++++++++++++++++
 2 files changed, 181 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef-bl.dat
new file mode 100644
index 00000000000000..1aa76a1ff8c158
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef-bl.dat
@@ -0,0 +1,59 @@
+# HW definition file for Sierra-TrueNavIC
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 5302
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# Flash info
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 36
+FLASH_SIZE_KB 256
+
+# reserve some space for params
+APP_START_OFFSET_KB 4
+
+# a fault LED
+PA1 LED_BOOTLOADER OUTPUT LOW # amber
+define HAL_LED_ON 1
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PB1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB6 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
+
+CAN_ORDER 1
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a small bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 1000
+
+define HAL_USE_SERIAL FALSE
+define HAL_NO_GPIO_IRQ
+define HAL_USE_EMPTY_IO TRUE
+define PORT_INT_REQUIRED_STACK 64
+define DMA_RESERVE_SIZE 0
+
+MAIN_STACK 0x800
+PROCESS_STACK 0x800
+
+define HAL_DISABLE_LOOP_DELAY
+
+# Add CS pins to ensure they are high in bootloader
+PA8 BARO_CS CS
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNavIC"
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
new file mode 100644
index 00000000000000..0b831e7e905031
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
@@ -0,0 +1,122 @@
+# HW definition file for Sierra-TrueNavIC
+
+# MCU class and specific type
+MCU STM32L431 STM32L431xx
+
+# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
+FLASH_RESERVE_START_KB 40
+FLASH_SIZE_KB 256
+
+# store parameters in pages 18 and 19
+STORAGE_FLASH_PAGE 18
+define HAL_STORAGE_SIZE 800
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 15
+define CH_CFG_ST_RESOLUTION 16
+
+# board ID for firmware load
+APJ_BOARD_ID 5302
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+env AP_PERIPH 1
+
+define HAL_NO_GPIO_IRQ
+define SERIAL_BUFFERS_SIZE 512
+define PORT_INT_REQUIRED_STACK 64
+
+define DMA_RESERVE_SIZE 0
+
+# MAIN_STACK is stack for ISR handlers
+MAIN_STACK 0x300
+
+# PROCESS_STACK controls stack for main thread
+PROCESS_STACK 0xA00
+
+# save memory
+define HAL_DISABLE_LOOP_DELAY
+define HAL_GCS_ENABLED 0
+define HAL_NO_MONITOR_THREAD
+define HAL_NO_LOGGING
+define HAL_USE_ADC FALSE
+define HAL_NO_RCIN_THREAD
+
+# we setup a small defaults.parm
+define AP_PARAM_MAX_EMBEDDED_PARAM 256
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# --------------------- SPI1 RM3100+DPS310 -----------------------
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PA8 BARO_CS CS
+
+# Baro probe
+SPIDEV dps310 SPI1 DEVID3 BARO_CS MODE3 5*MHZ 5*MHZ
+BARO DPS310 SPI:dps310
+
+# QMC5883L on I2C2
+I2C_ORDER I2C2
+
+PB13 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+define HAL_I2C_CLEAR_ON_TIMEOUT 0
+define HAL_I2C_INTERNAL_MASK 1
+COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
+
+# ---------------------- CAN bus -------------------------
+CAN_ORDER 1
+
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PB1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PB6 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
+
+define HAL_CAN_POOL_SIZE 12000
+
+# ---------------------- UARTs ---------------------------
+SERIAL_ORDER EMPTY USART1
+
+# USART1 for GPS
+PA9  USART1_TX USART1 SPEED_HIGH
+PA10  USART1_RX USART1 SPEED_HIGH
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True
+
+# enable GPS and compass
+define HAL_PERIPH_ENABLE_GPS
+define GPS_MAX_RATE_MS 200
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_BARO
+
+# disable dual GPS and GPS blending to save flash space
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+define HAL_COMPASS_MAX_SENSORS 1
+define BARO_MAX_INSTANCES 1
+define HAL_PERIPH_GPS_PORT_DEFAULT 1
+
+# GPS PPS
+# PA15 GPS_PPS_IN INPUT FLOATING
+
+# PWM, WS2812 LED
+# PB10 TIM2_CH3 TIM2 PWM(1)
+
+define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNavIC"
+
+# Enable GPS LDO
+PC13 VDD_3V3_SENSORS_EN OUTPUT HIGH
+
+# do direct neopixel LED output to enable the 'rainbow' effect on startup
+define HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY 0
+define HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY 8
+define DEFAULT_NTF_LED_TYPES 455
+# PA1 LED OUTPUT LOW GPIO(1)

From 101bc7c3a7b4f4a5dbe3e946fea54c14c8ffbde6 Mon Sep 17 00:00:00 2001
From: MallikarjunSE <mallik2m@gmail.com>
Date: Sun, 21 Jan 2024 00:08:54 +0530
Subject: [PATCH 0721/1335] Tools: Add TrueNavPro-G4 bootloader

---
 Tools/bootloaders/Sierra-TrueNavPro-G4_bl.bin |  Bin 0 -> 18276 bytes
 Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex | 1145 +++++++++++++++++
 2 files changed, 1145 insertions(+)
 create mode 100755 Tools/bootloaders/Sierra-TrueNavPro-G4_bl.bin
 create mode 100644 Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex

diff --git a/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.bin b/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.bin
new file mode 100755
index 0000000000000000000000000000000000000000..628100d66be528738536bb8f48ebd84066f01c87
GIT binary patch
literal 18276
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diff --git a/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex b/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex
new file mode 100644
index 00000000000000..a252f716cf17ca
--- /dev/null
+++ b/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex
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From f71fc58767ab091edc96f60cef3495a2242e66ef Mon Sep 17 00:00:00 2001
From: MallikarjunSE <mallik2m@gmail.com>
Date: Sun, 21 Jan 2024 00:10:13 +0530
Subject: [PATCH 0722/1335] AP_HAL_ChibiOS: Add hwdef for TrueNavPro-G4

---
 .../hwdef/Sierra-TrueNavPro-G4/hwdef-bl.dat   |  56 +++++++++
 .../hwdef/Sierra-TrueNavPro-G4/hwdef.dat      | 111 ++++++++++++++++++
 2 files changed, 167 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef-bl.dat
new file mode 100644
index 00000000000000..b2e5219382bead
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef-bl.dat
@@ -0,0 +1,56 @@
+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32G4xx STM32G491xx
+
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 32
+
+# reserve some space for params
+APP_START_OFFSET_KB 4
+
+FLASH_SIZE_KB 256
+
+# board ID for firmware load
+APJ_BOARD_ID 5301
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+# blue LED
+PA4 LED_BOOTLOADER OUTPUT HIGH
+define HAL_LED_ON 1
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define HAL_NO_GPIO_IRQ
+define HAL_USE_EMPTY_IO TRUE
+define HAL_NO_TIMER_THREAD
+define HAL_NO_RCIN_THREAD
+define DMA_RESERVE_SIZE 0
+define HAL_DISABLE_LOOP_DELAY
+define HAL_USE_SERIAL FALSE
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+# make bl baudrate match debug baudrate for easier debugging
+define BOOTLOADER_BAUDRATE 57600
+
+# use a smaller bootloader timeout
+define HAL_BOOTLOADER_TIMEOUT 2500
+
+# Add CS pins to ensure they are high in bootloader
+PA9 RM3100_CS CS
+PA10 DPS310_CS CS
+
+define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNavPro-G4"
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
new file mode 100644
index 00000000000000..a54725dffb9d8a
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
@@ -0,0 +1,111 @@
+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32G4xx STM32G491xx
+
+FLASH_RESERVE_START_KB 36
+
+STORAGE_FLASH_PAGE 16
+define HAL_STORAGE_SIZE 800
+
+# board ID for firmware load
+APJ_BOARD_ID 5301
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 15
+define CH_CFG_ST_RESOLUTION 16
+
+define CH_CFG_ST_FREQUENCY 1000000
+
+FLASH_SIZE_KB 256
+
+# order of UARTs
+SERIAL_ORDER EMPTY USART2
+
+# USART2, GPS
+PB3 USART2_TX USART2
+PB4 USART2_RX USART2
+
+# USART1, debug, disabled to save flash
+# PB6 USART1_TX USART1
+# PB7 USART1_RX USART1
+
+# SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# one SPI bus
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# SPI CS
+PA9 RM3100_CS CS
+PA10 DPS310_CS CS
+
+# GPS PPS
+PA15 GPS_PPS_IN INPUT
+
+# Baro probe
+SPIDEV dps310 SPI1 DEVID3 DPS310_CS MODE3 5*MHZ 5*MHZ
+BARO DPS310 SPI:dps310
+
+# Mag probe
+SPIDEV  rm3100 SPI1 DEVID1   RM3100_CS MODE0  1*MHZ  1*MHZ
+COMPASS RM3100 SPI:rm3100 false ROTATION_YAW_180
+define AP_RM3100_REVERSAL_MASK 7
+
+define HAL_USE_ADC FALSE
+define STM32_ADC_USE_ADC1 FALSE
+define HAL_DISABLE_ADC_DRIVER TRUE
+define HAL_NO_GPIO_IRQ
+
+# avoid RCIN thread to save memory
+define HAL_NO_RCIN_THREAD
+
+define HAL_USE_RTC FALSE
+define DMA_RESERVE_SIZE 0
+define HAL_DISABLE_LOOP_DELAY
+define HAL_NO_MONITOR_THREAD
+
+define HAL_DEVICE_THREAD_STACK 768
+
+# enable CAN support
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PA2 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
+
+# disable dual GPS and GPS blending to save flash space
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+define HAL_COMPASS_MAX_SENSORS 1
+
+# GPS+MAG+BARO+LEDs
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_BARO
+define HAL_PERIPH_NEOPIXEL_CHAN_WITHOUT_NOTIFY 0
+define HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY 8
+define DEFAULT_NTF_LED_TYPES 455
+
+# single baro
+define BARO_MAX_INSTANCES 1
+
+# GPS on 1st port
+define HAL_PERIPH_GPS_PORT_DEFAULT 1
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True
+
+# PWM, WS2812 LED
+PA3 TIM2_CH4 TIM2 PWM(1)
+
+DMA_NOSHARE USART2*

From d6b08c87a1795d0541bf03688155d589773db628 Mon Sep 17 00:00:00 2001
From: Simon Hancock <simon@linkingdrones.com>
Date: Wed, 17 Jan 2024 13:49:49 +0000
Subject: [PATCH 0723/1335] AC_Avoidance: Updates to log message units and help
 text Remove units on fields set to Bytes which are not

---
 libraries/AC_Avoidance/LogStructure.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AC_Avoidance/LogStructure.h b/libraries/AC_Avoidance/LogStructure.h
index 585eca825182e3..1099d1c0e8024d 100644
--- a/libraries/AC_Avoidance/LogStructure.h
+++ b/libraries/AC_Avoidance/LogStructure.h
@@ -108,10 +108,10 @@ struct PACKED log_OD_Visgraph {
 
 #define LOG_STRUCTURE_FROM_AVOIDANCE \
     { LOG_OA_BENDYRULER_MSG, sizeof(log_OABendyRuler), \
-      "OABR","QBBHHHBfLLiLLi","TimeUS,Type,Act,DYaw,Yaw,DP,RChg,Mar,DLt,DLg,DAlt,OLt,OLg,OAlt", "s-bddd-mDUmDUm", "F-------GGBGGB" , true }, \
+      "OABR","QBBHHHBfLLiLLi","TimeUS,Type,Act,DYaw,Yaw,DP,RChg,Mar,DLt,DLg,DAlt,OLt,OLg,OAlt", "s--ddd-mDUmDUm", "F-------GGBGGB" , true }, \
     { LOG_OA_DIJKSTRA_MSG, sizeof(log_OADijkstra), \
-      "OADJ","QBBBBLLLL","TimeUS,State,Err,CurrPoint,TotPoints,DLat,DLng,OALat,OALng", "sbbbbDUDU", "F----GGGG" , true }, \
+      "OADJ","QBBBBLLLL","TimeUS,State,Err,CurrPoint,TotPoints,DLat,DLng,OALat,OALng", "s----DUDU", "F----GGGG" , true }, \
     { LOG_SIMPLE_AVOID_MSG, sizeof(log_SimpleAvoid), \
-      "SA",  "QBffffffB","TimeUS,State,DVelX,DVelY,DVelZ,MVelX,MVelY,MVelZ,Back", "sbnnnnnnb", "F--------", true }, \
+      "SA",  "QBffffffB","TimeUS,State,DVelX,DVelY,DVelZ,MVelX,MVelY,MVelZ,Back", "s-nnnnnn-", "F--------", true }, \
      { LOG_OD_VISGRAPH_MSG, sizeof(log_OD_Visgraph), \
       "OAVG", "QBBLL", "TimeUS,version,point_num,Lat,Lon", "s--DU", "F--GG", true},

From 186b7be086fc1407db45ab725b564d044afc04fb Mon Sep 17 00:00:00 2001
From: Simon Hancock <simon@linkingdrones.com>
Date: Wed, 17 Jan 2024 13:49:49 +0000
Subject: [PATCH 0724/1335] AP_AHRS: Updates to log message units and help text
 Set quaternion component units to no-unit from UNKNOWN

---
 libraries/AP_AHRS/LogStructure.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_AHRS/LogStructure.h b/libraries/AP_AHRS/LogStructure.h
index 566334393ba33b..618ade0a5c78cb 100644
--- a/libraries/AP_AHRS/LogStructure.h
+++ b/libraries/AP_AHRS/LogStructure.h
@@ -195,7 +195,7 @@ struct PACKED log_ATSC {
 
 #define LOG_STRUCTURE_FROM_AHRS \
     { LOG_AHR2_MSG, sizeof(log_AHRS), \
-        "AHR2","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4","sddhmDU????", "FBBB0GG????" , true }, \
+        "AHR2","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4","sddhmDU----", "FBBB0GG----" , true }, \
     { LOG_AOA_SSA_MSG, sizeof(log_AOA_SSA), \
         "AOA", "Qff", "TimeUS,AOA,SSA", "sdd", "F00" , true }, \
     { LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
@@ -209,5 +209,5 @@ struct PACKED log_ATSC {
     { LOG_ATSC_MSG, sizeof(log_ATSC), \
         "ATSC", "Qffffff",  "TimeUS,AngPScX,AngPScY,AngPScZ,PDScX,PDScY,PDScZ", "s------", "F000000" , true }, \
     { LOG_VIDEO_STABILISATION_MSG, sizeof(log_Video_Stabilisation), \
-        "VSTB", "Qffffffffff",  "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,Q1,Q2,Q3,Q4", "sEEEooo????", "F000000????" },
+        "VSTB", "Qffffffffff",  "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,Q1,Q2,Q3,Q4", "sEEEooo----", "F0000000000" },
 

From 867f656033f492241c3c162680ecdae3f384b1eb Mon Sep 17 00:00:00 2001
From: Simon Hancock <simon@linkingdrones.com>
Date: Wed, 17 Jan 2024 13:49:49 +0000
Subject: [PATCH 0725/1335] AP_GPS: Updates to log message units and help text
 Link GPS.Status to AP_GPS::GPS_Status enum Remove units on fields set to
 Bytes which are not Set the unit of GPS.GMS and GRAW.WkMS to ms (no unit
 specified before). Change the unit of GPS.HDop and GPA.VDop from m to
 no-unit.

---
 libraries/AP_GPS/LogStructure.h     | 7 ++++---
 libraries/AP_GPS/LogStructure_SBP.h | 2 +-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_GPS/LogStructure.h b/libraries/AP_GPS/LogStructure.h
index ffdbd73db5ef60..5ed1d2794693d3 100644
--- a/libraries/AP_GPS/LogStructure.h
+++ b/libraries/AP_GPS/LogStructure.h
@@ -19,6 +19,7 @@
 // @Field: TimeUS: Time since system startup
 // @Field: I: GPS instance number
 // @Field: Status: GPS Fix type; 2D fix, 3D fix etc.
+// @FieldValueEnum: Status: AP_GPS::GPS_Status
 // @Field: GMS: milliseconds since start of GPS Week
 // @Field: GWk: weeks since 5 Jan 1980
 // @Field: NSats: number of satellites visible
@@ -204,15 +205,15 @@ struct PACKED log_GPS_RAWS {
 
 #define LOG_STRUCTURE_FROM_GPS \
     { LOG_GPS_MSG, sizeof(log_GPS), \
-      "GPS",  "QBBIHBcLLeffffB", "TimeUS,I,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U", "s#---SmDUmnhnh-", "F----0BGGB000--" , true }, \
+      "GPS",  "QBBIHBcLLeffffB", "TimeUS,I,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U", "s#-s-S-DUmnhnh-", "F--C-0BGGB000--" , true }, \
     { LOG_GPA_MSG,  sizeof(log_GPA), \
-      "GPA",  "QBCCCCfBIHfHH", "TimeUS,I,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta,Und,RTCMFU,RTCMFD", "s#mmmnd-ssm--", "F-BBBB0-CC0--" , true }, \
+      "GPA",  "QBCCCCfBIHfHH", "TimeUS,I,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta,Und,RTCMFU,RTCMFD", "s#-mmnd-ssm--", "F-BBBB0-CC0--" , true }, \
     { LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \
       "UBX1", "QBHBBHI",  "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config", "s#-----", "F------"  , true }, \
     { LOG_GPS_UBX2_MSG, sizeof(log_Ubx2), \
       "UBX2", "QBbBbB", "TimeUS,Instance,ofsI,magI,ofsQ,magQ", "s#----", "F-----" , true }, \
     { LOG_GPS_RAW_MSG, sizeof(log_GPS_RAW), \
-      "GRAW", "QIHBBddfBbB", "TimeUS,WkMS,Week,numSV,sv,cpMes,prMes,doMes,mesQI,cno,lli", "s--S-------", "F--0-------" , true }, \
+      "GRAW", "QIHBBddfBbB", "TimeUS,WkMS,Week,numSV,sv,cpMes,prMes,doMes,mesQI,cno,lli", "ss-S-------", "FC-0-------" , true }, \
     { LOG_GPS_RAWH_MSG, sizeof(log_GPS_RAWH), \
       "GRXH", "QdHbBB", "TimeUS,rcvTime,week,leapS,numMeas,recStat", "s-----", "F-----" , true }, \
     { LOG_GPS_RAWS_MSG, sizeof(log_GPS_RAWS), \
diff --git a/libraries/AP_GPS/LogStructure_SBP.h b/libraries/AP_GPS/LogStructure_SBP.h
index c3a427c3ce70f7..9c0b259710e166 100644
--- a/libraries/AP_GPS/LogStructure_SBP.h
+++ b/libraries/AP_GPS/LogStructure_SBP.h
@@ -74,7 +74,7 @@ struct PACKED log_SbpEvent {
     { LOG_MSG_SBPHEALTH, sizeof(log_SbpHealth), \
       "SBPH", "QIII", "TimeUS,CrcError,LastInject,IARhyp", "s---", "F---" , true }, \
     { LOG_MSG_SBPRAWH, sizeof(log_SbpRAWH), \
-      "SBRH", "QQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6", "s--b----", "F--0----" , true }, \
+      "SBRH", "QQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6", "s-------", "F-------" , true }, \
     { LOG_MSG_SBPRAWM, sizeof(log_SbpRAWM), \
       "SBRM", "QQQQQQQQQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6,7,8,9,10,11,12,13", "s??????????????", "F??????????????" , true }, \
     { LOG_MSG_SBPEVENT, sizeof(log_SbpEvent), \

From 37879f89ae77a015f58e1f0032d0608869f09077 Mon Sep 17 00:00:00 2001
From: Simon Hancock <simon@linkingdrones.com>
Date: Wed, 17 Jan 2024 13:49:50 +0000
Subject: [PATCH 0726/1335] AP_Landing: Updates to log message units and help
 text Correct UNKNOWN units on DSTL message fields

---
 libraries/AP_Landing/LogStructure.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Landing/LogStructure.h b/libraries/AP_Landing/LogStructure.h
index aabeb98fc13fab..98b62f42a72c7e 100644
--- a/libraries/AP_Landing/LogStructure.h
+++ b/libraries/AP_Landing/LogStructure.h
@@ -45,7 +45,7 @@ struct PACKED log_DSTL {
 
 #define LOG_STRUCTURE_FROM_LANDING        \
     { LOG_DSTL_MSG, sizeof(log_DSTL), \
-        "DSTL", "QBfLLeccfeffff", "TimeUS,Stg,THdg,Lat,Lng,Alt,XT,Travel,L1I,Loiter,Des,P,I,D", "s??DUm--------", "F??000--------" , true },
+        "DSTL", "QBfLLeccfeffff", "TimeUS,Stg,THdg,Lat,Lng,Alt,XT,Travel,L1I,Loiter,Des,P,I,D", "s-hDUm--------", "F-0000--------" , true },
 #else
 #define LOG_STRUCTURE_FROM_LANDING
 #endif

From 8229bb98ce05fc313901ac90bb7d41084dafabcf Mon Sep 17 00:00:00 2001
From: Simon Hancock <simon@linkingdrones.com>
Date: Wed, 17 Jan 2024 13:49:50 +0000
Subject: [PATCH 0727/1335] AP_Logger: Updates to log message units and help
 text Link LGR.WOW to AP_LandingGear::LG_WOW_State enum Set quaternion
 component units to no-unit from UNKNOWN Separate descriptions for PID and PIQ
 messages Co-authored-by: Peter Hall
 <33176108+IamPete1@users.noreply.github.com>

---
 libraries/AP_Logger/LogStructure.h | 21 +++++++++++++++++----
 1 file changed, 17 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index 1259c6417cd75f..bde0a6c38b591d 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -817,7 +817,8 @@ struct PACKED log_VER {
 // @Field: TimeUS: Time since system startup
 // @Field: LandingGear: Current landing gear state
 // @FieldValueEnum: LandingGear: AP_LandingGear::LG_LandingGear_State
-// @Field: WeightOnWheels: True if there is weight on wheels
+// @Field: WeightOnWheels: Weight on wheels state
+// @FieldValueEnum: WeightOnWheels: AP_LandingGear::LG_WOW_State
 
 // @LoggerMessage: MAG
 // @Description: Information received from compasses
@@ -901,8 +902,20 @@ struct PACKED log_VER {
 // @Field: Value: parameter value
 // @Field: Default: default parameter value for this board and config
 
-// @LoggerMessage: PIDR,PIDP,PIDY,PIDA,PIDS,PIDN,PIDE
-// @Description: Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering
+// @LoggerMessage: PIDR
+// @Description: Proportional/Integral/Derivative gain values for Roll rate
+// @LoggerMessage: PIDP
+// @Description: Proportional/Integral/Derivative gain values for Pitch rate
+// @LoggerMessage: PIDY
+// @Description: Proportional/Integral/Derivative gain values for Yaw rate
+// @LoggerMessage: PIDA
+// @Description: Proportional/Integral/Derivative gain values for vertical acceleration
+// @LoggerMessage: PIDS
+// @Description: Proportional/Integral/Derivative gain values for ground steering yaw rate
+// @LoggerMessage: PIDN
+// @Description: Proportional/Integral/Derivative gain values for North/South velocity
+// @LoggerMessage: PIDE
+// @Description: Proportional/Integral/Derivative gain values for East/West velocity
 // @Field: TimeUS: Time since system startup
 // @Field: Tar: desired value
 // @Field: Act: achieved value
@@ -1257,7 +1270,7 @@ LOG_STRUCTURE_FROM_MOUNT \
       "SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }, \
 LOG_STRUCTURE_FROM_AVOIDANCE \
     { LOG_SIMSTATE_MSG, sizeof(log_AHRS), \
-      "SIM","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4", "sddhmDU????", "FBBB0GG????", true }, \
+      "SIM","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4", "sddhmDU----", "FBBB0GG0000", true }, \
     { LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
       "TERR","QBLLHffHHf","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded,ROfs", "s-DU-mm--m", "F-GG-00--0", true }, \
 LOG_STRUCTURE_FROM_ESC_TELEM \

From 9d89996f45373db65f3756e0b7236734d5e9dd1e Mon Sep 17 00:00:00 2001
From: Simon Hancock <simon@linkingdrones.com>
Date: Wed, 17 Jan 2024 13:49:50 +0000
Subject: [PATCH 0728/1335] AP_NavEKF2: Updates to log message units and help
 text Set quaternion component units to no-unit from UNKNOWN

---
 libraries/AP_NavEKF2/LogStructure.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF2/LogStructure.h b/libraries/AP_NavEKF2/LogStructure.h
index f24cba6bfd8973..753d9ceb0f4b33 100644
--- a/libraries/AP_NavEKF2/LogStructure.h
+++ b/libraries/AP_NavEKF2/LogStructure.h
@@ -300,7 +300,7 @@ struct PACKED log_NKT {
       "NKF4","QBcccccfffHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------mm-----", "F-------??-----" , true }, \
     { LOG_NKF5_MSG, sizeof(log_NKF5), \
       "NKF5","QBBhhhcccCCfff","TimeUS,C,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s#----m???mrnm", "F-----BBBBB000" , true }, \
-    { LOG_NKQ_MSG, sizeof(log_NKQ), "NKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#????", "F-????" , true }, \
+    { LOG_NKQ_MSG, sizeof(log_NKQ), "NKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#----", "F-0000" , true }, \
     { LOG_NKT_MSG, sizeof(log_NKT),   \
       "NKT", "QBIffffffff", "TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax", "s#sssssssss", "F-000000000", true },
 #endif

From 07eecd3b672775cf4315a3c11a75da671398962d Mon Sep 17 00:00:00 2001
From: Simon Hancock <simon@linkingdrones.com>
Date: Wed, 17 Jan 2024 13:49:50 +0000
Subject: [PATCH 0729/1335] AP_NavEKF3: Updates to log message units and help
 text Set quaternion component units to no-unit from UNKNOWN

---
 libraries/AP_NavEKF3/LogStructure.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/LogStructure.h b/libraries/AP_NavEKF3/LogStructure.h
index f3ef63d1bfb7a4..8e124462fcf0db 100644
--- a/libraries/AP_NavEKF3/LogStructure.h
+++ b/libraries/AP_NavEKF3/LogStructure.h
@@ -440,7 +440,7 @@ struct PACKED log_XKV {
       "XKFM", "QBBffff", "TimeUS,C,OGNM,GLR,ALR,GDR,ADR", "s#-----", "F------", true }, \
     { LOG_XKFS_MSG, sizeof(log_XKFS), \
       "XKFS","QBBBBBB","TimeUS,C,MI,BI,GI,AI,SS", "s#-----", "F------" , true }, \
-    { LOG_XKQ_MSG, sizeof(log_XKQ), "XKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#????", "F-????" , true }, \
+    { LOG_XKQ_MSG, sizeof(log_XKQ), "XKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#----", "F-0000" , true }, \
     { LOG_XKT_MSG, sizeof(log_XKT),   \
       "XKT", "QBIffffffff", "TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax", "s#sssssssss", "F-000000000", true }, \
     { LOG_XKTV_MSG, sizeof(log_XKTV),                         \

From a696f143f2cadd1ca6c68e52ddde198677417d30 Mon Sep 17 00:00:00 2001
From: Simon Hancock <simon@linkingdrones.com>
Date: Wed, 17 Jan 2024 13:49:50 +0000
Subject: [PATCH 0730/1335] AP_Torqeedo: Updates to log message units and help
 text Remove 4th/unused format character on TRMS message

---
 libraries/AP_Torqeedo/AP_Torqeedo.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Torqeedo/AP_Torqeedo.cpp b/libraries/AP_Torqeedo/AP_Torqeedo.cpp
index fab624127f46ac..0d4b80ec86396f 100644
--- a/libraries/AP_Torqeedo/AP_Torqeedo.cpp
+++ b/libraries/AP_Torqeedo/AP_Torqeedo.cpp
@@ -750,7 +750,7 @@ void AP_Torqeedo::parse_message()
                     // @Field: TimeUS: Time since system startup
                     // @Field: State: Motor status flags
                     // @Field: Err: Motor error flags
-                    AP::logger().Write("TRMS", "TimeUS,State,Err", "QBHH",
+                    AP::logger().Write("TRMS", "TimeUS,State,Err", "QBH",
                                        AP_HAL::micros64(),
                                        _motor_status.status_flags_value,
                                        _motor_status.error_flags_value);

From 6f832bbd3bf3facd1be5d5ed47e94d18672eb0cf Mon Sep 17 00:00:00 2001
From: Simon Hancock <simon@linkingdrones.com>
Date: Wed, 17 Jan 2024 13:49:50 +0000
Subject: [PATCH 0731/1335] ArduPlane: Updates to log message units and help
 text Separate descriptions for PID and PIQ messages Co-authored-by: Peter
 Hall <33176108+IamPete1@users.noreply.github.com>

---
 ArduPlane/Log.cpp | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index d8a729dd2ab1e6..2df80fbbc1415c 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -393,8 +393,14 @@ const struct LogStructure Plane::log_structure[] = {
       "QTUN", "QffffffeccfBB", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DCRt,CRt,TMix,Trn,Ast", "s----mmmnn---", "F----00000---" , true },
 #endif
 
-// @LoggerMessage: PIQR,PIQP,PIQY,PIQA
-// @Description: QuadPlane Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Z
+// @LoggerMessage: PIQR
+// @Description: QuadPlane Proportional/Integral/Derivative gain values for Roll rate
+// @LoggerMessage: PIQP
+// @Description: QuadPlane Proportional/Integral/Derivative gain values for Pitch rate
+// @LoggerMessage: PIQY
+// @Description: QuadPlane Proportional/Integral/Derivative gain values for Yaw rate
+// @LoggerMessage: PIQA
+// @Description: QuadPlane Proportional/Integral/Derivative gain values for vertical acceleration
 // @Field: TimeUS: Time since system startup
 // @Field: Tar: desired value
 // @Field: Act: achieved value

From 098a53e318003e40499bdcfc6f6de81a13fb3b2b Mon Sep 17 00:00:00 2001
From: Simon Hancock <simon@linkingdrones.com>
Date: Wed, 17 Jan 2024 13:49:50 +0000
Subject: [PATCH 0732/1335] Tools: Updates to log message units and help text
 parse.py: Remove lone bullet points rendered on replay messages
 enum_parse.py: Tweak regex on enum parser to handle comments like: "FRED =
 10, ///< text"

---
 Tools/autotest/logger_metadata/emit_rst.py   | 3 ++-
 Tools/autotest/logger_metadata/enum_parse.py | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/Tools/autotest/logger_metadata/emit_rst.py b/Tools/autotest/logger_metadata/emit_rst.py
index 7e513a0cc82f07..dfaa8fea159ce1 100644
--- a/Tools/autotest/logger_metadata/emit_rst.py
+++ b/Tools/autotest/logger_metadata/emit_rst.py
@@ -76,7 +76,8 @@ def emit(self, doccos, enumerations):
                 # Add the new row
                 rows.append([f, ftypeunit, fdesc])
 
-            print(self.tablify(rows), file=self.fh)
+            if rows:
+                print(self.tablify(rows), file=self.fh)
 
             print("", file=self.fh)
         self.stop()
diff --git a/Tools/autotest/logger_metadata/enum_parse.py b/Tools/autotest/logger_metadata/enum_parse.py
index 3826160de20048..81aad8c432648f 100755
--- a/Tools/autotest/logger_metadata/enum_parse.py
+++ b/Tools/autotest/logger_metadata/enum_parse.py
@@ -35,7 +35,7 @@ def match_enum_line(self, line):
         # attempts to extract name, value and comment from line.
 
         # Match:  "            FRED,  // optional comment"
-        m = re.match("\s*([A-Z0-9_a-z]+)\s*,? *(?:// *(.*) *)?$", line)
+        m = re.match("\s*([A-Z0-9_a-z]+)\s*,? *(?://[/>]* *(.*) *)?$", line)
         if m is not None:
             return (m.group(1), None, m.group(2))
 
@@ -45,7 +45,7 @@ def match_enum_line(self, line):
             return (m.group(1), None, m.group(2))
 
         # Match:  "            FRED  = 17,  // optional comment"
-        m = re.match("\s*([A-Z0-9_a-z]+)\s*=\s*([-0-9]+)\s*,?(?:\s*//\s*(.*) *)?$",
+        m = re.match("\s*([A-Z0-9_a-z]+)\s*=\s*([-0-9]+)\s*,?(?:\s*//[/<]*\s*(.*) *)?$",
                      line)
         if m is not None:
             return (m.group(1), m.group(2), m.group(3))

From 0c943cac58e89a8e85d5c11ba118ccd7e320827e Mon Sep 17 00:00:00 2001
From: David O'Connor <the_alchemist@fastmail.com>
Date: Sun, 21 Jan 2024 13:26:03 -0500
Subject: [PATCH 0733/1335] Tools : reverse board ID 1146 for AnyleafH7

---
 Tools/AP_Bootloader/board_types.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
index 19978d60983b30..acc9e1895fef3c 100644
--- a/Tools/AP_Bootloader/board_types.txt
+++ b/Tools/AP_Bootloader/board_types.txt
@@ -258,7 +258,7 @@ AP_HW_FSO_POWER_STACK                1142
 AP_HW_ATOMRCF405NAVI_DLX             1143
 AP_HW_YJUAV_A6Ultra                  1144
 AP_HW_TULIP_BATTMON                  1145
-
+AP_HW_AnyleafH7                      1146
 
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206

From 22988ac5850ddc347fdc4e60dcee7e03dbe86359 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 17 Jan 2024 18:12:12 +1100
Subject: [PATCH 0734/1335] AP_OpticalFlow: correct comments on AP_OpticalFlow
 methods

---
 libraries/AP_OpticalFlow/AP_OpticalFlow.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow.h b/libraries/AP_OpticalFlow/AP_OpticalFlow.h
index c27498c6dacf9b..8a68827cfd0c0b 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow.h
@@ -79,10 +79,10 @@ class AP_OpticalFlow
     // quality - returns the surface quality as a measure from 0 ~ 255
     uint8_t quality() const { return _state.surface_quality; }
 
-    // raw - returns the raw movement from the sensor
+    // flowRate - returns the raw movement from the sensor in rad/s
     const Vector2f& flowRate() const { return _state.flowRate; }
 
-    // velocity - returns the velocity in m/s
+    // bodyRate - returns the IMU-adjusted movement in rad/s
     const Vector2f& bodyRate() const { return _state.bodyRate; }
 
     // last_update() - returns system time of last sensor update

From 86039b8488c163259e8bedc4fbdbad08e7b1f5cc Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 22 Jan 2024 15:07:23 +1100
Subject: [PATCH 0735/1335] AP_Logger: make it clear that bodyX and bodyY are
 rotational rates

---
 libraries/AP_Logger/LogStructure.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index bde0a6c38b591d..3621bfa62d144b 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -892,8 +892,8 @@ struct PACKED log_VER {
 // @Field: Qual: Estimated sensor data quality
 // @Field: flowX: Sensor flow rate, X-axis
 // @Field: flowY: Sensor flow rate,Y-axis
-// @Field: bodyX: derived velocity, X-axis
-// @Field: bodyY: derived velocity, Y-axis
+// @Field: bodyX: derived rotational velocity, X-axis
+// @Field: bodyY: derived rotational velocity, Y-axis
 
 // @LoggerMessage: PARM
 // @Description: parameter value

From dec618645db6166c3a7e80a6c2777049ee0a9758 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 19 Aug 2020 16:15:55 +1000
Subject: [PATCH 0736/1335] SITL: add support for simulated QMC5883L compass

---
 libraries/SITL/SIM_I2C.cpp      |   7 ++
 libraries/SITL/SIM_QMC5883L.cpp | 128 ++++++++++++++++++++++++++++++++
 libraries/SITL/SIM_QMC5883L.h   |  55 ++++++++++++++
 libraries/SITL/SIM_config.h     |  10 +++
 4 files changed, 200 insertions(+)
 create mode 100644 libraries/SITL/SIM_QMC5883L.cpp
 create mode 100644 libraries/SITL/SIM_QMC5883L.h

diff --git a/libraries/SITL/SIM_I2C.cpp b/libraries/SITL/SIM_I2C.cpp
index 51450870d74396..196301942d9654 100644
--- a/libraries/SITL/SIM_I2C.cpp
+++ b/libraries/SITL/SIM_I2C.cpp
@@ -36,6 +36,7 @@
 #include "SIM_LM2755.h"
 #include "SIM_MS5525.h"
 #include "SIM_MS5611.h"
+#include "SIM_QMC5883L.h"
 
 #include <signal.h>
 
@@ -81,6 +82,9 @@ static LM2755 lm2755;
 static IS31FL3195 is31fl3195;
 #define SIM_IS31FL3195_ADDR 0x54
 #endif
+#if AP_SIM_COMPASS_QMC5883L_ENABLED
+static QMC5883L qmc5883l;
+#endif
 
 struct i2c_device_at_address {
     uint8_t bus;
@@ -116,6 +120,9 @@ struct i2c_device_at_address {
     { 2, 0x40, tsys03 },
 #endif
     { 2, 0x77, ms5611 },        // MS5611: BARO_PROBE_EXT = 2
+#if AP_SIM_COMPASS_QMC5883L_ENABLED
+    { 2, 0x0D, qmc5883l },
+#endif
 };
 
 void I2C::init()
diff --git a/libraries/SITL/SIM_QMC5883L.cpp b/libraries/SITL/SIM_QMC5883L.cpp
new file mode 100644
index 00000000000000..e9e93813a33daa
--- /dev/null
+++ b/libraries/SITL/SIM_QMC5883L.cpp
@@ -0,0 +1,128 @@
+#include "SIM_config.h"
+
+#if AP_SIM_COMPASS_QMC5883L_ENABLED
+
+#include "SIM_QMC5883L.h"
+
+// FIXME: read the datasheet :-)
+
+#include <SITL/SITL.h>
+#include <SITL/SIM_Aircraft.h>
+
+#include <stdio.h>
+
+#define QMC5883L_REG_CONF1 0x09
+#define QMC5883L_REG_CONF2 0x0A
+
+#define QMC5883L_MODE_STANDBY 0x00
+#define QMC5883L_MODE_CONTINUOUS 0x01
+
+#define QMC5883L_ODR_100HZ (0x02 << 2)
+
+#define QMC5883L_OSR_512 (0x00 << 6)
+
+#define QMC5883L_RNG_8G (0x01 << 4)
+
+SITL::QMC5883L::QMC5883L()
+{
+    writable_registers.set(0);
+    writable_registers.set(0x0b);
+    writable_registers.set(0x20);
+    writable_registers.set(0x21);
+    writable_registers.set(QMC5883L_REG_CONF1);
+    writable_registers.set(QMC5883L_REG_CONF2);
+
+    reset();
+}
+
+void SITL::QMC5883L::reset()
+{
+    memset(registers.byte, 0, ARRAY_SIZE(registers.byte));
+    registers.byname.ZEROX_ZEROC = 0x01;
+    registers.byname.REG_STATUS = 0x0;
+    registers.byname.REG_ID = 0xFF;
+}
+
+
+int SITL::QMC5883L::rdwr(I2C::i2c_rdwr_ioctl_data *&data)
+{
+    if (data->nmsgs == 2) {
+        if (data->msgs[0].flags != 0) {
+            AP_HAL::panic("Unexpected flags");
+        }
+        if (data->msgs[1].flags != I2C_M_RD) {
+            AP_HAL::panic("Unexpected flags");
+        }
+        const uint8_t reg_addr = data->msgs[0].buf[0];
+        for (uint8_t i=0; i<data->msgs[1].len; i++) {
+            const uint8_t register_value = registers.byte[reg_addr+i];
+            data->msgs[1].buf[i] = register_value;
+
+            // FIXME: is this really how the status data-ready bit works?
+            if (reg_addr == 0x05) {  // that's the last data register...
+                registers.byname.REG_STATUS &= ~0x04;
+            }
+        }
+        return 0;
+    }
+
+    if (data->nmsgs == 1) {
+        if (data->msgs[0].flags != 0) {
+            AP_HAL::panic("Unexpected flags");
+        }
+        const uint8_t reg_addr = data->msgs[0].buf[0];
+        if (!writable_registers.get(reg_addr)) {
+            AP_HAL::panic("Register 0x%02x is not writable!", reg_addr);
+        }
+        const uint8_t register_value = data->msgs[0].buf[1];
+        ::fprintf(stderr, "Setting register (0x%x) to 0x%x\n", reg_addr, register_value);
+        registers.byte[reg_addr] = register_value;
+        return 0;
+    }
+
+    return -1;
+};
+
+void SITL::QMC5883L::update(const Aircraft &aircraft)
+{
+
+    // FIXME: swipe stuff from AP_Compass_SITL here.
+
+    // FIXME: somehow decide to use the simulated compass offsets etc
+    // from SITL
+
+    Vector3f f = AP::sitl()->state.bodyMagField;
+
+    // Vector3<int16_t> field
+    // int16_t str_x = 123;
+    // int16_t str_y = -56;
+    // int16_t str_z = 1;
+
+    f.rotate_inverse(ROTATION_ROLL_180_YAW_270);
+
+    f.x = -f.x;
+    f.z = -f.z;
+
+    f.x *= 3;
+    f.y *= 3;
+    f.z *= 3;
+
+    Vector3<int16_t> k {
+        k.x = htole16((int16_t)f.x),
+        k.y = htole16((int16_t)f.y),
+        k.z = htole16((int16_t)f.z)
+    };
+
+    if (registers.byname.REG_CONF1 & QMC5883L_MODE_CONTINUOUS) {
+        // FIXME: clock according to configuration here
+        registers.byname.REG_STATUS |= 0x04;
+        registers.byname.DATA_OUTPUT_X_low = k.x & 0xFF;
+        registers.byname.DATA_OUTPUT_X_high = k.x >> 8;
+        registers.byname.DATA_OUTPUT_Y_low = k.y & 0xFF;
+        registers.byname.DATA_OUTPUT_Y_high = k.y >> 8;
+        registers.byname.DATA_OUTPUT_Z_low = k.z & 0xFF;
+        registers.byname.DATA_OUTPUT_Z_high = k.z >> 8;
+    }
+}
+
+#endif  // AP_SIM_COMPASS_QMC5883L_ENABLED
diff --git a/libraries/SITL/SIM_QMC5883L.h b/libraries/SITL/SIM_QMC5883L.h
new file mode 100644
index 00000000000000..10aa1719656c44
--- /dev/null
+++ b/libraries/SITL/SIM_QMC5883L.h
@@ -0,0 +1,55 @@
+#pragma once
+
+#include "SIM_config.h"
+
+#if AP_SIM_COMPASS_QMC5883L_ENABLED
+
+#include "SIM_I2CDevice.h"
+
+namespace SITL {
+
+class QMC5883L : public I2CDevice
+{
+public:
+
+    QMC5883L();
+
+    void update(const class Aircraft &aircraft) override;
+
+    int rdwr(I2C::i2c_rdwr_ioctl_data *&data) override;
+
+private:
+
+    union Registers {
+        uint8_t byte[256];
+        struct PACKED ByName {
+            uint8_t DATA_OUTPUT_X_low;
+            uint8_t DATA_OUTPUT_X_high;
+            uint8_t DATA_OUTPUT_Y_low;
+            uint8_t DATA_OUTPUT_Y_high;
+            uint8_t DATA_OUTPUT_Z_low;
+            uint8_t DATA_OUTPUT_Z_high;
+            uint8_t REG_STATUS;
+            uint8_t unused1[2]; // unused
+            uint8_t REG_CONF1;
+            uint8_t REG_CONF2;
+            uint8_t ZEROX_ZEROB; // magic register number from driver
+            uint8_t ZEROX_ZEROC; // magic register from driver should always be 0x01
+            uint8_t REG_ID;
+            uint8_t unused2[242];
+        } byname;
+    } registers;
+
+    // 256 1-byte registers:
+    assert_storage_size<Registers::ByName, 256> assert_storage_size_registers_reg;
+
+    Bitmask<256> writable_registers;
+
+    void reset();
+
+    uint32_t cmd_take_reading_received_ms;
+};
+
+} // namespace SITL
+
+#endif  // AP_SIM_COMPASS_QMC5883L_ENABLED
diff --git a/libraries/SITL/SIM_config.h b/libraries/SITL/SIM_config.h
index 4eb427c0ae3f10..aab57e099d4192 100644
--- a/libraries/SITL/SIM_config.h
+++ b/libraries/SITL/SIM_config.h
@@ -78,3 +78,13 @@
 #ifndef AP_SIM_GPS_UBLOX_ENABLED
 #define AP_SIM_GPS_UBLOX_ENABLED AP_SIM_GPS_BACKEND_DEFAULT_ENABLED
 #endif
+
+
+// simulated compass support; currently only in SITL, not SimOnHW:
+#ifndef AP_SIM_COMPASS_BACKEND_DEFAULT_ENABLED
+#define AP_SIM_COMPASS_BACKEND_DEFAULT_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
+#ifndef AP_SIM_COMPASS_QMC5883L_ENABLED
+#define AP_SIM_COMPASS_QMC5883L_ENABLED AP_SIM_COMPASS_BACKEND_DEFAULT_ENABLED
+#endif

From b17d864d1a3e3410b3dc06e3407b313cc9f02539 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Mon, 22 Jan 2024 15:56:53 +1100
Subject: [PATCH 0737/1335] AP_HAL_ChibiOS: fix set_pin and _pin_scalar methods
 for ADC2 and ADC3

---
 libraries/AP_HAL_ChibiOS/AnalogIn.cpp | 32 +++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/AnalogIn.cpp b/libraries/AP_HAL_ChibiOS/AnalogIn.cpp
index ea188572091a49..0c858f3dcf9036 100644
--- a/libraries/AP_HAL_ChibiOS/AnalogIn.cpp
+++ b/libraries/AP_HAL_ChibiOS/AnalogIn.cpp
@@ -148,6 +148,22 @@ float AnalogSource::_pin_scaler(void)
             break;
         }
     }
+#ifdef HAL_ANALOG2_PINS
+    for (uint8_t i=0; i<ADC2_GRP1_NUM_CHANNELS; i++) {
+        if (AnalogIn::pin_config[i].analog_pin == _pin && (_pin != ANALOG_INPUT_NONE)) {
+            scaling = AnalogIn::pin_config[i].scaling;
+            break;
+        }
+    }
+#endif
+#ifdef HAL_ANALOG3_PINS
+    for (uint8_t i=0; i<ADC3_GRP1_NUM_CHANNELS; i++) {
+        if (AnalogIn::pin_config[i].analog_pin == _pin && (_pin != ANALOG_INPUT_NONE)) {
+            scaling = AnalogIn::pin_config[i].scaling;
+            break;
+        }
+    }
+#endif
     return scaling;
 }
 
@@ -195,6 +211,22 @@ bool AnalogSource::set_pin(uint8_t pin)
                 break;
             }
         }
+#ifdef HAL_ANALOG2_PINS
+        for (uint8_t i=0; i<ADC2_GRP1_NUM_CHANNELS; i++) {
+            if (AnalogIn::pin_config_2[i].analog_pin == pin) {
+                found_pin = true;
+                break;
+            }
+        }
+#endif
+#ifdef HAL_ANALOG3_PINS
+        for (uint8_t i=0; i<ADC3_GRP1_NUM_CHANNELS; i++) {
+            if (AnalogIn::pin_config_3[i].analog_pin == pin) {
+                found_pin = true;
+                break;
+            }
+        }
+#endif
     }
     if (!found_pin) {
         return false;

From 9de1b6164bf5178bbab405761bfff7033adde492 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Mon, 22 Jan 2024 16:29:06 +1100
Subject: [PATCH 0738/1335] AP_HAL_ChibiOS: add more pins to STM32H757 ADC
 channel map

---
 libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H757xx.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H757xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H757xx.py
index d849d07aedff84..d255d5861d8f31 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H757xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H757xx.py
@@ -1305,10 +1305,13 @@
 	# format is PIN : ADC2_CHAN
 	"PF13"  :   2,
 	"PB1"	:	5,
+	"PF14"  :   6,
 }
 
 ADC3_map = {
 	# format is PIN : ADC3_CHAN
 	"PC3"   :   1,
 	"PF3"	:   5,
+	"PF5"   :   4,
+	"PF4"   :   9,
 }

From 5488ca6403f1cbd40de691cf25beaa065db2717f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 14 Dec 2023 10:20:16 +1100
Subject: [PATCH 0739/1335] AP_Common: add ASSERT_STORAGE_SIZE macro

saves havin gto name the dummy variable yourself
---
 libraries/AP_Common/AP_Common.h  | 5 +++++
 libraries/AP_Common/Location.cpp | 7 +++----
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Common/AP_Common.h b/libraries/AP_Common/AP_Common.h
index 5949ca14cf63ab..65a5648ad66aa4 100644
--- a/libraries/AP_Common/AP_Common.h
+++ b/libraries/AP_Common/AP_Common.h
@@ -142,6 +142,11 @@ template<typename s, size_t t> struct assert_storage_size {
     _assert_storage_size<s, sizeof(s), t> _member;
 };
 
+#define ASSERT_STORAGE_SIZE_JOIN( name, line ) ASSERT_STORAGE_SIZE_DO_JOIN( name, line )
+#define ASSERT_STORAGE_SIZE_DO_JOIN( name, line )  name ## line
+#define ASSERT_STORAGE_SIZE(structure, size) \
+    do { assert_storage_size<structure, size> ASSERT_STORAGE_SIZE_JOIN(assert_storage_sizex, __LINE__); (void)ASSERT_STORAGE_SIZE_JOIN(assert_storage_sizex, __LINE__); } while(false)
+
 ////////////////////////////////////////////////////////////////////////////////
 /// @name	Conversions
 ///
diff --git a/libraries/AP_Common/Location.cpp b/libraries/AP_Common/Location.cpp
index f466e99db23353..e1a1ec578c51d3 100644
--- a/libraries/AP_Common/Location.cpp
+++ b/libraries/AP_Common/Location.cpp
@@ -27,6 +27,9 @@ void Location::zero(void)
 // Construct location using position (NEU) from ekf_origin for the given altitude frame
 Location::Location(int32_t latitude, int32_t longitude, int32_t alt_in_cm, AltFrame frame)
 {
+    // make sure we know what size the Location object is:
+    ASSERT_STORAGE_SIZE(Location, 16);
+
     zero();
     lat = latitude;
     lng = longitude;
@@ -381,10 +384,6 @@ bool Location::sanitize(const Location &defaultLoc)
     return has_changed;
 }
 
-// make sure we know what size the Location object is:
-assert_storage_size<Location, 16> _assert_storage_size_Location;
-
-
 // return bearing in radians from location to loc2, return is 0 to 2*Pi
 ftype Location::get_bearing(const Location &loc2) const
 {

From 9213eef56ce4ff34c25dfd4b126d43169789e4db Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 14 Dec 2023 10:20:16 +1100
Subject: [PATCH 0740/1335] AP_Generator: add ASSERT_STORAGE_SIZE macro

saves havin gto name the dummy variable yourself
---
 libraries/AP_Generator/AP_Generator_RichenPower.cpp | 2 ++
 libraries/AP_Generator/AP_Generator_RichenPower.h   | 1 -
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Generator/AP_Generator_RichenPower.cpp b/libraries/AP_Generator/AP_Generator_RichenPower.cpp
index 530f8192b371d5..cbfc2fcdeb7799 100644
--- a/libraries/AP_Generator/AP_Generator_RichenPower.cpp
+++ b/libraries/AP_Generator/AP_Generator_RichenPower.cpp
@@ -30,6 +30,8 @@ extern const AP_HAL::HAL& hal;
 // init method; configure communications with the generator
 void AP_Generator_RichenPower::init()
 {
+    ASSERT_STORAGE_SIZE(RichenPacket, 70);
+
     const AP_SerialManager &serial_manager = AP::serialmanager();
 
     uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Generator, 0);
diff --git a/libraries/AP_Generator/AP_Generator_RichenPower.h b/libraries/AP_Generator/AP_Generator_RichenPower.h
index c5999c0ed61bc4..bd9bfc25d926a8 100644
--- a/libraries/AP_Generator/AP_Generator_RichenPower.h
+++ b/libraries/AP_Generator/AP_Generator_RichenPower.h
@@ -153,7 +153,6 @@ class AP_Generator_RichenPower : public AP_Generator_Backend
         uint8_t footermagic1;
         uint8_t footermagic2;
     };
-    assert_storage_size<RichenPacket, 70> _assert_storage_size_RichenPacket UNUSED_PRIVATE_MEMBER;
 
     union RichenUnion {
         uint8_t parse_buffer[70];

From b94738a86422e768a0907553929957be0d3697d6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 14 Dec 2023 10:20:16 +1100
Subject: [PATCH 0741/1335] AP_Mission: add ASSERT_STORAGE_SIZE macro

saves havin gto name the dummy variable yourself
---
 libraries/AP_Mission/AP_Mission.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index c8fabcdd8c7db1..15ca3ab9e150c7 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -754,12 +754,12 @@ union PackedContent {
 
 };
 
-assert_storage_size<PackedContent, 12> assert_storage_size_PackedContent;
-
 /// load_cmd_from_storage - load command from storage
 ///     true is return if successful
 bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) const
 {
+    ASSERT_STORAGE_SIZE(PackedContent, 12);
+
     WITH_SEMAPHORE(_rsem);
 
     // special handling for command #0 which is home

From b0f7f84f4f2f0243e7b98d2cfdfe0a3236a4bfee Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 14 Dec 2023 10:20:16 +1100
Subject: [PATCH 0742/1335] AP_Rally: add ASSERT_STORAGE_SIZE macro

saves havin gto name the dummy variable yourself
---
 libraries/AP_Rally/AP_Rally.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Rally/AP_Rally.cpp b/libraries/AP_Rally/AP_Rally.cpp
index eb112d1c81e71a..e2883152074ca1 100644
--- a/libraries/AP_Rally/AP_Rally.cpp
+++ b/libraries/AP_Rally/AP_Rally.cpp
@@ -12,8 +12,6 @@
 // storage object
 StorageAccess AP_Rally::_storage(StorageManager::StorageRally);
 
-assert_storage_size<RallyLocation, 15> _assert_storage_size_RallyLocation;
-
 #if APM_BUILD_COPTER_OR_HELI
   #define RALLY_LIMIT_KM_DEFAULT 0.3f
   #define RALLY_INCLUDE_HOME_DEFAULT 1
@@ -56,6 +54,8 @@ const AP_Param::GroupInfo AP_Rally::var_info[] = {
 // constructor
 AP_Rally::AP_Rally()
 {
+    ASSERT_STORAGE_SIZE(RallyLocation, 15);
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     if (_singleton != nullptr) {
         AP_HAL::panic("Rally must be singleton");

From cedcd190fc92c4cef575be01fc1317bfb4353128 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 14 Dec 2023 10:20:16 +1100
Subject: [PATCH 0743/1335] GCS_MAVLink: add ASSERT_STORAGE_SIZE macro

saves havin gto name the dummy variable yourself
---
 libraries/GCS_MAVLink/GCS.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index ee191bdef24a27..5d730b7c89e2a4 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -25,16 +25,16 @@
 
 extern const AP_HAL::HAL& hal;
 
+void GCS::get_sensor_status_flags(uint32_t &present,
+                                  uint32_t &enabled,
+                                  uint32_t &health)
+{
 // if this assert fails then fix it and the comment in GCS.h where
 // _statustext_queue is declared
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-assert_storage_size<GCS::statustext_t, 58> _assert_statustext_t_size;
+ASSERT_STORAGE_SIZE(GCS::statustext_t, 58);
 #endif
 
-void GCS::get_sensor_status_flags(uint32_t &present,
-                                  uint32_t &enabled,
-                                  uint32_t &health)
-{
     update_sensor_status_flags();
 
     present = control_sensors_present;

From bddb9aaac73e777317122057df0ee737e69b599d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 22 Jan 2024 19:12:33 +1100
Subject: [PATCH 0744/1335] SITL: add ASSERT_STORAGE_SIZE macro

saves havin gto name the dummy variable yourself
---
 libraries/SITL/SIM_ADSB_Sagetech_MXS.cpp | 18 ++++++------------
 libraries/SITL/SIM_EFI_Hirth.cpp         |  9 +++------
 libraries/SITL/SIM_Invensense_v3.cpp     |  3 +--
 libraries/SITL/SIM_RichenPower.cpp       |  2 ++
 libraries/SITL/SIM_RichenPower.h         |  1 -
 5 files changed, 12 insertions(+), 21 deletions(-)

diff --git a/libraries/SITL/SIM_ADSB_Sagetech_MXS.cpp b/libraries/SITL/SIM_ADSB_Sagetech_MXS.cpp
index 88a76717d21b97..68ed4470efe895 100644
--- a/libraries/SITL/SIM_ADSB_Sagetech_MXS.cpp
+++ b/libraries/SITL/SIM_ADSB_Sagetech_MXS.cpp
@@ -143,8 +143,7 @@ void ADSB_Sagetech_MXS::handle_message()
 
 bool ADSB_Sagetech_MXS::handle_message(const SITL::ADSB_Sagetech_MXS::Installation& opmsg)
 {
-    assert_storage_size<Installation, 36> _assert_storage_size_Installation;
-    (void)_assert_storage_size_Installation;
+    ASSERT_STORAGE_SIZE(Installation, 36);
 
     if (operating_mode != OperatingMode::OFF &&
         operating_mode != OperatingMode::MAINTENANCE) {
@@ -181,8 +180,7 @@ void ADSB_Sagetech_MXS::assert_good_flight_id()
 
 bool ADSB_Sagetech_MXS::handle_message(const SITL::ADSB_Sagetech_MXS::FlightIDMessage& _msg)
 {
-    assert_storage_size<FlightIDMessage, 12> _assert_storage_size_FlightIDMessage;
-    (void)_assert_storage_size_FlightIDMessage;
+    ASSERT_STORAGE_SIZE(FlightIDMessage, 12);
 
     // do something!
     flight_id_set_time_ms = AP_HAL::millis();
@@ -194,8 +192,7 @@ bool ADSB_Sagetech_MXS::handle_message(const SITL::ADSB_Sagetech_MXS::FlightIDMe
 
 bool ADSB_Sagetech_MXS::handle_message(const SITL::ADSB_Sagetech_MXS::Operating& _msg)
 {
-    assert_storage_size<Operating, 12> _assert_storage_size_Operating;
-    (void)_assert_storage_size_Operating;
+    ASSERT_STORAGE_SIZE(Operating, 12);
 
     // do something!
 
@@ -222,8 +219,7 @@ double ADSB_Sagetech_MXS::lat_string_to_double(const uint8_t *str)
 
 bool ADSB_Sagetech_MXS::handle_message(const SITL::ADSB_Sagetech_MXS::GPS& _msg)
 {
-    assert_storage_size<GPS, 63> _assert_storage_size_GPS;
-    (void)_assert_storage_size_GPS;
+    ASSERT_STORAGE_SIZE(GPS, 63);
 
     // store data to transmit via ADSB
     info_from_vehicle.gps.lat = lat_string_to_double(_msg.latitude);
@@ -234,8 +230,7 @@ bool ADSB_Sagetech_MXS::handle_message(const SITL::ADSB_Sagetech_MXS::GPS& _msg)
 
 bool ADSB_Sagetech_MXS::handle_message(const SITL::ADSB_Sagetech_MXS::DataRequest& _msg)
 {
-    assert_storage_size<DataRequest, 4> _assert_storage_size_DataRequest;
-    (void)_assert_storage_size_DataRequest;
+    ASSERT_STORAGE_SIZE(DataRequest, 4);
 
     // handle request to send data to vehicle.  Note that the
     // specification says (on page 32) that the ack is sent before the
@@ -246,8 +241,7 @@ bool ADSB_Sagetech_MXS::handle_message(const SITL::ADSB_Sagetech_MXS::DataReques
 
 bool ADSB_Sagetech_MXS::handle_message(const SITL::ADSB_Sagetech_MXS::TargetRequest& _msg)
 {
-    assert_storage_size<TargetRequest, 7> _assert_storage_size_TargetRequest;
-    (void)_assert_storage_size_TargetRequest;
+    ASSERT_STORAGE_SIZE(TargetRequest, 7);
 
     // handle request to send adsb data to vehicle as it is received
 
diff --git a/libraries/SITL/SIM_EFI_Hirth.cpp b/libraries/SITL/SIM_EFI_Hirth.cpp
index ba6faece7ee29f..2dbafba610b01a 100644
--- a/libraries/SITL/SIM_EFI_Hirth.cpp
+++ b/libraries/SITL/SIM_EFI_Hirth.cpp
@@ -206,8 +206,7 @@ void SITL::EFI_Hirth::send_record1()
 
     write_to_autopilot((char*)&packed_record1, sizeof(packed_record1));
 
-    assert_storage_size<Record1, 84> _assert_storage_size_Record1;
-    (void)_assert_storage_size_Record1;
+    ASSERT_STORAGE_SIZE(Record1, 84);
 }
 
 void SITL::EFI_Hirth::send_record2()
@@ -224,8 +223,7 @@ void SITL::EFI_Hirth::send_record2()
 
     write_to_autopilot((char*)&packed_record2, sizeof(packed_record2));
 
-    assert_storage_size<Record2, 98> _assert_storage_size_Record2;
-    (void)_assert_storage_size_Record2;
+    ASSERT_STORAGE_SIZE(Record2, 98);
 }
 
 
@@ -243,6 +241,5 @@ void SITL::EFI_Hirth::send_record3()
 
     write_to_autopilot((char*)&packed_record3, sizeof(packed_record3));
 
-    assert_storage_size<Record3, 100> _assert_storage_size_Record3;
-    (void)_assert_storage_size_Record3;
+    ASSERT_STORAGE_SIZE(Record3, 100);
 }
diff --git a/libraries/SITL/SIM_Invensense_v3.cpp b/libraries/SITL/SIM_Invensense_v3.cpp
index 2724daf90ad7f5..a13dfa134894b8 100644
--- a/libraries/SITL/SIM_Invensense_v3.cpp
+++ b/libraries/SITL/SIM_Invensense_v3.cpp
@@ -4,8 +4,7 @@
 
 void SITL::InvensenseV3::update(const class Aircraft &aircraft)
 {
-    assert_storage_size<FIFOData, 16> _assert_fifo_size;
-    (void)_assert_fifo_size;
+    ASSERT_STORAGE_SIZE(FIFOData, 16);
 
     const SIM *sitl = AP::sitl();
     const int16_t xAccel = sitl->state.xAccel / accel_scale();
diff --git a/libraries/SITL/SIM_RichenPower.cpp b/libraries/SITL/SIM_RichenPower.cpp
index f5affa7d277471..7088daa3e4ebc3 100644
--- a/libraries/SITL/SIM_RichenPower.cpp
+++ b/libraries/SITL/SIM_RichenPower.cpp
@@ -51,6 +51,8 @@ const AP_Param::GroupInfo RichenPower::var_info[] = {
 
 RichenPower::RichenPower() : SerialDevice::SerialDevice()
 {
+    ASSERT_STORAGE_SIZE(RichenPacket, 70);
+
     AP_Param::setup_object_defaults(this, var_info);
 
     u.packet.magic1 = 0xAA;
diff --git a/libraries/SITL/SIM_RichenPower.h b/libraries/SITL/SIM_RichenPower.h
index 1fa763fcf2778c..885c549238770b 100644
--- a/libraries/SITL/SIM_RichenPower.h
+++ b/libraries/SITL/SIM_RichenPower.h
@@ -124,7 +124,6 @@ class RichenPower : public SerialDevice {
         uint8_t footermagic1;
         uint8_t footermagic2;
     };
-    assert_storage_size<RichenPacket, 70> _assert_storage_size_RichenPacket UNUSED_PRIVATE_MEMBER;
 
     union RichenUnion {
         uint8_t parse_buffer[70];

From 0151dabf524b6b75edca621bf582661e1db9fa64 Mon Sep 17 00:00:00 2001
From: Troy Benjegerdes <troy@7el.us>
Date: Sun, 14 Jan 2024 14:30:38 -0600
Subject: [PATCH 0745/1335] AP_MotorsUGV: Fix Riscv64 compiler error issue
 #25974

---
 libraries/AR_Motors/AP_MotorsUGV.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AR_Motors/AP_MotorsUGV.cpp b/libraries/AR_Motors/AP_MotorsUGV.cpp
index 90b8ef99157125..b211384e1cb9d2 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.cpp
+++ b/libraries/AR_Motors/AP_MotorsUGV.cpp
@@ -925,7 +925,7 @@ void AP_MotorsUGV::output_omni(bool armed, float steering, float throttle, float
         const float scaled_steering = steering / 4500.0f;
         const float scaled_lateral = lateral * 0.01f;
 
-        float thr_str_ltr_out[AP_MOTORS_NUM_MOTORS_MAX];
+        float thr_str_ltr_out[_motors_num];
         float thr_str_ltr_max = 1;
         for (uint8_t i=0; i<_motors_num; i++) {
             // Each motor outputs throttle + steering + lateral

From cbe22af35f14babebb2824a25b8d609c02d7f5db Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 17 Jan 2024 13:03:39 +0000
Subject: [PATCH 0746/1335] AP_Relay: use correct define for DroneCAN relay

---
 libraries/AP_Relay/AP_Relay.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Relay/AP_Relay.h b/libraries/AP_Relay/AP_Relay.h
index 9d9055cdbe1842..fa4bcfc9ddf6c9 100644
--- a/libraries/AP_Relay/AP_Relay.h
+++ b/libraries/AP_Relay/AP_Relay.h
@@ -95,7 +95,7 @@ class AP_Relay {
     // Get relay state from pin number
     bool get_pin(const int16_t pin) const;
 
-#if HAL_ENABLE_DRONECAN_DRIVERS
+#if AP_RELAY_DRONECAN_ENABLED
     // Virtual DroneCAN pins
     class DroneCAN {
     public:
@@ -130,7 +130,7 @@ class AP_Relay {
         } state[num_pins];
 
     } dronecan;
-#endif // HAL_ENABLE_DRONECAN_DRIVERS
+#endif // AP_RELAY_DRONECAN_ENABLED
 
 };
 

From 92ea15f9c35175930d325d0902bb68bf5a0ff93b Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 17 Jan 2024 23:15:17 +0000
Subject: [PATCH 0747/1335] AP_Relay: fix missing math include

---
 libraries/AP_Relay/AP_Relay.cpp      | 1 +
 libraries/AP_Relay/AP_Relay.h        | 1 -
 libraries/AP_Relay/AP_Relay_Params.h | 1 -
 3 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 33c1a2d48e8cd0..607a8e5fbbb32a 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -12,6 +12,7 @@
 #include "AP_Relay.h"
 
 #include <AP_HAL/AP_HAL.h>
+#include <AP_Math/AP_Math.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
 
diff --git a/libraries/AP_Relay/AP_Relay.h b/libraries/AP_Relay/AP_Relay.h
index fa4bcfc9ddf6c9..40e2af62c10a26 100644
--- a/libraries/AP_Relay/AP_Relay.h
+++ b/libraries/AP_Relay/AP_Relay.h
@@ -15,7 +15,6 @@
 
 #include <AP_Param/AP_Param.h>
 #include <AP_Relay/AP_Relay_Params.h>
-#include <AP_Common/Bitmask.h>
 
 #ifndef AP_RELAY_NUM_RELAYS
   #define AP_RELAY_NUM_RELAYS 6
diff --git a/libraries/AP_Relay/AP_Relay_Params.h b/libraries/AP_Relay/AP_Relay_Params.h
index c8c9f7ab98b615..9b6a9d1cc5d8d0 100644
--- a/libraries/AP_Relay/AP_Relay_Params.h
+++ b/libraries/AP_Relay/AP_Relay_Params.h
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <AP_Param/AP_Param.h>
-#include "AP_Relay_config.h"
 
 class AP_Relay_Params {
 public:

From ad7b8b001b8d8f6af71f303e5d01b8f584ccebb2 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 19 Jan 2024 00:26:09 +0000
Subject: [PATCH 0748/1335] AP_Relay: send relay status for all relays with
 valid functions

---
 libraries/AP_Relay/AP_Relay.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 607a8e5fbbb32a..4aa31ec215737a 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -658,7 +658,7 @@ bool AP_Relay::send_relay_status(const GCS_MAVLINK &link) const
     uint16_t present_mask = 0;
     uint16_t on_mask = 0;
     for (uint8_t i=0; i<ARRAY_SIZE(_params); i++) {
-        if (!enabled(i)) {
+        if (!function_valid(_params[i].function)) {
             continue;
         }
         const uint16_t relay_bit_mask = 1U << i;

From 72804196b1194d23a049801ab9fb2026ca69846f Mon Sep 17 00:00:00 2001
From: Sean Kovacs <seankovacs9@gmail.com>
Date: Wed, 17 Jan 2024 19:46:54 -0500
Subject: [PATCH 0749/1335] Updated identification code per the datasheet

---
 libraries/AP_Baro/AP_Baro_ICP201XX.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Baro/AP_Baro_ICP201XX.cpp b/libraries/AP_Baro/AP_Baro_ICP201XX.cpp
index b7b5c6ec899328..6811e8c66b33a4 100644
--- a/libraries/AP_Baro/AP_Baro_ICP201XX.cpp
+++ b/libraries/AP_Baro/AP_Baro_ICP201XX.cpp
@@ -106,6 +106,7 @@ bool AP_Baro_ICP201XX::init()
     uint8_t id = 0xFF;
     uint8_t ver = 0xFF;
     read_reg(REG_DEVICE_ID, &id);
+    read_reg(REG_DEVICE_ID, &id);
     read_reg(REG_VERSION, &ver);
 
     if (id != ICP201XX_ID) {

From 940b6fd1fb84c5033343433b812f0e4b069680e8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 1 Jun 2022 21:16:42 +1000
Subject: [PATCH 0750/1335] AP_HAL_SITL: new Loweheiser generator/efi sim

---
 libraries/AP_HAL/SIMState.h                 | 1 +
 libraries/AP_HAL_SITL/SITL_State_common.cpp | 5 +++++
 libraries/AP_HAL_SITL/SITL_State_common.h   | 1 +
 3 files changed, 7 insertions(+)

diff --git a/libraries/AP_HAL/SIMState.h b/libraries/AP_HAL/SIMState.h
index 50589eb85aab24..0e1d2c808d0d0d 100644
--- a/libraries/AP_HAL/SIMState.h
+++ b/libraries/AP_HAL/SIMState.h
@@ -43,6 +43,7 @@
 #include <SITL/SIM_PS_LightWare_SF45B.h>
 
 #include <SITL/SIM_RichenPower.h>
+#include <SITL/SIM_Loweheiser.h>
 #include <SITL/SIM_FETtecOneWireESC.h>
 #include <AP_HAL/utility/Socket_native.h>
 
diff --git a/libraries/AP_HAL_SITL/SITL_State_common.cpp b/libraries/AP_HAL_SITL/SITL_State_common.cpp
index ae2603e6dd38ea..b4f96e4cf44dd4 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State_common.cpp
@@ -222,6 +222,11 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
         sitl_model->set_adsb(adsb);
         return sagetech_mxs;
 #endif
+#if AP_SIM_LOWEHEISER_ENABLED
+    } else if (streq(name, "loweheiser")) {
+        sitl_model->set_loweheiser(&_sitl->loweheiser_sim);
+        return &_sitl->loweheiser_sim;
+#endif
 #if !defined(HAL_BUILD_AP_PERIPH)
     } else if (streq(name, "richenpower")) {
         sitl_model->set_richenpower(&_sitl->richenpower_sim);
diff --git a/libraries/AP_HAL_SITL/SITL_State_common.h b/libraries/AP_HAL_SITL/SITL_State_common.h
index 4b59268ef8922b..82c281e305e57c 100644
--- a/libraries/AP_HAL_SITL/SITL_State_common.h
+++ b/libraries/AP_HAL_SITL/SITL_State_common.h
@@ -49,6 +49,7 @@
 #include <SITL/SIM_PS_LightWare_SF45B.h>
 
 #include <SITL/SIM_RichenPower.h>
+#include <SITL/SIM_Loweheiser.h>
 #include <SITL/SIM_FETtecOneWireESC.h>
 
 #include "AP_HAL_SITL.h"

From e8708227a12fd8b8a8dd116215fd90695f6f6d19 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 7 Jan 2022 12:36:48 +1100
Subject: [PATCH 0751/1335] SITL: new Loweheiser generator/efi sim

Co-authored-by: Joshua Henderson <hendjoshsr71@gmail.com>

SITL: break out common GeneratorEngine code
---
 libraries/SITL/SIM_Aircraft.cpp        |   7 +
 libraries/SITL/SIM_Aircraft.h          |   7 +
 libraries/SITL/SIM_GeneratorEngine.cpp |  48 ++++
 libraries/SITL/SIM_GeneratorEngine.h   |  28 ++
 libraries/SITL/SIM_Loweheiser.cpp      | 344 +++++++++++++++++++++++++
 libraries/SITL/SIM_Loweheiser.h        | 180 +++++++++++++
 libraries/SITL/SIM_RichenPower.cpp     |  34 +--
 libraries/SITL/SIM_RichenPower.h       |   5 +-
 libraries/SITL/SIM_config.h            |   5 +
 libraries/SITL/SITL.h                  |   5 +
 10 files changed, 635 insertions(+), 28 deletions(-)
 create mode 100644 libraries/SITL/SIM_GeneratorEngine.cpp
 create mode 100644 libraries/SITL/SIM_GeneratorEngine.h
 create mode 100644 libraries/SITL/SIM_Loweheiser.cpp
 create mode 100644 libraries/SITL/SIM_Loweheiser.h

diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
index 12a96753d0924a..ed43366ab6c0b4 100644
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@@ -1014,6 +1014,13 @@ void Aircraft::update_external_payload(const struct sitl_input &input)
         richenpower->update(input);
     }
 
+#if AP_SIM_LOWEHEISER_ENABLED
+    // update Loweheiser generator
+    if (loweheiser) {
+        loweheiser->update();
+    }
+#endif
+
     if (fetteconewireesc) {
         fetteconewireesc->update(*this);
     }
diff --git a/libraries/SITL/SIM_Aircraft.h b/libraries/SITL/SIM_Aircraft.h
index 1c867d56c11286..8b40a4eba281fa 100644
--- a/libraries/SITL/SIM_Aircraft.h
+++ b/libraries/SITL/SIM_Aircraft.h
@@ -30,6 +30,7 @@
 #include "SIM_Parachute.h"
 #include "SIM_Precland.h"
 #include "SIM_RichenPower.h"
+#include "SIM_Loweheiser.h"
 #include "SIM_FETtecOneWireESC.h"
 #include "SIM_I2C.h"
 #include "SIM_Buzzer.h"
@@ -146,6 +147,9 @@ class Aircraft {
     void set_parachute(Parachute *_parachute) { parachute = _parachute; }
     void set_richenpower(RichenPower *_richenpower) { richenpower = _richenpower; }
     void set_adsb(class ADSB *_adsb) { adsb = _adsb; }
+#if AP_SIM_LOWEHEISER_ENABLED
+    void set_loweheiser(Loweheiser *_loweheiser) { loweheiser = _loweheiser; }
+#endif
     void set_fetteconewireesc(FETtecOneWireESC *_fetteconewireesc) { fetteconewireesc = _fetteconewireesc; }
     void set_ie24(IntelligentEnergy24 *_ie24) { ie24 = _ie24; }
     void set_gripper_servo(Gripper_Servo *_gripper) { gripper = _gripper; }
@@ -341,6 +345,9 @@ class Aircraft {
     Gripper_EPM *gripper_epm;
     Parachute *parachute;
     RichenPower *richenpower;
+#if AP_SIM_LOWEHEISER_ENABLED
+    Loweheiser *loweheiser;
+#endif
     FETtecOneWireESC *fetteconewireesc;
 
     IntelligentEnergy24 *ie24;
diff --git a/libraries/SITL/SIM_GeneratorEngine.cpp b/libraries/SITL/SIM_GeneratorEngine.cpp
new file mode 100644
index 00000000000000..5e862cf1d78167
--- /dev/null
+++ b/libraries/SITL/SIM_GeneratorEngine.cpp
@@ -0,0 +1,48 @@
+#include "SIM_GeneratorEngine.h"
+
+#include <AP_Math/AP_Math.h>
+
+#include <GCS_MAVLink/GCS.h>
+
+using namespace SITL;
+
+void SIM_GeneratorEngine::update()
+{
+    if (current_current > 1 && is_zero(desired_rpm)) {
+        AP_HAL::panic("Generator stalled due to high current demand (%u > 1)", (unsigned)current_current);
+    } else if (current_current > max_current) {
+        AP_HAL::panic("Generator stalled due to high current demand (run)");
+    }
+
+    // linear degradation in RPM up to maximum load
+    if (!is_zero(desired_rpm)) {
+        desired_rpm -= 1500 * (current_current/max_current);
+    }
+
+    const uint32_t now = AP_HAL::millis();
+
+    const float max_slew_rpm = max_slew_rpm_per_second * ((now - last_rpm_update_ms) / 1000.0f);
+    last_rpm_update_ms = now;
+    const float rpm_delta = current_rpm - desired_rpm;
+    if (rpm_delta > 0) {
+        current_rpm -= MIN(max_slew_rpm, rpm_delta);
+    } else {
+        current_rpm += MIN(max_slew_rpm, abs(rpm_delta));
+    }
+
+    // update the temperature
+    const uint32_t time_delta_ms = now - last_heat_update_ms;
+    last_heat_update_ms = now;
+
+    constexpr float heat_environment_loss_factor = 0.15f;
+
+    const float factor = 0.0035;
+    temperature += (current_rpm * time_delta_ms * (1/1000.0f) * factor);
+    // cap the heat of the motor:
+    temperature = MIN(temperature, 150);
+    // now lose some heat to the environment
+    const float heat_loss = ((temperature * heat_environment_loss_factor * (time_delta_ms * (1/1000.0f))));  // lose some % of heat per second
+    // gcs().send_text(MAV_SEVERITY_INFO, "heat=%f loss=%f", temperature, heat_loss);
+    temperature -= heat_loss;
+
+}
diff --git a/libraries/SITL/SIM_GeneratorEngine.h b/libraries/SITL/SIM_GeneratorEngine.h
new file mode 100644
index 00000000000000..d4e3c885913b86
--- /dev/null
+++ b/libraries/SITL/SIM_GeneratorEngine.h
@@ -0,0 +1,28 @@
+#pragma once
+
+#include <stdint.h>
+
+namespace SITL {
+
+class SIM_GeneratorEngine
+{
+public:
+    void update();
+
+    // input variables:
+    float desired_rpm;
+    float current_current;
+    float max_current;
+    float max_slew_rpm_per_second;
+    float max_rpm = 8000;
+
+    // output variables:
+    float current_rpm;
+    float temperature = 20;
+
+private:
+    uint32_t last_rpm_update_ms;
+    uint32_t last_heat_update_ms;
+};
+
+};  // namespace SITL
diff --git a/libraries/SITL/SIM_Loweheiser.cpp b/libraries/SITL/SIM_Loweheiser.cpp
new file mode 100644
index 00000000000000..20779e2e20a136
--- /dev/null
+++ b/libraries/SITL/SIM_Loweheiser.cpp
@@ -0,0 +1,344 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  Simulator for the Loweheiser generators
+*/
+
+#include "SIM_config.h"
+
+#if AP_SIM_LOWEHEISER_ENABLED
+
+#include <AP_Math/AP_Math.h>
+
+#include "SIM_Loweheiser.h"
+#include "SITL.h"
+
+#include <GCS_MAVLink/GCS.h>
+
+#include <stdio.h>
+#include <errno.h>
+
+using namespace SITL;
+
+Loweheiser::Loweheiser() : SerialDevice::SerialDevice()
+{
+}
+
+void Loweheiser::update()
+{
+    // if (!_enabled.get()) {
+    //     return;
+    // }
+    maybe_send_heartbeat();
+    update_receive();
+    update_send();
+}
+
+void Loweheiser::maybe_send_heartbeat()
+{
+    const uint32_t now = AP_HAL::millis();
+
+    if (now - last_heartbeat_ms < 100) {
+        // we only provide a heartbeat every so often
+        return;
+    }
+    last_heartbeat_ms = now;
+
+    mavlink_message_t msg;
+    mavlink_msg_heartbeat_pack(system_id,
+                               component_id,
+                               &msg,
+                               MAV_TYPE_GCS,
+                               MAV_AUTOPILOT_INVALID,
+                               0,
+                               0,
+                               0);
+
+    uint8_t buf[300];
+    uint16_t buf_len = mavlink_msg_to_send_buffer(buf, &msg);
+
+    if (write_to_autopilot((const char*)&buf, buf_len) != buf_len) {
+        // ::fprintf(stderr, "write failure\n");
+    }
+}
+
+void Loweheiser::handle_message(const mavlink_message_t &msg)
+{
+    switch (msg.msgid) {
+    case MAVLINK_MSG_ID_COMMAND_LONG: {
+        mavlink_command_long_t pkt;
+        mavlink_msg_command_long_decode(&msg, &pkt);
+
+        if (pkt.target_system != system_id ||
+            pkt.target_component != component_id) {
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Not for me");
+            return;
+        }
+
+        switch (pkt.command) {
+        case MAV_CMD_LOWEHEISER_SET_STATE:
+            // decode the desired run state:
+            // param2 physically turns power on/off to the EFI!
+            switch ((uint8_t)pkt.param2) {
+            case 0:
+                autopilot_desired_engine_run_state = EngineRunState::OFF;
+                break;
+            case 1:
+                autopilot_desired_engine_run_state = EngineRunState::ON;
+                break;
+            default:
+                AP_HAL::panic("Bad desired engine run state");
+            }
+            switch ((uint8_t)pkt.param3) {
+            case 0:
+                autopilot_desired_governor_state = GovernorState::OFF;
+                break;
+            case 1:
+                autopilot_desired_governor_state = GovernorState::ON;
+                break;
+            default:
+                AP_HAL::panic("Bad desired governor state");
+            }
+            switch ((uint8_t)pkt.param5) {
+            case 0:
+                autopilot_desired_startup_state = StartupState::OFF;
+                break;
+            case 1:
+                autopilot_desired_startup_state = StartupState::ON;
+                break;
+            default:
+                AP_HAL::panic("Bad electronic startup state");
+            }
+            manual_throttle_pct = pkt.param4;
+            mavlink_message_t ack;
+            mavlink_msg_command_ack_pack(
+                system_id,
+                component_id,
+                &ack,
+                MAV_CMD_LOWEHEISER_SET_STATE,
+                MAV_RESULT_ACCEPTED,
+                0,
+                0,
+                msg.sysid,
+                msg.compid
+                );
+            uint8_t buf[300];
+            uint16_t buf_len = mavlink_msg_to_send_buffer(buf, &ack);
+
+            if (write_to_autopilot((const char*)&buf, buf_len) != buf_len) {
+                // ::fprintf(stderr, "write failure\n");
+            }
+            break;
+        }
+    };
+    }
+}
+
+void Loweheiser::update_receive()
+{
+    char buf[128];
+    const ssize_t bytes_read = read_from_autopilot(buf, sizeof(buf));
+    if (bytes_read <= 0) {
+        return;
+    }
+    for (uint16_t i=0; i<bytes_read; i++) {
+        if (mavlink_frame_char_buffer(
+                &rxmsg,
+                &rxstatus,
+                buf[i],
+                &rxmsg,
+                &rxstatus) == MAVLINK_FRAMING_OK) {
+            handle_message(rxmsg);
+        }
+    }
+}
+
+void Loweheiser::update_fuel_level()
+{
+    const uint32_t now_ms = AP_HAL::millis();
+
+    const uint32_t tdelta = now_ms - last_fuel_update_ms;
+    last_fuel_update_ms = now_ms;
+
+    const float fuel_consumption_lperh_at_8000rpm = 10;
+    const float fuel_consumption_lpers_at_8000rpm = fuel_consumption_lperh_at_8000rpm / 3600;
+
+    fuel_flow_lps = generatorengine.current_rpm/8000 * fuel_consumption_lpers_at_8000rpm;
+    const float fuel_delta = tdelta/1000.0 * fuel_flow_lps;  // litres
+    fuel_consumed += fuel_delta;
+    fuel_level -= fuel_delta;
+}
+
+void Loweheiser::update_send()
+{
+    const uint32_t now = AP_HAL::millis();
+    if (now - last_sent_ms < 200) {
+        return;
+    }
+    last_sent_ms = now;
+
+    auto sitl = AP::sitl();
+    if (!sitl || sitl->efi_type == SIM::EFIType::EFI_TYPE_NONE) {
+        return;
+    }
+
+    float throttle = 0;
+    float throttle_output = 0;
+
+    switch (autopilot_desired_engine_run_state) {
+    case EngineRunState::OFF:
+        generatorengine.desired_rpm = 0;
+        break;
+    case EngineRunState::ON:
+        switch (autopilot_desired_governor_state) {
+        case GovernorState::OFF: {
+            throttle = manual_throttle_pct;
+            throttle_output = throttle;
+            if (is_positive(generatorengine.desired_rpm) ||
+                autopilot_desired_startup_state == StartupState::ON) {
+                const uint16_t manual_rpm_min = 0;
+                const uint16_t manual_rpm_max = 8000;
+                generatorengine.desired_rpm = linear_interpolate(
+                    manual_rpm_min,
+                    manual_rpm_max,
+                    throttle,
+                    0,
+                    100
+                    );
+            }
+            break;
+        }
+        case GovernorState::ON:
+            // should probably base this on current draw from battery
+            // / motor throttle output?
+            throttle = 80;
+            throttle_output = 80;
+            generatorengine.desired_rpm = 8000;
+            break;
+        }
+    }
+
+    // a simulation for a stuck throttle - once the egine starts it
+    // won't stop based on servo position,, only engine run state
+    const bool stuck_throttle_failure_simulation = false;
+    static bool throttle_is_stuck;
+    if (stuck_throttle_failure_simulation) {
+        if (generatorengine.desired_rpm > 7000) {
+            throttle_is_stuck = true;
+        }
+        // if the throttle is stuck then the engine runs - except if
+        // the autopilot is saying the desired runstate is off,
+        // because that just shuts down the spark entirely, so the
+        // engine will not run
+        if (throttle_is_stuck &&
+            autopilot_desired_engine_run_state == EngineRunState::ON) {
+            // same numbers as "on" case, above
+            throttle = 80;
+            throttle_output = 80;
+            generatorengine.desired_rpm = 8000;
+        }
+    }
+
+    _current_current = AP::sitl()->state.battery_current;
+    _current_current = MIN(_current_current, max_current);
+
+    generatorengine.current_current = _current_current;
+    generatorengine.max_current = max_current;
+    generatorengine.max_slew_rpm_per_second = 2000;
+
+    generatorengine.update();
+
+    update_fuel_level();
+
+    float efi_pw = std::numeric_limits<float>::quiet_NaN();
+    float efi_fuel_flow = std::numeric_limits<float>::quiet_NaN();
+    float efi_fuel_consumed = std::numeric_limits<float>::quiet_NaN();
+    float efi_fuel_level = std::numeric_limits<float>::quiet_NaN();
+    float efi_baro = std::numeric_limits<float>::quiet_NaN();
+    float efi_mat = std::numeric_limits<float>::quiet_NaN();
+    float efi_clt = std::numeric_limits<float>::quiet_NaN();
+    float efi_tps = std::numeric_limits<float>::quiet_NaN();
+    float efi_egt = std::numeric_limits<float>::quiet_NaN();
+    float efi_batt = std::numeric_limits<float>::quiet_NaN();
+
+    float curr_batt = -0.3;
+    float curr_gen = 10.12;
+
+    // Current from the generator is the  battery charging current (defined to be negative) plus the generator current
+    float curr_rot = (curr_batt < 0 ? -curr_batt : 0.0) + curr_gen;
+
+    // controlled by param2, this turns on/off the DC/DC component which
+    // powers the efi
+    if (autopilot_desired_engine_run_state == EngineRunState::ON) {
+        efi_baro = AP::baro().get_pressure() / 1000.0;
+        efi_mat = AP::baro().get_temperature();
+        efi_clt = generatorengine.temperature;
+        efi_tps = MAX(throttle_output, 40);
+        efi_batt = 12.5;
+        efi_fuel_flow = fuel_flow_lps * 3600;  // litres/second -> litres/hour
+    }
+
+    if (false) {
+        efi_fuel_level = fuel_level;
+        efi_fuel_consumed = fuel_consumed;
+    }
+
+    // +/- 3V, depending on draw
+    const float volt_batt = base_supply_voltage - (3 * (_current_current / max_current));
+
+    const mavlink_loweheiser_gov_efi_t loweheiser_efi_gov{
+        volt_batt, // volt_batt
+        curr_batt, // curr_batt
+        curr_gen, // curr_gen
+        curr_rot, // curr_rot
+        efi_fuel_level, // fuel_level in litres
+        throttle, // throttle
+        UINT32_MAX, // runtime in seconds
+        INT32_MAX, // time until maintenance
+        std::numeric_limits<float>::quiet_NaN(),  // rectifier temperature
+        std::numeric_limits<float>::quiet_NaN(),  // generator temperature
+        efi_batt, // efi_batt
+        generatorengine.current_rpm, // efi_rpm
+        efi_pw, // efi_pw
+        efi_fuel_flow, // efi_fuelflow
+        efi_fuel_consumed, // efi_fuel_consumed
+        efi_baro, // efi_baro
+        efi_mat, // efi_mat
+        efi_clt, // efi_clt
+        efi_tps, // efi_tps
+        efi_egt, // efi_exhaust_gas_temperature
+        1,  // EFI index
+        0, // generator_status
+        0  // EFI status
+    };
+
+    mavlink_message_t msg;
+    mavlink_msg_loweheiser_gov_efi_encode_status(
+        system_id,
+        component_id,
+        &mav_status,
+        &msg,
+        &loweheiser_efi_gov
+        );
+
+    uint8_t buf[300];
+    uint16_t buf_len = mavlink_msg_to_send_buffer(buf, &msg);
+
+    if (write_to_autopilot((char*)buf, buf_len) != buf_len) {
+        AP_HAL::panic("Failed to write to autopilot: %s", strerror(errno));
+    }
+}
+
+#endif  // AP_SIM_LOWEHEISER_ENABLED
diff --git a/libraries/SITL/SIM_Loweheiser.h b/libraries/SITL/SIM_Loweheiser.h
new file mode 100644
index 00000000000000..ae4f28cdd73bf7
--- /dev/null
+++ b/libraries/SITL/SIM_Loweheiser.h
@@ -0,0 +1,180 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  Simulator for the Loweheiser EFI/generator
+
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:loweheiser --speedup=1 --console
+
+param set SIM_EFI_TYPE 2
+param set SERIAL5_PROTOCOL 2
+param set GEN_TYPE 4
+param set EFI_TYPE 4
+param set BATT2_MONITOR 17  # generator (elec)
+param set BATT3_MONITOR 18  # generator (fuel level)
+param fetch
+
+param set BATT3_CAPACITY 10000
+param set BATT3_LOW_MAH 1000
+param set BATT3_CRT_MAH 500
+param set BATT3_FS_LOW_ACT 2 # RTL
+param set BATT3_FS_CRT_ACT 1 # LAND
+param set BATT3_LOW_VOLT 0
+
+param set RC9_OPTION 85   # generator control
+
+param set GEN_IDLE_TH_H 40 # NOTE without this the engine never warms up past 36 deg C
+param set GEN_IDLE_TH 25
+
+param set RC10_OPTION 212 # loweheiser manual throttle control
+param set RC10_DZ 20
+param set RC10_TRIM 1000
+param set RC10_MIN 1000
+param set RC10_MAX 2000
+
+param set RC11_OPTION 109 # loweheiser starter channel
+
+reboot
+
+# for testing failsafes:
+param set BATT3_CAPACITY 200
+param set BATT3_LOW_MAH 100
+param set BATT3_CRT_MAH 50
+
+# stream EFI_STATUS at 10Hz:
+long SET_MESSAGE_INTERVAL 225 100000
+
+# run SITL against real generator:
+DEV=/dev/serial/by-id/usb-Prolific_Technology_Inc._USB-Serial_Controller-if00-port0
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=uart:$DEV:115200 --speedup=1 --console
+
+# run generator test script against simulator:
+python ./libraries/AP_Generator/scripts/test-loweheiser.py tcp:localhost:5762
+
+# use the generator test script to control the generator:
+./libraries/AP_Generator/scripts/test-loweheiser.py $DEV
+
+# observe RPM
+
+# observe remaining fuel:
+graph BATTERY_STATUS[2].battery_remaining
+graph BATTERY_STATUS[2].current_consumed
+
+# autotest suite:
+
+./Tools/autotest/autotest.py --gdb --debug build.Copter test.Copter.Loweheiser
+
+# use a usb-ttl cable to connect directly to mavlink-speaking generator:
+DEV=/dev/serial/by-id/usb-Prolific_Technology_Inc._USB-Serial_Controller-if00-port0
+mavproxy.py --master $DEV --baud 115200
+
+*/
+
+#pragma once
+
+#include "SIM_config.h"
+
+#if AP_SIM_LOWEHEISER_ENABLED
+
+#include <AP_Param/AP_Param.h>
+
+#include "SITL_Input.h"
+
+#include "SIM_SerialDevice.h"
+#include "SIM_GeneratorEngine.h"
+
+#include <GCS_MAVLink/GCS_MAVLink.h>
+
+#include <stdio.h>
+
+namespace SITL {
+
+class Loweheiser : public SerialDevice {
+public:
+
+    Loweheiser();
+
+    // update state
+    void update();
+
+private:
+
+    // TODO: make these parameters:
+    const uint8_t system_id = 17;
+    const uint8_t component_id = 18;
+
+    const float max_current = 50.0f;
+    const float base_supply_voltage = 50.0;
+
+    // we share channels with the ArduPilot binary!
+    // Beware: the mavlink rangefinder and other stuff shares this channel.
+    const mavlink_channel_t mavlink_ch = (mavlink_channel_t)(MAVLINK_COMM_0+5);
+
+    class SIM *_sitl;
+
+    uint32_t last_sent_ms;
+
+    void update_receive();
+    void update_send();
+
+    void maybe_send_heartbeat();
+    uint32_t last_heartbeat_ms;
+
+    void handle_message(const mavlink_message_t &msg);
+
+    enum class EngineRunState : uint8_t {
+        OFF = 0,
+        ON = 1,
+    };
+    EngineRunState autopilot_desired_engine_run_state = EngineRunState::OFF;
+
+    enum class GovernorState : uint8_t {
+        OFF = 0,
+        ON = 1,
+    };
+    GovernorState autopilot_desired_governor_state = GovernorState::OFF;
+
+    float manual_throttle_pct;
+
+    enum class StartupState : uint8_t {
+        OFF = 0,
+        ON = 1,
+    };
+    StartupState autopilot_desired_startup_state = StartupState::OFF;
+
+    mavlink_message_t rxmsg;
+    mavlink_status_t rxstatus;
+
+    SIM_GeneratorEngine generatorengine;
+
+    float _current_current;
+
+    // fuel
+    const float initial_fuel_level = 10;  // litres, must match battery setup
+    float fuel_level = initial_fuel_level;  // litres
+    float fuel_consumed = 0;  // litres
+    float fuel_flow_lps = 0; // litres/second
+    void update_fuel_level();
+
+    uint32_t last_fuel_update_ms;
+
+    mavlink_status_t mav_status;
+
+    // parameters
+    // AP_Int8 _enabled;
+};
+
+}
+
+#endif  // AP_SIM_LOWEHEISER_ENABLED
diff --git a/libraries/SITL/SIM_RichenPower.cpp b/libraries/SITL/SIM_RichenPower.cpp
index 7088daa3e4ebc3..f45e29f17f909b 100644
--- a/libraries/SITL/SIM_RichenPower.cpp
+++ b/libraries/SITL/SIM_RichenPower.cpp
@@ -128,47 +128,29 @@ void RichenPower::update_control_pin(const struct sitl_input &input)
     // RICHENPOWER, 13:49
     // Idle RMP 4800 +-300, RUN RPM 13000 +- 1500
 
-    uint16_t desired_rpm = 0;
     switch (_state) {
     case State::STOP:
-        desired_rpm = 0;
+        generatorengine.desired_rpm = 0;
         break;
     case State::IDLE:
     case State::STOPPING:
-        desired_rpm = 4800; // +/- 300
+        generatorengine.desired_rpm = 4800; // +/- 300
         break;
     case State::RUN:
-        desired_rpm = 13000; // +/- 1500
+        generatorengine.desired_rpm = 13000; // +/- 1500
         break;
     }
 
     _current_current = AP::sitl()->state.battery_current;
     _current_current = MIN(_current_current, max_current);
-    if (_current_current > 1 && _state != State::RUN) {
-        AP_HAL::panic("Generator stalled due to high current demand");
-    } else if (_current_current > max_current) {
-        AP_HAL::panic("Generator stalled due to high current demand (run)");
-    }
-
-    // linear degradation in RPM up to maximum load
-    if (desired_rpm) {
-        desired_rpm -= 1500 * (_current_current/max_current);
-    }
 
-    const float max_slew_rpm_per_second = 2000;
-    const float max_slew_rpm = max_slew_rpm_per_second * ((now - last_rpm_update_ms) / 1000.0f);
-    last_rpm_update_ms = now;
-    const float rpm_delta = _current_rpm - desired_rpm;
-    if (rpm_delta > 0) {
-        _current_rpm -= MIN(max_slew_rpm, rpm_delta);
-    } else {
-        _current_rpm += MIN(max_slew_rpm, abs(rpm_delta));
-    }
+    generatorengine.current_current = _current_current;
+    generatorengine.max_current = max_current;
+    generatorengine.max_slew_rpm_per_second = 2000;
 
-    // if (!is_zero(rpm_delta)) {
-        // ::fprintf(stderr, "richenpower pwm: %f\n", _current_rpm);
-    // }
+    generatorengine.update();
 
+    _current_rpm = generatorengine.current_rpm;
 }
 
 void RichenPower::RichenUnion::update_checksum()
diff --git a/libraries/SITL/SIM_RichenPower.h b/libraries/SITL/SIM_RichenPower.h
index 885c549238770b..ed9217ba924eec 100644
--- a/libraries/SITL/SIM_RichenPower.h
+++ b/libraries/SITL/SIM_RichenPower.h
@@ -45,6 +45,7 @@ arm throttle (denied because generator not running)
 #include "SITL_Input.h"
 
 #include "SIM_SerialDevice.h"
+#include "SIM_GeneratorEngine.h"
 
 namespace SITL {
 
@@ -94,8 +95,6 @@ class RichenPower : public SerialDevice {
 
     float _current_current;
 
-    uint32_t last_rpm_update_ms;
-
     enum class Errors {
         MaintenanceRequired = 0,
     };
@@ -136,6 +135,8 @@ class RichenPower : public SerialDevice {
 
     // time we were asked to stop; 
     uint32_t stop_start_ms;
+
+    SIM_GeneratorEngine generatorengine;
 };
 
 }
diff --git a/libraries/SITL/SIM_config.h b/libraries/SITL/SIM_config.h
index aab57e099d4192..419cac92262ba2 100644
--- a/libraries/SITL/SIM_config.h
+++ b/libraries/SITL/SIM_config.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL_Boards.h>
+#include <GCS_MAVLink/GCS_config.h>
 
 #ifndef HAL_SIM_ADSB_ENABLED
 #define HAL_SIM_ADSB_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
@@ -22,6 +23,10 @@
 #define AP_SIM_IS31FL3195_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
 #endif
 
+#ifndef AP_SIM_LOWEHEISER_ENABLED
+#define AP_SIM_LOWEHEISER_ENABLED AP_SIM_ENABLED && HAL_MAVLINK_BINDINGS_ENABLED
+#endif
+
 #ifndef AP_SIM_SHIP_ENABLED
 #define AP_SIM_SHIP_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
 #endif
diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h
index 68b30ddeb97a5a..4d7394a7c4bb3a 100644
--- a/libraries/SITL/SITL.h
+++ b/libraries/SITL/SITL.h
@@ -22,6 +22,7 @@
 #include "SIM_ToneAlarm.h"
 #include "SIM_EFI_MegaSquirt.h"
 #include "SIM_RichenPower.h"
+#include "SIM_Loweheiser.h"
 #include "SIM_FETtecOneWireESC.h"
 #include "SIM_IntelligentEnergy24.h"
 #include "SIM_Ship.h"
@@ -298,6 +299,7 @@ class SIM {
     enum EFIType {
         EFI_TYPE_NONE = 0,
         EFI_TYPE_MS = 1,
+        EFI_TYPE_LOWEHEISER = 2,
         EFI_TYPE_HIRTH = 8,
     };
     
@@ -455,6 +457,9 @@ class SIM {
     ToneAlarm tonealarm_sim;
     SIM_Precland precland_sim;
     RichenPower richenpower_sim;
+#if AP_SIM_LOWEHEISER_ENABLED
+    Loweheiser loweheiser_sim;
+#endif
     IntelligentEnergy24 ie24_sim;
     FETtecOneWireESC fetteconewireesc_sim;
 #if AP_TEST_DRONECAN_DRIVERS

From cac3a2216d673d9abe173e10e5462507cc8df521 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 18 Jan 2024 15:37:06 +1100
Subject: [PATCH 0752/1335] GCS_MAVLink: make mavlink-required methods
 available even if not HAL_GCS_ENABLED

---
 libraries/GCS_MAVLink/GCS_MAVLink.cpp | 40 ++++++++++++++++-----------
 1 file changed, 24 insertions(+), 16 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.cpp b/libraries/GCS_MAVLink/GCS_MAVLink.cpp
index c4f531822d2c3d..ffbc50207f5757 100644
--- a/libraries/GCS_MAVLink/GCS_MAVLink.cpp
+++ b/libraries/GCS_MAVLink/GCS_MAVLink.cpp
@@ -41,6 +41,30 @@ extern const AP_HAL::HAL& hal;
 #pragma GCC diagnostic pop
 #endif
 
+mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan) {
+#if HAL_GCS_ENABLED
+    GCS_MAVLINK *link = gcs().chan(chan);
+    if (link == nullptr) {
+        return nullptr;
+    }
+    return link->channel_buffer();
+#else
+    return nullptr;
+#endif
+}
+
+mavlink_status_t* mavlink_get_channel_status(uint8_t chan) {
+#if HAL_GCS_ENABLED
+    GCS_MAVLINK *link = gcs().chan(chan);
+    if (link == nullptr) {
+        return nullptr;
+    }
+    return link->channel_status();
+#else
+    return nullptr;
+#endif
+}
+
 #endif // HAL_MAVLINK_BINDINGS_ENABLED
 
 #if HAL_GCS_ENABLED
@@ -65,22 +89,6 @@ GCS_MAVLINK *GCS_MAVLINK::find_by_mavtype_and_compid(uint8_t mav_type, uint8_t c
     return gcs().chan(channel);
 }
 
-mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan) {
-    GCS_MAVLINK *link = gcs().chan(chan);
-    if (link == nullptr) {
-        return nullptr;
-    }
-    return link->channel_buffer();
-}
-
-mavlink_status_t* mavlink_get_channel_status(uint8_t chan) {
-    GCS_MAVLINK *link = gcs().chan(chan);
-    if (link == nullptr) {
-        return nullptr;
-    }
-    return link->channel_status();
-}
-
 // set a channel as private. Private channels get sent heartbeats, but
 // don't get broadcast packets or forwarded packets
 void GCS_MAVLINK::set_channel_private(mavlink_channel_t _chan)

From 34188e892fa94ba39f35b8c7f053dc5c6e67dd29 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 20 Jan 2024 09:34:16 +1100
Subject: [PATCH 0753/1335] AP_HAL_SITL: correct ubsan compilation

---
 libraries/AP_HAL_SITL/Scheduler.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_HAL_SITL/Scheduler.cpp b/libraries/AP_HAL_SITL/Scheduler.cpp
index 93fed42129d0b5..c925a0ca5b4189 100644
--- a/libraries/AP_HAL_SITL/Scheduler.cpp
+++ b/libraries/AP_HAL_SITL/Scheduler.cpp
@@ -14,6 +14,7 @@
 #endif
 #include <AP_RCProtocol/AP_RCProtocol.h>
 #ifdef UBSAN_ENABLED
+#include <fcntl.h>
 #include <sanitizer/asan_interface.h>
 #endif
 
@@ -61,6 +62,7 @@ void __ubsan_get_current_report_data(const char **OutIssueKind,
                                      const char **OutFilename, unsigned *OutLine,
                                      unsigned *OutCol, char **OutMemoryAddr);
 
+void __ubsan_on_report();
 void __ubsan_on_report()
 {
     static int fd = -1;

From a25f10a91439a7bba8178da6d3789518201f4688 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 21 Jan 2024 15:36:29 +1100
Subject: [PATCH 0754/1335] AP_BoardConfig: added detection of Holybro6X-45686

---
 libraries/AP_BoardConfig/AP_BoardConfig.h  | 1 +
 libraries/AP_BoardConfig/board_drivers.cpp | 6 ++++++
 2 files changed, 7 insertions(+)

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index 18e6a007e94e1c..47bf754da4653c 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -68,6 +68,7 @@ class AP_BoardConfig {
         FMUV6_BOARD_HOLYBRO_6X = 40,
         FMUV6_BOARD_CUAV_6X = 41,
         FMUV6_BOARD_HOLYBRO_6X_REV6 = 42,
+        FMUV6_BOARD_HOLYBRO_6X_45686 = 43,
         PX4_BOARD_OLDDRIVERS = 100,
     };
 
diff --git a/libraries/AP_BoardConfig/board_drivers.cpp b/libraries/AP_BoardConfig/board_drivers.cpp
index c54f872bb94a80..51f32bf8d7d63f 100644
--- a/libraries/AP_BoardConfig/board_drivers.cpp
+++ b/libraries/AP_BoardConfig/board_drivers.cpp
@@ -107,6 +107,7 @@ void AP_BoardConfig::board_setup_drivers(void)
     case PX4_BOARD_MINDPXV2:
     case FMUV6_BOARD_HOLYBRO_6X:
     case FMUV6_BOARD_HOLYBRO_6X_REV6:
+    case FMUV6_BOARD_HOLYBRO_6X_45686:
     case FMUV6_BOARD_CUAV_6X:
         break;
     default:
@@ -499,6 +500,11 @@ void AP_BoardConfig::detect_fmuv6_variant()
         state.board_type.set_and_notify(FMUV6_BOARD_CUAV_6X);
         DEV_PRINTF("Detected CUAV 6X\n");
         AP_Param::load_defaults_file("@ROMFS/param/CUAV_V6X_defaults.parm", false);
+    } else if (spi_check_register("icm45686-1", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686) &&
+               spi_check_register("icm45686-2", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686) &&
+               spi_check_register("icm45686-3", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)) {
+        state.board_type.set_and_notify(FMUV6_BOARD_HOLYBRO_6X_45686);
+        DEV_PRINTF("Detected Holybro 6X_45686\n");
     } else if (spi_check_register("iim42652", INV3REG_WHOAMI, INV3_WHOAMI_IIM42652) &&
                spi_check_register("icm45686", INV3REG_456_WHOAMI, INV3_WHOAMI_ICM45686)) {
         state.board_type.set_and_notify(FMUV6_BOARD_HOLYBRO_6X_REV6);

From 140518da3c034a22d9be890491fd1d28e248813a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 21 Jan 2024 15:36:46 +1100
Subject: [PATCH 0755/1335] hwdef: added support for Holybro6X-45686

---
 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
index 8074aa2a07cd8b..1cf5be3a9f7430 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
@@ -331,6 +331,11 @@ SPIDEV adis16470 SPI3 DEVID1 SP3_CS1 MODE3 1*MHZ 2*MHZ
 SPIDEV iim42652  SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 8*MHZ
 SPIDEV icm45686  SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ
 
+# IMU devices for Holybro6X-45686 version
+SPIDEV icm45686-3 SPI3 DEVID1 SP3_CS1 MODE3 2*MHZ 8*MHZ
+SPIDEV icm45686-2 SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 8*MHZ
+SPIDEV icm45686-1 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ
+
 # Holybro6X 3 IMUs
 IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
 IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)
@@ -347,6 +352,11 @@ IMU ADIS1647x    SPI:adis16470 ROTATION_ROLL_180 SP3_DRDY2 BOARD_MATCH(FMUV6_BOA
 IMU Invensensev3 SPI:iim42652  ROTATION_ROLL_180_YAW_270   BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)
 IMU Invensensev3 SPI:icm45686  ROTATION_YAW_90             BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)
 
+# Holybro6X-45686 3 IMUs, the ones on SPI-2 and SPI-3 are isolated
+IMU Invensensev3 SPI:icm45686-2  ROTATION_ROLL_180  BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
+IMU Invensensev3 SPI:icm45686-3  ROTATION_ROLL_180  BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
+IMU Invensensev3 SPI:icm45686-1  ROTATION_YAW_90    BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
+
 define HAL_DEFAULT_INS_FAST_SAMPLE 7
 
 # enable RAMTROM parameter storage

From ecc7188d971f935f042e30ef54f5179392e8e70a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 22 Jan 2024 13:24:58 +1100
Subject: [PATCH 0756/1335] AP_Compass: rename COMPASS_TYPEMASK to
 COMPASS_DISBLMSK

this is a very confusingly named parameter.  I've seen several instances of people treating this as an enable mask rather than a disable mask
---
 libraries/AP_Compass/AP_Compass.cpp | 4 ++--
 libraries/AP_Compass/AP_Compass.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 18d2cc9136c76c..45eccb97e73756 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -508,12 +508,12 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     AP_SUBGROUPINFO(_per_motor, "PMOT", 32, Compass, Compass_PerMotor),
 #endif
 
-    // @Param: TYPEMASK
+    // @Param: DISBLMSK
     // @DisplayName: Compass disable driver type mask
     // @Description: This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup
     // @Bitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:DroneCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS
     // @User: Advanced
-    AP_GROUPINFO("TYPEMASK", 33, Compass, _driver_type_mask, 0),
+    AP_GROUPINFO("DISBLMSK", 33, Compass, _driver_type_mask, 0),
 
     // @Param: FLTR_RNG
     // @DisplayName: Range in which sample is accepted
diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index 2c7b1ac7418dfb..66e2bc0ff409f7 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -422,7 +422,7 @@ friend class AP_Compass_Backend;
     bool _cal_requires_reboot;
     bool _cal_has_run;
 
-    // enum of drivers for COMPASS_TYPEMASK
+    // enum of drivers for COMPASS_DISBLMSK
     enum DriverType {
 #if AP_COMPASS_HMC5843_ENABLED
         DRIVER_HMC5843  =0,

From 331110639e23336042c4ca88cee878c7dd27a899 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 22 Jan 2024 13:24:58 +1100
Subject: [PATCH 0757/1335] AP_HAL_ChibiOS: rename COMPASS_TYPEMASK to
 COMPASS_DISBLMSK

this is a very confusingly named parameter.  I've seen several instances of people treating this as an enable mask rather than a disable mask
---
 libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm       | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm   | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm
index 221f9f39c8d331..127840bf7f4503 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/defaults.parm
@@ -49,7 +49,7 @@ BRD_SAFETY_MASK,16368
 BRD_SAFETYENABLE,0
 CIRCLE_RADIUS,3000
 COMPASS_ORIENT,38
-COMPASS_TYPEMASK,15392
+COMPASS_DISBLMSK,15392
 COMPASS_USE3,0
 EK2_ENABLE,0
 EK3_ENABLE,1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm
index 0d9f09611087f9..0130fe56f90d4c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/defaults.parm
@@ -50,7 +50,7 @@ BRD_SAFETYENABLE,0
 BRD_TYPE,3
 CIRCLE_RADIUS,3000
 COMPASS_ORIENT,38
-COMPASS_TYPEMASK,15392
+COMPASS_DISBLMSK,15392
 COMPASS_USE3,0
 EK2_ENABLE,0
 EK3_ENABLE,1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm
index 1d59bcecee582e..f350e212537681 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/defaults.parm
@@ -54,7 +54,7 @@ CAN_D2_PROTOCOL,0
 COMPASS_AUTODEC,1
 COMPASS_EXTERNAL,1
 COMPASS_ORIENT,12
-COMPASS_TYPEMASK,510846
+COMPASS_DISBLMSK,510846
 COMPASS_USE2,0
 COMPASS_USE3,0
 COMPASS_CAL_FIT,16

From 76eb1b43e42bec2744dc8e8da1cbc227b811b24a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 22 Jan 2024 13:24:58 +1100
Subject: [PATCH 0758/1335] SITL: rename COMPASS_TYPEMASK to COMPASS_DISBLMSK

this is a very confusingly named parameter.  I've seen several instances of people treating this as an enable mask rather than a disable mask
---
 .../examples/SilentWings/Params/Rolladen-Schneider-LS8b.param   | 2 +-
 .../SITL/examples/SilentWings/Params/Schleicher-ASW27B.param    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
index 0c7de8b67c26fc..4aeda587cf4e97 100644
--- a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
+++ b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -117,7 +117,7 @@ COMPASS_ORIENT2,0
 COMPASS_ORIENT3,0
 COMPASS_PMOT_EN,0
 COMPASS_PRIMARY,0
-COMPASS_TYPEMASK,0
+COMPASS_DISBLMSK,0
 COMPASS_USE,0
 COMPASS_USE2,0
 COMPASS_USE3,0
diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
index 82d518a4e12466..f5ee764936dec1 100644
--- a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
+++ b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -120,7 +120,7 @@ COMPASS_ORIENT2,0
 COMPASS_ORIENT3,0
 COMPASS_PMOT_EN,0
 COMPASS_PRIMARY,0
-COMPASS_TYPEMASK,0
+COMPASS_DISBLMSK,0
 COMPASS_USE,0
 COMPASS_USE2,0
 COMPASS_USE3,0

From 49c3f668de4bd913a609a41196c65606ece7ec68 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 22 Jan 2024 13:24:58 +1100
Subject: [PATCH 0759/1335] Tools: rename COMPASS_TYPEMASK to COMPASS_DISBLMSK

this is a very confusingly named parameter.  I've seen several instances of people treating this as an enable mask rather than a disable mask
---
 Tools/Frame_params/Solo_Copter-3.5_GreenCube.param | 2 +-
 Tools/Frame_params/Solo_Copter-3.6_GreenCube.param | 2 +-
 Tools/Frame_params/Sub/bluerov2-4_0_0.params       | 2 +-
 Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param b/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param
index 894d482c3361da..0f443af4bcabab 100644
--- a/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param
+++ b/Tools/Frame_params/Solo_Copter-3.5_GreenCube.param
@@ -38,7 +38,7 @@ COMPASS_ORIENT,38
 COMPASS_ORIENT2,0
 COMPASS_ORIENT3,0
 COMPASS_PRIMARY,0
-COMPASS_TYPEMASK,15392
+COMPASS_DISBLMSK,15392
 COMPASS_USE,1
 COMPASS_USE2,1
 COMPASS_USE3,0
diff --git a/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param b/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
index 61863f1579034b..d80e6e9001fffb 100644
--- a/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
+++ b/Tools/Frame_params/Solo_Copter-3.6_GreenCube.param
@@ -42,7 +42,7 @@ BRD_SAFETYENABLE,0
 BRD_SAFETY_MASK,16368
 CIRCLE_RADIUS,3000
 COMPASS_ORIENT,38
-COMPASS_TYPEMASK,15392
+COMPASS_DISBLMSK,15392
 COMPASS_USE3,0
 DISARM_DELAY,10
 EK2_ENABLE,0
diff --git a/Tools/Frame_params/Sub/bluerov2-4_0_0.params b/Tools/Frame_params/Sub/bluerov2-4_0_0.params
index 7704b35a136900..a5a21c5343711f 100644
--- a/Tools/Frame_params/Sub/bluerov2-4_0_0.params
+++ b/Tools/Frame_params/Sub/bluerov2-4_0_0.params
@@ -169,7 +169,7 @@ COMPASS_ORIENT2,0
 COMPASS_ORIENT3,0
 COMPASS_PMOT_EN,0
 COMPASS_PRIMARY,0
-COMPASS_TYPEMASK,0
+COMPASS_DISBLMSK,0
 COMPASS_USE,1
 COMPASS_USE2,1
 COMPASS_USE3,1
diff --git a/Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params b/Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params
index 1cc38ff762b4db..88d0826b3424a6 100644
--- a/Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params
+++ b/Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params
@@ -169,7 +169,7 @@ COMPASS_ORIENT2,0
 COMPASS_ORIENT3,0
 COMPASS_PMOT_EN,0
 COMPASS_PRIMARY,0
-COMPASS_TYPEMASK,0
+COMPASS_DISBLMSK,0
 COMPASS_USE,1
 COMPASS_USE2,1
 COMPASS_USE3,1

From b35431beb5807d6c1267ef714c1653dea96d5ec0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 22 Jan 2024 13:40:38 +1100
Subject: [PATCH 0760/1335] Tools: build_options.py: add option for
 HAL_LOGGING_ENABLED

---
 Tools/scripts/build_options.py    | 3 ++-
 Tools/scripts/extract_features.py | 1 +
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index 28a1721d524df4..5f6f1e184dfdf8 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -132,7 +132,7 @@ def __init__(self,
     Feature('Camera', 'RUNCAM', 'HAL_RUNCAM_ENABLED', 'Enable RunCam Control', 0, None),
 
     Feature('Copter', 'MODE_ZIGZAG', 'MODE_ZIGZAG_ENABLED', 'Enable Mode ZigZag', 0, None),
-    Feature('Copter', 'MODE_SYSTEMID', 'MODE_SYSTEMID_ENABLED', 'Enable Mode SystemID', 0, None),
+    Feature('Copter', 'MODE_SYSTEMID', 'MODE_SYSTEMID_ENABLED', 'Enable Mode SystemID', 0, 'Logging'),
     Feature('Copter', 'MODE_SPORT', 'MODE_SPORT_ENABLED', 'Enable Mode Sport', 0, None),
     Feature('Copter', 'MODE_FOLLOW', 'MODE_FOLLOW_ENABLED', 'Enable Mode Follow', 0, 'AC_AVOID'),
     Feature('Copter', 'MODE_TURTLE', 'MODE_TURTLE_ENABLED', 'Enable Mode Turtle', 0, None),
@@ -312,6 +312,7 @@ def __init__(self,
     Feature('Other', 'COMPASS_CAL', 'COMPASS_CAL_ENABLED', 'Enable "tumble" compass calibration', 0, None),
     Feature('Other', 'DRONECAN_SERIAL', 'AP_DRONECAN_SERIAL_ENABLED', 'Enable DroneCAN virtual serial ports', 0, None),
     Feature('Other', 'Buttons', 'HAL_BUTTON_ENABLED', 'Enable Buttons', 0, None),
+    Feature('Other', 'Logging', 'HAL_LOGGING_ENABLED', 'Enable Logging', 0, None),
 
     # MAVLink section for mavlink features and/or message handling,
     # rather than for e.g. mavlink-based sensor drivers
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index f208aee9b53035..c50d87db273e05 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -241,6 +241,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('AP_NETWORKING_BACKEND_PPP', 'AP_Networking_PPP::init'),
             ('FORCE_APJ_DEFAULT_PARAMETERS', 'AP_Param::param_defaults_data'),
             ('HAL_BUTTON_ENABLED', 'AP_Button::update'),
+            ('HAL_LOGGING_ENABLED', 'AP_Logger::Init'),
         ]
 
     def progress(self, msg):

From 6c634ebc00cf7de6ae6bb5415adc8b7eb1205cb7 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 22 Jan 2024 12:32:17 +0000
Subject: [PATCH 0761/1335] AP_HAL_ChibiOS: allow dshot beeps to play on all
 dshot ESC types

---
 libraries/AP_HAL_ChibiOS/Util.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index 3f11aa6696eafa..85308f5345c83e 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -226,7 +226,7 @@ void Util::toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t dur
 #endif // HAL_USE_PWM
 #if HAL_DSHOT_ALARM_ENABLED
     // don't play the motors while flying
-    if (!(_toneAlarm_types & AP_Notify::Notify_Buzz_DShot) || get_soft_armed() || hal.rcout->get_dshot_esc_type() != RCOutput::DSHOT_ESC_BLHELI) {
+    if (!(_toneAlarm_types & AP_Notify::Notify_Buzz_DShot) || get_soft_armed() || hal.rcout->get_dshot_esc_type() == RCOutput::DSHOT_ESC_NONE) {
         return;
     }
 

From 3cf0de2224dae9e8506cb38cc85557f9e7e48d01 Mon Sep 17 00:00:00 2001
From: Tim Tuxworth <tim@objectivedata.com>
Date: Wed, 13 Dec 2023 14:49:48 -0700
Subject: [PATCH 0762/1335] Plane: convert parameter TRIM_PITCH_CD to
 TRIM_PITCH_DEG

---
 ArduPlane/ArduPlane.cpp   |  6 +++---
 ArduPlane/Attitude.cpp    |  2 +-
 ArduPlane/GCS_Mavlink.cpp |  4 ++--
 ArduPlane/Parameters.cpp  | 21 ++++++++++++---------
 ArduPlane/Parameters.h    |  4 ++--
 ArduPlane/defines.h       |  4 ++--
 ArduPlane/quadplane.cpp   |  2 +-
 7 files changed, 23 insertions(+), 20 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index afab49e76f42cb..35d2911ceb32d1 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -917,7 +917,7 @@ bool Plane::is_taking_off() const
     return control_mode->is_taking_off();
 }
 
-// correct AHRS pitch for TRIM_PITCH_CD in non-VTOL modes, and return VTOL view in VTOL
+// correct AHRS pitch for TRIM_PITCH_DEG in non-VTOL modes, and return VTOL view in VTOL
 void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
 {
 #if HAL_QUADPLANE_ENABLED
@@ -929,8 +929,8 @@ void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
 #endif
     pitch = ahrs.get_pitch();
     roll = ahrs.get_roll();
-    if (!(flight_option_enabled(FlightOptions::OSD_REMOVE_TRIM_PITCH_CD))) {  // correct for TRIM_PITCH_CD
-        pitch -= g.pitch_trim_cd * 0.01 * DEG_TO_RAD;
+    if (!(flight_option_enabled(FlightOptions::OSD_REMOVE_TRIM_PITCH))) {  // correct for TRIM_PITCH_DEG
+        pitch -= g.pitch_trim * DEG_TO_RAD;
     }
 }
 
diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index 3c59d8a31522bc..3ca20571e93ee0 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -209,7 +209,7 @@ float Plane::stabilize_pitch_get_pitch_out()
     const bool quadplane_in_transition = false;
 #endif
 
-    int32_t demanded_pitch = nav_pitch_cd + g.pitch_trim_cd + SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * g.kff_throttle_to_pitch;
+    int32_t demanded_pitch = nav_pitch_cd + int32_t(g.pitch_trim * 100.0) + SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * g.kff_throttle_to_pitch;
     bool disable_integrator = false;
     if (control_mode == &mode_stabilize && channel_pitch->get_control_in() != 0) {
         disable_integrator = true;
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index ca666ee1957b95..37bdf02be4b66e 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -133,8 +133,8 @@ void GCS_MAVLINK_Plane::send_attitude() const
     float p = ahrs.get_pitch();
     float y = ahrs.get_yaw();
 
-    if (!(plane.flight_option_enabled(FlightOptions::GCS_REMOVE_TRIM_PITCH_CD))) {
-        p -= radians(plane.g.pitch_trim_cd * 0.01f);
+    if (!(plane.flight_option_enabled(FlightOptions::GCS_REMOVE_TRIM_PITCH))) {
+        p -= radians(plane.g.pitch_trim);
     }
 
 #if HAL_QUADPLANE_ENABLED
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index ab52e5103d9d01..97eba163e699e0 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -644,14 +644,13 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     ASCALAR(min_gndspeed_cm,      "MIN_GNDSPD_CM",  MIN_GNDSPEED_CM),
 
-    // @Param: TRIM_PITCH_CD
+    // @Param: TRIM_PITCH_DEG
     // @DisplayName: Pitch angle offset
-    // @Description: Offset applied to AHRS pitch used for in-flight pitch trimming. Correct ground leveling is better than changing this parameter.
-    // @Units: cdeg
-    // @Range: -4500 4500
-    // @Increment: 10
-    // @User: Advanced
-    GSCALAR(pitch_trim_cd,        "TRIM_PITCH_CD",  0),
+    // @Description: Offset in degrees used for in-flight pitch trimming for level flight. Correct ground leveling is an alternative to changing this parameter.
+    // @Units: deg
+    // @Range: -45 45
+    // @User: Standard
+    GSCALAR(pitch_trim,             "TRIM_PITCH_DEG",  0.0f),
 
     // @Param: ALT_HOLD_RTL
     // @DisplayName: RTL altitude
@@ -1095,8 +1094,8 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Bitmask: 5: Enable yaw damper in acro mode
     // @Bitmask: 6: Supress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airspeed sensor.
     // @Bitmask: 7: EnableDefaultAirspeed for takeoff
-    // @Bitmask: 8: Remove the TRIM_PITCH_CD on the GCS horizon
-    // @Bitmask: 9: Remove the TRIM_PITCH_CD on the OSD horizon
+    // @Bitmask: 8: Remove the TRIM_PITCH on the GCS horizon
+    // @Bitmask: 9: Remove the TRIM_PITCH on the OSD horizon
     // @Bitmask: 10: Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL
     // @Bitmask: 11: Disable suppression of fixed wing rate gains in ground mode
     // @Bitmask: 12: Enable FBWB style loiter altitude control
@@ -1545,6 +1544,10 @@ void Plane::load_parameters(void)
 #if AP_FENCE_ENABLED
     AP_Param::convert_class(g.k_param_fence, &fence, fence.var_info, 0, 0, true);
 #endif
+  
+    // PARAMETER_CONVERSION - Added: Dec 2023
+    // Convert _CM (centimeter) parameters to meters and _CD (centidegrees) parameters to meters
+    g.pitch_trim.convert_centi_parameter(AP_PARAM_INT16);
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index ef126900dfccf1..ef9e994196a783 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -56,7 +56,7 @@ class Parameters {
         //
         k_param_auto_trim      = 10, // unused
         k_param_log_bitmask_old,  // unused
-        k_param_pitch_trim_cd,
+        k_param_pitch_trim,  // replaced by pitch_trim
         k_param_mix_mode,
         k_param_reverse_elevons, // unused
         k_param_reverse_ch1_elevon, // unused
@@ -437,7 +437,7 @@ class Parameters {
     AP_Int16 dspoiler_rud_rate;
     AP_Int32 log_bitmask;
     AP_Int32 RTL_altitude_cm;
-    AP_Int16 pitch_trim_cd;
+    AP_Float pitch_trim;
     AP_Int16 FBWB_min_altitude_cm;
 
     AP_Int8 flap_1_percent;
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index a480162eff722e..fac041ad667e41 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -161,8 +161,8 @@ enum FlightOptions {
     ACRO_YAW_DAMPER = (1 << 5),
     SURPRESS_TKOFF_SCALING = (1<<6),
     ENABLE_DEFAULT_AIRSPEED = (1<<7),
-    GCS_REMOVE_TRIM_PITCH_CD = (1 << 8),
-    OSD_REMOVE_TRIM_PITCH_CD = (1 << 9),
+    GCS_REMOVE_TRIM_PITCH = (1 << 8),
+    OSD_REMOVE_TRIM_PITCH = (1 << 9),
     CENTER_THROTTLE_TRIM = (1<<10),
     DISABLE_GROUND_PID_SUPPRESSION = (1<<11),
     ENABLE_LOITER_ALT_CONTROL = (1<<12),
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index b8e5e99735810d..191becb0dd1805 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -310,7 +310,7 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
 
     // @Param: TRIM_PITCH
     // @DisplayName: Quadplane AHRS trim pitch
-    // @Description: This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch. NOTE! this is relative to calibrated AHRS trim, not forward flight trim which includes TRIM_PITCH_CD. For tailsitters, this is relative to a baseline of 90 degrees in AHRS.
+    // @Description: This sets the compensation for the pitch angle trim difference between calibrated AHRS level and vertical flight pitch. NOTE! this is relative to calibrated AHRS trim, not forward flight trim which includes TRIM_PITCH. For tailsitters, this is relative to a baseline of 90 degrees in AHRS.
     // @Units: deg
     // @Range: -10 +10
     // @Increment: 0.1

From 4919ae8f595864d207383cd67575557337cabebf Mon Sep 17 00:00:00 2001
From: Tim Tuxworth <tim@objectivedata.com>
Date: Wed, 13 Dec 2023 14:51:31 -0700
Subject: [PATCH 0763/1335] AP_Param: added convert_centi_parameter()

---
 libraries/AP_Param/AP_Param.cpp | 16 ++++++++++------
 libraries/AP_Param/AP_Param.h   |  7 ++++++-
 2 files changed, 16 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index 20a28c7e4a0765..afa0188dfa03f3 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -1922,7 +1922,6 @@ bool AP_Param::find_old_parameter(const struct ConversionInfo *info, AP_Param *v
     return true;
 }
 
-
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wformat"
 // convert one old vehicle parameter to new object parameter
@@ -1983,11 +1982,17 @@ void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float sc
 #pragma GCC diagnostic pop
 
 
-// convert old vehicle parameters to new object parametersv
+// convert old vehicle parameters to new object parameters
 void AP_Param::convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size, uint8_t flags)
+{
+    convert_old_parameters_scaled(conversion_table, table_size, 1.0f,flags);
+}
+
+// convert old vehicle parameters to new object parameters with scaling - assumes all parameters will have the same scaling factor
+void AP_Param::convert_old_parameters_scaled(const struct ConversionInfo *conversion_table, uint8_t table_size, float scaler, uint8_t flags)
 {
     for (uint8_t i=0; i<table_size; i++) {
-        convert_old_parameter(&conversion_table[i], 1.0f, flags);
+        convert_old_parameter(&conversion_table[i], scaler, flags);
     }
     // we need to flush here to prevent a later set_default_by_name()
     // causing a save to be done on a converted parameter
@@ -2043,7 +2048,7 @@ void AP_Param::convert_class(uint16_t param_key, void *object_pointer,
  convert width of a parameter, allowing update to wider scalar values
  without changing the parameter indexes
 */
-bool AP_Param::convert_parameter_width(ap_var_type old_ptype)
+bool AP_Param::convert_parameter_width(ap_var_type old_ptype, float scale_factor)
 {
     if (configured_in_storage()) {
         // already converted or set by the user
@@ -2090,7 +2095,7 @@ bool AP_Param::convert_parameter_width(ap_var_type old_ptype)
     // going via float is safe as the only time we would be converting
     // from AP_Int32 is when converting to float
     float old_float_value = old_ap->cast_to_float(old_ptype);
-    set_value(new_ptype, this, old_float_value);
+    set_value(new_ptype, this, old_float_value*scale_factor);
 
     // force save as the new type
     save(true);
@@ -2098,7 +2103,6 @@ bool AP_Param::convert_parameter_width(ap_var_type old_ptype)
     return true;
 }
 
-
 /*
   set a parameter to a float value
  */
diff --git a/libraries/AP_Param/AP_Param.h b/libraries/AP_Param/AP_Param.h
index 40aebd852cd00a..4fed080f07e663 100644
--- a/libraries/AP_Param/AP_Param.h
+++ b/libraries/AP_Param/AP_Param.h
@@ -467,13 +467,18 @@ class AP_Param
 
     // convert old vehicle parameters to new object parameters
     static void         convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size, uint8_t flags=0);
+    // convert old vehicle parameters to new object parameters with scaling - assumes we use the same scaling factor for all values in the table
+    static void         convert_old_parameters_scaled(const ConversionInfo *conversion_table, uint8_t table_size, float scaler, uint8_t flags);
 
     /*
       convert width of a parameter, allowing update to wider scalar
       values without changing the parameter indexes. This will return
       true if the parameter was converted from an old parameter value
     */
-    bool convert_parameter_width(ap_var_type old_ptype);
+    bool convert_parameter_width(ap_var_type old_ptype, float scale_factor=1.0);
+    bool convert_centi_parameter(ap_var_type old_ptype) {
+        return convert_parameter_width(old_ptype, 0.01f);
+    }
     
     // convert a single parameter with scaling
     enum {

From b1c85113862e97a3849399b2c63d192c09c0ee1c Mon Sep 17 00:00:00 2001
From: Tim Tuxworth <tim@objectivedata.com>
Date: Thu, 14 Dec 2023 11:46:41 -0700
Subject: [PATCH 0764/1335] AP_TECS: use new pitch_trim in degrees

---
 libraries/AP_TECS/AP_TECS.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index c5aaeabc0e082d..336e8b481e8320 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -859,7 +859,7 @@ void AP_TECS::_update_throttle_without_airspeed(int16_t throttle_nudge)
     _pitch_demand_lpf.apply(_pitch_dem, _DT);
     const float pitch_demand_hpf = _pitch_dem - _pitch_demand_lpf.get();
     _pitch_measured_lpf.apply(_ahrs.get_pitch(), _DT);
-    const float pitch_corrected_lpf = _pitch_measured_lpf.get() - radians(0.01f * (float)aparm.pitch_trim_cd);
+    const float pitch_corrected_lpf = _pitch_measured_lpf.get();
     const float pitch_blended = pitch_demand_hpf + pitch_corrected_lpf;
 
     if (pitch_blended > 0.0f && _PITCHmaxf > 0.0f)

From d749efb40d3fff780185f8ff61d603db4a570c97 Mon Sep 17 00:00:00 2001
From: Tim Tuxworth <tim@objectivedata.com>
Date: Thu, 14 Dec 2023 11:47:40 -0700
Subject: [PATCH 0765/1335] AP_Vehicle: use new pitch_trim in degrees in
 AP_FixedWing

---
 libraries/AP_Vehicle/AP_FixedWing.h | 1 -
 libraries/AP_Vehicle/AP_Vehicle.h   | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AP_Vehicle/AP_FixedWing.h b/libraries/AP_Vehicle/AP_FixedWing.h
index df9bac196cab04..7e4f96fef8e5cd 100644
--- a/libraries/AP_Vehicle/AP_FixedWing.h
+++ b/libraries/AP_Vehicle/AP_FixedWing.h
@@ -23,7 +23,6 @@ struct AP_FixedWing {
     AP_Int32 autotune_options;
     AP_Int8  stall_prevention;
     AP_Int16 loiter_radius;
-    AP_Int16 pitch_trim_cd;
     AP_Float takeoff_throttle_max_t;
 
     struct Rangefinder_State {
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index b8d98d2377d519..e254568474d2e7 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -268,7 +268,7 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
      */
     virtual bool get_pan_tilt_norm(float &pan_norm, float &tilt_norm) const { return false; }
 
-   // Returns roll and  pitch for OSD Horizon, Plane overrides to correct for VTOL view and fixed wing TRIM_PITCH_CD
+   // Returns roll and  pitch for OSD Horizon, Plane overrides to correct for VTOL view and fixed wing TRIM_PITCH
     virtual void get_osd_roll_pitch_rad(float &roll, float &pitch) const;
 
     /*

From 48359344c5f141c3997e66d38e3e8d6c21c9643b Mon Sep 17 00:00:00 2001
From: Tim Tuxworth <tim@objectivedata.com>
Date: Thu, 14 Dec 2023 16:13:03 -0700
Subject: [PATCH 0766/1335] Tools: update Frame_params for TRIM_PITCH_DEG

---
 Tools/Frame_params/QuadPlanes/MFE_StriverMini.param | 2 +-
 Tools/Frame_params/QuadPlanes/XPlane-Alia.parm      | 2 +-
 Tools/Frame_params/SkyWalkerX8.param                | 2 +-
 Tools/Frame_params/SkyWalkerX8_ReverseThrust.param  | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
index feac862bc69b2d..df8b033e6e6ab7 100644
--- a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
+++ b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
@@ -6,7 +6,7 @@ SCALING_SPEED    15
 TECS_CLMB_MAX    3
 TECS_LAND_ARSPD  20
 TKOFF_THR_MAX    85
-TRIM_PITCH_CD    100
+PITCH_TRIM       1
 TRIM_THROTTLE    40
 WP_LOITER_RAD    120
 WP_RADIUS        110
diff --git a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
index b9e54aae830ea2..7e3ebd19d13f10 100644
--- a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
+++ b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
@@ -15,7 +15,7 @@ TRIM_THROTTLE,60
 GROUND_STEER_ALT,10
 TRIM_ARSPD_CM,5200
 SCALING_SPEED,60
-TRIM_PITCH_CD,400
+TRIM_PITCH_DEG,4
 ALT_HOLD_RTL,25000
 FLAP_1_PERCNT,50
 FLAP_1_SPEED,30
diff --git a/Tools/Frame_params/SkyWalkerX8.param b/Tools/Frame_params/SkyWalkerX8.param
index bd7915109a95ac..1169cf2f53b7f5 100644
--- a/Tools/Frame_params/SkyWalkerX8.param
+++ b/Tools/Frame_params/SkyWalkerX8.param
@@ -107,7 +107,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,100
 TRIM_ARSPD_CM,1600
 TRIM_AUTO,0
-TRIM_PITCH_CD,0
+PITCH_TRIM,0
 TRIM_RC_AT_START,0
 TRIM_THROTTLE,55
 USE_REV_THRUST,0
diff --git a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
index cb831736576390..4e4b93350b027c 100644
--- a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
+++ b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
@@ -107,7 +107,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,100
 TRIM_ARSPD_CM,1600
 TRIM_AUTO,0
-TRIM_PITCH_CD,0
+PITCH_TRIM,0
 TRIM_RC_AT_START,0
 TRIM_THROTTLE,55
 USE_REV_THRUST,2

From afc093a9b200e2b997786a18781a409050997a7c Mon Sep 17 00:00:00 2001
From: Tim Tuxworth <tim@objectivedata.com>
Date: Thu, 14 Dec 2023 16:14:58 -0700
Subject: [PATCH 0767/1335] autotest: change default params from TRIM_PITCH_CD
 to TRIM_PITCH_DEG

---
 Tools/autotest/default_params/plane-jsbsim.parm  | 2 +-
 Tools/autotest/default_params/vee-gull 005.param | 2 +-
 Tools/autotest/models/plane.parm                 | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Tools/autotest/default_params/plane-jsbsim.parm b/Tools/autotest/default_params/plane-jsbsim.parm
index a77ec1084ef7d1..e25eebf304bb7e 100644
--- a/Tools/autotest/default_params/plane-jsbsim.parm
+++ b/Tools/autotest/default_params/plane-jsbsim.parm
@@ -2,7 +2,7 @@ EK2_ENABLE      1
 BATT_MONITOR    4
 LOG_BITMASK	65535
 TRIM_ARSPD_CM   2200
-TRIM_PITCH_CD   0
+PITCH_TRIM      0
 TRIM_THROTTLE   50
 LIM_PITCH_MIN   -2000
 LIM_PITCH_MAX   2500
diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index 6e5143632d452c..b609ac4dd87cef 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -803,7 +803,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,0
 TRIM_ARSPD_CM,1200
 TRIM_AUTO,0
-TRIM_PITCH_CD,0
+PITCH_TRIM,0
 TRIM_RC_AT_START,0
 TRIM_THROTTLE,45
 TUNE_CHAN,0
diff --git a/Tools/autotest/models/plane.parm b/Tools/autotest/models/plane.parm
index 0650cecf61b1ab..5e65bd33aab74d 100644
--- a/Tools/autotest/models/plane.parm
+++ b/Tools/autotest/models/plane.parm
@@ -2,7 +2,7 @@ EK2_ENABLE      1
 BATT_MONITOR    4
 LOG_BITMASK	65535
 TRIM_ARSPD_CM   2200
-TRIM_PITCH_CD   0
+PITCH_TRIM      0
 TRIM_THROTTLE   50
 LIM_PITCH_MIN   -2000
 LIM_PITCH_MAX   2500

From 426f645f5ef4ae08f0c73561333886efbc4dbee6 Mon Sep 17 00:00:00 2001
From: Tim Tuxworth <tim@objectivedata.com>
Date: Tue, 19 Dec 2023 16:35:09 -0700
Subject: [PATCH 0768/1335] SITL: convert TRIM_PITCH_CD to TRIM_PITCH_DEG

---
 .../examples/SilentWings/Params/Rolladen-Schneider-LS8b.param   | 2 +-
 .../SITL/examples/SilentWings/Params/Schleicher-ASW27B.param    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
index 4aeda587cf4e97..148245047e0fe5 100644
--- a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
+++ b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -851,7 +851,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,0
 TRIM_ARSPD_CM,3000
 TRIM_AUTO,0
-TRIM_PITCH_CD,0
+TRIM_PITCH,0
 TRIM_THROTTLE,45
 TUNE_CHAN,0
 TUNE_CHAN_MAX,2000
diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
index f5ee764936dec1..9919bb3d8a74dc 100644
--- a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
+++ b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -845,7 +845,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,0
 TRIM_ARSPD_CM,2700
 TRIM_AUTO,0
-TRIM_PITCH_CD,0
+TRIM_PITCH,0
 TRIM_THROTTLE,45
 TUNE_CHAN,0
 TUNE_CHAN_MAX,2000

From ed13b9752646c5acc94a3d05ff350a79b38f8dca Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 13:34:22 +1100
Subject: [PATCH 0769/1335] AP_Landing: change TRIM_ARSPD_CM to AIRSPEED_CRUISE

---
 libraries/AP_Landing/AP_Landing.cpp           |  2 +-
 libraries/AP_Landing/AP_Landing_Deepstall.cpp |  2 +-
 libraries/AP_Landing/AP_Landing_Slope.cpp     | 10 +++++-----
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_Landing/AP_Landing.cpp b/libraries/AP_Landing/AP_Landing.cpp
index ca396805cf3128..96b18b963e8a7d 100644
--- a/libraries/AP_Landing/AP_Landing.cpp
+++ b/libraries/AP_Landing/AP_Landing.cpp
@@ -555,7 +555,7 @@ int32_t AP_Landing::get_target_airspeed_cm(void)
 {
     if (!flags.in_progress) {
         // not landing, use regular cruise airspeed
-        return aparm.airspeed_cruise_cm;
+        return aparm.airspeed_cruise*100;
     }
 
     switch (type) {
diff --git a/libraries/AP_Landing/AP_Landing_Deepstall.cpp b/libraries/AP_Landing/AP_Landing_Deepstall.cpp
index e465b869de1a60..96b395a2e9ff80 100644
--- a/libraries/AP_Landing/AP_Landing_Deepstall.cpp
+++ b/libraries/AP_Landing/AP_Landing_Deepstall.cpp
@@ -429,7 +429,7 @@ int32_t AP_Landing_Deepstall::get_target_airspeed_cm(void) const
         stage == DEEPSTALL_STAGE_LAND) {
         return landing.pre_flare_airspeed * 100;
     } else {
-        return landing.aparm.airspeed_cruise_cm;
+        return landing.aparm.airspeed_cruise*100;
     }
 }
 
diff --git a/libraries/AP_Landing/AP_Landing_Slope.cpp b/libraries/AP_Landing/AP_Landing_Slope.cpp
index 7b4182e0afd6a7..2e31d9ea4203cd 100644
--- a/libraries/AP_Landing/AP_Landing_Slope.cpp
+++ b/libraries/AP_Landing/AP_Landing_Slope.cpp
@@ -132,7 +132,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
             // been set for landing. We don't do this till ground
             // speed drops below 3.0 m/s as otherwise we will change
             // target speeds too early.
-            aparm.airspeed_cruise_cm.load();
+            aparm.airspeed_cruise.load();
             aparm.min_gndspeed_cm.load();
             aparm.throttle_cruise.load();
         }
@@ -345,15 +345,15 @@ int32_t AP_Landing::type_slope_get_target_airspeed_cm(void)
     // pre-flare airspeeds. Also increase for head-winds
 
     const float land_airspeed = tecs_Controller->get_land_airspeed();
-    int32_t target_airspeed_cm = aparm.airspeed_cruise_cm;
+    int32_t target_airspeed_cm = aparm.airspeed_cruise*100;
     if (land_airspeed >= 0) {
         target_airspeed_cm = land_airspeed * 100;
     } else {
-        target_airspeed_cm = 0.5 * (aparm.airspeed_cruise_cm * 0.01 + aparm.airspeed_min);
+        target_airspeed_cm = 100 * 0.5 * (aparm.airspeed_cruise + aparm.airspeed_min);
     }
     switch (type_slope_stage) {
     case SlopeStage::NORMAL:
-        target_airspeed_cm = aparm.airspeed_cruise_cm;
+        target_airspeed_cm = aparm.airspeed_cruise*100;
         break;
     case SlopeStage::APPROACH:
         break;
@@ -370,7 +370,7 @@ int32_t AP_Landing::type_slope_get_target_airspeed_cm(void)
     const float head_wind_comp = constrain_float(wind_comp, 0.0f, 100.0f)*0.01;
     const int32_t head_wind_compensation_cm = ahrs.head_wind() * head_wind_comp * 100;
 
-    const uint32_t max_airspeed_cm = AP_Landing::allow_max_airspeed_on_land() ? aparm.airspeed_max*100 : aparm.airspeed_cruise_cm;
+    const uint32_t max_airspeed_cm = AP_Landing::allow_max_airspeed_on_land() ? aparm.airspeed_max*100 : aparm.airspeed_cruise*100;
     
     return constrain_int32(target_airspeed_cm + head_wind_compensation_cm, target_airspeed_cm, max_airspeed_cm);
     

From ed9180154a936c37ae13c85e5b200fb23aeb1e90 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 13:34:22 +1100
Subject: [PATCH 0770/1335] AP_Soaring: change TRIM_ARSPD_CM to AIRSPEED_CRUISE

---
 libraries/AP_Soaring/Variometer.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Soaring/Variometer.cpp b/libraries/AP_Soaring/Variometer.cpp
index c3ed0fc0cd24e6..712a6c3b4d5dcc 100644
--- a/libraries/AP_Soaring/Variometer.cpp
+++ b/libraries/AP_Soaring/Variometer.cpp
@@ -21,7 +21,7 @@ void Variometer::update(const float thermal_bank)
 
     float aspd = 0;
     if (!_ahrs.airspeed_estimate(aspd)) {
-            aspd = _aparm.airspeed_cruise_cm * 0.01f;
+        aspd = _aparm.airspeed_cruise;
     }
 
     float aspd_filt = _sp_filter.apply(aspd);

From b1e6c1de419cb26d953275476c6065555e60eb35 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 13:34:22 +1100
Subject: [PATCH 0771/1335] AP_TECS: change TRIM_ARSPD_CM to AIRSPEED_CRUISE

---
 libraries/AP_TECS/AP_TECS.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index 336e8b481e8320..b93f07ea2ac74f 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -403,7 +403,7 @@ void AP_TECS::_update_speed(float DT)
         // at the maximum speed
         const float velRateMin = 0.5f * _STEdot_min / MAX(_TAS_state, aparm.airspeed_min * EAS2TAS);
         _TASmax += _DT * velRateMin;
-        _TASmax = MAX(_TASmax, 0.01f * (float)aparm.airspeed_cruise_cm * EAS2TAS);
+        _TASmax = MAX(_TASmax, aparm.airspeed_cruise * EAS2TAS);
     } else {
         // wind airspeed upper limit back to parameter defined value
         const float velRateMax = 0.5f * _STEdot_max / MAX(_TAS_state, aparm.airspeed_min * EAS2TAS);
@@ -426,7 +426,7 @@ void AP_TECS::_update_speed(float DT)
     // airspeed sensor data cannot be used
     if (!use_airspeed || !_ahrs.airspeed_estimate(_EAS)) {
         // If no airspeed available use average of min and max
-        _EAS = constrain_float(0.01f * (float)aparm.airspeed_cruise_cm.get(), (float)aparm.airspeed_min.get(), (float)aparm.airspeed_max.get());
+        _EAS = constrain_float(aparm.airspeed_cruise.get(), (float)aparm.airspeed_min.get(), (float)aparm.airspeed_max.get());
     }
 
     // limit the airspeed to a minimum of 3 m/s
@@ -471,7 +471,7 @@ void AP_TECS::_update_speed_demand(void)
     _TAS_dem = constrain_float(_TAS_dem, _TASmin, _TASmax);
 
     // Determine the true cruising airspeed (m/s)
-    const float TAScruise = 0.01f * (float)aparm.airspeed_cruise_cm * _ahrs.get_EAS2TAS();
+    const float TAScruise = aparm.airspeed_cruise * _ahrs.get_EAS2TAS();
 
     // calculate velocity rate limits based on physical performance limits
     // provision to use a different rate limit if bad descent or underspeed condition exists

From 42be3d11adf71f9b615c1d93f99b1a7b6246b745 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 13:34:22 +1100
Subject: [PATCH 0772/1335] AP_Vehicle: change TRIM_ARSPD_CM to AIRSPEED_CRUISE

---
 libraries/AP_Vehicle/AP_FixedWing.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Vehicle/AP_FixedWing.h b/libraries/AP_Vehicle/AP_FixedWing.h
index 7e4f96fef8e5cd..1bcd16c722a8d2 100644
--- a/libraries/AP_Vehicle/AP_FixedWing.h
+++ b/libraries/AP_Vehicle/AP_FixedWing.h
@@ -13,7 +13,7 @@ struct AP_FixedWing {
     AP_Int8 takeoff_throttle_max;
     AP_Int16 airspeed_min;
     AP_Int16 airspeed_max;
-    AP_Int32 airspeed_cruise_cm;
+    AP_Float airspeed_cruise;
     AP_Int32 min_gndspeed_cm;
     AP_Int8  crash_detection_enable;
     AP_Int16 roll_limit_cd;

From 94edcc46549ba29fe89e061be1c3493415c54115 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 13:34:22 +1100
Subject: [PATCH 0773/1335] ArduPlane: change TRIM_ARSPD_CM to AIRSPEED_CRUISE

---
 ArduPlane/AP_Arming.cpp  |  2 +-
 ArduPlane/Parameters.cpp | 15 ++++++++-------
 ArduPlane/Parameters.h   |  2 +-
 ArduPlane/config.h       |  2 +-
 ArduPlane/mode_qrtl.cpp  |  2 +-
 ArduPlane/navigation.cpp | 16 ++++++++--------
 ArduPlane/quadplane.cpp  |  6 +++---
 ArduPlane/radio.cpp      |  2 +-
 ArduPlane/takeoff.cpp    |  2 +-
 9 files changed, 25 insertions(+), 24 deletions(-)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index 01783e023bf2d0..cea4ec1d84cab5 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -454,7 +454,7 @@ bool AP_Arming_Plane::mission_checks(bool report)
                 prev_cmd.id == MAV_CMD_NAV_WAYPOINT) {
                 const float dist = cmd.content.location.get_distance(prev_cmd.content.location);
                 const float tecs_land_speed = plane.TECS_controller.get_land_airspeed();
-                const float landing_speed = is_positive(tecs_land_speed)?tecs_land_speed:plane.aparm.airspeed_cruise_cm*0.01;
+                const float landing_speed = is_positive(tecs_land_speed)?tecs_land_speed:plane.aparm.airspeed_cruise;
                 const float min_dist = 0.75 * plane.quadplane.stopping_distance(sq(landing_speed));
                 if (dist < min_dist) {
                     ret = false;
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 97eba163e699e0..ed887aa1c7c397 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -401,7 +401,7 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: TRIM_THROTTLE
     // @DisplayName: Throttle cruise percentage
-    // @Description: Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains TRIM_ARSPD_CM. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed.
+    // @Description: Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains AIRSPEED_CRUISE. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed.
     // @Units: %
     // @Range: 0 100
     // @Increment: 1
@@ -410,7 +410,7 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: THROTTLE_NUDGE
     // @DisplayName: Throttle nudge enable
-    // @Description: When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.
+    // @Description: When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from AIRSPEED_CRUISE up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.
     // @Values: 0:Disabled,1:Enabled
     // @User: Standard
     GSCALAR(throttle_nudge,         "THROTTLE_NUDGE",  1),
@@ -621,12 +621,12 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     GSCALAR(log_bitmask,            "LOG_BITMASK",    DEFAULT_LOG_BITMASK),
 
-    // @Param: TRIM_ARSPD_CM
-    // @DisplayName: Target airspeed
-    // @Description: Target airspeed in cm/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.
-    // @Units: cm/s
+    // @Param: AIRSPEED_CRUISE
+    // @DisplayName: Target cruise airspeed
+    // @Description: Target cruise airspeed in m/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.
+    // @Units: m/s
     // @User: Standard
-    ASCALAR(airspeed_cruise_cm,     "TRIM_ARSPD_CM",  AIRSPEED_CRUISE_CM),
+    ASCALAR(airspeed_cruise,     "AIRSPEED_CRUISE",  AIRSPEED_CRUISE),
 
     // @Param: SCALING_SPEED
     // @DisplayName: speed used for speed scaling calculations
@@ -1548,6 +1548,7 @@ void Plane::load_parameters(void)
     // PARAMETER_CONVERSION - Added: Dec 2023
     // Convert _CM (centimeter) parameters to meters and _CD (centidegrees) parameters to meters
     g.pitch_trim.convert_centi_parameter(AP_PARAM_INT16);
+    aparm.airspeed_cruise.convert_centi_parameter(AP_PARAM_INT32);
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index ef9e994196a783..9b91d90bfc63d1 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -216,7 +216,7 @@ class Parameters {
         k_param_roll_limit_cd,
         k_param_pitch_limit_max_cd,
         k_param_pitch_limit_min_cd,
-        k_param_airspeed_cruise_cm,
+        k_param_airspeed_cruise,
         k_param_RTL_altitude_cm,
         k_param_inverted_flight_ch_unused, // unused
         k_param_min_gndspeed_cm,
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 8675b3dc45d935..845cb093b4925e 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -114,7 +114,7 @@
 #ifndef AIRSPEED_CRUISE
  # define AIRSPEED_CRUISE                12 // 12 m/s
 #endif
-#define AIRSPEED_CRUISE_CM AIRSPEED_CRUISE*100
+
 
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/ArduPlane/mode_qrtl.cpp b/ArduPlane/mode_qrtl.cpp
index 9be1c962bd6a4b..425744a1f9128a 100644
--- a/ArduPlane/mode_qrtl.cpp
+++ b/ArduPlane/mode_qrtl.cpp
@@ -201,7 +201,7 @@ void ModeQRTL::update_target_altitude()
     const float radius = MAX(fabsf(float(plane.aparm.loiter_radius)), fabsf(float(plane.g.rtl_radius)));
     const float rtl_alt_delta = MAX(0, plane.g.RTL_altitude_cm*0.01 - plane.quadplane.qrtl_alt);
     const float sink_time = rtl_alt_delta / MAX(0.6*plane.TECS_controller.get_max_sinkrate(), 1);
-    const float sink_dist = plane.aparm.airspeed_cruise_cm * 0.01 * sink_time;
+    const float sink_dist = plane.aparm.airspeed_cruise * sink_time;
     const float dist = plane.auto_state.wp_distance;
     const float rad_min = 2*radius;
     const float rad_max = 20*radius;
diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
index 76846b0fe6ed64..d7f08cdccc2940 100644
--- a/ArduPlane/navigation.cpp
+++ b/ArduPlane/navigation.cpp
@@ -123,7 +123,7 @@ float Plane::mode_auto_target_airspeed_cm()
             return land_airspeed * 100;
         }
         // fallover to normal airspeed
-        return aparm.airspeed_cruise_cm;
+        return aparm.airspeed_cruise*100;
     }
     if (quadplane.in_vtol_land_approach()) {
         return quadplane.get_land_airspeed() * 100;
@@ -137,7 +137,7 @@ float Plane::mode_auto_target_airspeed_cm()
     }
 
     // fallover to normal airspeed
-    return aparm.airspeed_cruise_cm;
+    return aparm.airspeed_cruise*100;
 }
 
 void Plane::calc_airspeed_errors()
@@ -160,7 +160,7 @@ void Plane::calc_airspeed_errors()
     // FBW_B/cruise airspeed target
     if (!failsafe.rc_failsafe && (control_mode == &mode_fbwb || control_mode == &mode_cruise)) {
         if (flight_option_enabled(FlightOptions::CRUISE_TRIM_AIRSPEED)) {
-            target_airspeed_cm = aparm.airspeed_cruise_cm;
+            target_airspeed_cm = aparm.airspeed_cruise*100;
         } else if (flight_option_enabled(FlightOptions::CRUISE_TRIM_THROTTLE)) {
             float control_min = 0.0f;
             float control_mid = 0.0f;
@@ -175,11 +175,11 @@ void Plane::calc_airspeed_errors()
                     break;
             }
             if (control_in <= control_mid) {
-                target_airspeed_cm = linear_interpolate(aparm.airspeed_min * 100, aparm.airspeed_cruise_cm,
+                target_airspeed_cm = linear_interpolate(aparm.airspeed_min * 100, aparm.airspeed_cruise*100,
                                                         control_in,
                                                         control_min, control_mid);
             } else {
-                target_airspeed_cm = linear_interpolate(aparm.airspeed_cruise_cm, aparm.airspeed_max * 100,
+                target_airspeed_cm = linear_interpolate(aparm.airspeed_cruise*100, aparm.airspeed_max * 100,
                                                         control_in,
                                                         control_mid, control_max);
             }
@@ -213,7 +213,7 @@ void Plane::calc_airspeed_errors()
             if (arspd > 0) {
                 target_airspeed_cm = arspd * 100;
             } else {
-                target_airspeed_cm = aparm.airspeed_cruise_cm;
+                target_airspeed_cm = aparm.airspeed_cruise*100;
             }
         } else if (control_mode == &mode_auto) {
             float arspd = g2.soaring_controller.get_cruising_target_airspeed();
@@ -221,7 +221,7 @@ void Plane::calc_airspeed_errors()
             if (arspd > 0) {
                 target_airspeed_cm = arspd * 100;
             } else {
-                target_airspeed_cm = aparm.airspeed_cruise_cm;
+                target_airspeed_cm = aparm.airspeed_cruise*100;
             }
         }
 #endif
@@ -239,7 +239,7 @@ void Plane::calc_airspeed_errors()
 #endif
     } else {
         // Normal airspeed target for all other cases
-        target_airspeed_cm = aparm.airspeed_cruise_cm;
+        target_airspeed_cm = aparm.airspeed_cruise*100;
     }
 
     // Set target to current airspeed + ground speed undershoot,
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 191becb0dd1805..c1959bd00b5991 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -4048,7 +4048,7 @@ float QuadPlane::stopping_distance(void)
 float QuadPlane::transition_threshold(void)
 {
     // 1.5 times stopping distance for cruise speed
-    return 1.5 * stopping_distance(sq(plane.aparm.airspeed_cruise_cm*0.01));
+    return 1.5 * stopping_distance(sq(plane.aparm.airspeed_cruise));
 }
 
 #define LAND_CHECK_ANGLE_ERROR_DEG  30.0f       // maximum angle error to be considered landing
@@ -4270,7 +4270,7 @@ Vector2f QuadPlane::landing_desired_closing_velocity()
 
     // don't let the target speed go above landing approach speed
     const float eas2tas = plane.ahrs.get_EAS2TAS();
-    float land_speed = plane.aparm.airspeed_cruise_cm * 0.01;
+    float land_speed = plane.aparm.airspeed_cruise;
     float tecs_land_airspeed = plane.TECS_controller.get_land_airspeed();
     if (is_positive(tecs_land_airspeed)) {
         land_speed = tecs_land_airspeed;
@@ -4294,7 +4294,7 @@ float QuadPlane::get_land_airspeed(void)
     const auto qstate = poscontrol.get_state();
     if (qstate == QPOS_APPROACH ||
         plane.control_mode == &plane.mode_rtl) {
-        const float cruise_speed = plane.aparm.airspeed_cruise_cm * 0.01;
+        const float cruise_speed = plane.aparm.airspeed_cruise;
         float approach_speed = cruise_speed;
         float tecs_land_airspeed = plane.TECS_controller.get_land_airspeed();
         if (is_positive(tecs_land_airspeed)) {
diff --git a/ArduPlane/radio.cpp b/ArduPlane/radio.cpp
index 68ee2cb9986f42..6f5ea8daeb62bb 100644
--- a/ArduPlane/radio.cpp
+++ b/ArduPlane/radio.cpp
@@ -197,7 +197,7 @@ void Plane::read_radio()
         && stickmixing) {
         float nudge = (channel_throttle->get_control_in() - 50) * 0.02f;
         if (ahrs.using_airspeed_sensor()) {
-            airspeed_nudge_cm = (aparm.airspeed_max * 100 - aparm.airspeed_cruise_cm) * nudge;
+            airspeed_nudge_cm = (aparm.airspeed_max - aparm.airspeed_cruise) * nudge * 100;
         } else {
             throttle_nudge = (aparm.throttle_max - aparm.throttle_cruise) * nudge;
         }
diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp
index ce2264f8c800cc..c41e7478c10cfe 100644
--- a/ArduPlane/takeoff.cpp
+++ b/ArduPlane/takeoff.cpp
@@ -194,7 +194,7 @@ void Plane::takeoff_calc_pitch(void)
     } else {
         if (g.takeoff_rotate_speed > 0) {
             // Rise off ground takeoff so delay rotation until ground speed indicates adequate airspeed
-            nav_pitch_cd = ((gps.ground_speed()*100) / (float)aparm.airspeed_cruise_cm) * auto_state.takeoff_pitch_cd;
+            nav_pitch_cd = (gps.ground_speed() / (float)aparm.airspeed_cruise) * auto_state.takeoff_pitch_cd;
             nav_pitch_cd = constrain_int32(nav_pitch_cd, 500, auto_state.takeoff_pitch_cd); 
         } else {
             // Doing hand or catapult launch so need at least 5 deg pitch to prevent initial height loss

From 4fea71246de3e499dd2f7bed0429ac5cd421bcdf Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 13:34:22 +1100
Subject: [PATCH 0774/1335] Tools: change TRIM_ARSPD_CM to AIRSPEED_CRUISE

---
 Tools/Frame_params/Parrot_Disco/Parrot_Disco.param        | 2 +-
 Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param        | 2 +-
 Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm      | 2 +-
 Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param    | 2 +-
 Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param    | 2 +-
 Tools/Frame_params/QuadPlanes/MFE_StriverMini.param       | 2 +-
 Tools/Frame_params/QuadPlanes/Mugin_EV350.param           | 2 +-
 Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param | 2 +-
 Tools/Frame_params/QuadPlanes/XPlane-Alia.parm            | 2 +-
 Tools/Frame_params/SkyWalkerX8.param                      | 2 +-
 Tools/Frame_params/SkyWalkerX8_ReverseThrust.param        | 2 +-
 Tools/autotest/arduplane.py                               | 4 ++--
 Tools/autotest/default_params/firefly.parm                | 2 +-
 Tools/autotest/default_params/plane-jet.parm              | 2 +-
 Tools/autotest/default_params/plane-jsbsim.parm           | 2 +-
 Tools/autotest/default_params/plane-soaring.parm          | 2 +-
 Tools/autotest/default_params/plane-tailsitter.parm       | 2 +-
 Tools/autotest/default_params/quadplane-cl84.parm         | 2 +-
 Tools/autotest/default_params/quadplane-tilttri.parm      | 2 +-
 Tools/autotest/default_params/quadplane-tilttrivec.parm   | 2 +-
 Tools/autotest/default_params/quadplane-tri.parm          | 2 +-
 Tools/autotest/default_params/quadplane.parm              | 2 +-
 Tools/autotest/default_params/vee-gull 005.param          | 2 +-
 Tools/autotest/models/plane-3d.parm                       | 2 +-
 Tools/autotest/models/plane.parm                          | 2 +-
 25 files changed, 26 insertions(+), 26 deletions(-)

diff --git a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
index ceba5d41ac0e1b..07f5cc0aedf98b 100644
--- a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
+++ b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
@@ -56,7 +56,7 @@ THR_FS_VALUE     950
 THR_MAX          100
 THR_MIN          0
 TKOFF_THR_MINACC 4
-TRIM_ARSPD_CM    1400
+AIRSPEED_CRUISE 14.00
 TRIM_THROTTLE    35
 WP_LOITER_RAD    30
 WP_RADIUS        90
diff --git a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
index 9fe63b03f76c2b..e3094fb70b15d7 100644
--- a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
+++ b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
@@ -3,7 +3,7 @@
 # airspeed
 ARSPD_FBW_MAX    35
 ARSPD_FBW_MIN    18
-TRIM_ARSPD_CM    2300
+AIRSPEED_CRUISE 23.00
 TRIM_THROTTLE    60
 
 # notch filter
diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm b/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
index 666842efaf7f13..022e36053e0266 100644
--- a/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
@@ -9,7 +9,7 @@
 # setup airspeed range
 ARSPD_FBW_MAX    35
 ARSPD_FBW_MIN    22
-TRIM_ARSPD_CM    2700
+AIRSPEED_CRUISE 27.00
 
 # fixed wing limits
 LIM_PITCH_MAX    1500
diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
index c3098e966c4668..3807ebc77a4b71 100644
--- a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
@@ -5,7 +5,7 @@
 # airspeed
 ARSPD_FBW_MAX    35
 ARSPD_FBW_MIN    18
-TRIM_ARSPD_CM    2300
+AIRSPEED_CRUISE 23.00
 TRIM_THROTTLE    60
 
 # notch filter
diff --git a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
index a52093b3efdb80..486a4049c00daf 100644
--- a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
+++ b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
@@ -5,7 +5,7 @@
 # airspeed
 ARSPD_FBW_MAX    29
 ARSPD_FBW_MIN    16
-TRIM_ARSPD_CM    2000
+AIRSPEED_CRUISE 20.00
 TRIM_THROTTLE    52
 
 # fixed wing limits
diff --git a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
index df8b033e6e6ab7..f2eeb5398fc770 100644
--- a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
+++ b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
@@ -21,7 +21,7 @@ INS_HNTCH_MODE   1
 INS_HNTCH_REF    0.26
 
 # airspeed
-TRIM_ARSPD_CM    2300
+AIRSPEED_CRUISE 23.00
 ARSPD_FBW_MAX    30
 ARSPD_FBW_MIN    15
 
diff --git a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
index 3797d770109710..3b0eba2a1ae0aa 100644
--- a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
+++ b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
@@ -24,7 +24,7 @@ INS_HNTCH_MODE  1
 INS_HNTCH_REF   0.245000
 
 # airspeed
-TRIM_ARSPD_CM   2300
+AIRSPEED_CRUISE 23.00
 ARSPD_FBW_MAX   28
 ARSPD_FBW_MIN   18
 
diff --git a/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param b/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param
index c661c0c3c60492..d4a92a84ef2251 100644
--- a/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param
+++ b/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param
@@ -5,7 +5,7 @@
 # airspeed
 ARSPD_FBW_MAX    31
 ARSPD_FBW_MIN    22
-TRIM_ARSPD_CM    2400
+AIRSPEED_CRUISE 24.00
 SCALING_SPEED    20
 TRIM_THROTTLE    55
 
diff --git a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
index 7e3ebd19d13f10..5edf1c897f7f05 100644
--- a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
+++ b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
@@ -13,7 +13,7 @@ THR_MIN,-25
 THR_SLEWRATE,30
 TRIM_THROTTLE,60
 GROUND_STEER_ALT,10
-TRIM_ARSPD_CM,5200
+AIRSPEED_CRUISE,52.00
 SCALING_SPEED,60
 TRIM_PITCH_DEG,4
 ALT_HOLD_RTL,25000
diff --git a/Tools/Frame_params/SkyWalkerX8.param b/Tools/Frame_params/SkyWalkerX8.param
index 1169cf2f53b7f5..771f7e08ca4e58 100644
--- a/Tools/Frame_params/SkyWalkerX8.param
+++ b/Tools/Frame_params/SkyWalkerX8.param
@@ -105,7 +105,7 @@ TKOFF_THR_MAX,0
 TKOFF_THR_MINACC,12
 TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,100
-TRIM_ARSPD_CM,1600
+AIRSPEED_CRUISE,16.00
 TRIM_AUTO,0
 PITCH_TRIM,0
 TRIM_RC_AT_START,0
diff --git a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
index 4e4b93350b027c..54dbdc879f1c1c 100644
--- a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
+++ b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
@@ -105,7 +105,7 @@ TKOFF_THR_MAX,0
 TKOFF_THR_MINACC,12
 TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,100
-TRIM_ARSPD_CM,1600
+AIRSPEED_CRUISE,16.00
 TRIM_AUTO,0
 PITCH_TRIM,0
 TRIM_RC_AT_START,0
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 629d71de4c3f24..1697e260a12e81 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -844,7 +844,7 @@ def context_push_do_change_speed(self):
         # - DO_CHANGE_AIRSPEED is a permanent vehicle change!
         self.context_push()
         self.set_parameters({
-            "TRIM_ARSPD_CM": self.get_parameter("TRIM_ARSPD_CM"),
+            "AIRSPEED_CRUISE": self.get_parameter("AIRSPEED_CRUISE"),
             "MIN_GNDSPD_CM": self.get_parameter("MIN_GNDSPD_CM"),
             "TRIM_THROTTLE": self.get_parameter("TRIM_THROTTLE"),
         })
@@ -886,7 +886,7 @@ def DO_CHANGE_SPEED_mission(self):
         self.change_mode('AUTO')
 
         checks = [
-            (1, self.get_parameter("TRIM_ARSPD_CM") * 0.01),
+            (1, self.get_parameter("AIRSPEED_CRUISE")),
             (3, 10),
             (5, 20),
             (7, 15),
diff --git a/Tools/autotest/default_params/firefly.parm b/Tools/autotest/default_params/firefly.parm
index 01f95bfb3cc051..74cf8b0f7174f4 100644
--- a/Tools/autotest/default_params/firefly.parm
+++ b/Tools/autotest/default_params/firefly.parm
@@ -71,7 +71,7 @@ RLL_RATE_IMAX     0.888889
 RLL_RATE_P        0.141009
 SCHED_LOOP_RATE  300
 THR_MAX          100
-TRIM_ARSPD_CM    2500
+AIRSPEED_CRUISE 25.00
 LOG_BITMASK      65534
 # map channel 13 out for tilt
 Q_ENABLE         1
diff --git a/Tools/autotest/default_params/plane-jet.parm b/Tools/autotest/default_params/plane-jet.parm
index 93a58ac6d1932c..0b55e09d9fbc4b 100644
--- a/Tools/autotest/default_params/plane-jet.parm
+++ b/Tools/autotest/default_params/plane-jet.parm
@@ -26,7 +26,7 @@ TECS_SINK_MIN         10.0000
 THR_SLEWRATE          30.0000
 TKOFF_ROTATE_SPD      20.0000
 TKOFF_THR_MAX        100.0000
-TRIM_ARSPD_CM       4000.0000
+AIRSPEED_CRUISE 40.00
 TRIM_THROTTLE         36.0000
 WP_LOITER_RAD        180.0000
 WP_RADIUS            140.0000
diff --git a/Tools/autotest/default_params/plane-jsbsim.parm b/Tools/autotest/default_params/plane-jsbsim.parm
index e25eebf304bb7e..e09571352f70f1 100644
--- a/Tools/autotest/default_params/plane-jsbsim.parm
+++ b/Tools/autotest/default_params/plane-jsbsim.parm
@@ -1,7 +1,7 @@
 EK2_ENABLE      1
 BATT_MONITOR    4
 LOG_BITMASK	65535
-TRIM_ARSPD_CM   2200
+AIRSPEED_CRUISE 22.00
 PITCH_TRIM      0
 TRIM_THROTTLE   50
 LIM_PITCH_MIN   -2000
diff --git a/Tools/autotest/default_params/plane-soaring.parm b/Tools/autotest/default_params/plane-soaring.parm
index 4723eaf42ff6a2..7d4c27f8e9b51e 100644
--- a/Tools/autotest/default_params/plane-soaring.parm
+++ b/Tools/autotest/default_params/plane-soaring.parm
@@ -28,7 +28,7 @@ SOAR_VSPEED      0.700000
 
 TECS_SPDWEIGHT   2.000000
 
-TRIM_ARSPD_CM    900.000000
+AIRSPEED_CRUISE 9.00
 
 NAVL1_LIM_BANK   60.000000
 NAVL1_PERIOD     10.000
diff --git a/Tools/autotest/default_params/plane-tailsitter.parm b/Tools/autotest/default_params/plane-tailsitter.parm
index b920f96f64c8bf..14cb1ca14e0d90 100644
--- a/Tools/autotest/default_params/plane-tailsitter.parm
+++ b/Tools/autotest/default_params/plane-tailsitter.parm
@@ -1,5 +1,5 @@
 BATT_MONITOR    4
-TRIM_ARSPD_CM   2200
+AIRSPEED_CRUISE 22.00
 TRIM_THROTTLE   50
 LIM_PITCH_MIN   -2000
 LIM_PITCH_MAX   2500
diff --git a/Tools/autotest/default_params/quadplane-cl84.parm b/Tools/autotest/default_params/quadplane-cl84.parm
index 9d988cd89e5a0d..4c3f89f3b48b54 100644
--- a/Tools/autotest/default_params/quadplane-cl84.parm
+++ b/Tools/autotest/default_params/quadplane-cl84.parm
@@ -51,7 +51,7 @@ RLL_RATE_I        0.212500
 RLL_RATE_IMAX     0.888889
 RLL_RATE_P        0.141009
 THR_MAX          100
-TRIM_ARSPD_CM    2500
+AIRSPEED_CRUISE 25.00
 SERVO12_FUNCTION 41
 SERVO12_MIN      1000
 SERVO12_MAX      2000
diff --git a/Tools/autotest/default_params/quadplane-tilttri.parm b/Tools/autotest/default_params/quadplane-tilttri.parm
index 05fdeb052dfc3a..314071ed4656e5 100644
--- a/Tools/autotest/default_params/quadplane-tilttri.parm
+++ b/Tools/autotest/default_params/quadplane-tilttri.parm
@@ -67,7 +67,7 @@ RLL_RATE_IMAX     0.888889
 RLL_RATE_P        0.141009
 SCHED_LOOP_RATE  300
 THR_MAX          100
-TRIM_ARSPD_CM    2500
+AIRSPEED_CRUISE 25.00
 LOG_BITMASK      65534
 Q_TILT_MASK      3
 Q_VFWD_GAIN      0.1
diff --git a/Tools/autotest/default_params/quadplane-tilttrivec.parm b/Tools/autotest/default_params/quadplane-tilttrivec.parm
index e1d20acab5dbe3..1d8bd5b114a74f 100644
--- a/Tools/autotest/default_params/quadplane-tilttrivec.parm
+++ b/Tools/autotest/default_params/quadplane-tilttrivec.parm
@@ -67,7 +67,7 @@ RLL_RATE_IMAX     0.888889
 RLL_RATE_P        0.141009
 SCHED_LOOP_RATE  300
 THR_MAX          100
-TRIM_ARSPD_CM    2500
+AIRSPEED_CRUISE 25.00
 LOG_BITMASK      65534
 Q_TILT_MASK      3
 Q_VFWD_GAIN      0.1
diff --git a/Tools/autotest/default_params/quadplane-tri.parm b/Tools/autotest/default_params/quadplane-tri.parm
index 1bec298bb93794..608db644be959e 100644
--- a/Tools/autotest/default_params/quadplane-tri.parm
+++ b/Tools/autotest/default_params/quadplane-tri.parm
@@ -67,7 +67,7 @@ RLL_RATE_IMAX     0.888889
 RLL_RATE_P        0.141009
 SCHED_LOOP_RATE  300
 THR_MAX          100
-TRIM_ARSPD_CM    2500
+AIRSPEED_CRUISE 25.00
 LOG_BITMASK      65534
 PTCH_RATE_FF 1.407055
 RLL_RATE_FF 0.552741
diff --git a/Tools/autotest/default_params/quadplane.parm b/Tools/autotest/default_params/quadplane.parm
index 92a58bb015fdfa..402f86e521aadf 100644
--- a/Tools/autotest/default_params/quadplane.parm
+++ b/Tools/autotest/default_params/quadplane.parm
@@ -63,7 +63,7 @@ RLL_RATE_IMAX     0.888889
 RLL_RATE_P        0.141009
 SCHED_LOOP_RATE  300
 THR_MAX          100
-TRIM_ARSPD_CM    2500
+AIRSPEED_CRUISE 25.00
 LOG_BITMASK      65534
 Q_M_THST_EXPO    0.65
 Q_M_PWM_MIN      1000
diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index b609ac4dd87cef..8171c9cb2a92fb 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -801,7 +801,7 @@ TKOFF_THR_MAX,0
 TKOFF_THR_MINACC,0
 TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,0
-TRIM_ARSPD_CM,1200
+AIRSPEED_CRUISE,12.00
 TRIM_AUTO,0
 PITCH_TRIM,0
 TRIM_RC_AT_START,0
diff --git a/Tools/autotest/models/plane-3d.parm b/Tools/autotest/models/plane-3d.parm
index c2d467b347252a..1058eba8b8bcfd 100644
--- a/Tools/autotest/models/plane-3d.parm
+++ b/Tools/autotest/models/plane-3d.parm
@@ -28,7 +28,7 @@ ACRO_LOCKING     2
 AHRS_EKF_TYPE    10
 TRIM_THROTTLE    30
 NAVL1_PERIOD     7
-TRIM_ARSPD_CM    2400
+AIRSPEED_CRUISE 24.00
 ARSPD_FBW_MAX    30
 LIM_ROLL_CD      7000
 # setup for scripting
diff --git a/Tools/autotest/models/plane.parm b/Tools/autotest/models/plane.parm
index 5e65bd33aab74d..a5f2a91f98dc19 100644
--- a/Tools/autotest/models/plane.parm
+++ b/Tools/autotest/models/plane.parm
@@ -1,7 +1,7 @@
 EK2_ENABLE      1
 BATT_MONITOR    4
 LOG_BITMASK	65535
-TRIM_ARSPD_CM   2200
+AIRSPEED_CRUISE 22.00
 PITCH_TRIM      0
 TRIM_THROTTLE   50
 LIM_PITCH_MIN   -2000

From 98d40d0e582f38b9b1b138a004aa20a4a7c93cbe Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:25:01 +1100
Subject: [PATCH 0775/1335] AP_HAL_ChibiOS: converted TRIM_ARSPD_CM to
 AIRSPEED_CRUISE

---
 libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
index 74d6255c6339bd..669095a0d75bb9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
@@ -133,7 +133,7 @@ RC_OPTIONS 32
 TECS_LAND_ARSPD 8
 
 # 16 m/s target airspeed in auto modes
-TRIM_ARSPD_CM 1600
+AIRSPEED_CRUISE 16.00
 TRIM_THROTTLE 29
 
 # 2nd lane tends to be better

From c3ae310d4c9b6c324eb800fccd4b41cff2f9ca51 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:27:44 +1100
Subject: [PATCH 0776/1335] SITL: converted TRIM_ARSPD_CM to AIRSPEED_CRUISE

---
 .../examples/SilentWings/Params/Rolladen-Schneider-LS8b.param   | 2 +-
 .../SITL/examples/SilentWings/Params/Schleicher-ASW27B.param    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
index 148245047e0fe5..5ea6ac13059549 100644
--- a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
+++ b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -849,7 +849,7 @@ TKOFF_THR_MAX,0
 TKOFF_THR_MINACC,0
 TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,0
-TRIM_ARSPD_CM,3000
+AIRSPEED_CRUISE,30.00
 TRIM_AUTO,0
 TRIM_PITCH,0
 TRIM_THROTTLE,45
diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
index 9919bb3d8a74dc..e908424dea3635 100644
--- a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
+++ b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -843,7 +843,7 @@ TKOFF_THR_MAX,0
 TKOFF_THR_MINACC,0
 TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,0
-TRIM_ARSPD_CM,2700
+AIRSPEED_CRUISE,27.00
 TRIM_AUTO,0
 TRIM_PITCH,0
 TRIM_THROTTLE,45

From 2a9fe4175760351de9ed818ddeefc4e62b9f07d0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:32:46 +1100
Subject: [PATCH 0777/1335] AP_OSD: convert remaining uses of TRIM_ARSPD_CM to
 AIRSPEED_CRUISE

---
 libraries/AP_OSD/AP_OSD_ParamScreen.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_OSD/AP_OSD_ParamScreen.cpp b/libraries/AP_OSD/AP_OSD_ParamScreen.cpp
index f61e2d87125cca..dc9b27a2cfff7f 100644
--- a/libraries/AP_OSD/AP_OSD_ParamScreen.cpp
+++ b/libraries/AP_OSD/AP_OSD_ParamScreen.cpp
@@ -164,7 +164,7 @@ static const AP_OSD_ParamSetting::Initializer PARAM_DEFAULTS[AP_OSD_NUM_PARAM_SC
     },
     {
         { 1, { 185, 0, 0 }, OSD_PARAM_NONE },               // TRIM_THROTTLE
-        { 2, { 155, 0, 0 }, OSD_PARAM_NONE },               // TRIM_ARSPD_CM
+        { 2, { 155, 0, 0 }, OSD_PARAM_NONE },               // AIRSPEED_CRUISE
         { 3, { 4, 0, 1094 }, OSD_PARAM_NONE },              // SERVO_AUTO_TRIM
         { 4, { 120, 0, 0 }, OSD_PARAM_NONE},                // ARSPD_FBW_MIN
         { 5, { 121, 0, 0 }, OSD_PARAM_NONE },               // ARSPD_FBW_MAX

From 00eeac0551524ae11d85161e2368bd1973527c52 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:32:46 +1100
Subject: [PATCH 0778/1335] AP_Scripting: convert remaining uses of
 TRIM_ARSPD_CM to AIRSPEED_CRUISE

---
 .../Aerobatics/FixedWing/RateBased/sport_aerobatics.lua     | 1 -
 .../applets/Aerobatics/FixedWing/plane_aerobatics.lua       | 4 ++--
 libraries/AP_Scripting/applets/plane_ship_landing.lua       | 4 ++--
 libraries/AP_Scripting/examples/plane-wind-fs.lua           | 6 +++---
 4 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua
index 7c1c7362b98dbe..c0b674e5ae8508 100644
--- a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua
+++ b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua
@@ -28,7 +28,6 @@ local THR_PIT_FF = bind_add_param("PIT_FF",4,80) -- throttle FF from pitch
 local SPD_P = bind_add_param("SPD_P",5,5) -- speed P gain
 local SPD_I = bind_add_param("SPD_I",6,25) -- speed I gain
 local TRIM_THROTTLE = Parameter("TRIM_THROTTLE")
-local TRIM_ARSPD_CM = Parameter("TRIM_ARSPD_CM")
 local RLL2SRV_TCONST = Parameter("RLL2SRV_TCONST")
 local PITCH_TCONST = Parameter("PTCH2SRV_TCONST")
 
diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
index e7928c8c0bbcd9..45dd585ceea9fe 100644
--- a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
+++ b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
@@ -385,7 +385,7 @@ local DO_JUMP = 177
 local k_throttle = 70
 local NAME_FLOAT_RATE = 2
 
-local TRIM_ARSPD_CM = Parameter("TRIM_ARSPD_CM")
+local AIRSPEED_CRUISE = Parameter("AIRSPEED_CRUISE")
 
 local last_id = 0
 local current_task = nil
@@ -2010,7 +2010,7 @@ end
    velocity at the start of the maneuver
 --]]
 function target_groundspeed()
-   return math.max(ahrs:get_EAS2TAS()*TRIM_ARSPD_CM:get()*0.01, ahrs:get_velocity_NED():length())
+   return math.max(ahrs:get_EAS2TAS()*AIRSPEED_CRUISE:get(), ahrs:get_velocity_NED():length())
 end
 
 --[[
diff --git a/libraries/AP_Scripting/applets/plane_ship_landing.lua b/libraries/AP_Scripting/applets/plane_ship_landing.lua
index 6f9fd1de30bc9d..0940b17d66a2ca 100644
--- a/libraries/AP_Scripting/applets/plane_ship_landing.lua
+++ b/libraries/AP_Scripting/applets/plane_ship_landing.lua
@@ -67,7 +67,7 @@ SHIP_AUTO_OFS   = bind_add_param('AUTO_OFS', 3, 0)
 RCMAP_THROTTLE  = bind_param("RCMAP_THROTTLE")
 ALT_HOLD_RTL    = bind_param("ALT_HOLD_RTL")
 Q_RTL_ALT       = bind_param("Q_RTL_ALT")
-TRIM_ARSPD_CM   = bind_param("TRIM_ARSPD_CM")
+AIRSPEED_CRUISE = bind_param("AIRSPEED_CRUISE")
 TECS_LAND_ARSPD = bind_param("TECS_LAND_ARSPD")
 Q_TRANS_DECEL   = bind_param("Q_TRANS_DECEL")
 WP_LOITER_RAD   = bind_param("WP_LOITER_RAD")
@@ -159,7 +159,7 @@ end
 -- get landing airspeed
 function get_land_airspeed()
    if TECS_LAND_ARSPD:get() < 0 then
-      return TRIM_ARSPD_CM:get() * 0.01
+      return AIRSPEED_CRUISE:get()
    end
    return TECS_LAND_ARSPD:get()
 end
diff --git a/libraries/AP_Scripting/examples/plane-wind-fs.lua b/libraries/AP_Scripting/examples/plane-wind-fs.lua
index 908d9af64278e4..673ff6a2e93ad1 100644
--- a/libraries/AP_Scripting/examples/plane-wind-fs.lua
+++ b/libraries/AP_Scripting/examples/plane-wind-fs.lua
@@ -30,11 +30,11 @@ local SITL_wind = false
 
 
 -- Read in required params
-local value = param:get('TRIM_ARSPD_CM')
+local value = param:get('AIRSPEED_CRUISE')
 if value then
-  air_speed = value / 100
+  air_speed = value
 else
-  error('LUA: get TRIM_ARSPD_CM failed')
+  error('LUA: get AIRSPEED_CRUISE failed')
 end
 value = param:get('ARSPD_FBW_MIN')
 if value then

From 79ab474c51c0930a6fe1d8cc84148730a599998e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:32:46 +1100
Subject: [PATCH 0779/1335] AP_Soaring: convert remaining uses of TRIM_ARSPD_CM
 to AIRSPEED_CRUISE

---
 libraries/AP_Soaring/AP_Soaring.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Soaring/AP_Soaring.cpp b/libraries/AP_Soaring/AP_Soaring.cpp
index 56fb621b19b7a8..bb51cd3948a10f 100644
--- a/libraries/AP_Soaring/AP_Soaring.cpp
+++ b/libraries/AP_Soaring/AP_Soaring.cpp
@@ -144,14 +144,14 @@ const AP_Param::GroupInfo SoaringController::var_info[] = {
 
     // @Param: THML_ARSPD
     // @DisplayName: Specific setting for airspeed when soaring in THERMAL mode.
-    // @Description: If non-zero this airspeed will be used when thermalling. A value of 0 will use TRIM_ARSPD_CM.
+    // @Description: If non-zero this airspeed will be used when thermalling. A value of 0 will use AIRSPEED_CRUISE.
     // @Range: 0 50
     // @User: Advanced
     AP_GROUPINFO("THML_ARSPD", 20, SoaringController, soar_thermal_airspeed, 0),
 
     // @Param: CRSE_ARSPD
     // @DisplayName: Specific setting for airspeed when soaring in AUTO mode.
-    // @Description: If non-zero this airspeed will be used when cruising between thermals in AUTO. If set to -1, airspeed will be selected based on speed-to-fly theory. If set to 0, then TRIM_ARSPD_CM will be used while cruising between thermals.
+    // @Description: If non-zero this airspeed will be used when cruising between thermals in AUTO. If set to -1, airspeed will be selected based on speed-to-fly theory. If set to 0, then AIRSPEED_CRUISE will be used while cruising between thermals.
     // @Range: -1 50
     // @User: Advanced
     AP_GROUPINFO("CRSE_ARSPD", 21, SoaringController, soar_cruise_airspeed, 0),

From c8813677b3e1b7b039b094c85376f3f195531381 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:32:46 +1100
Subject: [PATCH 0780/1335] AP_TECS: convert remaining uses of TRIM_ARSPD_CM to
 AIRSPEED_CRUISE

---
 libraries/AP_TECS/AP_TECS.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index b93f07ea2ac74f..2d3f0749f7d6d2 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -20,7 +20,7 @@ const AP_Param::GroupInfo AP_TECS::var_info[] = {
 
     // @Param: CLMB_MAX
     // @DisplayName: Maximum Climb Rate (metres/sec)
-    // @Description: Maximum demanded climb rate. Do not set higher than the climb speed at THR_MAX at TRIM_ARSPD_CM when the battery is at low voltage. Reduce value if airspeed cannot be maintained on ascent. Increase value if throttle does not increase significantly to ascend.
+    // @Description: Maximum demanded climb rate. Do not set higher than the climb speed at THR_MAX at AIRSPEED_CRUISE when the battery is at low voltage. Reduce value if airspeed cannot be maintained on ascent. Increase value if throttle does not increase significantly to ascend.
     // @Increment: 0.1
     // @Range: 0.1 20.0
     // @User: Standard
@@ -28,7 +28,7 @@ const AP_Param::GroupInfo AP_TECS::var_info[] = {
 
     // @Param: SINK_MIN
     // @DisplayName: Minimum Sink Rate (metres/sec)
-    // @Description: Minimum sink rate when at THR_MIN and TRIM_ARSPD_CM.
+    // @Description: Minimum sink rate when at THR_MIN and AIRSPEED_CRUISE.
     // @Increment: 0.1
     // @Range: 0.1 10.0
     // @User: Standard
@@ -140,7 +140,7 @@ const AP_Param::GroupInfo AP_TECS::var_info[] = {
 
     // @Param: PITCH_MAX
     // @DisplayName: Maximum pitch in auto flight
-    // @Description: Overrides LIM_PITCH_MAX in automatic throttle modes to reduce climb rates. Uses LIM_PITCH_MAX if set to 0. For proper TECS tuning, set to the angle that the aircraft can climb at TRIM_ARSPD_CM and THR_MAX.
+    // @Description: Overrides LIM_PITCH_MAX in automatic throttle modes to reduce climb rates. Uses LIM_PITCH_MAX if set to 0. For proper TECS tuning, set to the angle that the aircraft can climb at AIRSPEED_CRUISE and THR_MAX.
     // @Range: 0 45
     // @Increment: 1
     // @User: Advanced

From 06401fdcbfe18f27f697157cecfa9ff03fb229c3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:37:41 +1100
Subject: [PATCH 0781/1335] AP_Airspeed: convert ARSPD_FBW_MIN/MAX to
 AIRSPEED_MIN and AIRSPEED_MAX

---
 libraries/AP_Airspeed/AP_Airspeed.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp
index 8191cc41ee9322..a5d94d31aacdfe 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed.cpp
@@ -562,7 +562,7 @@ void AP_Airspeed::update_calibration(uint8_t i, float raw_pressure)
             // check if new offset differs too greatly from last calibration, indicating pitot uncovered in wind
             if (fixed_wing_parameters != nullptr) {
                 float airspeed_min = fixed_wing_parameters->airspeed_min.get();
-                // use percentage of ARSPD_FBW_MIN as criteria for max allowed change in offset
+                // use percentage of AIRSPEED_MIN as criteria for max allowed change in offset
                 float max_change = 0.5*(sq((1 + (max_speed_pcnt * 0.01))*airspeed_min) - sq(airspeed_min));
                 if (max_speed_pcnt > 0 && (abs(calibrated_offset-param[i].offset) > max_change) && (abs(param[i].offset) > 0)) {
                     GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Arspd %d offset change large;cover and recal", i +1);

From f935cbaeadd849854ac848743ac7d0b202941a13 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:37:41 +1100
Subject: [PATCH 0782/1335] AP_HAL_ChibiOS: convert ARSPD_FBW_MIN/MAX to
 AIRSPEED_MIN and AIRSPEED_MAX

---
 libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
index 669095a0d75bb9..bfb6ef9a67254a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
@@ -39,8 +39,8 @@ ARSPD_TUBE_ORDR 0
 ARSPD_USE 1
 
 ALT_HOLD_RTL 3000
-ARSPD_FBW_MAX  25
-ARSPD_FBW_MIN  8
+AIRSPEED_MAX  25
+AIRSPEED_MIN  8
 ARSPD_RATIO    1.9
 LIM_ROLL_CD    4000
 

From 180a738e1930edfd074d63e62a84ed713a3ea1ef Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:37:41 +1100
Subject: [PATCH 0783/1335] AP_Landing: convert ARSPD_FBW_MIN/MAX to
 AIRSPEED_MIN and AIRSPEED_MAX

---
 libraries/AP_Landing/AP_Landing.cpp | 4 ++--
 libraries/AP_Landing/AP_Landing.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Landing/AP_Landing.cpp b/libraries/AP_Landing/AP_Landing.cpp
index 96b18b963e8a7d..6699089ad2a030 100644
--- a/libraries/AP_Landing/AP_Landing.cpp
+++ b/libraries/AP_Landing/AP_Landing.cpp
@@ -141,7 +141,7 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
     // @Param: OPTIONS
     // @DisplayName: Landing options bitmask
     // @Description: Bitmask of options to use with landing.
-    // @Bitmask: 0: honor min throttle during landing flare,1: Increase Target landing airspeed constraint From Trim Airspeed to ARSPD_FBW_MAX
+    // @Bitmask: 0: honor min throttle during landing flare,1: Increase Target landing airspeed constraint From Trim Airspeed to AIRSPEED_MAX
     // @User: Advanced
     AP_GROUPINFO("OPTIONS", 16, AP_Landing, _options, 0),
 
@@ -156,7 +156,7 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
 
     // @Param: WIND_COMP
     // @DisplayName: Headwind Compensation when Landing
-    // @Description: This param controls how much headwind compensation is used when landing.  Headwind speed component multiplied by this parameter is added to TECS_LAND_ARSPD command.  Set to Zero to disable.  Note:  The target landing airspeed command is still limited to ARSPD_FBW_MAX.
+    // @Description: This param controls how much headwind compensation is used when landing.  Headwind speed component multiplied by this parameter is added to TECS_LAND_ARSPD command.  Set to Zero to disable.  Note:  The target landing airspeed command is still limited to AIRSPEED_MAX.
     // @Range: 0 100
     // @Units: %
     // @Increment: 1
diff --git a/libraries/AP_Landing/AP_Landing.h b/libraries/AP_Landing/AP_Landing.h
index 5022412d9552df..3055bf2211e138 100644
--- a/libraries/AP_Landing/AP_Landing.h
+++ b/libraries/AP_Landing/AP_Landing.h
@@ -61,7 +61,7 @@ class AP_Landing {
     // we support upto 32 boolean bits for users wanting to change landing behaviour.
     enum OptionsMask {
         ON_LANDING_FLARE_USE_THR_MIN                   = (1<<0),   // If set then set trottle to thr_min instead of zero on final flare
-        ON_LANDING_USE_ARSPD_MAX                       = (1<<1),   // If set then allow landing throttle constraint to be increased from trim airspeed to max airspeed (ARSPD_FBW_MAX)
+        ON_LANDING_USE_ARSPD_MAX                       = (1<<1),   // If set then allow landing throttle constraint to be increased from trim airspeed to max airspeed (AIRSPEED_MAX)
     };
 
     void do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);

From fdf286f0b056b62c567fc8cbeeae9aca848a379d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:37:41 +1100
Subject: [PATCH 0784/1335] AP_OSD: convert ARSPD_FBW_MIN/MAX to AIRSPEED_MIN
 and AIRSPEED_MAX

---
 libraries/AP_OSD/AP_OSD_ParamScreen.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_OSD/AP_OSD_ParamScreen.cpp b/libraries/AP_OSD/AP_OSD_ParamScreen.cpp
index dc9b27a2cfff7f..3f510f840dd949 100644
--- a/libraries/AP_OSD/AP_OSD_ParamScreen.cpp
+++ b/libraries/AP_OSD/AP_OSD_ParamScreen.cpp
@@ -166,8 +166,8 @@ static const AP_OSD_ParamSetting::Initializer PARAM_DEFAULTS[AP_OSD_NUM_PARAM_SC
         { 1, { 185, 0, 0 }, OSD_PARAM_NONE },               // TRIM_THROTTLE
         { 2, { 155, 0, 0 }, OSD_PARAM_NONE },               // AIRSPEED_CRUISE
         { 3, { 4, 0, 1094 }, OSD_PARAM_NONE },              // SERVO_AUTO_TRIM
-        { 4, { 120, 0, 0 }, OSD_PARAM_NONE},                // ARSPD_FBW_MIN
-        { 5, { 121, 0, 0 }, OSD_PARAM_NONE },               // ARSPD_FBW_MAX
+        { 4, { 120, 0, 0 }, OSD_PARAM_NONE},                // AIRSPEED_MIN
+        { 5, { 121, 0, 0 }, OSD_PARAM_NONE },               // AIRSPEED_MAX
         { 6, { 156, 0, 0 }, OSD_PARAM_NONE },               // ALT_HOLD_RTL
         { 7, { 140, 2, 8 }, OSD_PARAM_NONE },               // AHRS_TRIM_Y
         { 8, { 182, 0, 0 }, OSD_PARAM_NONE },               // THR_MAX

From 8fd0bc6f6a9bf6c8da20dccb0c59ae6d06b9c138 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:37:41 +1100
Subject: [PATCH 0785/1335] AP_Scripting: convert ARSPD_FBW_MIN/MAX to
 AIRSPEED_MIN and AIRSPEED_MAX

---
 .../applets/Aerobatics/FixedWing/plane_aerobatics.lua         | 4 ++--
 libraries/AP_Scripting/examples/plane-wind-fs.lua             | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
index 45dd585ceea9fe..72112bf30c5d81 100644
--- a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
+++ b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
@@ -276,7 +276,7 @@ end
 
 ACRO_ROLL_RATE = Parameter("ACRO_ROLL_RATE")
 ACRO_YAW_RATE = Parameter('ACRO_YAW_RATE')
-ARSPD_FBW_MIN = Parameter("ARSPD_FBW_MIN")
+AIRSPEED_MIN = Parameter("AIRSPEED_MIN")
 SCALING_SPEED = Parameter("SCALING_SPEED")
 SYSID_THISMAV = Parameter("SYSID_THISMAV")
 
@@ -2465,7 +2465,7 @@ function do_path()
    end
 
    -- airspeed, assume we don't go below min
-   local airspeed_constrained = math.max(ARSPD_FBW_MIN:get(), ahrs_airspeed)
+   local airspeed_constrained = math.max(AIRSPEED_MIN:get(), ahrs_airspeed)
 
    --[[
       calculate positions and angles at previous, current and next time steps
diff --git a/libraries/AP_Scripting/examples/plane-wind-fs.lua b/libraries/AP_Scripting/examples/plane-wind-fs.lua
index 673ff6a2e93ad1..0f22e1aa8fcdc9 100644
--- a/libraries/AP_Scripting/examples/plane-wind-fs.lua
+++ b/libraries/AP_Scripting/examples/plane-wind-fs.lua
@@ -36,11 +36,11 @@ if value then
 else
   error('LUA: get AIRSPEED_CRUISE failed')
 end
-value = param:get('ARSPD_FBW_MIN')
+value = param:get('AIRSPEED_MIN')
 if value then
   min_air_speed = value
 else
-  error('LUA: get ARSPD_FBW_MIN failed')
+  error('LUA: get AIRSPEED_MIN failed')
 end
 value = param:get('MIN_GNDSPD_CM')
 if value then

From d65809ffc1a9203566beeaee87147210ef58ebde Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:37:41 +1100
Subject: [PATCH 0786/1335] AP_TECS: convert ARSPD_FBW_MIN/MAX to AIRSPEED_MIN
 and AIRSPEED_MAX

---
 libraries/AP_TECS/AP_TECS.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index 2d3f0749f7d6d2..201dba8a9b3f34 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -108,7 +108,7 @@ const AP_Param::GroupInfo AP_TECS::var_info[] = {
 
     // @Param: SINK_MAX
     // @DisplayName: Maximum Descent Rate (metres/sec)
-    // @Description: Maximum demanded descent rate. Do not set higher than the vertical speed the aircraft can maintain at THR_MIN, TECS_PITCH_MIN, and ARSPD_FBW_MAX.
+    // @Description: Maximum demanded descent rate. Do not set higher than the vertical speed the aircraft can maintain at THR_MIN, TECS_PITCH_MIN, and AIRSPEED_MAX.
     // @Increment: 0.1
     // @Range: 0.0 20.0
     // @User: Standard
@@ -116,7 +116,7 @@ const AP_Param::GroupInfo AP_TECS::var_info[] = {
 
     // @Param: LAND_ARSPD
     // @DisplayName: Airspeed during landing approach (m/s)
-    // @Description: When performing an autonomus landing, this value is used as the goal airspeed during approach.  Max airspeed allowed is Trim Airspeed or ARSPD_FBW_MAX as defined by LAND_OPTIONS bitmask.  Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead).  If negative then this value is halfway between ARSPD_FBW_MIN and TRIM_CRUISE_CM speed for fixed wing autolandings.
+    // @Description: When performing an autonomus landing, this value is used as the goal airspeed during approach.  Max airspeed allowed is Trim Airspeed or AIRSPEED_MAX as defined by LAND_OPTIONS bitmask.  Note that this parameter is not useful if your platform does not have an airspeed sensor (use TECS_LAND_THR instead).  If negative then this value is halfway between AIRSPEED_MIN and TRIM_CRUISE_CM speed for fixed wing autolandings.
     // @Range: -1 127
     // @Increment: 1
     // @User: Standard

From a87dea0139e534fd94d948fb9996c12bee372bea Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:37:41 +1100
Subject: [PATCH 0787/1335] SITL: convert ARSPD_FBW_MIN/MAX to AIRSPEED_MIN and
 AIRSPEED_MAX

---
 .../examples/SilentWings/Params/Rolladen-Schneider-LS8b.param | 4 ++--
 .../SITL/examples/SilentWings/Params/Schleicher-ASW27B.param  | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
index 5ea6ac13059549..01a652b257e024 100644
--- a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
+++ b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -29,8 +29,8 @@ ARMING_VOLT_MIN,0
 ARMING_VOLT2_MIN,0
 ARSPD_AUTOCAL,0
 ARSPD_BUS,1
-ARSPD_FBW_MAX,40
-ARSPD_FBW_MIN,23
+AIRSPEED_MAX,40
+AIRSPEED_MIN,23
 ARSPD_OFFSET,2013.475
 ARSPD_PIN,1
 ARSPD_PRIMARY,0
diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
index e908424dea3635..b95cf4c86e0b7c 100644
--- a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
+++ b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -29,8 +29,8 @@ ARMING_VOLT_MIN,0
 ARMING_VOLT2_MIN,0
 ARSPD_AUTOCAL,0
 ARSPD_BUS,1
-ARSPD_FBW_MAX,40
-ARSPD_FBW_MIN,23
+AIRSPEED_MAX,40
+AIRSPEED_MIN,23
 ARSPD_OFFSET,2013.475
 ARSPD_PIN,1
 ARSPD_PRIMARY,0

From 912e2f224b830eecf621d20a5db6023f219b095f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:37:41 +1100
Subject: [PATCH 0788/1335] ArduPlane: convert ARSPD_FBW_MIN/MAX to
 AIRSPEED_MIN and AIRSPEED_MAX

---
 ArduPlane/AP_Arming.cpp    |  2 +-
 ArduPlane/Parameters.cpp   | 28 ++++++++++++++--------------
 ArduPlane/ReleaseNotes.txt |  8 ++++----
 ArduPlane/quadplane.cpp    |  2 +-
 4 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index cea4ec1d84cab5..85297ae8ad4a57 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -92,7 +92,7 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
     }
 
     if (plane.aparm.airspeed_min < MIN_AIRSPEED_MIN) {
-        check_failed(display_failure, "ARSPD_FBW_MIN too low (%i < %i)", plane.aparm.airspeed_min.get(), MIN_AIRSPEED_MIN);
+        check_failed(display_failure, "AIRSPEED_MIN too low (%i < %i)", plane.aparm.airspeed_min.get(), MIN_AIRSPEED_MIN);
         ret = false;
     }
 
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index ed887aa1c7c397..2a9a3bed59b5dc 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -267,28 +267,35 @@ const AP_Param::Info Plane::var_info[] = {
     
     // @Param: STALL_PREVENTION
     // @DisplayName: Enable stall prevention
-    // @Description: Enables roll limits at low airspeed in roll limiting flight modes. Roll limits based on aerodynamic load factor in turns and scale on ARSPD_FBW_MIN that must be set correctly. Without airspeed sensor, uses synthetic airspeed from wind speed estimate that may both be inaccurate.
+    // @Description: Enables roll limits at low airspeed in roll limiting flight modes. Roll limits based on aerodynamic load factor in turns and scale on AIRSPEED_MIN that must be set correctly. Without airspeed sensor, uses synthetic airspeed from wind speed estimate that may both be inaccurate.
     // @Values: 0:Disabled,1:Enabled
     // @User: Standard
     ASCALAR(stall_prevention, "STALL_PREVENTION",  1),
 
-    // @Param: ARSPD_FBW_MIN
+    // @Param: AIRSPEED_CRUISE
+    // @DisplayName: Target cruise airspeed
+    // @Description: Target cruise airspeed in m/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.
+    // @Units: m/s
+    // @User: Standard
+    ASCALAR(airspeed_cruise,     "AIRSPEED_CRUISE",  AIRSPEED_CRUISE),
+
+    // @Param: AIRSPEED_MIN
     // @DisplayName: Minimum Airspeed
     // @Description: Minimum airspeed demanded in automatic throttle modes. Should be set to 20% higher than level flight stall speed.
     // @Units: m/s
     // @Range: 5 100
     // @Increment: 1
     // @User: Standard
-    ASCALAR(airspeed_min, "ARSPD_FBW_MIN",  AIRSPEED_FBW_MIN),
+    ASCALAR(airspeed_min, "AIRSPEED_MIN",  AIRSPEED_FBW_MIN),
 
-    // @Param: ARSPD_FBW_MAX
+    // @Param: AIRSPEED_MAX
     // @DisplayName: Maximum Airspeed
-    // @Description: Maximum airspeed demanded in automatic throttle modes. Should be set slightly less than level flight speed at THR_MAX and also at least 50% above ARSPD_FBW_MIN to allow for accurate TECS altitude control.
+    // @Description: Maximum airspeed demanded in automatic throttle modes. Should be set slightly less than level flight speed at THR_MAX and also at least 50% above AIRSPEED_MIN to allow for accurate TECS altitude control.
     // @Units: m/s
     // @Range: 5 100
     // @Increment: 1
     // @User: Standard
-    ASCALAR(airspeed_max, "ARSPD_FBW_MAX",  AIRSPEED_FBW_MAX),
+    ASCALAR(airspeed_max, "AIRSPEED_MAX",  AIRSPEED_FBW_MAX),
 
     // @Param: FBWB_ELEV_REV
     // @DisplayName: Fly By Wire elevator reverse
@@ -410,7 +417,7 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: THROTTLE_NUDGE
     // @DisplayName: Throttle nudge enable
-    // @Description: When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from AIRSPEED_CRUISE up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.
+    // @Description: When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from AIRSPEED_CRUISE up to a maximum of AIRSPEED_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.
     // @Values: 0:Disabled,1:Enabled
     // @User: Standard
     GSCALAR(throttle_nudge,         "THROTTLE_NUDGE",  1),
@@ -621,13 +628,6 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     GSCALAR(log_bitmask,            "LOG_BITMASK",    DEFAULT_LOG_BITMASK),
 
-    // @Param: AIRSPEED_CRUISE
-    // @DisplayName: Target cruise airspeed
-    // @Description: Target cruise airspeed in m/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.
-    // @Units: m/s
-    // @User: Standard
-    ASCALAR(airspeed_cruise,     "AIRSPEED_CRUISE",  AIRSPEED_CRUISE),
-
     // @Param: SCALING_SPEED
     // @DisplayName: speed used for speed scaling calculations
     // @Description: Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values
diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
index 9f965c9b002398..4e84b25e511877 100644
--- a/ArduPlane/ReleaseNotes.txt
+++ b/ArduPlane/ReleaseNotes.txt
@@ -4553,10 +4553,10 @@ enabled.
 
 When in stabilised manual throttle modes this option has the effect of
 limiting how much bank angle you can demand when close to the
-configured minimum airspeed (from ARSPD_FBW_MIN). That means when in
-FBWA mode if you try to turn hard while close to ARSPD_FBW_MIN it will
+configured minimum airspeed (from AIRSPEED_MIN). That means when in
+FBWA mode if you try to turn hard while close to AIRSPEED_MIN it will
 limit the bank angle to an amount that will keep the speed above
-ARSPD_FBW_MIN times the aerodynamic load factor. It will always allow
+AIRSPEED_MIN times the aerodynamic load factor. It will always allow
 you at bank at least 25 degrees however, to ensure you keep some
 maneuverability if the airspeed estimate is incorrect.
 
@@ -4569,7 +4569,7 @@ handle the demanded turn. After the turn is complete the minimum
 airspeed will drop back to the normal level.
 
 This change won't completely eliminate stalls of course, but it should
-make them less likely if you properly configure ARSPD_FBW_MIN for your
+make them less likely if you properly configure AIRSPEED_MIN for your
 aircraft.
 
 PX4IO based RC override code
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index c1959bd00b5991..d175a82ebac9cf 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -4655,7 +4655,7 @@ bool QuadPlane::landing_with_fixed_wing_spiral_approach(void) const
   setup scaling of roll and pitch angle P gains to match fixed wing gains
 
   we setup the angle P gain to match fixed wing at high speed (above
-  ARSPD_FBW_MIN) where fixed wing surfaces are presumed to
+  AIRSPEED_MIN) where fixed wing surfaces are presumed to
   dominate. At lower speeds we use the multicopter angle P gains.
 */
 void QuadPlane::setup_rp_fw_angle_gains(void)

From 863f25e6457c291aecb2f141f88d571144af5611 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:37:42 +1100
Subject: [PATCH 0789/1335] Tools: convert ARSPD_FBW_MIN/MAX to AIRSPEED_MIN
 and AIRSPEED_MAX

---
 Tools/Frame_params/Parrot_Disco/Parrot_Disco.param        | 4 ++--
 Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param        | 4 ++--
 Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm      | 4 ++--
 Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param    | 4 ++--
 Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param    | 4 ++--
 Tools/Frame_params/QuadPlanes/MFE_StriverMini.param       | 4 ++--
 Tools/Frame_params/QuadPlanes/Mugin_EV350.param           | 4 ++--
 Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param | 4 ++--
 Tools/Frame_params/QuadPlanes/XPlane-Alia.parm            | 4 ++--
 Tools/autotest/arduplane.py                               | 4 ++--
 Tools/autotest/default_params/firefly.parm                | 4 ++--
 Tools/autotest/default_params/plane-jet.parm              | 4 ++--
 Tools/autotest/default_params/plane-jsbsim.parm           | 4 ++--
 Tools/autotest/default_params/plane-soaring.parm          | 4 ++--
 Tools/autotest/default_params/plane-tailsitter.parm       | 4 ++--
 Tools/autotest/default_params/quadplane-cl84.parm         | 4 ++--
 Tools/autotest/default_params/quadplane-tilttri.parm      | 4 ++--
 Tools/autotest/default_params/quadplane-tilttrivec.parm   | 4 ++--
 Tools/autotest/default_params/quadplane-tri.parm          | 4 ++--
 Tools/autotest/default_params/quadplane.parm              | 4 ++--
 Tools/autotest/default_params/vee-gull 005.param          | 4 ++--
 Tools/autotest/models/plane-3d.parm                       | 2 +-
 Tools/autotest/models/plane.parm                          | 4 ++--
 23 files changed, 45 insertions(+), 45 deletions(-)

diff --git a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
index 07f5cc0aedf98b..8246d37b1624d2 100644
--- a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
+++ b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
@@ -1,7 +1,7 @@
 ALT_HOLD_RTL     6000
 ARMING_RUDDER    2
-ARSPD_FBW_MAX    17
-ARSPD_FBW_MIN    12
+AIRSPEED_MAX    17
+AIRSPEED_MIN    12
 ARSPD_PSI_RANGE  0.05
 ARSPD_TUBE_ORDR 2
 ARSPD_USE        1
diff --git a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
index e3094fb70b15d7..d8edcc34a9c1b7 100644
--- a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
+++ b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
@@ -1,8 +1,8 @@
 # parameters for Foxtech AYK320
 
 # airspeed
-ARSPD_FBW_MAX    35
-ARSPD_FBW_MIN    18
+AIRSPEED_MAX    35
+AIRSPEED_MIN    18
 AIRSPEED_CRUISE 23.00
 TRIM_THROTTLE    60
 
diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm b/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
index 022e36053e0266..04a094a7b6da6e 100644
--- a/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
@@ -7,8 +7,8 @@
 # the rear two elevons are setup for roll only (ailerons)
 
 # setup airspeed range
-ARSPD_FBW_MAX    35
-ARSPD_FBW_MIN    22
+AIRSPEED_MAX    35
+AIRSPEED_MIN    22
 AIRSPEED_CRUISE 27.00
 
 # fixed wing limits
diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
index 3807ebc77a4b71..4968c7b71e8f0e 100644
--- a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
@@ -3,8 +3,8 @@
 # https://www.foxtechfpv.com/foxtech-great-shark-330-vtol.html
 
 # airspeed
-ARSPD_FBW_MAX    35
-ARSPD_FBW_MIN    18
+AIRSPEED_MAX    35
+AIRSPEED_MIN    18
 AIRSPEED_CRUISE 23.00
 TRIM_THROTTLE    60
 
diff --git a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
index 486a4049c00daf..ff039c001ec61b 100644
--- a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
+++ b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
@@ -3,8 +3,8 @@
 # http://myflydream.com/products/c-0/369.html
 
 # airspeed
-ARSPD_FBW_MAX    29
-ARSPD_FBW_MIN    16
+AIRSPEED_MAX    29
+AIRSPEED_MIN    16
 AIRSPEED_CRUISE 20.00
 TRIM_THROTTLE    52
 
diff --git a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
index f2eeb5398fc770..693f1e7735e96f 100644
--- a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
+++ b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
@@ -22,8 +22,8 @@ INS_HNTCH_REF    0.26
 
 # airspeed
 AIRSPEED_CRUISE 23.00
-ARSPD_FBW_MAX    30
-ARSPD_FBW_MIN    15
+AIRSPEED_MAX    30
+AIRSPEED_MIN    15
 
 # limits
 LIM_PITCH_MAX    2000
diff --git a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
index 3b0eba2a1ae0aa..d9b3ba1ab78159 100644
--- a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
+++ b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
@@ -25,8 +25,8 @@ INS_HNTCH_REF   0.245000
 
 # airspeed
 AIRSPEED_CRUISE 23.00
-ARSPD_FBW_MAX   28
-ARSPD_FBW_MIN   18
+AIRSPEED_MAX   28
+AIRSPEED_MIN   18
 
 # FW pitch tuning
 PTCH_RATE_D     0.021381
diff --git a/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param b/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param
index d4a92a84ef2251..b68d619c39045c 100644
--- a/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param
+++ b/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param
@@ -3,8 +3,8 @@
 # http://www.sparkletech.hk/%E9%B9%B0%E7%9C%BC-%E6%97%A0%E4%BA%BA%E6%9C%BA/electric-power/eagle-plus-vtol/
 
 # airspeed
-ARSPD_FBW_MAX    31
-ARSPD_FBW_MIN    22
+AIRSPEED_MAX    31
+AIRSPEED_MIN    22
 AIRSPEED_CRUISE 24.00
 SCALING_SPEED    20
 TRIM_THROTTLE    55
diff --git a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
index 5edf1c897f7f05..7625ee6bf4dcc5 100644
--- a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
+++ b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
@@ -6,8 +6,8 @@ USE_REV_THRUST,1075
 WP_RADIUS,400
 WP_LOITER_RAD,1000
 RTL_RADIUS,500
-ARSPD_FBW_MIN,30
-ARSPD_FBW_MAX,65
+AIRSPEED_MIN,30
+AIRSPEED_MAX,65
 TERRAIN_FOLLOW,1
 THR_MIN,-25
 THR_SLEWRATE,30
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 1697e260a12e81..31d621b111d469 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -2922,8 +2922,8 @@ def SpeedToFly(self):
         trim_airspeed = m.airspeed
         self.progress("Using trim_airspeed=%f" % (trim_airspeed,))
 
-        min_airspeed = self.get_parameter("ARSPD_FBW_MIN")
-        max_airspeed = self.get_parameter("ARSPD_FBW_MAX")
+        min_airspeed = self.get_parameter("AIRSPEED_MIN")
+        max_airspeed = self.get_parameter("AIRSPEED_MAX")
 
         if trim_airspeed > max_airspeed:
             raise NotAchievedException("trim airspeed > max_airspeed (%f>%f)" %
diff --git a/Tools/autotest/default_params/firefly.parm b/Tools/autotest/default_params/firefly.parm
index 74cf8b0f7174f4..b36262d43c1480 100644
--- a/Tools/autotest/default_params/firefly.parm
+++ b/Tools/autotest/default_params/firefly.parm
@@ -8,8 +8,8 @@ SERVO2_MAX = 2000
 SERVO2_MIN = 1000
 AHRS_EKF_TYPE    2
 ARMING_RUDDER    2
-ARSPD_FBW_MAX    35
-ARSPD_FBW_MIN    6
+AIRSPEED_MAX    35
+AIRSPEED_MIN    6
 ARSPD_USE        1
 AUTOTUNE_LEVEL   8
 COMPASS_OFS2_X   -0.420265
diff --git a/Tools/autotest/default_params/plane-jet.parm b/Tools/autotest/default_params/plane-jet.parm
index 0b55e09d9fbc4b..e3fcec547c320a 100644
--- a/Tools/autotest/default_params/plane-jet.parm
+++ b/Tools/autotest/default_params/plane-jet.parm
@@ -1,6 +1,6 @@
 ALT_HOLD_RTL       20000.0000
-ARSPD_FBW_MAX         80.0000
-ARSPD_FBW_MIN         25.0000
+AIRSPEED_MAX         80.0000
+AIRSPEED_MIN         25.0000
 FBWB_CLIMB_RATE        5.0000
 LAND_FLARE_SEC         2.0000
 LIM_PITCH_MAX       2000.0000
diff --git a/Tools/autotest/default_params/plane-jsbsim.parm b/Tools/autotest/default_params/plane-jsbsim.parm
index e09571352f70f1..ce790ed597dcf8 100644
--- a/Tools/autotest/default_params/plane-jsbsim.parm
+++ b/Tools/autotest/default_params/plane-jsbsim.parm
@@ -11,8 +11,8 @@ LAND_DISARMDELAY 3
 LAND_PITCH_CD   100
 LAND_FLARE_SEC  3
 ARSPD_USE       1
-ARSPD_FBW_MAX   30
-ARSPD_FBW_MIN   10
+AIRSPEED_MAX   30
+AIRSPEED_MIN   10
 KFF_RDDRMIX     0.5
 THR_MAX		100
 RC2_REVERSED	1
diff --git a/Tools/autotest/default_params/plane-soaring.parm b/Tools/autotest/default_params/plane-soaring.parm
index 7d4c27f8e9b51e..a7f1aa65d47e35 100644
--- a/Tools/autotest/default_params/plane-soaring.parm
+++ b/Tools/autotest/default_params/plane-soaring.parm
@@ -1,5 +1,5 @@
-ARSPD_FBW_MAX   20
-ARSPD_FBW_MIN   8
+AIRSPEED_MAX   20
+AIRSPEED_MIN   8
 
 FLIGHT_OPTIONS   2
 
diff --git a/Tools/autotest/default_params/plane-tailsitter.parm b/Tools/autotest/default_params/plane-tailsitter.parm
index 14cb1ca14e0d90..9589c5d9174e83 100644
--- a/Tools/autotest/default_params/plane-tailsitter.parm
+++ b/Tools/autotest/default_params/plane-tailsitter.parm
@@ -5,8 +5,8 @@ LIM_PITCH_MIN   -2000
 LIM_PITCH_MAX   2500
 LIM_ROLL_CD     6500
 ARSPD_USE       1
-ARSPD_FBW_MAX   30
-ARSPD_FBW_MIN   10
+AIRSPEED_MAX   30
+AIRSPEED_MIN   10
 THR_MAX		100
 KFF_RDDRMIX     1
 RC1_MAX         2000
diff --git a/Tools/autotest/default_params/quadplane-cl84.parm b/Tools/autotest/default_params/quadplane-cl84.parm
index 4c3f89f3b48b54..28cecf6573e421 100644
--- a/Tools/autotest/default_params/quadplane-cl84.parm
+++ b/Tools/autotest/default_params/quadplane-cl84.parm
@@ -1,7 +1,7 @@
 ARMING_RUDDER    2
 ARSPD_TYPE       0
-ARSPD_FBW_MAX    35
-ARSPD_FBW_MIN    6
+AIRSPEED_MAX    35
+AIRSPEED_MIN    6
 AUTOTUNE_LEVEL   8
 COMPASS_OFS2_X   -0.420265
 COMPASS_OFS2_Y   -0.726942
diff --git a/Tools/autotest/default_params/quadplane-tilttri.parm b/Tools/autotest/default_params/quadplane-tilttri.parm
index 314071ed4656e5..b7962154c70c8a 100644
--- a/Tools/autotest/default_params/quadplane-tilttri.parm
+++ b/Tools/autotest/default_params/quadplane-tilttri.parm
@@ -1,7 +1,7 @@
 AHRS_EKF_TYPE    2
 ARMING_RUDDER    2
-ARSPD_FBW_MAX    35
-ARSPD_FBW_MIN    6
+AIRSPEED_MAX    35
+AIRSPEED_MIN    6
 ARSPD_USE        1
 AUTOTUNE_LEVEL   8
 COMPASS_OFS2_X   -0.420265
diff --git a/Tools/autotest/default_params/quadplane-tilttrivec.parm b/Tools/autotest/default_params/quadplane-tilttrivec.parm
index 1d8bd5b114a74f..6eb0703bdb3517 100644
--- a/Tools/autotest/default_params/quadplane-tilttrivec.parm
+++ b/Tools/autotest/default_params/quadplane-tilttrivec.parm
@@ -1,7 +1,7 @@
 AHRS_EKF_TYPE    2
 ARMING_RUDDER    2
-ARSPD_FBW_MAX    35
-ARSPD_FBW_MIN    6
+AIRSPEED_MAX    35
+AIRSPEED_MIN    6
 ARSPD_USE        1
 AUTOTUNE_LEVEL   8
 COMPASS_OFS2_X   -0.420265
diff --git a/Tools/autotest/default_params/quadplane-tri.parm b/Tools/autotest/default_params/quadplane-tri.parm
index 608db644be959e..238ca6389ad5ef 100644
--- a/Tools/autotest/default_params/quadplane-tri.parm
+++ b/Tools/autotest/default_params/quadplane-tri.parm
@@ -1,7 +1,7 @@
 AHRS_EKF_TYPE    2
 ARMING_RUDDER    2
-ARSPD_FBW_MAX    35
-ARSPD_FBW_MIN    13
+AIRSPEED_MAX    35
+AIRSPEED_MIN    13
 ARSPD_USE        1
 AUTOTUNE_LEVEL   8
 COMPASS_OFS2_X   -0.420265
diff --git a/Tools/autotest/default_params/quadplane.parm b/Tools/autotest/default_params/quadplane.parm
index 402f86e521aadf..a57da4367c59b1 100644
--- a/Tools/autotest/default_params/quadplane.parm
+++ b/Tools/autotest/default_params/quadplane.parm
@@ -1,6 +1,6 @@
 ARMING_RUDDER    2
-ARSPD_FBW_MAX    35
-ARSPD_FBW_MIN    13
+AIRSPEED_MAX    35
+AIRSPEED_MIN    13
 ARSPD_USE        1
 AUTOTUNE_LEVEL   8
 COMPASS_OFS2_X   -0.420265
diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index 8171c9cb2a92fb..9d3ebd430f7503 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -26,8 +26,8 @@ ARMING_REQUIRE,0
 ARMING_RUDDER,1
 ARSPD_AUTOCAL,0
 ARSPD_BUS,1
-ARSPD_FBW_MAX,15
-ARSPD_FBW_MIN,10
+AIRSPEED_MAX,15
+AIRSPEED_MIN,10
 ARSPD_OFFSET,2015.877
 ARSPD_PIN,1
 ARSPD_PSI_RANGE,1
diff --git a/Tools/autotest/models/plane-3d.parm b/Tools/autotest/models/plane-3d.parm
index 1058eba8b8bcfd..c56365a6ef70db 100644
--- a/Tools/autotest/models/plane-3d.parm
+++ b/Tools/autotest/models/plane-3d.parm
@@ -29,7 +29,7 @@ AHRS_EKF_TYPE    10
 TRIM_THROTTLE    30
 NAVL1_PERIOD     7
 AIRSPEED_CRUISE 24.00
-ARSPD_FBW_MAX    30
+AIRSPEED_MAX    30
 LIM_ROLL_CD      7000
 # setup for scripting
 SCR_ENABLE       1
diff --git a/Tools/autotest/models/plane.parm b/Tools/autotest/models/plane.parm
index a5f2a91f98dc19..2c9b6cedd17414 100644
--- a/Tools/autotest/models/plane.parm
+++ b/Tools/autotest/models/plane.parm
@@ -10,8 +10,8 @@ LIM_ROLL_CD     6500
 LAND_PITCH_CD   100
 LAND_FLARE_SEC  3
 ARSPD_USE       1
-ARSPD_FBW_MAX   30
-ARSPD_FBW_MIN   10
+AIRSPEED_MAX   30
+AIRSPEED_MIN   10
 KFF_RDDRMIX     0.5
 THR_MAX		100
 RC1_MAX         2000

From c2038ee18e31fd2d5015e803dbd661a3871ea76c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:53:11 +1100
Subject: [PATCH 0790/1335] AP_Landing: convert MIN_GNDSPEED_CM to
 MIN_GROUNDSPEED

---
 libraries/AP_Landing/AP_Landing_Slope.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Landing/AP_Landing_Slope.cpp b/libraries/AP_Landing/AP_Landing_Slope.cpp
index 2e31d9ea4203cd..4ebecb3b84e9e3 100644
--- a/libraries/AP_Landing/AP_Landing_Slope.cpp
+++ b/libraries/AP_Landing/AP_Landing_Slope.cpp
@@ -133,7 +133,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
             // speed drops below 3.0 m/s as otherwise we will change
             // target speeds too early.
             aparm.airspeed_cruise.load();
-            aparm.min_gndspeed_cm.load();
+            aparm.min_groundspeed.load();
             aparm.throttle_cruise.load();
         }
     } else if (type_slope_stage == SlopeStage::APPROACH && pre_flare_airspeed > 0) {

From 1f7f4bac73c9dcd85f9c4d3b072c8eb6fb4d1b24 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:53:11 +1100
Subject: [PATCH 0791/1335] AP_Vehicle: convert MIN_GNDSPEED_CM to
 MIN_GROUNDSPEED

---
 libraries/AP_Vehicle/AP_FixedWing.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Vehicle/AP_FixedWing.h b/libraries/AP_Vehicle/AP_FixedWing.h
index 1bcd16c722a8d2..1e5bbf0f3f2dd9 100644
--- a/libraries/AP_Vehicle/AP_FixedWing.h
+++ b/libraries/AP_Vehicle/AP_FixedWing.h
@@ -14,7 +14,7 @@ struct AP_FixedWing {
     AP_Int16 airspeed_min;
     AP_Int16 airspeed_max;
     AP_Float airspeed_cruise;
-    AP_Int32 min_gndspeed_cm;
+    AP_Float min_groundspeed;
     AP_Int8  crash_detection_enable;
     AP_Int16 roll_limit_cd;
     AP_Int16 pitch_limit_max_cd;

From 5723b1c7800b37b2ec20d99d24d9651e15e2299f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:53:11 +1100
Subject: [PATCH 0792/1335] ArduPlane: convert MIN_GNDSPEED_CM to
 MIN_GROUNDSPEED

---
 ArduPlane/Parameters.cpp     | 7 ++++---
 ArduPlane/Parameters.h       | 2 +-
 ArduPlane/commands_logic.cpp | 2 +-
 ArduPlane/config.h           | 7 +++----
 ArduPlane/is_flying.cpp      | 2 +-
 ArduPlane/navigation.cpp     | 4 ++--
 6 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 2a9a3bed59b5dc..d3ba480d1bddc1 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -637,12 +637,12 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     GSCALAR(scaling_speed,        "SCALING_SPEED",    SCALING_SPEED),
 
-    // @Param: MIN_GNDSPD_CM
+    // @Param: MIN_GROUNDSPEED
     // @DisplayName: Minimum ground speed
     // @Description: Minimum ground speed in cm/s when under airspeed control
-    // @Units: cm/s
+    // @Units: m/s
     // @User: Advanced
-    ASCALAR(min_gndspeed_cm,      "MIN_GNDSPD_CM",  MIN_GNDSPEED_CM),
+    ASCALAR(min_groundspeed,      "MIN_GROUNDSPEED",  MIN_GROUNDSPEED),
 
     // @Param: TRIM_PITCH_DEG
     // @DisplayName: Pitch angle offset
@@ -1549,6 +1549,7 @@ void Plane::load_parameters(void)
     // Convert _CM (centimeter) parameters to meters and _CD (centidegrees) parameters to meters
     g.pitch_trim.convert_centi_parameter(AP_PARAM_INT16);
     aparm.airspeed_cruise.convert_centi_parameter(AP_PARAM_INT32);
+    aparm.min_groundspeed.convert_centi_parameter(AP_PARAM_INT32);
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 9b91d90bfc63d1..628e44e71ca4c6 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -219,7 +219,7 @@ class Parameters {
         k_param_airspeed_cruise,
         k_param_RTL_altitude_cm,
         k_param_inverted_flight_ch_unused, // unused
-        k_param_min_gndspeed_cm,
+        k_param_min_groundspeed,
         k_param_crosstrack_use_wind, // unused
 
 
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 256827193a141e..c201b64e13c1ad 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -977,7 +977,7 @@ bool Plane::do_change_speed(uint8_t speedtype, float speed_target_ms, float thro
         break;
     case 1:             // Ground speed
         gcs().send_text(MAV_SEVERITY_INFO, "Set groundspeed %u", (unsigned)speed_target_ms);
-        aparm.min_gndspeed_cm.set(speed_target_ms * 100);
+        aparm.min_groundspeed.set(speed_target_ms);
         return true;
     }
 
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 845cb093b4925e..f0e5a0655963ad 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -118,12 +118,11 @@
 
 
 //////////////////////////////////////////////////////////////////////////////
-// MIN_GNDSPEED
+// MIN_GROUNDSPEED
 //
-#ifndef MIN_GNDSPEED
- # define MIN_GNDSPEED                   0 // m/s (0 disables)
+#ifndef MIN_GROUNDSPEED
+ # define MIN_GROUNDSPEED                   0 // m/s (0 disables)
 #endif
-#define MIN_GNDSPEED_CM MIN_GNDSPEED*100
 
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/ArduPlane/is_flying.cpp b/ArduPlane/is_flying.cpp
index bbb24ebe16eb4e..52b840436f2877 100644
--- a/ArduPlane/is_flying.cpp
+++ b/ArduPlane/is_flying.cpp
@@ -18,7 +18,7 @@ void Plane::update_is_flying_5Hz(void)
     bool is_flying_bool = false;
     uint32_t now_ms = AP_HAL::millis();
 
-    uint32_t ground_speed_thresh_cm = (aparm.min_gndspeed_cm > 0) ? ((uint32_t)(aparm.min_gndspeed_cm*0.9f)) : GPS_IS_FLYING_SPEED_CMS;
+    uint32_t ground_speed_thresh_cm = (aparm.min_groundspeed > 0) ? ((uint32_t)(aparm.min_groundspeed*90)) : GPS_IS_FLYING_SPEED_CMS;
     bool gps_confirmed_movement = (gps.status() >= AP_GPS::GPS_OK_FIX_3D) &&
                                     (gps.ground_speed_cm() >= ground_speed_thresh_cm);
 
diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
index d7f08cdccc2940..762b190ffee722 100644
--- a/ArduPlane/navigation.cpp
+++ b/ArduPlane/navigation.cpp
@@ -286,8 +286,8 @@ void Plane::calc_gndspeed_undershoot()
         if (!yawVect.is_zero()) {
             yawVect.normalize();
             float gndSpdFwd = yawVect * velNED.xy();
-            groundspeed_undershoot_is_valid = aparm.min_gndspeed_cm > 0;
-            groundspeed_undershoot = groundspeed_undershoot_is_valid ? (aparm.min_gndspeed_cm - gndSpdFwd*100) : 0;
+            groundspeed_undershoot_is_valid = aparm.min_groundspeed > 0;
+            groundspeed_undershoot = groundspeed_undershoot_is_valid ? (aparm.min_groundspeed*100 - gndSpdFwd*100) : 0;
         }
     } else {
         groundspeed_undershoot_is_valid = false;

From e5199a71d63216dd5bc74ad52fd076ad4953a2cd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:58:08 +1100
Subject: [PATCH 0793/1335] AP_HAL_ChibiOS: convert ALT_HOLD_RTL to
 RTL_ALTITUDE

---
 libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/defaults.parm | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/defaults.parm
index 8099863e70f1c2..0a8a2328196559 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/defaults.parm
@@ -1,4 +1,4 @@
-ALT_HOLD_RTL,5000
+RTL_ALTITUDE,50.00
 ARMING_RUDDER,2
 # GPS RX DMA conflicts with CRSF and I2C1
 GPS_DRV_OPTIONS,4
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
index bfb6ef9a67254a..2c08a36ef2aeb4 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
@@ -38,7 +38,7 @@ ARMING_RUDDER 2
 ARSPD_TUBE_ORDR 0
 ARSPD_USE 1
 
-ALT_HOLD_RTL 3000
+RTL_ALTITUDE 30.00
 AIRSPEED_MAX  25
 AIRSPEED_MIN  8
 ARSPD_RATIO    1.9

From 5147ccd4e16da7e80dc3eabdfa92cfda3e37841d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:58:08 +1100
Subject: [PATCH 0794/1335] AP_OSD: convert ALT_HOLD_RTL to RTL_ALTITUDE

---
 libraries/AP_OSD/AP_OSD_ParamScreen.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_OSD/AP_OSD_ParamScreen.cpp b/libraries/AP_OSD/AP_OSD_ParamScreen.cpp
index 3f510f840dd949..9dd4e77bedfdf2 100644
--- a/libraries/AP_OSD/AP_OSD_ParamScreen.cpp
+++ b/libraries/AP_OSD/AP_OSD_ParamScreen.cpp
@@ -168,7 +168,7 @@ static const AP_OSD_ParamSetting::Initializer PARAM_DEFAULTS[AP_OSD_NUM_PARAM_SC
         { 3, { 4, 0, 1094 }, OSD_PARAM_NONE },              // SERVO_AUTO_TRIM
         { 4, { 120, 0, 0 }, OSD_PARAM_NONE},                // AIRSPEED_MIN
         { 5, { 121, 0, 0 }, OSD_PARAM_NONE },               // AIRSPEED_MAX
-        { 6, { 156, 0, 0 }, OSD_PARAM_NONE },               // ALT_HOLD_RTL
+        { 6, { 156, 0, 0 }, OSD_PARAM_NONE },               // RTL_ALTITUDE
         { 7, { 140, 2, 8 }, OSD_PARAM_NONE },               // AHRS_TRIM_Y
         { 8, { 182, 0, 0 }, OSD_PARAM_NONE },               // THR_MAX
         { 9, { 189, 0, 0 }, OSD_PARAM_NONE }                // THR_SLEWRATE

From a0c2f5eadb071e6f10fe313868fa29e24426b5c3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:58:08 +1100
Subject: [PATCH 0795/1335] AP_Scripting: convert ALT_HOLD_RTL to RTL_ALTITUDE

---
 libraries/AP_Scripting/applets/plane_ship_landing.lua | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Scripting/applets/plane_ship_landing.lua b/libraries/AP_Scripting/applets/plane_ship_landing.lua
index 0940b17d66a2ca..07975cb4c922ba 100644
--- a/libraries/AP_Scripting/applets/plane_ship_landing.lua
+++ b/libraries/AP_Scripting/applets/plane_ship_landing.lua
@@ -65,7 +65,7 @@ SHIP_AUTO_OFS   = bind_add_param('AUTO_OFS', 3, 0)
 
 -- other parameters
 RCMAP_THROTTLE  = bind_param("RCMAP_THROTTLE")
-ALT_HOLD_RTL    = bind_param("ALT_HOLD_RTL")
+RTL_ALTITUDE    = bind_param("RTL_ALTITUDE")
 Q_RTL_ALT       = bind_param("Q_RTL_ALT")
 AIRSPEED_CRUISE = bind_param("AIRSPEED_CRUISE")
 TECS_LAND_ARSPD = bind_param("TECS_LAND_ARSPD")
@@ -347,7 +347,7 @@ end
 function get_target_alt()
    local base_alt = target_pos:alt() * 0.01
    if landing_stage == STAGE_HOLDOFF then
-      return base_alt + ALT_HOLD_RTL:get() * 0.01
+      return base_alt + RTL_ALTITUDE:get()
    end
    return base_alt + Q_RTL_ALT:get()
 end

From 54f38b7570350ba0b9f4a58ba821191ccaa121a4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:58:08 +1100
Subject: [PATCH 0796/1335] SITL: convert ALT_HOLD_RTL and ALT_HOLD_FBWCM

---
 .../examples/SilentWings/Params/Rolladen-Schneider-LS8b.param | 4 ++--
 .../SITL/examples/SilentWings/Params/Schleicher-ASW27B.param  | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
index 01a652b257e024..39a5fb41c951e5 100644
--- a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
+++ b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -18,8 +18,8 @@ AHRS_TRIM_Y,0
 AHRS_TRIM_Z,0
 AHRS_WIND_MAX,0
 AHRS_YAW_P,0.2
-ALT_HOLD_FBWCM,0
-ALT_HOLD_RTL,10000
+ALT_CRUISE_MIN,0.00
+RTL_ALTITUDE,100.00
 ALT_OFFSET,0
 ARMING_ACCTHRESH,0.75
 ARMING_CHECK,0
diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
index b95cf4c86e0b7c..f7351fedcf7562 100644
--- a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
+++ b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -18,8 +18,8 @@ AHRS_TRIM_Y,0
 AHRS_TRIM_Z,0
 AHRS_WIND_MAX,0
 AHRS_YAW_P,0.2
-ALT_HOLD_FBWCM,0
-ALT_HOLD_RTL,10000
+ALT_CRUISE_MIN,0.00
+RTL_ALTITUDE,100.00
 ALT_OFFSET,0
 ARMING_ACCTHRESH,0.75
 ARMING_CHECK,0

From 8151647e0465b5fe8b82b5f352f0f22b96025d33 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:58:09 +1100
Subject: [PATCH 0797/1335] ArduPlane: convert ALT_HOLD_RTL and ALT_HOLD_FBWCM

---
 ArduPlane/Parameters.cpp     | 20 +++++++++++---------
 ArduPlane/Parameters.h       |  8 ++++----
 ArduPlane/altitude.cpp       | 10 +++++-----
 ArduPlane/avoidance_adsb.cpp |  4 ++--
 ArduPlane/config.h           |  6 ++----
 ArduPlane/fence.cpp          |  2 +-
 ArduPlane/mode_qrtl.cpp      |  2 +-
 ArduPlane/mode_rtl.cpp       |  2 +-
 8 files changed, 27 insertions(+), 27 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index d3ba480d1bddc1..87b4d21e526169 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -652,19 +652,19 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Standard
     GSCALAR(pitch_trim,             "TRIM_PITCH_DEG",  0.0f),
 
-    // @Param: ALT_HOLD_RTL
+    // @Param: RTL_ALTITUDE
     // @DisplayName: RTL altitude
     // @Description: Target altitude above home for RTL mode. Maintains current altitude if set to -1. Rally point altitudes are used if plane does not return to home.
-    // @Units: cm
+    // @Units: m
     // @User: Standard
-    GSCALAR(RTL_altitude_cm,        "ALT_HOLD_RTL",   ALT_HOLD_HOME_CM),
+    GSCALAR(RTL_altitude,        "RTL_ALTITUDE",   ALT_HOLD_HOME),
 
-    // @Param: ALT_HOLD_FBWCM
-    // @DisplayName: Minimum altitude for FBWB mode
-    // @Description: This is the minimum altitude in centimeters (above home) that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. It will also force a climb to this altitude if below in these modes. A value of zero means no limit.
-    // @Units: cm
+    // @Param: ALT_CRUISE_MIN
+    // @DisplayName: Minimum altitude for FBWB and CRUISE mode
+    // @Description: This is the minimum altitude in meters (above home) that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. It will also force a climb to this altitude if below in these modes. A value of zero means no limit.
+    // @Units: m
     // @User: Standard
-    GSCALAR(FBWB_min_altitude_cm,   "ALT_HOLD_FBWCM", ALT_HOLD_FBW_CM),
+    GSCALAR(FBWB_min_altitude,   "ALT_CRUISE_MIN", ALT_CRUISE_MIN),
 
     // @Param: FLAP_1_PERCNT
     // @DisplayName: Flap 1 percentage
@@ -1090,7 +1090,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Bitmask: 1: Use centered throttle in Cruise or FBWB to indicate trim airspeed
     // @Bitmask: 2: Disable attitude check for takeoff arming
     // @Bitmask: 3: Force target airspeed to trim airspeed in Cruise or FBWB
-    // @Bitmask: 4: Climb to ALT_HOLD_RTL before turning for RTL
+    // @Bitmask: 4: Climb to RTL_ALTITUDE before turning for RTL
     // @Bitmask: 5: Enable yaw damper in acro mode
     // @Bitmask: 6: Supress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airspeed sensor.
     // @Bitmask: 7: EnableDefaultAirspeed for takeoff
@@ -1550,6 +1550,8 @@ void Plane::load_parameters(void)
     g.pitch_trim.convert_centi_parameter(AP_PARAM_INT16);
     aparm.airspeed_cruise.convert_centi_parameter(AP_PARAM_INT32);
     aparm.min_groundspeed.convert_centi_parameter(AP_PARAM_INT32);
+    g.RTL_altitude.convert_centi_parameter(AP_PARAM_INT32);
+    g.FBWB_min_altitude.convert_centi_parameter(AP_PARAM_INT16);
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 628e44e71ca4c6..960f2310ebcda4 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -174,7 +174,7 @@ class Parameters {
         //
         k_param_airspeed_min = 120,
         k_param_airspeed_max,
-        k_param_FBWB_min_altitude_cm,  // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
+        k_param_FBWB_min_altitude,  // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
         k_param_flybywire_elev_reverse,
         k_param_alt_control_algorithm, // unused
         k_param_flybywire_climb_rate,
@@ -217,7 +217,7 @@ class Parameters {
         k_param_pitch_limit_max_cd,
         k_param_pitch_limit_min_cd,
         k_param_airspeed_cruise,
-        k_param_RTL_altitude_cm,
+        k_param_RTL_altitude,
         k_param_inverted_flight_ch_unused, // unused
         k_param_min_groundspeed,
         k_param_crosstrack_use_wind, // unused
@@ -436,9 +436,9 @@ class Parameters {
     AP_Int16 mixing_offset;
     AP_Int16 dspoiler_rud_rate;
     AP_Int32 log_bitmask;
-    AP_Int32 RTL_altitude_cm;
+    AP_Float RTL_altitude;
     AP_Float pitch_trim;
-    AP_Int16 FBWB_min_altitude_cm;
+    AP_Float FBWB_min_altitude;
 
     AP_Int8 flap_1_percent;
     AP_Int8 flap_1_speed;
diff --git a/ArduPlane/altitude.cpp b/ArduPlane/altitude.cpp
index 4c3a35f4097cad..45ca2a726864a1 100644
--- a/ArduPlane/altitude.cpp
+++ b/ArduPlane/altitude.cpp
@@ -103,10 +103,10 @@ void Plane::setup_glide_slope(void)
  */
 int32_t Plane::get_RTL_altitude_cm() const
 {
-    if (g.RTL_altitude_cm < 0) {
+    if (g.RTL_altitude < 0) {
         return current_loc.alt;
     }
-    return g.RTL_altitude_cm + home.alt;
+    return g.RTL_altitude*100 + home.alt;
 }
 
 /*
@@ -337,7 +337,7 @@ int32_t Plane::calc_altitude_error_cm(void)
 }
 
 /*
-  check for FBWB_min_altitude_cm and fence min/max altitude
+  check for FBWB_min_altitude and fence min/max altitude
  */
 void Plane::check_fbwb_altitude(void)
 {
@@ -359,9 +359,9 @@ void Plane::check_fbwb_altitude(void)
     }
 #endif
 
-    if (g.FBWB_min_altitude_cm != 0) {
+    if (g.FBWB_min_altitude > 0) {
         // FBWB min altitude exists
-        min_alt_cm = MAX(min_alt_cm, plane.g.FBWB_min_altitude_cm);
+        min_alt_cm = MAX(min_alt_cm, plane.g.FBWB_min_altitude*100.0);
         should_check_min = true;
     }
 
diff --git a/ArduPlane/avoidance_adsb.cpp b/ArduPlane/avoidance_adsb.cpp
index e0dabe8af0323c..13c0dfe4d67120 100644
--- a/ArduPlane/avoidance_adsb.cpp
+++ b/ArduPlane/avoidance_adsb.cpp
@@ -180,9 +180,9 @@ bool AP_Avoidance_Plane::handle_avoidance_vertical(const AP_Avoidance::Obstacle
          new_loc.alt = plane.current_loc.alt + 1000; // set alt demand to be 10m above us, climb rate will be TECS_CLMB_MAX
          return true;
 
-     } else if (plane.current_loc.alt > plane.g.RTL_altitude_cm) {
+     } else if (plane.current_loc.alt > plane.g.RTL_altitude*100) {
          // should descend while above RTL alt
-         // TODO: consider using a lower altitude than RTL_altitude_cm since it's default (100m) is quite high
+         // TODO: consider using a lower altitude than RTL_altitude since it's default (100m) is quite high
          new_loc.alt = plane.current_loc.alt - 1000; // set alt demand to be 10m below us, sink rate will be TECS_SINK_MAX
          return true;
      }
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index f0e5a0655963ad..f02c1556bb6ad2 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -135,10 +135,9 @@
  # define AIRSPEED_FBW_MAX               22
 #endif
 
-#ifndef ALT_HOLD_FBW
- # define ALT_HOLD_FBW 0
+#ifndef ALT_CRUISE_MIN
+ # define ALT_CRUISE_MIN 0
 #endif
-#define ALT_HOLD_FBW_CM ALT_HOLD_FBW*100
 
 
 //////////////////////////////////////////////////////////////////////////////
@@ -202,7 +201,6 @@
 #ifndef ALT_HOLD_HOME
  # define ALT_HOLD_HOME 100
 #endif
-#define ALT_HOLD_HOME_CM ALT_HOLD_HOME*100
 
 //////////////////////////////////////////////////////////////////////////////
 // Developer Items
diff --git a/ArduPlane/fence.cpp b/ArduPlane/fence.cpp
index 22dfbf2015d4c8..33062460df6b0e 100644
--- a/ArduPlane/fence.cpp
+++ b/ArduPlane/fence.cpp
@@ -83,7 +83,7 @@ void Plane::fence_check()
                     loc.alt = home.alt + 100.0f * fence.get_return_altitude();
                 } else if (fence.get_safe_alt_min() >= fence.get_safe_alt_max()) {
                     // invalid min/max, use RTL_altitude
-                    loc.alt = home.alt + g.RTL_altitude_cm;
+                    loc.alt = home.alt + g.RTL_altitude*100;
                 } else {
                     // fly to the return point, with an altitude half way between
                     // min and max
diff --git a/ArduPlane/mode_qrtl.cpp b/ArduPlane/mode_qrtl.cpp
index 425744a1f9128a..7de44dbc9e030c 100644
--- a/ArduPlane/mode_qrtl.cpp
+++ b/ArduPlane/mode_qrtl.cpp
@@ -199,7 +199,7 @@ void ModeQRTL::update_target_altitude()
       giving time to lose speed before we transition
      */
     const float radius = MAX(fabsf(float(plane.aparm.loiter_radius)), fabsf(float(plane.g.rtl_radius)));
-    const float rtl_alt_delta = MAX(0, plane.g.RTL_altitude_cm*0.01 - plane.quadplane.qrtl_alt);
+    const float rtl_alt_delta = MAX(0, plane.g.RTL_altitude - plane.quadplane.qrtl_alt);
     const float sink_time = rtl_alt_delta / MAX(0.6*plane.TECS_controller.get_max_sinkrate(), 1);
     const float sink_dist = plane.aparm.airspeed_cruise * sink_time;
     const float dist = plane.auto_state.wp_distance;
diff --git a/ArduPlane/mode_rtl.cpp b/ArduPlane/mode_rtl.cpp
index 417eb6170f22ef..ee851089e20879 100644
--- a/ArduPlane/mode_rtl.cpp
+++ b/ArduPlane/mode_rtl.cpp
@@ -48,7 +48,7 @@ void ModeRTL::update()
 
     bool alt_threshold_reached = false;
     if (plane.flight_option_enabled(FlightOptions::CLIMB_BEFORE_TURN)) {
-        // Climb to ALT_HOLD_RTL before turning. This overrides RTL_CLIMB_MIN.
+        // Climb to RTL_ALTITUDE before turning. This overrides RTL_CLIMB_MIN.
         alt_threshold_reached = plane.current_loc.alt > plane.next_WP_loc.alt;
     } else if (plane.g2.rtl_climb_min > 0) {
         /*

From 286f6887bd32596e94516b37e6c161717f436f5d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Jan 2024 16:58:09 +1100
Subject: [PATCH 0798/1335] Tools: convert ALT_HOLD_RTL and ALT_HOLD_FBWCM

---
 Tools/Frame_params/Parrot_Disco/Parrot_Disco.param      | 2 +-
 Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param  | 2 +-
 Tools/Frame_params/QuadPlanes/Mugin_EV350.param         | 2 +-
 Tools/Frame_params/QuadPlanes/XPlane-Alia.parm          | 2 +-
 Tools/autotest/arduplane.py                             | 8 ++++----
 Tools/autotest/default_params/plane-jet.parm            | 2 +-
 Tools/autotest/default_params/quadplane-cl84.parm       | 2 +-
 Tools/autotest/default_params/quadplane-tilttri.parm    | 2 +-
 Tools/autotest/default_params/quadplane-tilttrivec.parm | 2 +-
 Tools/autotest/default_params/quadplane.parm            | 2 +-
 Tools/autotest/default_params/vee-gull 005.param        | 4 ++--
 11 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
index 8246d37b1624d2..a6adb226181ce0 100644
--- a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
+++ b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
@@ -1,4 +1,4 @@
-ALT_HOLD_RTL     6000
+RTL_ALTITUDE 60.00
 ARMING_RUDDER    2
 AIRSPEED_MAX    17
 AIRSPEED_MIN    12
diff --git a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
index ff039c001ec61b..c4f846c6809b2b 100644
--- a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
+++ b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
@@ -12,7 +12,7 @@ TRIM_THROTTLE    52
 LIM_PITCH_MAX    2200
 LIM_ROLL_CD      3500
 NAVL1_PERIOD     24
-ALT_HOLD_RTL     9000
+RTL_ALTITUDE 90.00
 FBWB_CLIMB_RATE  5
 WP_LOITER_RAD    150
 WP_RADIUS        150
diff --git a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
index d9b3ba1ab78159..52cf020c7b97b1 100644
--- a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
+++ b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
@@ -2,7 +2,7 @@
 
 # https://www.muginuav.com/product/mugin-ev350-carbon-fiber-full-electric-vtol-uav-platform/
 
-ALT_HOLD_RTL    8000
+RTL_ALTITUDE 80.00
 LIM_PITCH_MAX   2000
 LIM_PITCH_MIN   -2000
 LIM_ROLL_CD     4000
diff --git a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
index 7625ee6bf4dcc5..b23f1a7f900e64 100644
--- a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
+++ b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
@@ -16,7 +16,7 @@ GROUND_STEER_ALT,10
 AIRSPEED_CRUISE,52.00
 SCALING_SPEED,60
 TRIM_PITCH_DEG,4
-ALT_HOLD_RTL,25000
+RTL_ALTITUDE,250.00
 FLAP_1_PERCNT,50
 FLAP_1_SPEED,30
 RTL_AUTOLAND,2
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 31d621b111d469..3baf62bdbdb6f4 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -2274,7 +2274,7 @@ def ClimbBeforeTurn(self):
         self.wait_ready_to_arm()
         self.set_parameters({
             "FLIGHT_OPTIONS": 0,
-            "ALT_HOLD_RTL": 8000,
+            "RTL_ALTITUDE": 80,
             "RTL_AUTOLAND": 1,
         })
         takeoff_alt = 10
@@ -2282,7 +2282,7 @@ def ClimbBeforeTurn(self):
         self.change_mode("CRUISE")
         self.wait_distance_to_home(500, 1000, timeout=60)
         self.change_mode("RTL")
-        expected_alt = self.get_parameter("ALT_HOLD_RTL") / 100.0
+        expected_alt = self.get_parameter("RTL_ALTITUDE")
 
         home = self.home_position_as_mav_location()
         distance = self.get_distance(home, self.mav.location())
@@ -2306,7 +2306,7 @@ def ClimbBeforeTurn(self):
         self.wait_ready_to_arm()
         self.set_parameters({
             "FLIGHT_OPTIONS": 16,
-            "ALT_HOLD_RTL": 10000,
+            "RTL_ALTITUDE": 100,
         })
         self.takeoff(alt=takeoff_alt)
         self.change_mode("CRUISE")
@@ -2339,7 +2339,7 @@ def RTL_CLIMB_MIN(self):
         self.wait_distance_to_home(1000, 1500, timeout=60)
         post_cruise_alt = self.get_altitude(relative=True)
         self.change_mode('RTL')
-        expected_alt = self.get_parameter("ALT_HOLD_RTL")/100.0
+        expected_alt = self.get_parameter("RTL_ALTITUDE")
         if expected_alt == -1:
             expected_alt = self.get_altitude(relative=True)
 
diff --git a/Tools/autotest/default_params/plane-jet.parm b/Tools/autotest/default_params/plane-jet.parm
index e3fcec547c320a..14a97b4a088d35 100644
--- a/Tools/autotest/default_params/plane-jet.parm
+++ b/Tools/autotest/default_params/plane-jet.parm
@@ -1,4 +1,4 @@
-ALT_HOLD_RTL       20000.0000
+RTL_ALTITUDE 200.00
 AIRSPEED_MAX         80.0000
 AIRSPEED_MIN         25.0000
 FBWB_CLIMB_RATE        5.0000
diff --git a/Tools/autotest/default_params/quadplane-cl84.parm b/Tools/autotest/default_params/quadplane-cl84.parm
index 28cecf6573e421..edb0170f5c9fa0 100644
--- a/Tools/autotest/default_params/quadplane-cl84.parm
+++ b/Tools/autotest/default_params/quadplane-cl84.parm
@@ -57,7 +57,7 @@ SERVO12_MIN      1000
 SERVO12_MAX      2000
 SERVO11_TRIM     1500
 RTL_RADIUS       80
-ALT_HOLD_RTL     2000
+RTL_ALTITUDE 20.00
 Q_ENABLE         1
 Q_FRAME_CLASS    7
 Q_ANGLE_MAX      4500
diff --git a/Tools/autotest/default_params/quadplane-tilttri.parm b/Tools/autotest/default_params/quadplane-tilttri.parm
index b7962154c70c8a..eca6c0570a1100 100644
--- a/Tools/autotest/default_params/quadplane-tilttri.parm
+++ b/Tools/autotest/default_params/quadplane-tilttri.parm
@@ -76,6 +76,6 @@ SERVO12_MIN      1000
 SERVO12_MAX      2000
 RTL_RADIUS       80
 Q_RTL_MODE       1
-ALT_HOLD_RTL     2000
+RTL_ALTITUDE 20.00
 PTCH_RATE_FF 1.407055
 RLL_RATE_FF 0.552741
diff --git a/Tools/autotest/default_params/quadplane-tilttrivec.parm b/Tools/autotest/default_params/quadplane-tilttrivec.parm
index 6eb0703bdb3517..7bb3958bb9ed37 100644
--- a/Tools/autotest/default_params/quadplane-tilttrivec.parm
+++ b/Tools/autotest/default_params/quadplane-tilttrivec.parm
@@ -79,7 +79,7 @@ SERVO12_MIN      1000
 SERVO12_MAX      2000
 RTL_RADIUS       80
 Q_RTL_MODE       1
-ALT_HOLD_RTL     2000
+RTL_ALTITUDE 20.00
 Q_TILT_TYPE      2
 Q_TILT_YAW_ANGLE 10
 PTCH_RATE_FF 1.407055
diff --git a/Tools/autotest/default_params/quadplane.parm b/Tools/autotest/default_params/quadplane.parm
index a57da4367c59b1..7cfe607370767b 100644
--- a/Tools/autotest/default_params/quadplane.parm
+++ b/Tools/autotest/default_params/quadplane.parm
@@ -74,6 +74,6 @@ Q_A_RAT_RLL_P 0.15
 Q_A_RAT_PIT_P 0.15
 Q_A_RAT_RLL_D 0.002
 Q_A_RAT_PIT_D 0.002
-ALT_HOLD_RTL 2000
+RTL_ALTITUDE 20.00
 PTCH_RATE_FF 1.407055
 RLL_RATE_FF 0.552741
diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index 9d3ebd430f7503..2e588244c655e7 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -15,8 +15,8 @@ AHRS_TRIM_Y,0
 AHRS_TRIM_Z,0
 AHRS_WIND_MAX,0
 AHRS_YAW_P,0.2
-ALT_HOLD_FBWCM,0
-ALT_HOLD_RTL,10000
+ALT_CRUISE_MIN,0.00
+RTL_ALTITUDE,100.00
 ALT_OFFSET,0
 ARMING_ACCTHRESH,0.75
 ARMING_CHECK,0

From e0cd06cc8397afc295260d6631b59506c2a3a041 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 10:46:50 +1100
Subject: [PATCH 0799/1335] Tools: fixed name of TRIM_PITCH_DEG

---
 Tools/Frame_params/QuadPlanes/MFE_StriverMini.param | 2 +-
 Tools/Frame_params/SkyWalkerX8.param                | 2 +-
 Tools/Frame_params/SkyWalkerX8_ReverseThrust.param  | 2 +-
 Tools/autotest/default_params/plane-jsbsim.parm     | 2 +-
 Tools/autotest/default_params/vee-gull 005.param    | 2 +-
 Tools/autotest/models/plane.parm                    | 2 +-
 6 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
index 693f1e7735e96f..25fc0f49e22fa0 100644
--- a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
+++ b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
@@ -6,7 +6,7 @@ SCALING_SPEED    15
 TECS_CLMB_MAX    3
 TECS_LAND_ARSPD  20
 TKOFF_THR_MAX    85
-PITCH_TRIM       1
+TRIM_PITCH_DEG 0.01
 TRIM_THROTTLE    40
 WP_LOITER_RAD    120
 WP_RADIUS        110
diff --git a/Tools/Frame_params/SkyWalkerX8.param b/Tools/Frame_params/SkyWalkerX8.param
index 771f7e08ca4e58..1a842df8ef518a 100644
--- a/Tools/Frame_params/SkyWalkerX8.param
+++ b/Tools/Frame_params/SkyWalkerX8.param
@@ -107,7 +107,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,100
 AIRSPEED_CRUISE,16.00
 TRIM_AUTO,0
-PITCH_TRIM,0
+TRIM_PITCH_DEG,0.00
 TRIM_RC_AT_START,0
 TRIM_THROTTLE,55
 USE_REV_THRUST,0
diff --git a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
index 54dbdc879f1c1c..0845a53f96f573 100644
--- a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
+++ b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
@@ -107,7 +107,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,100
 AIRSPEED_CRUISE,16.00
 TRIM_AUTO,0
-PITCH_TRIM,0
+TRIM_PITCH_DEG,0.00
 TRIM_RC_AT_START,0
 TRIM_THROTTLE,55
 USE_REV_THRUST,2
diff --git a/Tools/autotest/default_params/plane-jsbsim.parm b/Tools/autotest/default_params/plane-jsbsim.parm
index ce790ed597dcf8..c50a58960496c6 100644
--- a/Tools/autotest/default_params/plane-jsbsim.parm
+++ b/Tools/autotest/default_params/plane-jsbsim.parm
@@ -2,7 +2,7 @@ EK2_ENABLE      1
 BATT_MONITOR    4
 LOG_BITMASK	65535
 AIRSPEED_CRUISE 22.00
-PITCH_TRIM      0
+TRIM_PITCH_DEG 0.00
 TRIM_THROTTLE   50
 LIM_PITCH_MIN   -2000
 LIM_PITCH_MAX   2500
diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index 2e588244c655e7..a8c87e36b64a66 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -803,7 +803,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,0
 AIRSPEED_CRUISE,12.00
 TRIM_AUTO,0
-PITCH_TRIM,0
+TRIM_PITCH_DEG,0.00
 TRIM_RC_AT_START,0
 TRIM_THROTTLE,45
 TUNE_CHAN,0
diff --git a/Tools/autotest/models/plane.parm b/Tools/autotest/models/plane.parm
index 2c9b6cedd17414..ae0916c9aedefc 100644
--- a/Tools/autotest/models/plane.parm
+++ b/Tools/autotest/models/plane.parm
@@ -2,7 +2,7 @@ EK2_ENABLE      1
 BATT_MONITOR    4
 LOG_BITMASK	65535
 AIRSPEED_CRUISE 22.00
-PITCH_TRIM      0
+TRIM_PITCH_DEG 0.00
 TRIM_THROTTLE   50
 LIM_PITCH_MIN   -2000
 LIM_PITCH_MAX   2500

From a3d622b37db8018c56229c779c9349bd2118b7db Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:36:20 +1100
Subject: [PATCH 0800/1335] Plans: rename ALT_CRUISE_MIN to CRUISE_ALT_FLOOR

---
 ArduPlane/Parameters.cpp | 6 +++---
 ArduPlane/Parameters.h   | 4 ++--
 ArduPlane/altitude.cpp   | 6 +++---
 ArduPlane/config.h       | 4 ++--
 4 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 87b4d21e526169..530714f683777f 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -659,12 +659,12 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Standard
     GSCALAR(RTL_altitude,        "RTL_ALTITUDE",   ALT_HOLD_HOME),
 
-    // @Param: ALT_CRUISE_MIN
+    // @Param: CRUISE_ALT_FLOOR
     // @DisplayName: Minimum altitude for FBWB and CRUISE mode
     // @Description: This is the minimum altitude in meters (above home) that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. It will also force a climb to this altitude if below in these modes. A value of zero means no limit.
     // @Units: m
     // @User: Standard
-    GSCALAR(FBWB_min_altitude,   "ALT_CRUISE_MIN", ALT_CRUISE_MIN),
+    GSCALAR(cruise_alt_floor,   "CRUISE_ALT_FLOOR", CRUISE_ALT_FLOOR),
 
     // @Param: FLAP_1_PERCNT
     // @DisplayName: Flap 1 percentage
@@ -1551,7 +1551,7 @@ void Plane::load_parameters(void)
     aparm.airspeed_cruise.convert_centi_parameter(AP_PARAM_INT32);
     aparm.min_groundspeed.convert_centi_parameter(AP_PARAM_INT32);
     g.RTL_altitude.convert_centi_parameter(AP_PARAM_INT32);
-    g.FBWB_min_altitude.convert_centi_parameter(AP_PARAM_INT16);
+    g.cruise_alt_floor.convert_centi_parameter(AP_PARAM_INT16);
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 960f2310ebcda4..2ea1a8b3a7a478 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -174,7 +174,7 @@ class Parameters {
         //
         k_param_airspeed_min = 120,
         k_param_airspeed_max,
-        k_param_FBWB_min_altitude,  // 0=disabled, minimum value for altitude in cm (for first time try 30 meters = 3000 cm)
+        k_param_cruise_alt_floor,
         k_param_flybywire_elev_reverse,
         k_param_alt_control_algorithm, // unused
         k_param_flybywire_climb_rate,
@@ -438,7 +438,7 @@ class Parameters {
     AP_Int32 log_bitmask;
     AP_Float RTL_altitude;
     AP_Float pitch_trim;
-    AP_Float FBWB_min_altitude;
+    AP_Float cruise_alt_floor;
 
     AP_Int8 flap_1_percent;
     AP_Int8 flap_1_speed;
diff --git a/ArduPlane/altitude.cpp b/ArduPlane/altitude.cpp
index 45ca2a726864a1..04ca8440570745 100644
--- a/ArduPlane/altitude.cpp
+++ b/ArduPlane/altitude.cpp
@@ -337,7 +337,7 @@ int32_t Plane::calc_altitude_error_cm(void)
 }
 
 /*
-  check for FBWB_min_altitude and fence min/max altitude
+  check for cruise_alt_floor and fence min/max altitude
  */
 void Plane::check_fbwb_altitude(void)
 {
@@ -359,9 +359,9 @@ void Plane::check_fbwb_altitude(void)
     }
 #endif
 
-    if (g.FBWB_min_altitude > 0) {
+    if (g.cruise_alt_floor > 0) {
         // FBWB min altitude exists
-        min_alt_cm = MAX(min_alt_cm, plane.g.FBWB_min_altitude*100.0);
+        min_alt_cm = MAX(min_alt_cm, plane.g.cruise_alt_floor*100.0);
         should_check_min = true;
     }
 
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index f02c1556bb6ad2..5272d69868c29a 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -135,8 +135,8 @@
  # define AIRSPEED_FBW_MAX               22
 #endif
 
-#ifndef ALT_CRUISE_MIN
- # define ALT_CRUISE_MIN 0
+#ifndef CRUISE_ALT_FLOOR
+ # define CRUISE_ALT_FLOOR 0
 #endif
 
 

From d0757b5aec652b4563954b23e9b2967e0e2f8ee4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:36:39 +1100
Subject: [PATCH 0801/1335] SITL: param rename for CRUISE_ALT_FLOOR

---
 .../examples/SilentWings/Params/Rolladen-Schneider-LS8b.param   | 2 +-
 .../SITL/examples/SilentWings/Params/Schleicher-ASW27B.param    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
index 39a5fb41c951e5..874ae89d9cad68 100644
--- a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
+++ b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -18,7 +18,7 @@ AHRS_TRIM_Y,0
 AHRS_TRIM_Z,0
 AHRS_WIND_MAX,0
 AHRS_YAW_P,0.2
-ALT_CRUISE_MIN,0.00
+CRUISE_ALT_FLOOR,0.00
 RTL_ALTITUDE,100.00
 ALT_OFFSET,0
 ARMING_ACCTHRESH,0.75
diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
index f7351fedcf7562..89fd5ee611700f 100644
--- a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
+++ b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -18,7 +18,7 @@ AHRS_TRIM_Y,0
 AHRS_TRIM_Z,0
 AHRS_WIND_MAX,0
 AHRS_YAW_P,0.2
-ALT_CRUISE_MIN,0.00
+CRUISE_ALT_FLOOR,0.00
 RTL_ALTITUDE,100.00
 ALT_OFFSET,0
 ARMING_ACCTHRESH,0.75

From a06b2d73280c5314fe1b883e20aa85b868466689 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:36:39 +1100
Subject: [PATCH 0802/1335] Tools: param rename for CRUISE_ALT_FLOOR

---
 Tools/autotest/default_params/vee-gull 005.param | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index a8c87e36b64a66..37aff478b766bb 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -15,7 +15,7 @@ AHRS_TRIM_Y,0
 AHRS_TRIM_Z,0
 AHRS_WIND_MAX,0
 AHRS_YAW_P,0.2
-ALT_CRUISE_MIN,0.00
+CRUISE_ALT_FLOOR,0.00
 RTL_ALTITUDE,100.00
 ALT_OFFSET,0
 ARMING_ACCTHRESH,0.75

From 93c4b75a604cbf311616a8ade3dd632e0c880888 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:50:35 +1100
Subject: [PATCH 0803/1335] APM_Control: convert LIM_PITCH_MIN/MAX ->
 PTCH_LIM_MIN/MAX_DEG

---
 libraries/APM_Control/AP_AutoTune.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index d93dbb0d3a6bee..829ff10a386e13 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -211,7 +211,7 @@ void AP_AutoTune::update(AP_PIDInfo &pinfo, float scaler, float angle_err_deg)
         att_limit_deg = aparm.roll_limit_cd * 0.01;
         break;
     case AUTOTUNE_PITCH:
-        att_limit_deg = MIN(abs(aparm.pitch_limit_max_cd),abs(aparm.pitch_limit_min_cd))*0.01;
+        att_limit_deg = MIN(abs(aparm.pitch_limit_max*100),abs(aparm.pitch_limit_min*100))*0.01;
         break;
     case AUTOTUNE_YAW:
         // arbitrary value for yaw angle

From 7d5685c55f93409d6d98a9db9b280d3d45c2ad7e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:50:35 +1100
Subject: [PATCH 0804/1335] AP_TECS: convert LIM_PITCH_MIN/MAX ->
 PTCH_LIM_MIN/MAX_DEG

---
 libraries/AP_TECS/AP_TECS.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index 201dba8a9b3f34..250de6e6896a20 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -1249,15 +1249,15 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
     // LIM_PITCH_{MAX,MIN}. Don't allow TECS_PITCH_{MAX,MIN} to be
     // larger than LIM_PITCH_{MAX,MIN}
     if (_pitch_max == 0) {
-        _PITCHmaxf = aparm.pitch_limit_max_cd * 0.01f;
+        _PITCHmaxf = aparm.pitch_limit_max;
     } else {
-        _PITCHmaxf = MIN(_pitch_max, aparm.pitch_limit_max_cd * 0.01f);
+        _PITCHmaxf = MIN(_pitch_max, aparm.pitch_limit_max);
     }
 
     if (_pitch_min >= 0) {
-        _PITCHminf = aparm.pitch_limit_min_cd * 0.01f;
+        _PITCHminf = aparm.pitch_limit_min;
     } else {
-        _PITCHminf = MAX(_pitch_min, aparm.pitch_limit_min_cd * 0.01f);
+        _PITCHminf = MAX(_pitch_min, aparm.pitch_limit_min);
     }
 
     // apply temporary pitch limit and clear
@@ -1297,7 +1297,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
         // and allow zero throttle
         _THRminf = 0;
     } else if (_landing.is_on_approach()) {
-        _PITCHminf = MAX(_PITCHminf, 0.01f * aparm.pitch_limit_min_cd);
+        _PITCHminf = MAX(_PITCHminf, aparm.pitch_limit_min);
         _pitch_min_at_flare_entry = _PITCHminf;
         _flare_initialised = false;
     } else {

From 718fff0e96fbc6f09525cd9e84b396805c5f2098 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:50:35 +1100
Subject: [PATCH 0805/1335] AP_Vehicle: convert LIM_PITCH_MIN/MAX ->
 PTCH_LIM_MIN/MAX_DEG

---
 libraries/AP_Vehicle/AP_FixedWing.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Vehicle/AP_FixedWing.h b/libraries/AP_Vehicle/AP_FixedWing.h
index 1e5bbf0f3f2dd9..45bc702c7f3a3d 100644
--- a/libraries/AP_Vehicle/AP_FixedWing.h
+++ b/libraries/AP_Vehicle/AP_FixedWing.h
@@ -17,8 +17,8 @@ struct AP_FixedWing {
     AP_Float min_groundspeed;
     AP_Int8  crash_detection_enable;
     AP_Int16 roll_limit_cd;
-    AP_Int16 pitch_limit_max_cd;
-    AP_Int16 pitch_limit_min_cd;
+    AP_Float pitch_limit_max;
+    AP_Float pitch_limit_min;
     AP_Int8  autotune_level;
     AP_Int32 autotune_options;
     AP_Int8  stall_prevention;

From 17d6192e22437f5b6bc907fa793bad7ab5d1e4f4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:50:36 +1100
Subject: [PATCH 0806/1335] ArduPlane: convert LIM_PITCH_MIN/MAX ->
 PTCH_LIM_MIN/MAX_DEG

---
 ArduPlane/AP_Arming.cpp       |  8 ++++----
 ArduPlane/ArduPlane.cpp       |  8 ++++----
 ArduPlane/Attitude.cpp        |  8 ++++----
 ArduPlane/Parameters.cpp      | 16 +++++++++-------
 ArduPlane/Parameters.h        |  4 ++--
 ArduPlane/Plane.h             |  2 +-
 ArduPlane/config.h            |  2 --
 ArduPlane/mode_fbwa.cpp       |  6 +++---
 ArduPlane/mode_guided.cpp     |  2 +-
 ArduPlane/mode_qstabilize.cpp |  6 +++---
 ArduPlane/mode_training.cpp   |  8 ++++----
 ArduPlane/quadplane.cpp       | 14 +++++++-------
 ArduPlane/tailsitter.cpp      |  4 ++--
 13 files changed, 44 insertions(+), 44 deletions(-)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index 85297ae8ad4a57..2b5e05a3c63367 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -81,13 +81,13 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
         ret = false;
     }
 
-    if (plane.aparm.pitch_limit_max_cd < 300) {
-        check_failed(display_failure, "LIM_PITCH_MAX too small (%u)", (unsigned)plane.aparm.pitch_limit_max_cd);
+    if (plane.aparm.pitch_limit_max < 3) {
+        check_failed(display_failure, "PTCH_LIM_MAX_DEG too small (%.1f)", plane.aparm.pitch_limit_max.get());
         ret = false;
     }
 
-    if (plane.aparm.pitch_limit_min_cd > -300) {
-        check_failed(display_failure, "LIM_PITCH_MIN too large (%u)", (unsigned)plane.aparm.pitch_limit_min_cd);
+    if (plane.aparm.pitch_limit_min > -3) {
+        check_failed(display_failure, "PTCH_LIM_MIN_DEG too large (%.1f)", plane.aparm.pitch_limit_min.get());
         ret = false;
     }
 
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 35d2911ceb32d1..8f2cd5a9a7c7b6 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -173,7 +173,7 @@ void Plane::ahrs_update()
 
     // calculate a scaled roll limit based on current pitch
     roll_limit_cd = aparm.roll_limit_cd;
-    pitch_limit_min_cd = aparm.pitch_limit_min_cd;
+    pitch_limit_min = aparm.pitch_limit_min;
 
     bool rotate_limits = true;
 #if HAL_QUADPLANE_ENABLED
@@ -183,7 +183,7 @@ void Plane::ahrs_update()
 #endif
     if (rotate_limits) {
         roll_limit_cd *= ahrs.cos_pitch();
-        pitch_limit_min_cd *= fabsf(ahrs.cos_roll());
+        pitch_limit_min *= fabsf(ahrs.cos_roll());
     }
 
     // updated the summed gyro used for ground steering and
@@ -418,8 +418,8 @@ void Plane::airspeed_ratio_update(void)
         return;
     }
     if (labs(ahrs.roll_sensor) > roll_limit_cd ||
-        ahrs.pitch_sensor > aparm.pitch_limit_max_cd ||
-        ahrs.pitch_sensor < pitch_limit_min_cd) {
+        ahrs.pitch_sensor > aparm.pitch_limit_max*100 ||
+        ahrs.pitch_sensor < pitch_limit_min*100) {
         // don't calibrate when going beyond normal flight envelope
         return;
     }
diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index 3ca20571e93ee0..a1ca70a08ef4dd 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -310,11 +310,11 @@ void Plane::stabilize_stick_mixing_fbw()
         pitch_input = -pitch_input;
     }
     if (pitch_input > 0) {
-        nav_pitch_cd += pitch_input * aparm.pitch_limit_max_cd;
+        nav_pitch_cd += pitch_input * aparm.pitch_limit_max*100;
     } else {
-        nav_pitch_cd += -(pitch_input * pitch_limit_min_cd);
+        nav_pitch_cd += -(pitch_input * pitch_limit_min*100);
     }
-    nav_pitch_cd = constrain_int32(nav_pitch_cd, pitch_limit_min_cd, aparm.pitch_limit_max_cd.get());
+    nav_pitch_cd = constrain_int32(nav_pitch_cd, pitch_limit_min*100, aparm.pitch_limit_max.get()*100);
 }
 
 
@@ -585,7 +585,7 @@ int16_t Plane::calc_nav_yaw_ground(void)
 void Plane::calc_nav_pitch()
 {
     int32_t commanded_pitch = TECS_controller.get_pitch_demand();
-    nav_pitch_cd = constrain_int32(commanded_pitch, pitch_limit_min_cd, aparm.pitch_limit_max_cd.get());
+    nav_pitch_cd = constrain_int32(commanded_pitch, pitch_limit_min*100, aparm.pitch_limit_max.get()*100);
 }
 
 
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 530714f683777f..2c8de5c9a46b01 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -521,23 +521,23 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Standard
     ASCALAR(roll_limit_cd,          "LIM_ROLL_CD",    HEAD_MAX_CENTIDEGREE),
 
-    // @Param: LIM_PITCH_MAX
+    // @Param: PTCH_LIM_MAX_DEG
     // @DisplayName: Maximum Pitch Angle
     // @Description: Maximum pitch up angle commanded in modes with stabilized limits.
-    // @Units: cdeg
-    // @Range: 0 9000
+    // @Units: deg
+    // @Range: 0 90
     // @Increment: 10
     // @User: Standard
-    ASCALAR(pitch_limit_max_cd,     "LIM_PITCH_MAX",  PITCH_MAX_CENTIDEGREE),
+    ASCALAR(pitch_limit_max,     "PTCH_LIM_MAX_DEG",  PITCH_MAX),
 
-    // @Param: LIM_PITCH_MIN
+    // @Param: PTCH_LIM_MIN_DEG
     // @DisplayName: Minimum Pitch Angle
     // @Description: Maximum pitch down angle commanded in modes with stabilized limits
     // @Units: cdeg
-    // @Range: -9000 0
+    // @Range: -90 0
     // @Increment: 10
     // @User: Standard
-    ASCALAR(pitch_limit_min_cd,     "LIM_PITCH_MIN",  PITCH_MIN_CENTIDEGREE),
+    ASCALAR(pitch_limit_min,     "PTCH_LIM_MIN_DEG",  PITCH_MIN),
 
     // @Param: ACRO_ROLL_RATE
     // @DisplayName: ACRO mode roll rate
@@ -1552,6 +1552,8 @@ void Plane::load_parameters(void)
     aparm.min_groundspeed.convert_centi_parameter(AP_PARAM_INT32);
     g.RTL_altitude.convert_centi_parameter(AP_PARAM_INT32);
     g.cruise_alt_floor.convert_centi_parameter(AP_PARAM_INT16);
+    aparm.pitch_limit_max.convert_centi_parameter(AP_PARAM_INT16);
+    aparm.pitch_limit_min.convert_centi_parameter(AP_PARAM_INT16);
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 2ea1a8b3a7a478..85b4ffe5aab23f 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -214,8 +214,8 @@ class Parameters {
         k_param_crosstrack_gain = 150, // unused
         k_param_crosstrack_entry_angle, // unused
         k_param_roll_limit_cd,
-        k_param_pitch_limit_max_cd,
-        k_param_pitch_limit_min_cd,
+        k_param_pitch_limit_max,
+        k_param_pitch_limit_min,
         k_param_airspeed_cruise,
         k_param_RTL_altitude,
         k_param_inverted_flight_ch_unused, // unused
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index f8fe4b1747d7ea..649da30fe994b8 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -199,7 +199,7 @@ class Plane : public AP_Vehicle {
 
     // scaled roll limit based on pitch
     int32_t roll_limit_cd;
-    int32_t pitch_limit_min_cd;
+    float pitch_limit_min;
 
     // flight modes convenience array
     AP_Int8 *flight_modes = &g.flight_mode1;
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 5272d69868c29a..ef39b0ae70f9b3 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -166,8 +166,6 @@
  # define PITCH_MIN                              -25
 #endif
 #define HEAD_MAX_CENTIDEGREE HEAD_MAX * 100
-#define PITCH_MAX_CENTIDEGREE PITCH_MAX * 100
-#define PITCH_MIN_CENTIDEGREE PITCH_MIN * 100
 
 #ifndef RUDDER_MIX
  # define RUDDER_MIX           0.5f
diff --git a/ArduPlane/mode_fbwa.cpp b/ArduPlane/mode_fbwa.cpp
index 35b97ebbe06e80..6fd5ea877fd438 100644
--- a/ArduPlane/mode_fbwa.cpp
+++ b/ArduPlane/mode_fbwa.cpp
@@ -8,12 +8,12 @@ void ModeFBWA::update()
     plane.update_load_factor();
     float pitch_input = plane.channel_pitch->norm_input();
     if (pitch_input > 0) {
-        plane.nav_pitch_cd = pitch_input * plane.aparm.pitch_limit_max_cd;
+        plane.nav_pitch_cd = pitch_input * plane.aparm.pitch_limit_max*100;
     } else {
-        plane.nav_pitch_cd = -(pitch_input * plane.pitch_limit_min_cd);
+        plane.nav_pitch_cd = -(pitch_input * plane.pitch_limit_min*100);
     }
     plane.adjust_nav_pitch_throttle();
-    plane.nav_pitch_cd = constrain_int32(plane.nav_pitch_cd, plane.pitch_limit_min_cd, plane.aparm.pitch_limit_max_cd.get());
+    plane.nav_pitch_cd = constrain_int32(plane.nav_pitch_cd, plane.pitch_limit_min*100, plane.aparm.pitch_limit_max.get()*100);
     if (plane.fly_inverted()) {
         plane.nav_pitch_cd = -plane.nav_pitch_cd;
     }
diff --git a/ArduPlane/mode_guided.cpp b/ArduPlane/mode_guided.cpp
index b4ae1241e757f6..010e9a5e52fd11 100644
--- a/ArduPlane/mode_guided.cpp
+++ b/ArduPlane/mode_guided.cpp
@@ -77,7 +77,7 @@ void ModeGuided::update()
 
     if (plane.guided_state.last_forced_rpy_ms.y > 0 &&
             millis() - plane.guided_state.last_forced_rpy_ms.y < 3000) {
-        plane.nav_pitch_cd = constrain_int32(plane.guided_state.forced_rpy_cd.y, plane.pitch_limit_min_cd, plane.aparm.pitch_limit_max_cd.get());
+        plane.nav_pitch_cd = constrain_int32(plane.guided_state.forced_rpy_cd.y, plane.pitch_limit_min*100, plane.aparm.pitch_limit_max.get()*100);
     } else {
         plane.calc_nav_pitch();
     }
diff --git a/ArduPlane/mode_qstabilize.cpp b/ArduPlane/mode_qstabilize.cpp
index 2f78a210fb3c2d..eda421b610c23f 100644
--- a/ArduPlane/mode_qstabilize.cpp
+++ b/ArduPlane/mode_qstabilize.cpp
@@ -87,12 +87,12 @@ void ModeQStabilize::set_tailsitter_roll_pitch(const float roll_input, const flo
 void ModeQStabilize::set_limited_roll_pitch(const float roll_input, const float pitch_input)
 {
     plane.nav_roll_cd = roll_input * MIN(plane.roll_limit_cd, plane.quadplane.aparm.angle_max);
-    // pitch is further constrained by LIM_PITCH_MIN/MAX which may impose
+    // pitch is further constrained by PTCH_LIM_MIN/MAX which may impose
     // tighter (possibly asymmetrical) limits than Q_ANGLE_MAX
     if (pitch_input > 0) {
-        plane.nav_pitch_cd = pitch_input * MIN(plane.aparm.pitch_limit_max_cd, plane.quadplane.aparm.angle_max);
+        plane.nav_pitch_cd = pitch_input * MIN(plane.aparm.pitch_limit_max*100, plane.quadplane.aparm.angle_max);
     } else {
-        plane.nav_pitch_cd = pitch_input * MIN(-plane.pitch_limit_min_cd, plane.quadplane.aparm.angle_max);
+        plane.nav_pitch_cd = pitch_input * MIN(-plane.pitch_limit_min*100, plane.quadplane.aparm.angle_max);
     }
 }
 
diff --git a/ArduPlane/mode_training.cpp b/ArduPlane/mode_training.cpp
index 23c81fbcc288f8..1c86e6d9c9c5c1 100644
--- a/ArduPlane/mode_training.cpp
+++ b/ArduPlane/mode_training.cpp
@@ -20,10 +20,10 @@ void ModeTraining::update()
 
     // if the pitch is past the set pitch limits, then
     // we set target pitch to the limit
-    if (ahrs.pitch_sensor >= plane.aparm.pitch_limit_max_cd) {
-        plane.nav_pitch_cd = plane.aparm.pitch_limit_max_cd;
-    } else if (ahrs.pitch_sensor <= plane.pitch_limit_min_cd) {
-        plane.nav_pitch_cd = plane.pitch_limit_min_cd;
+    if (ahrs.pitch_sensor >= plane.aparm.pitch_limit_max*100) {
+        plane.nav_pitch_cd = plane.aparm.pitch_limit_max*100;
+    } else if (ahrs.pitch_sensor <= plane.pitch_limit_min*100) {
+        plane.nav_pitch_cd = plane.pitch_limit_min*100;
     } else {
         plane.training_manual_pitch = true;
         plane.nav_pitch_cd = 0;
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index d175a82ebac9cf..732e59b2449fc5 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1405,7 +1405,7 @@ float QuadPlane::assist_climb_rate_cms(void) const
         climb_rate = plane.altitude_error_cm * 0.1f;
     } else {
         // otherwise estimate from pilot input
-        climb_rate = plane.g.flybywire_climb_rate * (plane.nav_pitch_cd/(float)plane.aparm.pitch_limit_max_cd);
+        climb_rate = plane.g.flybywire_climb_rate * (plane.nav_pitch_cd/(plane.aparm.pitch_limit_max*100));
         climb_rate *= plane.get_throttle_input();
     }
     climb_rate = constrain_float(climb_rate, -wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up());
@@ -1518,8 +1518,8 @@ bool QuadPlane::should_assist(float aspeed, bool have_airspeed)
 
     const uint16_t allowed_envelope_error_cd = 500U;
     if (labs(ahrs.roll_sensor) <= plane.aparm.roll_limit_cd+allowed_envelope_error_cd &&
-        ahrs.pitch_sensor < plane.aparm.pitch_limit_max_cd+allowed_envelope_error_cd &&
-        ahrs.pitch_sensor > -(allowed_envelope_error_cd-plane.aparm.pitch_limit_min_cd)) {
+        ahrs.pitch_sensor < plane.aparm.pitch_limit_max*100+allowed_envelope_error_cd &&
+        ahrs.pitch_sensor > -(allowed_envelope_error_cd-plane.aparm.pitch_limit_min*100)) {
         // we are inside allowed attitude envelope
         in_angle_assist = false;
         angle_error_start_ms = 0;
@@ -2456,7 +2456,7 @@ void QuadPlane::vtol_position_controller(void)
 
         // use TECS for pitch
         int32_t commanded_pitch = plane.TECS_controller.get_pitch_demand();
-        plane.nav_pitch_cd = constrain_int32(commanded_pitch, plane.pitch_limit_min_cd, plane.aparm.pitch_limit_max_cd.get());
+        plane.nav_pitch_cd = constrain_int32(commanded_pitch, plane.pitch_limit_min*100, plane.aparm.pitch_limit_max.get()*100);
         if (poscontrol.get_state() == QPOS_AIRBRAKE) {
             // don't allow down pitch in airbrake
             plane.nav_pitch_cd = MAX(plane.nav_pitch_cd, 0);
@@ -3768,7 +3768,7 @@ float QuadPlane::forward_throttle_pct()
     // add in a component from our current pitch demand. This tends to
     // move us to zero pitch. Assume that LIM_PITCH would give us the
     // WP nav speed.
-    fwd_vel_error -= (wp_nav->get_default_speed_xy() * 0.01f) * plane.nav_pitch_cd / (float)plane.aparm.pitch_limit_max_cd;
+    fwd_vel_error -= (wp_nav->get_default_speed_xy() * 0.01f) * plane.nav_pitch_cd / (plane.aparm.pitch_limit_max*100);
 
     if (should_relax() && vel_ned.length() < 1) {
         // we may be landed
@@ -4460,7 +4460,7 @@ bool SLT_Transition::set_VTOL_roll_pitch_limit(int32_t& roll_cd, int32_t& pitch_
     }
 
     // we limit pitch during initial transition
-    const float max_limit_cd = linear_interpolate(MAX(last_fw_nav_pitch_cd,0), MIN(angle_max,plane.aparm.pitch_limit_max_cd),
+    const float max_limit_cd = linear_interpolate(MAX(last_fw_nav_pitch_cd,0), MIN(angle_max,plane.aparm.pitch_limit_max*100),
                                             dt,
                                             0, limit_time_ms);
 
@@ -4480,7 +4480,7 @@ bool SLT_Transition::set_VTOL_roll_pitch_limit(int32_t& roll_cd, int32_t& pitch_
         to prevent inability to progress to position if moving from a loiter
         to landing
     */
-    const float min_limit_cd = linear_interpolate(MIN(last_fw_nav_pitch_cd,0), MAX(-angle_max,plane.aparm.pitch_limit_min_cd),
+    const float min_limit_cd = linear_interpolate(MIN(last_fw_nav_pitch_cd,0), MAX(-angle_max,plane.aparm.pitch_limit_min*100),
                                                   dt,
                                                   0, limit_time_ms);
 
diff --git a/ArduPlane/tailsitter.cpp b/ArduPlane/tailsitter.cpp
index 93055be44a6e8c..4e28d534440a3e 100644
--- a/ArduPlane/tailsitter.cpp
+++ b/ArduPlane/tailsitter.cpp
@@ -177,8 +177,8 @@ static const struct AP_Param::defaults_table_struct defaults_table_tailsitter[]
     { "Q_A_RAT_YAW_FF",    0.2 },
     { "Q_A_RAT_YAW_I",     0.18 },
     { "Q_A_ANGLE_BOOST",   0 },
-    { "LIM_PITCH_MAX",    3000 },
-    { "LIM_PITCH_MIN",    -3000 },
+    { "PTCH_LIM_MAX_DEG",  30 },
+    { "PTCH_LIM_MIN_DEG", -30 },
     { "MIXING_GAIN",      1.0 },
     { "RUDD_DT_GAIN",      10 },
     { "Q_TRANSITION_MS",   2000 },

From 862b0ed8d60d591a03506d54cbfdd04e09f88a57 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:51:33 +1100
Subject: [PATCH 0807/1335] AP_HAL_ChibiOS: convert param files for pitch
 limits

---
 libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
index 2c08a36ef2aeb4..dc5fb95bf1db7c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
@@ -46,8 +46,8 @@ LIM_ROLL_CD    4000
 
 # the HWing can become unstable at high speeds. Limit pitch angle
 # to prevent overspeed
-LIM_PITCH_MAX  4500
-LIM_PITCH_MIN  -1500
+PITCH_LIM_MAX_DEG 45.00
+PITCH_LIM_MIN_DEG -15.00
 
 # setup left 3-pos switch for QHOVER, QLOITER and FBWA
 FLTMODE1 18
@@ -70,7 +70,7 @@ INS_HNTCH_REF          0.4560
 KFF_RDDRMIX 0
 
 # reasonable attitude limits
-LIM_PITCH_MAX 4000
+PITCH_LIM_MAX_DEG 40.00
 LOG_FILE_DSRMROT 1
 
 # lower logging rate a bit to make logs faster to fetch

From 74e455ef6a56bbd1ab6d45ca533352f2f40c3872 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:51:33 +1100
Subject: [PATCH 0808/1335] SITL: convert param files for pitch limits

---
 .../examples/SilentWings/Params/Rolladen-Schneider-LS8b.param | 4 ++--
 .../SITL/examples/SilentWings/Params/Schleicher-ASW27B.param  | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
index 874ae89d9cad68..3c872a807468c0 100644
--- a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
+++ b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -298,8 +298,8 @@ LAND_THEN_NEUTRL,0
 LAND_THR_SLEW,0
 LAND_TYPE,0
 LEVEL_ROLL_LIMIT,5
-LIM_PITCH_MAX,2000
-LIM_PITCH_MIN,-2500
+PITCH_LIM_MAX_DEG,20.00
+PITCH_LIM_MIN_DEG,-25.00
 LIM_ROLL_CD,5000
 LOG_BACKEND_TYPE,1
 LOG_BITMASK,65535
diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
index 89fd5ee611700f..e10dd0c7616f55 100644
--- a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
+++ b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -301,8 +301,8 @@ LAND_THEN_NEUTRL,0
 LAND_THR_SLEW,0
 LAND_TYPE,0
 LEVEL_ROLL_LIMIT,5
-LIM_PITCH_MAX,2000
-LIM_PITCH_MIN,-2500
+PITCH_LIM_MAX_DEG,20.00
+PITCH_LIM_MIN_DEG,-25.00
 LIM_ROLL_CD,5000
 LOG_BACKEND_TYPE,1
 LOG_BITMASK,65535

From badf8fabdd89fc0edb6550c344f72b2438b8ced1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:51:34 +1100
Subject: [PATCH 0809/1335] Tools: convert param files for pitch limits

---
 Tools/Frame_params/EFlight_Convergence.param            | 2 +-
 Tools/Frame_params/Parrot_Disco/Parrot_Disco.param      | 4 ++--
 Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param      | 2 +-
 Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm    | 4 ++--
 Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param  | 2 +-
 Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param  | 2 +-
 Tools/Frame_params/QuadPlanes/MFE_StriverMini.param     | 4 ++--
 Tools/Frame_params/QuadPlanes/Mugin_EV350.param         | 4 ++--
 Tools/Frame_params/SkyWalkerX8.param                    | 4 ++--
 Tools/Frame_params/SkyWalkerX8_ReverseThrust.param      | 4 ++--
 Tools/autotest/default_params/firefly.parm              | 4 ++--
 Tools/autotest/default_params/plane-jet.parm            | 4 ++--
 Tools/autotest/default_params/plane-jsbsim.parm         | 4 ++--
 Tools/autotest/default_params/plane-tailsitter.parm     | 4 ++--
 Tools/autotest/default_params/quadplane-cl84.parm       | 4 ++--
 Tools/autotest/default_params/quadplane-tilthvec.parm   | 4 ++--
 Tools/autotest/default_params/quadplane-tilttri.parm    | 4 ++--
 Tools/autotest/default_params/quadplane-tilttrivec.parm | 4 ++--
 Tools/autotest/default_params/quadplane-tri.parm        | 4 ++--
 Tools/autotest/default_params/quadplane.parm            | 4 ++--
 Tools/autotest/default_params/vee-gull 005.param        | 4 ++--
 Tools/autotest/models/plane.parm                        | 4 ++--
 22 files changed, 40 insertions(+), 40 deletions(-)

diff --git a/Tools/Frame_params/EFlight_Convergence.param b/Tools/Frame_params/EFlight_Convergence.param
index a8ab7be9a0504b..c3dc7fcca48acb 100644
--- a/Tools/Frame_params/EFlight_Convergence.param
+++ b/Tools/Frame_params/EFlight_Convergence.param
@@ -6,7 +6,7 @@ BATT_MONITOR,4
 BATT_VOLT_MULT,12
 BRD_SAFETY_DEFLT,0
 FORMAT_VERSION,13
-LIM_PITCH_MAX,3500
+PITCH_LIM_MAX_DEG,35.00
 MIXING_GAIN,0.8
 PTCH_RATE_D,0.000000
 PTCH_RATE_FF,0.455000
diff --git a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
index a6adb226181ce0..0a331aa9c31108 100644
--- a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
+++ b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
@@ -24,8 +24,8 @@ INS_ACCEL_FILTER 10
 INS_GYRO_FILTER  5
 LAND_FLARE_ALT   3
 LAND_FLARE_SEC   2
-LIM_PITCH_MAX    3000
-LIM_PITCH_MIN    -2500
+PITCH_LIM_MAX_DEG 30.00
+PITCH_LIM_MIN_DEG -25.00
 LIM_ROLL_CD      5500
 NAVL1_PERIOD     16
 PTCH_RATE_D       0.000000
diff --git a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
index d8edcc34a9c1b7..9a20856c550c10 100644
--- a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
+++ b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
@@ -17,7 +17,7 @@ INS_HNTCH_MODE  1.000000
 INS_HNTCH_REF   0.337000
 
 # fixed wing limits
-LIM_PITCH_MIN    -2000
+PITCH_LIM_MIN_DEG -20.00
 LIM_ROLL_CD      4000
 LEVEL_ROLL_LIMIT 12
 
diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm b/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
index 04a094a7b6da6e..713be45248c654 100644
--- a/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
@@ -12,8 +12,8 @@ AIRSPEED_MIN    22
 AIRSPEED_CRUISE 27.00
 
 # fixed wing limits
-LIM_PITCH_MAX    1500
-LIM_PITCH_MIN    -1500
+PITCH_LIM_MAX_DEG 15.00
+PITCH_LIM_MIN_DEG -15.00
 LIM_ROLL_CD      2500
 
 # setup elevons as 75% elevator and 25% aileron
diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
index 4968c7b71e8f0e..1eaaa60646160b 100644
--- a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
@@ -19,7 +19,7 @@ INS_HNTCH_MODE  1.000000
 INS_HNTCH_REF   0.337000
 
 # fixed wing limits
-LIM_PITCH_MIN    -2000
+PITCH_LIM_MIN_DEG -20.00
 LIM_ROLL_CD      4000
 LEVEL_ROLL_LIMIT 12
 
diff --git a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
index c4f846c6809b2b..c143d73f4d32d8 100644
--- a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
+++ b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
@@ -9,7 +9,7 @@ AIRSPEED_CRUISE 20.00
 TRIM_THROTTLE    52
 
 # fixed wing limits
-LIM_PITCH_MAX    2200
+PITCH_LIM_MAX_DEG 22.00
 LIM_ROLL_CD      3500
 NAVL1_PERIOD     24
 RTL_ALTITUDE 90.00
diff --git a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
index 25fc0f49e22fa0..85fa1469dce4e3 100644
--- a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
+++ b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
@@ -26,8 +26,8 @@ AIRSPEED_MAX    30
 AIRSPEED_MIN    15
 
 # limits
-LIM_PITCH_MAX    2000
-LIM_PITCH_MIN    -2000
+PITCH_LIM_MAX_DEG 20.00
+PITCH_LIM_MIN_DEG -20.00
 LIM_ROLL_CD      5500
 
 # pitch tuning
diff --git a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
index 52cf020c7b97b1..c3d8272a9eb343 100644
--- a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
+++ b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
@@ -3,8 +3,8 @@
 # https://www.muginuav.com/product/mugin-ev350-carbon-fiber-full-electric-vtol-uav-platform/
 
 RTL_ALTITUDE 80.00
-LIM_PITCH_MAX   2000
-LIM_PITCH_MIN   -2000
+PITCH_LIM_MAX_DEG 20.00
+PITCH_LIM_MIN_DEG -20.00
 LIM_ROLL_CD     4000
 NAVL1_PERIOD    17
 PTCH2SRV_TCONST 0.75
diff --git a/Tools/Frame_params/SkyWalkerX8.param b/Tools/Frame_params/SkyWalkerX8.param
index 1a842df8ef518a..bc9b674e264add 100644
--- a/Tools/Frame_params/SkyWalkerX8.param
+++ b/Tools/Frame_params/SkyWalkerX8.param
@@ -27,8 +27,8 @@ LAND_SLOPE_RCALC,2
 LAND_THEN_NEUTRL,1
 LAND_THR_SLEW,70
 LEVEL_ROLL_LIMIT,15
-LIM_PITCH_MAX,1500
-LIM_PITCH_MIN,-2500
+PITCH_LIM_MAX_DEG,15.00
+PITCH_LIM_MIN_DEG,-25.00
 LIM_ROLL_CD,3500
 MIN_GNDSPD_CM,600
 MIXING_GAIN,0.5
diff --git a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
index 0845a53f96f573..6630a080bf82df 100644
--- a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
+++ b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
@@ -27,8 +27,8 @@ LAND_SLOPE_RCALC,2
 LAND_THEN_NEUTRL,1
 LAND_THR_SLEW,70
 LEVEL_ROLL_LIMIT,15
-LIM_PITCH_MAX,1500
-LIM_PITCH_MIN,-2500
+PITCH_LIM_MAX_DEG,15.00
+PITCH_LIM_MIN_DEG,-25.00
 LIM_ROLL_CD,3500
 MIN_GNDSPD_CM,600
 MIXING_GAIN,0.5
diff --git a/Tools/autotest/default_params/firefly.parm b/Tools/autotest/default_params/firefly.parm
index b36262d43c1480..d183ff08dc2044 100644
--- a/Tools/autotest/default_params/firefly.parm
+++ b/Tools/autotest/default_params/firefly.parm
@@ -45,8 +45,8 @@ INS_ACCSCAL_Y    1.001000
 INS_ACCSCAL_Z    1.001000
 INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
-LIM_PITCH_MAX    3000
-LIM_PITCH_MIN    -3000
+PITCH_LIM_MAX_DEG 30.00
+PITCH_LIM_MIN_DEG -30.00
 LIM_ROLL_CD      6500
 NAVL1_PERIOD     8
 PTCH_RATE_D       0.000000
diff --git a/Tools/autotest/default_params/plane-jet.parm b/Tools/autotest/default_params/plane-jet.parm
index 14a97b4a088d35..1931911d7e5898 100644
--- a/Tools/autotest/default_params/plane-jet.parm
+++ b/Tools/autotest/default_params/plane-jet.parm
@@ -3,8 +3,8 @@ AIRSPEED_MAX         80.0000
 AIRSPEED_MIN         25.0000
 FBWB_CLIMB_RATE        5.0000
 LAND_FLARE_SEC         2.0000
-LIM_PITCH_MAX       2000.0000
-LIM_PITCH_MIN      -2500.0000
+PITCH_LIM_MAX_DEG 20.00
+PITCH_LIM_MIN_DEG -25.00
 LIM_ROLL_CD         7000.0000
 NAVL1_PERIOD          17.0000
 PTCH_RATE_D             0.000000
diff --git a/Tools/autotest/default_params/plane-jsbsim.parm b/Tools/autotest/default_params/plane-jsbsim.parm
index c50a58960496c6..46485ef733a0f5 100644
--- a/Tools/autotest/default_params/plane-jsbsim.parm
+++ b/Tools/autotest/default_params/plane-jsbsim.parm
@@ -4,8 +4,8 @@ LOG_BITMASK	65535
 AIRSPEED_CRUISE 22.00
 TRIM_PITCH_DEG 0.00
 TRIM_THROTTLE   50
-LIM_PITCH_MIN   -2000
-LIM_PITCH_MAX   2500
+PITCH_LIM_MIN_DEG -20.00
+PITCH_LIM_MAX_DEG 25.00
 LIM_ROLL_CD     6500
 LAND_DISARMDELAY 3
 LAND_PITCH_CD   100
diff --git a/Tools/autotest/default_params/plane-tailsitter.parm b/Tools/autotest/default_params/plane-tailsitter.parm
index 9589c5d9174e83..0711fc831a484e 100644
--- a/Tools/autotest/default_params/plane-tailsitter.parm
+++ b/Tools/autotest/default_params/plane-tailsitter.parm
@@ -1,8 +1,8 @@
 BATT_MONITOR    4
 AIRSPEED_CRUISE 22.00
 TRIM_THROTTLE   50
-LIM_PITCH_MIN   -2000
-LIM_PITCH_MAX   2500
+PITCH_LIM_MIN_DEG -20.00
+PITCH_LIM_MAX_DEG 25.00
 LIM_ROLL_CD     6500
 ARSPD_USE       1
 AIRSPEED_MAX   30
diff --git a/Tools/autotest/default_params/quadplane-cl84.parm b/Tools/autotest/default_params/quadplane-cl84.parm
index edb0170f5c9fa0..a777ff31989232 100644
--- a/Tools/autotest/default_params/quadplane-cl84.parm
+++ b/Tools/autotest/default_params/quadplane-cl84.parm
@@ -34,8 +34,8 @@ INS_ACCSCAL_Y    1.001000
 INS_ACCSCAL_Z    1.001000
 INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
-LIM_PITCH_MAX    3000
-LIM_PITCH_MIN    -3000
+PITCH_LIM_MAX_DEG 30.00
+PITCH_LIM_MIN_DEG -30.00
 LIM_ROLL_CD      6500
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
diff --git a/Tools/autotest/default_params/quadplane-tilthvec.parm b/Tools/autotest/default_params/quadplane-tilthvec.parm
index 336f5209c5a447..2e1cfe5be38a14 100644
--- a/Tools/autotest/default_params/quadplane-tilthvec.parm
+++ b/Tools/autotest/default_params/quadplane-tilthvec.parm
@@ -1,5 +1,5 @@
-LIM_PITCH_MAX    3000
-LIM_PITCH_MIN    -3000
+PITCH_LIM_MAX_DEG 30.00
+PITCH_LIM_MIN_DEG -30.00
 Q_ENABLE         1
 Q_FRAME_CLASS    1
 Q_FRAME_TYPE     3
diff --git a/Tools/autotest/default_params/quadplane-tilttri.parm b/Tools/autotest/default_params/quadplane-tilttri.parm
index eca6c0570a1100..65824efa541082 100644
--- a/Tools/autotest/default_params/quadplane-tilttri.parm
+++ b/Tools/autotest/default_params/quadplane-tilttri.parm
@@ -37,8 +37,8 @@ INS_ACCSCAL_Y    1.001000
 INS_ACCSCAL_Z    1.001000
 INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
-LIM_PITCH_MAX    3000
-LIM_PITCH_MIN    -3000
+PITCH_LIM_MAX_DEG 30.00
+PITCH_LIM_MIN_DEG -30.00
 LIM_ROLL_CD      6500
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
diff --git a/Tools/autotest/default_params/quadplane-tilttrivec.parm b/Tools/autotest/default_params/quadplane-tilttrivec.parm
index 7bb3958bb9ed37..4ff967e70dd053 100644
--- a/Tools/autotest/default_params/quadplane-tilttrivec.parm
+++ b/Tools/autotest/default_params/quadplane-tilttrivec.parm
@@ -37,8 +37,8 @@ INS_ACCSCAL_Y    1.001000
 INS_ACCSCAL_Z    1.001000
 INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
-LIM_PITCH_MAX    3000
-LIM_PITCH_MIN    -3000
+PITCH_LIM_MAX_DEG 30.00
+PITCH_LIM_MIN_DEG -30.00
 LIM_ROLL_CD      6500
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
diff --git a/Tools/autotest/default_params/quadplane-tri.parm b/Tools/autotest/default_params/quadplane-tri.parm
index 238ca6389ad5ef..d09618bcbc5f7e 100644
--- a/Tools/autotest/default_params/quadplane-tri.parm
+++ b/Tools/autotest/default_params/quadplane-tri.parm
@@ -37,8 +37,8 @@ INS_ACCSCAL_Y    1.001000
 INS_ACCSCAL_Z    1.001000
 INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
-LIM_PITCH_MAX    3000
-LIM_PITCH_MIN    -3000
+PITCH_LIM_MAX_DEG 30.00
+PITCH_LIM_MIN_DEG -30.00
 LIM_ROLL_CD      6500
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
diff --git a/Tools/autotest/default_params/quadplane.parm b/Tools/autotest/default_params/quadplane.parm
index 7cfe607370767b..9b8f1498db739e 100644
--- a/Tools/autotest/default_params/quadplane.parm
+++ b/Tools/autotest/default_params/quadplane.parm
@@ -35,8 +35,8 @@ INS_ACCSCAL_Y    1.001000
 INS_ACCSCAL_Z    1.001000
 INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
-LIM_PITCH_MAX    3000
-LIM_PITCH_MIN    -3000
+PITCH_LIM_MAX_DEG 30.00
+PITCH_LIM_MIN_DEG -30.00
 LIM_ROLL_CD      6500
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index 37aff478b766bb..8b9c8ea78ab2dd 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -336,8 +336,8 @@ LAND_THEN_NEUTRL,0
 LAND_THR_SLEW,0
 LAND_TYPE,0
 LEVEL_ROLL_LIMIT,5
-LIM_PITCH_MAX,2000
-LIM_PITCH_MIN,-2500
+PITCH_LIM_MAX_DEG,20.00
+PITCH_LIM_MIN_DEG,-25.00
 LIM_ROLL_CD,4500
 LOG_BACKEND_TYPE,1
 LOG_BITMASK,65535
diff --git a/Tools/autotest/models/plane.parm b/Tools/autotest/models/plane.parm
index ae0916c9aedefc..0600c55d8ffc9c 100644
--- a/Tools/autotest/models/plane.parm
+++ b/Tools/autotest/models/plane.parm
@@ -4,8 +4,8 @@ LOG_BITMASK	65535
 AIRSPEED_CRUISE 22.00
 TRIM_PITCH_DEG 0.00
 TRIM_THROTTLE   50
-LIM_PITCH_MIN   -2000
-LIM_PITCH_MAX   2500
+PITCH_LIM_MIN_DEG -20.00
+PITCH_LIM_MAX_DEG 25.00
 LIM_ROLL_CD     6500
 LAND_PITCH_CD   100
 LAND_FLARE_SEC  3

From 04309236399df5440f469fc02adc87b6df41b9cf Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:58:28 +1100
Subject: [PATCH 0810/1335] APM_Control: change LIM_ROLL_CD to ROLL_LIMIT_DEG

---
 libraries/APM_Control/AP_AutoTune.cpp        | 2 +-
 libraries/APM_Control/AP_PitchController.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index 829ff10a386e13..d1d817cb3d8636 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -208,7 +208,7 @@ void AP_AutoTune::update(AP_PIDInfo &pinfo, float scaler, float angle_err_deg)
     float att_limit_deg = 0;
     switch (type) {
     case AUTOTUNE_ROLL:
-        att_limit_deg = aparm.roll_limit_cd * 0.01;
+        att_limit_deg = aparm.roll_limit;
         break;
     case AUTOTUNE_PITCH:
         att_limit_deg = MIN(abs(aparm.pitch_limit_max*100),abs(aparm.pitch_limit_min*100))*0.01;
diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp
index be39a6cbdd9af6..0dda072cdd3302 100644
--- a/libraries/APM_Control/AP_PitchController.cpp
+++ b/libraries/APM_Control/AP_PitchController.cpp
@@ -361,7 +361,7 @@ float AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool di
     if (roll_wrapped > 9000) {
         roll_wrapped = 18000 - roll_wrapped;
     }
-    const float roll_limit_margin = MIN(aparm.roll_limit_cd + 500.0, 8500.0);
+    const float roll_limit_margin = MIN(aparm.roll_limit*100 + 500.0, 8500.0);
     if (roll_wrapped > roll_limit_margin && labs(_ahrs.pitch_sensor) < 7000) {
         float roll_prop = (roll_wrapped - roll_limit_margin) / (float)(9000 - roll_limit_margin);
         desired_rate *= (1 - roll_prop);

From cfc30fac44bc5a095a73239a2fed49bc58e79183 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:58:28 +1100
Subject: [PATCH 0811/1335] AP_Vehicle: change LIM_ROLL_CD to ROLL_LIMIT_DEG

---
 libraries/AP_Vehicle/AP_FixedWing.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Vehicle/AP_FixedWing.h b/libraries/AP_Vehicle/AP_FixedWing.h
index 45bc702c7f3a3d..7aee38d5c5b35d 100644
--- a/libraries/AP_Vehicle/AP_FixedWing.h
+++ b/libraries/AP_Vehicle/AP_FixedWing.h
@@ -16,7 +16,7 @@ struct AP_FixedWing {
     AP_Float airspeed_cruise;
     AP_Float min_groundspeed;
     AP_Int8  crash_detection_enable;
-    AP_Int16 roll_limit_cd;
+    AP_Float roll_limit;
     AP_Float pitch_limit_max;
     AP_Float pitch_limit_min;
     AP_Int8  autotune_level;

From 89a947cdcad5840012ce31be3dca04e9cf81afbc Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:58:28 +1100
Subject: [PATCH 0812/1335] ArduPlane: change LIM_ROLL_CD to ROLL_LIMIT_DEG

---
 ArduPlane/AP_Arming.cpp  |  4 ++--
 ArduPlane/ArduPlane.cpp  |  2 +-
 ArduPlane/Parameters.cpp | 11 ++++++-----
 ArduPlane/Parameters.h   |  2 +-
 ArduPlane/config.h       |  5 ++---
 ArduPlane/quadplane.cpp  |  2 +-
 6 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index 2b5e05a3c63367..1bd2627b5e41a1 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -76,8 +76,8 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
         ret = false;
     }
 
-    if (plane.aparm.roll_limit_cd < 300) {
-        check_failed(display_failure, "LIM_ROLL_CD too small (%u)", (unsigned)plane.aparm.roll_limit_cd);
+    if (plane.aparm.roll_limit < 3) {
+        check_failed(display_failure, "LIM_ROLL_DEG too small (%.1f)", plane.aparm.roll_limit.get());
         ret = false;
     }
 
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 8f2cd5a9a7c7b6..474299eb7baa69 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -172,7 +172,7 @@ void Plane::ahrs_update()
 #endif
 
     // calculate a scaled roll limit based on current pitch
-    roll_limit_cd = aparm.roll_limit_cd;
+    roll_limit_cd = aparm.roll_limit*100;
     pitch_limit_min = aparm.pitch_limit_min;
 
     bool rotate_limits = true;
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 2c8de5c9a46b01..8a629fbed1a9cd 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -512,14 +512,14 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     GSCALAR(initial_mode,        "INITIAL_MODE",     Mode::Number::MANUAL),
 
-    // @Param: LIM_ROLL_CD
+    // @Param: ROLL_LIMIT_DEG
     // @DisplayName: Maximum Bank Angle
     // @Description: Maximum bank angle commanded in modes with stabilized limits. Increase this value for sharper turns, but decrease to prevent accelerated stalls.
-    // @Units: cdeg
-    // @Range: 0 9000
-    // @Increment: 10
+    // @Units: deg
+    // @Range: 0 90
+    // @Increment: 0.1
     // @User: Standard
-    ASCALAR(roll_limit_cd,          "LIM_ROLL_CD",    HEAD_MAX_CENTIDEGREE),
+    ASCALAR(roll_limit,          "ROLL_LIMIT_DEG",    ROLL_LIMIT_DEG),
 
     // @Param: PTCH_LIM_MAX_DEG
     // @DisplayName: Maximum Pitch Angle
@@ -1554,6 +1554,7 @@ void Plane::load_parameters(void)
     g.cruise_alt_floor.convert_centi_parameter(AP_PARAM_INT16);
     aparm.pitch_limit_max.convert_centi_parameter(AP_PARAM_INT16);
     aparm.pitch_limit_min.convert_centi_parameter(AP_PARAM_INT16);
+    aparm.roll_limit.convert_centi_parameter(AP_PARAM_INT16);
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 85b4ffe5aab23f..070d885d37b7f6 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -213,7 +213,7 @@ class Parameters {
         //
         k_param_crosstrack_gain = 150, // unused
         k_param_crosstrack_entry_angle, // unused
-        k_param_roll_limit_cd,
+        k_param_roll_limit,
         k_param_pitch_limit_max,
         k_param_pitch_limit_min,
         k_param_airspeed_cruise,
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index ef39b0ae70f9b3..b89be6703f56ac 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -156,8 +156,8 @@
 //////////////////////////////////////////////////////////////////////////////
 // Autopilot control limits
 //
-#ifndef HEAD_MAX
- # define HEAD_MAX                               45
+#ifndef ROLL_LIMIT_DEG
+ # define ROLL_LIMIT_DEG                         45
 #endif
 #ifndef PITCH_MAX
  # define PITCH_MAX                              20
@@ -165,7 +165,6 @@
 #ifndef PITCH_MIN
  # define PITCH_MIN                              -25
 #endif
-#define HEAD_MAX_CENTIDEGREE HEAD_MAX * 100
 
 #ifndef RUDDER_MIX
  # define RUDDER_MIX           0.5f
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 732e59b2449fc5..5e4bf8cbaeb1ff 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1517,7 +1517,7 @@ bool QuadPlane::should_assist(float aspeed, bool have_airspeed)
      */
 
     const uint16_t allowed_envelope_error_cd = 500U;
-    if (labs(ahrs.roll_sensor) <= plane.aparm.roll_limit_cd+allowed_envelope_error_cd &&
+    if (labs(ahrs.roll_sensor) <= plane.aparm.roll_limit*100 + allowed_envelope_error_cd &&
         ahrs.pitch_sensor < plane.aparm.pitch_limit_max*100+allowed_envelope_error_cd &&
         ahrs.pitch_sensor > -(allowed_envelope_error_cd-plane.aparm.pitch_limit_min*100)) {
         // we are inside allowed attitude envelope

From a6bceccd827fc96d811647759b72712266445127 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:59:10 +1100
Subject: [PATCH 0813/1335] AP_HAL_ChibiOS: convert param files LIM_ROLL_CD ->
 ROLL_LIMIT_DEG

---
 libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
index dc5fb95bf1db7c..1078b74cf1f05f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
@@ -42,7 +42,7 @@ RTL_ALTITUDE 30.00
 AIRSPEED_MAX  25
 AIRSPEED_MIN  8
 ARSPD_RATIO    1.9
-LIM_ROLL_CD    4000
+ROLL_LIMIT_DEG 40.00
 
 # the HWing can become unstable at high speeds. Limit pitch angle
 # to prevent overspeed

From bea9102d7204f7c171445192089f7e875079c12d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:59:10 +1100
Subject: [PATCH 0814/1335] SITL: convert param files LIM_ROLL_CD ->
 ROLL_LIMIT_DEG

---
 .../examples/SilentWings/Params/Rolladen-Schneider-LS8b.param   | 2 +-
 .../SITL/examples/SilentWings/Params/Schleicher-ASW27B.param    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
index 3c872a807468c0..bdfd76d2e67b79 100644
--- a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
+++ b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -300,7 +300,7 @@ LAND_TYPE,0
 LEVEL_ROLL_LIMIT,5
 PITCH_LIM_MAX_DEG,20.00
 PITCH_LIM_MIN_DEG,-25.00
-LIM_ROLL_CD,5000
+ROLL_LIMIT_DEG,50.00
 LOG_BACKEND_TYPE,1
 LOG_BITMASK,65535
 LOG_DISARMED,0
diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
index e10dd0c7616f55..e94f17d2c61f79 100644
--- a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
+++ b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -303,7 +303,7 @@ LAND_TYPE,0
 LEVEL_ROLL_LIMIT,5
 PITCH_LIM_MAX_DEG,20.00
 PITCH_LIM_MIN_DEG,-25.00
-LIM_ROLL_CD,5000
+ROLL_LIMIT_DEG,50.00
 LOG_BACKEND_TYPE,1
 LOG_BITMASK,65535
 LOG_DISARMED,0

From 7a57ac640fd384cf180589b26176f19b9d6ba61c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 12:59:10 +1100
Subject: [PATCH 0815/1335] Tools: convert param files LIM_ROLL_CD ->
 ROLL_LIMIT_DEG

---
 Tools/Frame_params/Parrot_Disco/Parrot_Disco.param        | 2 +-
 Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param        | 2 +-
 Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm      | 2 +-
 Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param    | 2 +-
 Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param    | 2 +-
 Tools/Frame_params/QuadPlanes/MFE_StriverMini.param       | 2 +-
 Tools/Frame_params/QuadPlanes/Mugin_EV350.param           | 2 +-
 Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param | 2 +-
 Tools/Frame_params/SkyWalkerX8.param                      | 2 +-
 Tools/Frame_params/SkyWalkerX8_ReverseThrust.param        | 2 +-
 Tools/autotest/default_params/firefly.parm                | 2 +-
 Tools/autotest/default_params/plane-jet.parm              | 2 +-
 Tools/autotest/default_params/plane-jsbsim.parm           | 2 +-
 Tools/autotest/default_params/plane-tailsitter.parm       | 2 +-
 Tools/autotest/default_params/quadplane-cl84.parm         | 2 +-
 Tools/autotest/default_params/quadplane-tilttri.parm      | 2 +-
 Tools/autotest/default_params/quadplane-tilttrivec.parm   | 2 +-
 Tools/autotest/default_params/quadplane-tri.parm          | 2 +-
 Tools/autotest/default_params/quadplane.parm              | 2 +-
 Tools/autotest/default_params/vee-gull 005.param          | 2 +-
 Tools/autotest/models/plane-3d.parm                       | 2 +-
 Tools/autotest/models/plane.parm                          | 2 +-
 22 files changed, 22 insertions(+), 22 deletions(-)

diff --git a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
index 0a331aa9c31108..68166134236771 100644
--- a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
+++ b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
@@ -26,7 +26,7 @@ LAND_FLARE_ALT   3
 LAND_FLARE_SEC   2
 PITCH_LIM_MAX_DEG 30.00
 PITCH_LIM_MIN_DEG -25.00
-LIM_ROLL_CD      5500
+ROLL_LIMIT_DEG 55.00
 NAVL1_PERIOD     16
 PTCH_RATE_D       0.000000
 PTCH_RATE_I       0.240000
diff --git a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
index 9a20856c550c10..4910bb4b0bf43e 100644
--- a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
+++ b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
@@ -18,7 +18,7 @@ INS_HNTCH_REF   0.337000
 
 # fixed wing limits
 PITCH_LIM_MIN_DEG -20.00
-LIM_ROLL_CD      4000
+ROLL_LIMIT_DEG 40.00
 LEVEL_ROLL_LIMIT 12
 
 FBWB_CLIMB_RATE  5
diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm b/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
index 713be45248c654..8bbb7069b8b1ed 100644
--- a/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
@@ -14,7 +14,7 @@ AIRSPEED_CRUISE 27.00
 # fixed wing limits
 PITCH_LIM_MAX_DEG 15.00
 PITCH_LIM_MIN_DEG -15.00
-LIM_ROLL_CD      2500
+ROLL_LIMIT_DEG 25.00
 
 # setup elevons as 75% elevator and 25% aileron
 MIXING_GAIN      0.25
diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
index 1eaaa60646160b..d2bb18a7bcdf37 100644
--- a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
@@ -20,7 +20,7 @@ INS_HNTCH_REF   0.337000
 
 # fixed wing limits
 PITCH_LIM_MIN_DEG -20.00
-LIM_ROLL_CD      4000
+ROLL_LIMIT_DEG 40.00
 LEVEL_ROLL_LIMIT 12
 
 FBWB_CLIMB_RATE  5
diff --git a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
index c143d73f4d32d8..58d0a02a8d218d 100644
--- a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
+++ b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
@@ -10,7 +10,7 @@ TRIM_THROTTLE    52
 
 # fixed wing limits
 PITCH_LIM_MAX_DEG 22.00
-LIM_ROLL_CD      3500
+ROLL_LIMIT_DEG 35.00
 NAVL1_PERIOD     24
 RTL_ALTITUDE 90.00
 FBWB_CLIMB_RATE  5
diff --git a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
index 85fa1469dce4e3..08cb4e0055c0fe 100644
--- a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
+++ b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
@@ -28,7 +28,7 @@ AIRSPEED_MIN    15
 # limits
 PITCH_LIM_MAX_DEG 20.00
 PITCH_LIM_MIN_DEG -20.00
-LIM_ROLL_CD      5500
+ROLL_LIMIT_DEG 55.00
 
 # pitch tuning
 PTCH_RATE_D      0.017718
diff --git a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
index c3d8272a9eb343..3e6f77b4681458 100644
--- a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
+++ b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
@@ -5,7 +5,7 @@
 RTL_ALTITUDE 80.00
 PITCH_LIM_MAX_DEG 20.00
 PITCH_LIM_MIN_DEG -20.00
-LIM_ROLL_CD     4000
+ROLL_LIMIT_DEG 40.00
 NAVL1_PERIOD    17
 PTCH2SRV_TCONST 0.75
 RTL_RADIUS      180
diff --git a/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param b/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param
index b68d619c39045c..901b3ac166fd3d 100644
--- a/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param
+++ b/Tools/Frame_params/QuadPlanes/SparkleTech-EagleHero.param
@@ -9,7 +9,7 @@ AIRSPEED_CRUISE 24.00
 SCALING_SPEED    20
 TRIM_THROTTLE    55
 
-LIM_ROLL_CD      5000
+ROLL_LIMIT_DEG 50.00
 
 # fixed wing tuning
 RLL2SRV_RMAX     75
diff --git a/Tools/Frame_params/SkyWalkerX8.param b/Tools/Frame_params/SkyWalkerX8.param
index bc9b674e264add..693fc048488582 100644
--- a/Tools/Frame_params/SkyWalkerX8.param
+++ b/Tools/Frame_params/SkyWalkerX8.param
@@ -29,7 +29,7 @@ LAND_THR_SLEW,70
 LEVEL_ROLL_LIMIT,15
 PITCH_LIM_MAX_DEG,15.00
 PITCH_LIM_MIN_DEG,-25.00
-LIM_ROLL_CD,3500
+ROLL_LIMIT_DEG,35.00
 MIN_GNDSPD_CM,600
 MIXING_GAIN,0.5
 NAVL1_DAMPING,0.75
diff --git a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
index 6630a080bf82df..729ed72638b2ba 100644
--- a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
+++ b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
@@ -29,7 +29,7 @@ LAND_THR_SLEW,70
 LEVEL_ROLL_LIMIT,15
 PITCH_LIM_MAX_DEG,15.00
 PITCH_LIM_MIN_DEG,-25.00
-LIM_ROLL_CD,3500
+ROLL_LIMIT_DEG,35.00
 MIN_GNDSPD_CM,600
 MIXING_GAIN,0.5
 NAVL1_DAMPING,0.75
diff --git a/Tools/autotest/default_params/firefly.parm b/Tools/autotest/default_params/firefly.parm
index d183ff08dc2044..82e2baa94ef1f5 100644
--- a/Tools/autotest/default_params/firefly.parm
+++ b/Tools/autotest/default_params/firefly.parm
@@ -47,7 +47,7 @@ INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
 PITCH_LIM_MAX_DEG 30.00
 PITCH_LIM_MIN_DEG -30.00
-LIM_ROLL_CD      6500
+ROLL_LIMIT_DEG 65.00
 NAVL1_PERIOD     8
 PTCH_RATE_D       0.000000
 PTCH_RATE_I       0.212500
diff --git a/Tools/autotest/default_params/plane-jet.parm b/Tools/autotest/default_params/plane-jet.parm
index 1931911d7e5898..4892f7b83ddfc6 100644
--- a/Tools/autotest/default_params/plane-jet.parm
+++ b/Tools/autotest/default_params/plane-jet.parm
@@ -5,7 +5,7 @@ FBWB_CLIMB_RATE        5.0000
 LAND_FLARE_SEC         2.0000
 PITCH_LIM_MAX_DEG 20.00
 PITCH_LIM_MIN_DEG -25.00
-LIM_ROLL_CD         7000.0000
+ROLL_LIMIT_DEG 70.00
 NAVL1_PERIOD          17.0000
 PTCH_RATE_D             0.000000
 PTCH_RATE_FF            0.690000
diff --git a/Tools/autotest/default_params/plane-jsbsim.parm b/Tools/autotest/default_params/plane-jsbsim.parm
index 46485ef733a0f5..240f3c393495e5 100644
--- a/Tools/autotest/default_params/plane-jsbsim.parm
+++ b/Tools/autotest/default_params/plane-jsbsim.parm
@@ -6,7 +6,7 @@ TRIM_PITCH_DEG 0.00
 TRIM_THROTTLE   50
 PITCH_LIM_MIN_DEG -20.00
 PITCH_LIM_MAX_DEG 25.00
-LIM_ROLL_CD     6500
+ROLL_LIMIT_DEG 65.00
 LAND_DISARMDELAY 3
 LAND_PITCH_CD   100
 LAND_FLARE_SEC  3
diff --git a/Tools/autotest/default_params/plane-tailsitter.parm b/Tools/autotest/default_params/plane-tailsitter.parm
index 0711fc831a484e..6ac7c09bc03897 100644
--- a/Tools/autotest/default_params/plane-tailsitter.parm
+++ b/Tools/autotest/default_params/plane-tailsitter.parm
@@ -3,7 +3,7 @@ AIRSPEED_CRUISE 22.00
 TRIM_THROTTLE   50
 PITCH_LIM_MIN_DEG -20.00
 PITCH_LIM_MAX_DEG 25.00
-LIM_ROLL_CD     6500
+ROLL_LIMIT_DEG 65.00
 ARSPD_USE       1
 AIRSPEED_MAX   30
 AIRSPEED_MIN   10
diff --git a/Tools/autotest/default_params/quadplane-cl84.parm b/Tools/autotest/default_params/quadplane-cl84.parm
index a777ff31989232..4954b55e746298 100644
--- a/Tools/autotest/default_params/quadplane-cl84.parm
+++ b/Tools/autotest/default_params/quadplane-cl84.parm
@@ -36,7 +36,7 @@ INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
 PITCH_LIM_MAX_DEG 30.00
 PITCH_LIM_MIN_DEG -30.00
-LIM_ROLL_CD      6500
+ROLL_LIMIT_DEG 65.00
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
 PTCH_RATE_I       0.212500
diff --git a/Tools/autotest/default_params/quadplane-tilttri.parm b/Tools/autotest/default_params/quadplane-tilttri.parm
index 65824efa541082..e334fe0f0b4ce1 100644
--- a/Tools/autotest/default_params/quadplane-tilttri.parm
+++ b/Tools/autotest/default_params/quadplane-tilttri.parm
@@ -39,7 +39,7 @@ INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
 PITCH_LIM_MAX_DEG 30.00
 PITCH_LIM_MIN_DEG -30.00
-LIM_ROLL_CD      6500
+ROLL_LIMIT_DEG 65.00
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
 PTCH_RATE_I       0.212500
diff --git a/Tools/autotest/default_params/quadplane-tilttrivec.parm b/Tools/autotest/default_params/quadplane-tilttrivec.parm
index 4ff967e70dd053..c3bb6164e31f62 100644
--- a/Tools/autotest/default_params/quadplane-tilttrivec.parm
+++ b/Tools/autotest/default_params/quadplane-tilttrivec.parm
@@ -39,7 +39,7 @@ INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
 PITCH_LIM_MAX_DEG 30.00
 PITCH_LIM_MIN_DEG -30.00
-LIM_ROLL_CD      6500
+ROLL_LIMIT_DEG 65.00
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
 PTCH_RATE_I       0.212500
diff --git a/Tools/autotest/default_params/quadplane-tri.parm b/Tools/autotest/default_params/quadplane-tri.parm
index d09618bcbc5f7e..8ec35e782708d4 100644
--- a/Tools/autotest/default_params/quadplane-tri.parm
+++ b/Tools/autotest/default_params/quadplane-tri.parm
@@ -39,7 +39,7 @@ INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
 PITCH_LIM_MAX_DEG 30.00
 PITCH_LIM_MIN_DEG -30.00
-LIM_ROLL_CD      6500
+ROLL_LIMIT_DEG 65.00
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
 PTCH_RATE_I       0.212500
diff --git a/Tools/autotest/default_params/quadplane.parm b/Tools/autotest/default_params/quadplane.parm
index 9b8f1498db739e..999b718a294a2d 100644
--- a/Tools/autotest/default_params/quadplane.parm
+++ b/Tools/autotest/default_params/quadplane.parm
@@ -37,7 +37,7 @@ INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
 PITCH_LIM_MAX_DEG 30.00
 PITCH_LIM_MIN_DEG -30.00
-LIM_ROLL_CD      6500
+ROLL_LIMIT_DEG 65.00
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
 PTCH_RATE_I       0.212500
diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index 8b9c8ea78ab2dd..7ce049cdd995d3 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -338,7 +338,7 @@ LAND_TYPE,0
 LEVEL_ROLL_LIMIT,5
 PITCH_LIM_MAX_DEG,20.00
 PITCH_LIM_MIN_DEG,-25.00
-LIM_ROLL_CD,4500
+ROLL_LIMIT_DEG,45.00
 LOG_BACKEND_TYPE,1
 LOG_BITMASK,65535
 LOG_DISARMED,0
diff --git a/Tools/autotest/models/plane-3d.parm b/Tools/autotest/models/plane-3d.parm
index c56365a6ef70db..afb92f7c2da3b5 100644
--- a/Tools/autotest/models/plane-3d.parm
+++ b/Tools/autotest/models/plane-3d.parm
@@ -30,7 +30,7 @@ TRIM_THROTTLE    30
 NAVL1_PERIOD     7
 AIRSPEED_CRUISE 24.00
 AIRSPEED_MAX    30
-LIM_ROLL_CD      7000
+ROLL_LIMIT_DEG 70.00
 # setup for scripting
 SCR_ENABLE       1
 SCR_HEAP_SIZE    350000
diff --git a/Tools/autotest/models/plane.parm b/Tools/autotest/models/plane.parm
index 0600c55d8ffc9c..1a82c70bbae119 100644
--- a/Tools/autotest/models/plane.parm
+++ b/Tools/autotest/models/plane.parm
@@ -6,7 +6,7 @@ TRIM_PITCH_DEG 0.00
 TRIM_THROTTLE   50
 PITCH_LIM_MIN_DEG -20.00
 PITCH_LIM_MAX_DEG 25.00
-LIM_ROLL_CD     6500
+ROLL_LIMIT_DEG 65.00
 LAND_PITCH_CD   100
 LAND_FLARE_SEC  3
 ARSPD_USE       1

From 3fddc487dfcf90bb05ef16ba16748b1bc02bff38 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:07:53 +1100
Subject: [PATCH 0816/1335] AP_Landing: convert LAND_PITCH_CD to LAND_PITCH_DEG

---
 libraries/AP_Landing/AP_Landing.cpp | 19 ++++++++++++++-----
 libraries/AP_Landing/AP_Landing.h   |  6 ++++--
 2 files changed, 18 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_Landing/AP_Landing.cpp b/libraries/AP_Landing/AP_Landing.cpp
index 6699089ad2a030..51ab12a63bf77e 100644
--- a/libraries/AP_Landing/AP_Landing.cpp
+++ b/libraries/AP_Landing/AP_Landing.cpp
@@ -43,18 +43,18 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("ABORT_DEG", 2, AP_Landing, slope_recalc_steep_threshold_to_abort, 0),
 
-    // @Param: PITCH_CD
+    // @Param: PITCH_DEG
     // @DisplayName: Landing Pitch
     // @Description: Used in autoland to give the minimum pitch in the final stage of landing (after the flare). This parameter can be used to ensure that the final landing attitude is appropriate for the type of undercarriage on the aircraft. Note that it is a minimum pitch only - the landing code will control pitch above this value to try to achieve the configured landing sink rate.
-    // @Units: cdeg
-    // @Range: -2000 2000
+    // @Units: deg
+    // @Range: -20 20
     // @Increment: 10
     // @User: Advanced
-    AP_GROUPINFO("PITCH_CD", 3, AP_Landing, pitch_cd, 0),
+    AP_GROUPINFO("PITCH_DEG", 3, AP_Landing, pitch_deg, 0),
 
     // @Param: FLARE_ALT
     // @DisplayName: Landing flare altitude
-    // @Description: Altitude in autoland at which to lock heading and flare to the LAND_PITCH_CD pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC.
+    // @Description: Altitude in autoland at which to lock heading and flare to the LAND_PITCH_DEG pitch. Note that this option is secondary to LAND_FLARE_SEC. For a good landing it preferable that the flare is triggered by LAND_FLARE_SEC.
     // @Units: m
     // @Range: 0 30
     // @Increment: 0.1
@@ -709,3 +709,12 @@ bool AP_Landing::terminate(void) {
         return false;
     }
 }
+
+/*
+  run parameter conversions
+ */
+void AP_Landing::convert_parameters(void)
+{
+    // added January 2024
+    pitch_deg.convert_centi_parameter(AP_PARAM_INT16);
+}
diff --git a/libraries/AP_Landing/AP_Landing.h b/libraries/AP_Landing/AP_Landing.h
index 3055bf2211e138..80349010bc9da5 100644
--- a/libraries/AP_Landing/AP_Landing.h
+++ b/libraries/AP_Landing/AP_Landing.h
@@ -64,6 +64,8 @@ class AP_Landing {
         ON_LANDING_USE_ARSPD_MAX                       = (1<<1),   // If set then allow landing throttle constraint to be increased from trim airspeed to max airspeed (AIRSPEED_MAX)
     };
 
+    void convert_parameters(void);
+
     void do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);
     bool verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
             const int32_t auto_state_takeoff_altitude_rel_cm, bool &throttle_suppressed);
@@ -96,7 +98,7 @@ class AP_Landing {
     // accessor functions for the params and states
     static const struct AP_Param::GroupInfo var_info[];
     
-    int16_t get_pitch_cd(void) const { return pitch_cd; }
+    int16_t get_pitch_cd(void) const { return pitch_deg*100; }
     float get_flare_sec(void) const { return flare_sec; }
     int8_t get_disarm_delay(void) const { return disarm_delay; }
     int8_t get_then_servos_neutral(void) const { return then_servos_neutral; }
@@ -151,7 +153,7 @@ class AP_Landing {
     AP_Landing_Deepstall deepstall;
 #endif
 
-    AP_Int16 pitch_cd;
+    AP_Float pitch_deg;
     AP_Float flare_alt;
     AP_Float flare_sec;
     AP_Float pre_flare_airspeed;

From 2c73c56403618a22814f504229fd13ca2f7906e1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:07:53 +1100
Subject: [PATCH 0817/1335] AP_TECS: convert LAND_PITCH_CD to LAND_PITCH_DEG

---
 libraries/AP_TECS/AP_TECS.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index 250de6e6896a20..5966bdecf45d45 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -1285,7 +1285,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
         }
         const float pitch_limit_deg = (1.0f - p) * _pitch_min_at_flare_entry + p * 0.01f * _landing.get_pitch_cd();
 
-        // in flare use min pitch from LAND_PITCH_CD
+        // in flare use min pitch from LAND_PITCH_DEG
         _PITCHminf = MAX(_PITCHminf, pitch_limit_deg);
 
         // and use max pitch from TECS_LAND_PMAX

From ee884ab1373a844e4268352e5ae0b344a51f705e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:07:53 +1100
Subject: [PATCH 0818/1335] ArduPlane: convert LAND_PITCH_CD to LAND_PITCH_DEG

---
 ArduPlane/Attitude.cpp   | 2 +-
 ArduPlane/Parameters.cpp | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index a1ca70a08ef4dd..b566d4ca730bf9 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -202,7 +202,7 @@ float Plane::stabilize_pitch_get_pitch_out()
         return pitch_out;
     }
 #endif
-    // if LANDING_FLARE RCx_OPTION switch is set and in FW mode, manual throttle,throttle idle then set pitch to LAND_PITCH_CD if flight option FORCE_FLARE_ATTITUDE is set
+    // if LANDING_FLARE RCx_OPTION switch is set and in FW mode, manual throttle,throttle idle then set pitch to LAND_PITCH_DEG if flight option FORCE_FLARE_ATTITUDE is set
 #if HAL_QUADPLANE_ENABLED
     const bool quadplane_in_transition = quadplane.in_transition();
 #else
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 8a629fbed1a9cd..21d5238f9b1d0a 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1313,7 +1313,6 @@ static const AP_Param::ConversionInfo conversion_table[] = {
 
     { Parameters::k_param_land_slope_recalc_shallow_threshold,0,AP_PARAM_FLOAT, "LAND_SLOPE_RCALC" },
     { Parameters::k_param_land_slope_recalc_steep_threshold_to_abort,0,AP_PARAM_FLOAT, "LAND_ABORT_DEG" },
-    { Parameters::k_param_land_pitch_cd,      0,      AP_PARAM_INT16, "LAND_PITCH_CD" },
     { Parameters::k_param_land_flare_alt,     0,      AP_PARAM_FLOAT, "LAND_FLARE_ALT" },
     { Parameters::k_param_land_flare_sec,     0,      AP_PARAM_FLOAT, "LAND_FLARE_SEC" },
     { Parameters::k_param_land_pre_flare_sec, 0,      AP_PARAM_FLOAT, "LAND_PF_SEC" },
@@ -1556,5 +1555,7 @@ void Plane::load_parameters(void)
     aparm.pitch_limit_min.convert_centi_parameter(AP_PARAM_INT16);
     aparm.roll_limit.convert_centi_parameter(AP_PARAM_INT16);
 
+    landing.convert_parameters();
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }

From 04d72d3adc59ed25047a717a91b87522bdbac876 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:08:24 +1100
Subject: [PATCH 0819/1335] SITL: convert param files for LAND_PITCH_DEG

---
 .../examples/SilentWings/Params/Rolladen-Schneider-LS8b.param   | 2 +-
 .../SITL/examples/SilentWings/Params/Schleicher-ASW27B.param    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
index bdfd76d2e67b79..18f11edc14775d 100644
--- a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
+++ b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -292,7 +292,7 @@ LAND_FLARE_SEC,2
 LAND_PF_ALT,10
 LAND_PF_ARSPD,0
 LAND_PF_SEC,6
-LAND_PITCH_CD,0
+LAND_PITCH_DEG,0.00
 LAND_SLOPE_RCALC,2
 LAND_THEN_NEUTRL,0
 LAND_THR_SLEW,0
diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
index e94f17d2c61f79..0233fb5af01e97 100644
--- a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
+++ b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -295,7 +295,7 @@ LAND_FLARE_SEC,2
 LAND_PF_ALT,10
 LAND_PF_ARSPD,0
 LAND_PF_SEC,6
-LAND_PITCH_CD,0
+LAND_PITCH_DEG,0.00
 LAND_SLOPE_RCALC,2
 LAND_THEN_NEUTRL,0
 LAND_THR_SLEW,0

From 2f5cb42030ea18137e3d88967abafffaa2712ee0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:08:24 +1100
Subject: [PATCH 0820/1335] Tools: convert param files for LAND_PITCH_DEG

---
 Tools/Frame_params/SkyWalkerX8.param               | 2 +-
 Tools/Frame_params/SkyWalkerX8_ReverseThrust.param | 2 +-
 Tools/autotest/default_params/plane-jsbsim.parm    | 2 +-
 Tools/autotest/default_params/vee-gull 005.param   | 2 +-
 Tools/autotest/models/plane.parm                   | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/Tools/Frame_params/SkyWalkerX8.param b/Tools/Frame_params/SkyWalkerX8.param
index 693fc048488582..46df0321a4cd5c 100644
--- a/Tools/Frame_params/SkyWalkerX8.param
+++ b/Tools/Frame_params/SkyWalkerX8.param
@@ -22,7 +22,7 @@ LAND_FLARE_SEC,0.1
 LAND_PF_ALT,8
 LAND_PF_ARSPD,12
 LAND_PF_SEC,0
-LAND_PITCH_CD,-450
+LAND_PITCH_DEG,-4.50
 LAND_SLOPE_RCALC,2
 LAND_THEN_NEUTRL,1
 LAND_THR_SLEW,70
diff --git a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
index 729ed72638b2ba..43447ff8052975 100644
--- a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
+++ b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
@@ -22,7 +22,7 @@ LAND_FLARE_SEC,0.1
 LAND_PF_ALT,8
 LAND_PF_ARSPD,12
 LAND_PF_SEC,0
-LAND_PITCH_CD,-450
+LAND_PITCH_DEG,-4.50
 LAND_SLOPE_RCALC,2
 LAND_THEN_NEUTRL,1
 LAND_THR_SLEW,70
diff --git a/Tools/autotest/default_params/plane-jsbsim.parm b/Tools/autotest/default_params/plane-jsbsim.parm
index 240f3c393495e5..54419c055241dc 100644
--- a/Tools/autotest/default_params/plane-jsbsim.parm
+++ b/Tools/autotest/default_params/plane-jsbsim.parm
@@ -8,7 +8,7 @@ PITCH_LIM_MIN_DEG -20.00
 PITCH_LIM_MAX_DEG 25.00
 ROLL_LIMIT_DEG 65.00
 LAND_DISARMDELAY 3
-LAND_PITCH_CD   100
+LAND_PITCH_DEG 1.00
 LAND_FLARE_SEC  3
 ARSPD_USE       1
 AIRSPEED_MAX   30
diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index 7ce049cdd995d3..a584bb601fb803 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -330,7 +330,7 @@ LAND_FLARE_SEC,2
 LAND_PF_ALT,10
 LAND_PF_ARSPD,0
 LAND_PF_SEC,6
-LAND_PITCH_CD,0
+LAND_PITCH_DEG,0.00
 LAND_SLOPE_RCALC,2
 LAND_THEN_NEUTRL,0
 LAND_THR_SLEW,0
diff --git a/Tools/autotest/models/plane.parm b/Tools/autotest/models/plane.parm
index 1a82c70bbae119..3e54f22391a30d 100644
--- a/Tools/autotest/models/plane.parm
+++ b/Tools/autotest/models/plane.parm
@@ -7,7 +7,7 @@ TRIM_THROTTLE   50
 PITCH_LIM_MIN_DEG -20.00
 PITCH_LIM_MAX_DEG 25.00
 ROLL_LIMIT_DEG 65.00
-LAND_PITCH_CD   100
+LAND_PITCH_DEG 1.00
 LAND_FLARE_SEC  3
 ARSPD_USE       1
 AIRSPEED_MAX   30

From 5619dca38987e969791dcb194259211c386ecfc3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:11:41 +1100
Subject: [PATCH 0821/1335] Plane: TRIM_PITCH_DEG to PTCH_TRIM_DEG

---
 ArduPlane/ArduPlane.cpp  | 4 ++--
 ArduPlane/Parameters.cpp | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 474299eb7baa69..3933582f8f07ae 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -917,7 +917,7 @@ bool Plane::is_taking_off() const
     return control_mode->is_taking_off();
 }
 
-// correct AHRS pitch for TRIM_PITCH_DEG in non-VTOL modes, and return VTOL view in VTOL
+// correct AHRS pitch for PTCH_TRIM_DEG in non-VTOL modes, and return VTOL view in VTOL
 void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
 {
 #if HAL_QUADPLANE_ENABLED
@@ -929,7 +929,7 @@ void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
 #endif
     pitch = ahrs.get_pitch();
     roll = ahrs.get_roll();
-    if (!(flight_option_enabled(FlightOptions::OSD_REMOVE_TRIM_PITCH))) {  // correct for TRIM_PITCH_DEG
+    if (!(flight_option_enabled(FlightOptions::OSD_REMOVE_TRIM_PITCH))) {  // correct for PTCH_TRIM_DEG
         pitch -= g.pitch_trim * DEG_TO_RAD;
     }
 }
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 21d5238f9b1d0a..4b3eee9d64c2b8 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -644,13 +644,13 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     ASCALAR(min_groundspeed,      "MIN_GROUNDSPEED",  MIN_GROUNDSPEED),
 
-    // @Param: TRIM_PITCH_DEG
+    // @Param: PTCH_TRIM_DEG
     // @DisplayName: Pitch angle offset
     // @Description: Offset in degrees used for in-flight pitch trimming for level flight. Correct ground leveling is an alternative to changing this parameter.
     // @Units: deg
     // @Range: -45 45
     // @User: Standard
-    GSCALAR(pitch_trim,             "TRIM_PITCH_DEG",  0.0f),
+    GSCALAR(pitch_trim,             "PTCH_TRIM_DEG",  0.0f),
 
     // @Param: RTL_ALTITUDE
     // @DisplayName: RTL altitude

From af420746ee24019630b2d4cf40cc1c8bc9c00ef7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:12:22 +1100
Subject: [PATCH 0822/1335] Tools: param file TRIM_PITCH_DEG to PTCH_TRIM_DEG

---
 Tools/Frame_params/QuadPlanes/MFE_StriverMini.param | 2 +-
 Tools/Frame_params/QuadPlanes/XPlane-Alia.parm      | 2 +-
 Tools/Frame_params/SkyWalkerX8.param                | 2 +-
 Tools/Frame_params/SkyWalkerX8_ReverseThrust.param  | 2 +-
 Tools/autotest/default_params/plane-jsbsim.parm     | 2 +-
 Tools/autotest/default_params/vee-gull 005.param    | 2 +-
 Tools/autotest/models/plane.parm                    | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
index 08cb4e0055c0fe..68374db27d9d2d 100644
--- a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
+++ b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
@@ -6,7 +6,7 @@ SCALING_SPEED    15
 TECS_CLMB_MAX    3
 TECS_LAND_ARSPD  20
 TKOFF_THR_MAX    85
-TRIM_PITCH_DEG 0.01
+PTCH_TRIM_DEG 0.00
 TRIM_THROTTLE    40
 WP_LOITER_RAD    120
 WP_RADIUS        110
diff --git a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
index b23f1a7f900e64..1f7fdb8d6cb67b 100644
--- a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
+++ b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
@@ -15,7 +15,7 @@ TRIM_THROTTLE,60
 GROUND_STEER_ALT,10
 AIRSPEED_CRUISE,52.00
 SCALING_SPEED,60
-TRIM_PITCH_DEG,4
+PTCH_TRIM_DEG,0.04
 RTL_ALTITUDE,250.00
 FLAP_1_PERCNT,50
 FLAP_1_SPEED,30
diff --git a/Tools/Frame_params/SkyWalkerX8.param b/Tools/Frame_params/SkyWalkerX8.param
index 46df0321a4cd5c..df292fbbfd874e 100644
--- a/Tools/Frame_params/SkyWalkerX8.param
+++ b/Tools/Frame_params/SkyWalkerX8.param
@@ -107,7 +107,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,100
 AIRSPEED_CRUISE,16.00
 TRIM_AUTO,0
-TRIM_PITCH_DEG,0.00
+PTCH_TRIM_DEG,0.00
 TRIM_RC_AT_START,0
 TRIM_THROTTLE,55
 USE_REV_THRUST,0
diff --git a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
index 43447ff8052975..7f4c5b5fc597ea 100644
--- a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
+++ b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
@@ -107,7 +107,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,100
 AIRSPEED_CRUISE,16.00
 TRIM_AUTO,0
-TRIM_PITCH_DEG,0.00
+PTCH_TRIM_DEG,0.00
 TRIM_RC_AT_START,0
 TRIM_THROTTLE,55
 USE_REV_THRUST,2
diff --git a/Tools/autotest/default_params/plane-jsbsim.parm b/Tools/autotest/default_params/plane-jsbsim.parm
index 54419c055241dc..56dac367543540 100644
--- a/Tools/autotest/default_params/plane-jsbsim.parm
+++ b/Tools/autotest/default_params/plane-jsbsim.parm
@@ -2,7 +2,7 @@ EK2_ENABLE      1
 BATT_MONITOR    4
 LOG_BITMASK	65535
 AIRSPEED_CRUISE 22.00
-TRIM_PITCH_DEG 0.00
+PTCH_TRIM_DEG 0.00
 TRIM_THROTTLE   50
 PITCH_LIM_MIN_DEG -20.00
 PITCH_LIM_MAX_DEG 25.00
diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index a584bb601fb803..ed9db0711323ad 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -803,7 +803,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,0
 AIRSPEED_CRUISE,12.00
 TRIM_AUTO,0
-TRIM_PITCH_DEG,0.00
+PTCH_TRIM_DEG,0.00
 TRIM_RC_AT_START,0
 TRIM_THROTTLE,45
 TUNE_CHAN,0
diff --git a/Tools/autotest/models/plane.parm b/Tools/autotest/models/plane.parm
index 3e54f22391a30d..745ec1c0f090b1 100644
--- a/Tools/autotest/models/plane.parm
+++ b/Tools/autotest/models/plane.parm
@@ -2,7 +2,7 @@ EK2_ENABLE      1
 BATT_MONITOR    4
 LOG_BITMASK	65535
 AIRSPEED_CRUISE 22.00
-TRIM_PITCH_DEG 0.00
+PTCH_TRIM_DEG 0.00
 TRIM_THROTTLE   50
 PITCH_LIM_MIN_DEG -20.00
 PITCH_LIM_MAX_DEG 25.00

From 2d0a236b49b6521745bd07d7a299c3cbdc699884 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:22:40 +1100
Subject: [PATCH 0823/1335] Plane: Q_LAND_SPEED -> Q_LAND_FINAL_SPD

---
 ArduPlane/quadplane.cpp | 19 +++++++++++--------
 ArduPlane/quadplane.h   |  4 ++--
 2 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 5e4bf8cbaeb1ff..96c4f90be223f6 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -120,14 +120,14 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
 
     // YAW_RATE_MAX index 25
 
-    // @Param: LAND_SPEED
-    // @DisplayName: Land speed
-    // @Description: The descent speed for the final stage of landing in cm/s
-    // @Units: cm/s
-    // @Range: 30 200
-    // @Increment: 10
+    // @Param: LAND_FINAL_SPD
+    // @DisplayName: Land final speed
+    // @Description: The descent speed for the final stage of landing in m/s
+    // @Units: m/s
+    // @Range: 0.3 2
+    // @Increment: 0.1
     // @User: Standard
-    AP_GROUPINFO("LAND_SPEED", 26, QuadPlane, land_speed_cms, 50),
+    AP_GROUPINFO("LAND_FINAL_SPD", 26, QuadPlane, land_final_speed, 0.5),
 
     // @Param: LAND_FINAL_ALT
     // @DisplayName: Land final altitude
@@ -823,6 +823,9 @@ bool QuadPlane::setup(void)
 
     AP_Param::convert_old_parameters(&q_conversion_table[0], ARRAY_SIZE(q_conversion_table));
 
+    // added January 2024
+    land_final_speed.convert_centi_parameter(AP_PARAM_INT16);
+
     tailsitter.setup();
 
     tiltrotor.setup();
@@ -1246,7 +1249,7 @@ float QuadPlane::landing_descent_rate_cms(float height_above_ground)
         height_above_ground = MIN(height_above_ground, land_final_alt);
     }
     const float max_climb_speed = wp_nav->get_default_speed_up();
-    float ret = linear_interpolate(land_speed_cms, wp_nav->get_default_speed_down(),
+    float ret = linear_interpolate(land_final_speed*100, wp_nav->get_default_speed_down(),
                                    height_above_ground,
                                    land_final_alt, land_final_alt+6);
 
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 140c47e585aa79..a790fcfee44ed1 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -349,8 +349,8 @@ class QuadPlane
     uint32_t alt_error_start_ms;
     bool in_alt_assist;
 
-    // landing speed in cm/s
-    AP_Int16 land_speed_cms;
+    // landing speed in m/s
+    AP_Float land_final_speed;
 
     // QRTL start altitude, meters
     AP_Int16 qrtl_alt;

From d9ee8113eed918922c1a63b714d48191ddc532ba Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:23:18 +1100
Subject: [PATCH 0824/1335] Tools: param conversion Q_LAND_SPEED ->
 Q_LAND_FINAL_SPD

---
 Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param     | 2 +-
 Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param | 2 +-
 Tools/Frame_params/QuadPlanes/Mugin_EV350.param        | 2 +-
 Tools/Frame_params/QuadPlanes/XPlane-Alia.parm         | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
index 4910bb4b0bf43e..8facae3f63ac1f 100644
--- a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
+++ b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
@@ -80,7 +80,7 @@ Q_A_RAT_YAW_FLTT 12.5
 Q_A_RAT_YAW_P    1
 Q_A_SLEW_YAW     3000
 Q_LAND_FINAL_ALT 12
-Q_LAND_SPEED     40
+Q_LAND_FINAL_SPD 0.40
 Q_M_BAT_IDX      1
 Q_M_BAT_VOLT_MAX 50.4
 Q_M_BAT_VOLT_MIN 40
diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
index d2bb18a7bcdf37..ac2145ce10fed3 100644
--- a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
@@ -82,7 +82,7 @@ Q_A_RAT_YAW_FLTT 12.5
 Q_A_RAT_YAW_P    1
 Q_A_SLEW_YAW     3000
 Q_LAND_FINAL_ALT 12
-Q_LAND_SPEED     40
+Q_LAND_FINAL_SPD 0.40
 Q_M_BAT_IDX      1
 Q_M_BAT_VOLT_MAX 50.4
 Q_M_BAT_VOLT_MIN 40
diff --git a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
index 3e6f77b4681458..1ef7ff961f8562 100644
--- a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
+++ b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
@@ -93,7 +93,7 @@ Q_A_THR_MIX_MAX 0.9
 Q_FRAME_CLASS   1
 Q_FRAME_TYPE    1
 Q_LAND_FINAL_ALT 12
-Q_LAND_SPEED    40
+Q_LAND_FINAL_SPD 0.40
 Q_LOIT_ANG_MAX  20
 Q_LOIT_BRK_ACCEL 40
 Q_LOIT_BRK_JERK 200
diff --git a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
index 1f7fdb8d6cb67b..174fee473265df 100644
--- a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
+++ b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
@@ -38,7 +38,7 @@ Q_WP_SPEED,1500
 Q_WP_SPEED_DN,500
 Q_WP_ACCEL,200
 Q_ASSIST_SPEED,25
-Q_LAND_SPEED,100
+Q_LAND_FINAL_SPD,1.00
 Q_LAND_FINAL_ALT,25
 Q_FRAME_TYPE,3
 Q_VFWD_GAIN,0.3

From 57e88e2242d0467848e9a73ec625c47cfca1ef60 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:35:47 +1100
Subject: [PATCH 0825/1335] Plane: Q_VELZ_MAX -> Q_PILOT_SPD_UP and
 Q_VELZ_MAX_DN -> Q_PILOT_SPD_DN

---
 ArduPlane/mode_qhover.cpp  |  4 +--
 ArduPlane/mode_qloiter.cpp |  6 ++--
 ArduPlane/qautotune.cpp    |  8 +++---
 ArduPlane/quadplane.cpp    | 56 +++++++++++++++++++++-----------------
 ArduPlane/quadplane.h      |  4 +--
 5 files changed, 42 insertions(+), 36 deletions(-)

diff --git a/ArduPlane/mode_qhover.cpp b/ArduPlane/mode_qhover.cpp
index fac2147f93c455..a11bcd100baab1 100644
--- a/ArduPlane/mode_qhover.cpp
+++ b/ArduPlane/mode_qhover.cpp
@@ -6,8 +6,8 @@
 bool ModeQHover::_enter()
 {
     // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
-    pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
+    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z);
+    pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z);
     quadplane.set_climb_rate_cms(0);
 
     quadplane.init_throttle_wait();
diff --git a/ArduPlane/mode_qloiter.cpp b/ArduPlane/mode_qloiter.cpp
index 2eea970c58be36..76271644b14465 100644
--- a/ArduPlane/mode_qloiter.cpp
+++ b/ArduPlane/mode_qloiter.cpp
@@ -10,8 +10,8 @@ bool ModeQLoiter::_enter()
     loiter_nav->init_target();
 
     // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
-    pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
+    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z);
+    pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z);
 
     quadplane.init_throttle_wait();
 
@@ -66,7 +66,7 @@ void ModeQLoiter::run()
     quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
+    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z);
 
     // process pilot's roll and pitch input
     float target_roll_cd, target_pitch_cd;
diff --git a/ArduPlane/qautotune.cpp b/ArduPlane/qautotune.cpp
index 916908c8530483..3bd66b80de0ec5 100644
--- a/ArduPlane/qautotune.cpp
+++ b/ArduPlane/qautotune.cpp
@@ -43,11 +43,11 @@ void QAutoTune::init_z_limits()
 {
     // set vertical speed and acceleration limits
     plane.quadplane.pos_control->set_max_speed_accel_z(-plane.quadplane.get_pilot_velocity_z_max_dn(),
-        plane.quadplane.pilot_velocity_z_max_up,
-        plane.quadplane.pilot_accel_z);
+                                                       plane.quadplane.pilot_speed_z_max_up*100,
+                                                       plane.quadplane.pilot_accel_z);
     plane.quadplane.pos_control->set_correction_speed_accel_z(-plane.quadplane.get_pilot_velocity_z_max_dn(),
-        plane.quadplane.pilot_velocity_z_max_up,
-        plane.quadplane.pilot_accel_z);
+                                                              plane.quadplane.pilot_speed_z_max_up*100,
+                                                              plane.quadplane.pilot_accel_z);
 }
 
 
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 96c4f90be223f6..a370391d99b5f4 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -43,23 +43,23 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
     // @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
     AP_SUBGROUPPTR(pos_control, "P", 17, QuadPlane, AC_PosControl),
 
-    // @Param: VELZ_MAX
+    // @Param: PILOT_SPD_UP
     // @DisplayName: Pilot maximum vertical speed up
-    // @Description: The maximum ascending vertical velocity the pilot may request in cm/s
-    // @Units: cm/s
-    // @Range: 50 500
-    // @Increment: 10
+    // @Description: The maximum ascending vertical velocity the pilot may request in m/s
+    // @Units: m/s
+    // @Range: 0.5 5
+    // @Increment: 0.1
     // @User: Standard
-    AP_GROUPINFO("VELZ_MAX", 18, QuadPlane, pilot_velocity_z_max_up, 250),
+    AP_GROUPINFO("PILOT_SPD_UP", 18, QuadPlane, pilot_speed_z_max_up, 2.50),
    
-   // @Param: VELZ_MAX_DN
+    // @Param: PILOT_SPD_DN
     // @DisplayName: Pilot maximum vertical speed down
-    // @Description: The maximum vertical velocity the pilot may request in cm/s going down. If 0, uses Q_VELZ_MAX value.
-    // @Units: cm/s
-    // @Range: 50 500
-    // @Increment: 10
+    // @Description: The maximum vertical velocity the pilot may request in m/s going down. If 0, uses Q_PILOT_SPD_UP value.
+    // @Units: m/s
+    // @Range: 0.5 5
+    // @Increment: 0.1
     // @User: Standard
-    AP_GROUPINFO("VELZ_MAX_DN", 60, QuadPlane, pilot_velocity_z_max_dn, 0),
+    AP_GROUPINFO("PILOT_SPD_DN", 60, QuadPlane, pilot_speed_z_max_dn, 0),
 
      // @Param: ACCEL_Z
     // @DisplayName: Pilot vertical acceleration
@@ -823,8 +823,11 @@ bool QuadPlane::setup(void)
 
     AP_Param::convert_old_parameters(&q_conversion_table[0], ARRAY_SIZE(q_conversion_table));
 
-    // added January 2024
+    // centi-conversions added January 2024
     land_final_speed.convert_centi_parameter(AP_PARAM_INT16);
+    pilot_speed_z_max_up.convert_centi_parameter(AP_PARAM_INT16);
+    pilot_speed_z_max_dn.convert_centi_parameter(AP_PARAM_INT16);
+
 
     tailsitter.setup();
 
@@ -1021,7 +1024,7 @@ void QuadPlane::run_z_controller(void)
     }
     if ((now - last_pidz_active_ms) > 20 || !pos_control->is_active_z()) {
         // set vertical speed and acceleration limits
-        pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z);
+        pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z);
 
         // initialise the vertical position controller
         if (!tailsitter.enabled()) {
@@ -1074,7 +1077,7 @@ void QuadPlane::hold_hover(float target_climb_rate_cms)
     set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z);
+    pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z);
 
     // call attitude controller
     multicopter_attitude_rate_update(get_desired_yaw_rate_cds(false));
@@ -1360,7 +1363,7 @@ float QuadPlane::get_pilot_desired_climb_rate_cms(void) const
     uint16_t dead_zone = plane.channel_throttle->get_dead_zone();
     uint16_t trim = (plane.channel_throttle->get_radio_max() + plane.channel_throttle->get_radio_min())/2;
     const float throttle_request = plane.channel_throttle->pwm_to_angle_dz_trim(dead_zone, trim) *0.01f;
-    return throttle_request * (throttle_request > 0.0f ? pilot_velocity_z_max_up : get_pilot_velocity_z_max_dn());
+    return throttle_request * (throttle_request > 0.0f ? pilot_speed_z_max_up*100 : get_pilot_velocity_z_max_dn());
 }
 
 
@@ -3096,8 +3099,8 @@ void QuadPlane::setup_target_position(void)
     poscontrol.target_cm.z = plane.next_WP_loc.alt - origin.alt;
 
     // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z);
-    pos_control->set_correction_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z);
+    pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z);
+    pos_control->set_correction_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z);
 }
 
 /*
@@ -3346,8 +3349,8 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
     throttle_wait = false;
 
     // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z);
-    pos_control->set_correction_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z);
+    pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z);
+    pos_control->set_correction_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z);
 
     // initialise the vertical position controller
     pos_control->init_z_controller();
@@ -3365,7 +3368,7 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
     // t = max(t_{accel}, 0) + max(t_{constant}, 0)
     const float d_total = (plane.next_WP_loc.alt - plane.current_loc.alt) * 0.01f;
     const float accel_m_s_s = MAX(10, pilot_accel_z) * 0.01f;
-    const float vel_max = MAX(10, pilot_velocity_z_max_up) * 0.01f;
+    const float vel_max = MAX(0.1, pilot_speed_z_max_up);
     const float vel_z = inertial_nav.get_velocity_z_up_cms() * 0.01f;
     const float t_accel = (vel_max - vel_z) / accel_m_s_s;
     const float d_accel = vel_z * t_accel + 0.5f * accel_m_s_s * sq(t_accel);
@@ -4214,13 +4217,16 @@ bool SLT_Transition::show_vtol_view() const
     return quadplane.in_vtol_mode();
 }
 
-// return the PILOT_VELZ_MAX_DN value if non zero, otherwise returns the PILOT_VELZ_MAX value.
+/*
+  return the PILOT_VELZ_MAX_DN value if non zero, otherwise returns the PILOT_VELZ_MAX value.
+  return is in cm/s
+*/
 uint16_t QuadPlane::get_pilot_velocity_z_max_dn() const
 {
-    if (pilot_velocity_z_max_dn == 0) {
-        return abs(pilot_velocity_z_max_up);
+    if (is_zero(pilot_speed_z_max_dn)) {
+        return abs(pilot_speed_z_max_up*100);
    }
-    return abs(pilot_velocity_z_max_dn);
+    return abs(pilot_speed_z_max_dn*100);
 }
 
 /*
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index a790fcfee44ed1..5fa0a5fee29061 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -213,8 +213,8 @@ class QuadPlane
     AC_Loiter *loiter_nav;
     
     // maximum vertical velocity the pilot may request
-    AP_Int16 pilot_velocity_z_max_up;
-    AP_Int16 pilot_velocity_z_max_dn;
+    AP_Float pilot_speed_z_max_up;
+    AP_Float pilot_speed_z_max_dn;
 
     // vertical acceleration the pilot may request
     AP_Int16 pilot_accel_z;

From cfcd28bc8c08512347f140e25c706985db16308e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:36:06 +1100
Subject: [PATCH 0826/1335] Tools: convert Q_VELZ_MAX to Q_PILOT_SPD_UP

---
 Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param     | 4 ++--
 Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param | 4 ++--
 Tools/Frame_params/QuadPlanes/MFE_StriverMini.param    | 2 +-
 Tools/Frame_params/QuadPlanes/Mugin_EV350.param        | 4 ++--
 Tools/Frame_params/QuadPlanes/XPlane-Alia.parm         | 2 +-
 5 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
index 8facae3f63ac1f..0e594227ce5b32 100644
--- a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
+++ b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
@@ -95,8 +95,8 @@ Q_P_VELXY_P      0.7
 Q_RTL_ALT        40
 Q_TRANS_DECEL    1.5
 Q_TRANS_FAIL     20
-Q_VELZ_MAX       200
-Q_VELZ_MAX_DN    130
+Q_PILOT_SPD_UP 2.00
+Q_PILOT_SPD_UP 1.30
 Q_VFWD_ALT       6
 Q_VFWD_GAIN      0.05
 Q_WVANE_GAIN     0.3
diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
index ac2145ce10fed3..4b4255238a9a73 100644
--- a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
@@ -97,8 +97,8 @@ Q_P_VELXY_P      0.7
 Q_RTL_ALT        40
 Q_TRANS_DECEL    1.5
 Q_TRANS_FAIL     20
-Q_VELZ_MAX       200
-Q_VELZ_MAX_DN    130
+Q_PILOT_SPD_UP 2.00
+Q_PILOT_SPD_UP 1.30
 Q_VFWD_ALT       6
 Q_VFWD_GAIN      0.05
 Q_WVANE_GAIN     0.3
diff --git a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
index 68374db27d9d2d..eeceac59609d5d 100644
--- a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
+++ b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
@@ -100,7 +100,7 @@ Q_M_THST_EXPO    0.650000
 Q_M_THST_HOVER   0.247719
 Q_RTL_ALT        30
 Q_TRANS_DECEL    1.700000
-Q_VELZ_MAX       150
+Q_PILOT_SPD_UP 1.50
 Q_VFWD_ALT       5
 Q_VFWD_GAIN      0.050000
 Q_WVANE_ENABLE   1
diff --git a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
index 1ef7ff961f8562..947914ed4b7f09 100644
--- a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
+++ b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
@@ -113,8 +113,8 @@ Q_RTL_ALT       40
 Q_THROTTLE_EXPO 0.2
 Q_TRANS_DECEL   1.5
 Q_TRAN_PIT_MAX  7
-Q_VELZ_MAX      200
-Q_VELZ_MAX_DN   130
+Q_PILOT_SPD_UP 2.00
+Q_PILOT_SPD_UP 1.30
 Q_VFWD_ALT      5
 Q_VFWD_GAIN     0.05
 Q_WP_RADIUS     300
diff --git a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
index 174fee473265df..042de349933278 100644
--- a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
+++ b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
@@ -33,7 +33,7 @@ Q_P_POSXY_P,0.1
 Q_P_VELXY_P,0.2
 Q_P_VELXY_I,0.1
 Q_P_VELXY_D,0.059
-Q_VELZ_MAX,500
+Q_PILOT_SPD_UP,5.00
 Q_WP_SPEED,1500
 Q_WP_SPEED_DN,500
 Q_WP_ACCEL,200

From 108a0b77bdf570b9150fb5ccaaf42094e1cdd9a1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:40:25 +1100
Subject: [PATCH 0827/1335] Plane: Q_ACCEL_Z -> Q_PILOT_ACCEL_Z

---
 ArduPlane/mode_qhover.cpp  |  4 ++--
 ArduPlane/mode_qloiter.cpp |  6 +++---
 ArduPlane/qautotune.cpp    |  4 ++--
 ArduPlane/quadplane.cpp    | 26 +++++++++++++-------------
 ArduPlane/quadplane.h      |  2 +-
 5 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/ArduPlane/mode_qhover.cpp b/ArduPlane/mode_qhover.cpp
index a11bcd100baab1..e9e4ede8e62c0f 100644
--- a/ArduPlane/mode_qhover.cpp
+++ b/ArduPlane/mode_qhover.cpp
@@ -6,8 +6,8 @@
 bool ModeQHover::_enter()
 {
     // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z);
-    pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z);
+    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z*100);
+    pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z*100);
     quadplane.set_climb_rate_cms(0);
 
     quadplane.init_throttle_wait();
diff --git a/ArduPlane/mode_qloiter.cpp b/ArduPlane/mode_qloiter.cpp
index 76271644b14465..fdadd0e2553951 100644
--- a/ArduPlane/mode_qloiter.cpp
+++ b/ArduPlane/mode_qloiter.cpp
@@ -10,8 +10,8 @@ bool ModeQLoiter::_enter()
     loiter_nav->init_target();
 
     // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z);
-    pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z);
+    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z*100);
+    pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z*100);
 
     quadplane.init_throttle_wait();
 
@@ -66,7 +66,7 @@ void ModeQLoiter::run()
     quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z);
+    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_speed_z_max_up*100, quadplane.pilot_accel_z*100);
 
     // process pilot's roll and pitch input
     float target_roll_cd, target_pitch_cd;
diff --git a/ArduPlane/qautotune.cpp b/ArduPlane/qautotune.cpp
index 3bd66b80de0ec5..67db319a0e95c9 100644
--- a/ArduPlane/qautotune.cpp
+++ b/ArduPlane/qautotune.cpp
@@ -44,10 +44,10 @@ void QAutoTune::init_z_limits()
     // set vertical speed and acceleration limits
     plane.quadplane.pos_control->set_max_speed_accel_z(-plane.quadplane.get_pilot_velocity_z_max_dn(),
                                                        plane.quadplane.pilot_speed_z_max_up*100,
-                                                       plane.quadplane.pilot_accel_z);
+                                                       plane.quadplane.pilot_accel_z*100);
     plane.quadplane.pos_control->set_correction_speed_accel_z(-plane.quadplane.get_pilot_velocity_z_max_dn(),
                                                               plane.quadplane.pilot_speed_z_max_up*100,
-                                                              plane.quadplane.pilot_accel_z);
+                                                              plane.quadplane.pilot_accel_z*100);
 }
 
 
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index a370391d99b5f4..378b00beb57407 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -61,14 +61,14 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("PILOT_SPD_DN", 60, QuadPlane, pilot_speed_z_max_dn, 0),
 
-     // @Param: ACCEL_Z
+     // @Param: PILOT_ACCEL_Z
     // @DisplayName: Pilot vertical acceleration
     // @Description: The vertical acceleration used when pilot is controlling the altitude
-    // @Units: cm/s/s
-    // @Range: 50 500
-    // @Increment: 10
+    // @Units: m/s/s
+    // @Range: 0.5 5
+    // @Increment: 0.1
     // @User: Standard
-    AP_GROUPINFO("ACCEL_Z",  19, QuadPlane, pilot_accel_z,  250),
+    AP_GROUPINFO("PILOT_ACCEL_Z",  19, QuadPlane, pilot_accel_z,  2.5),
 
     // @Group: WP_
     // @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
@@ -827,7 +827,7 @@ bool QuadPlane::setup(void)
     land_final_speed.convert_centi_parameter(AP_PARAM_INT16);
     pilot_speed_z_max_up.convert_centi_parameter(AP_PARAM_INT16);
     pilot_speed_z_max_dn.convert_centi_parameter(AP_PARAM_INT16);
-
+    pilot_accel_z.convert_centi_parameter(AP_PARAM_INT16);
 
     tailsitter.setup();
 
@@ -1024,7 +1024,7 @@ void QuadPlane::run_z_controller(void)
     }
     if ((now - last_pidz_active_ms) > 20 || !pos_control->is_active_z()) {
         // set vertical speed and acceleration limits
-        pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z);
+        pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z*100);
 
         // initialise the vertical position controller
         if (!tailsitter.enabled()) {
@@ -1077,7 +1077,7 @@ void QuadPlane::hold_hover(float target_climb_rate_cms)
     set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
     // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z);
+    pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z*100);
 
     // call attitude controller
     multicopter_attitude_rate_update(get_desired_yaw_rate_cds(false));
@@ -3099,8 +3099,8 @@ void QuadPlane::setup_target_position(void)
     poscontrol.target_cm.z = plane.next_WP_loc.alt - origin.alt;
 
     // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z);
-    pos_control->set_correction_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z);
+    pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z*100);
+    pos_control->set_correction_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z*100);
 }
 
 /*
@@ -3349,8 +3349,8 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
     throttle_wait = false;
 
     // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z);
-    pos_control->set_correction_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z);
+    pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z*100);
+    pos_control->set_correction_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_speed_z_max_up*100, pilot_accel_z*100);
 
     // initialise the vertical position controller
     pos_control->init_z_controller();
@@ -3367,7 +3367,7 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
     // t_{constant} = \frac{d_{remaining}}{V_z}
     // t = max(t_{accel}, 0) + max(t_{constant}, 0)
     const float d_total = (plane.next_WP_loc.alt - plane.current_loc.alt) * 0.01f;
-    const float accel_m_s_s = MAX(10, pilot_accel_z) * 0.01f;
+    const float accel_m_s_s = MAX(0.1, pilot_accel_z);
     const float vel_max = MAX(0.1, pilot_speed_z_max_up);
     const float vel_z = inertial_nav.get_velocity_z_up_cms() * 0.01f;
     const float t_accel = (vel_max - vel_z) / accel_m_s_s;
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 5fa0a5fee29061..63a0cb235a2725 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -217,7 +217,7 @@ class QuadPlane
     AP_Float pilot_speed_z_max_dn;
 
     // vertical acceleration the pilot may request
-    AP_Int16 pilot_accel_z;
+    AP_Float pilot_accel_z;
 
     // air mode state: OFF, ON, ASSISTED_FLIGHT_ONLY
     AirMode air_mode;

From 3643eb6d2aa88a55ebcc2ed3422300c8962e669f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:50:23 +1100
Subject: [PATCH 0828/1335] AP_Vehicle: tidy TRIM_PITCH to PTCH_TRIM_DEG

---
 libraries/AP_Vehicle/AP_Vehicle.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index e254568474d2e7..a109b3125392df 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -268,7 +268,7 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
      */
     virtual bool get_pan_tilt_norm(float &pan_norm, float &tilt_norm) const { return false; }
 
-   // Returns roll and  pitch for OSD Horizon, Plane overrides to correct for VTOL view and fixed wing TRIM_PITCH
+    // Returns roll and  pitch for OSD Horizon, Plane overrides to correct for VTOL view and fixed wing PTCH_TRIM_DEG
     virtual void get_osd_roll_pitch_rad(float &roll, float &pitch) const;
 
     /*

From 15a9909127868f9de53cca11207e28480f305bf6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:50:23 +1100
Subject: [PATCH 0829/1335] SITL: tidy TRIM_PITCH to PTCH_TRIM_DEG

---
 .../examples/SilentWings/Params/Rolladen-Schneider-LS8b.param   | 2 +-
 .../SITL/examples/SilentWings/Params/Schleicher-ASW27B.param    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
index 18f11edc14775d..a685b3542bf99c 100644
--- a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
+++ b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -851,7 +851,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,0
 AIRSPEED_CRUISE,30.00
 TRIM_AUTO,0
-TRIM_PITCH,0
+PTCH_TRIM_DEG,0.00
 TRIM_THROTTLE,45
 TUNE_CHAN,0
 TUNE_CHAN_MAX,2000
diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
index 0233fb5af01e97..2ba4a5a61a68f6 100644
--- a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
+++ b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -845,7 +845,7 @@ TKOFF_THR_MINSPD,0
 TKOFF_THR_SLEW,0
 AIRSPEED_CRUISE,27.00
 TRIM_AUTO,0
-TRIM_PITCH,0
+PTCH_TRIM_DEG,0.00
 TRIM_THROTTLE,45
 TUNE_CHAN,0
 TUNE_CHAN_MAX,2000

From 2b6ffe17e32098510e38a95c4b034ac31b78abee Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 13:50:23 +1100
Subject: [PATCH 0830/1335] ArduPlane: tidy TRIM_PITCH to PTCH_TRIM_DEG

---
 ArduPlane/Parameters.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 4b3eee9d64c2b8..21c8b80f4fe9f3 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1094,8 +1094,8 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Bitmask: 5: Enable yaw damper in acro mode
     // @Bitmask: 6: Supress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airspeed sensor.
     // @Bitmask: 7: EnableDefaultAirspeed for takeoff
-    // @Bitmask: 8: Remove the TRIM_PITCH on the GCS horizon
-    // @Bitmask: 9: Remove the TRIM_PITCH on the OSD horizon
+    // @Bitmask: 8: Remove the PTCH_TRIM_DEG on the GCS horizon
+    // @Bitmask: 9: Remove the PTCH_TRIM_DEG on the OSD horizon
     // @Bitmask: 10: Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL
     // @Bitmask: 11: Disable suppression of fixed wing rate gains in ground mode
     // @Bitmask: 12: Enable FBWB style loiter altitude control

From eb492bd0aa66e9dc46c17365b10a157c2e7dbc68 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 14:45:59 +1100
Subject: [PATCH 0831/1335] autotest: fixed quadplane test

---
 Tools/autotest/quadplane.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index ebb0c2f9cf8592..a737364160d5eb 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -817,7 +817,7 @@ def QAssist(self):
         self.set_parameter("STALL_PREVENTION", 0)
 
         thr_min_pwm = self.get_parameter("Q_M_PWM_MIN")
-        lim_roll_deg = self.get_parameter("LIM_ROLL_CD") * 0.01
+        lim_roll_deg = self.get_parameter("LIM_ROLL_DEG")
         self.progress("Waiting for motors to stop (transition completion)")
         self.wait_servo_channel_value(5,
                                       thr_min_pwm,

From 77877584f80f4c9a631bf9f1b8786f810fdf0f60 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 14:46:10 +1100
Subject: [PATCH 0832/1335] AP_Scripting: fixed example script

---
 libraries/AP_Scripting/examples/plane-wind-fs.lua | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_Scripting/examples/plane-wind-fs.lua b/libraries/AP_Scripting/examples/plane-wind-fs.lua
index 0f22e1aa8fcdc9..23b643c7bf053a 100644
--- a/libraries/AP_Scripting/examples/plane-wind-fs.lua
+++ b/libraries/AP_Scripting/examples/plane-wind-fs.lua
@@ -48,11 +48,9 @@ if value then
 else
   error('LUA: get MIN_GNDSPD_CM failed')
 end
-value = param:get('LIM_ROLL_CD')
-if value then
-  max_bank_angle = value / 100
-else
-  error('LUA: get LIM_ROLL_CD failed')
+max_bank_angle = param:get('LIM_ROLL_DEG')
+if not max_bank_angle then
+  error('LUA: get LIM_ROLL_DEG failed')
 end
 
 -- https://en.wikipedia.org/wiki/Standard_rate_turn#Radius_of_turn_formula

From f51fa31aae81ecb87304f935c1c442c6b0366418 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 14:46:24 +1100
Subject: [PATCH 0833/1335] AP_TECS: fixed param names in comments

---
 libraries/AP_TECS/AP_TECS.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index 5966bdecf45d45..dd9c8b428e68d5 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -140,7 +140,7 @@ const AP_Param::GroupInfo AP_TECS::var_info[] = {
 
     // @Param: PITCH_MAX
     // @DisplayName: Maximum pitch in auto flight
-    // @Description: Overrides LIM_PITCH_MAX in automatic throttle modes to reduce climb rates. Uses LIM_PITCH_MAX if set to 0. For proper TECS tuning, set to the angle that the aircraft can climb at AIRSPEED_CRUISE and THR_MAX.
+    // @Description: Overrides PTCH_LIM_MAX_DEG in automatic throttle modes to reduce climb rates. Uses PTCH_LIM_MAX_DEG if set to 0. For proper TECS tuning, set to the angle that the aircraft can climb at AIRSPEED_CRUISE and THR_MAX.
     // @Range: 0 45
     // @Increment: 1
     // @User: Advanced
@@ -148,7 +148,7 @@ const AP_Param::GroupInfo AP_TECS::var_info[] = {
 
     // @Param: PITCH_MIN
     // @DisplayName: Minimum pitch in auto flight
-    // @Description: Overrides LIM_PITCH_MIN in automatic throttle modes to reduce descent rates. Uses LIM_PITCH_MIN if set to 0. For proper TECS tuning, set to the angle that the aircraft can descend at without overspeeding.
+    // @Description: Overrides PTCH_LIM_MIN_DEG in automatic throttle modes to reduce descent rates. Uses PTCH_LIM_MIN_DEG if set to 0. For proper TECS tuning, set to the angle that the aircraft can descend at without overspeeding.
     // @Range: -45 0
     // @Increment: 1
     // @User: Advanced

From a4302e5fb84d94fe5999714663bfd7001e0da6e9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 15:09:29 +1100
Subject: [PATCH 0834/1335] Plane: tidy 2 comments

---
 ArduPlane/quadplane.cpp | 2 +-
 ArduPlane/takeoff.cpp   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 378b00beb57407..70ccd2d10d8303 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1627,7 +1627,7 @@ void SLT_Transition::update()
                 gcs().send_text(MAV_SEVERITY_CRITICAL, "Transition failed, exceeded time limit");
                 quadplane.transition_failure.warned = true;
             }
-            // if option is set and ground speed> 1/2 arspd_fbw_min for non-tiltrotors, then complete transition, otherwise QLAND.
+            // if option is set and ground speed> 1/2 AIRSPEED_MIN for non-tiltrotors, then complete transition, otherwise QLAND.
             // tiltrotors will immediately transition
             const bool tiltrotor_with_ground_speed = quadplane.tiltrotor.enabled() && (plane.ahrs.groundspeed() > plane.aparm.airspeed_min * 0.5);
             if (quadplane.option_is_set(QuadPlane::OPTION::TRANS_FAIL_TO_FW) && tiltrotor_with_ground_speed) {
diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp
index c41e7478c10cfe..5d8a428d348bd2 100644
--- a/ArduPlane/takeoff.cpp
+++ b/ArduPlane/takeoff.cpp
@@ -158,7 +158,7 @@ void Plane::takeoff_calc_roll(void)
         takeoff_roll_limit_cd = g.level_roll_limit * 100;
     } else {
         // lim1 - below altitude TKOFF_LVL_ALT, restrict roll to LEVEL_ROLL_LIMIT
-        // lim2 - above altitude (TKOFF_LVL_ALT * 3) allow full flight envelope of LIM_ROLL_CD
+        // lim2 - above altitude (TKOFF_LVL_ALT * 3) allow full flight envelope of ROLL_LIMIT_DEG
         // In between lim1 and lim2 use a scaled roll limit.
         // The *3 scheme should scale reasonably with both small and large aircraft
         const float lim1 = MAX(mode_takeoff.level_alt, 0);

From 061ac459f826500c946d476c1ee2f4a3f26ea71d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 15:09:44 +1100
Subject: [PATCH 0835/1335] RC_Channel: tidy a comment for LAND_PITCH_DEG

---
 libraries/RC_Channel/RC_Channel.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index fcf61047733450..5216f2a4ac7ab3 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -190,7 +190,7 @@ class RC_Channel {
         TER_DISABLE =         86, // disable terrain following in CRUISE/FBWB modes
         CROW_SELECT =         87, // select CROW mode for diff spoilers;high disables,mid forces progressive
         SOARING =             88, // three-position switch to set soaring mode
-        LANDING_FLARE =       89, // force flare, throttle forced idle, pitch to LAND_PITCH_CD, tilts up
+        LANDING_FLARE =       89, // force flare, throttle forced idle, pitch to LAND_PITCH_DEG, tilts up
         EKF_POS_SOURCE =      90, // change EKF position source between primary, secondary and tertiary sources
         ARSPD_CALIBRATE=      91, // calibrate airspeed ratio 
         FBWA =                92, // Fly-By-Wire-A

From 4f182f3194e1443e09314046a386c1b68ce6ed10 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 20:48:27 +1100
Subject: [PATCH 0836/1335] AP_Scripting: fixed parameter names

---
 libraries/AP_Scripting/examples/plane-wind-fs.lua | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_Scripting/examples/plane-wind-fs.lua b/libraries/AP_Scripting/examples/plane-wind-fs.lua
index 23b643c7bf053a..ef5fcfccd2eb26 100644
--- a/libraries/AP_Scripting/examples/plane-wind-fs.lua
+++ b/libraries/AP_Scripting/examples/plane-wind-fs.lua
@@ -42,15 +42,13 @@ if value then
 else
   error('LUA: get AIRSPEED_MIN failed')
 end
-value = param:get('MIN_GNDSPD_CM')
-if value then
-  min_ground_speed = value / 100
-else
-  error('LUA: get MIN_GNDSPD_CM failed')
+min_ground_speed = param:get('MIN_GROUNDSPEED')
+if not min_groundspeed then
+  error('LUA: get MIN_GROUNDSPEED failed')
 end
-max_bank_angle = param:get('LIM_ROLL_DEG')
+max_bank_angle = param:get('ROLL_LIMIT_DEG')
 if not max_bank_angle then
-  error('LUA: get LIM_ROLL_DEG failed')
+  error('LUA: get ROLL_LIMIT_DEG failed')
 end
 
 -- https://en.wikipedia.org/wiki/Standard_rate_turn#Radius_of_turn_formula

From 315f4963cc6595c1ca83cb216a40e77d99669c25 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 20:48:27 +1100
Subject: [PATCH 0837/1335] SITL: fixed parameter names

---
 .../examples/SilentWings/Params/Rolladen-Schneider-LS8b.param   | 2 +-
 .../SITL/examples/SilentWings/Params/Schleicher-ASW27B.param    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
index a685b3542bf99c..21ec0e91235ed1 100644
--- a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
+++ b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -310,7 +310,7 @@ LOG_MAV_BUFSIZE,8
 LOG_REPLAY,0
 MAG_ENABLE,1
 MANUAL_RCMASK,0
-MIN_GNDSPD_CM,0
+MIN_GROUNDSPEED,0
 MIS_OPTIONS,0
 MIS_RESTART,0
 MIS_TOTAL,12
diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
index 2ba4a5a61a68f6..7319823a373ec8 100644
--- a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
+++ b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -313,7 +313,7 @@ LOG_MAV_BUFSIZE,8
 LOG_REPLAY,0
 MAG_ENABLE,1
 MANUAL_RCMASK,0
-MIN_GNDSPD_CM,0
+MIN_GROUNDSPEED,0
 MIS_OPTIONS,0
 MIS_RESTART,0
 MIS_TOTAL,11

From 0d434c8b541448f46f081570ae906be7cff100af Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 20:48:27 +1100
Subject: [PATCH 0838/1335] ArduPlane: fixed parameter names

---
 ArduPlane/AP_Arming.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index 1bd2627b5e41a1..28c8e8e2354a68 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -77,7 +77,7 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
     }
 
     if (plane.aparm.roll_limit < 3) {
-        check_failed(display_failure, "LIM_ROLL_DEG too small (%.1f)", plane.aparm.roll_limit.get());
+        check_failed(display_failure, "ROLL_LIMIT_DEG too small (%.1f)", plane.aparm.roll_limit.get());
         ret = false;
     }
 

From 7de56d434caf9660ffb11e26b223e0899fda1ab9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 19 Jan 2024 20:48:27 +1100
Subject: [PATCH 0839/1335] Tools: fixed parameter names

---
 Tools/Frame_params/SkyWalkerX8.param               | 2 +-
 Tools/Frame_params/SkyWalkerX8_ReverseThrust.param | 2 +-
 Tools/autotest/arduplane.py                        | 2 +-
 Tools/autotest/default_params/vee-gull 005.param   | 2 +-
 Tools/autotest/quadplane.py                        | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/Tools/Frame_params/SkyWalkerX8.param b/Tools/Frame_params/SkyWalkerX8.param
index df292fbbfd874e..93c21adb7a6bb9 100644
--- a/Tools/Frame_params/SkyWalkerX8.param
+++ b/Tools/Frame_params/SkyWalkerX8.param
@@ -30,7 +30,7 @@ LEVEL_ROLL_LIMIT,15
 PITCH_LIM_MAX_DEG,15.00
 PITCH_LIM_MIN_DEG,-25.00
 ROLL_LIMIT_DEG,35.00
-MIN_GNDSPD_CM,600
+MIN_GROUNDSPEED,6
 MIXING_GAIN,0.5
 NAVL1_DAMPING,0.75
 NAVL1_PERIOD,17
diff --git a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
index 7f4c5b5fc597ea..1de10e3e1cf3fb 100644
--- a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
+++ b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
@@ -30,7 +30,7 @@ LEVEL_ROLL_LIMIT,15
 PITCH_LIM_MAX_DEG,15.00
 PITCH_LIM_MIN_DEG,-25.00
 ROLL_LIMIT_DEG,35.00
-MIN_GNDSPD_CM,600
+MIN_GROUNDSPEED,6
 MIXING_GAIN,0.5
 NAVL1_DAMPING,0.75
 NAVL1_PERIOD,17
diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 3baf62bdbdb6f4..ca06437d13f4f8 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -845,7 +845,7 @@ def context_push_do_change_speed(self):
         self.context_push()
         self.set_parameters({
             "AIRSPEED_CRUISE": self.get_parameter("AIRSPEED_CRUISE"),
-            "MIN_GNDSPD_CM": self.get_parameter("MIN_GNDSPD_CM"),
+            "MIN_GROUNDSPEED": self.get_parameter("MIN_GROUNDSPEED"),
             "TRIM_THROTTLE": self.get_parameter("TRIM_THROTTLE"),
         })
 
diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index ed9db0711323ad..5d062657a75c63 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -345,7 +345,7 @@ LOG_DISARMED,0
 LOG_FILE_BUFSIZE,16
 LOG_FILE_DSRMROT,0
 LOG_REPLAY,0
-MIN_GNDSPD_CM,0
+MIN_GROUNDSPEED,0
 MIS_RESTART,0
 MIS_TOTAL,7
 MIXING_GAIN,0.5
diff --git a/Tools/autotest/quadplane.py b/Tools/autotest/quadplane.py
index a737364160d5eb..1207691fc76650 100644
--- a/Tools/autotest/quadplane.py
+++ b/Tools/autotest/quadplane.py
@@ -817,7 +817,7 @@ def QAssist(self):
         self.set_parameter("STALL_PREVENTION", 0)
 
         thr_min_pwm = self.get_parameter("Q_M_PWM_MIN")
-        lim_roll_deg = self.get_parameter("LIM_ROLL_DEG")
+        lim_roll_deg = self.get_parameter("ROLL_LIMIT_DEG")
         self.progress("Waiting for motors to stop (transition completion)")
         self.wait_servo_channel_value(5,
                                       thr_min_pwm,

From bf60a3b385c348a77e62151cc946e81b0ea81b14 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Jan 2024 10:09:46 +1100
Subject: [PATCH 0840/1335] Tools: added convert_param_scale.py

---
 Tools/scripts/convert_param_scale.py | 55 ++++++++++++++++++++++++++++
 1 file changed, 55 insertions(+)
 create mode 100755 Tools/scripts/convert_param_scale.py

diff --git a/Tools/scripts/convert_param_scale.py b/Tools/scripts/convert_param_scale.py
new file mode 100755
index 00000000000000..ad0f9a04cdb655
--- /dev/null
+++ b/Tools/scripts/convert_param_scale.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+'''
+tool to convert parameter names and scales, useful for conversion for cm -> m and cdeg -> deg
+
+this looks for files called *.param or *.parm
+
+example:
+  Tools/scripts/convert_param_scale.py --scale 0.1 TRIM_ARSPD_CM AIRSPEED_CRUISE
+'''
+
+import os
+import sys
+
+from argparse import ArgumentParser
+
+parser = ArgumentParser(description="parameter conversion tool")
+
+parser.add_argument("--scale", default=1.0, type=float, help="scale factor")
+parser.add_argument("--directory", default=".", help="directory to search")
+parser.add_argument("old_name", default=None, help="old parameter name")
+parser.add_argument("new_name", default=None, help="new parameter name")
+
+args = parser.parse_args()
+
+def process_file(fname):
+    needs_write = False
+    with open(fname, "r") as f:
+        lines = f.readlines()
+    for i in range(len(lines)):
+        line = lines[i]
+        if line.startswith(args.old_name):
+            a = line.split()
+            if len(a) == 2:
+                sep = ' '
+            else:
+                a = line.split(',')
+                if len(a) == 2:
+                    sep = ','
+                else:
+                    continue
+            v = float(a[1])
+            v *= args.scale
+            lines[i] = "%s%s%.2f\n" % (args.new_name, sep, v)
+            needs_write = True
+    if not needs_write:
+        return
+    print("Updating %s" % fname)
+    with open(fname, "w") as f:
+        for line in lines:
+            f.write(line)
+
+for root, dirs, files in os.walk(args.directory):
+    for file in files:
+        if file.endswith(".parm") or file.endswith(".param"):
+            process_file(os.path.join(root, file))

From e714f0a7a38b6dcff16c4f7f2955d6d9f28a4d73 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Jan 2024 10:10:24 +1100
Subject: [PATCH 0841/1335] AP_HAL_ChibiOS: fixed name of pitch limit
 parameters

---
 libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
index 1078b74cf1f05f..1207d066588786 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm
@@ -46,8 +46,8 @@ ROLL_LIMIT_DEG 40.00
 
 # the HWing can become unstable at high speeds. Limit pitch angle
 # to prevent overspeed
-PITCH_LIM_MAX_DEG 45.00
-PITCH_LIM_MIN_DEG -15.00
+PTCH_LIM_MAX_DEG 45.00
+PTCH_LIM_MIN_DEG -15.00
 
 # setup left 3-pos switch for QHOVER, QLOITER and FBWA
 FLTMODE1 18
@@ -70,7 +70,7 @@ INS_HNTCH_REF          0.4560
 KFF_RDDRMIX 0
 
 # reasonable attitude limits
-PITCH_LIM_MAX_DEG 40.00
+PTCH_LIM_MAX_DEG 40.00
 LOG_FILE_DSRMROT 1
 
 # lower logging rate a bit to make logs faster to fetch

From b0517198361f7d9e7f5afca319e8976445fac5ce Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Jan 2024 10:10:24 +1100
Subject: [PATCH 0842/1335] SITL: fixed name of pitch limit parameters

---
 .../examples/SilentWings/Params/Rolladen-Schneider-LS8b.param | 4 ++--
 .../SITL/examples/SilentWings/Params/Schleicher-ASW27B.param  | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
index 21ec0e91235ed1..fa828dfc49a490 100644
--- a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
+++ b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -298,8 +298,8 @@ LAND_THEN_NEUTRL,0
 LAND_THR_SLEW,0
 LAND_TYPE,0
 LEVEL_ROLL_LIMIT,5
-PITCH_LIM_MAX_DEG,20.00
-PITCH_LIM_MIN_DEG,-25.00
+PTCH_LIM_MAX_DEG,20.00
+PTCH_LIM_MIN_DEG,-25.00
 ROLL_LIMIT_DEG,50.00
 LOG_BACKEND_TYPE,1
 LOG_BITMASK,65535
diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
index 7319823a373ec8..cb6b93e17612c5 100644
--- a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
+++ b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -301,8 +301,8 @@ LAND_THEN_NEUTRL,0
 LAND_THR_SLEW,0
 LAND_TYPE,0
 LEVEL_ROLL_LIMIT,5
-PITCH_LIM_MAX_DEG,20.00
-PITCH_LIM_MIN_DEG,-25.00
+PTCH_LIM_MAX_DEG,20.00
+PTCH_LIM_MIN_DEG,-25.00
 ROLL_LIMIT_DEG,50.00
 LOG_BACKEND_TYPE,1
 LOG_BITMASK,65535

From 1341abc6b4001ddc3b9cacff645514e4ea503c54 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Jan 2024 10:10:24 +1100
Subject: [PATCH 0843/1335] Tools: fixed name of pitch limit parameters

---
 Tools/Frame_params/EFlight_Convergence.param            | 2 +-
 Tools/Frame_params/Parrot_Disco/Parrot_Disco.param      | 4 ++--
 Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param      | 2 +-
 Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm    | 4 ++--
 Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param  | 2 +-
 Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param  | 2 +-
 Tools/Frame_params/QuadPlanes/MFE_StriverMini.param     | 4 ++--
 Tools/Frame_params/QuadPlanes/Mugin_EV350.param         | 4 ++--
 Tools/Frame_params/SkyWalkerX8.param                    | 4 ++--
 Tools/Frame_params/SkyWalkerX8_ReverseThrust.param      | 4 ++--
 Tools/autotest/default_params/firefly.parm              | 4 ++--
 Tools/autotest/default_params/plane-jet.parm            | 4 ++--
 Tools/autotest/default_params/plane-jsbsim.parm         | 4 ++--
 Tools/autotest/default_params/plane-tailsitter.parm     | 4 ++--
 Tools/autotest/default_params/quadplane-cl84.parm       | 4 ++--
 Tools/autotest/default_params/quadplane-tilthvec.parm   | 4 ++--
 Tools/autotest/default_params/quadplane-tilttri.parm    | 4 ++--
 Tools/autotest/default_params/quadplane-tilttrivec.parm | 4 ++--
 Tools/autotest/default_params/quadplane-tri.parm        | 4 ++--
 Tools/autotest/default_params/quadplane.parm            | 4 ++--
 Tools/autotest/default_params/vee-gull 005.param        | 4 ++--
 Tools/autotest/models/plane.parm                        | 4 ++--
 22 files changed, 40 insertions(+), 40 deletions(-)

diff --git a/Tools/Frame_params/EFlight_Convergence.param b/Tools/Frame_params/EFlight_Convergence.param
index c3dc7fcca48acb..9d9decd5429a8f 100644
--- a/Tools/Frame_params/EFlight_Convergence.param
+++ b/Tools/Frame_params/EFlight_Convergence.param
@@ -6,7 +6,7 @@ BATT_MONITOR,4
 BATT_VOLT_MULT,12
 BRD_SAFETY_DEFLT,0
 FORMAT_VERSION,13
-PITCH_LIM_MAX_DEG,35.00
+PTCH_LIM_MAX_DEG,35.00
 MIXING_GAIN,0.8
 PTCH_RATE_D,0.000000
 PTCH_RATE_FF,0.455000
diff --git a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
index 68166134236771..0d26d2c7c84cf5 100644
--- a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
+++ b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param
@@ -24,8 +24,8 @@ INS_ACCEL_FILTER 10
 INS_GYRO_FILTER  5
 LAND_FLARE_ALT   3
 LAND_FLARE_SEC   2
-PITCH_LIM_MAX_DEG 30.00
-PITCH_LIM_MIN_DEG -25.00
+PTCH_LIM_MAX_DEG 30.00
+PTCH_LIM_MIN_DEG -25.00
 ROLL_LIMIT_DEG 55.00
 NAVL1_PERIOD     16
 PTCH_RATE_D       0.000000
diff --git a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
index 0e594227ce5b32..adb4b650bf1ab1 100644
--- a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
+++ b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param
@@ -17,7 +17,7 @@ INS_HNTCH_MODE  1.000000
 INS_HNTCH_REF   0.337000
 
 # fixed wing limits
-PITCH_LIM_MIN_DEG -20.00
+PTCH_LIM_MIN_DEG -20.00
 ROLL_LIMIT_DEG 40.00
 LEVEL_ROLL_LIMIT 12
 
diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm b/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
index 8bbb7069b8b1ed..309910a3732805 100644
--- a/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm
@@ -12,8 +12,8 @@ AIRSPEED_MIN    22
 AIRSPEED_CRUISE 27.00
 
 # fixed wing limits
-PITCH_LIM_MAX_DEG 15.00
-PITCH_LIM_MIN_DEG -15.00
+PTCH_LIM_MAX_DEG 15.00
+PTCH_LIM_MIN_DEG -15.00
 ROLL_LIMIT_DEG 25.00
 
 # setup elevons as 75% elevator and 25% aileron
diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
index 4b4255238a9a73..60804701731244 100644
--- a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
+++ b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param
@@ -19,7 +19,7 @@ INS_HNTCH_MODE  1.000000
 INS_HNTCH_REF   0.337000
 
 # fixed wing limits
-PITCH_LIM_MIN_DEG -20.00
+PTCH_LIM_MIN_DEG -20.00
 ROLL_LIMIT_DEG 40.00
 LEVEL_ROLL_LIMIT 12
 
diff --git a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
index 58d0a02a8d218d..18bbf11b867760 100644
--- a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
+++ b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param
@@ -9,7 +9,7 @@ AIRSPEED_CRUISE 20.00
 TRIM_THROTTLE    52
 
 # fixed wing limits
-PITCH_LIM_MAX_DEG 22.00
+PTCH_LIM_MAX_DEG 22.00
 ROLL_LIMIT_DEG 35.00
 NAVL1_PERIOD     24
 RTL_ALTITUDE 90.00
diff --git a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
index eeceac59609d5d..a533374e1b667f 100644
--- a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
+++ b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
@@ -26,8 +26,8 @@ AIRSPEED_MAX    30
 AIRSPEED_MIN    15
 
 # limits
-PITCH_LIM_MAX_DEG 20.00
-PITCH_LIM_MIN_DEG -20.00
+PTCH_LIM_MAX_DEG 20.00
+PTCH_LIM_MIN_DEG -20.00
 ROLL_LIMIT_DEG 55.00
 
 # pitch tuning
diff --git a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
index 947914ed4b7f09..3279f50b12aee3 100644
--- a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
+++ b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param
@@ -3,8 +3,8 @@
 # https://www.muginuav.com/product/mugin-ev350-carbon-fiber-full-electric-vtol-uav-platform/
 
 RTL_ALTITUDE 80.00
-PITCH_LIM_MAX_DEG 20.00
-PITCH_LIM_MIN_DEG -20.00
+PTCH_LIM_MAX_DEG 20.00
+PTCH_LIM_MIN_DEG -20.00
 ROLL_LIMIT_DEG 40.00
 NAVL1_PERIOD    17
 PTCH2SRV_TCONST 0.75
diff --git a/Tools/Frame_params/SkyWalkerX8.param b/Tools/Frame_params/SkyWalkerX8.param
index 93c21adb7a6bb9..f78cf5c500fb4c 100644
--- a/Tools/Frame_params/SkyWalkerX8.param
+++ b/Tools/Frame_params/SkyWalkerX8.param
@@ -27,8 +27,8 @@ LAND_SLOPE_RCALC,2
 LAND_THEN_NEUTRL,1
 LAND_THR_SLEW,70
 LEVEL_ROLL_LIMIT,15
-PITCH_LIM_MAX_DEG,15.00
-PITCH_LIM_MIN_DEG,-25.00
+PTCH_LIM_MAX_DEG,15.00
+PTCH_LIM_MIN_DEG,-25.00
 ROLL_LIMIT_DEG,35.00
 MIN_GROUNDSPEED,6
 MIXING_GAIN,0.5
diff --git a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
index 1de10e3e1cf3fb..853b9c533bda2d 100644
--- a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
+++ b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param
@@ -27,8 +27,8 @@ LAND_SLOPE_RCALC,2
 LAND_THEN_NEUTRL,1
 LAND_THR_SLEW,70
 LEVEL_ROLL_LIMIT,15
-PITCH_LIM_MAX_DEG,15.00
-PITCH_LIM_MIN_DEG,-25.00
+PTCH_LIM_MAX_DEG,15.00
+PTCH_LIM_MIN_DEG,-25.00
 ROLL_LIMIT_DEG,35.00
 MIN_GROUNDSPEED,6
 MIXING_GAIN,0.5
diff --git a/Tools/autotest/default_params/firefly.parm b/Tools/autotest/default_params/firefly.parm
index 82e2baa94ef1f5..07c681d8b6de3e 100644
--- a/Tools/autotest/default_params/firefly.parm
+++ b/Tools/autotest/default_params/firefly.parm
@@ -45,8 +45,8 @@ INS_ACCSCAL_Y    1.001000
 INS_ACCSCAL_Z    1.001000
 INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
-PITCH_LIM_MAX_DEG 30.00
-PITCH_LIM_MIN_DEG -30.00
+PTCH_LIM_MAX_DEG 30.00
+PTCH_LIM_MIN_DEG -30.00
 ROLL_LIMIT_DEG 65.00
 NAVL1_PERIOD     8
 PTCH_RATE_D       0.000000
diff --git a/Tools/autotest/default_params/plane-jet.parm b/Tools/autotest/default_params/plane-jet.parm
index 4892f7b83ddfc6..13580dbc662349 100644
--- a/Tools/autotest/default_params/plane-jet.parm
+++ b/Tools/autotest/default_params/plane-jet.parm
@@ -3,8 +3,8 @@ AIRSPEED_MAX         80.0000
 AIRSPEED_MIN         25.0000
 FBWB_CLIMB_RATE        5.0000
 LAND_FLARE_SEC         2.0000
-PITCH_LIM_MAX_DEG 20.00
-PITCH_LIM_MIN_DEG -25.00
+PTCH_LIM_MAX_DEG 20.00
+PTCH_LIM_MIN_DEG -25.00
 ROLL_LIMIT_DEG 70.00
 NAVL1_PERIOD          17.0000
 PTCH_RATE_D             0.000000
diff --git a/Tools/autotest/default_params/plane-jsbsim.parm b/Tools/autotest/default_params/plane-jsbsim.parm
index 56dac367543540..70cff97a7e25d8 100644
--- a/Tools/autotest/default_params/plane-jsbsim.parm
+++ b/Tools/autotest/default_params/plane-jsbsim.parm
@@ -4,8 +4,8 @@ LOG_BITMASK	65535
 AIRSPEED_CRUISE 22.00
 PTCH_TRIM_DEG 0.00
 TRIM_THROTTLE   50
-PITCH_LIM_MIN_DEG -20.00
-PITCH_LIM_MAX_DEG 25.00
+PTCH_LIM_MIN_DEG -20.00
+PTCH_LIM_MAX_DEG 25.00
 ROLL_LIMIT_DEG 65.00
 LAND_DISARMDELAY 3
 LAND_PITCH_DEG 1.00
diff --git a/Tools/autotest/default_params/plane-tailsitter.parm b/Tools/autotest/default_params/plane-tailsitter.parm
index 6ac7c09bc03897..1db32c8f92ba6f 100644
--- a/Tools/autotest/default_params/plane-tailsitter.parm
+++ b/Tools/autotest/default_params/plane-tailsitter.parm
@@ -1,8 +1,8 @@
 BATT_MONITOR    4
 AIRSPEED_CRUISE 22.00
 TRIM_THROTTLE   50
-PITCH_LIM_MIN_DEG -20.00
-PITCH_LIM_MAX_DEG 25.00
+PTCH_LIM_MIN_DEG -20.00
+PTCH_LIM_MAX_DEG 25.00
 ROLL_LIMIT_DEG 65.00
 ARSPD_USE       1
 AIRSPEED_MAX   30
diff --git a/Tools/autotest/default_params/quadplane-cl84.parm b/Tools/autotest/default_params/quadplane-cl84.parm
index 4954b55e746298..493d3059581730 100644
--- a/Tools/autotest/default_params/quadplane-cl84.parm
+++ b/Tools/autotest/default_params/quadplane-cl84.parm
@@ -34,8 +34,8 @@ INS_ACCSCAL_Y    1.001000
 INS_ACCSCAL_Z    1.001000
 INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
-PITCH_LIM_MAX_DEG 30.00
-PITCH_LIM_MIN_DEG -30.00
+PTCH_LIM_MAX_DEG 30.00
+PTCH_LIM_MIN_DEG -30.00
 ROLL_LIMIT_DEG 65.00
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
diff --git a/Tools/autotest/default_params/quadplane-tilthvec.parm b/Tools/autotest/default_params/quadplane-tilthvec.parm
index 2e1cfe5be38a14..f7fe478d55e8fe 100644
--- a/Tools/autotest/default_params/quadplane-tilthvec.parm
+++ b/Tools/autotest/default_params/quadplane-tilthvec.parm
@@ -1,5 +1,5 @@
-PITCH_LIM_MAX_DEG 30.00
-PITCH_LIM_MIN_DEG -30.00
+PTCH_LIM_MAX_DEG 30.00
+PTCH_LIM_MIN_DEG -30.00
 Q_ENABLE         1
 Q_FRAME_CLASS    1
 Q_FRAME_TYPE     3
diff --git a/Tools/autotest/default_params/quadplane-tilttri.parm b/Tools/autotest/default_params/quadplane-tilttri.parm
index e334fe0f0b4ce1..f4a499185163cd 100644
--- a/Tools/autotest/default_params/quadplane-tilttri.parm
+++ b/Tools/autotest/default_params/quadplane-tilttri.parm
@@ -37,8 +37,8 @@ INS_ACCSCAL_Y    1.001000
 INS_ACCSCAL_Z    1.001000
 INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
-PITCH_LIM_MAX_DEG 30.00
-PITCH_LIM_MIN_DEG -30.00
+PTCH_LIM_MAX_DEG 30.00
+PTCH_LIM_MIN_DEG -30.00
 ROLL_LIMIT_DEG 65.00
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
diff --git a/Tools/autotest/default_params/quadplane-tilttrivec.parm b/Tools/autotest/default_params/quadplane-tilttrivec.parm
index c3bb6164e31f62..1efb903f2ca0b4 100644
--- a/Tools/autotest/default_params/quadplane-tilttrivec.parm
+++ b/Tools/autotest/default_params/quadplane-tilttrivec.parm
@@ -37,8 +37,8 @@ INS_ACCSCAL_Y    1.001000
 INS_ACCSCAL_Z    1.001000
 INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
-PITCH_LIM_MAX_DEG 30.00
-PITCH_LIM_MIN_DEG -30.00
+PTCH_LIM_MAX_DEG 30.00
+PTCH_LIM_MIN_DEG -30.00
 ROLL_LIMIT_DEG 65.00
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
diff --git a/Tools/autotest/default_params/quadplane-tri.parm b/Tools/autotest/default_params/quadplane-tri.parm
index 8ec35e782708d4..c567bf4dba5d0d 100644
--- a/Tools/autotest/default_params/quadplane-tri.parm
+++ b/Tools/autotest/default_params/quadplane-tri.parm
@@ -37,8 +37,8 @@ INS_ACCSCAL_Y    1.001000
 INS_ACCSCAL_Z    1.001000
 INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
-PITCH_LIM_MAX_DEG 30.00
-PITCH_LIM_MIN_DEG -30.00
+PTCH_LIM_MAX_DEG 30.00
+PTCH_LIM_MIN_DEG -30.00
 ROLL_LIMIT_DEG 65.00
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
diff --git a/Tools/autotest/default_params/quadplane.parm b/Tools/autotest/default_params/quadplane.parm
index 999b718a294a2d..62c5225d052d52 100644
--- a/Tools/autotest/default_params/quadplane.parm
+++ b/Tools/autotest/default_params/quadplane.parm
@@ -35,8 +35,8 @@ INS_ACCSCAL_Y    1.001000
 INS_ACCSCAL_Z    1.001000
 INS_GYR_CAL      0
 KFF_RDDRMIX      0.500000
-PITCH_LIM_MAX_DEG 30.00
-PITCH_LIM_MIN_DEG -30.00
+PTCH_LIM_MAX_DEG 30.00
+PTCH_LIM_MIN_DEG -30.00
 ROLL_LIMIT_DEG 65.00
 NAVL1_PERIOD     14
 PTCH_RATE_D       0.000000
diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param
index 5d062657a75c63..710889e2d7b0d8 100644
--- a/Tools/autotest/default_params/vee-gull 005.param	
+++ b/Tools/autotest/default_params/vee-gull 005.param	
@@ -336,8 +336,8 @@ LAND_THEN_NEUTRL,0
 LAND_THR_SLEW,0
 LAND_TYPE,0
 LEVEL_ROLL_LIMIT,5
-PITCH_LIM_MAX_DEG,20.00
-PITCH_LIM_MIN_DEG,-25.00
+PTCH_LIM_MAX_DEG,20.00
+PTCH_LIM_MIN_DEG,-25.00
 ROLL_LIMIT_DEG,45.00
 LOG_BACKEND_TYPE,1
 LOG_BITMASK,65535
diff --git a/Tools/autotest/models/plane.parm b/Tools/autotest/models/plane.parm
index 745ec1c0f090b1..5fb0dbea02d4c6 100644
--- a/Tools/autotest/models/plane.parm
+++ b/Tools/autotest/models/plane.parm
@@ -4,8 +4,8 @@ LOG_BITMASK	65535
 AIRSPEED_CRUISE 22.00
 PTCH_TRIM_DEG 0.00
 TRIM_THROTTLE   50
-PITCH_LIM_MIN_DEG -20.00
-PITCH_LIM_MAX_DEG 25.00
+PTCH_LIM_MIN_DEG -20.00
+PTCH_LIM_MAX_DEG 25.00
 ROLL_LIMIT_DEG 65.00
 LAND_PITCH_DEG 1.00
 LAND_FLARE_SEC  3

From f6ff3b2fbb89403b1f059d937383d5cb4ac4ce42 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Jan 2024 10:18:15 +1100
Subject: [PATCH 0844/1335] Tools: fixed incorrect param conversions

---
 Tools/Frame_params/QuadPlanes/MFE_StriverMini.param | 2 +-
 Tools/Frame_params/QuadPlanes/XPlane-Alia.parm      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
index a533374e1b667f..5b322c05e2c776 100644
--- a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
+++ b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param
@@ -6,7 +6,7 @@ SCALING_SPEED    15
 TECS_CLMB_MAX    3
 TECS_LAND_ARSPD  20
 TKOFF_THR_MAX    85
-PTCH_TRIM_DEG 0.00
+PTCH_TRIM_DEG 1.00
 TRIM_THROTTLE    40
 WP_LOITER_RAD    120
 WP_RADIUS        110
diff --git a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
index 042de349933278..7c038475871b9d 100644
--- a/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
+++ b/Tools/Frame_params/QuadPlanes/XPlane-Alia.parm
@@ -15,7 +15,7 @@ TRIM_THROTTLE,60
 GROUND_STEER_ALT,10
 AIRSPEED_CRUISE,52.00
 SCALING_SPEED,60
-PTCH_TRIM_DEG,0.04
+PTCH_TRIM_DEG,4.0
 RTL_ALTITUDE,250.00
 FLAP_1_PERCNT,50
 FLAP_1_SPEED,30

From 649fbe9f2415310d2c5b4f201300d8884b336a83 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Jan 2024 10:19:39 +1100
Subject: [PATCH 0845/1335] Plane: make the 90x factor more obvios

---
 ArduPlane/is_flying.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/is_flying.cpp b/ArduPlane/is_flying.cpp
index 52b840436f2877..b857d8b7afaba3 100644
--- a/ArduPlane/is_flying.cpp
+++ b/ArduPlane/is_flying.cpp
@@ -18,7 +18,7 @@ void Plane::update_is_flying_5Hz(void)
     bool is_flying_bool = false;
     uint32_t now_ms = AP_HAL::millis();
 
-    uint32_t ground_speed_thresh_cm = (aparm.min_groundspeed > 0) ? ((uint32_t)(aparm.min_groundspeed*90)) : GPS_IS_FLYING_SPEED_CMS;
+    uint32_t ground_speed_thresh_cm = (aparm.min_groundspeed > 0) ? ((uint32_t)(aparm.min_groundspeed*(100*0.9))) : GPS_IS_FLYING_SPEED_CMS;
     bool gps_confirmed_movement = (gps.status() >= AP_GPS::GPS_OK_FIX_3D) &&
                                     (gps.ground_speed_cm() >= ground_speed_thresh_cm);
 

From 50b95c81cad66040ab76dc8e83b7a719c344b5a4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Jan 2024 10:57:56 +1100
Subject: [PATCH 0846/1335] AP_Param: whitespace fix

---
 libraries/AP_Param/AP_Param.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index afa0188dfa03f3..b10529d15b0a08 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -1985,7 +1985,7 @@ void AP_Param::convert_old_parameter(const struct ConversionInfo *info, float sc
 // convert old vehicle parameters to new object parameters
 void AP_Param::convert_old_parameters(const struct ConversionInfo *conversion_table, uint8_t table_size, uint8_t flags)
 {
-    convert_old_parameters_scaled(conversion_table, table_size, 1.0f,flags);
+    convert_old_parameters_scaled(conversion_table, table_size, 1.0f, flags);
 }
 
 // convert old vehicle parameters to new object parameters with scaling - assumes all parameters will have the same scaling factor

From e602aa68a4d95fc8ec795d91a6d96daef90cfa5d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Jan 2024 10:58:32 +1100
Subject: [PATCH 0847/1335] Plane: removed incorrect comment

---
 ArduPlane/Parameters.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 070d885d37b7f6..208f55fbdd75a2 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -56,7 +56,7 @@ class Parameters {
         //
         k_param_auto_trim      = 10, // unused
         k_param_log_bitmask_old,  // unused
-        k_param_pitch_trim,  // replaced by pitch_trim
+        k_param_pitch_trim,
         k_param_mix_mode,
         k_param_reverse_elevons, // unused
         k_param_reverse_ch1_elevon, // unused

From 3a3f4ea44642a36281b78e9a914a6a0ad214cb18 Mon Sep 17 00:00:00 2001
From: "J.R. Bronkar" <jrbronkar@gmail.com>
Date: Tue, 2 Jan 2024 09:13:57 +0000
Subject: [PATCH 0848/1335] autotest: Fractional Loiter Turn Test

---
 Tools/autotest/arduplane.py | 19 +++++++++++++------
 1 file changed, 13 insertions(+), 6 deletions(-)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index ca06437d13f4f8..ce476165310b47 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -4381,8 +4381,8 @@ def MAV_CMD_NAV_LOITER_TURNS(self, target_system=1, target_component=1):
         seq = 0
         items = []
         tests = [
-            (self.home_relative_loc_ne(50, -50), 100),
-            (self.home_relative_loc_ne(100, 50), 1005),
+            (self.home_relative_loc_ne(50, -50), 100, 0.3),
+            (self.home_relative_loc_ne(100, 50), 1005, 3),
         ]
         # add a home position:
         items.append(self.mav.mav.mission_item_int_encode(
@@ -4423,7 +4423,7 @@ def MAV_CMD_NAV_LOITER_TURNS(self, target_system=1, target_component=1):
         seq += 1
 
         # add circles
-        for (loc, radius) in tests:
+        for (loc, radius, turn) in tests:
             items.append(self.mav.mav.mission_item_int_encode(
                 target_system,
                 target_component,
@@ -4432,7 +4432,7 @@ def MAV_CMD_NAV_LOITER_TURNS(self, target_system=1, target_component=1):
                 mavutil.mavlink.MAV_CMD_NAV_LOITER_TURNS,
                 0, # current
                 0, # autocontinue
-                3, # p1
+                turn, # p1
                 0, # p2
                 radius, # p3
                 0, # p4
@@ -4465,7 +4465,7 @@ def MAV_CMD_NAV_LOITER_TURNS(self, target_system=1, target_component=1):
         downloaded_items = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
         ofs = 2
         self.progress("Checking downloaded mission is as expected")
-        for (loc, radius) in tests:
+        for (loc, radius, turn) in tests:
             downloaded = downloaded_items[ofs]
             if radius > 255:
                 # ArduPilot only stores % 10
@@ -4474,6 +4474,13 @@ def MAV_CMD_NAV_LOITER_TURNS(self, target_system=1, target_component=1):
                 raise NotAchievedException(
                     "Did not get expected radius for item %u; want=%f got=%f" %
                     (ofs, radius, downloaded.param3))
+            if turn > 0 and turn < 1:
+                # ArduPilot stores fractions in 8 bits (*256) and unpacks it (/256)
+                turn = int(turn*256) / 256.0
+            if downloaded.param1 != turn:
+                raise NotAchievedException(
+                    "Did not get expected turn for item %u; want=%f got=%f" %
+                    (ofs, turn, downloaded.param1))
             ofs += 1
 
         self.change_mode('AUTO')
@@ -4483,7 +4490,7 @@ def MAV_CMD_NAV_LOITER_TURNS(self, target_system=1, target_component=1):
 
         self.wait_current_waypoint(2)
 
-        for (loc, expected_radius) in tests:
+        for (loc, expected_radius, _) in tests:
             self.wait_circling_point_with_radius(
                 loc,
                 expected_radius,

From 784a21bcab6858539d1f51ca97a9e336295a9112 Mon Sep 17 00:00:00 2001
From: "J.R. Bronkar" <jrbronkar@gmail.com>
Date: Fri, 12 Jan 2024 15:14:19 +1100
Subject: [PATCH 0849/1335] AP_Mission: fractional Loiter Turn Support

Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
---
 libraries/AP_Mission/AP_Mission.cpp | 27 +++++++++++++++++++++------
 libraries/AP_Mission/AP_Mission.h   | 13 +++++++++++++
 2 files changed, 34 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 15ca3ab9e150c7..f88f7dbca65ff9 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -728,6 +728,7 @@ struct PACKED Packed_Location_Option_Flags {
     uint8_t origin_alt   : 1;           // this altitude is above ekf origin
     uint8_t loiter_xtrack : 1;          // 0 to crosstrack from center of waypoint, 1 to crosstrack from tangent exit location
     uint8_t type_specific_bit_0 : 1;    // each mission item type can use this for storing 1 bit of extra data
+    uint8_t type_specific_bit_1 : 1;    // each mission item type can use this for storing 1 bit of extra data
 };
 
 struct PACKED PackedLocation {
@@ -815,7 +816,10 @@ bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) con
         cmd.content.location.lng = packed_content.location.lng;
 
         if (packed_content.location.flags.type_specific_bit_0) {
-            cmd.type_specific_bits = 1U << 0;
+            cmd.type_specific_bits |= 1U << 0;
+        }
+        if (packed_content.location.flags.type_specific_bit_1) {
+            cmd.type_specific_bits |= 1U << 1;
         }
     } else {
         // all other options in Content are assumed to be packed:
@@ -882,7 +886,8 @@ bool AP_Mission::write_cmd_to_storage(uint16_t index, const Mission_Command& cmd
         packed.location.flags.terrain_alt = cmd.content.location.terrain_alt;
         packed.location.flags.origin_alt = cmd.content.location.origin_alt;
         packed.location.flags.loiter_xtrack = cmd.content.location.loiter_xtrack;
-        packed.location.flags.type_specific_bit_0 = cmd.type_specific_bits & (1U<<0);
+        packed.location.flags.type_specific_bit_0 = (cmd.type_specific_bits & (1U<<0)) >> 0;
+        packed.location.flags.type_specific_bit_1 = (cmd.type_specific_bits & (1U<<1)) >> 1;
         packed.location.alt = cmd.content.location.alt;
         packed.location.lat = cmd.content.location.lat;
         packed.location.lng = cmd.content.location.lng;
@@ -1029,18 +1034,25 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
         break;
 
     case MAV_CMD_NAV_LOITER_TURNS: {                    // MAV ID: 18
-        // number of turns is stored in the lowest bits.  radii below
-        // 255m are stored in the top 8 bits as an 8-bit integer.
+        // number of turns is stored in the lowest bits. Number of
+        // turns 0 < N < 1 are stored multiplied by 256 and a bit set
+        // in storage so that on retrieval they are divided by 256.
+        // Radii below 255m are stored in the top 8 bits as an 8-bit integer.
         // Radii above 255m are stored divided by 10 and a bit set in
         // storage so that on retrieval they are multiplied by 10
-        cmd.p1 = MIN(255, packet.param1); // store number of times to circle in low p1
+        float param1_stored = packet.param1;
+        if (param1_stored > 0 && param1_stored < 1) {
+            param1_stored *= 256.0;
+            cmd.type_specific_bits |= (1U << 1);
+        }
+        cmd.p1 = MIN(255, param1_stored); // store number of times to circle in low p1
         uint8_t radius_m;
         const float abs_radius = fabsf(packet.param3);
         if (abs_radius <= 255) {
             radius_m = abs_radius;
         } else {
             radius_m = MIN(255, abs_radius * 0.1);
-            cmd.type_specific_bits = 1U << 0;
+            cmd.type_specific_bits |= (1U << 0);
         }
         cmd.p1 |= (radius_m<<8);   // store radius in high byte of p1
         cmd.content.location.loiter_ccw = (packet.param3 < 0);
@@ -1550,6 +1562,9 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
         if (cmd.type_specific_bits & (1U<<0)) {
             packet.param3 *= 10;
         }
+        if (cmd.type_specific_bits & (1U<<1)) {
+            packet.param1 /= 256.0;
+        }
         packet.param4 = cmd.content.location.loiter_xtrack; // 0 to xtrack from center of waypoint, 1 to xtrack from tangent exit location
         break;
 
diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
index b50fa4d9822b0b..c7204b315bacb6 100644
--- a/libraries/AP_Mission/AP_Mission.h
+++ b/libraries/AP_Mission/AP_Mission.h
@@ -415,6 +415,19 @@ class AP_Mission
         // comparison operator (relies on all bytes in the structure even if they may not be used)
         bool operator ==(const Mission_Command &b) const { return (memcmp(this, &b, sizeof(Mission_Command)) == 0); }
         bool operator !=(const Mission_Command &b) const { return !operator==(b); }
+
+        /*
+          return the number of turns for a LOITER_TURNS command
+          this has special handling for loiter turns from cmd.p1 and type_specific_bits
+         */
+        float get_loiter_turns(void) const {
+            float turns = LOWBYTE(p1);
+            if (type_specific_bits & (1U<<1)) {
+                // special storage handling allows for fractional turns
+                turns *= (1.0/256.0);
+            }
+            return turns;
+        }
     };
 
 

From c28c50babe89ef9b24409a99b64e49aa38c4163b Mon Sep 17 00:00:00 2001
From: "J.R. Bronkar" <jrbronkar@gmail.com>
Date: Fri, 12 Jan 2024 15:14:19 +1100
Subject: [PATCH 0850/1335] ArduCopter: fractional Loiter Turn Support

Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
---
 ArduCopter/mode_auto.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 4185f35e032082..6a2b336b82650c 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -2190,8 +2190,10 @@ bool ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd)
         return false;
     }
 
+    const float turns = cmd.get_loiter_turns();
+
     // check if we have completed circling
-    return fabsf(copter.circle_nav->get_angle_total()/float(M_2PI)) >= LOWBYTE(cmd.p1);
+    return fabsf(copter.circle_nav->get_angle_total()/float(M_2PI)) >= turns;
 }
 
 // verify_spline_wp - check if we have reached the next way point using spline

From 2be84183b7d3a5cd2beca8a093e32d82fbcecdf9 Mon Sep 17 00:00:00 2001
From: "J.R. Bronkar" <jrbronkar@gmail.com>
Date: Fri, 12 Jan 2024 15:14:19 +1100
Subject: [PATCH 0851/1335] ArduPlane: fractional Loiter Turn Support

Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
---
 ArduPlane/commands_logic.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index c201b64e13c1ad..33ebd0c4516bae 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -476,8 +476,9 @@ void Plane::do_loiter_turns(const AP_Mission::Mission_Command& cmd)
     cmdloc.sanitize(current_loc);
     set_next_WP(cmdloc);
     loiter_set_direction_wp(cmd);
+    const float turns = cmd.get_loiter_turns();
 
-    loiter.total_cd = (uint32_t)(LOWBYTE(cmd.p1)) * 36000UL;
+    loiter.total_cd = (uint32_t)(turns * 36000UL);
     condition_value = 1; // used to signify primary turns goal not yet met
 }
 

From 6ffdfd9f48388dd64c56b318a998ec78618e4d18 Mon Sep 17 00:00:00 2001
From: "J.R. Bronkar" <jrbronkar@gmail.com>
Date: Fri, 12 Jan 2024 15:14:20 +1100
Subject: [PATCH 0852/1335] ArduSub: fractional Loiter Turn Support

Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
---
 ArduSub/commands_logic.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduSub/commands_logic.cpp b/ArduSub/commands_logic.cpp
index 48051f9ff42837..40a6b70f4d0ab6 100644
--- a/ArduSub/commands_logic.cpp
+++ b/ArduSub/commands_logic.cpp
@@ -539,9 +539,10 @@ bool Sub::verify_circle(const AP_Mission::Mission_Command& cmd)
         }
         return false;
     }
+    const float turns = cmd.get_loiter_turns();
 
     // check if we have completed circling
-    return fabsf(sub.circle_nav.get_angle_total()/M_2PI) >= LOWBYTE(cmd.p1);
+    return fabsf(sub.circle_nav.get_angle_total()/M_2PI) >= turns;
 }
 
 #if NAV_GUIDED == ENABLED

From 1ec61c57ba8c3408a85b58c05048d464f3ceac77 Mon Sep 17 00:00:00 2001
From: "J.R. Bronkar" <jrbronkar@gmail.com>
Date: Fri, 12 Jan 2024 15:14:20 +1100
Subject: [PATCH 0853/1335] Rover: fractional Loiter Turn Support

Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
---
 Rover/mode_auto.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
index d10f64fdfd81fc..dd99f363a15198 100644
--- a/Rover/mode_auto.cpp
+++ b/Rover/mode_auto.cpp
@@ -945,8 +945,9 @@ bool ModeAuto::do_circle(const AP_Mission::Mission_Command& cmd)
 
 bool ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd)
 {
+    const float turns = cmd.get_loiter_turns();
     // check if we have completed circling
-    return ((g2.mode_circle.get_angle_total_rad() / M_2PI) >= LOWBYTE(cmd.p1));
+    return ((g2.mode_circle.get_angle_total_rad() / M_2PI) >= turns);
 }
 
 /********************************************************************************/

From 873e2eac7d148a8a2c2ec28fa8f169b3b7e1aa0c Mon Sep 17 00:00:00 2001
From: MallikarjunSE <mallik2m@gmail.com>
Date: Mon, 22 Jan 2024 20:48:27 +0530
Subject: [PATCH 0854/1335] AP_HAL_ChibiOS: update truenav hwdef

---
 .../hwdef/Sierra-TrueNavIC/hwdef-bl.dat              |  2 --
 .../AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat  | 12 +++++-------
 .../hwdef/Sierra-TrueNavPro-G4/hwdef-bl.dat          |  1 +
 .../hwdef/Sierra-TrueNavPro-G4/hwdef.dat             |  6 ++++--
 4 files changed, 10 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef-bl.dat
index 1aa76a1ff8c158..ddbb1c3acbca7e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef-bl.dat
@@ -30,8 +30,6 @@ PA12 CAN1_TX CAN1
 PB1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
 PB6 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW HIGH
 
-CAN_ORDER 1
-
 # make bl baudrate match debug baudrate for easier debugging
 define BOOTLOADER_BAUDRATE 57600
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
index 0b831e7e905031..72f2c8418640f9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
@@ -68,24 +68,22 @@ PB11 I2C2_SDA I2C2
 
 define HAL_I2C_CLEAR_ON_TIMEOUT 0
 define HAL_I2C_INTERNAL_MASK 1
-COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
+COMPASS QMC5883L I2C:0:0xd false ROTATION_YAW_180
 
 # ---------------------- CAN bus -------------------------
-CAN_ORDER 1
-
 PA11 CAN1_RX CAN1
 PA12 CAN1_TX CAN1
 PB1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
 PB6 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
 
-define HAL_CAN_POOL_SIZE 12000
+define HAL_CAN_POOL_SIZE 8000
 
 # ---------------------- UARTs ---------------------------
 SERIAL_ORDER EMPTY USART1
 
 # USART1 for GPS
 PA9  USART1_TX USART1 SPEED_HIGH
-PA10  USART1_RX USART1 SPEED_HIGH
+PA10 USART1_RX USART1 SPEED_HIGH
 
 # keep ROMFS uncompressed as we don't have enough RAM
 # to uncompress the bootloader at runtime
@@ -105,10 +103,10 @@ define BARO_MAX_INSTANCES 1
 define HAL_PERIPH_GPS_PORT_DEFAULT 1
 
 # GPS PPS
-# PA15 GPS_PPS_IN INPUT FLOATING
+PA15 GPS_PPS_IN INPUT
 
 # PWM, WS2812 LED
-# PB10 TIM2_CH3 TIM2 PWM(1)
+PB10 TIM2_CH3 TIM2 PWM(1)
 
 define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNavIC"
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef-bl.dat
index b2e5219382bead..a36f9fc9b917a0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef-bl.dat
@@ -42,6 +42,7 @@ define HAL_USE_SERIAL FALSE
 PA11 CAN1_RX CAN1
 PA12 CAN1_TX CAN1
 PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+PA2 GPIO_CAN1_TERM OUTPUT PUSHPULL SPEED_LOW LOW
 
 # make bl baudrate match debug baudrate for easier debugging
 define BOOTLOADER_BAUDRATE 57600
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
index a54725dffb9d8a..4aa860c48f92b5 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
@@ -29,8 +29,8 @@ FLASH_SIZE_KB 256
 SERIAL_ORDER EMPTY USART2
 
 # USART2, GPS
-PB3 USART2_TX USART2
-PB4 USART2_RX USART2
+PB3 USART2_TX USART2 SPEED HIGH
+PB4 USART2_RX USART2 SPEED HIGH
 
 # USART1, debug, disabled to save flash
 # PB6 USART1_TX USART1
@@ -109,3 +109,5 @@ env ROMFS_UNCOMPRESSED True
 PA3 TIM2_CH4 TIM2 PWM(1)
 
 DMA_NOSHARE USART2*
+
+define CAN_APP_NODE_NAME "in.sierraaerospace.TrueNavPro-G4"

From a81f2785aa9137f4ab79f0ae1f49e447d6a0fa13 Mon Sep 17 00:00:00 2001
From: Hayden Donald <haydendonald@gmail.com>
Date: Tue, 23 Jan 2024 16:26:35 +1100
Subject: [PATCH 0855/1335] AP_HAL_ChibiOS: Use correct pin config for ADC2 and
 ADC3

---
 libraries/AP_HAL_ChibiOS/AnalogIn.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/AnalogIn.cpp b/libraries/AP_HAL_ChibiOS/AnalogIn.cpp
index 0c858f3dcf9036..0621162132eef5 100644
--- a/libraries/AP_HAL_ChibiOS/AnalogIn.cpp
+++ b/libraries/AP_HAL_ChibiOS/AnalogIn.cpp
@@ -150,16 +150,16 @@ float AnalogSource::_pin_scaler(void)
     }
 #ifdef HAL_ANALOG2_PINS
     for (uint8_t i=0; i<ADC2_GRP1_NUM_CHANNELS; i++) {
-        if (AnalogIn::pin_config[i].analog_pin == _pin && (_pin != ANALOG_INPUT_NONE)) {
-            scaling = AnalogIn::pin_config[i].scaling;
+        if (AnalogIn::pin_config_2[i].analog_pin == _pin && (_pin != ANALOG_INPUT_NONE)) {
+            scaling = AnalogIn::pin_config_2[i].scaling;
             break;
         }
     }
 #endif
 #ifdef HAL_ANALOG3_PINS
     for (uint8_t i=0; i<ADC3_GRP1_NUM_CHANNELS; i++) {
-        if (AnalogIn::pin_config[i].analog_pin == _pin && (_pin != ANALOG_INPUT_NONE)) {
-            scaling = AnalogIn::pin_config[i].scaling;
+        if (AnalogIn::pin_config_3[i].analog_pin == _pin && (_pin != ANALOG_INPUT_NONE)) {
+            scaling = AnalogIn::pin_config_3[i].scaling;
             break;
         }
     }

From 475ef8a06d58fcc817270b1fa0cff51c1e2e177b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 23 Jan 2024 15:37:37 +1100
Subject: [PATCH 0856/1335] AP_Mission: fix use of uninitialised stack data

loading missions via FTP ends up using uninitialised stack data when storing missions.
---
 libraries/AP_Mission/AP_Mission.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index f88f7dbca65ff9..2fd101c8fab0bf 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -988,6 +988,8 @@ MAV_MISSION_RESULT AP_Mission::sanity_check_params(const mavlink_mission_item_in
 //  return MAV_MISSION_ACCEPTED on success, MAV_MISSION_RESULT error on failure
 MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_item_int_t& packet, AP_Mission::Mission_Command& cmd)
 {
+    cmd = {};
+
     // command's position in mission list and mavlink id
     cmd.index = packet.seq;
     cmd.id = packet.command;

From f18e196fa9e7e5bc1477121c49d52dbf5b622781 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 23 Jan 2024 17:41:48 +1100
Subject: [PATCH 0857/1335] GCS_MAVLink: use virtual method for
 GCS_MAVLink::handle_message

use more appropriate naming for the method.
---
 libraries/GCS_MAVLink/GCS.h          | 4 +---
 libraries/GCS_MAVLink/GCS_Common.cpp | 4 ++--
 libraries/GCS_MAVLink/GCS_Dummy.h    | 1 -
 3 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index ba3913d0a442f1..415dd1b51c9e61 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -577,7 +577,7 @@ class GCS_MAVLINK
     void handle_serial_control(const mavlink_message_t &msg);
     void handle_vision_position_delta(const mavlink_message_t &msg);
 
-    void handle_common_message(const mavlink_message_t &msg);
+    virtual void handle_message(const mavlink_message_t &msg);
     void handle_set_gps_global_origin(const mavlink_message_t &msg);
     void handle_setup_signing(const mavlink_message_t &msg) const;
     virtual MAV_RESULT handle_preflight_reboot(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
@@ -776,8 +776,6 @@ class GCS_MAVLINK
 
     void service_statustext(void);
 
-    virtual void        handleMessage(const mavlink_message_t &msg) = 0;
-
     MAV_RESULT handle_servorelay_message(const mavlink_command_int_t &packet);
     bool send_relay_status() const;
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 7f53c14d032252..eac5d393a07fe5 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1763,7 +1763,7 @@ void GCS_MAVLINK::packetReceived(const mavlink_status_t &status,
         // e.g. enforce-sysid says we shouldn't look at this packet
         return;
     }
-    handleMessage(msg);
+    handle_message(msg);
 }
 
 void
@@ -3936,7 +3936,7 @@ void GCS_MAVLINK::handle_heartbeat(const mavlink_message_t &msg) const
 /*
   handle messages which don't require vehicle specific data
  */
-void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
+void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
 
diff --git a/libraries/GCS_MAVLink/GCS_Dummy.h b/libraries/GCS_MAVLink/GCS_Dummy.h
index 2d273d58bdb5b2..d14d52fb7aa634 100644
--- a/libraries/GCS_MAVLink/GCS_Dummy.h
+++ b/libraries/GCS_MAVLink/GCS_Dummy.h
@@ -24,7 +24,6 @@ class GCS_MAVLINK_Dummy : public GCS_MAVLINK
 private:
 
     uint32_t telem_delay() const override { return 0; }
-    void handleMessage(const mavlink_message_t &msg) override {}
     bool try_send_message(enum ap_message id) override { return true; }
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return true; }
     uint8_t sysid_my_gcs() const override { return 1; }

From c7f7ec3312aba8c94f2b3061d9a00ce1e2a52e09 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 23 Jan 2024 17:41:48 +1100
Subject: [PATCH 0858/1335] AntennaTracker: use virtual method for
 GCS_MAVLink::handle_message

use more appropriate naming for the method.
---
 AntennaTracker/GCS_Mavlink.cpp | 4 ++--
 AntennaTracker/GCS_Mavlink.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 919a7c7305cd95..6e6d83bc2c8e45 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -464,7 +464,7 @@ bool GCS_MAVLINK_Tracker::set_home(const Location& loc, bool _lock) {
     return tracker.set_home(loc);
 }
 
-void GCS_MAVLINK_Tracker::handleMessage(const mavlink_message_t &msg)
+void GCS_MAVLINK_Tracker::handle_message(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
 
@@ -610,7 +610,7 @@ void GCS_MAVLINK_Tracker::handleMessage(const mavlink_message_t &msg)
     }
 
     default:
-        handle_common_message(msg);
+        GCS_MAVLINK::handle_message(msg);
         break;
     } // end switch
 } // end handle mavlink
diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h
index 38f7cdb483e712..6389a06cfd3eaf 100644
--- a/AntennaTracker/GCS_Mavlink.h
+++ b/AntennaTracker/GCS_Mavlink.h
@@ -37,7 +37,7 @@ class GCS_MAVLINK_Tracker : public GCS_MAVLINK
 
     void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;
     void mavlink_check_target(const mavlink_message_t &msg);
-    void handleMessage(const mavlink_message_t &msg) override;
+    void handle_message(const mavlink_message_t &msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     void handle_set_attitude_target(const mavlink_message_t &msg);
 

From 8cda4ad924052c81e5698e9b29e9ac9d30e5f94e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 23 Jan 2024 17:41:49 +1100
Subject: [PATCH 0859/1335] ArduCopter: use virtual method for
 GCS_MAVLink::handle_message

use more appropriate naming for the method.
---
 ArduCopter/GCS_Mavlink.cpp | 4 ++--
 ArduCopter/GCS_Mavlink.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index e07bd005d0275c..f625654ce2c753 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1167,7 +1167,7 @@ bool GCS_MAVLINK_Copter::sane_vel_or_acc_vector(const Vector3f &vec) const
     return true;
 }
 
-void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
+void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
 {
 #if MODE_GUIDED_ENABLED == ENABLED
     // for mavlink SET_POSITION_TARGET messages
@@ -1510,7 +1510,7 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
 #endif
         
     default:
-        handle_common_message(msg);
+        GCS_MAVLINK::handle_message(msg);
         break;
     }     // end switch
 } // end handle mavlink
diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h
index d042d3000ebe06..0167a5d096d7ba 100644
--- a/ArduCopter/GCS_Mavlink.h
+++ b/ArduCopter/GCS_Mavlink.h
@@ -66,7 +66,7 @@ class GCS_MAVLINK_Copter : public GCS_MAVLINK
 
     MISSION_STATE mission_state(const class AP_Mission &mission) const override;
 
-    void handleMessage(const mavlink_message_t &msg) override;
+    void handle_message(const mavlink_message_t &msg) override;
     void handle_command_ack(const mavlink_message_t &msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     bool try_send_message(enum ap_message id) override;

From 2f0cb8b65015e0eff547c1fe76640ab707a5c054 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 23 Jan 2024 17:41:49 +1100
Subject: [PATCH 0860/1335] ArduPlane: use virtual method for
 GCS_MAVLink::handle_message

use more appropriate naming for the method.
---
 ArduPlane/GCS_Mavlink.cpp | 4 ++--
 ArduPlane/GCS_Mavlink.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 37bdf02be4b66e..a80e7ab44f43da 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1223,7 +1223,7 @@ void GCS_MAVLINK_Plane::handle_manual_control_axes(const mavlink_manual_control_
     manual_override(plane.channel_rudder, packet.r, 1000, 2000, tnow);
 }
 
-void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg)
+void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
 
@@ -1394,7 +1394,7 @@ void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg)
     }
 
     default:
-        handle_common_message(msg);
+        GCS_MAVLINK::handle_message(msg);
         break;
     } // end switch
 } // end handle mavlink
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index e497a567106a9d..d3c476318b61da 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -50,7 +50,7 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK
 
     void send_pid_info(const struct AP_PIDInfo *pid_info, const uint8_t axis, const float achieved);
 
-    void handleMessage(const mavlink_message_t &msg) override;
+    void handle_message(const mavlink_message_t &msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
     MAV_RESULT handle_command_int_do_reposition(const mavlink_command_int_t &packet);

From aa14e73a0bc726ce085b94b6e25cb2e2b3d371df Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 23 Jan 2024 17:41:49 +1100
Subject: [PATCH 0861/1335] ArduSub: use virtual method for
 GCS_MAVLink::handle_message

use more appropriate naming for the method.
---
 ArduSub/GCS_Mavlink.cpp | 4 ++--
 ArduSub/GCS_Mavlink.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index aa4c39b3268a73..3b5fb95d79fd49 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -568,7 +568,7 @@ MAV_RESULT GCS_MAVLINK_Sub::handle_MAV_CMD_DO_MOTOR_TEST(const mavlink_command_i
         return MAV_RESULT_ACCEPTED;
 }
 
-void GCS_MAVLINK_Sub::handleMessage(const mavlink_message_t &msg)
+void GCS_MAVLINK_Sub::handle_message(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
 
@@ -817,7 +817,7 @@ void GCS_MAVLINK_Sub::handleMessage(const mavlink_message_t &msg)
         break;
 
     default:
-        handle_common_message(msg);
+        GCS_MAVLINK::handle_message(msg);
         break;
     }     // end switch
 } // end handle mavlink
diff --git a/ArduSub/GCS_Mavlink.h b/ArduSub/GCS_Mavlink.h
index 91c62ddff5278a..4b49f2246e64ca 100644
--- a/ArduSub/GCS_Mavlink.h
+++ b/ArduSub/GCS_Mavlink.h
@@ -41,7 +41,7 @@ class GCS_MAVLINK_Sub : public GCS_MAVLINK {
 
 private:
 
-    void handleMessage(const mavlink_message_t &msg) override;
+    void handle_message(const mavlink_message_t &msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     bool try_send_message(enum ap_message id) override;
 

From 55710e7f7ba7f1c46bd217cc74c3c12a81bce578 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 23 Jan 2024 17:41:49 +1100
Subject: [PATCH 0862/1335] Blimp: use virtual method for
 GCS_MAVLink::handle_message

use more appropriate naming for the method.
---
 Blimp/GCS_Mavlink.cpp | 4 ++--
 Blimp/GCS_Mavlink.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Blimp/GCS_Mavlink.cpp b/Blimp/GCS_Mavlink.cpp
index 3e7f084ff0034c..296c9940fe5b14 100644
--- a/Blimp/GCS_Mavlink.cpp
+++ b/Blimp/GCS_Mavlink.cpp
@@ -512,7 +512,7 @@ bool GCS_MAVLINK_Blimp::mav_frame_for_command_long(MAV_FRAME &frame, MAV_CMD pac
 }
 #endif
 
-void GCS_MAVLINK_Blimp::handleMessage(const mavlink_message_t &msg)
+void GCS_MAVLINK_Blimp::handle_message(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
 
@@ -531,7 +531,7 @@ void GCS_MAVLINK_Blimp::handleMessage(const mavlink_message_t &msg)
         break;
 
     default:
-        handle_common_message(msg);
+        GCS_MAVLINK::handle_message(msg);
         break;
     }     // end switch
 } // end handle mavlink
diff --git a/Blimp/GCS_Mavlink.h b/Blimp/GCS_Mavlink.h
index 756dddc3fcf24e..42f2686950e6b2 100644
--- a/Blimp/GCS_Mavlink.h
+++ b/Blimp/GCS_Mavlink.h
@@ -46,7 +46,7 @@ class GCS_MAVLINK_Blimp : public GCS_MAVLINK
 
 private:
 
-    void handleMessage(const mavlink_message_t &msg) override;
+    void handle_message(const mavlink_message_t &msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     bool try_send_message(enum ap_message id) override;
 

From 03fe367459a12172b60e7515f564c147507b0963 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 23 Jan 2024 17:41:49 +1100
Subject: [PATCH 0863/1335] Rover: use virtual method for
 GCS_MAVLink::handle_message

use more appropriate naming for the method.
---
 Rover/GCS_Mavlink.cpp | 4 ++--
 Rover/GCS_Mavlink.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index bf86b9c7e3ba88..6fab0bc59108d3 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -777,7 +777,7 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_do_reposition(const mavlink_com
     return MAV_RESULT_ACCEPTED;
 }
 
-void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg)
+void GCS_MAVLINK_Rover::handle_message(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
 
@@ -799,7 +799,7 @@ void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg)
         break;
 
     default:
-        handle_common_message(msg);
+        GCS_MAVLINK::handle_message(msg);
         break;
     }
 }
diff --git a/Rover/GCS_Mavlink.h b/Rover/GCS_Mavlink.h
index 050109f5ccc3b3..c5df38a432c287 100644
--- a/Rover/GCS_Mavlink.h
+++ b/Rover/GCS_Mavlink.h
@@ -38,7 +38,7 @@ class GCS_MAVLINK_Rover : public GCS_MAVLINK
 
 private:
 
-    void handleMessage(const mavlink_message_t &msg) override;
+    void handle_message(const mavlink_message_t &msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     bool try_send_message(enum ap_message id) override;
 

From 113ada05243b043d3c5f8f6c4b25d561723e68ce Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 23 Jan 2024 17:41:49 +1100
Subject: [PATCH 0864/1335] Tools: use virtual method for
 GCS_MAVLink::handle_message

use more appropriate naming for the method.
---
 Tools/AP_Periph/GCS_MAVLink.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/Tools/AP_Periph/GCS_MAVLink.h b/Tools/AP_Periph/GCS_MAVLink.h
index ce1f17b1ba2ed7..c4ec45bb290f0e 100644
--- a/Tools/AP_Periph/GCS_MAVLink.h
+++ b/Tools/AP_Periph/GCS_MAVLink.h
@@ -29,7 +29,6 @@ class GCS_MAVLINK_Periph : public GCS_MAVLINK
 private:
 
     uint32_t telem_delay() const override { return 0; }
-    void handleMessage(const mavlink_message_t &msg) override { handle_common_message(msg); }
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return true; }
     MAV_RESULT handle_preflight_reboot(const mavlink_command_int_t &packet, const mavlink_message_t &msg) override;
     uint8_t sysid_my_gcs() const override;

From d4cbb54e3556d7986c8c5de053c45cf0bb929dde Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 24 Jan 2024 17:31:15 +1100
Subject: [PATCH 0865/1335] autotest: tidy setting of board type

splitting the string isn't pretty - just set two variables.
---
 Tools/autotest/autotest.py | 34 ++++++++++++++++------------------
 1 file changed, 16 insertions(+), 18 deletions(-)

diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index 970dc3bde03372..52bb3aac1e95e2 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -286,7 +286,7 @@ def should_run_step(step):
     "Blimp": "blimp",
     "BalanceBot": "ardurover",
     "Sailboat": "ardurover",
-    "SITLPeriphUniversal": "sitl_periph_universal.AP_Periph",
+    "SITLPeriphUniversal": ("sitl_periph_universal", "AP_Periph"),
     "CAN": "arducopter",
 }
 
@@ -298,17 +298,16 @@ def binary_path(step, debug=False):
     except Exception:
         return None
 
-    if vehicle in __bin_names:
-        if len(__bin_names[vehicle].split(".")) == 2:
-            config_name = __bin_names[vehicle].split(".")[0]
-            binary_name = __bin_names[vehicle].split(".")[1]
-        else:
-            config_name = 'sitl'
-            binary_name = __bin_names[vehicle]
-    else:
+    if vehicle not in __bin_names:
         # cope with builds that don't have a specific binary
         return None
 
+    try:
+        (config_name, binary_name) = __bin_names[vehicle]
+    except ValueError:
+        config_name = "sitl"
+        binary_name = __bin_names[vehicle]
+
     binary = util.reltopdir(os.path.join('build',
                                          config_name,
                                          'bin',
@@ -420,6 +419,7 @@ def run_step(step):
     build_opts = build_opts
 
     vehicle_binary = None
+    board = "sitl"
     if step == 'build.Plane':
         vehicle_binary = 'bin/arduplane'
 
@@ -442,7 +442,8 @@ def run_step(step):
         vehicle_binary = 'bin/ardusub'
 
     if step == 'build.SITLPeriphUniversal':
-        vehicle_binary = 'sitl_periph_universal.bin/AP_Periph'
+        vehicle_binary = 'bin/AP_Periph'
+        board = 'sitl_periph_universal'
 
     if step == 'build.Replay':
         return util.build_replay(board='SITL')
@@ -453,14 +454,11 @@ def run_step(step):
             os.unlink(binary)
         except (FileNotFoundError, ValueError):
             pass
-        if len(vehicle_binary.split(".")) == 1:
-            return util.build_SITL(vehicle_binary, **build_opts)
-        else:
-            return util.build_SITL(
-                vehicle_binary.split(".")[1],
-                board=vehicle_binary.split(".")[0],
-                **build_opts
-            )
+        return util.build_SITL(
+            vehicle_binary,
+            board=board,
+            **build_opts
+        )
 
     binary = binary_path(step, debug=opts.debug)
 

From 5e5bca2bba45ce9ff6c45018c277afe44a6a5294 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 24 Jan 2024 10:57:16 +1100
Subject: [PATCH 0866/1335] GCS_MAVLink: handle RADIO_STATUS is GCS base class

---
 libraries/GCS_MAVLink/GCS.h          | 5 ++++-
 libraries/GCS_MAVLink/GCS_Common.cpp | 9 +++++++--
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 415dd1b51c9e61..0f4b42cb0368c0 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -573,7 +573,10 @@ class GCS_MAVLINK
 #endif
     void handle_fence_message(const mavlink_message_t &msg);
     void handle_param_value(const mavlink_message_t &msg);
-    void handle_radio_status(const mavlink_message_t &msg, bool log_radio);
+#if HAL_LOGGING_ENABLED
+    virtual uint32_t log_radio_bit() const { return 0; }
+#endif
+    void handle_radio_status(const mavlink_message_t &msg);
     void handle_serial_control(const mavlink_message_t &msg);
     void handle_vision_position_delta(const mavlink_message_t &msg);
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index eac5d393a07fe5..c1f07fea17c828 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -827,7 +827,7 @@ float GCS_MAVLINK::telemetry_radio_rssi()
     return last_radio_status.rssi/254.0f;
 }
 
-void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg, bool log_radio)
+void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg)
 {
     mavlink_radio_t packet;
     mavlink_msg_radio_decode(&msg, &packet);
@@ -874,7 +874,7 @@ void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg, bool log_rad
 
 #if HAL_LOGGING_ENABLED
     //log rssi, noise, etc if logging Performance monitoring data
-    if (log_radio) {
+    if (AP::logger().should_log(log_radio_bit())) {
         AP::logger().Write_Radio(packet);
     }
 #endif
@@ -4070,6 +4070,11 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
         handle_param_value(msg);
         break;
 
+    case MAVLINK_MSG_ID_RADIO:
+    case MAVLINK_MSG_ID_RADIO_STATUS:
+        handle_radio_status(msg);
+        break;
+
 #if AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED
     case MAVLINK_MSG_ID_SERIAL_CONTROL:
         handle_serial_control(msg);

From 4c2cc511e690c9ea663c9c94d00c67b6650b2a9d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 24 Jan 2024 10:57:16 +1100
Subject: [PATCH 0867/1335] ArduCopter: handle RADIO_STATUS is GCS base class

---
 ArduCopter/GCS_Mavlink.cpp | 11 -----------
 ArduCopter/GCS_Mavlink.h   |  5 +++++
 2 files changed, 5 insertions(+), 11 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index f625654ce2c753..c35d96e4ba52c1 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1485,17 +1485,6 @@ void GCS_MAVLINK_Copter::handle_message(const mavlink_message_t &msg)
     }
 #endif
 
-    case MAVLINK_MSG_ID_RADIO:
-    case MAVLINK_MSG_ID_RADIO_STATUS:       // MAV ID: 109
-    {
-#if HAL_LOGGING_ENABLED
-        handle_radio_status(msg, copter.should_log(MASK_LOG_PM));
-#else
-        handle_radio_status(msg, false);
-#endif
-        break;
-    }
-
     case MAVLINK_MSG_ID_TERRAIN_DATA:
     case MAVLINK_MSG_ID_TERRAIN_CHECK:
 #if AP_TERRAIN_AVAILABLE
diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h
index 0167a5d096d7ba..1961916e03bae4 100644
--- a/ArduCopter/GCS_Mavlink.h
+++ b/ArduCopter/GCS_Mavlink.h
@@ -2,6 +2,7 @@
 
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Winch/AP_Winch_config.h>
+#include "defines.h"
 
 #ifndef AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED
 #define AC_MAVLINK_SOLO_BUTTON_COMMAND_HANDLING_ENABLED 1
@@ -57,6 +58,10 @@ class GCS_MAVLINK_Copter : public GCS_MAVLINK
 
     void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;
 
+#if HAL_LOGGING_ENABLED
+    uint32_t log_radio_bit() const override { return MASK_LOG_PM; }
+#endif
+
 private:
 
     // sanity check velocity or acceleration vector components are numbers

From 57535b538eeff76c7cf1fd1a26b598d6b74aa5cb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 24 Jan 2024 10:57:16 +1100
Subject: [PATCH 0868/1335] ArduPlane: handle RADIO_STATUS is GCS base class

---
 ArduPlane/GCS_Mavlink.cpp | 11 -----------
 ArduPlane/GCS_Mavlink.h   |  5 +++++
 2 files changed, 5 insertions(+), 11 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index a80e7ab44f43da..c57d3e22f4d6dc 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1227,17 +1227,6 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
 
-    case MAVLINK_MSG_ID_RADIO:
-    case MAVLINK_MSG_ID_RADIO_STATUS:
-    {
-#if HAL_LOGGING_ENABLED
-        handle_radio_status(msg, plane.should_log(MASK_LOG_PM));
-#else
-        handle_radio_status(msg, false);
-#endif
-        break;
-    }
-
     case MAVLINK_MSG_ID_TERRAIN_DATA:
     case MAVLINK_MSG_ID_TERRAIN_CHECK:
 #if AP_TERRAIN_AVAILABLE
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index d3c476318b61da..7543dea8c35994 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -4,6 +4,7 @@
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Airspeed/AP_Airspeed_config.h>
 #include "quadplane.h"
+#include "defines.h"
 
 class GCS_MAVLINK_Plane : public GCS_MAVLINK
 {
@@ -18,6 +19,10 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK
 
     uint32_t telem_delay() const override;
 
+#if HAL_LOGGING_ENABLED
+    uint32_t log_radio_bit() const override { return MASK_LOG_PM; }
+#endif
+
 #if AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
     void handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg) override;
 #endif

From 81b279758d40f152e038c19f79f60488393e4ce4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 24 Jan 2024 10:57:16 +1100
Subject: [PATCH 0869/1335] Blimp: handle RADIO_STATUS is GCS base class

---
 Blimp/GCS_Mavlink.cpp | 10 ----------
 Blimp/GCS_Mavlink.h   |  6 ++++++
 2 files changed, 6 insertions(+), 10 deletions(-)

diff --git a/Blimp/GCS_Mavlink.cpp b/Blimp/GCS_Mavlink.cpp
index 296c9940fe5b14..2c0e92fa26c9d8 100644
--- a/Blimp/GCS_Mavlink.cpp
+++ b/Blimp/GCS_Mavlink.cpp
@@ -516,16 +516,6 @@ void GCS_MAVLINK_Blimp::handle_message(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
 
-    case MAVLINK_MSG_ID_RADIO:
-    case MAVLINK_MSG_ID_RADIO_STATUS: {     // MAV ID: 109
-#if HAL_LOGGING_ENABLED
-        handle_radio_status(msg, blimp.should_log(MASK_LOG_PM));
-#else
-        handle_radio_status(msg, false);
-#endif
-        break;
-    }
-
     case MAVLINK_MSG_ID_TERRAIN_DATA:
     case MAVLINK_MSG_ID_TERRAIN_CHECK:
         break;
diff --git a/Blimp/GCS_Mavlink.h b/Blimp/GCS_Mavlink.h
index 42f2686950e6b2..87dad1ceb0820e 100644
--- a/Blimp/GCS_Mavlink.h
+++ b/Blimp/GCS_Mavlink.h
@@ -2,6 +2,8 @@
 
 #include <GCS_MAVLink/GCS.h>
 
+#include "defines.h"
+
 class GCS_MAVLINK_Blimp : public GCS_MAVLINK
 {
 
@@ -44,6 +46,10 @@ class GCS_MAVLINK_Blimp : public GCS_MAVLINK
     };
     virtual MAV_LANDED_STATE landed_state() const override;
 
+#if HAL_LOGGING_ENABLED
+    uint32_t log_radio_bit() const override { return MASK_LOG_PM; }
+#endif
+
 private:
 
     void handle_message(const mavlink_message_t &msg) override;

From 75dec6fcc7a124558cb49689b6136ff89c8c019d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 24 Jan 2024 10:57:16 +1100
Subject: [PATCH 0870/1335] Rover: handle RADIO_STATUS is GCS base class

---
 Rover/GCS_Mavlink.cpp | 14 --------------
 Rover/GCS_Mavlink.h   |  6 ++++++
 2 files changed, 6 insertions(+), 14 deletions(-)

diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index 6fab0bc59108d3..efe14de0780a30 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -793,11 +793,6 @@ void GCS_MAVLINK_Rover::handle_message(const mavlink_message_t &msg)
         handle_set_position_target_global_int(msg);
         break;
 
-    case MAVLINK_MSG_ID_RADIO:
-    case MAVLINK_MSG_ID_RADIO_STATUS:
-        handle_radio(msg);
-        break;
-
     default:
         GCS_MAVLINK::handle_message(msg);
         break;
@@ -1063,15 +1058,6 @@ void GCS_MAVLINK_Rover::handle_set_position_target_global_int(const mavlink_mess
     }
 }
 
-void GCS_MAVLINK_Rover::handle_radio(const mavlink_message_t &msg)
-{
-#if HAL_LOGGING_ENABLED
-    handle_radio_status(msg, rover.should_log(MASK_LOG_PM));
-#else
-    handle_radio_status(msg, false);
-#endif
-}
-
 /*
   handle a LANDING_TARGET command. The timestamp has been jitter corrected
 */
diff --git a/Rover/GCS_Mavlink.h b/Rover/GCS_Mavlink.h
index c5df38a432c287..048bb86969a4e5 100644
--- a/Rover/GCS_Mavlink.h
+++ b/Rover/GCS_Mavlink.h
@@ -7,6 +7,8 @@
 #define AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED 1
 #endif
 
+#include "defines.h"
+
 class GCS_MAVLINK_Rover : public GCS_MAVLINK
 {
 public:
@@ -36,6 +38,10 @@ class GCS_MAVLINK_Rover : public GCS_MAVLINK
     void send_nav_controller_output() const override;
     void send_pid_tuning() override;
 
+#if HAL_LOGGING_ENABLED
+    uint32_t log_radio_bit() const override { return MASK_LOG_PM; }
+#endif
+
 private:
 
     void handle_message(const mavlink_message_t &msg) override;

From 1bfd9f37639fb4b91c27077fe0249928c549badb Mon Sep 17 00:00:00 2001
From: Simon Hancock <simon@linkingdrones.com>
Date: Mon, 22 Jan 2024 14:15:58 +0000
Subject: [PATCH 0871/1335] AP_Logger: Correct for loop condition

---
 libraries/AP_Logger/AP_Logger.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Logger/AP_Logger.cpp b/libraries/AP_Logger/AP_Logger.cpp
index aa19981e0f2962..fb55e52f4ddeb5 100644
--- a/libraries/AP_Logger/AP_Logger.cpp
+++ b/libraries/AP_Logger/AP_Logger.cpp
@@ -289,7 +289,7 @@ static uint8_t count_commas(const char *string)
 /// return a unit name given its ID
 const char* AP_Logger::unit_name(const uint8_t unit_id)
 {
-    for (uint8_t i=0; i<unit_id; i++) {
+    for (uint8_t i=0; i<_num_units; i++) {
         if (_units[i].ID == unit_id) {
             return _units[i].unit;
         }
@@ -300,7 +300,7 @@ const char* AP_Logger::unit_name(const uint8_t unit_id)
 /// return a multiplier value given its ID
 double AP_Logger::multiplier_name(const uint8_t multiplier_id)
 {
-    for (uint8_t i=0; i<multiplier_id; i++) {
+    for (uint8_t i=0; i<_num_multipliers; i++) {
         if (_multipliers[i].ID == multiplier_id) {
             return _multipliers[i].multiplier;
         }

From 5bc2b1a09b9b1b1b0dd81f147d6d65c96c9f1049 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 24 Jan 2024 09:58:17 +1100
Subject: [PATCH 0872/1335] Plane: break out a method for
 set-position-target-global-int

---
 ArduPlane/GCS_Mavlink.cpp | 20 +++++++++++---------
 ArduPlane/GCS_Mavlink.h   |  2 ++
 2 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index c57d3e22f4d6dc..c0e1a36868edcf 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1329,6 +1329,16 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
     }
 
     case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
+        handle_set_position_target_global_int(msg);
+        break;
+
+    default:
+        GCS_MAVLINK::handle_message(msg);
+        break;
+    } // end switch
+} // end handle mavlink
+
+void GCS_MAVLINK_Plane::handle_set_position_target_global_int(const mavlink_message_t &msg)
     {
         // Only want to allow companion computer position control when
         // in a certain mode to avoid inadvertently sending these
@@ -1338,7 +1348,7 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
         // one uses the FENCE_ACTION = 4 (RTL) for geofence failures).
         if (plane.control_mode != &plane.mode_guided) {
             //don't screw up failsafes
-            break;
+            return;
         }
 
         mavlink_set_position_target_global_int_t pos_target;
@@ -1378,16 +1388,8 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
                 handle_change_alt_request(cmd);
             }
         } // end if alt_mask       
-
-        break;
     }
 
-    default:
-        GCS_MAVLINK::handle_message(msg);
-        break;
-    } // end switch
-} // end handle mavlink
-
 MAV_RESULT GCS_MAVLINK_Plane::handle_command_do_set_mission_current(const mavlink_command_int_t &packet)
 {
     const MAV_RESULT result = GCS_MAVLINK::handle_command_do_set_mission_current(packet);
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index 7543dea8c35994..3f737838b61e2d 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -66,6 +66,8 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK
     MAV_RESULT handle_MAV_CMD_DO_PARACHUTE(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet);
 
+    void handle_set_position_target_global_int(const mavlink_message_t &msg);
+
 #if HAL_QUADPLANE_ENABLED
 #if AP_MAVLINK_COMMAND_LONG_ENABLED
     void convert_MAV_CMD_NAV_TAKEOFF_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out);

From f96add13e9fef514ed4f2016630637cbe58d8e86 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 24 Jan 2024 10:07:19 +1100
Subject: [PATCH 0873/1335] Plane: break out a method for
 set-position-target-local-ned

---
 ArduPlane/GCS_Mavlink.cpp | 30 ++++++++++++++++--------------
 ArduPlane/GCS_Mavlink.h   |  1 +
 2 files changed, 17 insertions(+), 14 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index c0e1a36868edcf..ea7b291c591557 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1305,6 +1305,20 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
     }
 
     case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
+        handle_set_position_target_local_ned(msg);
+        break;
+
+    case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
+        handle_set_position_target_global_int(msg);
+        break;
+
+    default:
+        GCS_MAVLINK::handle_message(msg);
+        break;
+    } // end switch
+} // end handle mavlink
+
+void GCS_MAVLINK_Plane::handle_set_position_target_local_ned(const mavlink_message_t &msg)
     {
         // decode packet
         mavlink_set_position_target_local_ned_t packet;
@@ -1312,32 +1326,20 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
 
         // exit if vehicle is not in Guided mode
         if (plane.control_mode != &plane.mode_guided) {
-            break;
+            return;
         }
 
         // only local moves for now
         if (packet.coordinate_frame != MAV_FRAME_LOCAL_OFFSET_NED) {
-            break;
+            return;
         }
 
         // just do altitude for now
         plane.next_WP_loc.alt += -packet.z*100.0;
         gcs().send_text(MAV_SEVERITY_INFO, "Change alt to %.1f",
                         (double)((plane.next_WP_loc.alt - plane.home.alt)*0.01));
-        
-        break;
     }
 
-    case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
-        handle_set_position_target_global_int(msg);
-        break;
-
-    default:
-        GCS_MAVLINK::handle_message(msg);
-        break;
-    } // end switch
-} // end handle mavlink
-
 void GCS_MAVLINK_Plane::handle_set_position_target_global_int(const mavlink_message_t &msg)
     {
         // Only want to allow companion computer position control when
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index 3f737838b61e2d..e9df972aba0d6d 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -67,6 +67,7 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK
     MAV_RESULT handle_command_DO_VTOL_TRANSITION(const mavlink_command_int_t &packet);
 
     void handle_set_position_target_global_int(const mavlink_message_t &msg);
+    void handle_set_position_target_local_ned(const mavlink_message_t &msg);
 
 #if HAL_QUADPLANE_ENABLED
 #if AP_MAVLINK_COMMAND_LONG_ENABLED

From 127961e692bef909b078c9e47ac67b351842b6e1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 24 Jan 2024 10:09:23 +1100
Subject: [PATCH 0874/1335] Plane: break out a method for set-attitude-target

---
 ArduPlane/GCS_Mavlink.cpp | 36 +++++++++++++++++++-----------------
 ArduPlane/GCS_Mavlink.h   |  1 +
 2 files changed, 20 insertions(+), 17 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index ea7b291c591557..c8ee1e7a20c379 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1235,6 +1235,24 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
         break;
 
     case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
+        handle_set_attitude_target(msg);
+        break;
+
+    case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
+        handle_set_position_target_local_ned(msg);
+        break;
+
+    case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
+        handle_set_position_target_global_int(msg);
+        break;
+
+    default:
+        GCS_MAVLINK::handle_message(msg);
+        break;
+    } // end switch
+} // end handle mavlink
+
+void GCS_MAVLINK_Plane::handle_set_attitude_target(const mavlink_message_t &msg)
     {
         // Only allow companion computer (or other external controller) to
         // control attitude in GUIDED mode.  We DON'T want external control
@@ -1242,7 +1260,7 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
         // computer control is more safe (even more so when using
         // FENCE_ACTION = 4 for geofence failures).
         if (plane.control_mode != &plane.mode_guided) { // don't screw up failsafes
-            break; 
+            return;
         }
 
         mavlink_set_attitude_target_t att_target;
@@ -1300,24 +1318,8 @@ void GCS_MAVLINK_Plane::handle_message(const mavlink_message_t &msg)
             // Update timer for external throttle
             plane.guided_state.last_forced_throttle_ms = now;
         }
-
-        break;
     }
 
-    case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
-        handle_set_position_target_local_ned(msg);
-        break;
-
-    case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
-        handle_set_position_target_global_int(msg);
-        break;
-
-    default:
-        GCS_MAVLINK::handle_message(msg);
-        break;
-    } // end switch
-} // end handle mavlink
-
 void GCS_MAVLINK_Plane::handle_set_position_target_local_ned(const mavlink_message_t &msg)
     {
         // decode packet
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index e9df972aba0d6d..5920a354028bf0 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -68,6 +68,7 @@ class GCS_MAVLINK_Plane : public GCS_MAVLINK
 
     void handle_set_position_target_global_int(const mavlink_message_t &msg);
     void handle_set_position_target_local_ned(const mavlink_message_t &msg);
+    void handle_set_attitude_target(const mavlink_message_t &msg);
 
 #if HAL_QUADPLANE_ENABLED
 #if AP_MAVLINK_COMMAND_LONG_ENABLED

From 3ef2139f4b3694ca8468c45ea65b3eccb708fb0c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 23 Jan 2024 15:10:33 +1100
Subject: [PATCH 0875/1335] AP_FileSystem: permit upload of fence/rally via ftp

---
 .../AP_Filesystem/AP_Filesystem_Mission.cpp   | 129 +++++++++++++++++-
 .../AP_Filesystem/AP_Filesystem_Mission.h     |   3 +
 2 files changed, 125 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_Filesystem/AP_Filesystem_Mission.cpp b/libraries/AP_Filesystem/AP_Filesystem_Mission.cpp
index 59103f3f8a2f25..cba03addcdf75b 100644
--- a/libraries/AP_Filesystem/AP_Filesystem_Mission.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem_Mission.cpp
@@ -27,6 +27,7 @@
 #include <AP_Rally/AP_Rally.h>
 #include <GCS_MAVLink/MissionItemProtocol_Rally.h>
 #include <GCS_MAVLink/MissionItemProtocol_Fence.h>
+#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 extern int errno;
@@ -211,10 +212,12 @@ int AP_Filesystem_Mission::stat(const char *name, struct stat *stbuf)
  */
 bool AP_Filesystem_Mission::check_file_name(const char *name, enum MAV_MISSION_TYPE &mtype)
 {
+#if AP_MISSION_ENABLED
     if (strcmp(name, "mission.dat") == 0) {
         mtype = MAV_MISSION_TYPE_MISSION;
         return true;
     }
+#endif
 #if AP_FENCE_ENABLED
     if (strcmp(name, "fence.dat") == 0) {
         mtype = MAV_MISSION_TYPE_FENCE;
@@ -261,6 +264,7 @@ bool AP_Filesystem_Mission::get_item(uint32_t idx, enum MAV_MISSION_TYPE mtype,
 uint32_t AP_Filesystem_Mission::get_num_items(enum MAV_MISSION_TYPE mtype) const
 {
     switch (mtype) {
+#if AP_MISSION_ENABLED
     case MAV_MISSION_TYPE_MISSION: {
         auto *mission = AP::mission();
         if (!mission) {
@@ -268,18 +272,17 @@ uint32_t AP_Filesystem_Mission::get_num_items(enum MAV_MISSION_TYPE mtype) const
         }
         return mission->num_commands();
     }
-        
-    case MAV_MISSION_TYPE_FENCE: {
+#endif
+
 #if AP_FENCE_ENABLED
+    case MAV_MISSION_TYPE_FENCE: {
         auto *fence = AP::fence();
         if (fence == nullptr) {
             return 0;
         }
         return fence->polyfence().num_stored_items();
-#else
-        return 0;
-#endif
     }
+#endif
 
 #if HAL_RALLY_ENABLED
     case MAV_MISSION_TYPE_RALLY: {
@@ -381,6 +384,30 @@ bool AP_Filesystem_Mission::finish_upload(const rfile &r)
         }
     }
 
+    switch (r.mtype) {
+#if AP_MISSION_ENABLED
+    case MAV_MISSION_TYPE_MISSION:
+        return finish_upload_mission(hdr, r, b);
+#endif
+#if HAL_RALLY_ENABLED
+    case MAV_MISSION_TYPE_RALLY:
+        return finish_upload_rally(hdr, r, b);
+#endif
+#if AP_FENCE_ENABLED
+    case MAV_MISSION_TYPE_FENCE:
+        return finish_upload_fence(hdr, r, b);
+#endif
+    default:
+        // really should not get here....
+        break;
+    }
+
+    return false;
+}
+
+#if AP_MISSION_ENABLED
+bool AP_Filesystem_Mission::finish_upload_mission(const struct header &hdr, const rfile &r, const uint8_t *b)
+{
     auto *mission = AP::mission();
     if (mission == nullptr) {
         return false;
@@ -389,16 +416,17 @@ bool AP_Filesystem_Mission::finish_upload(const rfile &r)
     if ((hdr.options & unsigned(Options::NO_CLEAR)) == 0) {
         mission->clear();
     }
-    for (uint32_t i=0; i<nitems; i++) {
+    for (uint32_t i=0; i<hdr.num_items; i++) {
         mavlink_mission_item_int_t m {};
         AP_Mission::Mission_Command cmd;
+        const uint8_t item_size = MAVLINK_MSG_ID_MISSION_ITEM_INT_LEN;
         memcpy(&m, &b[sizeof(hdr)+i*item_size], item_size);
         const MAV_MISSION_RESULT res = AP_Mission::mavlink_int_to_mission_cmd(m, cmd);
         if (res != MAV_MISSION_ACCEPTED) {
             return false;
         }
         if (cmd.id == MAV_CMD_DO_JUMP &&
-            (cmd.content.jump.target >= nitems || cmd.content.jump.target == 0)) {
+            (cmd.content.jump.target >= hdr.num_items || cmd.content.jump.target == 0)) {
             return false;
         }
         uint16_t idx = i + hdr.start;
@@ -414,5 +442,92 @@ bool AP_Filesystem_Mission::finish_upload(const rfile &r)
     }
     return true;
 }
+#endif  // AP_MISSION_ENABLED
+
+#if AP_FENCE_ENABLED
+bool AP_Filesystem_Mission::finish_upload_fence(const struct header &hdr, const rfile &r, const uint8_t *b)
+{
+    bool success = false;
+
+    AC_PolyFenceItem *new_items = nullptr;
+
+    auto *fence = AP::fence();
+    if (fence == nullptr) {
+        goto OUT;
+    }
+
+    if ((hdr.options & unsigned(Options::NO_CLEAR)) != 0) {
+        // Only complete fences can be uploaded for now.
+        goto OUT;
+    }
+
+    // passing nullptr and 0 items through to Polyfence loader is
+    // absolutely OK:
+    if (hdr.num_items != 0) {
+        new_items = new AC_PolyFenceItem[hdr.num_items];
+        if (new_items == nullptr) {
+            GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Out of memory for upload");
+            goto OUT;
+        }
+    }
+
+    // convert from MISSION_ITEM_INT to AC_PolyFenceItem:
+    for (uint32_t i=0; i<hdr.num_items; i++) {
+        mavlink_mission_item_int_t m {};
+        const uint8_t item_size = MAVLINK_MSG_ID_MISSION_ITEM_INT_LEN;
+        memcpy(&m, &b[sizeof(hdr)+i*item_size], item_size);
+        const MAV_MISSION_RESULT res = MissionItemProtocol_Fence::convert_MISSION_ITEM_INT_to_AC_PolyFenceItem(m, new_items[i]);
+        if (res != MAV_MISSION_ACCEPTED) {
+            goto OUT;
+        }
+    }
+
+    success = fence->polyfence().write_fence(new_items, hdr.num_items);
+
+OUT:
+
+    delete[] new_items;
+
+    return success;
+}
+#endif  // AP_FENCE_ENABLED
+
+#if HAL_RALLY_ENABLED
+bool AP_Filesystem_Mission::finish_upload_rally(const struct header &hdr, const rfile &r, const uint8_t *b)
+{
+    bool success = false;
+
+    auto *rally = AP::rally();
+    if (rally == nullptr) {
+        goto OUT;
+    }
+
+    if ((hdr.options & unsigned(Options::NO_CLEAR)) != 0) {
+        //only complete sets of rally points can be added ATM
+        goto OUT;
+    }
+
+    rally->truncate(0);
+
+    for (uint32_t i=0; i<hdr.num_items; i++) {
+        mavlink_mission_item_int_t m {};
+        RallyLocation cmd;
+        const uint8_t item_size = MAVLINK_MSG_ID_MISSION_ITEM_INT_LEN;
+        memcpy(&m, &b[sizeof(hdr)+i*item_size], item_size);
+        const MAV_MISSION_RESULT res = MissionItemProtocol_Rally::convert_MISSION_ITEM_INT_to_RallyLocation(m, cmd);
+        if (res != MAV_MISSION_ACCEPTED) {
+            goto OUT;
+        }
+
+        if (!rally->append(cmd)) {
+            goto OUT;
+        }
+    }
+    success = true;
+
+OUT:
+    return success;
+}
+#endif  // HAL_RALLY_ENABLED
 
 #endif  // AP_FILESYSTEM_MISSION_ENABLED
diff --git a/libraries/AP_Filesystem/AP_Filesystem_Mission.h b/libraries/AP_Filesystem/AP_Filesystem_Mission.h
index 5a6e123527651a..88a97781e9c032 100644
--- a/libraries/AP_Filesystem/AP_Filesystem_Mission.h
+++ b/libraries/AP_Filesystem/AP_Filesystem_Mission.h
@@ -72,6 +72,9 @@ class AP_Filesystem_Mission : public AP_Filesystem_Backend
 
     // finish loading items
     bool finish_upload(const rfile &r);
+    bool finish_upload_mission(const struct header &hdr, const rfile &r, const uint8_t *b);
+    bool finish_upload_fence(const struct header &hdr, const rfile &r, const uint8_t *b);
+    bool finish_upload_rally(const struct header &hdr, const rfile &r, const uint8_t *b);
 
     // see if a block of memory is all zero
     bool all_zero(const uint8_t *b, uint8_t size) const;

From c33d665906d56820d7161aae7714197852addb09 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 23 Jan 2024 15:23:15 +1100
Subject: [PATCH 0876/1335] GCS_MAVLink: make rally/fence item conversion
 methods public

---
 libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp | 2 +-
 libraries/GCS_MAVLink/MissionItemProtocol_Fence.h   | 6 +++++-
 libraries/GCS_MAVLink/MissionItemProtocol_Rally.h   | 6 +++---
 3 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp b/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp
index bea8f3dd89dba9..3d8cd593d02ee7 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp
@@ -95,7 +95,7 @@ uint16_t MissionItemProtocol_Fence::item_count() const
     return _fence.polyfence().num_stored_items();
 }
 
-static MAV_MISSION_RESULT convert_MISSION_ITEM_INT_to_AC_PolyFenceItem(const mavlink_mission_item_int_t &mission_item_int, AC_PolyFenceItem &ret)
+MAV_MISSION_RESULT MissionItemProtocol_Fence::convert_MISSION_ITEM_INT_to_AC_PolyFenceItem(const mavlink_mission_item_int_t &mission_item_int, AC_PolyFenceItem &ret)
 {
     if (mission_item_int.frame != MAV_FRAME_GLOBAL &&
         mission_item_int.frame != MAV_FRAME_GLOBAL_INT &&
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Fence.h b/libraries/GCS_MAVLink/MissionItemProtocol_Fence.h
index 56cadc02eb3024..58a984f60a821a 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Fence.h
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Fence.h
@@ -2,6 +2,8 @@
 
 #include "MissionItemProtocol.h"
 
+#include <AC_Fence/AC_Fence.h>
+
 class AC_PolyFence_loader;
 
 class MissionItemProtocol_Fence : public MissionItemProtocol {
@@ -21,7 +23,9 @@ class MissionItemProtocol_Fence : public MissionItemProtocol {
       static function to format mission item as mavlink_mission_item_int_t
     */
     static bool get_item_as_mission_item(uint16_t seq, mavlink_mission_item_int_t &ret_packet);
-    
+
+    static MAV_MISSION_RESULT convert_MISSION_ITEM_INT_to_AC_PolyFenceItem(const mavlink_mission_item_int_t &mission_item_int, class AC_PolyFenceItem &ret);
+
 protected:
 
     ap_message next_item_ap_message_id() const override {
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Rally.h b/libraries/GCS_MAVLink/MissionItemProtocol_Rally.h
index f527f109bc5185..add6efa6ca53e5 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Rally.h
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Rally.h
@@ -20,7 +20,9 @@ class MissionItemProtocol_Rally : public MissionItemProtocol {
       static function to get rally item as mavlink_mission_item_int_t
     */
     static bool get_item_as_mission_item(uint16_t seq, mavlink_mission_item_int_t &ret_packet);
-    
+
+    static MAV_MISSION_RESULT convert_MISSION_ITEM_INT_to_RallyLocation(const mavlink_mission_item_int_t &cmd, class RallyLocation &ret) WARN_IF_UNUSED;
+
 protected:
 
     ap_message next_item_ap_message_id() const override {
@@ -42,8 +44,6 @@ class MissionItemProtocol_Rally : public MissionItemProtocol {
                                 const mavlink_mission_request_int_t &packet,
                                 mavlink_mission_item_int_t &ret_packet) override WARN_IF_UNUSED;
 
-    static MAV_MISSION_RESULT convert_MISSION_ITEM_INT_to_RallyLocation(const mavlink_mission_item_int_t &cmd, class RallyLocation &ret) WARN_IF_UNUSED;
-
 };
 
 #endif  // HAL_RALLY_ENABLED

From 8c72304ab912b42d38bd3301fd964aaec7149e77 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 23 Jan 2024 00:47:48 +0000
Subject: [PATCH 0877/1335] AC_Avoidance: AP_OADijkstra: correct use of
 uninitialised value when retrying fence

---
 libraries/AC_Avoidance/AP_OADijkstra.cpp | 31 ++++++++++++------------
 libraries/AC_Avoidance/AP_OADijkstra.h   |  2 +-
 2 files changed, 16 insertions(+), 17 deletions(-)

diff --git a/libraries/AC_Avoidance/AP_OADijkstra.cpp b/libraries/AC_Avoidance/AP_OADijkstra.cpp
index f5150cd6ea32cb..d40b7a182f207d 100644
--- a/libraries/AC_Avoidance/AP_OADijkstra.cpp
+++ b/libraries/AC_Avoidance/AP_OADijkstra.cpp
@@ -90,47 +90,46 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
     }
 
     // create inner polygon fence
-    AP_OADijkstra_Error error_id;
     if (!_inclusion_polygon_with_margin_ok) {
-        _inclusion_polygon_with_margin_ok = create_inclusion_polygon_with_margin(_polyfence_margin * 100.0f, error_id);
+        _inclusion_polygon_with_margin_ok = create_inclusion_polygon_with_margin(_polyfence_margin * 100.0f, _error_id);
         if (!_inclusion_polygon_with_margin_ok) {
             dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
-            report_error(error_id);
-            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
+            report_error(_error_id);
+            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)_error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
         }
     }
 
     // create exclusion polygon outer fence
     if (!_exclusion_polygon_with_margin_ok) {
-        _exclusion_polygon_with_margin_ok = create_exclusion_polygon_with_margin(_polyfence_margin * 100.0f, error_id);
+        _exclusion_polygon_with_margin_ok = create_exclusion_polygon_with_margin(_polyfence_margin * 100.0f, _error_id);
         if (!_exclusion_polygon_with_margin_ok) {
             dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
-            report_error(error_id);
-            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
+            report_error(_error_id);
+            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)_error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
         }
     }
 
     // create exclusion circle points
     if (!_exclusion_circle_with_margin_ok) {
-        _exclusion_circle_with_margin_ok = create_exclusion_circle_with_margin(_polyfence_margin * 100.0f, error_id);
+        _exclusion_circle_with_margin_ok = create_exclusion_circle_with_margin(_polyfence_margin * 100.0f, _error_id);
         if (!_exclusion_circle_with_margin_ok) {
             dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
-            report_error(error_id);
-            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
+            report_error(_error_id);
+            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)_error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
         }
     }
 
     // create visgraph for all fence (with margin) points
     if (!_polyfence_visgraph_ok) {
-        _polyfence_visgraph_ok = create_fence_visgraph(error_id);
+        _polyfence_visgraph_ok = create_fence_visgraph(_error_id);
         if (!_polyfence_visgraph_ok) {
             _shortest_path_ok = false;
             dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
-            report_error(error_id);
-            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
+            report_error(_error_id);
+            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)_error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
         }
         // reset logging count to restart logging updated graph
@@ -157,11 +156,11 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
 
     // calculate shortest path from current_loc to destination
     if (!_shortest_path_ok) {
-        _shortest_path_ok = calc_shortest_path(current_loc, destination, error_id);
+        _shortest_path_ok = calc_shortest_path(current_loc, destination, _error_id);
         if (!_shortest_path_ok) {
             dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
-            report_error(error_id);
-            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
+            report_error(_error_id);
+            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)_error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
         }
         // start from 2nd point on path (first is the original origin)
diff --git a/libraries/AC_Avoidance/AP_OADijkstra.h b/libraries/AC_Avoidance/AP_OADijkstra.h
index b0beeea2113fe9..f56e940e30c9b8 100644
--- a/libraries/AC_Avoidance/AP_OADijkstra.h
+++ b/libraries/AC_Avoidance/AP_OADijkstra.h
@@ -57,7 +57,7 @@ class AP_OADijkstra {
         DIJKSTRA_ERROR_TOO_MANY_FENCE_POINTS,
         DIJKSTRA_ERROR_NO_POSITION_ESTIMATE,
         DIJKSTRA_ERROR_COULD_NOT_FIND_PATH
-    };
+    } _error_id;
 
     // return error message for a given error id
     const char* get_error_msg(AP_OADijkstra_Error error_id) const;

From 5d37442f7cfabf2edee8c9e838707f35bb0f0c9b Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 15 Jan 2024 15:36:58 -0600
Subject: [PATCH 0878/1335] Tools/embed: drop py2 compat, necessary for future
 improvements

---
 Tools/ardupilotwaf/embed.py | 15 +++------------
 1 file changed, 3 insertions(+), 12 deletions(-)

diff --git a/Tools/ardupilotwaf/embed.py b/Tools/ardupilotwaf/embed.py
index ccc9673985ea10..f6d39d7378e6c3 100755
--- a/Tools/ardupilotwaf/embed.py
+++ b/Tools/ardupilotwaf/embed.py
@@ -19,18 +19,13 @@ def embed_file(out, f, idx, embedded_name, uncompressed):
     except Exception:
         raise Exception("Failed to embed %s" % f)
 
-    pad = 0
     if embedded_name.endswith("bootloader.bin"):
         # round size to a multiple of 32 bytes for bootloader, this ensures
         # it can be flashed on a STM32H7 chip
         blen = len(contents)
         pad = (32 - (blen % 32)) % 32
         if pad != 0:
-            if sys.version_info[0] >= 3:
-                contents += bytes([0xff]*pad)
-            else:
-                for i in range(pad):
-                    contents += bytes(chr(0xff))
+            contents += bytes([0xff]*pad)
             print("Padded %u bytes for %s to %u" % (pad, embedded_name, len(contents)))
 
     crc = crc32(bytearray(contents))
@@ -39,12 +34,8 @@ def embed_file(out, f, idx, embedded_name, uncompressed):
     compressed = tempfile.NamedTemporaryFile()
     if uncompressed:
         # ensure nul termination
-        if sys.version_info[0] >= 3:
-            nul = bytearray(0)
-        else:
-            nul = chr(0)
-        if contents[-1] != nul:
-            contents += nul
+        if contents[-1] != 0:
+            contents += bytes([0])
         compressed.write(contents)
     else:
         # compress it

From d46cb3fd85493f702d463712bb312b758147c2ae Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Mon, 15 Jan 2024 15:57:28 -0600
Subject: [PATCH 0879/1335] AP_ROMFS: embed raw DEFLATE streams

Saves size not including unnecessary headers or code to parse them.
---
 Tools/ardupilotwaf/embed.py     |  28 ++++----
 libraries/AP_ROMFS/AP_ROMFS.cpp |  15 +----
 libraries/AP_ROMFS/tinfgzip.cpp | 110 --------------------------------
 3 files changed, 14 insertions(+), 139 deletions(-)
 delete mode 100644 libraries/AP_ROMFS/tinfgzip.cpp

diff --git a/Tools/ardupilotwaf/embed.py b/Tools/ardupilotwaf/embed.py
index f6d39d7378e6c3..91821b630944ab 100755
--- a/Tools/ardupilotwaf/embed.py
+++ b/Tools/ardupilotwaf/embed.py
@@ -7,7 +7,7 @@
 May 2017
 '''
 
-import os, sys, tempfile, gzip
+import os, sys, zlib
 
 def write_encode(out, s):
     out.write(s.encode())
@@ -28,28 +28,24 @@ def embed_file(out, f, idx, embedded_name, uncompressed):
             contents += bytes([0xff]*pad)
             print("Padded %u bytes for %s to %u" % (pad, embedded_name, len(contents)))
 
-    crc = crc32(bytearray(contents))
+    crc = crc32(contents)
     write_encode(out, '__EXTFLASHFUNC__ static const uint8_t ap_romfs_%u[] = {' % idx)
 
-    compressed = tempfile.NamedTemporaryFile()
     if uncompressed:
         # ensure nul termination
         if contents[-1] != 0:
             contents += bytes([0])
-        compressed.write(contents)
+        b = contents
     else:
-        # compress it
-        f = open(compressed.name, "wb")
-        with gzip.GzipFile(fileobj=f, mode='wb', filename='', compresslevel=9, mtime=0) as g:
-            g.write(contents)
-        f.close()
-
-    compressed.seek(0)
-    b = bytearray(compressed.read())
-    compressed.close()
-    
-    for c in b:
-        write_encode(out, '%u,' % c)
+        # compress it (max level, max window size, raw stream, max mem usage)
+        z = zlib.compressobj(level=9, method=zlib.DEFLATED, wbits=-15, memLevel=9)
+        b = z.compress(contents)
+        b += z.flush()
+        # append uncompressed length as little-endian bytes
+        l = len(contents)
+        b += bytes([l & 0xFF, (l >> 8) & 0xFF, (l >> 16) & 0xFF, (l >> 24) & 0xFF])
+
+    write_encode(out, ",".join(str(c) for c in b))
     write_encode(out, '};\n\n');
     return crc
 
diff --git a/libraries/AP_ROMFS/AP_ROMFS.cpp b/libraries/AP_ROMFS/AP_ROMFS.cpp
index c56ce5e2db8987..a9db08d1b1caea 100644
--- a/libraries/AP_ROMFS/AP_ROMFS.cpp
+++ b/libraries/AP_ROMFS/AP_ROMFS.cpp
@@ -65,7 +65,7 @@ const uint8_t *AP_ROMFS::find_decompress(const char *name, uint32_t &size)
     size = compressed_size;
     return compressed_data;
 #else
-    // last 4 bytes of gzip file are length of decompressed data
+    // last 4 bytes of compressed data are length of decompressed data
     const uint8_t *p = &compressed_data[compressed_size-4];
     uint32_t decompressed_size = p[0] | p[1] << 8 | p[2] << 16 | p[3] << 24;
     
@@ -86,21 +86,10 @@ const uint8_t *AP_ROMFS::find_decompress(const char *name, uint32_t &size)
 
     d->source = compressed_data;
     d->source_limit = compressed_data + compressed_size - 4;
-
-    // assume gzip format
-    int res = uzlib_gzip_parse_header(d);
-    if (res != TINF_OK) {
-        ::free(decompressed_data);
-        ::free(d);
-        return nullptr;
-    }
-
     d->dest = decompressed_data;
     d->destSize = decompressed_size;
 
-    // we don't check CRC, as it just wastes flash space for constant
-    // ROMFS data
-    res = uzlib_uncompress(d);
+    int res = uzlib_uncompress(d);
 
     ::free(d);
     
diff --git a/libraries/AP_ROMFS/tinfgzip.cpp b/libraries/AP_ROMFS/tinfgzip.cpp
deleted file mode 100644
index f1afdd0b8d87a3..00000000000000
--- a/libraries/AP_ROMFS/tinfgzip.cpp
+++ /dev/null
@@ -1,110 +0,0 @@
-/*
- * tinfgzip  -  tiny gzip decompressor
- *
- * Copyright (c) 2003 by Joergen Ibsen / Jibz
- * All Rights Reserved
- *
- * http://www.ibsensoftware.com/
- *
- * Copyright (c) 2014-2016 by Paul Sokolovsky
- *
- * This software is provided 'as-is', without any express
- * or implied warranty.  In no event will the authors be
- * held liable for any damages arising from the use of
- * this software.
- *
- * Permission is granted to anyone to use this software
- * for any purpose, including commercial applications,
- * and to alter it and redistribute it freely, subject to
- * the following restrictions:
- *
- * 1. The origin of this software must not be
- *    misrepresented; you must not claim that you
- *    wrote the original software. If you use this
- *    software in a product, an acknowledgment in
- *    the product documentation would be appreciated
- *    but is not required.
- *
- * 2. Altered source versions must be plainly marked
- *    as such, and must not be misrepresented as
- *    being the original software.
- *
- * 3. This notice may not be removed or altered from
- *    any source distribution.
- */
-
-#include "tinf.h"
-
-#define FTEXT    1
-#define FHCRC    2
-#define FEXTRA   4
-#define FNAME    8
-#define FCOMMENT 16
-
-void tinf_skip_bytes(TINF_DATA *d, int num);
-uint16_t tinf_get_uint16(TINF_DATA *d);
-
-void tinf_skip_bytes(TINF_DATA *d, int num)
-{
-    while (num--) uzlib_get_byte(d);
-}
-
-uint16_t tinf_get_uint16(TINF_DATA *d)
-{
-    unsigned int v = uzlib_get_byte(d);
-    v = (uzlib_get_byte(d) << 8) | v;
-    return v;
-}
-
-int uzlib_gzip_parse_header(TINF_DATA *d)
-{
-    unsigned char flg;
-
-    /* -- check format -- */
-
-    /* check id bytes */
-    if (uzlib_get_byte(d) != 0x1f || uzlib_get_byte(d) != 0x8b) return TINF_DATA_ERROR;
-
-    /* check method is deflate */
-    if (uzlib_get_byte(d) != 8) return TINF_DATA_ERROR;
-
-    /* get flag byte */
-    flg = uzlib_get_byte(d);
-
-    /* check that reserved bits are zero */
-    if (flg & 0xe0) return TINF_DATA_ERROR;
-
-    /* -- find start of compressed data -- */
-
-    /* skip rest of base header of 10 bytes */
-    tinf_skip_bytes(d, 6);
-
-    /* skip extra data if present */
-    if (flg & FEXTRA)
-    {
-       unsigned int xlen = tinf_get_uint16(d);
-       tinf_skip_bytes(d, xlen);
-    }
-
-    /* skip file name if present */
-    if (flg & FNAME) { while (uzlib_get_byte(d)); }
-
-    /* skip file comment if present */
-    if (flg & FCOMMENT) { while (uzlib_get_byte(d)); }
-
-    /* check header crc if present */
-    if (flg & FHCRC)
-    {
-       /*unsigned int hcrc =*/ tinf_get_uint16(d);
-
-        // TODO: Check!
-//       if (hcrc != (tinf_crc32(src, start - src) & 0x0000ffff))
-//          return TINF_DATA_ERROR;
-    }
-
-    /* initialize for crc32 checksum */
-    d->checksum_type = TINF_CHKSUM_CRC;
-    d->checksum = ~0;
-
-    return TINF_OK;
-}

From d13193150c2f0a4504ba999ab81af25b58272177 Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Sat, 30 Dec 2023 13:53:15 -0600
Subject: [PATCH 0880/1335] AP_ROMFS: store size in file structure instead of
 compressed stream

Cleans up code.
---
 Tools/ardupilotwaf/embed.py     | 11 +++++------
 libraries/AP_ROMFS/AP_ROMFS.cpp | 34 +++++++++++++--------------------
 libraries/AP_ROMFS/AP_ROMFS.h   | 10 ++++++----
 3 files changed, 24 insertions(+), 31 deletions(-)

diff --git a/Tools/ardupilotwaf/embed.py b/Tools/ardupilotwaf/embed.py
index 91821b630944ab..de7e77a483ea42 100755
--- a/Tools/ardupilotwaf/embed.py
+++ b/Tools/ardupilotwaf/embed.py
@@ -41,13 +41,10 @@ def embed_file(out, f, idx, embedded_name, uncompressed):
         z = zlib.compressobj(level=9, method=zlib.DEFLATED, wbits=-15, memLevel=9)
         b = z.compress(contents)
         b += z.flush()
-        # append uncompressed length as little-endian bytes
-        l = len(contents)
-        b += bytes([l & 0xFF, (l >> 8) & 0xFF, (l >> 16) & 0xFF, (l >> 24) & 0xFF])
 
     write_encode(out, ",".join(str(c) for c in b))
     write_encode(out, '};\n\n');
-    return crc
+    return crc, len(contents)
 
 def crc32(bytes, crc=0):
     '''crc32 equivalent to crc32_small() from AP_Math/crc.cpp'''
@@ -68,10 +65,11 @@ def create_embedded_h(filename, files, uncompressed=False):
     # remove duplicates and sort
     files = sorted(list(set(files)))
     crc = {}
+    decompressed_size = {}
     for i in range(len(files)):
         (name, filename) = files[i]
         try:
-            crc[filename] = embed_file(out, filename, i, name, uncompressed)
+            crc[filename], decompressed_size[filename] = embed_file(out, filename, i, name, uncompressed)
         except Exception as e:
             print(e)
             return False
@@ -85,7 +83,8 @@ def create_embedded_h(filename, files, uncompressed=False):
         else:
             ustr = ''
         print("Embedding file %s:%s%s" % (name, filename, ustr))
-        write_encode(out, '{ "%s", sizeof(ap_romfs_%u), 0x%08x, ap_romfs_%u },\n' % (name, i, crc[filename], i))
+        write_encode(out, '{ "%s", sizeof(ap_romfs_%u), %d, 0x%08x, ap_romfs_%u },\n' % (
+            name, i, decompressed_size[filename], crc[filename], i))
     write_encode(out, '};\n')
     out.close()
     return True
diff --git a/libraries/AP_ROMFS/AP_ROMFS.cpp b/libraries/AP_ROMFS/AP_ROMFS.cpp
index a9db08d1b1caea..a7e63dab49c061 100644
--- a/libraries/AP_ROMFS/AP_ROMFS.cpp
+++ b/libraries/AP_ROMFS/AP_ROMFS.cpp
@@ -34,13 +34,11 @@ const AP_ROMFS::embedded_file AP_ROMFS::files[] = {};
 /*
   find an embedded file
 */
-const uint8_t *AP_ROMFS::find_file(const char *name, uint32_t &size, uint32_t &crc)
+const AP_ROMFS::embedded_file *AP_ROMFS::find_file(const char *name)
 {
     for (uint16_t i=0; i<ARRAY_SIZE(files); i++) {
         if (strcmp(name, files[i].filename) == 0) {
-            size = files[i].size;
-            crc = files[i].crc;
-            return files[i].contents;
+            return &files[i];
         }
     }
     return nullptr;
@@ -54,28 +52,22 @@ const uint8_t *AP_ROMFS::find_file(const char *name, uint32_t &size, uint32_t &c
 */
 const uint8_t *AP_ROMFS::find_decompress(const char *name, uint32_t &size)
 {
-    uint32_t compressed_size = 0;
-    uint32_t crc;
-    const uint8_t *compressed_data = find_file(name, compressed_size, crc);
-    if (!compressed_data) {
+    const struct embedded_file *f = find_file(name);
+    if (!f) {
         return nullptr;
     }
 
 #ifdef HAL_ROMFS_UNCOMPRESSED
-    size = compressed_size;
-    return compressed_data;
+    size = f->compressed_size;
+    return f->contents;
 #else
-    // last 4 bytes of compressed data are length of decompressed data
-    const uint8_t *p = &compressed_data[compressed_size-4];
-    uint32_t decompressed_size = p[0] | p[1] << 8 | p[2] << 16 | p[3] << 24;
-    
-    uint8_t *decompressed_data = (uint8_t *)malloc(decompressed_size + 1);
+    uint8_t *decompressed_data = (uint8_t *)malloc(f->decompressed_size+1);
     if (!decompressed_data) {
         return nullptr;
     }
 
     // explicitly null terimnate the data
-    decompressed_data[decompressed_size] = 0;
+    decompressed_data[f->decompressed_size] = 0;
 
     TINF_DATA *d = (TINF_DATA *)malloc(sizeof(TINF_DATA));
     if (!d) {
@@ -84,10 +76,10 @@ const uint8_t *AP_ROMFS::find_decompress(const char *name, uint32_t &size)
     }
     uzlib_uncompress_init(d, NULL, 0);
 
-    d->source = compressed_data;
-    d->source_limit = compressed_data + compressed_size - 4;
+    d->source = f->contents;
+    d->source_limit = f->contents + f->compressed_size;
     d->dest = decompressed_data;
-    d->destSize = decompressed_size;
+    d->destSize = f->decompressed_size;
 
     int res = uzlib_uncompress(d);
 
@@ -98,12 +90,12 @@ const uint8_t *AP_ROMFS::find_decompress(const char *name, uint32_t &size)
         return nullptr;
     }
 
-    if (crc32_small(0, decompressed_data, decompressed_size) != crc) {
+    if (crc32_small(0, decompressed_data, f->decompressed_size) != f->crc) {
         ::free(decompressed_data);
         return nullptr;
     }
     
-    size = decompressed_size;
+    size = f->decompressed_size;
     return decompressed_data;
 #endif
 }
diff --git a/libraries/AP_ROMFS/AP_ROMFS.h b/libraries/AP_ROMFS/AP_ROMFS.h
index 78edc703dc264f..33a7c219fb7f03 100644
--- a/libraries/AP_ROMFS/AP_ROMFS.h
+++ b/libraries/AP_ROMFS/AP_ROMFS.h
@@ -24,14 +24,16 @@ class AP_ROMFS {
     static const char *dir_list(const char *dirname, uint16_t &ofs);
 
 private:
-    // find an embedded file
-    static const uint8_t *find_file(const char *name, uint32_t &size, uint32_t &crc);
-
     struct embedded_file {
         const char *filename;
-        uint32_t size;
+        uint32_t compressed_size;
+        uint32_t decompressed_size;
         uint32_t crc;
         const uint8_t *contents;
     };
+
+    // find an embedded file
+    static const AP_ROMFS::embedded_file *find_file(const char *name);
+
     static const struct embedded_file files[];
 };

From 52468f02380a76a15541caf1e4d9bfe439c0a7ce Mon Sep 17 00:00:00 2001
From: Thomas Watson <twatson52@icloud.com>
Date: Wed, 24 Jan 2024 12:16:01 -0600
Subject: [PATCH 0881/1335] AP_ROMFS: fix buffer null terminator

Ensure buffer is properly null terminated without changing the indicated
size even for uncompressed data.
---
 Tools/ardupilotwaf/embed.py     | 10 +++++++---
 libraries/AP_ROMFS/AP_ROMFS.cpp | 12 ++++++------
 2 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/Tools/ardupilotwaf/embed.py b/Tools/ardupilotwaf/embed.py
index de7e77a483ea42..1ca4c8f9966b60 100755
--- a/Tools/ardupilotwaf/embed.py
+++ b/Tools/ardupilotwaf/embed.py
@@ -32,17 +32,21 @@ def embed_file(out, f, idx, embedded_name, uncompressed):
     write_encode(out, '__EXTFLASHFUNC__ static const uint8_t ap_romfs_%u[] = {' % idx)
 
     if uncompressed:
-        # ensure nul termination
-        if contents[-1] != 0:
-            contents += bytes([0])
+        # terminate if there's not already an existing null. we don't add it to
+        # the contents to avoid storing the wrong length
+        null_terminate = 0 not in contents
         b = contents
     else:
         # compress it (max level, max window size, raw stream, max mem usage)
         z = zlib.compressobj(level=9, method=zlib.DEFLATED, wbits=-15, memLevel=9)
         b = z.compress(contents)
         b += z.flush()
+        # decompressed data will be null terminated at runtime, nothing to do here
+        null_terminate = False
 
     write_encode(out, ",".join(str(c) for c in b))
+    if null_terminate:
+        write_encode(out, ",0")
     write_encode(out, '};\n\n');
     return crc, len(contents)
 
diff --git a/libraries/AP_ROMFS/AP_ROMFS.cpp b/libraries/AP_ROMFS/AP_ROMFS.cpp
index a7e63dab49c061..67adb2313cc53a 100644
--- a/libraries/AP_ROMFS/AP_ROMFS.cpp
+++ b/libraries/AP_ROMFS/AP_ROMFS.cpp
@@ -45,10 +45,10 @@ const AP_ROMFS::embedded_file *AP_ROMFS::find_file(const char *name)
 }
 
 /*
-  find a compressed file and uncompress it. Space for decompressed
-  data comes from malloc. Caller must be careful to free the resulting
-  data after use. The next byte after the file data is guaranteed to
-  be null
+  find a compressed file and uncompress it. Space for decompressed data comes
+  from malloc. Caller must be careful to free the resulting data after use. The
+  file data buffer is guaranteed to contain at least one null (though it may be
+  at buf[size]).
 */
 const uint8_t *AP_ROMFS::find_decompress(const char *name, uint32_t &size)
 {
@@ -58,7 +58,7 @@ const uint8_t *AP_ROMFS::find_decompress(const char *name, uint32_t &size)
     }
 
 #ifdef HAL_ROMFS_UNCOMPRESSED
-    size = f->compressed_size;
+    size = f->decompressed_size;
     return f->contents;
 #else
     uint8_t *decompressed_data = (uint8_t *)malloc(f->decompressed_size+1);
@@ -66,7 +66,7 @@ const uint8_t *AP_ROMFS::find_decompress(const char *name, uint32_t &size)
         return nullptr;
     }
 
-    // explicitly null terimnate the data
+    // explicitly null-terminate the data
     decompressed_data[f->decompressed_size] = 0;
 
     TINF_DATA *d = (TINF_DATA *)malloc(sizeof(TINF_DATA));

From 1c8048df8fac41316f76510df00e023a98fb93aa Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 20 Jun 2023 17:16:06 +1000
Subject: [PATCH 0882/1335] HAL_ChibiOS: fixed CANFD timings

our CANFD timings were resulting in a lot of busoff errors. Here is an
example of master at 1Mbit/5MBit:

Getting @SYS/can0_stats.txt as -
------- Clock Config -------
CAN_CLK_FREQ:   80MHz
Std Timings: bitrate=1000000 presc=7
sjw=0 bs1=7 bs2=0 sample_point=90.00000%
FD Timings:  bitrate=5000000 presc=1
sjw=0 bs1=5 bs2=0 sample_point=90.00000%
------- CAN Interface Stats -------
tx_requests:    2689
tx_rejected:    0
tx_overflow:    443
tx_success:     7
tx_timedout:    2232
tx_abort:       0
rx_received:    18470
rx_overflow:    0
rx_errors:      0
num_busoff_err: 34439
num_events:     18477
ECR:            F8
fdf_rx:         18467
fdf_tx_req:     2182
fdf_tx:         0

here is an example with the new timings:

------- Clock Config -------
CAN_CLK_FREQ:   80MHz
Std Timings: bitrate=1000000 presc=8
sjw=1 bs1=8 bs2=1 sample_point=90.00000%
FD Timings:  bitrate=8000000 presc=2
sjw=3 bs1=8 bs2=3 sample_point=80.00000%
------- CAN Interface Stats -------
tx_requests:    3023
tx_rejected:    0
tx_overflow:    0
tx_success:     3023
tx_timedout:    0
tx_abort:       0
rx_received:    27865
rx_overflow:    0
rx_errors:      0
num_busoff_err: 0
num_events:     30888
ECR:            0
fdf_rx:         27862
fdf_tx_req:     3016
fdf_tx:         3016

I am testing between a CubeOrange and a Pixhawk6X. I tested 1, 2, 4, 5
and 8 MBit (which are the only valid FD bitrates in our parameters)

Many thanks to Kai from Salient Motion for finding this issue and
providing the corrected timing table
---
 libraries/AP_HAL_ChibiOS/CANFDIface.cpp | 62 +++++++++++++++++++------
 libraries/AP_HAL_ChibiOS/CANFDIface.h   |  3 +-
 2 files changed, 50 insertions(+), 15 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
index 08c532e46d1a56..99c0bd04335a91 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
@@ -190,7 +190,7 @@ void CANIface::handleBusOffInterrupt()
     _detected_bus_off = true;
 }
 
-bool CANIface::computeTimings(const uint32_t target_bitrate, Timings& out_timings)
+bool CANIface::computeTimings(const uint32_t target_bitrate, Timings& out_timings) const
 {
     if (target_bitrate < 1) {
         return false;
@@ -316,13 +316,46 @@ bool CANIface::computeTimings(const uint32_t target_bitrate, Timings& out_timing
     }
 
     out_timings.sample_point_permill = solution.sample_point_permill;
-    out_timings.prescaler = uint16_t(prescaler - 1U);
-    out_timings.sjw = 0;                                        // Which means one
-    out_timings.bs1 = uint8_t(solution.bs1 - 1);
-    out_timings.bs2 = uint8_t(solution.bs2 - 1);
+    out_timings.prescaler = uint16_t(prescaler);
+    out_timings.sjw = 1;
+    out_timings.bs1 = uint8_t(solution.bs1);
+    out_timings.bs2 = uint8_t(solution.bs2);
     return true;
 }
 
+/*
+  table driven timings for CANFD
+ */
+bool CANIface::computeFDTimings(const uint32_t target_bitrate, Timings& out_timings) const
+{
+    static const struct {
+        uint8_t bitrate_mbaud;
+        uint8_t prescaler;
+        uint8_t bs1;
+        uint8_t bs2;
+        uint8_t sjw;
+        uint8_t sample_point_pct;
+    } CANFD_timings[] {
+        { 1, 5, 15, 6, 6, 75},
+        { 2, 3, 15, 6, 6, 75},
+        { 4, 2, 15, 6, 6, 75},
+        { 5, 2, 12, 5, 5, 75},
+        { 8, 2,  8, 3, 3, 80},
+    };
+    for (const auto &t : CANFD_timings) {
+        if (t.bitrate_mbaud*1000U*1000U == target_bitrate) {
+            // out_timings has the register bits, which are the actual value minus 1
+            out_timings.prescaler = t.prescaler;
+            out_timings.bs1 = t.bs1;
+            out_timings.bs2 = t.bs2;
+            out_timings.sjw = t.sjw;
+            out_timings.sample_point_permill = t.sample_point_pct*10;
+            return true;
+        }
+    }
+    return false;
+}
+
 int16_t CANIface::send(const AP_HAL::CANFrame& frame, uint64_t tx_deadline,
                        CanIOFlags flags)
 {
@@ -666,13 +699,13 @@ bool CANIface::init(const uint32_t bitrate, const uint32_t fdbitrate, const Oper
           unsigned(timings.prescaler), unsigned(timings.sjw), unsigned(timings.bs1), unsigned(timings.bs2));
 
     //setup timing register
-    can_->NBTP = ((timings.sjw << FDCAN_NBTP_NSJW_Pos)   |
-                  (timings.bs1 << FDCAN_NBTP_NTSEG1_Pos) |
-                  (timings.bs2 << FDCAN_NBTP_NTSEG2_Pos)  |
-                  (timings.prescaler << FDCAN_NBTP_NBRP_Pos));
+    can_->NBTP = (((timings.sjw-1) << FDCAN_NBTP_NSJW_Pos)   |
+                  ((timings.bs1-1) << FDCAN_NBTP_NTSEG1_Pos) |
+                  ((timings.bs2-1) << FDCAN_NBTP_NTSEG2_Pos)  |
+                  ((timings.prescaler-1) << FDCAN_NBTP_NBRP_Pos));
 
     if (fdbitrate) {
-        if (!computeTimings(fdbitrate, fdtimings)) {
+        if (!computeFDTimings(fdbitrate, fdtimings)) {
             can_->CCCR &= ~FDCAN_CCCR_INIT;
             uint32_t while_start_ms = AP_HAL::millis();
             while ((can_->CCCR & FDCAN_CCCR_INIT) == 1) {
@@ -685,9 +718,10 @@ bool CANIface::init(const uint32_t bitrate, const uint32_t fdbitrate, const Oper
         _fdbitrate = fdbitrate;
         Debug("CANFD Timings: presc=%u bs1=%u bs2=%u\n",
               unsigned(fdtimings.prescaler), unsigned(fdtimings.bs1), unsigned(fdtimings.bs2));
-        can_->DBTP = ((fdtimings.bs1 << FDCAN_DBTP_DTSEG1_Pos) |
-                     (fdtimings.bs2 << FDCAN_DBTP_DTSEG2_Pos)  |
-                     (fdtimings.prescaler << FDCAN_DBTP_DBRP_Pos));
+        can_->DBTP = (((fdtimings.bs1-1) << FDCAN_DBTP_DTSEG1_Pos) |
+                      ((fdtimings.bs2-1) << FDCAN_DBTP_DTSEG2_Pos)  |
+                      ((fdtimings.prescaler-1) << FDCAN_DBTP_DBRP_Pos) |
+                      ((fdtimings.sjw-1) << FDCAN_DBTP_DSJW_Pos));
     }
 
     //RX Config
@@ -1111,7 +1145,7 @@ void CANIface::get_stats(ExpandingString &str)
                unsigned(timings.bs2), timings.sample_point_permill/10.0f,
                _fdbitrate, unsigned(fdtimings.prescaler),
                unsigned(fdtimings.sjw), unsigned(fdtimings.bs1),
-               unsigned(fdtimings.bs2), timings.sample_point_permill/10.0f,
+               unsigned(fdtimings.bs2), fdtimings.sample_point_permill/10.0f,
                stats.tx_requests,
                stats.tx_rejected,
                stats.tx_overflow,
diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.h b/libraries/AP_HAL_ChibiOS/CANFDIface.h
index f7ff133392bbdb..fb6a9719c7fcb5 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.h
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.h
@@ -123,7 +123,8 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
 
     const uint8_t self_index_;
 
-    bool computeTimings(uint32_t target_bitrate, Timings& out_timings);
+    bool computeTimings(uint32_t target_bitrate, Timings& out_timings) const;
+    bool computeFDTimings(uint32_t target_bitrate, Timings& out_timings) const;
 
     void setupMessageRam(void);
 

From 2d031a4d20e0cf4f7a61d8023aa9751914a53e34 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 22 Jan 2024 16:44:13 +1100
Subject: [PATCH 0883/1335] HAL_ChibiOS: switched G4 FDCAN clock to 80MHz

this requires main CPU clock at 160 MHz instead of 168 MHz
---
 libraries/AP_HAL_ChibiOS/CANFDIface.cpp                 | 4 ----
 libraries/AP_HAL_ChibiOS/hwdef/common/stm32g4_mcuconf.h | 8 ++------
 libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G431xx.py   | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G441xx.py   | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G474xx.py   | 2 +-
 libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G491xx.py   | 2 +-
 libraries/AP_HAL_ChibiOS/system.cpp                     | 7 +++++--
 7 files changed, 11 insertions(+), 16 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
index 99c0bd04335a91..f0169a36646902 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
@@ -89,11 +89,7 @@ extern const AP_HAL::HAL& hal;
 
 #define STR(x) #x
 #define XSTR(x) STR(x)
-#if defined(STM32H7)
 static_assert(STM32_FDCANCLK == 80U*1000U*1000U, "FDCAN clock must be 80MHz, got " XSTR(STM32_FDCANCLK));
-#else
-static_assert(STM32_FDCANCLK <= 80U*1000U*1000U, "FDCAN clock must be max 80MHz, got " XSTR(STM32_FDCANCLK));
-#endif
 
 using namespace ChibiOS;
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32g4_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32g4_mcuconf.h
index 7cd46d1ac225ca..ce7eb949070638 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32g4_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32g4_mcuconf.h
@@ -89,10 +89,10 @@
 #define STM32_LSI_ENABLED                   FALSE
 #define STM32_LSE_ENABLED                   FALSE
 #define STM32_SW                            STM32_SW_PLLRCLK
-#define STM32_PLLN_VALUE                    42
+#define STM32_PLLN_VALUE                    40
 #define STM32_PLLPDIV_VALUE                 0
 #define STM32_PLLP_VALUE                    7
-#define STM32_PLLQ_VALUE                    8
+#define STM32_PLLQ_VALUE                    4
 #define STM32_PLLR_VALUE                    2
 #define STM32_HPRE                          STM32_HPRE_DIV1
 #define STM32_PPRE1                         STM32_PPRE1_DIV1
@@ -117,11 +117,7 @@
 #define STM32_LPTIM1SEL                     STM32_LPTIM1SEL_PCLK1
 #define STM32_SAI1SEL                       STM32_SAI1SEL_SYSCLK
 #define STM32_I2S23SEL                      STM32_I2S23SEL_SYSCLK
-#if STM32_HSECLK == 0U
 #define STM32_FDCANSEL                      STM32_FDCANSEL_PLLQCLK
-#else
-#define STM32_FDCANSEL                      STM32_FDCANSEL_HSE
-#endif
 #define STM32_CLK48SEL                      STM32_CLK48SEL_HSI48
 #define STM32_ADC12SEL                      STM32_ADC12SEL_PLLPCLK
 #define STM32_ADC345SEL                     STM32_ADC345SEL_PLLPCLK
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G431xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G431xx.py
index cd45083a7a868e..632b840dbcca66 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G431xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G431xx.py
@@ -20,7 +20,7 @@
         (0x10000000, 10, 2), # CCM
     ],
 
-    'EXPECTED_CLOCK' : 168000000,
+    'EXPECTED_CLOCK' : 160000000,
 
     'DEFINES' : {
         'STM32G4' : '1',
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G441xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G441xx.py
index 3fd6cb7861c4c7..c38aeb6735d0bb 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G441xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G441xx.py
@@ -20,7 +20,7 @@
         (0x10000000, 10, 2), # CCM
     ],
 
-    'EXPECTED_CLOCK' : 168000000,
+    'EXPECTED_CLOCK' : 160000000,
 
     'DEFINES' : {
         'STM32G4' : '1',
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G474xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G474xx.py
index 2c496bcb39ed13..96c24fdb715925 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G474xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G474xx.py
@@ -20,7 +20,7 @@
         (0x10000000, 32, 2), # CCM
     ],
 
-    'EXPECTED_CLOCK' : 168000000,
+    'EXPECTED_CLOCK' : 160000000,
 
     'DEFINES' : {
         'STM32G4' : '1',
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G491xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G491xx.py
index c7733ebab90525..54702cb47b47c8 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G491xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32G491xx.py
@@ -20,7 +20,7 @@
         (0x10000000, 16, 2), # CCM
     ],
 
-    'EXPECTED_CLOCK' : 168000000,
+    'EXPECTED_CLOCK' : 160000000,
 
     'DEFINES' : {
         'STM32G4' : '1',
diff --git a/libraries/AP_HAL_ChibiOS/system.cpp b/libraries/AP_HAL_ChibiOS/system.cpp
index 183484c4280b31..09cb6668215000 100644
--- a/libraries/AP_HAL_ChibiOS/system.cpp
+++ b/libraries/AP_HAL_ChibiOS/system.cpp
@@ -33,6 +33,9 @@
 // we rely on systimestamp_t for 64 bit timestamps
 static_assert(sizeof(uint64_t) == sizeof(systimestamp_t), "unexpected systimestamp_t size");
 
+#define STR(x) #x
+#define XSTR(x) STR(x)
+
 #if CH_CFG_ST_RESOLUTION == 16
 static_assert(sizeof(systime_t) == 2, "expected 16 bit systime_t");
 #elif CH_CFG_ST_RESOLUTION == 32
@@ -42,9 +45,9 @@ static_assert(sizeof(systime_t) == sizeof(sysinterval_t), "expected systime_t sa
 
 #if defined(HAL_EXPECTED_SYSCLOCK)
 #ifdef STM32_SYS_CK
-static_assert(HAL_EXPECTED_SYSCLOCK == STM32_SYS_CK, "unexpected STM32_SYS_CK value");
+static_assert(HAL_EXPECTED_SYSCLOCK == STM32_SYS_CK, "unexpected STM32_SYS_CK value got " XSTR(STM32_HCLK) " expected " XSTR(HAL_EXPECTED_SYSCLOCK));
 #elif defined(STM32_HCLK)
-static_assert(HAL_EXPECTED_SYSCLOCK == STM32_HCLK, "unexpected STM32_HCLK value");
+static_assert(HAL_EXPECTED_SYSCLOCK == STM32_HCLK, "unexpected STM32_HCLK value got " XSTR(STM32_HCLK) " expected " XSTR(HAL_EXPECTED_SYSCLOCK));
 #else
 #error "unknown system clock"
 #endif

From 743b1262a0a6cb536f4011e5b066aa077c43c343 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 24 Jan 2024 11:05:24 +1100
Subject: [PATCH 0884/1335] waf: removed old UAVCAN defines

---
 Tools/ardupilotwaf/chibios.py | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index 4d33d62c2a9d39..a14e3f9b8e6f1a 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -461,11 +461,6 @@ def setup_canmgr_build(cfg):
             'CANARD_ALLOCATE_SEM=1'
             ]
 
-    if cfg.env.HAL_CANFD_SUPPORTED:
-        env.DEFINES += ['UAVCAN_SUPPORT_CANFD=1']
-    else:
-        env.DEFINES += ['UAVCAN_SUPPORT_CANFD=0']
-
     cfg.get_board().with_can = True
 
 def setup_canperiph_build(cfg):
@@ -475,11 +470,6 @@ def setup_canperiph_build(cfg):
         'CANARD_ENABLE_DEADLINE=1',
         ]
 
-    if cfg.env.HAL_CANFD_SUPPORTED:
-        env.DEFINES += ['UAVCAN_SUPPORT_CANFD=1']
-    else:
-        env.DEFINES += ['UAVCAN_SUPPORT_CANFD=0']
-
     cfg.get_board().with_can = True
     
 def load_env_vars(env):

From a2707b48c58b63097c94f191afc7254a6f256bbb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 24 Jan 2024 11:06:00 +1100
Subject: [PATCH 0885/1335] HAL_ChibiOS: enable clock management on G4

this allows for a different clock tree in the main fw from the
bootloader
---
 libraries/AP_HAL_ChibiOS/CANFDIface.cpp                 | 2 ++
 libraries/AP_HAL_ChibiOS/hwdef/common/stm32g4_mcuconf.h | 6 ++++++
 2 files changed, 8 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
index f0169a36646902..388db3f07651d4 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
@@ -89,7 +89,9 @@ extern const AP_HAL::HAL& hal;
 
 #define STR(x) #x
 #define XSTR(x) STR(x)
+#if !defined(HAL_LLD_USE_CLOCK_MANAGEMENT)
 static_assert(STM32_FDCANCLK == 80U*1000U*1000U, "FDCAN clock must be 80MHz, got " XSTR(STM32_FDCANCLK));
+#endif
 
 using namespace ChibiOS;
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32g4_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32g4_mcuconf.h
index ce7eb949070638..3c692db1d5b84b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32g4_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32g4_mcuconf.h
@@ -25,6 +25,12 @@
 #define STM32_LSEDRV                (3U << 3U)
 #endif
 
+/*
+  we need to use HAL_LLD_USE_CLOCK_MANAGEMENT in order to allow a
+  different clock tree in the main firmware from the bootloader.
+ */
+#define HAL_LLD_USE_CLOCK_MANAGEMENT 1
+
 /*
  * STM32G4xx drivers configuration.
  * The following settings override the default settings present in

From 13266ea1f36c63423e80bed709cd549033342820 Mon Sep 17 00:00:00 2001
From: Leonardo Garcia <lgarciaos@protonmail.com>
Date: Fri, 26 Jan 2024 14:53:50 -0800
Subject: [PATCH 0886/1335] Tools: Allocate ID for mRo KitCAN revC board

---
 Tools/AP_Bootloader/board_types.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
index acc9e1895fef3c..af723323cecabf 100644
--- a/Tools/AP_Bootloader/board_types.txt
+++ b/Tools/AP_Bootloader/board_types.txt
@@ -259,6 +259,7 @@ AP_HW_ATOMRCF405NAVI_DLX             1143
 AP_HW_YJUAV_A6Ultra                  1144
 AP_HW_TULIP_BATTMON                  1145
 AP_HW_AnyleafH7                      1146
+AP_HW_mRoKitCANrevC                  1147
 
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206

From e039ff2a30d6c04fe69c3c100b93b0bb753bdd86 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 27 Jan 2024 11:53:05 +1100
Subject: [PATCH 0887/1335] AP_Param: don't enable param backup on all boards

this fixes an issue with resetting of parameters when going between
4.4.x and 4.5.x on MatekH743, and on any other board using flash
storage where the storage size has increased from 16k to 32k between
4.4.x and 4.5.x

The problem is that when you update to 4.5.x the parameter code stored
a backup of parameters in the StorageParamBak storage region which is
in the last section of storage. When you downgrade to 4.4.x the
AP_FlashStorage::load_sector() code tries to load this data and gets
an error as it is beyond the end of the available 16k storage. This
triggers an erase_all() and loss of parameters
---
 libraries/AP_Param/AP_Param.cpp | 23 ++++++++++++++++++++++-
 1 file changed, 22 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index b10529d15b0a08..3ab10b87999db0 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -50,6 +50,15 @@ uint16_t AP_Param::sentinal_offset;
 // singleton instance
 AP_Param *AP_Param::_singleton;
 
+#ifndef AP_PARAM_STORAGE_BAK_ENABLED
+// we only have a storage region for backup storage if we have at
+// least 32768 bytes or storage. We also don't enable when using flash
+// storage as this can lead to loss of storage when updating to a
+// larger storage size
+#define AP_PARAM_STORAGE_BAK_ENABLED (HAL_STORAGE_SIZE>=32768) && !defined(STORAGE_FLASH_PAGE)
+#endif
+
+
 #define ENABLE_DEBUG 0
 
 #if ENABLE_DEBUG
@@ -128,8 +137,10 @@ const AP_Param::param_defaults_struct AP_Param::param_defaults_data = {
 // storage object
 StorageAccess AP_Param::_storage(StorageManager::StorageParam);
 
+#if AP_PARAM_STORAGE_BAK_ENABLED
 // backup storage object
 StorageAccess AP_Param::_storage_bak(StorageManager::StorageParamBak);
+#endif
 
 // flags indicating frame type
 uint16_t AP_Param::_frame_type_flags;
@@ -138,7 +149,9 @@ uint16_t AP_Param::_frame_type_flags;
 void AP_Param::eeprom_write_check(const void *ptr, uint16_t ofs, uint8_t size)
 {
     _storage.write_block(ofs, ptr, size);
+#if AP_PARAM_STORAGE_BAK_ENABLED
     _storage_bak.write_block(ofs, ptr, size);
+#endif
 }
 
 bool AP_Param::_hide_disabled_groups = true;
@@ -337,14 +350,19 @@ void AP_Param::check_var_info(void)
 bool AP_Param::setup(void)
 {
     struct EEPROM_header hdr {};
-    struct EEPROM_header hdr2 {};
 
     // check the header
     _storage.read_block(&hdr, 0, sizeof(hdr));
+
+#if AP_PARAM_STORAGE_BAK_ENABLED
+    struct EEPROM_header hdr2 {};
     _storage_bak.read_block(&hdr2, 0, sizeof(hdr2));
+#endif
+
     if (hdr.magic[0] != k_EEPROM_magic0 ||
         hdr.magic[1] != k_EEPROM_magic1 ||
         hdr.revision != k_EEPROM_revision) {
+#if AP_PARAM_STORAGE_BAK_ENABLED
         if (hdr2.magic[0] == k_EEPROM_magic0 &&
             hdr2.magic[1] == k_EEPROM_magic1 &&
             hdr2.revision == k_EEPROM_revision &&
@@ -353,14 +371,17 @@ bool AP_Param::setup(void)
             INTERNAL_ERROR(AP_InternalError::error_t::params_restored);
             return true;
         }
+#endif // AP_PARAM_STORAGE_BAK_ENABLED
         // header doesn't match. We can't recover any variables. Wipe
         // the header and setup the sentinal directly after the header
         Debug("bad header in setup - erasing");
         erase_all();
     }
 
+#if AP_PARAM_STORAGE_BAK_ENABLED
     // ensure that backup is in sync with primary
     _storage_bak.copy_area(_storage);
+#endif
 
     return true;
 }

From f1566a481e4ce30b8edcab76f361d4b6027ebece Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 24 Jan 2024 15:42:10 +1100
Subject: [PATCH 0888/1335] AP_Bootloader: added board ID for BotBloxSwitch

---
 Tools/AP_Bootloader/board_types.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
index af723323cecabf..7358ac22bfe52a 100644
--- a/Tools/AP_Bootloader/board_types.txt
+++ b/Tools/AP_Bootloader/board_types.txt
@@ -260,6 +260,7 @@ AP_HW_YJUAV_A6Ultra                  1144
 AP_HW_TULIP_BATTMON                  1145
 AP_HW_AnyleafH7                      1146
 AP_HW_mRoKitCANrevC                  1147
+AP_HW_BotBloxSwitch                  1148
 
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206

From fd40b15e2199918583207aea6b4704a2100bd9b6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 25 Jan 2024 14:18:39 +1100
Subject: [PATCH 0889/1335] AP_Bootloader: added MatekH7A3 board type

---
 Tools/AP_Bootloader/board_types.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
index 7358ac22bfe52a..1f0c285f0ab8cf 100644
--- a/Tools/AP_Bootloader/board_types.txt
+++ b/Tools/AP_Bootloader/board_types.txt
@@ -261,6 +261,7 @@ AP_HW_TULIP_BATTMON                  1145
 AP_HW_AnyleafH7                      1146
 AP_HW_mRoKitCANrevC                  1147
 AP_HW_BotBloxSwitch                  1148
+AP_HW_MatekH7A3                      1149
 
 AP_HW_ESP32_PERIPH                   1205
 AP_HW_ESP32S3_PERIPH                 1206

From 8914e5585fb5c47592345b6d726df7d97b6b57a6 Mon Sep 17 00:00:00 2001
From: TsuyoshiKawamura <kawamura@tajisoft.jp>
Date: Sun, 28 Jan 2024 16:47:24 +0900
Subject: [PATCH 0890/1335] AP_BattMonitor: delete unnecessary underscore in
 description

---
 libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
index 0eb859d2a4f833..09e1b7ae61bd4f 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
@@ -99,7 +99,7 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
 
     // @Param: CRT_MAH
     // @DisplayName: Battery critical capacity
-    // @Description: Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the @PREFIX@_FS_CRT_ACT parameter.
+    // @Description: Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the @PREFIX@FS_CRT_ACT parameter.
     // @Units: mAh
     // @Increment: 50
     // @User: Standard

From e772012e01b0985c470e2d9cf75c0bd4ab2bad63 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 28 Jan 2024 18:13:26 +1100
Subject: [PATCH 0891/1335] HAL_ChibiOS: raise SDMMC clock limit on H7

this allows for faster log download on ethernet
---
 libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
index aeae4a3f7b56ac..d13e5cf7312f81 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
@@ -633,10 +633,9 @@
 // limit ISR count per byte
 #define STM32_I2C_ISR_LIMIT                 6
 
-// limit SDMMC clock to 12.5MHz by default. This increases
-// reliability
+// limit SDMMC clock to 50MHz by default
 #ifndef STM32_SDC_MAX_CLOCK
-#define STM32_SDC_MAX_CLOCK                 12500000
+#define STM32_SDC_MAX_CLOCK                 50000000
 #endif
 
 #ifndef STM32_WSPI_USE_QUADSPI1

From 6e4ce35fca4cef6f1e5895afe03f518805632d5a Mon Sep 17 00:00:00 2001
From: Gone4Dirt <matthewnkear@gmail.com>
Date: Fri, 12 Jan 2024 02:50:37 +0000
Subject: [PATCH 0892/1335] AP_Temperature: Add DroneCAN source

---
 .../AP_TemperatureSensor/AP_TemperatureSensor_Backend.cpp      | 3 +++
 libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.cpp | 2 +-
 libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.h   | 1 +
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.cpp b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.cpp
index e1a68421e2b693..cab984c6496610 100644
--- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.cpp
+++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.cpp
@@ -90,6 +90,9 @@ void AP_TemperatureSensor_Backend::update_external_libraries(const float tempera
             AP::battery().set_temperature_by_serial_number(temperature, _params.source_id);
             break;
 #endif
+        case AP_TemperatureSensor_Params::Source::DroneCAN:
+            // Label only, used by AP_Periph
+            break;
 
         case AP_TemperatureSensor_Params::Source::None:
         case AP_TemperatureSensor_Params::Source::Pitot_tube:
diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.cpp b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.cpp
index 361eaf9c13f1ef..25caea8647eba4 100644
--- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.cpp
+++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.cpp
@@ -58,7 +58,7 @@ const AP_Param::GroupInfo AP_TemperatureSensor_Params::var_info[] = {
     // @Param: SRC
     // @DisplayName: Sensor Source
     // @Description: Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.
-    // @Values: 0: None, 1:ESC, 2:Motor(not implemented yet), 3:Battery Index, 4:Battery ID/SerialNumber, 5: CAN based Pitot tube
+    // @Values: 0: None, 1:ESC, 2:Motor, 3:Battery Index, 4:Battery ID/SerialNumber, 5:CAN based Pitot tube, 6:DroneCAN-out on AP_Periph
     // @User: Standard
     AP_GROUPINFO("SRC", 4, AP_TemperatureSensor_Params, source, (float)Source::None),
 
diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.h b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.h
index 46d41e8c659ad7..73d60a40d5c68b 100644
--- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.h
+++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.h
@@ -43,6 +43,7 @@ class AP_TemperatureSensor_Params {
         Battery_Index               = 3,
         Battery_ID_SerialNumber     = 4,
         Pitot_tube                  = 5,
+        DroneCAN                    = 6,
     };
 
     AP_Enum<Type> type;             // 0=disabled, others see frontend enum TYPE

From 26bfedb956cf6d86e92cd68f4b7d7c0107d45937 Mon Sep 17 00:00:00 2001
From: Gone4Dirt <matthewnkear@gmail.com>
Date: Fri, 12 Jan 2024 02:51:48 +0000
Subject: [PATCH 0893/1335] AP_Periph: Send generic equipment temperature data

---
 Tools/AP_Periph/AP_Periph.h     |  9 ++++++
 Tools/AP_Periph/Parameters.cpp  | 11 +++++++
 Tools/AP_Periph/Parameters.h    |  7 ++++-
 Tools/AP_Periph/can.cpp         |  3 ++
 Tools/AP_Periph/temperature.cpp | 54 +++++++++++++++++++++++++++++++++
 5 files changed, 83 insertions(+), 1 deletion(-)
 create mode 100644 Tools/AP_Periph/temperature.cpp

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index 991ddf2b23e36f..424e341c1c8c14 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -55,6 +55,10 @@
 #endif
 #endif
 
+#if defined(HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE) && !AP_TEMPERATURE_SENSOR_ENABLED
+    #error "HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE requires AP_TEMPERATURE_SENSOR_ENABLED"
+#endif
+
 #include <AP_NMEA_Output/AP_NMEA_Output.h>
 #if HAL_NMEA_OUTPUT_ENABLED && !(HAL_GCS_ENABLED && defined(HAL_PERIPH_ENABLE_GPS))
     // Needs SerialManager + (AHRS or GPS)
@@ -356,6 +360,11 @@ class AP_Periph_FW {
     
 #if AP_TEMPERATURE_SENSOR_ENABLED
     AP_TemperatureSensor temperature_sensor;
+#ifdef HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE
+    void temperature_sensor_update();
+    uint32_t temperature_last_send_ms;
+    uint8_t temperature_last_sent_index;
+#endif
 #endif
 
 #if defined(HAL_PERIPH_ENABLE_NOTIFY) || defined(HAL_PERIPH_NEOPIXEL_COUNT_WITHOUT_NOTIFY)
diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
index d425ad6c7c2525..3b00ce8bafc85e 100644
--- a/Tools/AP_Periph/Parameters.cpp
+++ b/Tools/AP_Periph/Parameters.cpp
@@ -650,6 +650,17 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(relay,                 "RELAY", AP_Relay),
 #endif
 
+#ifdef HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE
+    // @Param: TEMP_MSG_RATE
+    // @DisplayName: Temperature sensor message rate
+    // @Description: This is the rate Temperature sensor data is sent in Hz. Zero means no send. Each sensor with source DroneCAN is sent in turn.
+    // @Units: Hz
+    // @Range: 0 200
+    // @Increment: 1
+    // @User: Standard
+    GSCALAR(temperature_msg_rate, "TEMP_MSG_RATE", 0),
+#endif
+
     AP_VAREND
 };
 
diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
index 884f1c4e64baa0..94ac49b39ac05c 100644
--- a/Tools/AP_Periph/Parameters.h
+++ b/Tools/AP_Periph/Parameters.h
@@ -90,6 +90,7 @@ class Parameters {
         k_param_can_terminate2,
         k_param_serial_options,
         k_param_relay,
+        k_param_temperature_msg_rate,
     };
 
     AP_Int16 format_version;
@@ -203,7 +204,11 @@ class Parameters {
 #if HAL_PERIPH_CAN_MIRROR
     AP_Int8 can_mirror_ports;
 #endif // HAL_PERIPH_CAN_MIRROR
-    
+
+#ifdef HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE
+    AP_Int8 temperature_msg_rate;
+#endif
+
 #if HAL_CANFD_SUPPORTED
     AP_Int8 can_fdmode;
     AP_Int8 can_fdbaudrate[HAL_NUM_CAN_IFACES];
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 3bd020cd2ff8e0..1c658463a6e84a 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -1827,6 +1827,9 @@ void AP_Periph_FW::can_update()
     #ifdef HAL_PERIPH_ENABLE_EFI
         can_efi_update();
     #endif
+#ifdef HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE
+        temperature_sensor_update();
+#endif
     }
     const uint32_t now_us = AP_HAL::micros();
     while ((AP_HAL::micros() - now_us) < 1000) {
diff --git a/Tools/AP_Periph/temperature.cpp b/Tools/AP_Periph/temperature.cpp
new file mode 100644
index 00000000000000..3377e2b63594e7
--- /dev/null
+++ b/Tools/AP_Periph/temperature.cpp
@@ -0,0 +1,54 @@
+#include "AP_Periph.h"
+
+#ifdef HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE
+
+#include <dronecan_msgs.h>
+
+// Send temperature message occasionally
+void AP_Periph_FW::temperature_sensor_update(void)
+{
+    if (g.temperature_msg_rate <= 0) {
+        return;
+    }
+
+    const uint32_t now_ms = AP_HAL::millis();
+    if (now_ms - temperature_last_send_ms < (1000U / g.temperature_msg_rate)) {
+        return;
+    }
+    temperature_last_send_ms = now_ms;
+
+    {
+        const uint8_t num_sensors = temperature_sensor.num_instances();
+        for (uint8_t i = 0; i < num_sensors; i++) {
+            // Send each sensor in turn
+            const uint8_t index = (temperature_last_sent_index + 1 + i) % num_sensors;
+
+            float temp_deg = 0.0;
+            if ((temperature_sensor.get_source(index) != AP_TemperatureSensor_Params::Source::DroneCAN) ||
+                !temperature_sensor.get_temperature(temp_deg, index)) {
+                // not configured to send or Unhealthy
+                continue;
+            }
+
+            uavcan_equipment_device_Temperature pkt {};
+            pkt.temperature = C_TO_KELVIN(temp_deg);
+
+            // Use source ID from temperature lib
+            pkt.device_id = temperature_sensor.get_source_id(index);
+
+            uint8_t buffer[UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_MAX_SIZE] {};
+            const uint16_t total_size = uavcan_equipment_device_Temperature_encode(&pkt, buffer, !canfdout());
+
+            canard_broadcast(UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_SIGNATURE,
+                             UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_ID,
+                             CANARD_TRANSFER_PRIORITY_LOW,
+                             &buffer[0],
+                             total_size);
+
+            temperature_last_sent_index = index;
+            break;
+        }
+    }
+}
+
+#endif // HAL_PERIPH_ENABLE_DEVICE_TEMPERATURE

From 5fd3be1b75df2362c318ac85064f2475f4f98491 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 15 Jan 2024 23:16:07 +0000
Subject: [PATCH 0894/1335] AP_DroneCAN: add subscribe msgs for
 TemperatureSensor

---
 libraries/AP_DroneCAN/AP_DroneCAN.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index 810e1ba0748578..006a3cfed8e0f3 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -59,6 +59,8 @@
 #include <AP_Relay/AP_Relay.h>
 #endif
 
+#include <AP_TemperatureSensor/AP_TemperatureSensor_DroneCAN.h>
+
 extern const AP_HAL::HAL& hal;
 
 // setup default pool size
@@ -391,6 +393,9 @@ void AP_DroneCAN::init(uint8_t driver_index, bool enable_filters)
 #if HAL_MOUNT_XACTI_ENABLED
     AP_Mount_Xacti::subscribe_msgs(this);
 #endif
+#if AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
+    AP_TemperatureSensor_DroneCAN::subscribe_msgs(this);
+#endif
 
     act_out_array.set_timeout_ms(5);
     act_out_array.set_priority(CANARD_TRANSFER_PRIORITY_HIGH);

From 4bcbb13f792c601dad434c41ede1941120b1acd5 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 15 Jan 2024 23:16:53 +0000
Subject: [PATCH 0895/1335] AP_TemperatureSensor: add DroneCAN backend

---
 .../AP_TemperatureSensor.cpp                  |  6 ++
 .../AP_TemperatureSensor.h                    |  1 +
 .../AP_TemperatureSensor_DroneCAN.cpp         | 80 +++++++++++++++++++
 .../AP_TemperatureSensor_DroneCAN.h           | 52 ++++++++++++
 .../AP_TemperatureSensor_Params.cpp           |  2 +-
 .../AP_TemperatureSensor_Params.h             |  1 +
 .../AP_TemperatureSensor_config.h             |  6 ++
 7 files changed, 147 insertions(+), 1 deletion(-)
 create mode 100644 libraries/AP_TemperatureSensor/AP_TemperatureSensor_DroneCAN.cpp
 create mode 100644 libraries/AP_TemperatureSensor/AP_TemperatureSensor_DroneCAN.h

diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp b/libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp
index 68ac7027abe3cb..69ef84e41a6aca 100644
--- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp
+++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp
@@ -29,6 +29,7 @@
 #include "AP_TemperatureSensor_MCP9600.h"
 #include "AP_TemperatureSensor_MAX31865.h"
 #include "AP_TemperatureSensor_Analog.h"
+#include "AP_TemperatureSensor_DroneCAN.h"
 
 #include <AP_Logger/AP_Logger.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
@@ -195,6 +196,11 @@ void AP_TemperatureSensor::init()
             case AP_TemperatureSensor_Params::Type::ANALOG:
                 drivers[instance] = new AP_TemperatureSensor_Analog(*this, _state[instance], _params[instance]);
                 break;
+#endif
+#if AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
+            case AP_TemperatureSensor_Params::Type::DRONECAN:
+                drivers[instance] = new AP_TemperatureSensor_DroneCAN(*this, _state[instance], _params[instance]);
+                break;
 #endif
             case AP_TemperatureSensor_Params::Type::NONE:
             default:
diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor.h b/libraries/AP_TemperatureSensor/AP_TemperatureSensor.h
index 1a4bffa656ccbd..1a9538d775b5ae 100644
--- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor.h
+++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor.h
@@ -36,6 +36,7 @@ class AP_TemperatureSensor
     friend class AP_TemperatureSensor_MAX31865;
     friend class AP_TemperatureSensor_TSYS03;
     friend class AP_TemperatureSensor_Analog;
+    friend class AP_TemperatureSensor_DroneCAN;
 
 public:
 
diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_DroneCAN.cpp b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_DroneCAN.cpp
new file mode 100644
index 00000000000000..0092939a06566b
--- /dev/null
+++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_DroneCAN.cpp
@@ -0,0 +1,80 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "AP_TemperatureSensor_config.h"
+
+#if AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
+
+#include "AP_TemperatureSensor_DroneCAN.h"
+#include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_Math/AP_Math.h>
+
+AP_TemperatureSensor_DroneCAN* AP_TemperatureSensor_DroneCAN::_drivers[];
+uint8_t AP_TemperatureSensor_DroneCAN::_driver_instance;
+HAL_Semaphore AP_TemperatureSensor_DroneCAN::_driver_sem;
+
+extern const AP_HAL::HAL &hal;
+
+const AP_Param::GroupInfo AP_TemperatureSensor_DroneCAN::var_info[] = {
+
+    // @Param: MSG_ID
+    // @DisplayName: Temperature sensor DroneCAN message ID
+    // @Description: Sets the message device ID this backend listens for
+    // @Range: 0 65535
+    AP_GROUPINFO("MSG_ID", 1, AP_TemperatureSensor_DroneCAN, _ID, 0),
+
+    AP_GROUPEND
+};
+
+AP_TemperatureSensor_DroneCAN::AP_TemperatureSensor_DroneCAN(AP_TemperatureSensor &front,
+                                                             AP_TemperatureSensor::TemperatureSensor_State &state,
+                                                             AP_TemperatureSensor_Params &params) :
+    AP_TemperatureSensor_Backend(front, state, params)
+{
+    AP_Param::setup_object_defaults(this, var_info);
+    _state.var_info = var_info;
+
+    // Register self in static driver list
+    WITH_SEMAPHORE(_driver_sem);
+    _drivers[_driver_instance] = this;
+    _driver_instance++;
+}
+
+// Subscript to incoming temperature messages
+void AP_TemperatureSensor_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
+{
+    if (ap_dronecan == nullptr) {
+        return;
+    }
+
+    if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_temperature, ap_dronecan->get_driver_index()) == nullptr) {
+        AP_BoardConfig::allocation_error("temp_sub");
+    }
+}
+
+void AP_TemperatureSensor_DroneCAN::handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_device_Temperature &msg)
+{
+    WITH_SEMAPHORE(_driver_sem);
+
+    for (uint8_t i = 0; i < _driver_instance; i++) {
+        if ((_drivers[i] != nullptr) && (_drivers[i]->_ID.get() == msg.device_id)) {
+            // Driver loaded and looking for this ID, set temp
+            _drivers[i]->set_temperature(KELVIN_TO_C(msg.temperature));
+        }
+    }
+}
+
+#endif // AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
+
diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_DroneCAN.h b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_DroneCAN.h
new file mode 100644
index 00000000000000..fa2a3f086f0098
--- /dev/null
+++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_DroneCAN.h
@@ -0,0 +1,52 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "AP_TemperatureSensor_config.h"
+
+#if AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
+
+#include "AP_TemperatureSensor_Backend.h"
+#include <AP_Param/AP_Param.h>
+
+#include <AP_DroneCAN/AP_DroneCAN.h>
+
+class AP_TemperatureSensor_DroneCAN : public AP_TemperatureSensor_Backend {
+public:
+    AP_TemperatureSensor_DroneCAN(AP_TemperatureSensor &front, AP_TemperatureSensor::TemperatureSensor_State &state, AP_TemperatureSensor_Params &params);
+
+    static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
+
+    // Don't do anything in update, but still need to override the pure virtual method.
+    void update(void) override {};
+
+    static const struct AP_Param::GroupInfo var_info[];
+
+private:
+
+    static void handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_device_Temperature &msg);
+
+    // Static list of drivers
+    static AP_TemperatureSensor_DroneCAN *_drivers[AP_TEMPERATURE_SENSOR_MAX_INSTANCES];
+    static uint8_t _driver_instance;
+    static HAL_Semaphore _driver_sem;
+
+    // DroneCAN temperature ID to listen for
+    AP_Int32 _ID; 
+
+};
+
+#endif // AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.cpp b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.cpp
index 25caea8647eba4..b1e15333d40f44 100644
--- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.cpp
+++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.cpp
@@ -34,7 +34,7 @@ const AP_Param::GroupInfo AP_TemperatureSensor_Params::var_info[] = {
     // @Param: TYPE
     // @DisplayName: Temperature Sensor Type
     // @Description: Enables temperature sensors
-    // @Values: 0:Disabled, 1:TSYS01, 2:MCP9600, 3:MAX31865, 4:TSYS03, 5:Analog
+    // @Values: 0:Disabled, 1:TSYS01, 2:MCP9600, 3:MAX31865, 4:TSYS03, 5:Analog, 6:DroneCAN
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO_FLAGS("TYPE", 1, AP_TemperatureSensor_Params, type, (float)Type::NONE, AP_PARAM_FLAG_ENABLE),
diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.h b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.h
index 73d60a40d5c68b..f8c551ee5f6dc3 100644
--- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.h
+++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.h
@@ -33,6 +33,7 @@ class AP_TemperatureSensor_Params {
         MAX31865                    = 3,
         TSYS03                      = 4,
         ANALOG                      = 5,
+        DRONECAN                    = 6,
     };
 
     // option to map to another system component
diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_config.h b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_config.h
index b34ac029c38678..8b7cbf59e47677 100644
--- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_config.h
+++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_config.h
@@ -24,6 +24,12 @@
     #define AP_TEMPERATURE_SENSOR_ANALOG_ENABLED AP_TEMPERATURE_SENSOR_ENABLED
 #endif
 
+#ifndef AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
+    #define AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED AP_TEMPERATURE_SENSOR_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS
+#endif
+#if AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED && !HAL_ENABLE_DRONECAN_DRIVERS
+    #error AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED requires HAL_ENABLE_DRONECAN_DRIVERS
+#endif
 
 // maximum number of Temperature Sensors
 #ifndef AP_TEMPERATURE_SENSOR_MAX_INSTANCES

From 3973c28f156d88ee83b9a1ea712e37ca28e20367 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Wed, 17 Jan 2024 11:39:20 -0600
Subject: [PATCH 0896/1335] Plane:add TKOFF_TIMEOUT to MODE TAKEOFF

---
 ArduPlane/Plane.h            |  1 +
 ArduPlane/commands_logic.cpp | 18 ++----------------
 ArduPlane/mode.h             |  2 +-
 ArduPlane/mode_takeoff.cpp   | 19 +++++++++++++------
 ArduPlane/takeoff.cpp        | 26 ++++++++++++++++++++++++++
 5 files changed, 43 insertions(+), 23 deletions(-)

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 649da30fe994b8..e410043d8de05b 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -1090,6 +1090,7 @@ class Plane : public AP_Vehicle {
     int8_t takeoff_tail_hold(void);
     int16_t get_takeoff_pitch_min_cd(void);
     void landing_gear_update(void);
+    bool check_takeoff_timeout(void);
 
     // avoidance_adsb.cpp
     void avoidance_adsb_update(void);
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 33ebd0c4516bae..7c50d9ab492498 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -595,22 +595,8 @@ bool Plane::verify_takeoff()
     }
 
     // check for optional takeoff timeout
-    if (takeoff_state.start_time_ms != 0 && g2.takeoff_timeout > 0) {
-        const float ground_speed = gps.ground_speed();
-        const float takeoff_min_ground_speed = 4;
-        if (!arming.is_armed_and_safety_off()) {
-            return false;
-        }
-        if (ground_speed >= takeoff_min_ground_speed) {
-            takeoff_state.start_time_ms = 0;
-        } else {
-            uint32_t now = AP_HAL::millis();
-            if (now - takeoff_state.start_time_ms > (uint32_t)(1000U * g2.takeoff_timeout)) {
-                gcs().send_text(MAV_SEVERITY_INFO, "Takeoff timeout at %.1f m/s", ground_speed);
-                plane.arming.disarm(AP_Arming::Method::TAKEOFFTIMEOUT);
-                mission.reset();
-            }
-        }
+    if (plane.check_takeoff_timeout()) {
+        mission.reset();
     }
 
     // see if we have reached takeoff altitude
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index d2a4d3d11e9373..2c10d2a94e6eee 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -788,7 +788,7 @@ class ModeTakeoff: public Mode
     AP_Int16 target_dist;
     AP_Int8 level_pitch;
 
-    bool takeoff_started;
+    bool takeoff_mode_setup;
     Location start_loc;
 
     bool _enter() override;
diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp
index b807c64777ec00..2f70bef07115a3 100644
--- a/ArduPlane/mode_takeoff.cpp
+++ b/ArduPlane/mode_takeoff.cpp
@@ -62,7 +62,7 @@ ModeTakeoff::ModeTakeoff() :
 
 bool ModeTakeoff::_enter()
 {
-    takeoff_started = false;
+    takeoff_mode_setup = false;
 
     return true;
 }
@@ -79,7 +79,7 @@ void ModeTakeoff::update()
 
     const float alt = target_alt;
     const float dist = target_dist;
-    if (!takeoff_started) {
+    if (!takeoff_mode_setup) {
         const uint16_t altitude = plane.relative_ground_altitude(false,true);
         const float direction = degrees(ahrs.get_yaw());
         // see if we will skip takeoff as already flying
@@ -87,20 +87,19 @@ void ModeTakeoff::update()
             if (altitude >= alt) {
                 gcs().send_text(MAV_SEVERITY_INFO, "Above TKOFF alt - loitering");
                 plane.next_WP_loc = plane.current_loc;
-                takeoff_started = true;
+                takeoff_mode_setup = true;
                 plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
             } else {
                 gcs().send_text(MAV_SEVERITY_INFO, "Climbing to TKOFF alt then loitering");
                 plane.next_WP_loc = plane.current_loc;
                 plane.next_WP_loc.alt += ((alt - altitude) *100);
                 plane.next_WP_loc.offset_bearing(direction, dist);
-                takeoff_started = true;
+                takeoff_mode_setup = true;
                 plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
             }
             // not flying so do a full takeoff sequence
         } else {
             // setup target waypoint and alt for loiter at dist and alt from start
-
             start_loc = plane.current_loc;
             plane.prev_WP_loc = plane.current_loc;
             plane.next_WP_loc = plane.current_loc;
@@ -116,11 +115,19 @@ void ModeTakeoff::update()
             if (!plane.throttle_suppressed) {
                 gcs().send_text(MAV_SEVERITY_INFO, "Takeoff to %.0fm for %.1fm heading %.1f deg",
                                 alt, dist, direction);
-                takeoff_started = true;
+                plane.takeoff_state.start_time_ms = millis();
+                takeoff_mode_setup = true;
+
             }
         }
     }
+    // check for optional takeoff timeout
+    if (plane.check_takeoff_timeout()) {
+        plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
+        takeoff_mode_setup = false;
 
+    }
+        
     // we finish the initial level takeoff if we climb past
     // TKOFF_LVL_ALT or we pass the target location. The check for
     // target location prevents us flying forever if we can't climb
diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp
index 5d8a428d348bd2..faa220412fd914 100644
--- a/ArduPlane/takeoff.cpp
+++ b/ArduPlane/takeoff.cpp
@@ -305,3 +305,29 @@ void Plane::landing_gear_update(void)
     g2.landing_gear.update(relative_ground_altitude(g.rangefinder_landing));
 }
 #endif
+
+/*
+ check takeoff_timeout; checks time after the takeoff start time; returns true if timeout has occurred and disarms on timeout
+*/
+
+bool Plane::check_takeoff_timeout(void)
+{
+    if (takeoff_state.start_time_ms != 0 && g2.takeoff_timeout > 0) {
+        const float ground_speed = AP::gps().ground_speed();
+        const float takeoff_min_ground_speed = 4;
+        if (ground_speed >= takeoff_min_ground_speed) {
+            takeoff_state.start_time_ms = 0;
+            return false;
+        } else {
+            uint32_t now = AP_HAL::millis();
+            if (now - takeoff_state.start_time_ms > (uint32_t)(1000U * g2.takeoff_timeout)) {
+                gcs().send_text(MAV_SEVERITY_INFO, "Takeoff timeout: %.1f m/s speed < 4m/s", ground_speed);
+                arming.disarm(AP_Arming::Method::TAKEOFFTIMEOUT);
+                takeoff_state.start_time_ms = 0;
+                return true;
+            }
+        }
+     }
+     return false;
+}
+

From c84e5b337ea55caf0925d6b308616e4ae729b0ec Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Thu, 18 Jan 2024 12:11:29 +0000
Subject: [PATCH 0897/1335] Plane: move forward throttle output in VTOL modes
 to QuadPlane update

---
 ArduPlane/quadplane.cpp | 9 +++++++++
 ArduPlane/servos.cpp    | 9 ---------
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 70ccd2d10d8303..1a4fefe7dc64fe 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1872,6 +1872,15 @@ void QuadPlane::update(void)
 
     tiltrotor.update();
 
+    if (in_vtol_mode()) {
+        // if enabled output forward throttle else 0
+        float fwd_thr = 0;
+        if (allow_forward_throttle_in_vtol_mode()) {
+            fwd_thr = forward_throttle_pct();
+        }
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, fwd_thr);
+    }
+
 #if HAL_LOGGING_ENABLED
     // motors logging
     if (motors->armed()) {
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 08b102acd9ae67..c4dc017244abe6 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -605,15 +605,6 @@ void Plane::set_throttle(void)
                guided_throttle_passthru) {
         // manual pass through of throttle while in GUIDED
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
-#if HAL_QUADPLANE_ENABLED
-    } else if (quadplane.in_vtol_mode()) {
-        float fwd_thr = 0;
-        // if enabled ask quadplane code for forward throttle
-        if (quadplane.allow_forward_throttle_in_vtol_mode()) {
-            fwd_thr = quadplane.forward_throttle_pct();
-        }
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, fwd_thr);
-#endif  // HAL_QUADPLANE_ENABLED
     }
 
     if (control_mode->use_battery_compensation()) {

From 652d2ec198d2a82a097e1f94f96a69efac3ce90b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 26 Jan 2024 14:11:40 +1100
Subject: [PATCH 0898/1335] AP_Vehicle: move AP_Stats to AP_Vehicle

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 15 +++++++++++++++
 libraries/AP_Vehicle/AP_Vehicle.h   |  6 ++++++
 2 files changed, 21 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 83a0e80fc76fb8..fbb0356deaf94e 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -251,6 +251,13 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     // @Path: ../Filter/AP_Filter.cpp
     AP_SUBGROUPINFO(filters, "FILT", 26, AP_Vehicle, AP_Filters),
 #endif
+
+#if AP_STATS_ENABLED
+    // @Group: STAT
+    // @Path: ../AP_Stats/AP_Stats.cpp
+    AP_SUBGROUPINFO(stats, "STAT", 27, AP_Vehicle, AP_Stats),
+#endif
+
     AP_GROUPEND
 };
 
@@ -346,6 +353,11 @@ void AP_Vehicle::setup()
     generator.init();
 #endif
 
+#if AP_STATS_ENABLED
+    // initialise stats module
+    stats.init();
+#endif
+
     // init_ardupilot is where the vehicle does most of its initialisation.
     init_ardupilot();
 
@@ -573,6 +585,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #endif
 #if AP_FILTER_ENABLED
     SCHED_TASK_CLASS(AP_Filters,   &vehicle.filters,        update,                   1, 100, 252),
+#endif
+#if AP_STATS_ENABLED
+    SCHED_TASK_CLASS(AP_Stats,             &vehicle.stats,            update,           1, 100, 252),
 #endif
     SCHED_TASK(update_arming,          1,     50, 253),
 };
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index a109b3125392df..32e0f3150cb953 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -68,6 +68,7 @@
 #include <Filter/LowPassFilter.h>
 #include <AP_KDECAN/AP_KDECAN.h>
 #include <Filter/AP_Filter.h>
+#include <AP_Stats/AP_Stats.h>              // statistics library
 
 class AP_DDS_Client;
 
@@ -388,6 +389,11 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     AP_Airspeed airspeed;
 #endif
 
+#if AP_STATS_ENABLED
+    // vehicle statistics
+    AP_Stats stats;
+#endif
+
 #if AP_AIS_ENABLED
     // Automatic Identification System - for tracking sea-going vehicles
     AP_AIS ais;

From eab70e3a1e8836a0c95091178558f3b99ec7ac80 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 26 Jan 2024 14:11:40 +1100
Subject: [PATCH 0899/1335] ArduCopter: move AP_Stats to AP_Vehicle

---
 ArduCopter/APM_Config.h      |  1 -
 ArduCopter/Copter.cpp        |  3 ---
 ArduCopter/Copter.h          |  1 -
 ArduCopter/Parameters.cpp    | 21 +++++++++++++++------
 ArduCopter/Parameters.h      |  5 -----
 ArduCopter/config.h          |  4 ----
 ArduCopter/land_detector.cpp |  6 ++++--
 ArduCopter/system.cpp        |  5 -----
 8 files changed, 19 insertions(+), 27 deletions(-)

diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index bdd901706b50de..9b89e93abc030e 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -9,7 +9,6 @@
 //#define AC_OAPATHPLANNER_ENABLED DISABLED         // disable path planning around obstacles
 //#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
-//#define STATS_ENABLED         DISABLED            // disable statistics support
 //#define MODE_ACRO_ENABLED     DISABLED            // disable acrobatic mode support
 //#define MODE_AUTO_ENABLED     DISABLED            // disable auto mode support
 //#define MODE_BRAKE_ENABLED    DISABLED            // disable brake mode support
diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 740bb95e5f45f0..70bc6be0c41744 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -260,9 +260,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button,            &copter.button,              update,           5, 100, 168),
 #endif
-#if STATS_ENABLED == ENABLED
-    SCHED_TASK_CLASS(AP_Stats,             &copter.g2.stats,            update,           1, 100, 171),
-#endif
 };
 
 void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 8685f4cb8f6262..4632cec0876627 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -47,7 +47,6 @@
 #include <AC_AttitudeControl/AC_PosControl.h>                   // Position control library
 #include <AC_AttitudeControl/AC_CommandModel.h>                 // Command model library
 #include <AP_Motors/AP_Motors.h>            // AP Motors library
-#include <AP_Stats/AP_Stats.h>              // statistics library
 #include <Filter/Filter.h>                  // Filter library
 #include <AP_Vehicle/AP_Vehicle.h>          // needed for AHRS build
 #include <AP_InertialNav/AP_InertialNav.h>  // inertial navigation library
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index d1de6fe45d78fc..e8c2d5039661a3 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -821,12 +821,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 11, ParametersG2, sysid_enforce, 0),
 
-#if STATS_ENABLED == ENABLED
-    // @Group: STAT
-    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
-    AP_SUBGROUPINFO(stats, "STAT", 12, ParametersG2, AP_Stats),
-#endif
-
 #if AP_GRIPPER_ENABLED
     // @Group: GRIP_
     // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
@@ -1382,6 +1376,21 @@ void Copter::load_parameters(void)
     AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, 0, true);
 #endif
 
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+#if AP_STATS_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 12;       // Old parameter index in g2
+        const uint16_t old_top_element = 4044; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
+    }
+#endif
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
     // setup AP_Param frame type flags
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 3d8b62b96d936c..5ac04f8946c608 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -508,11 +508,6 @@ class ParametersG2 {
     AP_Button *button_ptr;
 #endif
 
-#if STATS_ENABLED == ENABLED
-    // vehicle statistics
-    AP_Stats stats;
-#endif
-
 #if AP_GRIPPER_ENABLED
     AP_Gripper gripper;
 #endif
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 97793741c9895f..3952cf8722ab5d 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -617,10 +617,6 @@
   #error Toy mode is not available on Helicopters
 #endif
 
-#ifndef STATS_ENABLED
- # define STATS_ENABLED ENABLED
-#endif
-
 #ifndef OSD_ENABLED
  #define OSD_ENABLED DISABLED
 #endif
diff --git a/ArduCopter/land_detector.cpp b/ArduCopter/land_detector.cpp
index 4a4cdd3fca86b5..1c241f67b79f03 100644
--- a/ArduCopter/land_detector.cpp
+++ b/ArduCopter/land_detector.cpp
@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#include <AP_Stats/AP_Stats.h>              // statistics library
+
 // Code to detect a crash main ArduCopter code
 #define LAND_CHECK_ANGLE_ERROR_DEG  30.0f       // maximum angle error to be considered landing
 #define LAND_CHECK_LARGE_ANGLE_CD   1500.0f     // maximum angle target to be considered landing
@@ -148,8 +150,8 @@ void Copter::set_land_complete(bool b)
 #endif
     ap.land_complete = b;
 
-#if STATS_ENABLED == ENABLED
-    g2.stats.set_flying(!b);
+#if AP_STATS_ENABLED
+    AP::stats()->set_flying(!b);
 #endif
 
     // tell AHRS flying state
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 83c4cbf5b8db50..eaf86120af6eee 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -16,11 +16,6 @@ static void failsafe_check_static()
 void Copter::init_ardupilot()
 {
 
-#if STATS_ENABLED == ENABLED
-    // initialise stats module
-    g2.stats.init();
-#endif
-
     BoardConfig.init();
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
     can_mgr.init();

From 0bc2c154855f666eb3eea6732530e0656c62bd77 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 26 Jan 2024 13:38:21 +1100
Subject: [PATCH 0900/1335] Plane: move AP_Stats to AP_vehicle

---
 ArduPlane/ArduPlane.cpp  |  3 ---
 ArduPlane/Parameters.cpp | 20 +++++++++++++++-----
 ArduPlane/Parameters.h   |  5 -----
 ArduPlane/Plane.h        |  1 -
 ArduPlane/config.h       |  4 ----
 ArduPlane/is_flying.cpp  |  6 ++++--
 ArduPlane/system.cpp     |  5 -----
 7 files changed, 19 insertions(+), 25 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 3933582f8f07ae..bab97f46e259c6 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -132,9 +132,6 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button, &plane.button, update, 5, 100, 150),
 #endif
-#if STATS_ENABLED == ENABLED
-    SCHED_TASK_CLASS(AP_Stats, &plane.g2.stats, update, 1, 100, 153),
-#endif
 #if AP_GRIPPER_ENABLED
     SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75, 156),
 #endif
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 21c8b80f4fe9f3..1e6b5901bc8608 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1032,11 +1032,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Values: 0:NotEnforced,1:Enforced
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 4, ParametersG2, sysid_enforce, 0),
-#if STATS_ENABLED == ENABLED
-    // @Group: STAT
-    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
-    AP_SUBGROUPINFO(stats, "STAT", 5, ParametersG2, AP_Stats),
-#endif
 
     // @Group: SERVO
     // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
@@ -1557,5 +1552,20 @@ void Plane::load_parameters(void)
 
     landing.convert_parameters();
 
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-4.6
+#if AP_STATS_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 5;       // Old parameter index in g2
+        const uint16_t old_top_element = 4037; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
+    }
+#endif
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 208f55fbdd75a2..4a80e21943962d 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -484,11 +484,6 @@ class ParametersG2 {
     AP_Button *button_ptr;
 #endif
 
-#if STATS_ENABLED == ENABLED
-    // vehicle statistics
-    AP_Stats stats;
-#endif
-
 #if AP_ICENGINE_ENABLED
     // internal combustion engine control
     AP_ICEngine ice_control;
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index e410043d8de05b..3769e44a543c5f 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -44,7 +44,6 @@
 #include <AP_Camera/AP_Camera.h>          // Photo or video camera
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_RPM/AP_RPM.h>
-#include <AP_Stats/AP_Stats.h>     // statistics library
 #include <AP_Beacon/AP_Beacon.h>
 
 #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index b89be6703f56ac..254165a0027e60 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -219,10 +219,6 @@
 #define PARACHUTE HAL_PARACHUTE_ENABLED
 #endif
 
-#ifndef STATS_ENABLED
- # define STATS_ENABLED ENABLED
-#endif
-
 #ifndef OSD_ENABLED
  #define OSD_ENABLED DISABLED
 #endif
diff --git a/ArduPlane/is_flying.cpp b/ArduPlane/is_flying.cpp
index b857d8b7afaba3..979a640a69ee4a 100644
--- a/ArduPlane/is_flying.cpp
+++ b/ArduPlane/is_flying.cpp
@@ -1,5 +1,7 @@
 #include "Plane.h"
 
+#include <AP_Stats/AP_Stats.h>     // statistics library
+
 /*
   is_flying and crash detection logic
  */
@@ -163,8 +165,8 @@ void Plane::update_is_flying_5Hz(void)
 #if PARACHUTE == ENABLED
     parachute.set_is_flying(new_is_flying);
 #endif
-#if STATS_ENABLED == ENABLED
-    g2.stats.set_flying(new_is_flying);
+#if AP_STATS_ENABLED
+    AP::stats()->set_flying(new_is_flying);
 #endif
     AP_Notify::flags.flying = new_is_flying;
 
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 1cb09f97b28de0..70c09fda6afc5c 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -17,11 +17,6 @@ static void failsafe_check_static()
 void Plane::init_ardupilot()
 {
 
-#if STATS_ENABLED == ENABLED
-    // initialise stats module
-    g2.stats.init();
-#endif
-
     ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
 
     // setup any board specific drivers

From 81231997ff23204e9dcd6809e8ca39b7b3925aab Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 26 Jan 2024 14:05:58 +1100
Subject: [PATCH 0901/1335] Sub: move AP_Stats to AP_vehicle

---
 ArduSub/ArduSub.cpp    |  7 +++----
 ArduSub/Parameters.cpp | 20 +++++++++++++++-----
 ArduSub/Parameters.h   |  5 -----
 ArduSub/config.h       |  6 ------
 ArduSub/system.cpp     |  5 -----
 5 files changed, 18 insertions(+), 25 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index d70b7e1e822441..f75ff5f9dc87dc 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -105,7 +105,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
 #if AP_GRIPPER_ENABLED
     SCHED_TASK_CLASS(AP_Gripper,          &sub.g2.gripper,   update,              10,  75,  75),
 #endif
-#if STATS_ENABLED == ENABLED
+#if AP_STATS_ENABLED
     SCHED_TASK(stats_update,           1,    200,  76),
 #endif
 #ifdef USERHOOK_FASTLOOP
@@ -370,14 +370,13 @@ bool Sub::get_wp_crosstrack_error_m(float &xtrack_error) const
     return true;
 }
 
-#if STATS_ENABLED == ENABLED
+#if AP_STATS_ENABLED
 /*
   update AP_Stats
 */
 void Sub::stats_update(void)
 {
-    g2.stats.set_flying(motors.armed());
-    g2.stats.update();
+    AP::stats()->set_flying(motors.armed());
 }
 #endif
 
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index d58bbf275a970d..90d493659b4fc3 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -690,11 +690,6 @@ const AP_Param::Info Sub::var_info[] = {
   2nd group of parameters
  */
 const AP_Param::GroupInfo ParametersG2::var_info[] = {
-#if STATS_ENABLED == ENABLED
-    // @Group: STAT
-    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
-    AP_SUBGROUPINFO(stats, "STAT", 1, ParametersG2, AP_Stats),
-#endif
 #if HAL_PROXIMITY_ENABLED
     // @Group: PRX
     // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp
@@ -791,6 +786,21 @@ void Sub::load_parameters()
 #if AP_FENCE_ENABLED
     AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, 0, true);
 #endif
+
+    // PARAMETER_CONVERSION - Added: Jan-2024
+#if AP_STATS_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo stats_info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, stats_info.old_key)) {
+            return;
+        }
+
+        const uint16_t stats_old_index = 1;       // Old parameter index in g2
+        const uint16_t stats_old_top_element = 4033; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false);
+    }
+#endif
 }
 
 void Sub::convert_old_parameters()
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index 95ca7923ab86fd..1e0b86a4e52409 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -5,7 +5,6 @@
 #include <AP_Common/AP_Common.h>
 
 #include <AP_Gripper/AP_Gripper.h>
-#include <AP_Stats/AP_Stats.h>
 #include <AP_Arming/AP_Arming.h>
 
 #if AP_SCRIPTING_ENABLED
@@ -354,10 +353,6 @@ class Parameters {
 class ParametersG2 {
 public:
     ParametersG2(void);
-#if STATS_ENABLED == ENABLED
-    // vehicle statistics
-    AP_Stats stats;
-#endif
 
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
diff --git a/ArduSub/config.h b/ArduSub/config.h
index bb77f88ea24084..d4cdc55bf93d5c 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -187,12 +187,6 @@
 // Logging control
 //
 
-// Statistics
-#ifndef STATS_ENABLED
- # define STATS_ENABLED (AP_STATS_ENABLED ? ENABLED : DISABLED)
-#endif
-
-
 // Default logging bitmask
 #ifndef DEFAULT_LOG_BITMASK
 # define DEFAULT_LOG_BITMASK \
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index 67a5d15c70b913..6e9d628bdee8e7 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -19,11 +19,6 @@ void Sub::init_ardupilot()
     can_mgr.init();
 #endif
 
-#if STATS_ENABLED == ENABLED
-    // initialise stats module
-    g2.stats.init();
-#endif
-
     // init cargo gripper
 #if AP_GRIPPER_ENABLED
     g2.gripper.init();

From e4cf674891ce2bbb61f07f575d358a09d2395ff4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 26 Jan 2024 14:24:25 +1100
Subject: [PATCH 0902/1335] Rover: move AP_Stats to AP_vehicle

---
 Rover/Parameters.cpp | 21 ++++++++++++++++-----
 Rover/Parameters.h   |  5 -----
 Rover/Rover.cpp      |  8 ++------
 Rover/config.h       |  4 ----
 Rover/system.cpp     |  5 -----
 5 files changed, 18 insertions(+), 25 deletions(-)

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index ec6c8063cac8ad..66149625735829 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -404,11 +404,6 @@ const AP_Param::Info Rover::var_info[] = {
   2nd group of parameters
  */
 const AP_Param::GroupInfo ParametersG2::var_info[] = {
-#if STATS_ENABLED == ENABLED
-    // @Group: STAT
-    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
-    AP_SUBGROUPINFO(stats, "STAT", 1, ParametersG2, AP_Stats),
-#endif
     // @Param: SYSID_ENFORCE
     // @DisplayName: GCS sysid enforcement
     // @Description: This controls whether packets from other than the expected GCS system ID will be accepted
@@ -921,4 +916,20 @@ void Rover::load_parameters(void)
 #if AP_FENCE_ENABLED
     AP_Param::convert_class(info.old_key, &fence, fence.var_info, 17, 4049, false);
 #endif
+
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Rover-4.6
+#if AP_STATS_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo stats_info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, stats_info.old_key)) {
+            return;
+        }
+
+        const uint16_t stats_old_index = 1;       // Old parameter index in g2
+        const uint16_t stats_old_top_element = 4033; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false);
+    }
+#endif
+
 }
diff --git a/Rover/Parameters.h b/Rover/Parameters.h
index b4b7b019845cd8..e8dbb86a0eb249 100644
--- a/Rover/Parameters.h
+++ b/Rover/Parameters.h
@@ -293,11 +293,6 @@ class ParametersG2 {
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
-#if STATS_ENABLED == ENABLED
-    // vehicle statistics
-    AP_Stats stats;
-#endif
-
     // whether to enforce acceptance of packets only from sysid_my_gcs
     AP_Int8 sysid_enforce;
 
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index 8e0faed41e530c..4d8c3e3fd29da9 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -134,9 +134,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #endif
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button,           &rover.button,           update,          5,  200, 117),
-#endif
-#if STATS_ENABLED == ENABLED
-    SCHED_TASK(stats_update,            1,    200, 120),
 #endif
     SCHED_TASK(crash_check,            10,    200, 123),
     SCHED_TASK(cruise_learn_update,    50,    200, 126),
@@ -302,14 +299,13 @@ void Rover::nav_script_time_done(uint16_t id)
 }
 #endif // AP_SCRIPTING_ENABLED
 
-#if STATS_ENABLED == ENABLED
+#if AP_STATS_ENABLED
 /*
   update AP_Stats
 */
 void Rover::stats_update(void)
 {
-    g2.stats.set_flying(g2.motors.active());
-    g2.stats.update();
+    AP::stats()->set_flying(g2.motors.active());
 }
 #endif
 
diff --git a/Rover/config.h b/Rover/config.h
index ef64d393c06927..03ddc70945998e 100644
--- a/Rover/config.h
+++ b/Rover/config.h
@@ -76,10 +76,6 @@
   #define ADVANCED_FAILSAFE DISABLED
 #endif
 
-#ifndef STATS_ENABLED
- # define STATS_ENABLED ENABLED
-#endif
-
 #ifndef OSD_ENABLED
  #define OSD_ENABLED DISABLED
 #endif
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 07ff6415499f8b..0d522e77b6f6d5 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -14,11 +14,6 @@ static void failsafe_check_static()
 
 void Rover::init_ardupilot()
 {
-#if STATS_ENABLED == ENABLED
-    // initialise stats module
-    g2.stats.init();
-#endif
-
     BoardConfig.init();
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
     can_mgr.init();

From 0a5b6c7797bb20dd6631153d57bb1ccb1408854e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 26 Jan 2024 14:38:49 +1100
Subject: [PATCH 0903/1335] Blimp: move AP_Stats to AP_vehicle

---
 Blimp/Blimp.cpp      |  3 ---
 Blimp/Blimp.h        |  1 -
 Blimp/Parameters.cpp | 21 +++++++++++++++------
 Blimp/Parameters.h   |  5 -----
 Blimp/config.h       |  4 ----
 Blimp/system.cpp     |  5 -----
 6 files changed, 15 insertions(+), 24 deletions(-)

diff --git a/Blimp/Blimp.cpp b/Blimp/Blimp.cpp
index 45a1c0d65bcc69..3231580eaf619c 100644
--- a/Blimp/Blimp.cpp
+++ b/Blimp/Blimp.cpp
@@ -95,9 +95,6 @@ const AP_Scheduler::Task Blimp::scheduler_tasks[] = {
 #if HAL_LOGGING_ENABLED
     SCHED_TASK_CLASS(AP_Scheduler,         &blimp.scheduler,           update_logging, 0.1,  75,  69),
 #endif
-#if STATS_ENABLED == ENABLED
-    SCHED_TASK_CLASS(AP_Stats,             &blimp.g2.stats,            update,           1, 100,  75),
-#endif
 };
 
 void Blimp::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
index 1b3d3309b3ac7f..63f5eb888fa54a 100644
--- a/Blimp/Blimp.h
+++ b/Blimp/Blimp.h
@@ -39,7 +39,6 @@
 // #include <AP_AccelCal/AP_AccelCal.h>                // interface and maths for accelerometer calibration
 // #include <AP_InertialSensor/AP_InertialSensor.h>  // ArduPilot Mega Inertial Sensor (accel & gyro) Library
 #include <AP_AHRS/AP_AHRS.h>
-#include <AP_Stats/AP_Stats.h>     // statistics library
 #include <Filter/Filter.h>             // Filter library
 #include <AP_Vehicle/AP_Vehicle.h>         // needed for AHRS build
 #include <AP_InertialNav/AP_InertialNav.h>     // inertial navigation library
diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp
index 3c19c9f516be85..592087be62ef25 100644
--- a/Blimp/Parameters.cpp
+++ b/Blimp/Parameters.cpp
@@ -780,12 +780,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 11, ParametersG2, sysid_enforce, 0),
 
-#if STATS_ENABLED == ENABLED
-    // @Group: STAT
-    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
-    AP_SUBGROUPINFO(stats, "STAT", 12, ParametersG2, AP_Stats),
-#endif
-
     // @Param: FRAME_CLASS
     // @DisplayName: Frame Class
     // @Description: Controls major frame class for blimp.
@@ -874,6 +868,21 @@ void Blimp::load_parameters(void)
     // Load all auto-loaded EEPROM variables
     AP_Param::load_all();
 
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+#if AP_STATS_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 12;       // Old parameter index in g2
+        const uint16_t old_top_element = 4044; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
+    }
+#endif
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
     // setup AP_Param frame type flags
diff --git a/Blimp/Parameters.h b/Blimp/Parameters.h
index 8ec466d62c0c6d..3d44b579a28101 100644
--- a/Blimp/Parameters.h
+++ b/Blimp/Parameters.h
@@ -281,11 +281,6 @@ class ParametersG2
     // altitude at which nav control can start in takeoff
     AP_Float wp_navalt_min;
 
-#if STATS_ENABLED == ENABLED
-    // vehicle statistics
-    AP_Stats stats;
-#endif
-
     // whether to enforce acceptance of packets only from sysid_my_gcs
     AP_Int8 sysid_enforce;
 
diff --git a/Blimp/config.h b/Blimp/config.h
index 90985635a29432..2aca22ae839cae 100644
--- a/Blimp/config.h
+++ b/Blimp/config.h
@@ -134,10 +134,6 @@
 # define CH_MODE_DEFAULT   5
 #endif
 
-#ifndef STATS_ENABLED
-# define STATS_ENABLED ENABLED
-#endif
-
 #ifndef HAL_FRAME_TYPE_DEFAULT
 #define HAL_FRAME_TYPE_DEFAULT Fins::MOTOR_FRAME_TYPE_AIRFISH
 #endif
diff --git a/Blimp/system.cpp b/Blimp/system.cpp
index 83b2b832e184ac..af39cf9c9d7e0e 100644
--- a/Blimp/system.cpp
+++ b/Blimp/system.cpp
@@ -15,11 +15,6 @@ static void failsafe_check_static()
 void Blimp::init_ardupilot()
 {
 
-#if STATS_ENABLED == ENABLED
-    // initialise stats module
-    g2.stats.init();
-#endif
-
     BoardConfig.init();
 
 

From 2761a528f3cab9010538d729a6fd802544acae7c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 26 Jan 2024 14:51:29 +1100
Subject: [PATCH 0904/1335] SITL: remove unused include of AP_Stats.h

---
 libraries/SITL/SIM_BattMonitor_SMBus.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/libraries/SITL/SIM_BattMonitor_SMBus.cpp b/libraries/SITL/SIM_BattMonitor_SMBus.cpp
index 2f9fe08df5c300..cd9003e9827bbe 100644
--- a/libraries/SITL/SIM_BattMonitor_SMBus.cpp
+++ b/libraries/SITL/SIM_BattMonitor_SMBus.cpp
@@ -1,7 +1,5 @@
 #include "SIM_BattMonitor_SMBus.h"
 
-#include <AP_Stats/AP_Stats.h>
-
 SITL::SIM_BattMonitor_SMBus::SIM_BattMonitor_SMBus() :
     SMBusDevice()
 {

From 3b1ec57f546cd5e764777fad7c1648466a97d47d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 26 Jan 2024 15:09:19 +1100
Subject: [PATCH 0905/1335] Tracker: move AP_Stats to AP_vehicle

---
 AntennaTracker/Parameters.cpp | 10 ++++++----
 AntennaTracker/Parameters.h   |  2 +-
 AntennaTracker/Tracker.cpp    |  3 +--
 AntennaTracker/Tracker.h      |  3 ---
 AntennaTracker/system.cpp     |  3 ---
 5 files changed, 8 insertions(+), 13 deletions(-)

diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index 2d7dc5d80513ca..20d8da47aa06e9 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -560,10 +560,6 @@ const AP_Param::Info Tracker::var_info[] = {
     // @User: Standard
     GSCALAR(disarm_pwm,              "SAFE_DISARM_PWM",        0),
 
-    // @Group: STAT
-    // @Path: ../libraries/AP_Stats/AP_Stats.cpp
-    GOBJECT(stats, "STAT",  AP_Stats),
-
     // @Param: AUTO_OPTIONS
     // @DisplayName: Auto mode options
     // @Description: 1: Scan for unknown target
@@ -617,6 +613,12 @@ void Tracker::load_parameters(void)
     uint32_t before = AP_HAL::micros();
     // Load all auto-loaded EEPROM variables
     AP_Param::load_all();
+
+#if AP_STATS_ENABLED
+    // PARAMETER_CONVERSION - Added: Jan-2024
+    AP_Param::convert_class(g.k_param_stats_old, &stats, stats.var_info, 0, 0, true);
+#endif
+
     hal.console->printf("load_all took %luus\n", (unsigned long)(AP_HAL::micros() - before));
 
 #if HAL_HAVE_SAFETY_SWITCH
diff --git a/AntennaTracker/Parameters.h b/AntennaTracker/Parameters.h
index e43876f8ded8d5..836a70853615e1 100644
--- a/AntennaTracker/Parameters.h
+++ b/AntennaTracker/Parameters.h
@@ -114,7 +114,7 @@ class Parameters {
         k_param_rc_channels,
         k_param_servo_channels,
 
-        k_param_stats = 218,
+        k_param_stats_old = 218,
         k_param_scripting = 219,
 
         //
diff --git a/AntennaTracker/Tracker.cpp b/AntennaTracker/Tracker.cpp
index c81279dd832e5e..cd4a4eb5777e18 100644
--- a/AntennaTracker/Tracker.cpp
+++ b/AntennaTracker/Tracker.cpp
@@ -159,8 +159,7 @@ Mode *Tracker::mode_from_mode_num(const Mode::Number num)
 */
 void Tracker::stats_update(void)
 {
-    stats.set_flying(hal.util->get_soft_armed());
-    stats.update();
+    AP::stats()->set_flying(hal.util->get_soft_armed());
 }
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index d003b038b6fb22..54b2719433fcd2 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -40,7 +40,6 @@
 #include <SRV_Channel/SRV_Channel.h>
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_Mission/AP_Mission.h>
-#include <AP_Stats/AP_Stats.h>                      // statistics library
 #include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
 
 // Configuration
@@ -98,8 +97,6 @@ class Tracker : public AP_Vehicle {
     GCS_Tracker _gcs; // avoid using this; use gcs()
     GCS_Tracker &gcs() { return _gcs; }
 
-    AP_Stats stats;
-
     // Battery Sensors
     AP_BattMonitor battery{MASK_LOG_CURRENT,
                            FUNCTOR_BIND_MEMBER(&Tracker::handle_battery_failsafe, void, const char*, const int8_t),
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index db008dc75f05f9..c6f63c61dd2cf3 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -5,9 +5,6 @@ static const StorageAccess wp_storage(StorageManager::StorageMission);
 
 void Tracker::init_ardupilot()
 {
-    // initialise stats module
-    stats.init();
-
     BoardConfig.init();
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
     can_mgr.init();

From 4e8cc6d5abdb700f7c99456b5eda0c61e6d56345 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 24 Jan 2024 15:42:34 +1100
Subject: [PATCH 0906/1335] AP_Bootloader: fixed ECC check for single bank H7

---
 Tools/AP_Bootloader/support.cpp | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/Tools/AP_Bootloader/support.cpp b/Tools/AP_Bootloader/support.cpp
index 0954f7b753f369..86d51d35f2a75e 100644
--- a/Tools/AP_Bootloader/support.cpp
+++ b/Tools/AP_Bootloader/support.cpp
@@ -497,7 +497,15 @@ void check_ecc_errors(void)
     auto *dma = dmaStreamAlloc(STM32_DMA_STREAM_ID(1, 1), 0, nullptr, nullptr);
     uint32_t buf[32];
     uint32_t ofs = 0;
-    while (ofs < BOARD_FLASH_SIZE*1024 && FLASH->SR1 == 0 && FLASH->SR2 == 0) {
+    while (ofs < BOARD_FLASH_SIZE*1024) {
+        if (FLASH->SR1 != 0) {
+            break;
+        }
+#if BOARD_FLASH_SIZE > 1024
+        if (FLASH->SR2 != 0) {
+            break;
+        }
+#endif
         dmaStartMemCopy(dma,
                         STM32_DMA_CR_PL(0) | STM32_DMA_CR_PSIZE_BYTE |
                         STM32_DMA_CR_MSIZE_BYTE,

From 4eaf5ef247a080f69d89b2df6a7470c036734958 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 24 Jan 2024 15:43:28 +1100
Subject: [PATCH 0907/1335] HAL_ChibiOS: support STM32H723 boards

---
 libraries/AP_HAL_ChibiOS/hwdef/common/flash.c |   2 +-
 .../AP_HAL_ChibiOS/hwdef/common/mcuconf.h     |   2 +-
 .../hwdef/common/stm32h7_mcuconf.h            |   8 +-
 .../hwdef/common/stm32h7_type2_mcuconf.h      |   9 +-
 .../hwdef/scripts/STM32H723xx.py              | 994 ++++++++++++++++++
 5 files changed, 1010 insertions(+), 5 deletions(-)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H723xx.py

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/flash.c b/libraries/AP_HAL_ChibiOS/hwdef/common/flash.c
index 1e7fae3d282e99..46595c4f1f0451 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/flash.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/flash.c
@@ -118,7 +118,7 @@ static const uint32_t flash_memmap[STM32_FLASH_NPAGES] = { KB(32), KB(32), KB(32
 #else
 #error "BOARD_FLASH_SIZE invalid"
 #endif
-#elif defined(STM32H730xx) || defined(STM32H750xx)
+#elif defined(STM32H730xx) || defined(STM32H750xx) || defined(STM32H723xx)
 #define STM32_FLASH_NPAGES 1
 #define STM32_FLASH_NBANKS 1
 #define STM32_FLASH_FIXED_PAGE_SIZE 128
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h
index 75915cced112d0..60dceb01e27b5f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h
@@ -53,7 +53,7 @@
 #include "stm32f3_mcuconf.h"
 #elif defined(STM32F4) || defined(STM32F7)
 #include "stm32f47_mcuconf.h"
-#elif defined(STM32H730xx)
+#elif defined(STM32H730xx) || defined(STM32H723xx)
 #include "stm32h7_type2_mcuconf.h"
 #elif defined(STM32H7)
 #include "stm32h7_mcuconf.h"
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
index d13e5cf7312f81..8268c4853f412d 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
@@ -53,6 +53,7 @@
 #define STM32H755_MCUCONF
 #define STM32H747_MCUCONF
 #define STM32H757_MCUCONF
+#define STM32H723_MCUCONF
 
 /*
  * General settings.
@@ -101,7 +102,7 @@
 #define STM32_HSIDIV                        STM32_HSIDIV_DIV1
 
 /*
- * Clock setup for all other H7 variants including H743, H753, H750 and H757
+ * Clock setup for all other H7 variants including H743, H723, H753, H750 and H757
  */
 #define STM32_VOS                           STM32_VOS_SCALE1
 /*
@@ -306,7 +307,9 @@
 #ifndef STM32_QSPISEL
 #define STM32_QSPISEL                       STM32_QSPISEL_PLL2_R_CK
 #endif
+#ifdef STM32_QSPISEL_HCLK
 #define STM32_FMCSEL                        STM32_QSPISEL_HCLK
+#endif
 
 #define STM32_SWPSEL                        STM32_SWPSEL_PCLK1
 #define STM32_FDCANSEL                      STM32_FDCANSEL_PLL1_Q_CK
@@ -357,6 +360,9 @@
 #define STM32_IRQ_QUADSPI1_PRIORITY         10
 #define STM32_IRQ_QUADSPI2_PRIORITY         10
 
+#define STM32_IRQ_OCTOSPI1_PRIORITY         10
+#define STM32_IRQ_OCTOSPI2_PRIORITY         10
+
 #define STM32_IRQ_SDMMC1_PRIORITY           9
 #define STM32_IRQ_SDMMC2_PRIORITY           9
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_type2_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_type2_mcuconf.h
index e4e220f2d0751a..fba12421e32778 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_type2_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_type2_mcuconf.h
@@ -23,6 +23,9 @@
 #define STM32_ENFORCE_H7_REV_XY
 #endif
 
+// MPU region for ethernet
+#define STM32_NOCACHE_MPU_REGION_ETH            MPU_REGION_2
+
 #ifndef STM32_LSECLK
 #define STM32_LSECLK 32768U
 #endif
@@ -124,6 +127,8 @@
 #define STM32_PLL1_DIVM_VALUE               4
 #define STM32_PLL2_DIVM_VALUE               8
 #define STM32_PLL3_DIVM_VALUE               8
+#define STM32_PLLSRC                        STM32_PLLSRC_HSE_CK
+#define STM32_CKPERSEL                      STM32_CKPERSEL_HSE_CK
 
 #elif STM32_HSECLK == 16000000U
 // this gives 520MHz system clock
@@ -132,6 +137,8 @@
 #define STM32_PLL1_DIVM_VALUE               8
 #define STM32_PLL2_DIVM_VALUE               16
 #define STM32_PLL3_DIVM_VALUE               16
+#define STM32_PLLSRC                        STM32_PLLSRC_HSE_CK
+#define STM32_CKPERSEL                      STM32_CKPERSEL_HSE_CK
 
 #else
 #error "Unsupported HSE clock"
@@ -190,7 +197,6 @@
  * PLLs static settings.
  * Reading STM32 Reference Manual is required.
  */
-#define STM32_PLLSRC                        STM32_PLLSRC_HSE_CK
 #define STM32_PLLCFGR_MASK                  ~0
 
 #define STM32_PLL1_ENABLED                  TRUE
@@ -245,7 +251,6 @@
 #define STM32_STOPKERWUCK                   0
 #define STM32_STOPWUCK                      0
 #define STM32_RTCPRE_VALUE                  2
-#define STM32_CKPERSEL                      STM32_CKPERSEL_HSE_CK
 #define STM32_SDMMCSEL                      STM32_SDMMCSEL_PLL1_Q_CK
 #define STM32_OCTOSPISEL                    STM32_OCTOSPISEL_HCLK
 #define STM32_FMCSEL                        STM32_OCTOSPISEL_HCLK
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H723xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H723xx.py
new file mode 100644
index 00000000000000..5e99778a478254
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H723xx.py
@@ -0,0 +1,994 @@
+#!/usr/bin/env python
+'''
+these tables are generated from the STM32 datasheets for the STM32H723VG
+'''
+
+# additional build information for ChibiOS
+build = {
+    "CHIBIOS_STARTUP_MK"  : "os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32h7xx.mk",
+    "CHIBIOS_PLATFORM_MK" : "os/hal/ports/STM32/STM32H7xx/platform_type2.mk"
+    }
+
+# MCU parameters
+mcu = {
+    # DMA peripheral capabilities:
+    # - can't use ITCM or DTCM for any DMA
+    # - SPI1 to SPI5 can use AXI SRAM, SRAM1 to SRAM3 and SRAM4 for DMA
+    # - SPI6, I2C4 and ADC3 can use SRAM4 on BDMA
+    # - UARTS can use AXI SRAM, SRAM1 to SRAM3 and SRAM4 for DMA
+    # - I2C1, I2C2 and I2C3 can use AXI SRAM, SRAM1 to SRAM3 and SRAM4 with DMA
+    # - timers can use AXI SRAM, SRAM1 to SRAM3 and SRAM4 with DMA
+    # - ADC12 can use AXI SRAM, SRAM1 to SRAM3 and SRAM4
+    # - SDMMC can use AXI SRAM, SRAM1 to SRAM3 with IDMA (cannot use SRAM4)
+
+    # ram map, as list of (address, size-kb, flags)
+    # flags of 1 means DMA-capable (DMA and BDMA)
+    # flags of 2 means faster memory for CPU intensive work
+    # flags of 4 means memory can be used for SDMMC DMA
+    'RAM_MAP' : [
+        (0x20000000, 128, 2), # DTCM
+        (0x24000000, 128, 4), # AXI SRAM.
+        (0x00000400,  63, 2), # ITCM (first 1k removed, to keep address 0 unused)
+        (0x30000000, 32, 8), # SRAM1, SRAM2
+        (0x38000000, 16, 1), # SRAM4
+    ],
+
+    'EXPECTED_CLOCK' : 400000000,
+
+	'EXPECTED_CLOCKS' : [
+		('STM32_SYS_CK',	400000000),
+		('STM32_QSPICLK', 	200000000),
+		('STM32_SDMMC1CLK',  80000000),
+		('STM32_SPI45CLK',  100000000),
+		('STM32_FDCANCLK',   80000000),
+	],
+
+    # this MCU has M7 instructions and hardware double precision
+    'CORTEX'    : 'cortex-m7',
+    'CPU_FLAGS' : '-mcpu=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard',
+
+	# this MCU has a strange OTG setup
+    'STM32_OTG2_IS_OTG1' : 1,
+
+    'DEFINES' : {
+        'HAL_HAVE_HARDWARE_DOUBLE' : '1',
+        'HAL_WITH_MCU_MONITORING' : '1',
+        'STM32H7' : '1',
+    }
+}
+
+pincount = {
+    'A': 16,
+    'B': 16,
+    'C': 16,
+    'D': 16,
+    'E': 16,
+    'F': 16,
+    'G': 16,
+    'H': 16,
+    'I': 16,
+    'J': 16,
+    'K': 16
+}
+    
+# no DMA map as we will dynamically allocate DMA channels using the DMAMUX
+DMA_Map = None
+
+ADC1_map = {
+    # format is PIN : ADC1_CHAN
+    "PF11"  :   2,
+    "PA6"	:	3,
+    "PC4"	:	4,
+    "PB1"	:	5,
+    "PF12"  :   6,
+    "PA7"	:	7,
+    "PC5"	:	8,
+    "PB0"	:	9,
+	"PC0"	:	10,
+	"PC1"	:	11,
+	"PC2"	:	12,
+    "PC3"	:	13,
+    "PA2"	:	14,
+    "PA3"	:	15,
+    "PA0"	:	16,
+    "PA1"	:	17,
+    "PA4"	:	18,
+    "PA5"	:	19,
+}
+
+ADC2_map = {
+    "PF13"	:	2,
+    "PA6"	:	3,
+    "PC4"	:	4,
+    "PB1"	:	5,
+    "PF14"	:	6,
+    "PA7"	:	7,
+    "PC5"	:	8,
+    "PB0"	:	9,
+    "PC0"	:	10,
+    "PC1"	:	11,
+    "PC2"	:	12,
+    "PC3"	:	13,
+    "PA2"	:	14,
+    "PA3"	:	15,
+    "N/A"	:	16,
+    "N/A"	:	17,
+    "PA4"	:	18,
+    "PA5"	:	19,
+}
+
+AltFunction_map = {
+	# format is PIN:FUNCTION : AFNUM
+	# extracted from h723.txt
+	"PA0:ETH_RMII_CRS"       	:	11,
+	"PA0:EVENTOUT"      	:	15,
+	"PA0:FMC_A19"       	:	12,
+	"PA0:I2S6_WS"       	:	5,
+	"PA0:SAI4_SD_B"     	:	10,
+	"PA0:SDMMC2_CMD"    	:	9,
+	"PA0:SPI6_NSS"      	:	5,
+	"PA0:TIM15_BKIN"    	:	4,
+	"PA0:TIM2_CH1"      	:	1,
+	"PA0:TIM2_ETR"      	:	1,
+	"PA0:TIM5_CH1"      	:	2,
+	"PA0:TIM8_ETR"      	:	3,
+	"PA0:UART4_TX"      	:	8,
+	"PA0:USART2_CTS"    	:	7,
+	"PA0:USART2_NSS"    	:	7,
+	"PA1:ETH_RMII_REF_CLK"   	:	11,
+	"PA1:ETH_RMII_RX_CLK"    	:	11,
+	"PA1:EVENTOUT"      	:	15,
+	"PA1:LPTIM3_OUT"    	:	3,
+	"PA1:LTDC_R2"       	:	14,
+	"PA1:OCTOSPIM_P1_DQS"	:	12,
+	"PA1:OCTOSPIM_P1_IO3"	:	9,
+	"PA1:SAI4_MCLK_B"   	:	10,
+	"PA1:TIM15_CH1N"    	:	4,
+	"PA1:TIM2_CH2"      	:	1,
+	"PA1:TIM5_CH2"      	:	2,
+	"PA1:UART4_RX"      	:	8,
+	"PA1:USART2_DE"     	:	7,
+	"PA1:USART2_RTS"    	:	7,
+    "PA2:ETH_MDIO"      	:	11,
+	"PA2:EVENTOUT"      	:	15,
+	"PA2:LPTIM4_OUT"    	:	3,
+	"PA2:LTDC_R1"       	:	14,
+	"PA2:MDIOS_MDIO"    	:	12,
+	"PA2:OCTOSPIM_P1_IO0"	:	6,
+	"PA2:SAI4_SCK_B"    	:	8,
+	"PA2:TIM15_CH1"     	:	4,
+	"PA2:TIM2_CH3"      	:	1,
+	"PA2:TIM5_CH3"      	:	2,
+	"PA2:USART2_TX"     	:	7,
+	"PA3:ETH_RMII_COL"       	:	11,
+	"PA3:EVENTOUT"      	:	15,
+	"PA3:I2S6_MCK"      	:	5,
+	"PA3:LPTIM5_OUT"    	:	3,
+	"PA3:LTDC_B2"       	:	9,
+	"PA3:LTDC_B5"       	:	14,
+	"PA3:OCTOSPIM_P1_CLK"	:	12,
+	"PA3:OCTOSPIM_P1_IO2"	:	6,
+	"PA3:TIM15_CH2"     	:	4,
+	"PA3:TIM2_CH4"      	:	1,
+	"PA3:TIM5_CH4"      	:	2,
+	"PA3:USART2_RX"     	:	7,
+	"PA3:USB_OTG_HS_ULPI_D0"	:	10,
+	"PA4:DCMI_HSYNC"    	:	13,
+	"PA4:EVENTOUT"      	:	15,
+	"PA4:FMC_D8"        	:	12,
+	"PA4:FMC_DA8"       	:	12,
+	"PA4:I2S1_WS"       	:	5,
+	"PA4:I2S3_WS"       	:	6,
+	"PA4:I2S6_WS"       	:	8,
+	"PA4:LTDC_VSYNC"    	:	14,
+	"PA4:PSSI_DE"       	:	13,
+	"PA4:SPI1_NSS"      	:	5,
+	"PA4:SPI3_NSS"      	:	6,
+	"PA4:SPI6_NSS"      	:	8,
+	"PA4:TIM5_ETR"      	:	2,
+	"PA4:USART2_CK"     	:	7,
+	"PA5:EVENTOUT"      	:	15,
+	"PA5:FMC_D9"        	:	12,
+	"PA5:FMC_DA9"       	:	12,
+	"PA5:I2S1_CK"       	:	5,
+	"PA5:I2S6_CK"       	:	8,
+	"PA5:LTDC_R4"       	:	14,
+	"PA5:PSSI_D14"      	:	13,
+	"PA5:SPI1_SCK"      	:	5,
+	"PA5:SPI6_SCK"      	:	8,
+	"PA5:TIM2_CH1"      	:	1,
+	"PA5:TIM2_ETR"      	:	1,
+	"PA5:TIM8_CH1N"     	:	3,
+	"PA5:USB_OTG_HS_ULPI_CK"	:	10,
+	"PA6:DCMI_PIXCLK"   	:	13,
+	"PA6:EVENTOUT"      	:	15,
+	"PA6:I2S1_SDI"      	:	5,
+	"PA6:I2S6_SDI"      	:	8,
+	"PA6:LTDC_G2"       	:	14,
+	"PA6:MDIOS_MDC"     	:	11,
+	"PA6:OCTOSPIM_P1_IO3"	:	6,
+	"PA6:PSSI_PDCK"     	:	13,
+	"PA6:SPI1_MISO"     	:	5,
+	"PA6:SPI6_MISO"     	:	8,
+	"PA6:TIM13_CH1"     	:	9,
+	"PA6:TIM1_BKIN"     	:	1,
+	"PA6:TIM1_BKIN_COMP1"	:	12,
+	"PA6:TIM1_BKIN_COMP2"	:	12,
+	"PA6:TIM3_CH1"      	:	2,
+	"PA6:TIM8_BKIN"     	:	3,
+	"PA6:TIM8_BKIN_COMP1"	:	10,
+	"PA6:TIM8_BKIN_COMP2"	:	10,
+	"PA7:ETH_RMII_CRS_DV"    	:	11,
+	"PA7:ETH_RMII_RX_DV"     	:	11,
+	"PA7:EVENTOUT"      	:	15,
+	"PA7:FMC_SDNWE"     	:	12,
+	"PA7:I2S1_SDO"      	:	5,
+	"PA7:I2S6_SDO"      	:	8,
+	"PA7:LTDC_VSYNC"    	:	14,
+	"PA7:OCTOSPIM_P1_IO2"	:	10,
+	"PA7:SPI1_MOSI"     	:	5,
+	"PA7:SPI6_MOSI"     	:	8,
+	"PA7:TIM14_CH1"     	:	9,
+	"PA7:TIM1_CH1N"     	:	1,
+	"PA7:TIM3_CH2"      	:	2,
+	"PA7:TIM8_CH1N"     	:	3,
+	"PA8:EVENTOUT"      	:	15,
+	"PA8:I2C3_SCL"      	:	4,
+	"PA8:I2C5_SCL"      	:	6,
+	"PA8:LTDC_B3"       	:	13,
+	"PA8:LTDC_R6"       	:	14,
+	"PA8:RCC_MCO_1"     	:	0,
+	"PA8:TIM1_CH1"      	:	1,
+	"PA8:TIM8_BKIN2"    	:	3,
+	"PA8:TIM8_BKIN2_COMP1"	:	12,
+	"PA8:TIM8_BKIN2_COMP2"	:	12,
+	"PA8:UART7_RX"      	:	11,
+	"PA8:USART1_CK"     	:	7,
+	"PA8:USB_OTG_HS_SOF"	:	10,
+	"PA9:DCMI_D0"       	:	13,
+	"PA9:ETH_RMII_TX_ER"     	:	11,
+	"PA9:EVENTOUT"      	:	15,
+	"PA9:I2C3_SMBA"     	:	4,
+	"PA9:I2C5_SMBA"     	:	6,
+	"PA9:I2S2_CK"       	:	5,
+	"PA9:LPUART1_TX"    	:	3,
+	"PA9:LTDC_R5"       	:	14,
+	"PA9:PSSI_D0"       	:	13,
+	"PA9:SPI2_SCK"      	:	5,
+	"PA9:TIM1_CH2"      	:	1,
+	"PA9:USART1_TX"     	:	7,
+	"PA10:DCMI_D1"      	:	13,
+	"PA10:EVENTOUT"     	:	15,
+	"PA10:LPUART1_RX"   	:	3,
+	"PA10:LTDC_B1"      	:	14,
+	"PA10:LTDC_B4"      	:	12,
+	"PA10:MDIOS_MDIO"   	:	11,
+	"PA10:PSSI_D1"      	:	13,
+	"PA10:TIM1_CH3"     	:	1,
+	"PA10:USART1_RX"    	:	7,
+	"PA10:USB_OTG_HS_ID"	:	10,
+    "PA11:OTG_HS_DM"		:   0,
+    "PA11:EVENTOUT"     	:	15,
+	"PA11:CAN1_RX"    	:	9,
+	"PA11:I2S2_WS"      	:	5,
+	"PA11:LPUART1_CTS"  	:	3,
+	"PA11:LTDC_R4"      	:	14,
+	"PA11:SPI2_NSS"     	:	5,
+	"PA11:TIM1_CH4"     	:	1,
+	"PA11:UART4_RX"     	:	6,
+	"PA11:USART1_CTS"   	:	7,
+	"PA11:USART1_NSS"   	:	7,
+    "PA12:OTG_HS_DP"		:   0,
+    "PA12:EVENTOUT"     	:	15,
+	"PA12:CAN1_TX"    	:	9,
+	"PA12:I2S2_CK"      	:	5,
+	"PA12:LPUART1_DE"   	:	3,
+	"PA12:LPUART1_RTS"  	:	3,
+	"PA12:LTDC_R5"      	:	14,
+	"PA12:SAI4_FS_B"    	:	8,
+	"PA12:SPI2_SCK"     	:	5,
+	"PA12:TIM1_BKIN2"   	:	12,
+	"PA12:TIM1_ETR"     	:	1,
+	"PA12:UART4_TX"     	:	6,
+	"PA12:USART1_DE"    	:	7,
+	"PA12:USART1_RTS"   	:	7,
+    "PA13:JTMS-SWDIO"	:	0,
+	"PA13:EVENTOUT"     	:	15,
+    "PA14:JTCK-SWCLK"	:	0,
+	"PA14:EVENTOUT"     	:	15,
+	"PA15:CEC"          	:	4,
+	"PA15:DEBUG_JTDI"   	:	0,
+	"PA15:EVENTOUT"     	:	15,
+	"PA15:I2S1_WS"      	:	5,
+	"PA15:I2S3_WS"      	:	6,
+	"PA15:I2S6_WS"      	:	7,
+	"PA15:LTDC_B6"      	:	14,
+	"PA15:LTDC_R3"      	:	9,
+	"PA15:SPI1_NSS"     	:	5,
+	"PA15:SPI3_NSS"     	:	6,
+	"PA15:SPI6_NSS"     	:	7,
+	"PA15:TIM2_CH1"     	:	1,
+	"PA15:TIM2_ETR"     	:	1,
+	"PA15:UART4_DE"     	:	8,
+	"PA15:UART4_RTS"    	:	8,
+	"PA15:UART7_TX"     	:	11,
+	"PB0:DFSDM1_CKOUT"  	:	6,
+	"PB0:ETH_RMII_RXD2"      	:	11,
+	"PB0:EVENTOUT"      	:	15,
+	"PB0:LTDC_G1"       	:	14,
+	"PB0:LTDC_R3"       	:	9,
+	"PB0:OCTOSPIM_P1_IO1"	:	4,
+	"PB0:TIM1_CH2N"     	:	1,
+	"PB0:TIM3_CH3"      	:	2,
+	"PB0:TIM8_CH2N"     	:	3,
+	"PB0:UART4_CTS"     	:	8,
+	"PB0:USB_OTG_HS_ULPI_D1"	:	10,
+	"PB1:DFSDM1_DATIN1" 	:	6,
+	"PB1:ETH_RMII_RXD3"      	:	11,
+	"PB1:EVENTOUT"      	:	15,
+	"PB1:LTDC_G0"       	:	14,
+	"PB1:LTDC_R6"       	:	9,
+	"PB1:OCTOSPIM_P1_IO0"	:	4,
+	"PB1:TIM1_CH3N"     	:	1,
+	"PB1:TIM3_CH4"      	:	2,
+	"PB1:TIM8_CH3N"     	:	3,
+	"PB1:USB_OTG_HS_ULPI_D2"	:	10,
+	"PB2:DFSDM1_CKIN1"  	:	4,
+	"PB2:ETH_RMII_TX_ER"     	:	11,
+	"PB2:EVENTOUT"      	:	15,
+	"PB2:I2S3_SDO"      	:	7,
+	"PB2:OCTOSPIM_P1_CLK"	:	9,
+	"PB2:OCTOSPIM_P1_DQS"	:	10,
+	"PB2:RTC_OUT_ALARM" 	:	0,
+	"PB2:RTC_OUT_CALIB" 	:	0,
+	"PB2:SAI1_D1"       	:	2,
+	"PB2:SAI1_SD_A"     	:	6,
+	"PB2:SAI4_D1"       	:	1,
+	"PB2:SAI4_SD_A"     	:	8,
+	"PB2:SPI3_MOSI"     	:	7,
+	"PB2:TIM23_ETR"     	:	13,
+	"PB3:CRS_SYNC"      	:	10,
+	"PB3:DEBUG_JTDO-SWO"	:	0,
+	"PB3:EVENTOUT"      	:	15,
+	"PB3:I2S1_CK"       	:	5,
+	"PB3:I2S3_CK"       	:	6,
+	"PB3:I2S6_CK"       	:	8,
+	"PB3:SDMMC2_D2"     	:	9,
+	"PB3:SPI1_SCK"      	:	5,
+	"PB3:SPI3_SCK"      	:	6,
+	"PB3:SPI6_SCK"      	:	8,
+	"PB3:TIM24_ETR"     	:	14,
+	"PB3:TIM2_CH2"      	:	1,
+	"PB3:UART7_RX"      	:	11,
+	"PB4:DEBUG_JTRST"   	:	0,
+	"PB4:EVENTOUT"      	:	15,
+	"PB4:I2S1_SDI"      	:	5,
+	"PB4:I2S2_WS"       	:	7,
+	"PB4:I2S3_SDI"      	:	6,
+	"PB4:I2S6_SDI"      	:	8,
+	"PB4:SDMMC2_D3"     	:	9,
+	"PB4:SPI1_MISO"     	:	5,
+	"PB4:SPI2_NSS"      	:	7,
+	"PB4:SPI3_MISO"     	:	6,
+	"PB4:SPI6_MISO"     	:	8,
+	"PB4:TIM16_BKIN"    	:	1,
+	"PB4:TIM3_CH1"      	:	2,
+	"PB4:UART7_TX"      	:	11,
+	"PB5:DCMI_D10"      	:	13,
+	"PB5:ETH_RMII_PPS_OUT"   	:	11,
+	"PB5:EVENTOUT"      	:	15,
+    "PB5:CAN2_RX"     	:	9,
+	"PB5:FMC_SDCKE1"    	:	12,
+	"PB5:I2C1_SMBA"     	:	4,
+	"PB5:I2C4_SMBA"     	:	6,
+	"PB5:I2S1_SDO"      	:	5,
+	"PB5:I2S3_SDO"      	:	7,
+	"PB5:I2S6_SDO"      	:	8,
+	"PB5:LTDC_B5"       	:	3,
+	"PB5:PSSI_D10"      	:	13,
+	"PB5:SPI1_MOSI"     	:	5,
+	"PB5:SPI3_MOSI"     	:	7,
+	"PB5:SPI6_MOSI"     	:	8,
+	"PB5:TIM17_BKIN"    	:	1,
+	"PB5:TIM3_CH2"      	:	2,
+	"PB5:UART5_RX"      	:	14,
+	"PB5:USB_OTG_HS_ULPI_D7"	:	10,
+	"PB6:CEC"           	:	5,
+	"PB6:DCMI_D5"       	:	13,
+	"PB6:DFSDM1_DATIN5" 	:	11,
+	"PB6:EVENTOUT"      	:	15,
+    "PB6:CAN2_TX"     	:	9,
+	"PB6:FMC_SDNE1"     	:	12,
+	"PB6:I2C1_SCL"      	:	4,
+	"PB6:I2C4_SCL"      	:	6,
+	"PB6:LPUART1_TX"    	:	8,
+	"PB6:OCTOSPIM_P1_NCS"	:	10,
+	"PB6:PSSI_D5"       	:	13,
+	"PB6:TIM16_CH1N"    	:	1,
+	"PB6:TIM4_CH1"      	:	2,
+	"PB6:UART5_TX"      	:	14,
+	"PB6:USART1_TX"     	:	7,
+	"PB7:DCMI_VSYNC"    	:	13,
+	"PB7:DFSDM1_CKIN5"  	:	11,
+	"PB7:EVENTOUT"      	:	15,
+	"PB7:FMC_NL"        	:	12,
+	"PB7:I2C1_SDA"      	:	4,
+	"PB7:I2C4_SDA"      	:	6,
+	"PB7:LPUART1_RX"    	:	8,
+	"PB7:PSSI_RDY"      	:	13,
+	"PB7:TIM17_CH1N"    	:	1,
+	"PB7:TIM4_CH2"      	:	2,
+	"PB7:USART1_RX"     	:	7,
+	"PB8:DCMI_D6"       	:	13,
+	"PB8:DFSDM1_CKIN7"  	:	3,
+	"PB8:ETH_RMII_TXD3"      	:	11,
+	"PB8:EVENTOUT"      	:	15,
+	"PB8:CAN1_RX"     	:	9,
+	"PB8:I2C1_SCL"      	:	4,
+	"PB8:I2C4_SCL"      	:	6,
+	"PB8:LTDC_B6"       	:	14,
+	"PB8:PSSI_D6"       	:	13,
+	"PB8:SDMMC1_CKIN"   	:	7,
+	"PB8:SDMMC1_D4"     	:	12,
+	"PB8:SDMMC2_D4"     	:	10,
+	"PB8:TIM16_CH1"     	:	1,
+	"PB8:TIM4_CH3"      	:	2,
+	"PB8:UART4_RX"      	:	8,
+	"PB9:DCMI_D7"       	:	13,
+	"PB9:DFSDM1_DATIN7" 	:	3,
+	"PB9:EVENTOUT"      	:	15,
+	"PB9:CAN1_TX"     	:	9,
+	"PB9:I2C1_SDA"      	:	4,
+	"PB9:I2C4_SDA"      	:	6,
+	"PB9:I2C4_SMBA"     	:	11,
+	"PB9:I2S2_WS"       	:	5,
+	"PB9:LTDC_B7"       	:	14,
+	"PB9:PSSI_D7"       	:	13,
+	"PB9:SDMMC1_CDIR"   	:	7,
+	"PB9:SDMMC1_D5"     	:	12,
+	"PB9:SDMMC2_D5"     	:	10,
+	"PB9:SPI2_NSS"      	:	5,
+	"PB9:TIM17_CH1"     	:	1,
+	"PB9:TIM4_CH4"      	:	2,
+	"PB9:UART4_TX"      	:	8,
+	"PB10:DFSDM1_DATIN7"	:	6,
+	"PB10:ETH_RMII_RX_ER"    	:	11,
+	"PB10:EVENTOUT"     	:	15,
+	"PB10:I2C2_SCL"     	:	4,
+	"PB10:I2S2_CK"      	:	5,
+	"PB10:LPTIM2_IN1"   	:	3,
+	"PB10:LTDC_G4"      	:	14,
+	"PB10:OCTOSPIM_P1_NCS"	:	9,
+	"PB10:SPI2_SCK"     	:	5,
+	"PB10:TIM2_CH3"     	:	1,
+	"PB10:USART3_TX"    	:	7,
+	"PB10:USB_OTG_HS_ULPI_D3"	:	10,
+	"PB11:DFSDM1_CKIN7" 	:	6,
+	"PB11:ETH_RMII_TX_EN"    	:	11,
+	"PB11:EVENTOUT"     	:	15,
+	"PB11:I2C2_SDA"     	:	4,
+	"PB11:LPTIM2_ETR"   	:	3,
+	"PB11:LTDC_G5"      	:	14,
+	"PB11:TIM2_CH4"     	:	1,
+	"PB11:USART3_RX"    	:	7,
+	"PB11:USB_OTG_HS_ULPI_D4"	:	10,
+	"PB12:DFSDM1_DATIN1"	:	6,
+	"PB12:ETH_RMII_TXD0"     	:	11,
+	"PB12:EVENTOUT"     	:	15,
+	"PB12:CAN2_RX"    	:	9,
+	"PB12:I2C2_SMBA"    	:	4,
+	"PB12:I2S2_WS"      	:	5,
+	"PB12:OCTOSPIM_P1_IO0"	:	12,
+	"PB12:OCTOSPIM_P1_NCLK"	:	3,
+	"PB12:SPI2_NSS"     	:	5,
+	"PB12:TIM1_BKIN"    	:	1,
+	"PB12:TIM1_BKIN_COMP1"	:	13,
+	"PB12:TIM1_BKIN_COMP2"	:	13,
+	"PB12:UART5_RX"     	:	14,
+	"PB12:USART3_CK"    	:	7,
+	"PB12:USB_OTG_HS_ULPI_D5"	:	10,
+	"PB13:DCMI_D2"      	:	13,
+	"PB13:DFSDM1_CKIN1" 	:	6,
+	"PB13:ETH_RMII_TXD1"     	:	11,
+	"PB13:EVENTOUT"     	:	15,
+	"PB13:CAN2_TX"    	:	9,
+	"PB13:I2S2_CK"      	:	5,
+	"PB13:LPTIM2_OUT"   	:	3,
+	"PB13:OCTOSPIM_P1_IO2"	:	4,
+	"PB13:PSSI_D2"      	:	13,
+	"PB13:SDMMC1_D0"    	:	12,
+	"PB13:SPI2_SCK"     	:	5,
+	"PB13:TIM1_CH1N"    	:	1,
+	"PB13:UART5_TX"     	:	14,
+	"PB13:USART3_CTS"   	:	7,
+	"PB13:USART3_NSS"   	:	7,
+	"PB13:USB_OTG_HS_ULPI_D6"	:	10,
+	"PB14:DFSDM1_DATIN2"	:	6,
+	"PB14:EVENTOUT"     	:	15,
+	"PB14:FMC_D10"      	:	12,
+	"PB14:FMC_DA10"     	:	12,
+	"PB14:I2S2_SDI"     	:	5,
+	"PB14:LTDC_CLK"     	:	14,
+	"PB14:SDMMC2_D0"    	:	9,
+	"PB14:SPI2_MISO"    	:	5,
+	"PB14:TIM12_CH1"    	:	2,
+	"PB14:TIM1_CH2N"    	:	1,
+	"PB14:TIM8_CH2N"    	:	3,
+	"PB14:UART4_DE"     	:	8,
+	"PB14:UART4_RTS"    	:	8,
+	"PB14:USART1_TX"    	:	4,
+	"PB14:USART3_DE"    	:	7,
+	"PB14:USART3_RTS"   	:	7,
+	"PB15:DFSDM1_CKIN2" 	:	6,
+	"PB15:EVENTOUT"     	:	15,
+	"PB15:FMC_D11"      	:	12,
+	"PB15:FMC_DA11"     	:	12,
+	"PB15:I2S2_SDO"     	:	5,
+	"PB15:LTDC_G7"      	:	14,
+	"PB15:RTC_REFIN"    	:	0,
+	"PB15:SDMMC2_D1"    	:	9,
+	"PB15:SPI2_MOSI"    	:	5,
+	"PB15:TIM12_CH2"    	:	2,
+	"PB15:TIM1_CH3N"    	:	1,
+	"PB15:TIM8_CH3N"    	:	3,
+	"PB15:UART4_CTS"    	:	8,
+	"PB15:USART1_RX"    	:	4,
+	"PC0:DFSDM1_CKIN0"  	:	3,
+	"PC0:DFSDM1_DATIN4" 	:	6,
+	"PC0:EVENTOUT"      	:	15,
+	"PC0:FMC_A25"       	:	9,
+	"PC0:FMC_D12"       	:	1,
+	"PC0:FMC_DA12"      	:	1,
+	"PC0:FMC_SDNWE"     	:	12,
+	"PC0:LTDC_G2"       	:	11,
+	"PC0:LTDC_R5"       	:	14,
+	"PC0:SAI4_FS_B"     	:	8,
+	"PC0:USB_OTG_HS_ULPI_STP"	:	10,
+	"PC1:DEBUG_TRACED0" 	:	0,
+	"PC1:DFSDM1_CKIN4"  	:	4,
+	"PC1:DFSDM1_DATIN0" 	:	3,
+    "PC1:ETH_MDC"       	:	11,
+	"PC1:EVENTOUT"      	:	15,
+	"PC1:I2S2_SDO"      	:	5,
+	"PC1:LTDC_G5"       	:	14,
+	"PC1:MDIOS_MDC"     	:	12,
+	"PC1:OCTOSPIM_P1_IO4"	:	10,
+	"PC1:SAI1_D1"       	:	2,
+	"PC1:SAI1_SD_A"     	:	6,
+	"PC1:SAI4_D1"       	:	1,
+	"PC1:SAI4_SD_A"     	:	8,
+	"PC1:SDMMC2_CK"     	:	9,
+	"PC1:SPI2_MOSI"     	:	5,
+	"PC2:DFSDM1_CKIN1"  	:	3,
+	"PC2:DFSDM1_CKOUT"  	:	6,
+	"PC2:ETH_RMII_TXD2"      	:	11,
+	"PC2:FMC_SDNE0"     	:	12,
+	"PC2:I2S2_SDI"      	:	5,
+	"PC2:OCTOSPIM_P1_IO2"	:	9,
+	"PC2:OCTOSPIM_P1_IO5"	:	4,
+	"PC2:SPI2_MISO"     	:	5,
+	"PC2:USB_OTG_HS_ULPI_DIR"	:	10,
+	"PC3:DFSDM1_DATIN1" 	:	3,
+	"PC3:ETH_RMII_TX_CLK"    	:	11,
+	"PC3:FMC_SDCKE0"    	:	12,
+	"PC3:I2S2_SDO"      	:	5,
+	"PC3:OCTOSPIM_P1_IO0"	:	9,
+	"PC3:OCTOSPIM_P1_IO6"	:	4,
+	"PC3:SPI2_MOSI"     	:	5,
+	"PC3:USB_OTG_HS_ULPI_NXT"	:	10,
+	"PC4:DFSDM1_CKIN2"  	:	3,
+    "PC4:ETH_RMII_RXD0"      	:	11,
+	"PC4:EVENTOUT"      	:	15,
+	"PC4:FMC_A22"       	:	1,
+	"PC4:FMC_SDNE0"     	:	12,
+	"PC4:I2S1_MCK"      	:	5,
+	"PC4:LTDC_R7"       	:	14,
+	"PC4:SDMMC2_CKIN"   	:	10,
+	"PC4:SPDIFRX1_IN2"  	:	9,
+	"PC5:COMP1_OUT"     	:	13,
+	"PC5:DFSDM1_DATIN2" 	:	3,
+    "PC5:ETH_RMII_RXD1"      	:	11,
+	"PC5:EVENTOUT"      	:	15,
+	"PC5:FMC_SDCKE0"    	:	12,
+	"PC5:LTDC_DE"       	:	14,
+	"PC5:OCTOSPIM_P1_DQS"	:	10,
+	"PC5:PSSI_D15"      	:	4,
+	"PC5:SAI1_D3"       	:	2,
+	"PC5:SAI4_D3"       	:	1,
+	"PC5:SPDIFRX1_IN3"  	:	9,
+	"PC6:DCMI_D0"       	:	13,
+	"PC6:DFSDM1_CKIN3"  	:	4,
+	"PC6:EVENTOUT"      	:	15,
+	"PC6:FMC_NWAIT"     	:	9,
+	"PC6:I2S2_MCK"      	:	5,
+	"PC6:LTDC_HSYNC"    	:	14,
+	"PC6:PSSI_D0"       	:	13,
+	"PC6:SDMMC1_D0DIR"  	:	8,
+	"PC6:SDMMC1_D6"     	:	12,
+	"PC6:SDMMC2_D6"     	:	10,
+	"PC6:TIM3_CH1"      	:	2,
+	"PC6:TIM8_CH1"      	:	3,
+	"PC6:USART6_TX"     	:	7,
+	"PC7:DCMI_D1"       	:	13,
+	"PC7:DEBUG_TRGIO"   	:	0,
+	"PC7:DFSDM1_DATIN3" 	:	4,
+	"PC7:EVENTOUT"      	:	15,
+	"PC7:FMC_NE1"       	:	9,
+	"PC7:I2S3_MCK"      	:	6,
+	"PC7:LTDC_G6"       	:	14,
+	"PC7:PSSI_D1"       	:	13,
+	"PC7:SDMMC1_D123DIR"	:	8,
+	"PC7:SDMMC1_D7"     	:	12,
+	"PC7:SDMMC2_D7"     	:	10,
+	"PC7:SWPMI1_TX"     	:	11,
+	"PC7:TIM3_CH2"      	:	2,
+	"PC7:TIM8_CH2"      	:	3,
+	"PC7:USART6_RX"     	:	7,
+	"PC8:DCMI_D2"       	:	13,
+	"PC8:DEBUG_TRACED1" 	:	0,
+	"PC8:EVENTOUT"      	:	15,
+	"PC8:FMC_INT"       	:	10,
+	"PC8:FMC_NCE"       	:	9,
+	"PC8:FMC_NE2"       	:	9,
+	"PC8:PSSI_D2"       	:	13,
+	"PC8:SDMMC1_D0"     	:	12,
+	"PC8:SWPMI1_RX"     	:	11,
+	"PC8:TIM3_CH3"      	:	2,
+	"PC8:TIM8_CH3"      	:	3,
+	"PC8:UART5_DE"      	:	8,
+	"PC8:UART5_RTS"     	:	8,
+	"PC8:USART6_CK"     	:	7,
+	"PC9:DCMI_D3"       	:	13,
+	"PC9:EVENTOUT"      	:	15,
+	"PC9:I2C3_SDA"      	:	4,
+	"PC9:I2C5_SDA"      	:	6,
+	"PC9:I2S_CKIN"      	:	5,
+	"PC9:LTDC_B2"       	:	14,
+	"PC9:LTDC_G3"       	:	10,
+	"PC9:OCTOSPIM_P1_IO0"	:	9,
+	"PC9:PSSI_D3"       	:	13,
+	"PC9:RCC_MCO_2"     	:	0,
+	"PC9:SDMMC1_D1"     	:	12,
+	"PC9:SWPMI1_SUSPEND"	:	11,
+	"PC9:TIM3_CH4"      	:	2,
+	"PC9:TIM8_CH4"      	:	3,
+	"PC9:UART5_CTS"     	:	8,
+	"PC10:DCMI_D8"      	:	13,
+	"PC10:DFSDM1_CKIN5" 	:	3,
+	"PC10:EVENTOUT"     	:	15,
+	"PC10:I2C5_SDA"     	:	4,
+	"PC10:I2S3_CK"      	:	6,
+	"PC10:LTDC_B1"      	:	10,
+	"PC10:LTDC_R2"      	:	14,
+	"PC10:OCTOSPIM_P1_IO1"	:	9,
+	"PC10:PSSI_D8"      	:	13,
+	"PC10:SDMMC1_D2"    	:	12,
+	"PC10:SPI3_SCK"     	:	6,
+	"PC10:SWPMI1_RX"    	:	11,
+	"PC10:UART4_TX"     	:	8,
+	"PC10:USART3_TX"    	:	7,
+	"PC11:DCMI_D4"      	:	13,
+	"PC11:DFSDM1_DATIN5"	:	3,
+	"PC11:EVENTOUT"     	:	15,
+	"PC11:I2C5_SCL"     	:	4,
+	"PC11:I2S3_SDI"     	:	6,
+	"PC11:LTDC_B4"      	:	14,
+	"PC11:OCTOSPIM_P1_NCS"	:	9,
+	"PC11:PSSI_D4"      	:	13,
+	"PC11:SDMMC1_D3"    	:	12,
+	"PC11:SPI3_MISO"    	:	6,
+	"PC11:UART4_RX"     	:	8,
+	"PC11:USART3_RX"    	:	7,
+	"PC12:DCMI_D9"      	:	13,
+	"PC12:DEBUG_TRACED3"	:	0,
+	"PC12:EVENTOUT"     	:	15,
+	"PC12:FMC_D6"       	:	1,
+	"PC12:FMC_DA6"      	:	1,
+	"PC12:I2C5_SMBA"    	:	4,
+	"PC12:I2S3_SDO"     	:	6,
+	"PC12:I2S6_CK"      	:	5,
+	"PC12:LTDC_R6"      	:	14,
+	"PC12:PSSI_D9"      	:	13,
+	"PC12:SDMMC1_CK"    	:	12,
+	"PC12:SPI3_MOSI"    	:	6,
+	"PC12:SPI6_SCK"     	:	5,
+	"PC12:TIM15_CH1"    	:	2,
+	"PC12:UART5_TX"     	:	8,
+	"PC12:USART3_CK"    	:	7,
+	"PC13:EVENTOUT"     	:	15,
+	"PC14:EVENTOUT"     	:	15,
+	"PC15:EVENTOUT"     	:	15,
+	"PD0:DFSDM1_CKIN6"  	:	3,
+	"PD0:EVENTOUT"      	:	15,
+    "PD0:CAN1_RX"     	:	9,
+	"PD0:FMC_D2"        	:	12,
+	"PD0:FMC_DA2"       	:	12,
+	"PD0:LTDC_B1"       	:	14,
+	"PD0:UART4_RX"      	:	8,
+	"PD0:UART9_CTS"     	:	11,
+	"PD1:DFSDM1_DATIN6" 	:	3,
+	"PD1:EVENTOUT"      	:	15,
+    "PD1:CAN1_TX"     	:	9,
+	"PD1:FMC_D3"        	:	12,
+	"PD1:FMC_DA3"       	:	12,
+	"PD1:UART4_TX"      	:	8,
+	"PD2:DCMI_D11"      	:	13,
+	"PD2:DEBUG_TRACED2" 	:	0,
+	"PD2:EVENTOUT"      	:	15,
+	"PD2:FMC_D7"        	:	1,
+	"PD2:FMC_DA7"       	:	1,
+	"PD2:LTDC_B2"       	:	14,
+	"PD2:LTDC_B7"       	:	9,
+	"PD2:PSSI_D11"      	:	13,
+	"PD2:SDMMC1_CMD"    	:	12,
+	"PD2:TIM15_BKIN"    	:	4,
+	"PD2:TIM3_ETR"      	:	2,
+	"PD2:UART5_RX"      	:	8,
+	"PD3:DCMI_D5"       	:	13,
+	"PD3:DFSDM1_CKOUT"  	:	3,
+	"PD3:EVENTOUT"      	:	15,
+	"PD3:FMC_CLK"       	:	12,
+	"PD3:I2S2_CK"       	:	5,
+	"PD3:LTDC_G7"       	:	14,
+	"PD3:PSSI_D5"       	:	13,
+	"PD3:SPI2_SCK"      	:	5,
+	"PD3:USART2_CTS"    	:	7,
+	"PD3:USART2_NSS"    	:	7,
+	"PD4:EVENTOUT"      	:	15,
+	"PD4:FMC_NOE"       	:	12,
+	"PD4:OCTOSPIM_P1_IO4"	:	10,
+	"PD4:USART2_DE"     	:	7,
+	"PD4:USART2_RTS"    	:	7,
+	"PD5:EVENTOUT"      	:	15,
+	"PD5:FMC_NWE"       	:	12,
+	"PD5:OCTOSPIM_P1_IO5"	:	10,
+	"PD5:USART2_TX"     	:	7,
+	"PD6:DCMI_D10"      	:	13,
+	"PD6:DFSDM1_CKIN4"  	:	3,
+	"PD6:DFSDM1_DATIN1" 	:	4,
+	"PD6:EVENTOUT"      	:	15,
+	"PD6:FMC_NWAIT"     	:	12,
+	"PD6:I2S3_SDO"      	:	5,
+	"PD6:LTDC_B2"       	:	14,
+	"PD6:OCTOSPIM_P1_IO6"	:	10,
+	"PD6:PSSI_D10"      	:	13,
+	"PD6:SAI1_D1"       	:	2,
+	"PD6:SAI1_SD_A"     	:	6,
+	"PD6:SAI4_D1"       	:	1,
+	"PD6:SAI4_SD_A"     	:	8,
+	"PD6:SDMMC2_CK"     	:	11,
+	"PD6:SPI3_MOSI"     	:	5,
+	"PD6:USART2_RX"     	:	7,
+	"PD7:DFSDM1_CKIN1"  	:	6,
+	"PD7:DFSDM1_DATIN4" 	:	3,
+	"PD7:EVENTOUT"      	:	15,
+	"PD7:FMC_NE1"       	:	12,
+	"PD7:I2S1_SDO"      	:	5,
+	"PD7:OCTOSPIM_P1_IO7"	:	10,
+	"PD7:SDMMC2_CMD"    	:	11,
+	"PD7:SPDIFRX1_IN0"  	:	9,
+	"PD7:SPI1_MOSI"     	:	5,
+	"PD7:USART2_CK"     	:	7,
+	"PD8:DFSDM1_CKIN3"  	:	3,
+	"PD8:EVENTOUT"      	:	15,
+	"PD8:FMC_D13"       	:	12,
+	"PD8:FMC_DA13"      	:	12,
+	"PD8:SPDIFRX1_IN1"  	:	9,
+	"PD8:USART3_TX"     	:	7,
+	"PD9:DFSDM1_DATIN3" 	:	3,
+	"PD9:EVENTOUT"      	:	15,
+	"PD9:FMC_D14"       	:	12,
+	"PD9:FMC_DA14"      	:	12,
+	"PD9:USART3_RX"     	:	7,
+	"PD10:DFSDM1_CKOUT" 	:	3,
+	"PD10:EVENTOUT"     	:	15,
+	"PD10:FMC_D15"      	:	12,
+	"PD10:FMC_DA15"     	:	12,
+	"PD10:LTDC_B3"      	:	14,
+	"PD10:USART3_CK"    	:	7,
+	"PD11:EVENTOUT"     	:	15,
+	"PD11:FMC_A16"      	:	12,
+	"PD11:FMC_CLE"      	:	12,
+	"PD11:I2C4_SMBA"    	:	4,
+	"PD11:LPTIM2_IN2"   	:	3,
+	"PD11:OCTOSPIM_P1_IO0"	:	9,
+	"PD11:SAI4_SD_A"    	:	10,
+	"PD11:USART3_CTS"   	:	7,
+	"PD11:USART3_NSS"   	:	7,
+	"PD12:DCMI_D12"     	:	13,
+	"PD12:EVENTOUT"     	:	15,
+	"PD12:CAN3_RX"    	:	5,
+	"PD12:FMC_A17"      	:	12,
+	"PD12:FMC_ALE"      	:	12,
+	"PD12:I2C4_SCL"     	:	4,
+	"PD12:LPTIM1_IN1"   	:	1,
+	"PD12:LPTIM2_IN1"   	:	3,
+	"PD12:OCTOSPIM_P1_IO1"	:	9,
+	"PD12:PSSI_D12"     	:	13,
+	"PD12:SAI4_FS_A"    	:	10,
+	"PD12:TIM4_CH1"     	:	2,
+	"PD12:USART3_DE"    	:	7,
+	"PD12:USART3_RTS"   	:	7,
+	"PD13:DCMI_D13"     	:	13,
+	"PD13:EVENTOUT"     	:	15,
+	"PD13:CAN3_TX"    	:	5,
+	"PD13:FMC_A18"      	:	12,
+	"PD13:I2C4_SDA"     	:	4,
+	"PD13:LPTIM1_OUT"   	:	1,
+	"PD13:OCTOSPIM_P1_IO3"	:	9,
+	"PD13:PSSI_D13"     	:	13,
+	"PD13:SAI4_SCK_A"   	:	10,
+	"PD13:TIM4_CH2"     	:	2,
+	"PD13:UART9_DE"     	:	11,
+	"PD13:UART9_RTS"    	:	11,
+	"PD14:EVENTOUT"     	:	15,
+	"PD14:FMC_D0"       	:	12,
+	"PD14:FMC_DA0"      	:	12,
+	"PD14:TIM4_CH3"     	:	2,
+	"PD14:UART8_CTS"    	:	8,
+	"PD14:UART9_RX"     	:	11,
+	"PD15:EVENTOUT"     	:	15,
+	"PD15:FMC_D1"       	:	12,
+	"PD15:FMC_DA1"      	:	12,
+	"PD15:TIM4_CH4"     	:	2,
+	"PD15:UART8_DE"     	:	8,
+	"PD15:UART8_RTS"    	:	8,
+	"PD15:UART9_TX"     	:	11,
+	"PE0:DCMI_D2"       	:	13,
+	"PE0:EVENTOUT"      	:	15,
+	"PE0:FMC_NBL0"      	:	12,
+	"PE0:LPTIM1_ETR"    	:	1,
+	"PE0:LPTIM2_ETR"    	:	4,
+	"PE0:LTDC_R0"       	:	14,
+	"PE0:PSSI_D2"       	:	13,
+	"PE0:SAI4_MCLK_A"   	:	10,
+	"PE0:TIM4_ETR"      	:	2,
+	"PE0:UART8_RX"      	:	8,
+	"PE1:DCMI_D3"       	:	13,
+	"PE1:EVENTOUT"      	:	15,
+	"PE1:FMC_NBL1"      	:	12,
+	"PE1:LPTIM1_IN2"    	:	1,
+	"PE1:LTDC_R6"       	:	14,
+	"PE1:PSSI_D3"       	:	13,
+	"PE1:UART8_TX"      	:	8,
+	"PE2:DEBUG_TRACECLK"	:	0,
+    "PE2:ETH_RMII_TXD3"      	:	11,
+	"PE2:EVENTOUT"      	:	15,
+	"PE2:FMC_A23"       	:	12,
+	"PE2:OCTOSPIM_P1_IO2"	:	9,
+	"PE2:SAI1_CK1"      	:	2,
+	"PE2:SAI1_MCLK_A"   	:	6,
+	"PE2:SAI4_CK1"      	:	10,
+	"PE2:SAI4_MCLK_A"   	:	8,
+	"PE2:SPI4_SCK"      	:	5,
+	"PE2:USART10_RX"    	:	4,
+	"PE3:DEBUG_TRACED0" 	:	0,
+	"PE3:EVENTOUT"      	:	15,
+	"PE3:FMC_A19"       	:	12,
+	"PE3:SAI1_SD_B"     	:	6,
+	"PE3:SAI4_SD_B"     	:	8,
+	"PE3:TIM15_BKIN"    	:	4,
+	"PE3:USART10_TX"    	:	11,
+	"PE4:DCMI_D4"       	:	13,
+	"PE4:DEBUG_TRACED1" 	:	0,
+	"PE4:DFSDM1_DATIN3" 	:	3,
+	"PE4:EVENTOUT"      	:	15,
+	"PE4:FMC_A20"       	:	12,
+	"PE4:LTDC_B0"       	:	14,
+	"PE4:PSSI_D4"       	:	13,
+	"PE4:SAI1_D2"       	:	2,
+	"PE4:SAI1_FS_A"     	:	6,
+	"PE4:SAI4_D2"       	:	10,
+	"PE4:SAI4_FS_A"     	:	8,
+	"PE4:SPI4_NSS"      	:	5,
+	"PE4:TIM15_CH1N"    	:	4,
+	"PE5:DCMI_D6"       	:	13,
+	"PE5:DEBUG_TRACED2" 	:	0,
+	"PE5:DFSDM1_CKIN3"  	:	3,
+	"PE5:EVENTOUT"      	:	15,
+	"PE5:FMC_A21"       	:	12,
+	"PE5:LTDC_G0"       	:	14,
+	"PE5:PSSI_D6"       	:	13,
+	"PE5:SAI1_CK2"      	:	2,
+	"PE5:SAI1_SCK_A"    	:	6,
+	"PE5:SAI4_CK2"      	:	10,
+	"PE5:SAI4_SCK_A"    	:	8,
+	"PE5:SPI4_MISO"     	:	5,
+	"PE5:TIM15_CH1"     	:	4,
+	"PE6:DCMI_D7"       	:	13,
+	"PE6:DEBUG_TRACED3" 	:	0,
+	"PE6:EVENTOUT"      	:	15,
+	"PE6:FMC_A22"       	:	12,
+	"PE6:LTDC_G1"       	:	14,
+	"PE6:PSSI_D7"       	:	13,
+	"PE6:SAI1_D1"       	:	2,
+	"PE6:SAI1_SD_A"     	:	6,
+	"PE6:SAI4_D1"       	:	9,
+	"PE6:SAI4_MCLK_B"   	:	10,
+	"PE6:SAI4_SD_A"     	:	8,
+	"PE6:SPI4_MOSI"     	:	5,
+	"PE6:TIM15_CH2"     	:	4,
+	"PE6:TIM1_BKIN2"    	:	1,
+	"PE6:TIM1_BKIN2_COMP1"	:	11,
+	"PE6:TIM1_BKIN2_COMP2"	:	11,
+	"PE7:DFSDM1_DATIN2" 	:	3,
+	"PE7:EVENTOUT"      	:	15,
+	"PE7:FMC_D4"        	:	12,
+	"PE7:FMC_DA4"       	:	12,
+	"PE7:OCTOSPIM_P1_IO4"	:	10,
+	"PE7:TIM1_ETR"      	:	1,
+	"PE7:UART7_RX"      	:	7,
+	"PE8:COMP2_OUT"     	:	13,
+	"PE8:DFSDM1_CKIN2"  	:	3,
+	"PE8:EVENTOUT"      	:	15,
+	"PE8:FMC_D5"        	:	12,
+	"PE8:FMC_DA5"       	:	12,
+	"PE8:OCTOSPIM_P1_IO5"	:	10,
+	"PE8:TIM1_CH1N"     	:	1,
+	"PE8:UART7_TX"      	:	7,
+	"PE9:DFSDM1_CKOUT"  	:	3,
+	"PE9:EVENTOUT"      	:	15,
+	"PE9:FMC_D6"        	:	12,
+	"PE9:FMC_DA6"       	:	12,
+	"PE9:OCTOSPIM_P1_IO6"	:	10,
+	"PE9:TIM1_CH1"      	:	1,
+	"PE9:UART7_DE"      	:	7,
+	"PE9:UART7_RTS"     	:	7,
+	"PE10:DFSDM1_DATIN4"	:	3,
+	"PE10:EVENTOUT"     	:	15,
+	"PE10:FMC_D7"       	:	12,
+	"PE10:FMC_DA7"      	:	12,
+	"PE10:OCTOSPIM_P1_IO7"	:	10,
+	"PE10:TIM1_CH2N"    	:	1,
+	"PE10:UART7_CTS"    	:	7,
+	"PE11:DFSDM1_CKIN4" 	:	3,
+	"PE11:EVENTOUT"     	:	15,
+	"PE11:FMC_D8"       	:	12,
+	"PE11:FMC_DA8"      	:	12,
+	"PE11:LTDC_G3"      	:	14,
+	"PE11:OCTOSPIM_P1_NCS"	:	11,
+	"PE11:SAI4_SD_B"    	:	10,
+	"PE11:SPI4_NSS"     	:	5,
+	"PE11:TIM1_CH2"     	:	1,
+	"PE12:COMP1_OUT"    	:	13,
+	"PE12:DFSDM1_DATIN5"	:	3,
+	"PE12:EVENTOUT"     	:	15,
+	"PE12:FMC_D9"       	:	12,
+	"PE12:FMC_DA9"      	:	12,
+	"PE12:LTDC_B4"      	:	14,
+	"PE12:SAI4_SCK_B"   	:	10,
+	"PE12:SPI4_SCK"     	:	5,
+	"PE12:TIM1_CH3N"    	:	1,
+	"PE13:COMP2_OUT"    	:	13,
+	"PE13:DFSDM1_CKIN5" 	:	3,
+	"PE13:EVENTOUT"     	:	15,
+	"PE13:FMC_D10"      	:	12,
+	"PE13:FMC_DA10"     	:	12,
+	"PE13:LTDC_DE"      	:	14,
+	"PE13:SAI4_FS_B"    	:	10,
+	"PE13:SPI4_MISO"    	:	5,
+	"PE13:TIM1_CH3"     	:	1,
+	"PE14:EVENTOUT"     	:	15,
+	"PE14:FMC_D11"      	:	12,
+	"PE14:FMC_DA11"     	:	12,
+	"PE14:LTDC_CLK"     	:	14,
+	"PE14:SAI4_MCLK_B"  	:	10,
+	"PE14:SPI4_MOSI"    	:	5,
+	"PE14:TIM1_CH4"     	:	1,
+	"PE15:EVENTOUT"     	:	15,
+	"PE15:FMC_D12"      	:	12,
+	"PE15:FMC_DA12"     	:	12,
+	"PE15:LTDC_R7"      	:	14,
+	"PE15:TIM1_BKIN"    	:	1,
+	"PE15:TIM1_BKIN_COMP1"	:	13,
+	"PE15:TIM1_BKIN_COMP2"	:	13,
+	"PE15:USART10_CK"   	:	11,
+	"PH0:EVENTOUT"      	:	15,
+	"PH1:EVENTOUT"      	:	15,
+
+    # for Nucleo
+	"PG11:ETH_MII_TX_EN"	:	11,
+	"PG11:ETH_RMII_TX_EN"	:	11,
+	"PG13:ETH_MII_TXD0" 	:	11,
+	"PG13:ETH_RMII_TXD0"	:	11,
+}

From 967af533b9b1bd7dde9416e30b4c861f6ba6c79a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 25 Jan 2024 13:47:26 +1100
Subject: [PATCH 0908/1335] HAL_ChibiOS: fixed flash page count on H723

single bank H7 has 8 pages
---
 libraries/AP_HAL_ChibiOS/hwdef/common/flash.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/flash.c b/libraries/AP_HAL_ChibiOS/hwdef/common/flash.c
index 46595c4f1f0451..0053bd8133eb6c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/flash.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/flash.c
@@ -118,13 +118,14 @@ static const uint32_t flash_memmap[STM32_FLASH_NPAGES] = { KB(32), KB(32), KB(32
 #else
 #error "BOARD_FLASH_SIZE invalid"
 #endif
-#elif defined(STM32H730xx) || defined(STM32H750xx) || defined(STM32H723xx)
+#elif defined(STM32H730xx) || defined(STM32H750xx)
 #define STM32_FLASH_NPAGES 1
 #define STM32_FLASH_NBANKS 1
 #define STM32_FLASH_FIXED_PAGE_SIZE 128
 #elif defined(STM32H7)
 #define STM32_FLASH_NPAGES  (BOARD_FLASH_SIZE / 128)
 #define STM32_FLASH_FIXED_PAGE_SIZE 128
+#define STM32_FLASH_NBANKS (BOARD_FLASH_SIZE/1024)
 #elif defined(STM32F100_MCUCONF) || defined(STM32F103_MCUCONF)
 #define STM32_FLASH_NPAGES BOARD_FLASH_SIZE
 #define STM32_FLASH_FIXED_PAGE_SIZE 1

From 1be9c79e359f8e848a6d6f03a447872b71483348 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 24 Jan 2024 15:43:53 +1100
Subject: [PATCH 0909/1335] AP_Networking: fixed network bootloader without
 serial manager

---
 libraries/AP_Networking/AP_Networking.h        | 4 ++++
 libraries/AP_Networking/AP_Networking_Config.h | 4 ++++
 libraries/AP_Networking/AP_Networking_port.cpp | 6 ++++--
 3 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Networking/AP_Networking.h b/libraries/AP_Networking/AP_Networking.h
index f5db359962fddd..128e6c2c29398e 100644
--- a/libraries/AP_Networking/AP_Networking.h
+++ b/libraries/AP_Networking/AP_Networking.h
@@ -205,6 +205,7 @@ class AP_Networking
         TCP_SERVER = 4,
     };
 
+#if AP_NETWORKING_REGISTER_PORT_ENABLED
     // class for NET_Pn_* parameters
     class Port : public AP_SerialManager::RegisteredPort {
     public:
@@ -270,6 +271,7 @@ class AP_Networking
 
         HAL_Semaphore sem;
     };
+#endif // AP_NETWORKING_REGISTER_PORT_ENABLED
 
 private:
     uint32_t announce_ms;
@@ -286,8 +288,10 @@ class AP_Networking
     void test_TCP_discard(void);
 #endif // AP_NETWORKING_TESTS_ENABLED
 
+#if AP_NETWORKING_REGISTER_PORT_ENABLED
     // ports for registration with serial manager
     Port ports[AP_NETWORKING_NUM_PORTS];
+#endif
 
     // support for sendfile()
     struct SendFile {
diff --git a/libraries/AP_Networking/AP_Networking_Config.h b/libraries/AP_Networking/AP_Networking_Config.h
index d9d8532eeff6eb..5b66134957849e 100644
--- a/libraries/AP_Networking/AP_Networking_Config.h
+++ b/libraries/AP_Networking/AP_Networking_Config.h
@@ -1,4 +1,5 @@
 #include <AP_HAL/AP_HAL_Boards.h>
+#include <AP_SerialManager/AP_SerialManager_config.h>
 
 #if defined(AP_NETWORKING_BACKEND_PPP) && !defined(AP_NETWORKING_ENABLED)
 // allow --enable-ppp to enable networking
@@ -133,3 +134,6 @@
 #define AP_NETWORKING_REMOTE_PPP_IP "0.0.0.0"
 #endif
 
+#ifndef AP_NETWORKING_REGISTER_PORT_ENABLED
+#define AP_NETWORKING_REGISTER_PORT_ENABLED AP_NETWORKING_ENABLED && AP_SERIALMANAGER_REGISTER_ENABLED
+#endif
diff --git a/libraries/AP_Networking/AP_Networking_port.cpp b/libraries/AP_Networking/AP_Networking_port.cpp
index 1074d896351c07..07c35ab070800d 100644
--- a/libraries/AP_Networking/AP_Networking_port.cpp
+++ b/libraries/AP_Networking/AP_Networking_port.cpp
@@ -4,7 +4,7 @@
 
 #include "AP_Networking_Config.h"
 
-#if AP_NETWORKING_ENABLED
+#if AP_NETWORKING_REGISTER_PORT_ENABLED
 
 #include "AP_Networking.h"
 #include <AP_HAL/utility/Socket.h>
@@ -476,4 +476,6 @@ enum AP_HAL::UARTDriver::flow_control AP_Networking::Port::get_flow_control(void
     return AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE;
 }
 
-#endif // AP_NETWORKING_ENABLED
+#endif // AP_NETWORKING_REGISTER_PORT_ENABLED
+
+

From aea286314128261666141ccef4e55a91ef616bdd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 25 Jan 2024 13:45:15 +1100
Subject: [PATCH 0910/1335] hwdef: Added BotBloxSwitch

---
 .../hwdef/BotBloxSwitch/hwdef-bl.dat          | 72 +++++++++++++++
 .../hwdef/BotBloxSwitch/hwdef.dat             | 88 +++++++++++++++++++
 2 files changed, 160 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/BotBloxSwitch/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/BotBloxSwitch/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BotBloxSwitch/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/BotBloxSwitch/hwdef-bl.dat
new file mode 100644
index 00000000000000..f330a1c45585c0
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/BotBloxSwitch/hwdef-bl.dat
@@ -0,0 +1,72 @@
+# hw definition file for processing by chibios_hwdef.py
+# for the BotBloxSwitch hardware
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# MCU class and specific type
+MCU STM32H7xx STM32H723xx
+
+# crystal frequency
+OSCILLATOR_HZ 0
+
+# setup build for a peripheral bootloader
+env AP_PERIPH 1
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_BotBloxSwitch
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# flash size
+FLASH_SIZE_KB 1024
+
+env OPTIMIZE -Os
+
+# USB
+PA11 OTG_HS_DM OTG1
+PA12 OTG_HS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CAN bus
+PD0  CAN1_RX CAN1
+PD1  CAN1_TX CAN1
+
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+PD12 USART3_RTS USART3
+PD11 USART3_CTS USART3
+
+# LEDs
+PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
+define HAL_LED_ON 0
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+PC1 ETH_MDC              ETH1
+PA2 ETH_MDIO             ETH1
+PC4 ETH_RMII_RXD0        ETH1
+PC5 ETH_RMII_RXD1        ETH1
+#PB12 ETH_RMII_TXD0       ETH1
+PG13 ETH_RMII_TXD0       ETH1
+PB13 ETH_RMII_TXD1       ETH1
+#PB11 ETH_RMII_TX_EN      ETH1
+PG11 ETH_RMII_TX_EN      ETH1
+PA7 ETH_RMII_CRS_DV      ETH1
+PA1 ETH_RMII_REF_CLK     ETH1
+
+define BOARD_PHY_ID  MII_LAN8742A_ID
+define BOARD_PHY_RMII
+
+include ../include/network_bootloader.inc
+
+SERIAL_ORDER OTG1 USART3
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BotBloxSwitch/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BotBloxSwitch/hwdef.dat
new file mode 100644
index 00000000000000..063592224336ac
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/BotBloxSwitch/hwdef.dat
@@ -0,0 +1,88 @@
+# hw definition file for processing by chibios_hwdef.py
+# for the BotBloxSwitch hardware
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# MCU class and specific type
+MCU STM32H7xx STM32H723xx
+
+# crystal frequency
+OSCILLATOR_HZ 0
+
+# setup build for a peripheral bootloader
+env AP_PERIPH 1
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_BotBloxSwitch
+
+FLASH_RESERVE_START_KB 128
+
+define HAL_STORAGE_SIZE 32768
+
+# use last 2 pages for flash storage
+# H723 has 8 pages of 128k each
+STORAGE_FLASH_PAGE 6
+
+# flash size
+FLASH_SIZE_KB 1024
+
+env OPTIMIZE -Os
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# USB
+PA11 OTG_HS_DM OTG1
+PA12 OTG_HS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# CAN bus
+PD0  CAN1_RX CAN1
+PD1  CAN1_TX CAN1
+
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+PD12 USART3_RTS USART3
+PD11 USART3_CTS USART3
+
+# LEDs
+PE3 LED_RED OUTPUT OPENDRAIN HIGH
+PE4 LED_GREEN OUTPUT OPENDRAIN HIGH
+PE5 LED_BLUE OUTPUT OPENDRAIN HIGH
+define HAL_LED_ON 0
+
+# use blue LED
+define HAL_GPIO_PIN_LED HAL_GPIO_PIN_LED_BLUE
+
+PC1 ETH_MDC              ETH1
+PA2 ETH_MDIO             ETH1
+PC4 ETH_RMII_RXD0        ETH1
+PC5 ETH_RMII_RXD1        ETH1
+#PB12 ETH_RMII_TXD0       ETH1
+PG13 ETH_RMII_TXD0       ETH1
+PB13 ETH_RMII_TXD1       ETH1
+#PB11 ETH_RMII_TX_EN      ETH1
+PG11 ETH_RMII_TX_EN      ETH1
+PA7 ETH_RMII_CRS_DV      ETH1
+PA1 ETH_RMII_REF_CLK     ETH1
+
+define BOARD_PHY_ID  MII_LAN8742A_ID
+define BOARD_PHY_RMII
+
+include ../include/network_PPPGW.inc
+
+# allow load from USB
+SERIAL_ORDER OTG1 USART3
+
+# bootloader embedding / bootloader flashing not available
+define AP_BOOTLOADER_FLASHING_ENABLED 0
+
+# no ADC pins
+define HAL_USE_ADC FALSE
+
+define STM32_ADC_USE_ADC1 FALSE
+define STM32_ADC_USE_ADC2 FALSE
+define STM32_ADC_USE_ADC3 FALSE
+

From 0a6057f2b344165bab5b2cdd1ea31d0de49a5d10 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 25 Jan 2024 14:06:55 +1100
Subject: [PATCH 0911/1335] HAL_ChibiOS: adjust clocks for H723 and H730

FDCAN clock must be 80MHz, and also align no-crystal clocks with
clocks for boards with crystals
---
 .../hwdef/common/stm32h7_type2_mcuconf.h      | 33 +++++--------------
 .../hwdef/scripts/STM32H723xx.py              | 10 +++---
 .../hwdef/scripts/STM32H730xx.py              |  2 +-
 3 files changed, 14 insertions(+), 31 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_type2_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_type2_mcuconf.h
index fba12421e32778..8c02c8378466cf 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_type2_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_type2_mcuconf.h
@@ -112,7 +112,7 @@
 #if STM32_HSECLK == 0U
 // no crystal, this gives 400MHz system clock
 #define STM32_HSE_ENABLED                   FALSE
-#define STM32_HSI_ENABLED                   TRUE
+#define STM32_HSI_ENABLED                   TRUE // HSI is 64MHz
 #define STM32_PLL1_DIVM_VALUE               32
 #define STM32_PLL2_DIVM_VALUE               32
 #define STM32_PLL3_DIVM_VALUE               32
@@ -125,8 +125,8 @@
 #define STM32_HSE_ENABLED                   TRUE
 #define STM32_HSI_ENABLED                   FALSE
 #define STM32_PLL1_DIVM_VALUE               4
-#define STM32_PLL2_DIVM_VALUE               8
-#define STM32_PLL3_DIVM_VALUE               8
+#define STM32_PLL2_DIVM_VALUE               4
+#define STM32_PLL3_DIVM_VALUE               4
 #define STM32_PLLSRC                        STM32_PLLSRC_HSE_CK
 #define STM32_CKPERSEL                      STM32_CKPERSEL_HSE_CK
 
@@ -135,8 +135,8 @@
 #define STM32_HSE_ENABLED                   TRUE
 #define STM32_HSI_ENABLED                   FALSE
 #define STM32_PLL1_DIVM_VALUE               8
-#define STM32_PLL2_DIVM_VALUE               16
-#define STM32_PLL3_DIVM_VALUE               16
+#define STM32_PLL2_DIVM_VALUE               8
+#define STM32_PLL3_DIVM_VALUE               8
 #define STM32_PLLSRC                        STM32_PLLSRC_HSE_CK
 #define STM32_CKPERSEL                      STM32_CKPERSEL_HSE_CK
 
@@ -144,24 +144,7 @@
 #error "Unsupported HSE clock"
 #endif
 
-#if STM32_HSECLK == 0U
-// no crystal
-#define STM32_PLL1_DIVN_VALUE               260
-#define STM32_PLL1_DIVP_VALUE               1
-#define STM32_PLL1_DIVQ_VALUE               6
-#define STM32_PLL1_DIVR_VALUE               4
-
-#define STM32_PLL2_DIVN_VALUE               200
-#define STM32_PLL2_DIVP_VALUE               3
-#define STM32_PLL2_DIVQ_VALUE               3
-#define STM32_PLL2_DIVR_VALUE               2
-
-#define STM32_PLL3_DIVN_VALUE               96
-#define STM32_PLL3_DIVP_VALUE               1
-#define STM32_PLL3_DIVQ_VALUE               2
-#define STM32_PLL3_DIVR_VALUE               4
-
-#elif (STM32_HSECLK == 8000000U) || (STM32_HSECLK == 16000000U)
+#if (STM32_HSECLK == 0U) || (STM32_HSECLK == 8000000U) || (STM32_HSECLK == 16000000U)
 // common clock tree for multiples of 8MHz crystals
 #ifdef HAL_CUSTOM_MCU_CLOCKRATE
 #if HAL_CUSTOM_MCU_CLOCKRATE == 520000000
@@ -185,7 +168,7 @@
 
 #define STM32_PLL2_DIVN_VALUE               400
 #define STM32_PLL2_DIVP_VALUE               3
-#define STM32_PLL2_DIVQ_VALUE               3
+#define STM32_PLL2_DIVQ_VALUE               10 // 80MHz for FDCAN
 #define STM32_PLL2_DIVR_VALUE               2
 
 #define STM32_PLL3_DIVN_VALUE               192
@@ -256,7 +239,7 @@
 #define STM32_FMCSEL                        STM32_OCTOSPISEL_HCLK
 
 #define STM32_SWPSEL                        STM32_SWPSEL_PCLK1
-#define STM32_FDCANSEL                      STM32_FDCANSEL_PLL1_Q_CK
+#define STM32_FDCANSEL                      STM32_FDCANSEL_PLL2_Q_CK
 #define STM32_DFSDM1SEL                     STM32_DFSDM1SEL_PCLK2
 #define STM32_SPDIFSEL                      STM32_SPDIFSEL_PLL1_Q_CK
 #define STM32_SPI45SEL                      STM32_SPI45SEL_PCLK2
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H723xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H723xx.py
index 5e99778a478254..be27a55cdf47d2 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H723xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H723xx.py
@@ -34,13 +34,13 @@
     ],
 
     'EXPECTED_CLOCK' : 400000000,
-
+    
 	'EXPECTED_CLOCKS' : [
-		('STM32_SYS_CK',	400000000),
-		('STM32_QSPICLK', 	200000000),
-		('STM32_SDMMC1CLK',  80000000),
+        ('STM32_SYS_CK',	400000000),
+		('STM32_OSPICLK', 	200000000),
+        ('STM32_SDMMC1CLK',  66666666),
 		('STM32_SPI45CLK',  100000000),
-		('STM32_FDCANCLK',   80000000),
+        ('STM32_FDCANCLK',   80000000),
 	],
 
     # this MCU has M7 instructions and hardware double precision
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H730xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H730xx.py
index 9ef0393b84e446..00eac5105c143b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H730xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H730xx.py
@@ -69,7 +69,7 @@
 		('STM32_OSPICLK', 	200000000),
 		('STM32_SDMMC1CLK',  86666666),
 		('STM32_SPI45CLK',  100000000),
-		('STM32_FDCANCLK',   86666666),
+        ('STM32_FDCANCLK',   80000000),
 	],
 
     # this MCU has M7 instructions and hardware double precision

From 30497244d9b5be03f2b5c0fb102cd635cd2be13d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 30 Jan 2024 08:16:07 +1100
Subject: [PATCH 0912/1335] HAL_ChibiOS: whitespace fixes

---
 libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H723xx.py | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H730xx.py | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H723xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H723xx.py
index be27a55cdf47d2..7be3c8406a1c7a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H723xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H723xx.py
@@ -37,7 +37,7 @@
     
 	'EXPECTED_CLOCKS' : [
         ('STM32_SYS_CK',	400000000),
-		('STM32_OSPICLK', 	200000000),
+        ('STM32_OSPICLK', 	200000000),
         ('STM32_SDMMC1CLK',  66666666),
 		('STM32_SPI45CLK',  100000000),
         ('STM32_FDCANCLK',   80000000),
@@ -84,7 +84,7 @@
     "PA7"	:	7,
     "PC5"	:	8,
     "PB0"	:	9,
-	"PC0"	:	10,
+    "PC0"	:	10,
 	"PC1"	:	11,
 	"PC2"	:	12,
     "PC3"	:	13,
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H730xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H730xx.py
index 00eac5105c143b..97bdd61b27e009 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H730xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H730xx.py
@@ -69,7 +69,7 @@
 		('STM32_OSPICLK', 	200000000),
 		('STM32_SDMMC1CLK',  86666666),
 		('STM32_SPI45CLK',  100000000),
-        ('STM32_FDCANCLK',   80000000),
+		('STM32_FDCANCLK',   80000000),
 	],
 
     # this MCU has M7 instructions and hardware double precision

From d70ff4db750b0080dc453319cdc453f6d223577b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 25 Jan 2024 20:46:38 +0900
Subject: [PATCH 0913/1335] Plane: 4.5.0-beta1 release notes

---
 ArduPlane/ReleaseNotes.txt | 316 +++++++++++++++++++++++++++++++++++++
 1 file changed, 316 insertions(+)

diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
index 4e84b25e511877..bff21a6845c3db 100644
--- a/ArduPlane/ReleaseNotes.txt
+++ b/ArduPlane/ReleaseNotes.txt
@@ -1,3 +1,319 @@
+Release 4.5.0-beta1 30th January 2024
+-------------------------------------
+
+Changes from 4.4.4
+
+1) New autopilots supported
+    - ACNS-F405AIO
+    - Airvolute DCS2 onboard FMU
+    - Aocoda-RC-H743Dual
+    - BrainFPV RADIX 2 HD
+    - CAN-Zero
+    - CM4Pilot
+    - CubeRed
+    - Esp32-tomte76, esp32nick, esp32s3devkit
+    - FlyingMoonH743
+    - Flywoo F405 Pro
+    - FlywooF405S-AIO with alternative IMUs
+    - Here4 GPS as flight controller
+    - Holybro 6X revision 6
+    - Holybro6X-45686 with 3x ICM45686 IMUs
+    - JAE JFB110
+    - KakuteH7 using ICM42688
+    - PixFlamingo (uses STM32L4PLUS CPU)
+    - PixPilot-C3
+    - PixSurveyA1-IND
+    - QiotekAdeptF407
+    - Sierra TrueNavIC
+    - SPRacing H7RF
+    - SW-Nav-F405
+    - YJUAV_A6
+    - YJUAV_A6SE, YJUAV_A6SE_H743 Plane
+2) Autopilot specific changes
+    - 1MB boards lose features to save flash (Payload Place, some battery monitors, NMEA Output, bootloaders, Turtle mode)
+    - CubeOrangePlus supports IMU high resolution sampling (works with ICM42688, ICM42652, ICM42670, ICM45686 IMUs)
+    - F4 processors with only 1 IMU gain Triple Harmonic Notch support
+    - F765-SE bdshot support on 1st 4 pin
+    - F7 and H7 boards lose DMA on I2C ports (not required, limited DMA better used elsewhere)
+    - FlyingMoonH743, FlyingMoonF427 2nd and 3rd IMU order swapped
+    - HEEWING-F405 supports CRSF
+    - MatekL431-RC bootloader added, DMA used for RC and GPS
+    - PH4-mini, PH4-mini-bdshot, Swan-K1 and TBS-Colibri-F7 BRD_SER4_RTSCTS param conflict fixed
+    - Pixhawk6C supports BMI088 baro
+    - TMotorH743, Heewing-F405 serial parameter definitions fixed
+3) AHRS/EKF enhancements and fixes
+    - AHRS_OPTIONS supports disabling fallback to DCM
+    - BARO_ALT_OFFSET slews more slowly (was 20sec, now 1min)
+    - EKF2 removed (can be re-enabled with Custom build server)
+    - External AHRS support for multiple GPSs
+    - InertialLabs INS-U external AHRS support
+    - Lord external AHRS renamed to MicroStrain5
+    - MAV_CMD_EXTERNAL_POSITION_ESTIMATE supports setting approximate position during dead-reckoning
+    - Microstrain7 (aka 3DM-QG7) external AHRS support
+4) Driver enhancements
+    - 3DR Solo supports up to 6S batteries
+    - Airspeed health checks vs GPS use 3D velocity
+    - BDshot on the first four channels of boards with F103-based IOMCUs (e.g. Pixhawk 6X)
+    - Dshot on all IOMCU channels on all boards with an IOMCU (e.g. all CubePilot autopilots)
+    - Dshot commands (e.g. motor reversal abd beeps) and EDT supported on IOMCU
+    - DroneCAN battery monitors calculate consumed energy if battery doesn't provide directly
+    - DroneCAN RC and Ghost RC protocol support
+    - EFI MAVLink driver
+    - Extended DShot Telemetry support (requires BLHeli32 ver 32.10 or BlueJay, set SERVO_DSHOT_ESC=3 or 4)
+    - GPS L5 band health override to enable L5 signal use (see GPS_DRV_OPTIONS)
+    - GPS-for-yaw works at lower update rate (3hz minimum)
+    - GSOF GPS supports GPS_COM_PORT parameter
+    - Hirth ICEngine support
+    - ICE option to enable/disable starting while disarmed
+    - ICE support for starter via relay
+    - IMUDATA serial protocol outputs raw IMU data on serial port (only available using custom build server)
+    - Innomaker LD06 360deg lidar support
+    - Intelligent Energy fuel cells new protocol support
+    - IRC Tramp supports 1G3 bands A and B
+    - IRC Ghost support
+    - JAE JRE-30 radar
+    - KDECAN driver rewrite (params moved to KDE_, works on all vehicles)
+    - MCP9601 temperature sensor support
+    - NanoRadar NRA24 rangefinder support
+    - NeoPixelsRGB support
+    - NoopLoop TOFSense, TOFSenseF-I2c rangefinder support
+    - OSD shows flashing horizon when inverted
+    - OSD2 support (e.g. second OSD)
+    - QMC5883P compass support
+    - Relay refactored to support RELAYx_FUNCTION, RELAY_STATUS message support added
+    - Reventech fuel level support (extends existing analog driver, see BATT_FL_xx parameters)
+    - RPLidarS1 360 deg lidar support and improved reliability for all RPLidars
+    - SBF GPS supports yaw from dual antennas
+    - Temperature sensor using analog voltages supported
+    - Trimble PX-1 support added as a GPS
+    - Winch driver enhancements including stuck protection, option for spin-free on startup
+5) Control and navigation changes and enhancements
+    - Auto missions can always be cleared while disarmed (would fail if mission still running)
+    - DO_ENGINE_CONTROL allows starting engine even when disarmed
+    - DO_SET_MISSION_CURRENT command can reset mission (see Reset Mission field)
+    - DO_SET_SERVO, DO_REPEAT_SERVO work with servo outputs set to RCInxScaled
+    - Fractional Loiter Turn Support in missions
+    - HarmonicNotch supports up to 16 harmonics
+    - JUMP command sends improved text msg to pilot (says where will jump to)
+    - MAV_CMD_AIRFRAME_CONFIGURATION can control landing gear on all vehicles
+    - MOT_OPTIONS allows voltage compensation to use raw battery voltages (instead of current corrected voltage)
+    - PID controllers get DFF/D_FF (derivative feed-forward), NTF (target notch filter index) and NEF (error notch filter index)
+    - PID controllers get PDMX param to limit P+D output (useful for large vehicles and/or slow actuators)
+    - PID notch filter configured via new filter library using FILT parameters
+    - VTOLs send ATTITUDE_TARGET messages to GCS
+6) Plane specific enhancements
+    - AUTOTUNE_OPTIONS allows disabling filter updates
+    - Harmonic Notch frequencies can be logged at full rate
+    - L1 controller checks heading and ground track agree to improve strong headwind edge case
+    - Land airspeed default is halfway between min and cruise
+    - LoiterAltQLand mode re-uses Loiter point if available
+    - AUTO mode landing abort aux switch renamed
+    - Q_M_SPOOL_TIM_DN allows slower spool down of motors
+    - Quadplane use of forward throttle in VTOL modes improved
+    - Tailsitters use motor I term for pitch control if no pitch surfaces are setup
+    - Takeoff mode holds down elevator on taildraggers
+    - Transition time may be no less than 2 seconds (see TRANSITION_MS)
+    - VTOL angle controller gets feed-forward scaling (see Q_OPTIONS)
+7) Parameters renamed and rescaled
+    - COMPASS_TYPEMASK renamed to COMPASS_DISBLMSK
+    - SYS_NUM_RESETS replaced by STAT_BOOTCNT
+    - AIRSPEED_CRUISE replaces TRIM_ARSPD_CM
+    - AIRSPEED_MIN replaces ARSPD_FBW_MIN
+    - AIRSPEED_MAX replaces ARSPD_FBW_MAX
+    - CRUISE_ALT_FLOOR replaces ALT_HOLD_FBWCM
+    - LAND_FINAL_SPD replaces LAND_SPEED
+    - LAND_PITCH_DEG replaces LAND_PITCH_CD
+    - MIN_GROUNDSPEED replaces MIN_GNDSPD_CM
+    - PTCH_LIM_MAX_DEG replaces LIM_PITCH_MAX
+    - PTCH_LIM_MIN_DEG replaces LIM_PITCH_MIN
+    - PTCH_TRIM_DEG replaces TRIM_PITCH_CD
+    - Q_LAND_FINAL_SPD replaces Q_LAND_SPEED
+    - Q_PILOT_ACCEL_Z replaces Q_ACCEL_Z
+    - Q_PILOT_SPD_UP replaces Q_VELZ_MAX
+    - Q_PILOT_SPD_DN replaces Q_VELZ_MAX_DN
+    - ROLL_LIMIT_DEG replaces LIM_ROLL_CD
+    - RTL_ALTITUDE replaces ALT_HOLD_RTL
+8) ROS2 / DDS support
+9) Camera and gimbal enhancements
+    - Calculates location where camera gimbal is pointing (see CAMERA_FOV_STATUS)
+    - CAMx_MNT_INST allows specifying which mount camera is in
+    - Camera lens (e.g. live video stream) selectable using RC aux function
+    - Interval timer (for taking pictures at timed intervals)
+    - Image tracking support (ViewPro only)
+    - MAVLink Gimbal Protocol v2 support for better GCS integration
+    - MNTx_SYSID_DFLT allows easier pointing gimbal at another vehicle
+    - MOUNT_CONTROL, MOUNT_CONFIGURE messages deprecated
+    - RangeFinder support (only logged, only supported on Siyi, Viewpro)
+    - Pilot's RC input re-takes manual control of gimbal (e.g. switches to RC_TARGETING mode)
+    - Siyi driver gets Zoom control, sends autopilot attitude and time (reduces leans)
+    - Video recording may start when armed (see CAMx_OPTIONS)
+    - ViewPro driver (replaces equivalent Lua driver)
+    - Xacti camera gimbal support
+    - Zoom percentage support (for both missions and GCS commands)
+10) Logging and reporting changes
+    - Battery logging (e.g. BAT) includes health, temperature, state-of-health percentage
+    - CAM and MNT messages contain camera gimbal's desired and actual angles
+    - CTUN includes airspeed estimate type (e.g. sensor, EKF3 estimate)
+    - INS_RAW_LOG_OPT allows raw, pre-filter and post-filter sensor data logging (alternative to "batch logging", good for filtering analysis)
+    - PID logging gets reset and I-term-set flags
+    - Rangefinder logging (e.g. RFND) includes signal quality
+    - RC aux functions sorted alphabetically for GCS
+    - RC logging (RCI, RCI2) include valid input and failsafe flags
+    - RTK GPS logging includes number of fragments used or discarded
+    - TEC2 provides extended TECS controller logging
+    - TSIT provides tail sitter speed scaling values
+11) Scripting enhancements
+    - Autopilot reboot support
+    - Baro, Compass, IMU, IOMCU health check support
+    - Battery cell voltage bindings
+    - Battery driver support
+    - BattEsimate.lua applet estimates SoC from voltage
+    - Camera and Mount bindings improved
+    - CAN input packet filtering reduces work required by Lua CAN drivers
+    - DJI RS2/RS3 gimbal driver supports latest DJI firmware version (see mount-djirs2-driver.lua)
+    - EFI drivers for DLA serial, InnoFlight Inject EFI driver
+    - EFI bindings improved
+    - Fence support
+    - Generator drivers for Halo6000, Zhuhai SVFFI
+    - GCS failsafe support
+    - Hobbywing_DataLink driver (see Hobbywing_DataLink.lua)
+    - is_landing, is_taking_off bindings
+    - led_on_a_switch.lua sets LED brightness from RC switch
+    - MAVLink sending and receiving support
+    - Mission jump_to_landing_sequence binding
+    - mount-poi.lua upgraded to applet, sends better feedback, can lock onto Location
+    - Networking/Ethernet support
+    - Plane dual-aircraft synchronised aerobatics
+    - Proximity driver support
+    - Rangefinder drivers can support signal quality
+    - revert_param.lua applet for quickly reverting params during tuning
+    - RockBlock.lua applet supports setting mode, fix for battery voltage reporting
+    - Serial/UART reading performance improvement using readstring binding
+    - sport_aerobatics.lua rudder control fixed
+    - Thread priority can be set using SCR_THD_PRIORITY (useful for Lua drivers)
+    - Wind alignment and head_wind speed bindings
+12) Safety related enhancements and fixes
+    - Advanced GCS failsafe action to switch to Auto mode
+    - Advanced GCS failsafe timeout configurable (see AFS_GCS_TIMEOUT)
+    - Arm in AUTO/TAKEOFF modes only after stick returns to center
+    - Arm/Disarmed GPIO may be disabled using BRD_OPTIONS
+    - Arming allowed with Fence enabled but without a compass (previously failed)
+    - Arming check of compass vs world magnetic model to detect metal in ground (see ARMING_MAGTHRESH)
+    - Arming check of GPIO pin interrupt storm
+    - Arming check of Lua script CRC
+    - Arming check of mission loaded from SD card
+    - Arming check of Relay pin conflicts
+    - Arming check to allow Tricopter-Plane with no yaw servo
+    - Arming check of emergency stop skipped if emergency stop aux function configured
+    - Arming failures reported more quickly when changing from success to failed
+    - ARMING_OPTIONS allows supressing "Armed", "Disarmed" text messages
+    - BRD_SAFETY_MASK extended to apply to CAN ESCs and servos
+    - Buzzer noise for gyro calibration and arming checks passed
+    - FENCE_OPTIONS supports union OR intersection of all polygon fences
+    - FLTMODE_GCSBLOCK blocks GCS from changing vehicle to specified modes
+    - Long failsafe action to switch to Auto mode (see FS_LONG_ACTN)
+    - Main loop lockup recovery by forcing mutex release (only helps if caused by software bug)
+    - Parachute releases causes disarm and ICE shutoff
+    - Rally points supports altitude frame (AMSL, Relative or Terrain)
+    - RC failsafe does not trigger until RC has been received at least once
+    - SERVO_RC_FS_MSK allows outputs using RC passthrough to move to SERVOx_TRIM on RC failsafe
+    - Takeoff mode gets failsafe protections
+13) System Enhancements
+    - CAN port can support a second CAN protocol on the same bus (2nd protocol must be 11 bit, see CAN_Dn_PROTOCOL2)
+    - CAN-FD support (allows faster data transfer rates)
+    - Crash dump info logged if main thread locksup (helps with root cause analysis)
+    - Ethernet/Networking support for UDP and TCP server and client (see NET_ENABLED) and PPP (see SERIALx_PROTOCOL)
+    - Firmware flashing from SD card
+    - Linux board SBUS input decoding made consistent with ChibiOS
+    - Linux boards support DroneCAN
+    - Parameter defaults stored in @ROMFS/defaults.parm
+    - SD Card formatting supported on all boards
+    - Second USB endpoint defaults to MAVLink (instead of SLCAN) except on CubePilot boards
+    - Serial over DroneCAN (see CAN_D1_UC_SER_EN) useful for configuring F9P DroneCAN GPSs using uCenter
+14) Custom Build server include/exclude features extended to include
+    - APJ Tools
+    - Bootloader flashing
+    - Button
+    - Compass calibration
+    - DroneCAN GPS
+    - ExternalAHRS (e.g. MicroStrain, Vectornav)
+    - Generator
+    - Highmark Servo
+    - Hobbywing ESCs
+    - Kill IMU
+    - Payload Place
+    - Plane BlackBox arming allows Plane to be used as logger (see ARMING_BBOX_SPD)
+    - Plane's TX Tuning
+    - Precision landing
+    - Proximity sensor
+    - RC Protocol
+    - Relay
+    - SBUS Output
+    - ToneAlarm
+    - Winch
+15) Developer specific items
+    - ChibiOS upgrade to 21.11
+    - UAVCAN replaced with DroneCAN
+    - AUTOPILOT_VERSION_REQUEST message deprecated (use REQUEST_MESSAGE instead)
+    - PREFLIGHT_SET_SENSOR_OFFSETS support deprecated (was unused by all known ground stations)
+    - MISSION_SET_CURRENT message deprecated (use DO_SET_MISSION_CURRENT command instead)
+    - MISSION_CURRENT message sends num commands and stopped/paused/running/complete state
+    - Python version requirement increased to 3.6.9
+    - mavlink_parse.py shows all suported mavlink messages
+    - COMMAND_INT messages can be used for nearly all commands (previously COMMAND_LONG)
+16) Bug fixes:
+    - 3DR Solo gimbal mavlink routing fixed
+    - Airbrakes auxiliary function fixed
+    - Airspeed health always checked before use (may not have been checked when using "affinity")
+    - always ignore invalid pilot input throttle
+    - Bootloop fixed if INS_GYRO_FILTER set too high
+    - Button Internal Error caused by floating pin or slow device power-up fixed
+    - CAN Compass order maintained even if compass powered up after autopilot
+    - Compass device IDs only saved when calibrated to ensure external compasses appear as primary on new boards
+    - Cruise mode locks in heading only once moving forwards (improves VTOL transition reliability in high winds)
+    - Currawong ECU EFI does not send exhaust gas temperature
+    - DO_REPOSITION interprets NaN as zero
+    - DCM fallback in order to get better GPS is disabled if GPS is not used
+    - DJI RS2/RS3 gimbal reported angle fix
+    - DO_SET_ROI, ROI_LOCATION, ROI_NONE bug fix that could lead to gimbal pointing at old target
+    - Fix throttle going bellow min in fbwa RC failsafe
+    - Generator parameter init fix (defaults might not always have been loaded correctly)
+    - GPS_TC_BLEND parameter removed (it was unused)
+    - Ground speed undershoot correction during loss of GPS fixed
+    - Guided mode heading control anti windup fix
+    - Harmonic Notch gets protection against extremely low notch filter frequencies
+    - Home altitude change while navigating handled correctly (previously led to sudden demanded height change)
+    - IE 650/800 Generators report fuel remaining
+    - INS calibration prevents unlikely case of two calibrations running at same time
+    - LPS2XH Baro supported over I2C fixed
+    - MatekH743 storage eeprom size fixed
+    - MAVLink routing fix to avoid processing packet meant for another vehicle
+    - Mount properly enforces user defined angle limits
+    - MPU6500 IMU filter corrected to 4k
+    - nav_roll (aka target roll) calculation improved
+    - NMEA output time and altitude fixed
+    - OSD gets labels for all supported serial protocols
+    - OSD RF panel format fixed
+    - Reset mission if in landing sequence while also disarmed and on the ground (avoids pre-arm check)
+    - RTL_AUTOLAND with rally points fix (could skip climb to rally point's altitude)
+    - RobotisServo initialisation fix
+    - RPM accuracy and time wrap handling improved
+    - Sagetech ADSB MXS altitude fix (needs amsl, was sending alt-above-terrain)
+    - SageTechMXS ADSB climb rate direction fixed
+    - SBUS out exactly matches SBUS in decoding
+    - Serial port RTS pins default to pulldown (SiK radios could getting stuck in bootloader mode)
+    - SERIALx_ parameters removed for ports that can't actually be used
+    - Servo gimbal attitude reporting fix
+    - Servo output fix when using scaled RC passthrough (e.g. SERVOx_FUNCTION = RCinXScaled)
+    - Siyi continuous zoom stutter fixed
+    - Siyi gimbal upside-down mode fixed (avoid bobbing if upside-down)
+    - TECS's max deceleration scales properly with vehicle velocity
+    - ST24 RC protocol fixed
+    - STM32L496 CAN2 init fix (AP_Periph only?)
+    - VFR_HUD climb rate reports best estimate during high vibration events (previously it would stop updating)
+    - Visual Odometry healthy check fix in case of out-of-memory
+    - VTX_MAX_POWER restored (allows setting radio's power)
+
 Release 4.4.4 19th December 2023
 --------------------------------
 

From 629cb92642cb52b23a7275c00c8b2f733c803078 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 31 Jan 2024 10:42:38 +1100
Subject: [PATCH 0914/1335] Plane: mark master as 4.6.0 dev

---
 ArduPlane/version.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
index cdf466f7155fb6..b4c2e5cad65941 100644
--- a/ArduPlane/version.h
+++ b/ArduPlane/version.h
@@ -6,13 +6,13 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.5.0-dev"
+#define THISFIRMWARE "ArduPlane V4.6.0-dev"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_DEV
 
 #define FW_MAJOR 4
-#define FW_MINOR 5
+#define FW_MINOR 6
 #define FW_PATCH 0
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 

From 9b0602cc1eea9924e9e8cb6f9a08e6ee325c79aa Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 25 Jan 2024 20:46:16 +0900
Subject: [PATCH 0915/1335] Rover: 4.5.0-beta1 release notes

---
 Rover/release-notes.txt | 265 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 265 insertions(+)

diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt
index 5d6c5cae88c073..5cae4fdfc24358 100644
--- a/Rover/release-notes.txt
+++ b/Rover/release-notes.txt
@@ -1,5 +1,270 @@
 Rover Release Notes:
 ------------------------------------------------------------------
+Rover 4.5.0-beta1 30-Jan-2025
+Changes from 4.4.4
+1) New autopilots supported
+    - ACNS-F405AIO
+    - Airvolute DCS2 onboard FMU
+    - Aocoda-RC-H743Dual
+    - BrainFPV RADIX 2 HD
+    - CAN-Zero
+    - CM4Pilot
+    - CubeRed
+    - Esp32-tomte76, esp32nick, esp32s3devkit
+    - FlyingMoonH743
+    - Flywoo F405 Pro
+    - FlywooF405S-AIO with alternative IMUs
+    - Here4 GPS as flight controller
+    - Holybro 6X revision 6
+    - Holybro6X-45686 with 3x ICM45686 IMUs
+    - JAE JFB110
+    - KakuteH7 using ICM42688
+    - PixFlamingo (uses STM32L4PLUS CPU)
+    - PixPilot-C3
+    - PixSurveyA1-IND
+    - QiotekAdeptF407
+    - Sierra TrueNavIC
+    - SPRacing H7RF
+    - SW-Nav-F405
+    - YJUAV_A6
+    - YJUAV_A6SE, YJUAV_A6SE_H743
+2) Autopilot specific changes
+    - 1MB boards lose features to save flash (Payload Place, some battery monitors, NMEA Output, bootloaders, Turtle mode)
+    - CubeOrangePlus supports IMU high resolution sampling (works with ICM42688, ICM42652, ICM42670, ICM45686 IMUs)
+    - F4 processors with only 1 IMU gain Triple Harmonic Notch support
+    - F765-SE bdshot support on 1st 4 pin
+    - F7 and H7 boards lose DMA on I2C ports (not required, limited DMA better used elsewhere)
+    - FlyingMoonH743, FlyingMoonF427 2nd and 3rd IMU order swapped
+    - HEEWING-F405 supports CRSF
+    - MatekL431-RC bootloader added, DMA used for RC and GPS
+    - PH4-mini, PH4-mini-bdshot, Swan-K1 and TBS-Colibri-F7 BRD_SER4_RTSCTS param conflict fixed
+    - Pixhawk6C supports BMI088 baro
+    - TMotorH743, Heewing-F405 serial parameter definitions fixed
+3) AHRS/EKF enhancements and fixes
+    - AHRS_OPTIONS supports disabling fallback to DCM
+    - BARO_ALT_OFFSET slews more slowly (was 20sec, now 1min)
+    - EKF2 removed (can be re-enabled with Custom build server)
+    - External AHRS support for multiple GPSs
+    - InertialLabs INS-U external AHRS support
+    - Lord external AHRS renamed to MicroStrain5
+    - MAV_CMD_EXTERNAL_POSITION_ESTIMATE supports setting approximate position during dead-reckoning
+    - Microstrain7 (aka 3DM-QG7) external AHRS support
+4) Driver enhancements
+    - 3DR Solo supports up to 6S batteries
+    - Airspeed health checks vs GPS use 3D velocity
+    - BDshot on the first four channels of boards with F103-based IOMCUs (e.g. Pixhawk 6X)
+    - Dshot on all IOMCU channels on all boards with an IOMCU (e.g. all CubePilot autopilots)
+    - Dshot commands (e.g. motor reversal abd beeps) and EDT supported on IOMCU
+    - DroneCAN battery monitors calculate consumed energy if battery doesn't provide directly
+    - DroneCAN RC and Ghost RC protocol support
+    - EFI MAVLink driver
+    - Extended DShot Telemetry support (requires BLHeli32 ver 32.10 or BlueJay, set SERVO_DSHOT_ESC=3 or 4)
+    - GPS L5 band health override to enable L5 signal use (see GPS_DRV_OPTIONS)
+    - GPS-for-yaw works at lower update rate (3hz minimum)
+    - GSOF GPS supports GPS_COM_PORT parameter
+    - Hirth ICEngine support
+    - ICE option to enable/disable starting while disarmed
+    - ICE support for starter via relay
+    - IMUDATA serial protocol outputs raw IMU data on serial port (only available using custom build server)
+    - Innomaker LD06 360deg lidar support
+    - Intelligent Energy fuel cells new protocol support
+    - IRC Tramp supports 1G3 bands A and B
+    - IRC Ghost support
+    - JAE JRE-30 radar
+    - KDECAN driver rewrite (params moved to KDE_, works on all vehicles)
+    - MCP9601 temperature sensor support
+    - NanoRadar NRA24 rangefinder support
+    - NeoPixelsRGB support
+    - NoopLoop TOFSense, TOFSenseF-I2c rangefinder support
+    - OSD shows flashing horizon when inverted
+    - OSD2 support (e.g. second OSD)
+    - QMC5883P compass support
+    - Relay refactored to support RELAYx_FUNCTION, RELAY_STATUS message support added
+    - Reventech fuel level support (extends existing analog driver, see BATT_FL_xx parameters)
+    - RPLidarS1 360 deg lidar support and improved reliability for all RPLidars
+    - SBF GPS supports yaw from dual antennas
+    - Temperature sensor using analog voltages supported
+    - Trimble PX-1 support added as a GPS
+    - Winch driver enhancements including stuck protection, option for spin-free on startup
+5) Control and navigation changes and enhancements
+    - Auto missions can always be cleared while disarmed (would fail if mission still running)
+    - DO_ENGINE_CONTROL allows starting engine even when disarmed
+    - DO_SET_MISSION_CURRENT command can reset mission (see Reset Mission field)
+    - DO_SET_SERVO, DO_REPEAT_SERVO work with servo outputs set to RCInxScaled
+    - Fractional Loiter Turn Support in missions
+    - HarmonicNotch supports up to 16 harmonics
+    - JUMP command sends improved text msg to pilot (says where will jump to)
+    - MAV_CMD_AIRFRAME_CONFIGURATION can control landing gear on all vehicles
+    - MAV_CMD_NAV_SET_YAW_SPEED deprecated
+    - MOT_OPTIONS allows voltage compensation to use raw battery voltages (instead of current corrected voltage)
+    - PID controllers get DFF/D_FF (derivative feed-forward), NTF (target notch filter index) and NEF (error notch filter index)
+    - PID controllers get PDMX param to limit P+D output (useful for large vehicles and/or slow actuators)
+    - PID notch filter configured via new filter library using FILT parameters
+6) Parameters renamed
+    - COMPASS_TYPEMASK renamed to COMPASS_DISBLMSK
+7) ROS2 / DDS support
+8) Camera and gimbal enhancements
+    - Calculates location where camera gimbal is pointing (see CAMERA_FOV_STATUS)
+    - CAMx_MNT_INST allows specifying which mount camera is in
+    - Camera lens (e.g. live video stream) selectable using RC aux function
+    - Interval timer (for taking pictures at timed intervals)
+    - Image tracking support (ViewPro only)
+    - MAVLink Gimbal Protocol v2 support for better GCS integration
+    - MNTx_SYSID_DFLT allows easier pointing gimbal at another vehicle
+    - MOUNT_CONTROL, MOUNT_CONFIGURE messages deprecated
+    - RangeFinder support (only logged, only supported on Siyi, Viewpro)
+    - Pilot's RC input re-takes manual control of gimbal (e.g. switches to RC_TARGETING mode)
+    - Siyi driver gets Zoom control, sends autopilot attitude and time (reduces leans)
+    - Video recording may start when armed (see CAMx_OPTIONS)
+    - ViewPro driver (replaces equivalent Lua driver)
+    - Xacti camera gimbal support
+    - Zoom percentage support (for both missions and GCS commands)
+9) Logging and reporting changes
+    - Battery logging (e.g. BAT) includes health, temperature, state-of-health percentage
+    - CAM and MNT messages contain camera gimbal's desired and actual angles
+    - INS_RAW_LOG_OPT allows raw, pre-filter and post-filter sensor data logging (alternative to "batch logging", good for filtering analysis)
+    - PID logging gets reset and I-term-set flags
+    - Rangefinder logging (e.g. RFND) includes signal quality
+    - RC aux functions sorted alphabetically for GCS
+    - RC logging (RCI, RCI2) include valid input and failsafe flags
+    - RTK GPS logging includes number of fragments used or discarded
+10) Scripting enhancements
+    - Autopilot reboot support
+    - Baro, Compass, IMU, IOMCU health check support
+    - Battery cell voltage bindings
+    - Battery driver support
+    - BattEsimate.lua applet estimates SoC from voltage
+    - Camera and Mount bindings improved
+    - CAN input packet filtering reduces work required by Lua CAN drivers
+    - DJI RS2/RS3 gimbal driver supports latest DJI firmware version (see mount-djirs2-driver.lua)
+    - EFI drivers for DLA serial, InnoFlight Inject EFI driver
+    - EFI bindings improved
+    - Fence support
+    - Generator drivers for Halo6000, Zhuhai SVFFI
+    - GCS failsafe support
+    - Hobbywing_DataLink driver (see Hobbywing_DataLink.lua)
+    - is_landing, is_taking_off bindings
+    - led_on_a_switch.lua sets LED brightness from RC switch
+    - MAVLink sending and receiving support
+    - Mission jump_to_landing_sequence binding
+    - mount-poi.lua upgraded to applet, sends better feedback, can lock onto Location
+    - Networking/Ethernet support
+    - Plane dual-aircraft synchronised aerobatics
+    - Proximity driver support
+    - Rangefinder drivers can support signal quality
+    - revert_param.lua applet for quickly reverting params during tuning
+    - RockBlock.lua applet supports setting mode, fix for battery voltage reporting
+    - Serial/UART reading performance improvement using readstring binding
+    - sport_aerobatics.lua rudder control fixed
+    - Thread priority can be set using SCR_THD_PRIORITY (useful for Lua drivers)
+    - Wind alignment and head_wind speed bindings
+11) Safety related enhancements and fixes
+    - Arm/Disarmed GPIO may be disabled using BRD_OPTIONS
+    - Arming check that Auto mode requires mission
+    - Arming check of compass vs world magnetic model to detect metal in ground (see ARMING_MAGTHRESH)
+    - Arming check of GPIO pin interrupt storm
+    - Arming check of Lua script CRC
+    - Arming check of mission loaded from SD card
+    - Arming check of Relay pin conflicts
+    - Arming check of emergency stop skipped if emergency stop aux function configured
+    - Arming check that at least some outputs are configured
+    - Arming failures reported more quickly when changing from success to failed
+    - ARMING_OPTIONS allows supressing "Armed", "Disarmed" text messages
+    - BRD_SAFETY_MASK extended to apply to CAN ESCs and servos
+    - Buzzer noise for gyro calibration and arming checks passed
+    - Dijkstras object avoidance supports "fast waypoints" (see AVOID_OPTIONS)
+    - Fence breach failsafe gets disarm action
+    - FENCE_OPTIONS supports union OR intersection of all polygon fences
+    - FLTMODE_GCSBLOCK blocks GCS from changing vehicle to specified modes
+    - Main loop lockup recovery by forcing mutex release (only helps if caused by software bug)
+    - Mandatory arming checks cannot be skipped (previously setting ARMING_CHECKS=0 skipped all)
+    - Rally points supports altitude frame (AMSL, Relative or Terrain)
+    - SERVO_RC_FS_MSK allows outputs using RC passthrough to move to SERVOx_TRIM on RC failsafe
+12) System Enhancements
+    - CAN port can support a second CAN protocol on the same bus (2nd protocol must be 11 bit, see CAN_Dn_PROTOCOL2)
+    - CAN-FD support (allows faster data transfer rates)
+    - Crash dump info logged if main thread locksup (helps with root cause analysis)
+    - Ethernet/Networking support for UDP and TCP server and client (see NET_ENABLED) and PPP (see SERIALx_PROTOCOL)
+    - Firmware flashing from SD card
+    - Linux board SBUS input decoding made consistent with ChibiOS
+    - Linux boards support DroneCAN
+    - Parameter defaults stored in @ROMFS/defaults.parm
+    - SD Card formatting supported on all boards
+    - Second USB endpoint defaults to MAVLink (instead of SLCAN) except on CubePilot boards
+    - Serial over DroneCAN (see CAN_D1_UC_SER_EN) useful for configuring F9P DroneCAN GPSs using uCenter
+13) Custom Build server include/exclude features extended to include
+    - APJ Tools
+    - Bootloader flashing
+    - Button
+    - Compass calibration
+    - DroneCAN GPS
+    - ExternalAHRS (e.g. MicroStrain, Vectornav)
+    - Generator
+    - Highmark Servo
+    - Hobbywing ESCs
+    - Kill IMU
+    - Payload Place
+    - Plane BlackBox arming allows Plane to be used as logger (see ARMING_BBOX_SPD)
+    - Plane's TX Tuning
+    - Precision landing
+    - Proximity sensor
+    - RC Protocol
+    - Relay
+    - SBUS Output
+    - ToneAlarm
+    - Winch
+14) Developer specific items
+    - ChibiOS upgrade to 21.11
+    - UAVCAN replaced with DroneCAN
+    - AUTOPILOT_VERSION_REQUEST message deprecated (use REQUEST_MESSAGE instead)
+    - PREFLIGHT_SET_SENSOR_OFFSETS support deprecated (was unused by all known ground stations)
+    - MISSION_SET_CURRENT message deprecated (use DO_SET_MISSION_CURRENT command instead)
+    - MISSION_CURRENT message sends num commands and stopped/paused/running/complete state
+    - Python version requirement increased to 3.6.9
+    - mavlink_parse.py shows all suported mavlink messages
+    - COMMAND_INT messages can be used for nearly all commands (previously COMMAND_LONG)
+15) Bug fixes:
+    - 3DR Solo gimbal mavlink routing fixed
+    - Bootloop fixed if INS_GYRO_FILTER set too high
+    - Button Internal Error caused by floating pin or slow device power-up fixed
+    - CAN Compass order maintained even if compass powered up after autopilot
+    - Compass device IDs only saved when calibrated to ensure external compasses appear as primary on new boards
+    - Currawong ECU EFI does not send exhaust gas temperature
+    - DCM fallback in order to get better GPS is disabled if GPS is not used
+    - DJI RS2/RS3 gimbal reported angle fix
+    - DO_SET_ROI, ROI_LOCATION, ROI_NONE bug fix that could lead to gimbal pointing at old target
+    - Generator parameter init fix (defaults might not always have been loaded correctly)
+    - GPS_TC_BLEND parameter removed (it was unused)
+    - Harmonic Notch gets protection against extremely low notch filter frequencies
+    - IE 650/800 Generators report fuel remaining
+    - INS calibration prevents unlikely case of two calibrations running at same time
+    - LPS2XH Baro supported over I2C fixed
+    - MatekH743 storage eeprom size fixed
+    - MAVLink routing fix to avoid processing packet meant for another vehicle
+    - Mount properly enforces user defined angle limits
+    - MPU6500 IMU filter corrected to 4k
+    - NMEA output time and altitude fixed
+    - OSD gets labels for all supported serial protocols
+    - OSD RF panel format fixed
+    - Omni vehicle support fixed
+    - RobotisServo initialisation fix
+    - RPM accuracy and time wrap handling improved
+    - Sagetech ADSB MXS altitude fix (needs amsl, was sending alt-above-terrain)
+    - SageTechMXS ADSB climb rate direction fixed
+    - SBUS out exactly matches SBUS in decoding
+    - Serial port RTS pins default to pulldown (SiK radios could getting stuck in bootloader mode)
+    - SERIALx_ parameters removed for ports that can't actually be used
+    - Servo gimbal attitude reporting fix
+    - Servo output fix when using scaled RC passthrough (e.g. SERVOx_FUNCTION = RCinXScaled)
+    - Siyi continuous zoom stutter fixed
+    - Siyi gimbal upside-down mode fixed (avoid bobbing if upside-down)
+    - SmartRTL premature "buffer full" failure fixed
+    - ST24 RC protocol fixed
+    - STM32L496 CAN2 init fix (AP_Periph only?)
+    - VFR_HUD climb rate reports best estimate during high vibration events (previously it would stop updating)
+    - Visual Odometry healthy check fix in case of out-of-memory
+    - VTX_MAX_POWER restored (allows setting radio's power)
+------------------------------------------------------------------
 Rover 4.4.0 19-Dec-2023 / Rover 4.4.0-beta11 05-Dec-2023
 Changes from 4.4.0-beta10
 1) Autopilot related enhancement and fixes

From 2d8c7f0efa66a64bb35d6839826a9d0754385b2f Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 23 Jan 2024 09:26:59 +0900
Subject: [PATCH 0916/1335] Copter: 4.5.0-beta1 release notes

---
 ArduCopter/ReleaseNotes.txt | 281 ++++++++++++++++++++++++++++++++++++
 1 file changed, 281 insertions(+)

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index 6ccc0923aa6fe0..b80cc28e9fa23b 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@@ -1,5 +1,286 @@
 ArduPilot Copter Release Notes:
 ------------------------------------------------------------------
+Copter 4.5.0-beta1 30-Jan-2025
+Changes from 4.4.4
+1) New autopilots supported
+    - ACNS-F405AIO
+    - Airvolute DCS2 onboard FMU
+    - Aocoda-RC-H743Dual
+    - BrainFPV RADIX 2 HD
+    - CAN-Zero
+    - CM4Pilot
+    - CubeRed
+    - Esp32-tomte76, esp32nick, esp32s3devkit
+    - FlyingMoonH743
+    - Flywoo F405 Pro
+    - FlywooF405S-AIO with alternative IMUs
+    - Here4 GPS as flight controller
+    - Holybro 6X revision 6
+    - Holybro6X-45686 with 3x ICM45686 IMUs
+    - JAE JFB110
+    - KakuteH7 using ICM42688
+    - PixFlamingo (uses STM32L4PLUS CPU)
+    - PixPilot-C3
+    - PixSurveyA1-IND
+    - QiotekAdeptF407
+    - Sierra TrueNavIC
+    - SPRacing H7RF
+    - SW-Nav-F405
+    - YJUAV_A6
+    - YJUAV_A6SE, YJUAV_A6SE_H743
+2) Autopilot specific changes
+    - 1MB boards lose features to save flash (Payload Place, some battery monitors, NMEA Output, bootloaders, Turtle mode)
+    - CubeOrangePlus supports IMU high resolution sampling (works with ICM42688, ICM42652, ICM42670, ICM45686 IMUs)
+    - F4 processors with only 1 IMU gain Triple Harmonic Notch support
+    - F765-SE bdshot support on 1st 4 pin
+    - F7 and H7 boards lose DMA on I2C ports (not required, limited DMA better used elsewhere)
+    - FlyingMoonH743, FlyingMoonF427 2nd and 3rd IMU order swapped
+    - HEEWING-F405 supports CRSF
+    - MatekL431-RC bootloader added, DMA used for RC and GPS
+    - PH4-mini, PH4-mini-bdshot, Swan-K1 and TBS-Colibri-F7 BRD_SER4_RTSCTS param conflict fixed
+    - Pixhawk6C supports BMI088 baro
+    - TMotorH743, Heewing-F405 serial parameter definitions fixed
+3) AHRS/EKF enhancements and fixes
+    - AHRS_OPTIONS supports disabling fallback to DCM
+    - BARO_ALT_OFFSET slews more slowly (was 20sec, now 1min)
+    - EKF2 removed (can be re-enabled with Custom build server)
+    - External AHRS support for multiple GPSs
+    - InertialLabs INS-U external AHRS support
+    - Lord external AHRS renamed to MicroStrain5
+    - MAV_CMD_EXTERNAL_POSITION_ESTIMATE supports setting approximate position during dead-reckoning
+    - Microstrain7 (aka 3DM-QG7) external AHRS support
+4) Driver enhancements
+    - 3DR Solo supports up to 6S batteries
+    - Airspeed health checks vs GPS use 3D velocity
+    - BDshot on the first four channels of boards with F103-based IOMCUs (e.g. Pixhawk 6X)
+    - Dshot on all IOMCU channels on all boards with an IOMCU (e.g. all CubePilot autopilots)
+    - Dshot commands (e.g. motor reversal abd beeps) and EDT supported on IOMCU
+    - DroneCAN battery monitors calculate consumed energy if battery doesn't provide directly
+    - DroneCAN RC and Ghost RC protocol support
+    - EFI MAVLink driver
+    - Extended DShot Telemetry support (requires BLHeli32 ver 32.10 or BlueJay, set SERVO_DSHOT_ESC=3 or 4)
+    - GPS L5 band health override to enable L5 signal use (see GPS_DRV_OPTIONS)
+    - GPS-for-yaw works at lower update rate (3hz minimum)
+    - GSOF GPS supports GPS_COM_PORT parameter
+    - Hirth ICEngine support
+    - ICE option to enable/disable starting while disarmed
+    - ICE support for starter via relay
+    - IMUDATA serial protocol outputs raw IMU data on serial port (only available using custom build server)
+    - Innomaker LD06 360deg lidar support
+    - Intelligent Energy fuel cells new protocol support
+    - IRC Tramp supports 1G3 bands A and B
+    - IRC Ghost support
+    - JAE JRE-30 radar
+    - KDECAN driver rewrite (params moved to KDE_, works on all vehicles)
+    - MCP9601 temperature sensor support
+    - NanoRadar NRA24 rangefinder support
+    - NeoPixelsRGB support
+    - NoopLoop TOFSense, TOFSenseF-I2c rangefinder support
+    - OSD shows flashing horizon when inverted
+    - OSD2 support (e.g. second OSD)
+    - QMC5883P compass support
+    - Relay refactored to support RELAYx_FUNCTION, RELAY_STATUS message support added
+    - Reventech fuel level support (extends existing analog driver, see BATT_FL_xx parameters)
+    - RPLidarS1 360 deg lidar support and improved reliability for all RPLidars
+    - SBF GPS supports yaw from dual antennas
+    - Temperature sensor using analog voltages supported
+    - Trimble PX-1 support added as a GPS
+    - Winch driver enhancements including stuck protection, option for spin-free on startup
+5) Control and navigation changes and enhancements
+    - Auto missions can always be cleared while disarmed (would fail if mission still running)
+    - DO_ENGINE_CONTROL allows starting engine even when disarmed
+    - DO_SET_MISSION_CURRENT command can reset mission (see Reset Mission field)
+    - DO_SET_SERVO, DO_REPEAT_SERVO work with servo outputs set to RCInxScaled
+    - Fractional Loiter Turn Support in missions
+    - HarmonicNotch supports up to 16 harmonics
+    - JUMP command sends improved text msg to pilot (says where will jump to)
+    - MAV_CMD_AIRFRAME_CONFIGURATION can control landing gear on all vehicles
+    - MOT_OPTIONS allows voltage compensation to use raw battery voltages (instead of current corrected voltage)
+    - PID controllers get DFF/D_FF (derivative feed-forward), NTF (target notch filter index) and NEF (error notch filter index)
+    - PID controllers get PDMX param to limit P+D output (useful for large vehicles and/or slow actuators)
+    - PID notch filter configured via new filter library using FILT parameters
+    - RTL mode uses RTL_CLIMB_MIN even if within cone slope (previously always climbed 2m)
+6) Copter specific enhancements
+    - MOT_SPOOL_TIM_DN allows slower spool down of motors
+    - Precision landing gets fast descent option (see PLND_OPTIONS)
+    - Throw mode min and max altitude support (see THROW_ALT_MIN/MAX)
+    - TKOFF_TH_MAX allows lower throttle during takeoff
+    - ZigZag mode sends position target to GCS
+7) TradHeli specific enhancements
+    - Arming checks improved
+    - Motor test removed (it was non-functional)
+    - OSD shows main rotor RPM
+    - RPM based dynamic notch can track below reference (e.g. below INS_HNTCH_FM_RAT)
+    - Thrust linearization for DDFP tails
+    - Heli_idle_control.lua closed loop throttle control Lua script
+8) Parameters renamed
+    - COMPASS_TYPEMASK renamed to COMPASS_DISBLMSK
+9) ROS2 / DDS support
+10) Camera and gimbal enhancements
+    - Calculates location where camera gimbal is pointing (see CAMERA_FOV_STATUS)
+    - CAMx_MNT_INST allows specifying which mount camera is in
+    - Camera lens (e.g. live video stream) selectable using RC aux function
+    - Follow mode can point gimbal at lead vehicle
+    - Circle mode can point gimbal at circle center (see CIRCLE_OPTIONS)
+    - Interval timer (for taking pictures at timed intervals)
+    - Image tracking support (ViewPro only)
+    - MAVLink Gimbal Protocol v2 support for better GCS integration
+    - MNTx_SYSID_DFLT allows easier pointing gimbal at another vehicle
+    - MOUNT_CONTROL, MOUNT_CONFIGURE messages deprecated
+    - RangeFinder support (only logged, only supported on Siyi, Viewpro)
+    - Pilot's RC input re-takes manual control of gimbal (e.g. switches to RC_TARGETING mode)
+    - Siyi driver gets Zoom control, sends autopilot attitude and time (reduces leans)
+    - Video recording may start when armed (see CAMx_OPTIONS)
+    - ViewPro driver (replaces equivalent Lua driver)
+    - Xacti camera gimbal support
+    - Zoom percentage support (for both missions and GCS commands)
+11) Logging and reporting changes
+    - Battery logging (e.g. BAT) includes health, temperature, state-of-health percentage
+    - CAM and MNT messages contain camera gimbal's desired and actual angles
+    - INS_RAW_LOG_OPT allows raw, pre-filter and post-filter sensor data logging (alternative to "batch logging", good for filtering analysis)
+    - PID logging gets reset and I-term-set flags
+    - Rangefinder logging (e.g. RFND) includes signal quality
+    - RC aux functions sorted alphabetically for GCS
+    - RC logging (RCI, RCI2) include valid input and failsafe flags
+    - RTK GPS logging includes number of fragments used or discarded
+12) Scripting enhancements
+    - Autopilot reboot support
+    - Baro, Compass, IMU, IOMCU health check support
+    - Battery cell voltage bindings
+    - Battery driver support
+    - BattEsimate.lua applet estimates SoC from voltage
+    - Camera and Mount bindings improved
+    - CAN input packet filtering reduces work required by Lua CAN drivers
+    - DJI RS2/RS3 gimbal driver supports latest DJI firmware version (see mount-djirs2-driver.lua)
+    - EFI drivers for DLA serial, InnoFlight Inject EFI driver
+    - EFI bindings improved
+    - Fence support
+    - Generator drivers for Halo6000, Zhuhai SVFFI
+    - GCS failsafe support
+    - Hobbywing_DataLink driver (see Hobbywing_DataLink.lua)
+    - is_landing, is_taking_off bindings
+    - led_on_a_switch.lua sets LED brightness from RC switch
+    - MAVLink sending and receiving support
+    - Mission jump_to_landing_sequence binding
+    - mount-poi.lua upgraded to applet, sends better feedback, can lock onto Location
+    - Networking/Ethernet support
+    - Proximity driver support
+    - Rangefinder drivers can support signal quality
+    - revert_param.lua applet for quickly reverting params during tuning
+    - RockBlock.lua applet supports setting mode, fix for battery voltage reporting
+    - Serial/UART reading performance improvement using readstring binding
+    - sport_aerobatics.lua rudder control fixed
+    - Thread priority can be set using SCR_THD_PRIORITY (useful for Lua drivers)
+    - Wind alignment and head_wind speed bindings
+13) Safety related enhancements and fixes
+    - Arm/Disarmed GPIO may be disabled using BRD_OPTIONS
+    - Arming check of compass vs world magnetic model to detect metal in ground (see ARMING_MAGTHRESH)
+    - Arming check of GPIO pin interrupt storm
+    - Arming check of Lua script CRC
+    - Arming check of mission loaded from SD card
+    - Arming check of Relay pin conflicts
+    - Arming check of emergency stop skipped if emergency stop aux function configured
+    - Arming failures reported more quickly when changing from success to failed
+    - ARMING_OPTIONS allows supressing "Armed", "Disarmed" text messages
+    - BRD_SAFETY_MASK extended to apply to CAN ESCs and servos
+    - Buzzer noise for gyro calibration and arming checks passed
+    - Dijkstras object avoidance supports "fast waypoints" (see AVOID_OPTIONS)
+    - FENCE_OPTIONS supports union OR intersection of all polygon fences
+    - FLTMODE_GCSBLOCK blocks GCS from changing vehicle to specified modes
+    - GCS failsafe action to switch to Brake mode (see FS_GCS_ENABLE)
+    - Main loop lockup recovery by forcing mutex release (only helps if caused by software bug)
+    - Rally points supports altitude frame (AMSL, Relative or Terrain)
+    - SERVO_RC_FS_MSK allows outputs using RC passthrough to move to SERVOx_TRIM on RC failsafe
+    - TKOFF_RPM_MAX aborts takeoff if RPM is too high (for cases where a propeller has come off)
+14) System Enhancements
+    - CAN port can support a second CAN protocol on the same bus (2nd protocol must be 11 bit, see CAN_Dn_PROTOCOL2)
+    - CAN-FD support (allows faster data transfer rates)
+    - Crash dump info logged if main thread locksup (helps with root cause analysis)
+    - Ethernet/Networking support for UDP and TCP server and client (see NET_ENABLED) and PPP (see SERIALx_PROTOCOL)
+    - Firmware flashing from SD card
+    - Linux board SBUS input decoding made consistent with ChibiOS
+    - Linux boards support DroneCAN
+    - Parameter defaults stored in @ROMFS/defaults.parm
+    - SD Card formatting supported on all boards
+    - Second USB endpoint defaults to MAVLink (instead of SLCAN) except on CubePilot boards
+    - Serial over DroneCAN (see CAN_D1_UC_SER_EN) useful for configuring F9P DroneCAN GPSs using uCenter
+15) Custom Build server include/exclude features extended to include
+    - APJ Tools
+    - Brake mode
+    - Bootloader flashing
+    - Button
+    - Compass calibration
+    - DroneCAN GPS
+    - ExternalAHRS (e.g. MicroStrain, Vectornav)
+    - Generator
+    - Highmark Servo
+    - Hobbywing ESCs
+    - Kill IMU
+    - Payload Place
+    - Precision landing
+    - Proximity sensor
+    - RC Protocol
+    - Relay
+    - SBUS Output
+    - ToneAlarm
+    - Winch
+16) Developer specific items
+    - ChibiOS upgrade to 21.11
+    - UAVCAN replaced with DroneCAN
+    - AUTOPILOT_VERSION_REQUEST message deprecated (use REQUEST_MESSAGE instead)
+    - PREFLIGHT_SET_SENSOR_OFFSETS support deprecated (was unused by all known ground stations)
+    - MISSION_SET_CURRENT message deprecated (use DO_SET_MISSION_CURRENT command instead)
+    - MISSION_CURRENT message sends num commands and stopped/paused/running/complete state
+    - Python version requirement increased to 3.6.9
+    - mavlink_parse.py shows all suported mavlink messages
+    - COMMAND_INT messages can be used for nearly all commands (previously COMMAND_LONG)
+17) Bug fixes:
+    - 3DR Solo gimbal mavlink routing fixed
+    - Airspeed health always checked before use (may not have been checked when using "affinity")
+    - Auto mode fix for DO_CHANGE_SPEED commands placed immediately after TAKEOFF (previously were ignored)
+    - Bootloop fixed if INS_GYRO_FILTER set too high
+    - Button Internal Error caused by floating pin or slow device power-up fixed
+    - CAN Compass order maintained even if compass powered up after autopilot
+    - Compass device IDs only saved when calibrated to ensure external compasses appear as primary on new boards
+    - Cut corners more by defaulting WPNAV_ACCEL_C to 2x WPNAV_ACCEL
+    - Currawong ECU EFI does not send exhaust gas temperature
+    - DJI RS2/RS3 gimbal reported angle fix
+    - DO_SET_ROI, ROI_LOCATION, ROI_NONE bug fix that could lead to gimbal pointing at old target
+    - Generator parameter init fix (defaults might not always have been loaded correctly)
+    - GPS_TC_BLEND parameter removed (it was unused)
+    - Guided mode protection against targets with NaN values
+    - Guided mode yaw fix (vehicle might rotate too slowly)
+    - Harmonic Notch gets protection against extremely low notch filter frequencies
+    - IE 650/800 Generators report fuel remaining
+    - INS calibration prevents unlikely case of two calibrations running at same time
+    - LPS2XH Baro supported over I2C fixed
+    - MatekH743 storage eeprom size fixed
+    - MAVLink routing fix to avoid processing packet meant for another vehicle
+    - Mount properly enforces user defined angle limits
+    - MPU6500 IMU filter corrected to 4k
+    - NMEA output time and altitude fixed
+    - OSD gets labels for all supported serial protocols
+    - OSD RF panel format fixed
+    - RobotisServo initialisation fix
+    - RPM accuracy and time wrap handling improved
+    - Sagetech ADSB MXS altitude fix (needs amsl, was sending alt-above-terrain)
+    - SageTechMXS ADSB climb rate direction fixed
+    - SBUS out exactly matches SBUS in decoding
+    - Serial port RTS pins default to pulldown (SiK radios could getting stuck in bootloader mode)
+    - SERIALx_ parameters removed for ports that can't actually be used
+    - Servo gimbal attitude reporting fix
+    - Servo output fix when using scaled RC passthrough (e.g. SERVOx_FUNCTION = RCinXScaled)
+    - Siyi continuous zoom stutter fixed
+    - Siyi gimbal upside-down mode fixed (avoid bobbing if upside-down)
+    - SmartRTL premature "buffer full" failure fixed
+    - ST24 RC protocol fixed
+    - STM32L496 CAN2 init fix (AP_Periph only?)
+    - Tricopter, SingleCopter, CoaxCopter fins centered if using BLHeli/DShot
+    - VFR_HUD climb rate reports best estimate during high vibration events (previously it would stop updating)
+    - Visual Odometry healthy check fix in case of out-of-memory
+    - VTX_MAX_POWER restored (allows setting radio's power)
+    - Yaw limit calculations fixed
+------------------------------------------------------------------
 Copter 4.4.4 19-Dec-2023 / 4.4.4-beta1 05-Dec-2023
 Changes from 4.4.3
 1) Autopilot related enhancement and fixes

From 1b7dc5e584d403ed8337c2ccb7926d15d0f9e49e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 31 Jan 2024 10:03:09 +0900
Subject: [PATCH 0917/1335] Rover: version to 4.6.0-dev

---
 Rover/version.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Rover/version.h b/Rover/version.h
index 11b034f62f7d68..a8cceba51d4c9e 100644
--- a/Rover/version.h
+++ b/Rover/version.h
@@ -6,13 +6,13 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.5.0-dev"
+#define THISFIRMWARE "ArduRover V4.6.0-dev"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_DEV
 
 #define FW_MAJOR 4
-#define FW_MINOR 5
+#define FW_MINOR 6
 #define FW_PATCH 0
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 

From 98c59129ecbbd60f2a148d08e02e60ee2b8be5d0 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 31 Jan 2024 10:03:19 +0900
Subject: [PATCH 0918/1335] Copter: version to 4.6.0-dev

---
 ArduCopter/version.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
index aca789abdc19fa..6fb6ed396aa735 100644
--- a/ArduCopter/version.h
+++ b/ArduCopter/version.h
@@ -6,13 +6,13 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.5.0-dev"
+#define THISFIRMWARE "ArduCopter V4.6.0-dev"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_DEV
 
 #define FW_MAJOR 4
-#define FW_MINOR 5
+#define FW_MINOR 6
 #define FW_PATCH 0
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 

From b119a2a6d798998a0c05ac89f6c016f42da37944 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 30 Jan 2024 23:47:57 +0000
Subject: [PATCH 0919/1335] Plane: move guided throttle passthrough to
 mode_guided

---
 ArduPlane/mode_guided.cpp | 12 ++++++++++--
 ArduPlane/servos.cpp      |  4 ----
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/ArduPlane/mode_guided.cpp b/ArduPlane/mode_guided.cpp
index 010e9a5e52fd11..85462166d1bc7f 100644
--- a/ArduPlane/mode_guided.cpp
+++ b/ArduPlane/mode_guided.cpp
@@ -82,13 +82,21 @@ void ModeGuided::update()
         plane.calc_nav_pitch();
     }
 
-    // Received an external msg that guides throttle in the last 3 seconds?
-    if (plane.aparm.throttle_cruise > 1 &&
+    // Throttle output
+    if (plane.guided_throttle_passthru) {
+        // manual passthrough of throttle in fence breach
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.get_throttle_input(true));
+
+    }  else if (plane.aparm.throttle_cruise > 1 &&
             plane.guided_state.last_forced_throttle_ms > 0 &&
             millis() - plane.guided_state.last_forced_throttle_ms < 3000) {
+        // Received an external msg that guides throttle in the last 3 seconds?
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.guided_state.forced_throttle);
+
     } else {
+        // TECS control
         plane.calc_throttle();
+
     }
 
 }
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index c4dc017244abe6..8e91fd20de087e 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -601,10 +601,6 @@ void Plane::set_throttle(void)
             // get throttle, but adjust center to output TRIM_THROTTLE if flight option set
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_adjusted_throttle_input(true));
         }
-    } else if (control_mode->is_guided_mode() &&
-               guided_throttle_passthru) {
-        // manual pass through of throttle while in GUIDED
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
     }
 
     if (control_mode->use_battery_compensation()) {

From 94be9cb8b697daad5533725ec80ae941fb3d82fd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 12:50:25 +1100
Subject: [PATCH 0920/1335] AP_Vehicle: move call to BoardConfig.init to
 AP_Vehicle

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index fbb0356deaf94e..73520e33d55137 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -358,6 +358,8 @@ void AP_Vehicle::setup()
     stats.init();
 #endif
 
+    BoardConfig.init();
+
     // init_ardupilot is where the vehicle does most of its initialisation.
     init_ardupilot();
 

From 28e2c49293c4e3d6553bea34f1cee45271107d13 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 12:50:25 +1100
Subject: [PATCH 0921/1335] AntennaTracker: move call to BoardConfig.init to
 AP_Vehicle

---
 AntennaTracker/system.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index c6f63c61dd2cf3..ca22797bcb03cb 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -5,7 +5,6 @@ static const StorageAccess wp_storage(StorageManager::StorageMission);
 
 void Tracker::init_ardupilot()
 {
-    BoardConfig.init();
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
     can_mgr.init();
 #endif

From 9656ecdbbaa9e6006da65d70a222e06d16e9b748 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 12:50:25 +1100
Subject: [PATCH 0922/1335] ArduCopter: move call to BoardConfig.init to
 AP_Vehicle

---
 ArduCopter/system.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index eaf86120af6eee..e9889a1e33b730 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -15,8 +15,6 @@ static void failsafe_check_static()
 
 void Copter::init_ardupilot()
 {
-
-    BoardConfig.init();
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
     can_mgr.init();
 #endif

From 89417f07a64e2126075b0a7a8cec0f7a69595f4d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 12:50:25 +1100
Subject: [PATCH 0923/1335] ArduPlane: move call to BoardConfig.init to
 AP_Vehicle

---
 ArduPlane/system.cpp | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 70c09fda6afc5c..e099f156ef6cf4 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -19,9 +19,6 @@ void Plane::init_ardupilot()
 
     ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
 
-    // setup any board specific drivers
-    BoardConfig.init();
-
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
     can_mgr.init();
 #endif

From 64ac69b1609a831db9c43657e35ed87dfb2efa10 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 12:50:25 +1100
Subject: [PATCH 0924/1335] ArduSub: move call to BoardConfig.init to
 AP_Vehicle

---
 ArduSub/system.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index 6e9d628bdee8e7..2bbb356e08ea81 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -14,7 +14,6 @@ static void failsafe_check_static()
 
 void Sub::init_ardupilot()
 {
-    BoardConfig.init();
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
     can_mgr.init();
 #endif

From bb52056632d953421fb16d85b482a079fc11b477 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 12:50:25 +1100
Subject: [PATCH 0925/1335] Blimp: move call to BoardConfig.init to AP_Vehicle

---
 Blimp/system.cpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/Blimp/system.cpp b/Blimp/system.cpp
index af39cf9c9d7e0e..dc3799a74a410d 100644
--- a/Blimp/system.cpp
+++ b/Blimp/system.cpp
@@ -14,10 +14,6 @@ static void failsafe_check_static()
 
 void Blimp::init_ardupilot()
 {
-
-    BoardConfig.init();
-
-
     // initialise notify system
     notify.init();
     notify_flight_mode();

From 17c7a7de5dfda5269a72ca45819d23a643d14808 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 12:50:25 +1100
Subject: [PATCH 0926/1335] Rover: move call to BoardConfig.init to AP_Vehicle

---
 Rover/system.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/Rover/system.cpp b/Rover/system.cpp
index 0d522e77b6f6d5..052b64d78712cc 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -14,7 +14,6 @@ static void failsafe_check_static()
 
 void Rover::init_ardupilot()
 {
-    BoardConfig.init();
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
     can_mgr.init();
 #endif

From 381aba9c621a9ce64479d793556c1b7aded6f539 Mon Sep 17 00:00:00 2001
From: olliw42 <waldmanns@gmx.de>
Date: Fri, 26 Jan 2024 10:38:33 +0100
Subject: [PATCH 0927/1335] AP_Logger: RXLQ in RSSI is in percent

---
 libraries/AP_Logger/LogStructure.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index 3621bfa62d144b..43dcdd88f736b4 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -1237,7 +1237,7 @@ LOG_STRUCTURE_FROM_GPS \
     { LOG_RCOUT3_MSG, sizeof(log_RCOUT), \
       "RCO3",  "QHHHHHHHHHHHHHH",     "TimeUS,C19,C20,C21,C22,C23,C24,C25,C26,C27,C28,C29,C30,C31,C32", "sYYYYYYYYYYYYYY", "F--------------", true  }, \
     { LOG_RSSI_MSG, sizeof(log_RSSI), \
-      "RSSI",  "Qff",     "TimeUS,RXRSSI,RXLQ", "s--", "F--", true  }, \
+      "RSSI",  "Qff",     "TimeUS,RXRSSI,RXLQ", "s-%", "F--", true  }, \
 LOG_STRUCTURE_FROM_BARO \
 LOG_STRUCTURE_FROM_PRECLAND \
     { LOG_POWR_MSG, sizeof(log_POWR), \

From 8e71cf83cd0a10e72d1550c52c18504988870d97 Mon Sep 17 00:00:00 2001
From: yjuav <yunjiuav@gmail.com>
Date: Fri, 19 Jan 2024 15:53:32 +0800
Subject: [PATCH 0928/1335] hwdef: add YJUAV_A6Ultra board support

---
 Tools/bootloaders/YJUAV_A6Ultra_bl.bin        | Bin 0 -> 17756 bytes
 .../hwdef/YJUAV_A6Ultra/README.md             | 289 ++++++++++++++++++
 .../YJUAV_A6Ultra/YJUAV_A6Ultra-pinout.jpg    | Bin 0 -> 910643 bytes
 .../hwdef/YJUAV_A6Ultra/defaults.parm         |   4 +
 .../hwdef/YJUAV_A6Ultra/hwdef-bl.dat          |  52 ++++
 .../hwdef/YJUAV_A6Ultra/hwdef.dat             | 256 ++++++++++++++++
 6 files changed, 601 insertions(+)
 create mode 100644 Tools/bootloaders/YJUAV_A6Ultra_bl.bin
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/README.md
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/YJUAV_A6Ultra-pinout.jpg
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/defaults.parm
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/hwdef.dat

diff --git a/Tools/bootloaders/YJUAV_A6Ultra_bl.bin b/Tools/bootloaders/YJUAV_A6Ultra_bl.bin
new file mode 100644
index 0000000000000000000000000000000000000000..4b1a4976ce8a429d007eef57d9bb59257f96312f
GIT binary patch
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/README.md b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/README.md
new file mode 100644
index 00000000000000..da550d2dc7e84d
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/README.md
@@ -0,0 +1,289 @@
+# A6Ultra Flight Controller
+
+The A6Ultra flight controller is manufactured and sold by [YJUAV](http://www.yjuav.net).
+
+## Features
+
+ - STM32H743 microcontroller
+ - Onboard Flash: 2048Mbits
+ - Three IMUs: ICM42688,ICM42688,IIM42652
+ - Internal ITS8310 I2C magnetometer
+ - Internal two DPS310 SPI barometer
+ - Internal RGB LED
+ - MicroSD card slot port
+ - 2 Analog power ports
+ - 5 UARTs and 1 USB ports
+ - 3 I2C and 2 CAN ports
+ - 13 PWM output ports
+ - Safety switch port
+ - External SPI port
+ - Buzzer port
+ - RC IN port
+
+## Pinout
+![YJUAV_A6Ultra Board](YJUAV_A6Ultra-pinout.jpg "YJUAV_A6Ultra")
+
+
+## Connectors
+
+**POWER1 ADC**
+
+| Pin  |     Signal      | Volt  |
+| :--: | :-------------: | :---: |
+|  1   |     VCC_IN      |  +5V  |
+|  2   |     VCC_IN      |  +5V  |
+|  3   | BAT_CURRENT_ADC | +3.3V |
+|  4   | BAT_VOLTAGE_ADC | +3.3V |
+|  5   |       GND       |  GND  |
+|  6   |       GND       |  GND  |
+
+**POWER2 ADC**
+
+| Pin  |     Signal      | Volt  |
+| :--: | :-------------: | :---: |
+|  1   |     VCC_IN      |  +5V  |
+|  2   |     VCC_IN      |  +5V  |
+|  3   | BAT2_CURRENT_ADC | +3.3V |
+|  4   | BAT2_VOLTAGE_ADC | +3.3V |
+|  5   |       GND       |  GND  |
+|  6   |       GND       |  GND  |
+
+**TELEM1**
+
+| Pin  | Signal  | Volt  |
+| :--: | :-----: | :---: |
+|  1   |   VCC   |  +5V  |
+|  2   | USART2_TX | +3.3V |
+|  3   | USART2_RX | +3.3V |
+|  4   |   CTS   | +3.3V |
+|  5   |   RTS   | +3.3V |
+|  6   |   GND   |  GND  |
+
+**TELEM2**
+
+| Pin  | Signal  | Volt  |
+| :--: | :-----: | :---: |
+|  1   |   VCC   |  +5V  |
+|  2   | USART6_TX | +3.3V |
+|  3   | USART6_RX | +3.3V |
+|  4   |   CTS   | +3.3V |
+|  5   |   RTS   | +3.3V |
+|  6   |   GND   |  GND  |
+
+**ADC**
+
+| Pin  | Signal  | Volt  |
+| :--: | :-----: | :---: |
+|  1   |   VCC   |  +5V  |
+|  2   | ADC_3V3 | +3.3V |
+|  3   | ADC_6V6 | +6.6V |
+|  4   |   GND   |  GND  |
+
+**SPI**
+
+| Pin  |  Signal  | Volt  |
+| :--: | :------: | :---: |
+|  1   |   VCC    |  +5V  |
+|  2   | SPI_SCK  | +3.3V |
+|  3   | SPI_MISO | +3.3V |
+|  4   | SPI_MOSI | +3.3V |
+|  5   |  SPI_CS  | +3.3V |
+|  6   |   GND    |  GND  |
+
+**I2C**
+
+| Pin  | Signal  | Volt  |
+| :--: | :-----: | :---: |
+|  1   |   VCC   |  +5V  |
+|  2   | I2C4_SCL | +3.3V |
+|  3   | I2C4_SDA | +3.3V |
+|  4   |   GND   |  GND  |
+
+**CAN1**
+
+| Pin  | Signal | Volt  |
+| :--: | :----: | :---: |
+|  1   |  VCC   |  +5V  |
+|  2   | CAN1_P  | +3.3V |
+|  3   | CAN1_N  | +3.3V |
+|  4   |  GND   |  GND  |
+
+**CAN2**
+
+| Pin  | Signal | Volt  |
+| :--: | :----: | :---: |
+|  1   |  VCC   |  +5V  |
+|  2   | CAN2_P  | +3.3V |
+|  3   | CAN2_N  | +3.3V |
+|  4   |  GND   |  GND  |
+
+**GPS1**
+
+| Pin  | Signal  | Volt  |
+| :--: | :-----: | :---: |
+|  1   |   VCC   |  +5V  |
+|  2   | USART3_TX | +3.3V |
+|  3   | USART3_RX | +3.3V |
+|  4   | I2C2_SCL | +3.3V |
+|  5   | I2C2_SDA | +3.3V |
+|  6   |   GND   |  GND  |
+
+**GPS2&SAFETY**
+
+| Pin  |    Signal     | Volt  |
+| :--: | :-----------: | :---: |
+|  1   |      VCC      |  +5V  |
+|  2   |    USART1_TX  | +3.3V |
+|  3   |    USART1_RX  | +3.3V |
+|  4   |    I2C3_SCL   | +3.3V |
+|  5   |    I2C3_SDA   | +3.3V |
+|  6   |   SAFETY_SW   | +3.3V |
+|  7   | SAFETY_SW_LED | +3.3V |
+|  8   |    3V3_OUT    | +3.3V |
+|  9   |    BUZZER     | +3.3V |
+|  10  |      GND      |  GND  |
+
+**DEBUG**
+
+| Pin  | Signal | Volt  |
+| :--: | :----: | :---: |
+|  1   |  VCC   |  +5V  |
+|  2   |  UART7_TX   | +3.3V |
+|  3   |  UART7_RX   | +3.3V |
+|  4   | SWDIO  | +3.3V |
+|  5   | SWCLK  | +3.3V |
+|  6   |  GND   |  GND  |
+
+**SAFETY**
+
+| Pin  |    Signal     | Volt  |
+| :--: | :-----------: | :---: |
+|  1   |    3V3_OUT    | +3.3V |
+|  2   |   SAFETY_SW   | +3.3V |
+|  3   | SAFETY_SW_LED | +3.3V |
+|  4   |   UART8_TX(SBUS_OUT)    | +3.3V |
+|  5   |     RSSI      | +3.3V |
+|  6   |      GND      |  GND  |
+
+**USB EX**
+
+| Pin  | Signal | Volt  |
+| :--: | :----: | :---: |
+|  1   | VCC_IN |  +5V  |
+|  2   |   DM   | +3.3V |
+|  3   |   DP   | +3.3V |
+|  4   |  GND   |  GND  |
+
+## UART Mapping
+
+ - SERIAL0 -> USB (OTG1)
+ - SERIAL1 -> USART2 (Telem1)
+ - SERIAL2 -> USART6 (Telem2)
+ - SERIAL3 -> USART3 (GPS1)
+ - SERIAL4 -> USART1 (GPS2)
+ - SERIAL5 -> UART8 (USER) TX only, normally used for SBUS_OUT with protocol change
+ - SERIAL6 -> UART7 (USER/Debug), NODMA
+ - SERIAL7 -> USB2 (OTG2)
+
+## RC Input
+
+The RCIN pin is mapped to a timer input instead of the UART, and can be used for all ArduPilot supported receiver protocols, except CRSF/ELRS and SRXL2 which require a true UART connection. However, FPort, when connected in this manner, can provide RC without telemetry.
+
+To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART must be used. For example, UART1 can have its protocol changed from the default GPS protocol for GPS2 to RX input protocol:
+
+With this option, SERIAL4_PROTOCOL must be set to “23”, and:
+
+PPM is not supported.
+
+SBUS/DSM/SRXL connects to the RX1 pin.
+
+FPort requires connection to TX1 and RX1. See FPort Receivers.
+
+CRSF also requires a TX1 connection, in addition to RX1, and automatically provides telemetry.
+
+SRXL2 requires a connection to TX1 and automatically provides telemetry. Set SERIAL4_OPTIONS to “4”.
+
+Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.
+
+## PWM Output
+
+The A6Ultra supports up to 13 PWM outputs,support all PWM protocols as well as DShot. All 13 PWM outputs have GND on the bottom row, 5V on the middle row and Signal on the top row.
+
+The 13 PWM outputs are in 4 groups:
+
+ - PWM 1, 2, 3 and 4 in group1
+ - PWM 5, 6, 7 and 8 in group2
+ - PWM 9, 10, 11 in group3
+ - PWM 12, 13 in group4
+
+Channels 1-8 support bi-directional Dshot.
+Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot.
+
+## GPIOs
+
+All 13 PWM channels can be used for GPIO functions (relays, buttons, RPM etc).
+
+The pin numbers for these PWM channels in ArduPilot are shown below:
+
+| PWM Channels | Pin  | PWM Channels | Pin  |
+| ------------ | ---- | ------------ | ---- |
+| PWM1         | 50   | PWM8         | 57   |
+| PWM2         | 51   | PWM9         | 58   |
+| PWM3         | 52   | PWM10        | 59   |
+| PWM4         | 53   | PWM11        | 60   |
+| PWM5         | 54   | PWM12        | 61   |
+| PWM6         | 55   | PWM13        | 62   |
+| PWM7         | 56   |              |      |
+
+## Analog inputs
+
+The A6Ultra flight controller has 7 Analog inputs
+
+ - ADC Pin4   -> Battery Current 
+ - ADC Pin2 -> Battery Voltage 
+ - ADC Pin16   -> Battery2 Current 
+ - ADC Pin12 -> Battery2 Voltage 
+ - ADC Pin8   -> ADC 3V3 Sense
+ - ADC Pin10 -> ADC 6V6 Sense
+ - ADC Pin11 -> RSSI voltage monitoring
+
+ ## Battery Monitor Configuration
+
+The board has voltage and current sensor inputs on the POWER1_ADC and POWER2_ADC connector.
+
+The correct battery setting parameters are:
+
+Enable Battery1 monitor:
+
+BATT_MONITOR    4
+
+BATT_VOLT_PIN   2
+
+BATT_CURR_PIN   4
+
+BATT_VOLT_MULT 21.0 (may need adjustment if supplied monitor is not used)
+
+BATT_AMP_PERVLT 34.6 (may need adjustment if supplied monitor is not used)
+
+Enable Battery2 monitor:
+BATT2_MONITOR   4
+
+BATT2_VOLT_PIN  12
+
+BATT2_CURR_PIN  16
+
+BATT2_VOLT_MULT 21.0 (may need adjustment if supplied monitor is not used)
+
+BATT2_AMP_PERVLT 34.6 (may need adjustment if supplied monitor is not used)
+
+## Build the FC
+
+./waf configure --board YJUAV_A6Ultra
+./waf copter
+
+The compiled firmware is located in folder **"build/YJUAV_A6Ultra/bin/arducopter.apj"**.
+
+
+## Loading Firmware
+
+The A6Ultra flight controller comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/YJUAV_A6Ultra-pinout.jpg b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/YJUAV_A6Ultra-pinout.jpg
new file mode 100644
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HcmV?d00001

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/defaults.parm
new file mode 100644
index 00000000000000..45e17a29a301bd
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/defaults.parm
@@ -0,0 +1,4 @@
+# setup the heater temperature to 45 degree
+BRD_HEAT_TARG 45
+
+CAN_P1_DRIVER 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/hwdef-bl.dat
new file mode 100644
index 00000000000000..a376a5c9e54662
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/hwdef-bl.dat
@@ -0,0 +1,52 @@
+# hw definition file for processing by chibios_hwdef.py
+# for YJUAV_A6Ultra board
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1144
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# order of UARTs (and USB). Allow bootloading on USB and Debug
+SERIAL_ORDER OTG1 UART7
+
+# UART7 DEBUG
+PE7  UART7_RX UART7 NODMA
+PE8  UART7_TX UART7 NODMA
+define BOOTLOADER_DEBUG SD7
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PE15 LED_RED OUTPUT OPENDRAIN HIGH # red
+PD10 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # green 
+PG0 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # blue
+define HAL_LED_ON 0
+
+# Add CS pins to ensure they are high in bootloader
+PE4  IMU1_CS CS
+PF3  IMU2_CS CS
+PF4  IMU3_CS CS
+PE10  FRAM_CS CS
+PE9  BAROMETER1_CS CS
+PE3  BAROMETER2_CS CS
+PC15 RESERVE_CS CS
+
+# Extra SPI CS
+PE5 EXT_CS CS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/hwdef.dat
new file mode 100644
index 00000000000000..6d2d24f2a606f3
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6Ultra/hwdef.dat
@@ -0,0 +1,256 @@
+# hw definition file for processing by chibios_hwdef.py for YJUAV_A6Ultra
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1144
+
+env OPTIMIZE -O2
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 5
+
+FLASH_SIZE_KB 2048
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 USART6 USART3 USART1 UART8 UART7 OTG2
+
+# now we define the pins that USB is connected on
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART2 TELEM1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+# USART6 TELEM2
+PC7 USART6_RX USART6
+PC6 USART6_TX USART6
+PG13 USART6_CTS USART6
+PG8 USART6_RTS USART6
+
+# USART3 GPS1
+PD9 USART3_RX USART3
+PD8 USART3_TX USART3
+
+# USART1 GPS2
+PB7 USART1_RX USART1
+PA9 USART1_TX USART1
+
+# SBUS, DSM port
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# UART7 DEBUG
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 -IMU1
+PB3 SPI1_SCK SPI1
+PB4 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+
+# SPI6 -IMU2 
+PA5 SPI6_SCK SPI6 
+PA6 SPI6_MISO SPI6
+PA7 SPI6_MOSI SPI6
+
+# SPI5 -IMU3
+PF7 SPI5_SCK SPI5 
+PF8 SPI5_MISO SPI5
+PF9 SPI5_MOSI SPI5
+
+# SPI4 -Extra SPI
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# sensors cs
+PE4  IMU1_CS CS
+PF3  IMU2_CS CS
+PF4  IMU3_CS CS
+PE10  FRAM_CS CS
+PE9  BAROMETER1_CS CS
+PE3  BAROMETER2_CS CS
+PC15 RESERVE_CS CS
+
+# Extra SPI CS
+PE5 EXT_CS CS
+
+# I2C buses
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+PH7 I2C3_SCL I2C3
+PH8 I2C3_SDA I2C3
+
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C1 I2C2 I2C3 I2C4
+
+NODMA I2C*
+define STM32_I2C_USE_DMA FALSE
+define HAL_I2C_INTERNAL_MASK 1
+
+# PWM channels
+PA15  TIM2_CH1  TIM2 PWM(1)  GPIO(50)   BIDIR
+PA1   TIM2_CH2  TIM2 PWM(2)  GPIO(51)
+PA2   TIM2_CH3  TIM2 PWM(3)  GPIO(52)   BIDIR
+PA3   TIM2_CH4  TIM2 PWM(4)  GPIO(53)
+PA8   TIM1_CH1  TIM1 PWM(5)  GPIO(54)	BIDIR
+PE11  TIM1_CH2  TIM1 PWM(6)  GPIO(55)
+PA10  TIM1_CH3  TIM1 PWM(7)  GPIO(56)	BIDIR
+PE14  TIM1_CH4  TIM1 PWM(8)  GPIO(57)
+PB5   TIM3_CH2  TIM3 PWM(9)  GPIO(58)
+PB0   TIM3_CH3  TIM3 PWM(10) GPIO(59)
+PB1   TIM3_CH4  TIM3 PWM(11) GPIO(60)
+PH6   TIM12_CH1 TIM12 PWM(12) GPIO(61) NODMA
+PH9   TIM12_CH2 TIM12 PWM(13) GPIO(62) NODMA
+
+# PWM output for buzzer
+PD14 TIM4_CH3 TIM4 GPIO(77) ALARM
+
+# RC input
+PI7 TIM8_CH3 TIM8 RCININT PULLUP LOW
+
+# Analog in
+PC4 BATT_CURRENT_SENS ADC1 SCALE(1)
+PF11 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+
+PA0 BATT2_CURRENT_SENS ADC1 SCALE(1)
+PC2 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
+
+# Analog sys 5v
+PF12 VDD_5V_SENS ADC1 SCALE(2)
+
+# ADC3.3/ADC6.6
+PC5 SPARE1_ADC1 ADC1 SCALE(1)
+PC0 SPARE2_ADC1 ADC1 SCALE(2)
+
+PC1 RSSI_IN ADC1 SCALE(1)
+
+PC3 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(3)
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+
+# GPIOs
+PC13 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+define HAL_HAVE_IMU_HEATER 1
+
+# define default battery setup
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 2
+define HAL_BATT_CURR_PIN 4
+define HAL_BATT_VOLT_SCALE 21
+define HAL_BATT_CURR_SCALE 34.6
+
+# batt2 default disable
+define HAL_BATT2_VOLT_PIN 12
+define HAL_BATT2_CURR_PIN 16
+define HAL_BATT2_VOLT_SCALE 21
+define HAL_BATT2_CURR_SCALE 34.6
+
+#analog rssi pin (also could be used as analog airspeed input)
+# PC1
+define BOARD_RSSI_ANA_PIN 11
+
+# enable pins
+PC14 VDD_3V3_SENSORS_EN OUTPUT LOW
+
+# red LED marked as B/E
+PE15 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
+PD10 LED_G1 OUTPUT OPENDRAIN LOW GPIO(1)
+PG0  LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+define HAL_GPIO_LED_ON  0
+define HAL_GPIO_LED_OFF 1
+
+# use pixracer style 3-LED indicators
+define HAL_HAVE_PIXRACER_LED
+
+# allow to have have a dedicated safety switch pin
+define HAL_HAVE_SAFETY_SWITCH 1
+PB15 LED_SAFETY OUTPUT
+PA4 SAFETY_IN INPUT PULLDOWN
+
+# SPI devices 
+SPIDEV imu1	        SPI6 DEVID1  IMU1_CS         MODE3  2*MHZ  8*MHZ
+SPIDEV imu2	        SPI6 DEVID2  IMU2_CS         MODE3  2*MHZ  8*MHZ
+SPIDEV imu3	        SPI1 DEVID1  IMU3_CS         MODE3  2*MHZ  8*MHZ
+SPIDEV dps310_1     SPI1 DEVID2  BAROMETER1_CS   MODE3  5*MHZ  5*MHZ
+SPIDEV dps310_2     SPI5 DEVID1  BAROMETER2_CS   MODE3  5*MHZ  5*MHZ
+SPIDEV ramtron      SPI5 DEVID2  FRAM_CS         MODE3  8*MHZ  8*MHZ
+
+# IMU1
+IMU Invensense SPI:imu1 ROTATION_NONE
+IMU Invensensev3 SPI:imu1 ROTATION_NONE
+
+# IMU2
+IMU Invensense SPI:imu2 ROTATION_NONE
+IMU Invensensev3 SPI:imu2 ROTATION_NONE
+
+# IMU3
+IMU Invensense SPI:imu3 ROTATION_NONE
+IMU Invensensev3 SPI:imu3 ROTATION_NONE
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 3
+
+# baro
+BARO DPS310 SPI:dps310_1
+BARO DPS310 SPI:dps310_2
+
+# compass
+define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
+COMPASS IST8310 I2C:0:0x0E false ROTATION_YAW_180
+
+# microSD support
+PC8  SDMMC1_D0  SDMMC1
+PC9  SDMMC1_D1  SDMMC1
+PC10 SDMMC1_D2  SDMMC1
+PC11 SDMMC1_D3  SDMMC1
+PC12 SDMMC1_CK  SDMMC1
+PD2  SDMMC1_CMD SDMMC1
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# enable RAMTROM parameter storage
+define HAL_STORAGE_SIZE 32768
+define HAL_WITH_RAMTRON 1
+
+DMA_PRIORITY SPI1* SPI6* TIM*UP*
+DMA_NOSHARE  SPI1* SPI6* TIM*UP*

From 07d0418cf9fd6508d046240d0380c9988cbfc4e6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 28 Jan 2024 10:36:23 +1100
Subject: [PATCH 0929/1335] HAL_ChibiOS: fixed flash support on H7 with 8k page
 size

the STM32H7A3xx has 8k pages
---
 libraries/AP_HAL_ChibiOS/hwdef/common/flash.c | 29 ++++++++++++++-----
 1 file changed, 21 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/flash.c b/libraries/AP_HAL_ChibiOS/hwdef/common/flash.c
index 0053bd8133eb6c..3f81cc9ce1ef99 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/flash.c
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/flash.c
@@ -122,6 +122,10 @@ static const uint32_t flash_memmap[STM32_FLASH_NPAGES] = { KB(32), KB(32), KB(32
 #define STM32_FLASH_NPAGES 1
 #define STM32_FLASH_NBANKS 1
 #define STM32_FLASH_FIXED_PAGE_SIZE 128
+#elif defined(STM32H7A3xx)
+#define STM32_FLASH_NPAGES (BOARD_FLASH_SIZE / 8)
+#define STM32_FLASH_NBANKS (BOARD_FLASH_SIZE/1024)
+#define STM32_FLASH_FIXED_PAGE_SIZE 8
 #elif defined(STM32H7)
 #define STM32_FLASH_NPAGES  (BOARD_FLASH_SIZE / 128)
 #define STM32_FLASH_FIXED_PAGE_SIZE 128
@@ -148,6 +152,11 @@ static const uint32_t flash_memmap[STM32_FLASH_NPAGES] = { KB(32), KB(32), KB(32
 #error "Unsupported processor for flash.c"
 #endif
 
+// for now all multi-bank MCUs have 1MByte banks
+#ifdef STM32_FLASH_FIXED_PAGE_SIZE
+#define STM32_FLASH_FIXED_PAGE_PER_BANK (1024 / STM32_FLASH_FIXED_PAGE_SIZE)
+#endif
+
 #ifndef STM32_FLASH_NBANKS
 #define STM32_FLASH_NBANKS 2
 #endif
@@ -466,16 +475,18 @@ bool stm32_flash_erasepage(uint32_t page)
     stm32_flash_clear_errors();
 
 #if defined(STM32H7)
-    if (page < 8) {
+    if (page < STM32_FLASH_FIXED_PAGE_PER_BANK) {
         // first bank
         FLASH->SR1 = ~0;
 
         stm32_flash_wait_idle();
 
-        uint32_t snb = page << 8;
-
         // use 32 bit operations
-        FLASH->CR1 = FLASH_CR_PSIZE_1 | snb | FLASH_CR_SER;
+#ifdef FLASH_CR_PSIZE_1
+        FLASH->CR1 = FLASH_CR_PSIZE_1 | (page<<FLASH_CR_SNB_Pos) | FLASH_CR_SER;
+#else
+        FLASH->CR1 = (page<<FLASH_CR_SNB_Pos) | FLASH_CR_SER;
+#endif
         FLASH->CR1 |= FLASH_CR_START;
         while (FLASH->SR1 & FLASH_SR_QW) ;
     }
@@ -486,10 +497,12 @@ bool stm32_flash_erasepage(uint32_t page)
 
         stm32_flash_wait_idle();
 
-        uint32_t snb = (page-8) << 8;
-
         // use 32 bit operations
-        FLASH->CR2 = FLASH_CR_PSIZE_1 | snb | FLASH_CR_SER;
+#ifdef FLASH_CR_PSIZE_1
+        FLASH->CR2 = FLASH_CR_PSIZE_1 | ((page-STM32_FLASH_FIXED_PAGE_PER_BANK)<<FLASH_CR_SNB_Pos) | FLASH_CR_SER;
+#else
+        FLASH->CR2 = ((page-STM32_FLASH_FIXED_PAGE_PER_BANK)<<FLASH_CR_SNB_Pos) | FLASH_CR_SER;
+#endif
         FLASH->CR2 |= FLASH_CR_START;
         while (FLASH->SR2 & FLASH_SR_QW) ;
     }
@@ -569,7 +582,7 @@ static bool stm32h7_flash_write32(uint32_t addr, const void *buf)
     volatile uint32_t *CCR = &FLASH->CCR1;
     volatile uint32_t *SR = &FLASH->SR1;
 #if STM32_FLASH_NBANKS > 1
-    if (addr - STM32_FLASH_BASE >= 8 * STM32_FLASH_FIXED_PAGE_SIZE * 1024) {
+    if (addr - STM32_FLASH_BASE >= STM32_FLASH_FIXED_PAGE_PER_BANK * STM32_FLASH_FIXED_PAGE_SIZE * 1024) {
         CR = &FLASH->CR2;
         CCR = &FLASH->CCR2;
         SR = &FLASH->SR2;

From 3171b5321a9471ddccc2b274fef9988c574bcafa Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 28 Jan 2024 11:22:52 +1100
Subject: [PATCH 0930/1335] HAL_ChibiOS: support flash storage with 8k sectors

this allows for doubling up sectors to give an effective sector size
of 16k, allowing for flash storage with a useful storage size
---
 libraries/AP_HAL_ChibiOS/Storage.cpp | 19 +++++++++++++++++++
 libraries/AP_HAL_ChibiOS/Storage.h   | 11 +++++++++++
 2 files changed, 30 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/Storage.cpp b/libraries/AP_HAL_ChibiOS/Storage.cpp
index 56bc9d822d24f1..e4ee42cc4ddb42 100644
--- a/libraries/AP_HAL_ChibiOS/Storage.cpp
+++ b/libraries/AP_HAL_ChibiOS/Storage.cpp
@@ -330,7 +330,11 @@ void Storage::_flash_load(void)
 #ifdef STORAGE_FLASH_PAGE
     _flash_page = STORAGE_FLASH_PAGE;
 
+#if AP_FLASH_STORAGE_DOUBLE_PAGE
+    ::printf("Storage: Using flash pages %u to %u\n", _flash_page, _flash_page+3);
+#else
     ::printf("Storage: Using flash pages %u and %u\n", _flash_page, _flash_page+1);
+#endif
 
     if (!_flash.init()) {
         AP_HAL::panic("Unable to init flash storage");
@@ -359,6 +363,9 @@ bool Storage::_flash_write(uint16_t line)
 bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length)
 {
 #ifdef STORAGE_FLASH_PAGE
+#if AP_FLASH_STORAGE_DOUBLE_PAGE
+    sector *= 2;
+#endif
     size_t base_address = hal.flash->getpageaddr(_flash_page+sector);
     for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
         EXPECT_DELAY_MS(1);
@@ -390,6 +397,9 @@ bool Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *
 bool Storage::_flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, uint16_t length)
 {
 #ifdef STORAGE_FLASH_PAGE
+#if AP_FLASH_STORAGE_DOUBLE_PAGE
+    sector *= 2;
+#endif
     size_t base_address = hal.flash->getpageaddr(_flash_page+sector);
     const uint8_t *b = ((const uint8_t *)base_address)+offset;
     memcpy(data, b, length);
@@ -405,6 +415,9 @@ bool Storage::_flash_read_data(uint8_t sector, uint32_t offset, uint8_t *data, u
 bool Storage::_flash_erase_sector(uint8_t sector)
 {
 #ifdef STORAGE_FLASH_PAGE
+#if AP_FLASH_STORAGE_DOUBLE_PAGE
+    sector *= 2;
+#endif
     // erasing a page can take long enough that USB may not initialise properly if it happens
     // while the host is connecting. Only do a flash erase if we have been up for more than 4s
     for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
@@ -415,9 +428,15 @@ bool Storage::_flash_erase_sector(uint8_t sector)
           in the main thread
          */
         EXPECT_DELAY_MS(1000);
+#if AP_FLASH_STORAGE_DOUBLE_PAGE
+        if (hal.flash->erasepage(_flash_page+sector) && hal.flash->erasepage(_flash_page+sector+1)) {
+            return true;
+        }
+#else
         if (hal.flash->erasepage(_flash_page+sector)) {
             return true;
         }
+#endif
         hal.scheduler->delay(1);
     }
     return false;
diff --git a/libraries/AP_HAL_ChibiOS/Storage.h b/libraries/AP_HAL_ChibiOS/Storage.h
index 59266d19bb086c..80271fe3d80ed8 100644
--- a/libraries/AP_HAL_ChibiOS/Storage.h
+++ b/libraries/AP_HAL_ChibiOS/Storage.h
@@ -47,6 +47,13 @@
 static_assert(CH_STORAGE_SIZE % CH_STORAGE_LINE_SIZE == 0,
               "Storage is not multiple of line size");
 
+/*
+  on boards with 8k sector sizes we double up to treat pairs of sectors as one
+ */
+#ifndef AP_FLASH_STORAGE_DOUBLE_PAGE
+#define AP_FLASH_STORAGE_DOUBLE_PAGE 0
+#endif
+
 class ChibiOS::Storage : public AP_HAL::Storage {
 public:
     void init() override {}
@@ -86,7 +93,11 @@ class ChibiOS::Storage : public AP_HAL::Storage {
 
 #ifdef STORAGE_FLASH_PAGE
     AP_FlashStorage _flash{_buffer,
+#if AP_FLASH_STORAGE_DOUBLE_PAGE
+            stm32_flash_getpagesize(STORAGE_FLASH_PAGE)*2,
+#else
             stm32_flash_getpagesize(STORAGE_FLASH_PAGE),
+#endif
             FUNCTOR_BIND_MEMBER(&Storage::_flash_write_data, bool, uint8_t, uint32_t, const uint8_t *, uint16_t),
             FUNCTOR_BIND_MEMBER(&Storage::_flash_read_data, bool, uint8_t, uint32_t, uint8_t *, uint16_t),
             FUNCTOR_BIND_MEMBER(&Storage::_flash_erase_sector, bool, uint8_t),

From 065ef471e76bcb155c6c94fbf054ac4f2c56eef5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 28 Jan 2024 11:23:46 +1100
Subject: [PATCH 0931/1335] AP_Bootloader: fixed build with TEST_FLASH enabled

---
 Tools/AP_Bootloader/bl_protocol.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/Tools/AP_Bootloader/bl_protocol.cpp b/Tools/AP_Bootloader/bl_protocol.cpp
index 5bc0df7b2877f7..9b505664d6c9a5 100644
--- a/Tools/AP_Bootloader/bl_protocol.cpp
+++ b/Tools/AP_Bootloader/bl_protocol.cpp
@@ -422,23 +422,23 @@ static void test_flash()
             }
             uint32_t num_writes = flash_func_sector_size(page) / sizeof(v);
             uprintf("page %u size %u addr=0x%08x v=0x%08x\n",
-                    page, flash_func_sector_size(page), addr, v[0]); delay(10);
+                    unsigned(page), unsigned(flash_func_sector_size(page)), unsigned(addr), unsigned(v[0])); delay(10);
             if (init_done) {
                 for (uint32_t j=0; j<flash_func_sector_size(page)/4; j++) {
                     uint32_t v1 = (page<<16) + (loop-1);
                     uint32_t v2 = flash_func_read_word(addr+j*4);
                     if (v2 != v1) {
-                        uprintf("read error at 0x%08x v=0x%08x v2=0x%08x\n", addr+j*4, v1, v2);
+                        uprintf("read error at 0x%08x v=0x%08x v2=0x%08x\n", unsigned(addr+j*4), unsigned(v1), unsigned(v2));
                         break;
                     }
                 }
             }
             if (!flash_func_erase_sector(page)) {
-                uprintf("erase of %u failed\n", page);
+                uprintf("erase of %u failed\n", unsigned(page));
             }
             for (uint32_t j=0; j<num_writes; j++) {
                 if (!flash_func_write_words(addr+j*sizeof(v), v, ARRAY_SIZE(v))) {
-                    uprintf("write failed at 0x%08x\n", addr+j*sizeof(v));
+                    uprintf("write failed at 0x%08x\n", unsigned(addr+j*sizeof(v)));
                     break;
                 }
             }

From a19818d15e2e4607fab5e51518809cfebc404f5b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 28 Jan 2024 13:43:33 +1100
Subject: [PATCH 0932/1335] ChibiOS: update for ADC fix on STM32H7A3

---
 modules/ChibiOS | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/ChibiOS b/modules/ChibiOS
index 6a85082c715457..cc37d7f2f772c5 160000
--- a/modules/ChibiOS
+++ b/modules/ChibiOS
@@ -1 +1 @@
-Subproject commit 6a85082c715457d1e0cc9627f9939f349de1143e
+Subproject commit cc37d7f2f772c5eb7c17225c6467cc2ce4c49b29

From 054fb94e9a8b7858d54ead47dfda2d57a645aca5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 28 Jan 2024 11:41:02 +1100
Subject: [PATCH 0933/1335] HAL_ChibiOS: added support for STM32H7A3

interesting MCU as it is the first H7 we support that doesn't have a
128k flash sector size
---
 .../AP_HAL_ChibiOS/hwdef/common/mcuconf.h     |   2 +
 .../hwdef/common/stm32h7_A3_mcuconf.h         | 581 +++++++++++
 .../hwdef/scripts/STM32H7A3xx.py              | 944 ++++++++++++++++++
 .../hwdef/scripts/chibios_hwdef.py            |   5 +
 4 files changed, 1532 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_A3_mcuconf.h
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H7A3xx.py

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h
index 60dceb01e27b5f..cd032473d5fd65 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/mcuconf.h
@@ -55,6 +55,8 @@
 #include "stm32f47_mcuconf.h"
 #elif defined(STM32H730xx) || defined(STM32H723xx)
 #include "stm32h7_type2_mcuconf.h"
+#elif defined(STM32H7A3xx)
+#include "stm32h7_A3_mcuconf.h"
 #elif defined(STM32H7)
 #include "stm32h7_mcuconf.h"
 #elif defined(STM32G4)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_A3_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_A3_mcuconf.h
new file mode 100644
index 00000000000000..7ca99ab4a104f4
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_A3_mcuconf.h
@@ -0,0 +1,581 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+/*
+  this header is modelled on the one for the Nucleo-144 H743 board from ChibiOS
+ */
+#pragma once
+
+// MPU region for ethernet
+#define STM32_NOCACHE_MPU_REGION_ETH            MPU_REGION_2
+
+#ifndef STM32_LSECLK
+#define STM32_LSECLK 32768U
+#endif
+#ifndef STM32_LSEDRV
+#define STM32_LSEDRV                (3U << 3U)
+#endif
+
+/*
+ * STM32H7xx drivers configuration.
+ * The following settings override the default settings present in
+ * the various device driver implementation headers.
+ * Note that the settings for each driver only have effect if the whole
+ * driver is enabled in halconf.h.
+ *
+ * IRQ priorities:
+ * 15...0       Lowest...Highest.
+ *
+ * DMA priorities:
+ * 0...3        Lowest...Highest.
+ */
+
+#define STM32H7xx_MCUCONF
+#define STM32H7A3_MCUCONF
+
+/*
+ * General settings.
+ */
+#ifndef STM32_NO_INIT
+#define STM32_NO_INIT                       FALSE
+#endif
+#define STM32_TARGET_CORE                   1
+
+/*
+ * Memory attributes settings.
+ */
+//  Disable ChibiOS memory protection which is fixed to SRAM1-3
+#define STM32_NOCACHE_ENABLE                FALSE
+
+// enable memory protection on SRAM4, used for bdshot
+#define STM32_NOCACHE_MPU_REGION_1          MPU_REGION_5
+#define STM32_NOCACHE_MPU_REGION_1_BASE     0x38000000U
+#define STM32_NOCACHE_MPU_REGION_1_SIZE     MPU_RASR_SIZE_16K
+
+// enable memory protection on part of AXI used for SDMMC
+#define STM32_NOCACHE_MPU_REGION_2          MPU_REGION_4
+#define STM32_NOCACHE_MPU_REGION_2_BASE     0x24044000
+#define STM32_NOCACHE_MPU_REGION_2_SIZE     MPU_RASR_SIZE_16K
+
+/*
+ * PWR system settings.
+ * Reading STM32 Reference Manual is required, settings in PWR_CR3 are
+ * very critical.
+ * Register constants are taken from the ST header.
+ */
+#define STM32_PWR_CR1                       (PWR_CR1_SVOS_1 | PWR_CR1_SVOS_0)
+#define STM32_PWR_CR2                       (PWR_CR2_BREN)
+#ifdef SMPS_PWR
+#define STM32_PWR_CR3                       (PWR_CR3_SMPSEN | PWR_CR3_USB33DEN)
+#else
+#define STM32_PWR_CR3                       (PWR_CR3_LDOEN | PWR_CR3_USB33DEN)
+#endif
+#define STM32_PWR_CPUCR                     0
+
+/*
+ * Clock tree static settings.
+ * Reading STM32 Reference Manual is required.
+ */
+#define STM32_LSI_ENABLED                   FALSE
+#define STM32_CSI_ENABLED                   FALSE
+#define STM32_HSI48_ENABLED                 TRUE
+#define STM32_LSE_ENABLED                   FALSE
+#define STM32_HSIDIV                        STM32_HSIDIV_DIV1
+
+/*
+ * Setup clocks for the STM32H7A3
+ */
+#define STM32_VOS                           STM32_VOS_SCALE0
+/*
+  setup PLLs based on HSE clock
+ */
+#if STM32_HSECLK == 0U
+// no crystal, this gives 280MHz system clock
+#define STM32_HSE_ENABLED                   FALSE
+#define STM32_HSI_ENABLED                   TRUE // HSI is 64MHzs
+#define STM32_PLL1_DIVM_VALUE               32
+#define STM32_PLL2_DIVM_VALUE               32
+#define STM32_PLL3_DIVM_VALUE               32
+#define STM32_PLLSRC                        STM32_PLLSRC_HSI_CK
+#define STM32_MCO1SEL                       STM32_MCO1SEL_HSI_CK
+#define STM32_CKPERSEL                      STM32_CKPERSEL_HSI_CK
+
+#elif STM32_HSECLK == 8000000U
+#define STM32_HSE_ENABLED                   TRUE
+#define STM32_HSI_ENABLED                   FALSE
+#define STM32_PLL1_DIVM_VALUE               4
+#define STM32_PLL2_DIVM_VALUE               4
+#define STM32_PLL3_DIVM_VALUE               4
+#define STM32_PLLSRC                        STM32_PLLSRC_HSE_CK
+#define STM32_CKPERSEL                      STM32_CKPERSEL_HSE_CK
+
+#elif STM32_HSECLK == 16000000U
+#define STM32_HSE_ENABLED                   TRUE
+#define STM32_HSI_ENABLED                   FALSE
+#define STM32_PLL1_DIVM_VALUE               8
+#define STM32_PLL2_DIVM_VALUE               8
+#define STM32_PLL3_DIVM_VALUE               8
+#define STM32_PLLSRC                        STM32_PLLSRC_HSE_CK
+#define STM32_CKPERSEL                      STM32_CKPERSEL_HSE_CK
+
+#else
+#error "Unsupported HSE clock"
+#endif
+
+#if (STM32_HSECLK == 0U) || (STM32_HSECLK == 8000000U) || (STM32_HSECLK == 16000000U)
+// common clock tree for multiples of 8MHz crystals
+#define STM32_PLL1_DIVN_VALUE               280
+#define STM32_PLL1_DIVP_VALUE               2
+#define STM32_PLL1_DIVQ_VALUE               2
+#define STM32_PLL1_DIVR_VALUE               2
+
+#define STM32_PLL2_DIVN_VALUE               160
+#define STM32_PLL2_DIVP_VALUE               2
+#define STM32_PLL2_DIVQ_VALUE               4 // 80MHz for FDCAN
+#define STM32_PLL2_DIVR_VALUE               2
+
+#define STM32_PLL3_DIVN_VALUE               100
+#define STM32_PLL3_DIVP_VALUE               2
+#define STM32_PLL3_DIVQ_VALUE               2
+#define STM32_PLL3_DIVR_VALUE               4
+#endif // clock selection
+
+/*
+ * PLLs static settings.
+ * Reading STM32 Reference Manual is required.
+ */
+#define STM32_PLLCFGR_MASK                  ~0
+
+#define STM32_PLL1_ENABLED                  TRUE
+#define STM32_PLL1_P_ENABLED                TRUE
+#define STM32_PLL1_Q_ENABLED                TRUE
+#define STM32_PLL1_R_ENABLED                TRUE
+#define STM32_PLL1_FRACN_VALUE              0
+
+#define STM32_PLL2_ENABLED                  TRUE
+#define STM32_PLL2_P_ENABLED                TRUE
+#define STM32_PLL2_Q_ENABLED                TRUE
+#define STM32_PLL2_R_ENABLED                TRUE
+#define STM32_PLL2_FRACN_VALUE              0
+
+#define STM32_PLL3_ENABLED                  TRUE
+#define STM32_PLL3_P_ENABLED                TRUE
+#define STM32_PLL3_Q_ENABLED                TRUE
+#define STM32_PLL3_R_ENABLED                TRUE
+#define STM32_PLL3_FRACN_VALUE              0
+
+/*
+ * Core clocks dynamic settings (can be changed at runtime).
+ * Reading STM32 Reference Manual is required.
+ */
+#define STM32_SW                            STM32_SW_PLL1_P_CK
+#define STM32_RTCSEL                        STM32_RTCSEL_LSI_CK
+#define STM32_D1CPRE                        STM32_D1CPRE_DIV1
+#define STM32_D1HPRE                        STM32_D1HPRE_DIV2
+#define STM32_D1PPRE3                       STM32_D1PPRE3_DIV2
+#define STM32_D2PPRE1                       STM32_D2PPRE1_DIV2
+#define STM32_D2PPRE2                       STM32_D2PPRE2_DIV2
+#define STM32_D3PPRE4                       STM32_D3PPRE4_DIV2
+
+/*
+ * Peripherals clocks static settings.
+ * Reading STM32 Reference Manual is required.
+ */
+#ifndef STM32_MCO1SEL
+#define STM32_MCO1SEL                       STM32_MCO1SEL_HSE_CK
+#endif
+#ifndef STM32_MCO1PRE_VALUE
+#define STM32_MCO1PRE_VALUE                 1
+#endif
+#ifndef STM32_MCO2SEL
+#define STM32_MCO2SEL                       STM32_MCO2SEL_SYS_CK
+#endif
+#ifndef STM32_MCO2PRE_VALUE
+#define STM32_MCO2PRE_VALUE                 1
+#endif
+#define STM32_TIMPRE_ENABLE                 TRUE
+#define STM32_HRTIMSEL                      0
+#define STM32_STOPKERWUCK                   0
+#define STM32_STOPWUCK                      0
+#define STM32_RTCPRE_VALUE                  2
+#define STM32_SDMMCSEL                      STM32_SDMMCSEL_PLL2_R_CK
+#define STM32_OCTOSPISEL                    STM32_OCTOSPISEL_HCLK
+#define STM32_FMCSEL                        STM32_OCTOSPISEL_HCLK
+
+#define STM32_SWPSEL                        STM32_SWPSEL_PCLK1
+#define STM32_FDCANSEL                      STM32_FDCANSEL_PLL2_Q_CK
+#define STM32_DFSDM1SEL                     STM32_DFSDM1SEL_PCLK2
+#define STM32_SPDIFSEL                      STM32_SPDIFSEL_PLL1_Q_CK
+#define STM32_SPI45SEL                      STM32_SPI45SEL_PCLK2
+#define STM32_SPI123SEL                     STM32_SPI123SEL_PLL3_P_CK
+#define STM32_SAI1SEL                       STM32_SAI1SEL_PLL1_Q_CK
+#define STM32_LPTIM1SEL                     STM32_LPTIM1SEL_PCLK1
+#define STM32_LPTIM3SEL                     STM32_LPTIM3SEL_PLL3_P_CK
+#define STM32_CECSEL                        STM32_CECSEL_DISABLE
+#define STM32_USBSEL                        STM32_USBSEL_HSI48_CK
+#define STM32_I2C123SEL                     STM32_I2C123SEL_PLL3_R_CK
+#define STM32_RNGSEL                        STM32_RNGSEL_HSI48_CK
+#define STM32_USART16SEL                    STM32_USART16SEL_PLL3_Q_CK
+#define STM32_USART234578SEL                STM32_USART234578SEL_PLL3_Q_CK
+#define STM32_SPI6SEL                       STM32_SPI6SEL_PLL3_Q_CK
+#define STM32_SAI4BSEL                      STM32_SAI4BSEL_PLL1_Q_CK
+#define STM32_SAI4ASEL                      STM32_SAI4ASEL_PLL1_Q_CK
+#define STM32_ADCSEL                        STM32_ADCSEL_PLL3_R_CK
+#define STM32_LPTIM345SEL                   STM32_LPTIM345SEL_PCLK4
+#define STM32_LPTIM2SEL                     STM32_LPTIM2SEL_PCLK4
+#define STM32_I2C4SEL                       STM32_I2C4SEL_PLL3_R_CK
+#define STM32_LPUART1SEL                    STM32_LPUART1SEL_PCLK4 // really PCLK3
+
+
+/*
+ * IRQ system settings.
+ */
+#define STM32_IRQ_EXTI0_PRIORITY            6
+#define STM32_IRQ_EXTI1_PRIORITY            6
+#define STM32_IRQ_EXTI2_PRIORITY            6
+#define STM32_IRQ_EXTI3_PRIORITY            6
+#define STM32_IRQ_EXTI4_PRIORITY            6
+#define STM32_IRQ_EXTI5_9_PRIORITY          6
+#define STM32_IRQ_EXTI10_15_PRIORITY        6
+#define STM32_IRQ_EXTI16_PRIORITY           6
+#define STM32_IRQ_EXTI17_PRIORITY           15
+#define STM32_IRQ_EXTI18_PRIORITY           6
+#define STM32_IRQ_EXTI19_PRIORITY           6
+#define STM32_IRQ_EXTI20_21_PRIORITY        6
+
+#define STM32_IRQ_FDCAN1_PRIORITY           10
+#define STM32_IRQ_FDCAN2_PRIORITY           10
+
+#define STM32_IRQ_MDMA_PRIORITY             9
+#define STM32_IRQ_OCTOSPI1_PRIORITY         10
+#define STM32_IRQ_OCTOSPI2_PRIORITY         10
+
+#define STM32_IRQ_SDMMC1_PRIORITY           9
+#define STM32_IRQ_SDMMC2_PRIORITY           9
+
+#define STM32_IRQ_TIM1_UP_PRIORITY          7
+#define STM32_IRQ_TIM1_CC_PRIORITY          7
+#define STM32_IRQ_TIM2_PRIORITY             7
+#define STM32_IRQ_TIM3_PRIORITY             7
+#define STM32_IRQ_TIM4_PRIORITY             7
+#define STM32_IRQ_TIM5_PRIORITY             7
+#define STM32_IRQ_TIM6_PRIORITY             7
+#define STM32_IRQ_TIM7_PRIORITY             7
+#define STM32_IRQ_TIM8_BRK_TIM12_PRIORITY   7
+#define STM32_IRQ_TIM8_UP_TIM13_PRIORITY    7
+#define STM32_IRQ_TIM8_TRGCO_TIM14_PRIORITY 7
+#define STM32_IRQ_TIM8_CC_PRIORITY          7
+#define STM32_IRQ_TIM15_PRIORITY            7
+#define STM32_IRQ_TIM16_PRIORITY            7
+#define STM32_IRQ_TIM17_PRIORITY            7
+
+#define STM32_IRQ_USART1_PRIORITY           12
+#define STM32_IRQ_USART2_PRIORITY           12
+#define STM32_IRQ_USART3_PRIORITY           12
+#define STM32_IRQ_UART4_PRIORITY            12
+#define STM32_IRQ_UART5_PRIORITY            12
+#define STM32_IRQ_USART6_PRIORITY           12
+#define STM32_IRQ_UART7_PRIORITY            12
+#define STM32_IRQ_UART8_PRIORITY            12
+#define STM32_IRQ_UART9_PRIORITY            12
+#define STM32_IRQ_USART10_PRIORITY          12
+
+/*
+ * ADC driver system settings.
+ */
+#ifndef STM32_ADC_DUAL_MODE
+#define STM32_ADC_DUAL_MODE                 FALSE
+#endif
+#ifndef STM32_ADC_SAMPLES_SIZE
+#define STM32_ADC_SAMPLES_SIZE              16
+#endif
+#define STM32_ADC_COMPACT_SAMPLES           FALSE
+#define STM32_ADC_USE_ADC12                 TRUE
+#define STM32_ADC_ADC12_DMA_PRIORITY        2
+#define STM32_ADC_ADC3_DMA_PRIORITY         2
+#define STM32_ADC_ADC12_IRQ_PRIORITY        5
+#define STM32_ADC_ADC3_IRQ_PRIORITY         5
+#define STM32_ADC_ADC12_CLOCK_MODE          ADC_CCR_CKMODE_ADCCK
+#define STM32_ADC_ADC3_CLOCK_MODE           ADC_CCR_CKMODE_ADCCK
+
+// we call it ADC1 in hwdef.dat, but driver uses ADC12 for DMA stream
+#ifdef STM32_ADC_ADC1_DMA_STREAM
+#define STM32_ADC_ADC12_DMA_STREAM STM32_ADC_ADC1_DMA_STREAM
+#elif defined(STM32_ADC_ADC2_DMA_STREAM)
+#define STM32_ADC_ADC12_DMA_STREAM STM32_ADC_ADC2_DMA_STREAM
+#endif
+
+/*
+ * CAN driver system settings.
+ */
+#define STM32_CAN_USE_FDCAN1                FALSE
+#define STM32_CAN_USE_FDCAN2                FALSE
+
+/*
+ * DAC driver system settings.
+ */
+#define STM32_DAC_DUAL_MODE                 FALSE
+#define STM32_DAC_USE_DAC1_CH1              FALSE
+#define STM32_DAC_USE_DAC1_CH2              FALSE
+#define STM32_DAC_DAC1_CH1_IRQ_PRIORITY     10
+#define STM32_DAC_DAC1_CH2_IRQ_PRIORITY     10
+#define STM32_DAC_DAC1_CH1_DMA_PRIORITY     2
+#define STM32_DAC_DAC1_CH2_DMA_PRIORITY     2
+
+/*
+ * GPT driver system settings.
+ */
+#define STM32_GPT_USE_TIM1                  FALSE
+#define STM32_GPT_USE_TIM2                  FALSE
+#define STM32_GPT_USE_TIM3                  FALSE
+#define STM32_GPT_USE_TIM4                  FALSE
+#define STM32_GPT_USE_TIM5                  FALSE
+#define STM32_GPT_USE_TIM6                  FALSE
+#define STM32_GPT_USE_TIM7                  FALSE
+#define STM32_GPT_USE_TIM8                  FALSE
+#define STM32_GPT_USE_TIM12                 FALSE
+#define STM32_GPT_USE_TIM13                 FALSE
+#define STM32_GPT_USE_TIM14                 FALSE
+#define STM32_GPT_USE_TIM15                 FALSE
+#define STM32_GPT_USE_TIM16                 FALSE
+#define STM32_GPT_USE_TIM17                 FALSE
+
+/*
+ * I2C driver system settings.
+ */
+#define STM32_I2C_BUSY_TIMEOUT              50
+#define STM32_I2C_I2C1_IRQ_PRIORITY         5
+#define STM32_I2C_I2C2_IRQ_PRIORITY         5
+#define STM32_I2C_I2C3_IRQ_PRIORITY         5
+#define STM32_I2C_I2C4_IRQ_PRIORITY         5
+#define STM32_I2C_I2C1_DMA_PRIORITY         3
+#define STM32_I2C_I2C2_DMA_PRIORITY         3
+#define STM32_I2C_I2C3_DMA_PRIORITY         3
+#define STM32_I2C_I2C4_DMA_PRIORITY         3
+#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      STM32_DMA_ERROR_HOOK(i2cp)
+
+/*
+ * ICU driver system settings.
+ */
+#define STM32_ICU_USE_TIM1                  FALSE
+#define STM32_ICU_USE_TIM2                  FALSE
+#define STM32_ICU_USE_TIM3                  FALSE
+#define STM32_ICU_USE_TIM4                  FALSE
+#define STM32_ICU_USE_TIM5                  FALSE
+#define STM32_ICU_USE_TIM8                  FALSE
+#define STM32_ICU_USE_TIM9                  FALSE
+#define STM32_ICU_TIM1_IRQ_PRIORITY         7
+#define STM32_ICU_TIM2_IRQ_PRIORITY         7
+#define STM32_ICU_TIM3_IRQ_PRIORITY         7
+#define STM32_ICU_TIM4_IRQ_PRIORITY         7
+#define STM32_ICU_TIM5_IRQ_PRIORITY         7
+#define STM32_ICU_TIM8_IRQ_PRIORITY         7
+#define STM32_ICU_TIM9_IRQ_PRIORITY         7
+
+/*
+ * MAC driver system settings.
+ */
+#define STM32_MAC_TRANSMIT_BUFFERS          2
+#define STM32_MAC_RECEIVE_BUFFERS           4
+#define STM32_MAC_BUFFERS_SIZE              1522
+#define STM32_MAC_PHY_TIMEOUT               100
+#define STM32_MAC_ETH1_CHANGE_PHY_STATE     TRUE
+#define STM32_MAC_ETH1_IRQ_PRIORITY         13
+#define STM32_MAC_IP_CHECKSUM_OFFLOAD       0
+
+/*
+ * PWM driver system settings.
+ */
+
+/*
+ * RTC driver system settings.
+ */
+#define STM32_RTC_PRESA_VALUE               32
+#define STM32_RTC_PRESS_VALUE               1024
+#define STM32_RTC_CR_INIT                   0
+#define STM32_RTC_TAMPCR_INIT               0
+
+/*
+ * SDC driver system settings.
+ */
+#define STM32_SDC_SDMMC_UNALIGNED_SUPPORT   TRUE
+#define STM32_SDC_SDMMC_WRITE_TIMEOUT       1000
+#define STM32_SDC_SDMMC_READ_TIMEOUT        1000
+#define STM32_SDC_SDMMC_CLOCK_DELAY         10
+#define STM32_SDC_SDMMC1_DMA_PRIORITY       3
+#define STM32_SDC_SDMMC1_IRQ_PRIORITY       9
+#define STM32_SDC_SDMMC_PWRSAV              TRUE
+
+/*
+ * SERIAL driver system settings.
+ */
+#define STM32_SERIAL_USART1_PRIORITY        12
+#define STM32_SERIAL_USART2_PRIORITY        12
+#define STM32_SERIAL_USART3_PRIORITY        12
+#define STM32_SERIAL_UART4_PRIORITY         12
+#define STM32_SERIAL_UART5_PRIORITY         12
+#define STM32_SERIAL_USART6_PRIORITY        12
+#define STM32_SERIAL_UART7_PRIORITY         12
+#define STM32_SERIAL_UART8_PRIORITY         12
+
+/*
+ * SIO driver system settings.
+ */
+#define STM32_SIO_USE_USART1                FALSE
+#define STM32_SIO_USE_USART2                FALSE
+#define STM32_SIO_USE_USART3                FALSE
+#define STM32_SIO_USE_UART4                 FALSE
+#define STM32_SIO_USE_UART5                 FALSE
+#define STM32_SIO_USE_USART6                FALSE
+#define STM32_SIO_USE_UART7                 FALSE
+#define STM32_SIO_USE_UART8                 FALSE
+#define STM32_SIO_USE_LPUART1               FALSE
+
+/*
+ * SPI driver system settings.
+ */
+#ifndef STM32_SPI_USE_SPI1
+#define STM32_SPI_USE_SPI1                  FALSE
+#endif
+#ifndef STM32_SPI_USE_SPI2
+#define STM32_SPI_USE_SPI2                  FALSE
+#endif
+#ifndef STM32_SPI_USE_SPI3
+#define STM32_SPI_USE_SPI3                  FALSE
+#endif
+#ifndef STM32_SPI_USE_SPI4
+#define STM32_SPI_USE_SPI4                  FALSE
+#endif
+#ifndef STM32_SPI_USE_SPI5
+#define STM32_SPI_USE_SPI5                  FALSE
+#endif
+#ifndef STM32_SPI_USE_SPI6
+#define STM32_SPI_USE_SPI6                  FALSE
+#endif
+#define STM32_SPI_SPI1_DMA_PRIORITY         1
+#define STM32_SPI_SPI2_DMA_PRIORITY         1
+#define STM32_SPI_SPI3_DMA_PRIORITY         1
+#define STM32_SPI_SPI4_DMA_PRIORITY         1
+#define STM32_SPI_SPI5_DMA_PRIORITY         1
+#define STM32_SPI_SPI6_DMA_PRIORITY         1
+#define STM32_SPI_SPI1_IRQ_PRIORITY         10
+#define STM32_SPI_SPI2_IRQ_PRIORITY         10
+#define STM32_SPI_SPI3_IRQ_PRIORITY         10
+#define STM32_SPI_SPI4_IRQ_PRIORITY         10
+#define STM32_SPI_SPI5_IRQ_PRIORITY         10
+#define STM32_SPI_SPI6_IRQ_PRIORITY         10
+#define STM32_SPI_DMA_ERROR_HOOK(spip)      STM32_DMA_ERROR_HOOK(spip)
+
+/*
+ * ST driver system settings.
+ */
+#define STM32_ST_IRQ_PRIORITY               8
+#ifndef STM32_ST_USE_TIMER
+#define STM32_ST_USE_TIMER                  5
+#endif
+
+/*
+ * TRNG driver system settings.
+ */
+#define STM32_TRNG_USE_RNG1                 FALSE
+
+/*
+ * UART driver system settings.
+ */
+#define STM32_UART_USART1_IRQ_PRIORITY      12
+#define STM32_UART_USART2_IRQ_PRIORITY      12
+#define STM32_UART_USART3_IRQ_PRIORITY      12
+#define STM32_UART_UART4_IRQ_PRIORITY       12
+#define STM32_UART_UART5_IRQ_PRIORITY       12
+#define STM32_UART_USART6_IRQ_PRIORITY      12
+#define STM32_UART_USART1_DMA_PRIORITY      0
+#define STM32_UART_USART2_DMA_PRIORITY      0
+#define STM32_UART_USART3_DMA_PRIORITY      0
+#define STM32_UART_UART4_DMA_PRIORITY       0
+#define STM32_UART_UART5_DMA_PRIORITY       0
+#define STM32_UART_USART6_DMA_PRIORITY      0
+#define STM32_UART_UART7_DMA_PRIORITY       0
+#define STM32_UART_UART8_DMA_PRIORITY       0
+#define STM32_UART_DMA_ERROR_HOOK(uartp)    STM32_DMA_ERROR_HOOK(uartp)
+
+#define STM32_IRQ_LPUART1_PRIORITY          12
+
+/*
+ * USB driver system settings.
+ */
+#define STM32_USB_USE_OTG2                  TRUE
+#define STM32_USB_USE_OTG1                  FALSE
+#define STM32_USB_OTG1_IRQ_PRIORITY         14
+#define STM32_USB_OTG2_IRQ_PRIORITY         14
+#define STM32_USB_OTG1_RX_FIFO_SIZE         512
+#define STM32_USB_OTG2_RX_FIFO_SIZE         1024
+#define STM32_USB_HOST_WAKEUP_DURATION      2
+#define STM32_OTG2_IS_OTG1                  TRUE
+
+/*
+ * WDG driver system settings.
+ */
+#define STM32_WDG_USE_IWDG                  FALSE
+
+#define STM32_EXTI_ENHANCED
+
+// limit ISR count per byte
+#define STM32_I2C_ISR_LIMIT                 6
+
+// limit SDMMC clock to 12.5MHz by default. This increases
+// reliability
+#ifndef STM32_SDC_MAX_CLOCK
+#define STM32_SDC_MAX_CLOCK                 12500000
+#endif
+
+#ifndef STM32_WSPI_USE_OCTOSPI1
+#define STM32_WSPI_USE_OCTOSPI1                  FALSE
+#endif
+
+#if HAL_XIP_ENABLED
+#define STM32_OSPI1_NO_RESET TRUE
+#define STM32_OSPI2_NO_RESET TRUE
+#endif
+
+#if STM32_WSPI_USE_OCTOSPI1
+#define STM32_WSPI_OCTOSPI1_MDMA_CHANNEL    STM32_MDMA_CHANNEL_ID_ANY
+#define STM32_WSPI_OCTOSPI1_MDMA_PRIORITY   1
+#define STM32_WSPI_OCTOSPI1_PRESCALER_VALUE (STM32_OCTOSPICLK / HAL_OSPI1_CLK)
+#endif
+
+/*
+  we use a fixed allocation of BDMA streams. We previously dynamically
+  allocated these, but bugs in the chip make that unreliable. This is
+  a tested set of allocations that is known to work on boards that are
+  using all 3 of ADC3, I2C4 and SPI6. They are the only peripherals
+  that can use BDMA, so fixed allocation is possible as we have 8
+  streams and a maximum of 6 needed.
+
+  The layout is chosen to:
+
+   - avoid stream 0, as this doesn't work on ADC3 or SPI6_RX for no known reason
+   - leave a gap between the peripheral types, as we have previously found that we sometimes
+     lost SPI6 BDMA completion interrupts if SPI6 and I2c4 are neighbours
+ */
+#define STM32_I2C_I2C4_RX_BDMA_STREAM 1
+#define STM32_I2C_I2C4_TX_BDMA_STREAM 2
+#define STM32_SPI_SPI6_RX_BDMA_STREAM 4
+#define STM32_SPI_SPI6_TX_BDMA_STREAM 5
+#define STM32_ADC_ADC3_BDMA_STREAM 7
+
+// disable DMA on I2C by default on H7
+#ifndef STM32_I2C_USE_DMA
+#define STM32_I2C_USE_DMA FALSE
+#endif
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H7A3xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H7A3xx.py
new file mode 100644
index 00000000000000..76d5b4c97492d9
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H7A3xx.py
@@ -0,0 +1,944 @@
+#!/usr/bin/env python
+'''
+these tables are generated from the STM32 datasheets for the STM32H7A3bi
+'''
+
+# additional build information for ChibiOS
+build = {
+    "CHIBIOS_STARTUP_MK"  : "os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32h7xx.mk",
+    "CHIBIOS_PLATFORM_MK" : "os/hal/ports/STM32/STM32H7xx/platform_type2.mk"
+    }
+
+# MCU parameters
+mcu = {
+    # DMA peripheral capabilities:
+    # - can't use ITCM or DTCM for any DMA
+    # - SPI1 to SPI5 can use AXI SRAM, SRAM1 to SRAM3 and SRAM4 for DMA
+    # - SPI6, I2C4 and ADC3 can use SRAM4 on BDMA
+    # - UARTS can use AXI SRAM, SRAM1 to SRAM3 and SRAM4 for DMA
+    # - I2C1, I2C2 and I2C3 can use AXI SRAM, SRAM1 to SRAM3 and SRAM4 with DMA
+    # - timers can use AXI SRAM, SRAM1 to SRAM3 and SRAM4 with DMA
+    # - ADC12 can use AXI SRAM, SRAM1 to SRAM3 and SRAM4
+    # - SDMMC can use AXI SRAM, SRAM1 to SRAM3 with IDMA (cannot use SRAM4)
+
+    # ram map, as list of (address, size-kb, flags)
+    # flags of 1 means DMA-capable (DMA and BDMA)
+    # flags of 2 means faster memory for CPU intensive work
+    # flags of 4 means memory can be used for SDMMC DMA
+    # flags of 8 means memory can be used for ethernet
+    'RAM_MAP' : [
+        (0x24000000, 1024, 4), # AXI SRAM.
+        (0x30000000,  128, 8), # SRAM1, SRAM2
+        (0x20000000,  128, 2), # DTCM, tightly coupled, no DMA, fast
+        (0x00000400,   63, 2), # ITCM (first 1k removed, to keep address 0 unused)
+        (0x38000000,   32, 1), # SDR SRAM
+    ],
+
+    'EXPECTED_CLOCK' : 280000000,
+
+	'EXPECTED_CLOCKS' : [
+        ('STM32_SYS_CK',	280000000),
+        ('STM32_QSPICLK', 	280000000),
+        ('STM32_SDMMC1CLK', 160000000),
+        ('STM32_SPI45CLK',   80000000),
+        ('STM32_FDCANCLK',   80000000),
+	],
+
+	# this MCU has a strange OTG setup
+    'STM32_OTG2_IS_OTG1' : 1,
+    
+    # this MCU has M7 instructions and hardware double precision
+    'CORTEX'    : 'cortex-m7',
+    'CPU_FLAGS' : '-mcpu=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard',
+
+    'DEFINES' : {
+        'HAL_HAVE_HARDWARE_DOUBLE' : '1',
+        'STM32H7' : '1',
+        'AP_FASTBOOT_ENABLED' : '0',
+    }
+}
+
+pincount = {
+    'A': 16,
+    'B': 16,
+    'C': 16,
+    'D': 16,
+    'E': 16,
+    'F': 16,
+    'G': 16,
+    'H': 16,
+    'I': 16,
+    'J': 16,
+    'K': 16
+}
+    
+# no DMA map as we will dynamically allocate DMA channels using the DMAMUX
+DMA_Map = None
+
+AltFunction_map = {
+	# format is PIN:FUNCTION : AFNUM
+	# extracted from x.dat
+	"PA0:EVENTOUT"      	:	15,
+	"PA0:I2S6_WS"       	:	5,
+	"PA0:SAI2_SD_B"     	:	10,
+	"PA0:SDMMC2_CMD"    	:	9,
+	"PA0:SPI6_NSS"      	:	5,
+	"PA0:TIM15_BKIN"    	:	4,
+	"PA0:TIM2_CH1"      	:	1,
+	"PA0:TIM2_ETR"      	:	1,
+	"PA0:TIM5_CH1"      	:	2,
+	"PA0:TIM8_ETR"      	:	3,
+	"PA0:UART4_TX"      	:	8,
+	"PA0:USART2_CTS"    	:	7,
+	"PA0:USART2_NSS"    	:	7,
+	"PA1:EVENTOUT"      	:	15,
+	"PA1:LPTIM3_OUT"    	:	3,
+	"PA1:LTDC_R2"       	:	14,
+	"PA1:OCTOSPIM_P1_DQS"	:	11,
+	"PA1:OCTOSPIM_P1_IO3"	:	9,
+	"PA1:SAI2_MCLK_B"   	:	10,
+	"PA1:TIM15_CH1N"    	:	4,
+	"PA1:TIM2_CH2"      	:	1,
+	"PA1:TIM5_CH2"      	:	2,
+	"PA1:UART4_RX"      	:	8,
+	"PA1:USART2_DE"     	:	7,
+	"PA1:USART2_RTS"    	:	7,
+	"PA2:DFSDM2_CKIN1"  	:	6,
+	"PA2:EVENTOUT"      	:	15,
+	"PA2:LTDC_R1"       	:	14,
+	"PA2:MDIOS_MDIO"    	:	12,
+	"PA2:SAI2_SCK_B"    	:	8,
+	"PA2:TIM15_CH1"     	:	4,
+	"PA2:TIM2_CH3"      	:	1,
+	"PA2:TIM5_CH3"      	:	2,
+	"PA2:USART2_TX"     	:	7,
+	"PA3:EVENTOUT"      	:	15,
+	"PA3:I2S6_MCK"      	:	5,
+	"PA3:LTDC_B2"       	:	9,
+	"PA3:LTDC_B5"       	:	14,
+	"PA3:OCTOSPIM_P1_CLK"	:	3,
+	"PA3:TIM15_CH2"     	:	4,
+	"PA3:TIM2_CH4"      	:	1,
+	"PA3:TIM5_CH4"      	:	2,
+	"PA3:USART2_RX"     	:	7,
+	"PA3:USB_OTG_HS_ULPI_D0"	:	10,
+	"PA4:DCMI_HSYNC"    	:	13,
+	"PA4:EVENTOUT"      	:	15,
+	"PA4:I2S1_WS"       	:	5,
+	"PA4:I2S3_WS"       	:	6,
+	"PA4:I2S6_WS"       	:	8,
+	"PA4:LTDC_VSYNC"    	:	14,
+	"PA4:PSSI_DE"       	:	13,
+	"PA4:SPI1_NSS"      	:	5,
+	"PA4:SPI3_NSS"      	:	6,
+	"PA4:SPI6_NSS"      	:	8,
+	"PA4:TIM5_ETR"      	:	2,
+	"PA4:USART2_CK"     	:	7,
+	"PA5:EVENTOUT"      	:	15,
+	"PA5:I2S1_CK"       	:	5,
+	"PA5:I2S6_CK"       	:	8,
+	"PA5:LTDC_R4"       	:	14,
+	"PA5:PSSI_D14"      	:	13,
+	"PA5:PWR_NDSTOP2"   	:	0,
+	"PA5:SPI1_SCK"      	:	5,
+	"PA5:SPI6_SCK"      	:	8,
+	"PA5:TIM2_CH1"      	:	1,
+	"PA5:TIM2_ETR"      	:	1,
+	"PA5:TIM8_CH1N"     	:	3,
+	"PA5:USB_OTG_HS_ULPI_CK"	:	10,
+	"PA6:DCMI_PIXCLK"   	:	13,
+	"PA6:EVENTOUT"      	:	15,
+	"PA6:I2S1_SDI"      	:	5,
+	"PA6:I2S6_SDI"      	:	8,
+	"PA6:LTDC_G2"       	:	14,
+	"PA6:MDIOS_MDC"     	:	11,
+	"PA6:OCTOSPIM_P1_IO3"	:	6,
+	"PA6:PSSI_PDCK"     	:	13,
+	"PA6:SPI1_MISO"     	:	5,
+	"PA6:SPI6_MISO"     	:	8,
+	"PA6:TIM13_CH1"     	:	9,
+	"PA6:TIM1_BKIN"     	:	1,
+	"PA6:TIM1_BKIN_COMP1"	:	12,
+	"PA6:TIM1_BKIN_COMP2"	:	12,
+	"PA6:TIM3_CH1"      	:	2,
+	"PA6:TIM8_BKIN"     	:	3,
+	"PA6:TIM8_BKIN_COMP1"	:	10,
+	"PA6:TIM8_BKIN_COMP2"	:	10,
+	"PA7:DFSDM2_DATIN1" 	:	4,
+	"PA7:EVENTOUT"      	:	15,
+	"PA7:FMC_SDNWE"     	:	12,
+	"PA7:I2S1_SDO"      	:	5,
+	"PA7:I2S6_SDO"      	:	8,
+	"PA7:LTDC_VSYNC"    	:	14,
+	"PA7:OCTOSPIM_P1_IO2"	:	10,
+	"PA7:SPI1_MOSI"     	:	5,
+	"PA7:SPI6_MOSI"     	:	8,
+	"PA7:TIM14_CH1"     	:	9,
+	"PA7:TIM1_CH1N"     	:	1,
+	"PA7:TIM3_CH2"      	:	2,
+	"PA7:TIM8_CH1N"     	:	3,
+	"PA8:EVENTOUT"      	:	15,
+	"PA8:I2C3_SCL"      	:	4,
+	"PA8:LTDC_B3"       	:	13,
+	"PA8:LTDC_R6"       	:	14,
+	"PA8:RCC_MCO_1"     	:	0,
+	"PA8:TIM1_CH1"      	:	1,
+	"PA8:TIM8_BKIN2"    	:	3,
+	"PA8:TIM8_BKIN2_COMP1"	:	12,
+	"PA8:TIM8_BKIN2_COMP2"	:	12,
+	"PA8:UART7_RX"      	:	11,
+	"PA8:USART1_CK"     	:	7,
+	"PA8:USB_OTG_HS_SOF"	:	10,
+	"PA9:DCMI_D0"       	:	13,
+	"PA9:EVENTOUT"      	:	15,
+	"PA9:I2C3_SMBA"     	:	4,
+	"PA9:I2S2_CK"       	:	5,
+	"PA9:LPUART1_TX"    	:	3,
+	"PA9:LTDC_R5"       	:	14,
+	"PA9:PSSI_D0"       	:	13,
+	"PA9:SPI2_SCK"      	:	5,
+	"PA9:TIM1_CH2"      	:	1,
+	"PA9:USART1_TX"     	:	7,
+	"PA10:DCMI_D1"      	:	13,
+	"PA10:EVENTOUT"     	:	15,
+	"PA10:LPUART1_RX"   	:	3,
+	"PA10:LTDC_B1"      	:	14,
+	"PA10:LTDC_B4"      	:	12,
+	"PA10:MDIOS_MDIO"   	:	11,
+	"PA10:PSSI_D1"      	:	13,
+	"PA10:TIM1_CH3"     	:	1,
+	"PA10:USART1_RX"    	:	7,
+	"PA10:USB_OTG_HS_ID"	:	10,
+    "PA11:OTG_HS_DM"		:   0,
+    "PA11:EVENTOUT"     	:	15,
+	"PA11:FDCAN1_RX"    	:	9,
+	"PA11:I2S2_WS"      	:	5,
+	"PA11:LPUART1_CTS"  	:	3,
+	"PA11:LTDC_R4"      	:	14,
+	"PA11:SPI2_NSS"     	:	5,
+	"PA11:TIM1_CH4"     	:	1,
+	"PA11:UART4_RX"     	:	6,
+	"PA11:USART1_CTS"   	:	7,
+	"PA11:USART1_NSS"   	:	7,
+    "PA12:OTG_HS_DP"		:   0,
+    "PA12:EVENTOUT"     	:	15,
+	"PA12:FDCAN1_TX"    	:	9,
+	"PA12:I2S2_CK"      	:	5,
+	"PA12:LPUART1_DE"   	:	3,
+	"PA12:LPUART1_RTS"  	:	3,
+	"PA12:LTDC_R5"      	:	14,
+	"PA12:SAI2_FS_B"    	:	8,
+	"PA12:SPI2_SCK"     	:	5,
+	"PA12:TIM1_ETR"     	:	1,
+	"PA12:UART4_TX"     	:	6,
+	"PA12:USART1_DE"    	:	7,
+	"PA12:USART1_RTS"   	:	7,
+    "PA12:OTG_FS_DP"	:	0,
+    "PA13:JTMS-SWDIO"	:	0,
+	"PA13:EVENTOUT"     	:	15,
+    "PA14:JTCK-SWCLK"	:	0,
+	"PA14:EVENTOUT"     	:	15,
+	"PA15:CEC"          	:	4,
+	"PA15:DEBUG_JTDI"   	:	0,
+	"PA15:EVENTOUT"     	:	15,
+	"PA15:I2S1_WS"      	:	5,
+	"PA15:I2S3_WS"      	:	6,
+	"PA15:I2S6_WS"      	:	7,
+	"PA15:LTDC_B6"      	:	14,
+	"PA15:LTDC_R3"      	:	9,
+	"PA15:SPI1_NSS"     	:	5,
+	"PA15:SPI3_NSS"     	:	6,
+	"PA15:SPI6_NSS"     	:	7,
+	"PA15:TIM2_CH1"     	:	1,
+	"PA15:TIM2_ETR"     	:	1,
+	"PA15:UART4_DE"     	:	8,
+	"PA15:UART4_RTS"    	:	8,
+	"PA15:UART7_TX"     	:	11,
+	"PB0:DFSDM1_CKOUT"  	:	6,
+	"PB0:DFSDM2_CKOUT"  	:	4,
+	"PB0:EVENTOUT"      	:	15,
+	"PB0:LTDC_G1"       	:	14,
+	"PB0:LTDC_R3"       	:	9,
+	"PB0:OCTOSPIM_P1_IO1"	:	11,
+	"PB0:TIM1_CH2N"     	:	1,
+	"PB0:TIM3_CH3"      	:	2,
+	"PB0:TIM8_CH2N"     	:	3,
+	"PB0:UART4_CTS"     	:	8,
+	"PB0:USB_OTG_HS_ULPI_D1"	:	10,
+	"PB1:ADC1_INP5"     	:	0,
+	"PB1:DFSDM1_DATIN1" 	:	6,
+	"PB1:EVENTOUT"      	:	15,
+	"PB1:LTDC_G0"       	:	14,
+	"PB1:LTDC_R6"       	:	9,
+	"PB1:OCTOSPIM_P1_IO0"	:	11,
+	"PB1:TIM1_CH3N"     	:	1,
+	"PB1:TIM3_CH4"      	:	2,
+	"PB1:TIM8_CH3N"     	:	3,
+	"PB1:USB_OTG_HS_ULPI_D2"	:	10,
+	"PB2:DFSDM1_CKIN1"  	:	4,
+	"PB2:EVENTOUT"      	:	15,
+	"PB2:I2S3_SDO"      	:	7,
+	"PB2:OCTOSPIM_P1_CLK"	:	9,
+	"PB2:OCTOSPIM_P1_DQS"	:	10,
+	"PB2:RTC_OUT_ALARM" 	:	0,
+	"PB2:SAI1_D1"       	:	2,
+	"PB2:SAI1_SD_A"     	:	6,
+	"PB2:SPI3_MOSI"     	:	7,
+	"PB3:CRS_SYNC"      	:	10,
+	"PB3:DEBUG_JTDO-SWO"	:	0,
+	"PB3:EVENTOUT"      	:	15,
+	"PB3:I2S1_CK"       	:	5,
+	"PB3:I2S3_CK"       	:	6,
+	"PB3:I2S6_CK"       	:	8,
+	"PB3:SDMMC2_D2"     	:	9,
+	"PB3:SPI1_SCK"      	:	5,
+	"PB3:SPI3_SCK"      	:	6,
+	"PB3:SPI6_SCK"      	:	8,
+	"PB3:TIM2_CH2"      	:	1,
+	"PB3:UART7_RX"      	:	11,
+	"PB4:EVENTOUT"      	:	15,
+	"PB4:I2S1_SDI"      	:	5,
+	"PB4:I2S2_WS"       	:	7,
+	"PB4:I2S3_SDI"      	:	6,
+	"PB4:I2S6_SDI"      	:	8,
+	"PB4:SDMMC2_D3"     	:	9,
+	"PB4:SPI1_MISO"     	:	5,
+	"PB4:SPI2_NSS"      	:	7,
+	"PB4:SPI3_MISO"     	:	6,
+	"PB4:SPI6_MISO"     	:	8,
+	"PB4:TIM16_BKIN"    	:	1,
+	"PB4:TIM3_CH1"      	:	2,
+	"PB4:UART7_TX"      	:	11,
+	"PB5:DCMI_D10"      	:	13,
+	"PB5:EVENTOUT"      	:	15,
+	"PB5:FDCAN2_RX"     	:	9,
+	"PB5:FMC_SDCKE1"    	:	12,
+	"PB5:I2C1_SMBA"     	:	4,
+	"PB5:I2C4_SMBA"     	:	6,
+	"PB5:I2S1_SDO"      	:	5,
+	"PB5:I2S3_SDO"      	:	7,
+	"PB5:I2S6_SDO"      	:	8,
+	"PB5:LTDC_B5"       	:	11,
+	"PB5:PSSI_D10"      	:	13,
+	"PB5:SPI1_MOSI"     	:	5,
+	"PB5:SPI3_MOSI"     	:	7,
+	"PB5:SPI6_MOSI"     	:	8,
+	"PB5:TIM17_BKIN"    	:	1,
+	"PB5:TIM3_CH2"      	:	2,
+	"PB5:UART5_RX"      	:	14,
+	"PB5:USB_OTG_HS_ULPI_D7"	:	10,
+	"PB6:CEC"           	:	5,
+	"PB6:DCMI_D5"       	:	13,
+	"PB6:DFSDM1_DATIN5" 	:	11,
+	"PB6:EVENTOUT"      	:	15,
+	"PB6:FDCAN2_TX"     	:	9,
+	"PB6:FMC_SDNE1"     	:	12,
+	"PB6:I2C1_SCL"      	:	4,
+	"PB6:I2C4_SCL"      	:	6,
+	"PB6:LPUART1_TX"    	:	8,
+	"PB6:OCTOSPIM_P1_NCS"	:	10,
+	"PB6:PSSI_D5"       	:	13,
+	"PB6:TIM16_CH1N"    	:	1,
+	"PB6:TIM4_CH1"      	:	2,
+	"PB6:UART5_TX"      	:	14,
+	"PB6:USART1_TX"     	:	7,
+	"PB7:DCMI_VSYNC"    	:	13,
+	"PB7:DFSDM1_CKIN5"  	:	11,
+	"PB7:EVENTOUT"      	:	15,
+	"PB7:FMC_NL"        	:	12,
+	"PB7:I2C1_SDA"      	:	4,
+	"PB7:I2C4_SDA"      	:	6,
+	"PB7:LPUART1_RX"    	:	8,
+	"PB7:PSSI_RDY"      	:	13,
+	"PB7:TIM17_CH1N"    	:	1,
+	"PB7:TIM4_CH2"      	:	2,
+	"PB7:USART1_RX"     	:	7,
+	"PB8:DCMI_D6"       	:	13,
+	"PB8:DFSDM1_CKIN7"  	:	3,
+	"PB8:EVENTOUT"      	:	15,
+	"PB8:FDCAN1_RX"     	:	9,
+	"PB8:I2C1_SCL"      	:	4,
+	"PB8:I2C4_SCL"      	:	6,
+	"PB8:LTDC_B6"       	:	14,
+	"PB8:PSSI_D6"       	:	13,
+	"PB8:SDMMC1_CKIN"   	:	7,
+	"PB8:SDMMC1_D4"     	:	12,
+	"PB8:SDMMC2_D4"     	:	10,
+	"PB8:TIM16_CH1"     	:	1,
+	"PB8:TIM4_CH3"      	:	2,
+	"PB8:UART4_RX"      	:	8,
+	"PB9:DCMI_D7"       	:	13,
+	"PB9:DFSDM1_DATIN7" 	:	3,
+	"PB9:EVENTOUT"      	:	15,
+	"PB9:FDCAN1_TX"     	:	9,
+	"PB9:I2C1_SDA"      	:	4,
+	"PB9:I2C4_SDA"      	:	6,
+	"PB9:I2C4_SMBA"     	:	11,
+	"PB9:I2S2_WS"       	:	5,
+	"PB9:LTDC_B7"       	:	14,
+	"PB9:PSSI_D7"       	:	13,
+	"PB9:SDMMC1_CDIR"   	:	7,
+	"PB9:SDMMC1_D5"     	:	12,
+	"PB9:SDMMC2_D5"     	:	10,
+	"PB9:SPI2_NSS"      	:	5,
+	"PB9:TIM17_CH1"     	:	1,
+	"PB9:TIM4_CH4"      	:	2,
+	"PB9:UART4_TX"      	:	8,
+	"PB10:DFSDM1_DATIN7"	:	6,
+	"PB10:EVENTOUT"     	:	15,
+	"PB10:I2C2_SCL"     	:	4,
+	"PB10:I2S2_CK"      	:	5,
+	"PB10:LPTIM2_IN1"   	:	3,
+	"PB10:LTDC_G4"      	:	14,
+	"PB10:OCTOSPIM_P1_NCS"	:	9,
+	"PB10:SPI2_SCK"     	:	5,
+	"PB10:TIM2_CH3"     	:	1,
+	"PB10:USART3_TX"    	:	7,
+	"PB10:USB_OTG_HS_ULPI_D3"	:	10,
+	"PB11:DFSDM1_CKIN7" 	:	6,
+	"PB11:EVENTOUT"     	:	15,
+	"PB11:I2C2_SDA"     	:	4,
+	"PB11:LPTIM2_ETR"   	:	3,
+	"PB11:LTDC_G5"      	:	14,
+	"PB11:TIM2_CH4"     	:	1,
+	"PB11:USART3_RX"    	:	7,
+	"PB11:USB_OTG_HS_ULPI_D4"	:	10,
+	"PB12:DFSDM1_DATIN1"	:	6,
+	"PB12:DFSDM2_DATIN1"	:	11,
+	"PB12:EVENTOUT"     	:	15,
+	"PB12:FDCAN2_RX"    	:	9,
+	"PB12:I2C2_SMBA"    	:	4,
+	"PB12:I2S2_WS"      	:	5,
+	"PB12:OCTOSPIM_P1_NCLK"	:	3,
+	"PB12:SPI2_NSS"     	:	5,
+	"PB12:TIM1_BKIN"    	:	1,
+	"PB12:TIM1_BKIN_COMP1"	:	13,
+	"PB12:TIM1_BKIN_COMP2"	:	13,
+	"PB12:UART5_RX"     	:	14,
+	"PB12:USART3_CK"    	:	7,
+	"PB12:USB_OTG_HS_ULPI_D5"	:	10,
+	"PB13:DCMI_D2"      	:	13,
+	"PB13:DFSDM1_CKIN1" 	:	6,
+	"PB13:DFSDM2_CKIN1" 	:	4,
+	"PB13:EVENTOUT"     	:	15,
+	"PB13:FDCAN2_TX"    	:	9,
+	"PB13:I2S2_CK"      	:	5,
+	"PB13:LPTIM2_OUT"   	:	3,
+	"PB13:PSSI_D2"      	:	13,
+	"PB13:SDMMC1_D0"    	:	12,
+	"PB13:SPI2_SCK"     	:	5,
+	"PB13:TIM1_CH1N"    	:	1,
+	"PB13:UART5_TX"     	:	14,
+	"PB13:USART3_CTS"   	:	7,
+	"PB13:USART3_NSS"   	:	7,
+	"PB13:USB_OTG_HS_ULPI_D6"	:	10,
+	"PB14:DFSDM1_DATIN2"	:	6,
+	"PB14:EVENTOUT"     	:	15,
+	"PB14:I2S2_SDI"     	:	5,
+	"PB14:LTDC_CLK"     	:	14,
+	"PB14:SDMMC2_D0"    	:	9,
+	"PB14:SPI2_MISO"    	:	5,
+	"PB14:TIM12_CH1"    	:	2,
+	"PB14:TIM1_CH2N"    	:	1,
+	"PB14:TIM8_CH2N"    	:	3,
+	"PB14:UART4_DE"     	:	8,
+	"PB14:UART4_RTS"    	:	8,
+	"PB14:USART1_TX"    	:	4,
+	"PB14:USART3_DE"    	:	7,
+	"PB14:USART3_RTS"   	:	7,
+	"PB15:DFSDM1_CKIN2" 	:	6,
+	"PB15:EVENTOUT"     	:	15,
+	"PB15:I2S2_SDO"     	:	5,
+	"PB15:LTDC_G7"      	:	14,
+	"PB15:RTC_REFIN"    	:	0,
+	"PB15:SDMMC2_D1"    	:	9,
+	"PB15:SPI2_MOSI"    	:	5,
+	"PB15:TIM12_CH2"    	:	2,
+	"PB15:TIM1_CH3N"    	:	1,
+	"PB15:TIM8_CH3N"    	:	3,
+	"PB15:UART4_CTS"    	:	8,
+	"PB15:USART1_RX"    	:	4,
+	"PC0:DFSDM1_CKIN0"  	:	3,
+	"PC0:DFSDM1_DATIN4" 	:	6,
+	"PC0:EVENTOUT"      	:	15,
+	"PC0:FMC_A25"       	:	9,
+	"PC0:FMC_SDNWE"     	:	12,
+	"PC0:LTDC_G2"       	:	11,
+	"PC0:LTDC_R5"       	:	14,
+	"PC0:SAI2_FS_B"     	:	8,
+	"PC0:USB_OTG_HS_ULPI_STP"	:	10,
+	"PC1:DEBUG_TRACED0" 	:	0,
+	"PC1:DFSDM1_CKIN4"  	:	4,
+	"PC1:DFSDM1_DATIN0" 	:	3,
+	"PC1:EVENTOUT"      	:	15,
+	"PC1:I2S2_SDO"      	:	5,
+	"PC1:LTDC_G5"       	:	14,
+	"PC1:MDIOS_MDC"     	:	12,
+	"PC1:OCTOSPIM_P1_IO4"	:	10,
+	"PC1:SAI1_D1"       	:	2,
+	"PC1:SAI1_SD_A"     	:	6,
+	"PC1:SDMMC2_CK"     	:	9,
+	"PC1:SPI2_MOSI"     	:	5,
+	"PC2:DFSDM1_CKIN1"  	:	3,
+	"PC2:DFSDM1_CKOUT"  	:	6,
+	"PC2:EVENTOUT"      	:	15,
+	"PC2:FMC_SDNE0"     	:	12,
+	"PC2:I2S2_SDI"      	:	5,
+	"PC2:OCTOSPIM_P1_IO2"	:	9,
+	"PC2:OCTOSPIM_P1_IO5"	:	11,
+	"PC2:PWR_CSTOP"     	:	0,
+	"PC2:SPI2_MISO"     	:	5,
+	"PC2:USB_OTG_HS_ULPI_DIR"	:	10,
+	"PC3:DFSDM1_DATIN1" 	:	3,
+	"PC3:EVENTOUT"      	:	15,
+	"PC3:FMC_SDCKE0"    	:	12,
+	"PC3:I2S2_SDO"      	:	5,
+	"PC3:OCTOSPIM_P1_IO0"	:	9,
+	"PC3:OCTOSPIM_P1_IO6"	:	11,
+	"PC3:PWR_CSLEEP"    	:	0,
+	"PC3:SPI2_MOSI"     	:	5,
+	"PC3:USB_OTG_HS_ULPI_NXT"	:	10,
+	"PC4:ADC1_INP4"     	:	0,
+	"PC4:DFSDM1_CKIN2"  	:	3,
+	"PC4:EVENTOUT"      	:	15,
+	"PC4:FMC_SDNE0"     	:	12,
+	"PC4:I2S1_MCK"      	:	5,
+	"PC4:LTDC_R7"       	:	14,
+	"PC5:COMP1_OUT"     	:	13,
+	"PC5:DFSDM1_DATIN2" 	:	3,
+	"PC5:EVENTOUT"      	:	15,
+	"PC5:FMC_SDCKE0"    	:	12,
+	"PC5:LTDC_DE"       	:	14,
+	"PC5:OCTOSPIM_P1_DQS"	:	10,
+	"PC5:PSSI_D15"      	:	4,
+	"PC5:SAI1_D3"       	:	2,
+	"PC6:DCMI_D0"       	:	13,
+	"PC6:DFSDM1_CKIN3"  	:	4,
+	"PC6:EVENTOUT"      	:	15,
+	"PC6:FMC_NWAIT"     	:	9,
+	"PC6:I2S2_MCK"      	:	5,
+	"PC6:LTDC_HSYNC"    	:	14,
+	"PC6:PSSI_D0"       	:	13,
+	"PC6:SDMMC1_D0DIR"  	:	8,
+	"PC6:SDMMC1_D6"     	:	12,
+	"PC6:SDMMC2_D6"     	:	10,
+	"PC6:TIM3_CH1"      	:	2,
+	"PC6:TIM8_CH1"      	:	3,
+	"PC6:USART6_TX"     	:	7,
+	"PC7:DCMI_D1"       	:	13,
+	"PC7:DEBUG_TRGIO"   	:	0,
+	"PC7:DFSDM1_DATIN3" 	:	4,
+	"PC7:EVENTOUT"      	:	15,
+	"PC7:FMC_NE1"       	:	9,
+	"PC7:I2S3_MCK"      	:	6,
+	"PC7:LTDC_G6"       	:	14,
+	"PC7:PSSI_D1"       	:	13,
+	"PC7:SDMMC1_D123DIR"	:	8,
+	"PC7:SDMMC1_D7"     	:	12,
+	"PC7:SDMMC2_D7"     	:	10,
+	"PC7:SWPMI1_TX"     	:	11,
+	"PC7:TIM3_CH2"      	:	2,
+	"PC7:TIM8_CH2"      	:	3,
+	"PC7:USART6_RX"     	:	7,
+	"PC8:DCMI_D2"       	:	13,
+	"PC8:DEBUG_TRACED1" 	:	0,
+	"PC8:EVENTOUT"      	:	15,
+	"PC8:FMC_INT"       	:	10,
+	"PC8:FMC_NCE"       	:	9,
+	"PC8:FMC_NE2"       	:	9,
+	"PC8:PSSI_D2"       	:	13,
+	"PC8:SDMMC1_D0"     	:	12,
+	"PC8:SWPMI1_RX"     	:	11,
+	"PC8:TIM3_CH3"      	:	2,
+	"PC8:TIM8_CH3"      	:	3,
+	"PC8:UART5_DE"      	:	8,
+	"PC8:UART5_RTS"     	:	8,
+	"PC8:USART6_CK"     	:	7,
+	"PC9:DCMI_D3"       	:	13,
+	"PC9:EVENTOUT"      	:	15,
+	"PC9:I2C3_SDA"      	:	4,
+	"PC9:I2S_CKIN"      	:	5,
+	"PC9:LTDC_B2"       	:	14,
+	"PC9:LTDC_G3"       	:	10,
+	"PC9:OCTOSPIM_P1_IO0"	:	9,
+	"PC9:PSSI_D3"       	:	13,
+	"PC9:RCC_MCO_2"     	:	0,
+	"PC9:SDMMC1_D1"     	:	12,
+	"PC9:SWPMI1_SUSPEND"	:	11,
+	"PC9:TIM3_CH4"      	:	2,
+	"PC9:TIM8_CH4"      	:	3,
+	"PC9:UART5_CTS"     	:	8,
+	"PC10:DCMI_D8"      	:	13,
+	"PC10:DFSDM1_CKIN5" 	:	3,
+	"PC10:DFSDM2_CKIN0" 	:	4,
+	"PC10:EVENTOUT"     	:	15,
+	"PC10:I2S3_CK"      	:	6,
+	"PC10:LTDC_B1"      	:	10,
+	"PC10:LTDC_R2"      	:	14,
+	"PC10:OCTOSPIM_P1_IO1"	:	9,
+	"PC10:PSSI_D8"      	:	13,
+	"PC10:SDMMC1_D2"    	:	12,
+	"PC10:SPI3_SCK"     	:	6,
+	"PC10:SWPMI1_RX"    	:	11,
+	"PC10:UART4_TX"     	:	8,
+	"PC10:USART3_TX"    	:	7,
+	"PC11:DCMI_D4"      	:	13,
+	"PC11:DFSDM1_DATIN5"	:	3,
+	"PC11:DFSDM2_DATIN0"	:	4,
+	"PC11:EVENTOUT"     	:	15,
+	"PC11:I2S3_SDI"     	:	6,
+	"PC11:LTDC_B4"      	:	14,
+	"PC11:OCTOSPIM_P1_NCS"	:	9,
+	"PC11:PSSI_D4"      	:	13,
+	"PC11:SDMMC1_D3"    	:	12,
+	"PC11:SPI3_MISO"    	:	6,
+	"PC11:UART4_RX"     	:	8,
+	"PC11:USART3_RX"    	:	7,
+	"PC12:DCMI_D9"      	:	13,
+	"PC12:DEBUG_TRACED3"	:	0,
+	"PC12:DFSDM2_CKOUT" 	:	4,
+	"PC12:EVENTOUT"     	:	15,
+	"PC12:I2S3_SDO"     	:	6,
+	"PC12:I2S6_CK"      	:	5,
+	"PC12:LTDC_R6"      	:	14,
+	"PC12:PSSI_D9"      	:	13,
+	"PC12:SDMMC1_CK"    	:	12,
+	"PC12:SPI3_MOSI"    	:	6,
+	"PC12:SPI6_SCK"     	:	5,
+	"PC12:TIM15_CH1"    	:	2,
+	"PC12:UART5_TX"     	:	8,
+	"PC12:USART3_CK"    	:	7,
+	"PC13:EVENTOUT"     	:	15,
+	"PC14:EVENTOUT"     	:	15,
+	"PC15:EVENTOUT"     	:	15,
+	"PD0:DFSDM1_CKIN6"  	:	3,
+	"PD0:EVENTOUT"      	:	15,
+    "PD0:CAN1_RX"     	:	9,
+	"PD0:FMC_D2"        	:	12,
+	"PD0:FMC_DA2"       	:	12,
+	"PD0:LTDC_B1"       	:	14,
+	"PD0:UART4_RX"      	:	8,
+	"PD0:UART9_CTS"     	:	11,
+	"PD1:DFSDM1_DATIN6" 	:	3,
+	"PD1:EVENTOUT"      	:	15,
+    "PD1:CAN1_TX"     	:	9,
+	"PD1:FMC_D3"        	:	12,
+	"PD1:FMC_DA3"       	:	12,
+	"PD1:UART4_TX"      	:	8,
+	"PD2:DCMI_D11"      	:	13,
+	"PD2:DEBUG_TRACED2" 	:	0,
+	"PD2:EVENTOUT"      	:	15,
+	"PD2:LTDC_B2"       	:	14,
+	"PD2:LTDC_B7"       	:	9,
+	"PD2:PSSI_D11"      	:	13,
+	"PD2:SDMMC1_CMD"    	:	12,
+	"PD2:TIM15_BKIN"    	:	4,
+	"PD2:TIM3_ETR"      	:	2,
+	"PD2:UART5_RX"      	:	8,
+	"PD3:DCMI_D5"       	:	13,
+	"PD3:DFSDM1_CKOUT"  	:	3,
+	"PD3:EVENTOUT"      	:	15,
+	"PD3:FMC_CLK"       	:	12,
+	"PD3:I2S2_CK"       	:	5,
+	"PD3:LTDC_G7"       	:	14,
+	"PD3:PSSI_D5"       	:	13,
+	"PD3:SPI2_SCK"      	:	5,
+	"PD3:USART2_CTS"    	:	7,
+	"PD3:USART2_NSS"    	:	7,
+	"PD4:EVENTOUT"      	:	15,
+	"PD4:FMC_NOE"       	:	12,
+	"PD4:OCTOSPIM_P1_IO4"	:	10,
+	"PD4:USART2_DE"     	:	7,
+	"PD4:USART2_RTS"    	:	7,
+	"PD5:EVENTOUT"      	:	15,
+	"PD5:FMC_NWE"       	:	12,
+	"PD5:OCTOSPIM_P1_IO5"	:	10,
+	"PD5:USART2_TX"     	:	7,
+	"PD6:DCMI_D10"      	:	13,
+	"PD6:DFSDM1_CKIN4"  	:	3,
+	"PD6:DFSDM1_DATIN1" 	:	4,
+	"PD6:EVENTOUT"      	:	15,
+	"PD6:FMC_NWAIT"     	:	12,
+	"PD6:I2S3_SDO"      	:	5,
+	"PD6:LTDC_B2"       	:	14,
+	"PD6:OCTOSPIM_P1_IO6"	:	10,
+	"PD6:PSSI_D10"      	:	13,
+	"PD6:SAI1_D1"       	:	2,
+	"PD6:SAI1_SD_A"     	:	6,
+	"PD6:SDMMC2_CK"     	:	11,
+	"PD6:SPI3_MOSI"     	:	5,
+	"PD6:USART2_RX"     	:	7,
+	"PD7:DFSDM1_CKIN1"  	:	6,
+	"PD7:DFSDM1_DATIN4" 	:	3,
+	"PD7:EVENTOUT"      	:	15,
+	"PD7:FMC_NE1"       	:	12,
+	"PD7:I2S1_SDO"      	:	5,
+	"PD7:OCTOSPIM_P1_IO7"	:	10,
+	"PD7:SDMMC2_CMD"    	:	11,
+	"PD7:SPI1_MOSI"     	:	5,
+	"PD7:USART2_CK"     	:	7,
+	"PD8:DFSDM1_CKIN3"  	:	3,
+	"PD8:EVENTOUT"      	:	15,
+	"PD8:FMC_D13"       	:	12,
+	"PD8:FMC_DA13"      	:	12,
+	"PD8:USART3_TX"     	:	7,
+	"PD9:DFSDM1_DATIN3" 	:	3,
+	"PD9:EVENTOUT"      	:	15,
+	"PD9:FMC_D14"       	:	12,
+	"PD9:FMC_DA14"      	:	12,
+	"PD9:USART3_RX"     	:	7,
+	"PD10:DFSDM1_CKOUT" 	:	3,
+	"PD10:DFSDM2_CKOUT" 	:	4,
+	"PD10:EVENTOUT"     	:	15,
+	"PD10:FMC_D15"      	:	12,
+	"PD10:FMC_DA15"     	:	12,
+	"PD10:LTDC_B3"      	:	14,
+	"PD10:USART3_CK"    	:	7,
+	"PD11:EVENTOUT"     	:	15,
+	"PD11:FMC_A16"      	:	12,
+	"PD11:FMC_CLE"      	:	12,
+	"PD11:I2C4_SMBA"    	:	4,
+	"PD11:LPTIM2_IN2"   	:	3,
+	"PD11:OCTOSPIM_P1_IO0"	:	9,
+	"PD11:SAI2_SD_A"    	:	10,
+	"PD11:USART3_CTS"   	:	7,
+	"PD11:USART3_NSS"   	:	7,
+	"PD12:DCMI_D12"     	:	13,
+	"PD12:EVENTOUT"     	:	15,
+	"PD12:FMC_A17"      	:	12,
+	"PD12:FMC_ALE"      	:	12,
+	"PD12:I2C4_SCL"     	:	4,
+	"PD12:LPTIM1_IN1"   	:	1,
+	"PD12:LPTIM2_IN1"   	:	3,
+	"PD12:OCTOSPIM_P1_IO1"	:	9,
+	"PD12:PSSI_D12"     	:	13,
+	"PD12:SAI2_FS_A"    	:	10,
+	"PD12:TIM4_CH1"     	:	2,
+	"PD12:USART3_DE"    	:	7,
+	"PD12:USART3_RTS"   	:	7,
+	"PD13:DCMI_D13"     	:	13,
+	"PD13:EVENTOUT"     	:	15,
+	"PD13:FMC_A18"      	:	12,
+	"PD13:I2C4_SDA"     	:	4,
+	"PD13:LPTIM1_OUT"   	:	1,
+	"PD13:OCTOSPIM_P1_IO3"	:	9,
+	"PD13:PSSI_D13"     	:	13,
+	"PD13:SAI2_SCK_A"   	:	10,
+	"PD13:TIM4_CH2"     	:	2,
+	"PD13:UART9_DE"     	:	11,
+	"PD13:UART9_RTS"    	:	11,
+	"PD14:EVENTOUT"     	:	15,
+	"PD14:FMC_D0"       	:	12,
+	"PD14:FMC_DA0"      	:	12,
+	"PD14:TIM4_CH3"     	:	2,
+	"PD14:UART8_CTS"    	:	8,
+	"PD14:UART9_RX"     	:	11,
+	"PD15:EVENTOUT"     	:	15,
+	"PD15:FMC_D1"       	:	12,
+	"PD15:FMC_DA1"      	:	12,
+	"PD15:TIM4_CH4"     	:	2,
+	"PD15:UART8_DE"     	:	8,
+	"PD15:UART8_RTS"    	:	8,
+	"PD15:UART9_TX"     	:	11,
+	"PE0:DCMI_D2"       	:	13,
+	"PE0:EVENTOUT"      	:	15,
+	"PE0:FMC_NBL0"      	:	12,
+	"PE0:LPTIM1_ETR"    	:	1,
+	"PE0:LPTIM2_ETR"    	:	4,
+	"PE0:LTDC_R0"       	:	14,
+	"PE0:PSSI_D2"       	:	13,
+	"PE0:SAI2_MCLK_A"   	:	10,
+	"PE0:TIM4_ETR"      	:	2,
+	"PE0:UART8_RX"      	:	8,
+	"PE1:DCMI_D3"       	:	13,
+	"PE1:EVENTOUT"      	:	15,
+	"PE1:FMC_NBL1"      	:	12,
+	"PE1:LPTIM1_IN2"    	:	1,
+	"PE1:LTDC_R6"       	:	14,
+	"PE1:PSSI_D3"       	:	13,
+	"PE1:UART8_TX"      	:	8,
+	"PE2:DEBUG_TRACECLK"	:	0,
+	"PE2:EVENTOUT"      	:	15,
+	"PE2:FMC_A23"       	:	12,
+	"PE2:OCTOSPIM_P1_IO2"	:	9,
+	"PE2:SAI1_CK1"      	:	2,
+	"PE2:SAI1_MCLK_A"   	:	6,
+	"PE2:SPI4_SCK"      	:	5,
+	"PE2:USART10_RX"    	:	11,
+	"PE3:DEBUG_TRACED0" 	:	0,
+	"PE3:EVENTOUT"      	:	15,
+	"PE3:FMC_A19"       	:	12,
+	"PE3:SAI1_SD_B"     	:	6,
+	"PE3:TIM15_BKIN"    	:	4,
+	"PE3:USART10_TX"    	:	11,
+	"PE4:DCMI_D4"       	:	13,
+	"PE4:DEBUG_TRACED1" 	:	0,
+	"PE4:DFSDM1_DATIN3" 	:	3,
+	"PE4:EVENTOUT"      	:	15,
+	"PE4:FMC_A20"       	:	12,
+	"PE4:LTDC_B0"       	:	14,
+	"PE4:PSSI_D4"       	:	13,
+	"PE4:SAI1_D2"       	:	2,
+	"PE4:SAI1_FS_A"     	:	6,
+	"PE4:SPI4_NSS"      	:	5,
+	"PE4:TIM15_CH1N"    	:	4,
+	"PE5:DCMI_D6"       	:	13,
+	"PE5:DEBUG_TRACED2" 	:	0,
+	"PE5:DFSDM1_CKIN3"  	:	3,
+	"PE5:EVENTOUT"      	:	15,
+	"PE5:FMC_A21"       	:	12,
+	"PE5:LTDC_G0"       	:	14,
+	"PE5:PSSI_D6"       	:	13,
+	"PE5:SAI1_CK2"      	:	2,
+	"PE5:SAI1_SCK_A"    	:	6,
+	"PE5:SPI4_MISO"     	:	5,
+	"PE5:TIM15_CH1"     	:	4,
+	"PE6:DCMI_D7"       	:	13,
+	"PE6:DEBUG_TRACED3" 	:	0,
+	"PE6:EVENTOUT"      	:	15,
+	"PE6:FMC_A22"       	:	12,
+	"PE6:LTDC_G1"       	:	14,
+	"PE6:PSSI_D7"       	:	13,
+	"PE6:SAI1_D1"       	:	2,
+	"PE6:SAI1_SD_A"     	:	6,
+	"PE6:SAI2_MCLK_B"   	:	10,
+	"PE6:SPI4_MOSI"     	:	5,
+	"PE6:TIM15_CH2"     	:	4,
+	"PE6:TIM1_BKIN2"    	:	1,
+	"PE6:TIM1_BKIN2_COMP1"	:	11,
+	"PE6:TIM1_BKIN2_COMP2"	:	11,
+	"PE7:DFSDM1_DATIN2" 	:	3,
+	"PE7:EVENTOUT"      	:	15,
+	"PE7:FMC_D4"        	:	12,
+	"PE7:FMC_DA4"       	:	12,
+	"PE7:OCTOSPIM_P1_IO4"	:	10,
+	"PE7:TIM1_ETR"      	:	1,
+	"PE7:UART7_RX"      	:	7,
+	"PE8:COMP2_OUT"     	:	13,
+	"PE8:DFSDM1_CKIN2"  	:	3,
+	"PE8:EVENTOUT"      	:	15,
+	"PE8:FMC_D5"        	:	12,
+	"PE8:FMC_DA5"       	:	12,
+	"PE8:OCTOSPIM_P1_IO5"	:	10,
+	"PE8:TIM1_CH1N"     	:	1,
+	"PE8:UART7_TX"      	:	7,
+	"PE9:DFSDM1_CKOUT"  	:	3,
+	"PE9:EVENTOUT"      	:	15,
+	"PE9:FMC_D6"        	:	12,
+	"PE9:FMC_DA6"       	:	12,
+	"PE9:OCTOSPIM_P1_IO6"	:	10,
+	"PE9:TIM1_CH1"      	:	1,
+	"PE9:UART7_DE"      	:	7,
+	"PE9:UART7_RTS"     	:	7,
+	"PE10:DFSDM1_DATIN4"	:	3,
+	"PE10:EVENTOUT"     	:	15,
+	"PE10:FMC_D7"       	:	12,
+	"PE10:FMC_DA7"      	:	12,
+	"PE10:OCTOSPIM_P1_IO7"	:	10,
+	"PE10:TIM1_CH2N"    	:	1,
+	"PE10:UART7_CTS"    	:	7,
+	"PE11:DFSDM1_CKIN4" 	:	3,
+	"PE11:EVENTOUT"     	:	15,
+	"PE11:FMC_D8"       	:	12,
+	"PE11:FMC_DA8"      	:	12,
+	"PE11:LTDC_G3"      	:	14,
+	"PE11:OCTOSPIM_P1_NCS"	:	11,
+	"PE11:SAI2_SD_B"    	:	10,
+	"PE11:SPI4_NSS"     	:	5,
+	"PE11:TIM1_CH2"     	:	1,
+	"PE12:COMP1_OUT"    	:	13,
+	"PE12:DFSDM1_DATIN5"	:	3,
+	"PE12:EVENTOUT"     	:	15,
+	"PE12:FMC_D9"       	:	12,
+	"PE12:FMC_DA9"      	:	12,
+	"PE12:LTDC_B4"      	:	14,
+	"PE12:SAI2_SCK_B"   	:	10,
+	"PE12:SPI4_SCK"     	:	5,
+	"PE12:TIM1_CH3N"    	:	1,
+	"PE13:COMP2_OUT"    	:	13,
+	"PE13:DFSDM1_CKIN5" 	:	3,
+	"PE13:EVENTOUT"     	:	15,
+	"PE13:FMC_D10"      	:	12,
+	"PE13:FMC_DA10"     	:	12,
+	"PE13:LTDC_DE"      	:	14,
+	"PE13:SAI2_FS_B"    	:	10,
+	"PE13:SPI4_MISO"    	:	5,
+	"PE13:TIM1_CH3"     	:	1,
+	"PE14:EVENTOUT"     	:	15,
+	"PE14:FMC_D11"      	:	12,
+	"PE14:FMC_DA11"     	:	12,
+	"PE14:LTDC_CLK"     	:	14,
+	"PE14:SAI2_MCLK_B"  	:	10,
+	"PE14:SPI4_MOSI"    	:	5,
+	"PE14:TIM1_CH4"     	:	1,
+	"PE15:EVENTOUT"     	:	15,
+	"PE15:FMC_D12"      	:	12,
+	"PE15:FMC_DA12"     	:	12,
+	"PE15:LTDC_R7"      	:	14,
+	"PE15:TIM1_BKIN"    	:	1,
+	"PE15:TIM1_BKIN_COMP1"	:	13,
+	"PE15:TIM1_BKIN_COMP2"	:	13,
+	"PE15:USART10_CK"   	:	11,
+	"PH0:EVENTOUT"      	:	15,
+	"PH0:RCC_OSC_IN"    	:	0,
+	"PH1:EVENTOUT"      	:	15,
+	"PH1:RCC_OSC_OUT"   	:	0,
+}
+
+ADC1_map = {
+    # format is PIN : ADC1_CHAN
+    "PF11"  :   2,
+    "PA6"	:	3,
+    "PC4"	:	4,
+    "PB1"	:	5,
+    "PF12"  :   6,
+    "PA7"	:	7,
+    "PC5"	:	8,
+    "PB0"	:	9,
+	"PC0"	:	10,
+	"PC1"	:	11,
+	"PC2"	:	12,
+    "PC3"	:	13,
+    "PA2"	:	14,
+    "PA3"	:	15,
+    "PA0"	:	16,
+    "PA1"	:	17,
+    "PA4"	:	18,
+    "PA5"	:	19,
+}
+
+ADC2_map = {
+    "PF13"	:	2,
+    "PA6"	:	3,
+    "PC4"	:	4,
+    "PB1"	:	5,
+    "PF14"	:	6,
+    "PA7"	:	7,
+    "PC5"	:	8,
+    "PB0"	:	9,
+    "PC0"	:	10,
+    "PC1"	:	11,
+    "PC2"	:	12,
+    "PC3"	:	13,
+    "PA2"	:	14,
+    "PA3"	:	15,
+    "N/A"	:	16,
+    "N/A"	:	17,
+    "PA4"	:	18,
+    "PA5"	:	19,
+}
+
+ADC3_map = {
+    "PF9"	:	2,
+    "PF7"	:	3,
+    "PF5"	:	4,
+    "PF3"	:	5,
+    "PF10"	:	6,
+    "PF8"	:	7,
+    "PF6"	:	8,
+    "PF4"	:	9,
+    "PH2"	:	13,
+    "PH3"	:	14,
+    "PH4"	:	15,
+    "PH5"	:	16,
+}
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 26d14b190536f0..f100b0dae2c807 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -776,6 +776,7 @@ def get_ram_map(self, use_bootloader=False):
 
     def get_flash_pages_sizes(self):
         mcu_series = self.mcu_series
+        mcu_type = self.mcu_type
         if mcu_series.startswith('STM32F4') or mcu_series.startswith('CKS32F4'):
             if self.get_config('FLASH_SIZE_KB', type=int) == 512:
                 return [16, 16, 16, 16, 64, 128, 128, 128]
@@ -802,6 +803,8 @@ def get_flash_pages_sizes(self):
                         256, 256, 256, 256]
             else:
                 raise Exception("Unsupported flash size %u" % self.get_config('FLASH_SIZE_KB', type=int))
+        elif mcu_type.startswith('STM32H7A'):
+            return [8] * (self.get_config('FLASH_SIZE_KB', type=int)//8)
         elif mcu_series.startswith('STM32H7'):
             return [128] * (self.get_config('FLASH_SIZE_KB', type=int)//128)
         elif mcu_series.startswith('STM32F100') or mcu_series.startswith('STM32F103'):
@@ -873,6 +876,8 @@ def validate_flash_storage_size(self):
         storage_flash_page = self.get_storage_flash_page()
         pages = self.get_flash_pages_sizes()
         page_size = pages[storage_flash_page] * 1024
+        if self.intdefines.get('AP_FLASH_STORAGE_DOUBLE_PAGE', 0) == 1:
+            page_size *= 2
         storage_size = self.intdefines.get('HAL_STORAGE_SIZE', None)
         if storage_size is None:
             self.error('Need HAL_STORAGE_SIZE define')

From cc5579823d74e239c2650b10e1bdcd5bbf3e0e3f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 28 Jan 2024 11:44:08 +1100
Subject: [PATCH 0934/1335] Tools: added MatekH7A3 bootloader

---
 Tools/bootloaders/MatekH7A3_bl.bin | Bin 0 -> 18908 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100755 Tools/bootloaders/MatekH7A3_bl.bin

diff --git a/Tools/bootloaders/MatekH7A3_bl.bin b/Tools/bootloaders/MatekH7A3_bl.bin
new file mode 100755
index 0000000000000000000000000000000000000000..6f4ff7727172941e5ff2a542f1dd7a2f58952986
GIT binary patch
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literal 0
HcmV?d00001


From 33f6a1d87efea16b8b3235a3387bdd309c833d99 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 28 Jan 2024 11:43:20 +1100
Subject: [PATCH 0935/1335] hwdef: added MatekH7A3 support

---
 .../hwdef/MatekH7A3/hwdef-bl.dat              |  49 ++++
 .../AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef.dat  | 226 ++++++++++++++++++
 2 files changed, 275 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef-bl.dat
new file mode 100644
index 00000000000000..5c8cb9539707f1
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef-bl.dat
@@ -0,0 +1,49 @@
+# hw definition file for processing by chibios_pins.py
+# for Matek H7A3 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H7A3xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MatekH7A3
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H7A3 has 8k sectors
+FLASH_BOOTLOADER_LOAD_KB 32
+
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+SERIAL_ORDER OTG1 UART7
+
+# UART7 (telem1)
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# PA10 IO-debug-console
+PA11 OTG_HS_DM OTG1
+PA12 OTG_HS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# make sure Vsw is on during bootloader
+PD10  PINIO1 OUTPUT LOW
+
+PE3 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# Add CS pins to ensure they are high in bootloader
+PC15 IMU1_CS CS
+PB12 MAX7456_CS CS
+PE11 IMU2_CS CS
+PD4 EXT_CS1 CS
+PE2 EXT_CS2 CS
+PC13 IMU3_CS CS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef.dat
new file mode 100644
index 00000000000000..7892d581544716
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH7A3/hwdef.dat
@@ -0,0 +1,226 @@
+# hw definition file for processing by chibios_pins.py
+# for Matek H7A3
+
+# MCU class and specific type
+MCU STM32H7xx STM32H7A3xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MatekH7A3
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+env OPTIMIZE -Os
+
+# bootloader takes first 4 sectors
+FLASH_RESERVE_START_KB 32
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# USB
+PA11 OTG_HS_DM OTG1
+PA12 OTG_HS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 for IMU1 (MPU6000)
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+PC15 IMU1_CS CS
+
+# SPI2 for MAX7456 OSD
+PB12 MAX7456_CS CS
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI3 - external
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+
+# external CS pins
+PD4 EXT_CS1 CS
+PE2 EXT_CS2 CS
+
+# SPI4 for IMU2 (ICM20602)
+PE11 IMU2_CS CS
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+
+# add ICM42605 on SPI4 as a backup to replace ICM20602
+PC13 IMU3_CS CS
+
+# two I2C bus
+I2C_ORDER I2C2 I2C1
+
+# I2C1
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# ADC
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+PA4 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
+PA7 BATT2_CURRENT_SENS ADC1 SCALE(1)
+
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT2_VOLT_PIN 18
+define HAL_BATT2_CURR_PIN 7
+define HAL_BATT_VOLT_SCALE 11.0
+define HAL_BATT_CURR_SCALE 40.0
+define HAL_BATT2_VOLT_SCALE 11.0
+
+PC4 PRESSURE_SENS ADC1 SCALE(2)
+define HAL_DEFAULT_AIRSPEED_PIN 4
+
+PC5 RSSI_ADC ADC1
+#define BOARD_RSSI_ANA_PIN 8
+
+# LED
+# green LED1 marked as B/E
+# blue LED0 marked as ACT
+PE3 LED0 OUTPUT LOW GPIO(90) # blue
+PE4 LED1 OUTPUT LOW GPIO(91) # green
+define HAL_GPIO_A_LED_PIN 91
+define HAL_GPIO_B_LED_PIN 90
+define HAL_GPIO_LED_OFF 1
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6
+
+# USART1 (telem2)
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1
+
+# USART2 (GPS1)
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3 (GPS2)
+PD9 USART3_RX USART3
+PD8 USART3_TX USART3
+
+# UART4 (spare)
+PB9 UART4_TX UART4
+PB8 UART4_RX UART4
+
+# USART6 (RC input), SERIAL7
+PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW
+PC6 USART6_TX USART6 NODMA
+
+# as an alternative config setup the RX6 pin as a uart. This allows
+# for bi-directional UART based receiver protocols such as FPort
+# without any extra hardware
+PC7 USART6_RX USART6 NODMA ALT(1)
+
+# UART7 (telem1)
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+PE10 UART7_CTS UART7
+PE9  UART7_RTS UART7
+
+# UART8 (spare)
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+
+# Motors
+PB0  TIM8_CH2N TIM8  PWM(1)  GPIO(50)
+PB1  TIM8_CH3N TIM8  PWM(2)  GPIO(51)
+PA0  TIM5_CH1  TIM5  PWM(3)  GPIO(52)
+PA1  TIM5_CH2  TIM5  PWM(4)  GPIO(53)
+PA2  TIM5_CH3  TIM5  PWM(5)  GPIO(54)
+PA3  TIM5_CH4  TIM5  PWM(6)  GPIO(55)
+PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
+PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
+PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58)
+PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59)
+PE5  TIM15_CH1 TIM15 PWM(11) GPIO(60)
+PE6  TIM15_CH2 TIM15 PWM(12) GPIO(61)
+PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED
+
+# Beeper
+PA15 TIM2_CH1 TIM2 GPIO(32) ALARM
+
+# microSD support
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+# GPIOs
+PD10  PINIO1 OUTPUT GPIO(81) LOW
+PD11  PINIO2 OUTPUT GPIO(82) LOW
+
+DMA_PRIORITY S*
+
+define HAL_STORAGE_SIZE 15360
+
+# use last 4 pages for flash storage
+# H7A3 has 256 pages of 8k each
+STORAGE_FLASH_PAGE 252
+
+# use double page size for flash storage to effectively
+# give 16k pages
+define AP_FLASH_STORAGE_DOUBLE_PAGE 1
+
+# spi devices
+SPIDEV icm42688  SPI1 DEVID1 IMU1_CS      MODE3  2*MHZ 16*MHZ   # Clock is 100Mhz so highest clock <= 24Mhz is 100Mhz/8
+SPIDEV mpu6000   SPI1 DEVID1 IMU1_CS      MODE3  1*MHZ  4*MHZ
+SPIDEV icm20602  SPI4 DEVID1 IMU2_CS      MODE3  1*MHZ  4*MHZ
+SPIDEV icm42605  SPI4 DEVID1 IMU3_CS      MODE3  2*MHZ 16*MHZ
+SPIDEV osd       SPI2 DEVID4 MAX7456_CS   MODE0 10*MHZ 10*MHZ
+
+
+DMA_NOSHARE SPI1* SPI4*
+
+# SPI3 external connections
+SPIDEV pixartflow   SPI3 DEVID1  EXT_CS1  MODE3   2*MHZ  2*MHZ
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# two IMUs
+# H743-V1,      ICM20602, MPU6000
+# H743-V1.5/V2, ICM42605, MPU6000
+# H743-V3,      ICM42688P, ICM42605
+IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180
+IMU Invensensev3 SPI:icm42605 ROTATION_YAW_270
+IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_270
+IMU Invensense SPI:mpu6000 ROTATION_ROLL_180_YAW_270
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# DPS310 integrated on I2C2 bus, multiple possible choices for external barometer
+BARO MS56XX I2C:0:0x77
+BARO DPS310 I2C:0:0x76
+BARO BMP280 I2C:0:0x76
+
+define HAL_OS_FATFS_IO 1
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin

From 5749bd50749d751053bee090e2f8746d6a144f15 Mon Sep 17 00:00:00 2001
From: Leonardo Garcia <lgarciaos@protonmail.com>
Date: Fri, 26 Jan 2024 14:58:09 -0800
Subject: [PATCH 0936/1335] AP_HAL_ChibiOS: mRo KitCAN revC board fix

Add RM3100 reversal mask to deal with M10025C board changes.
---
 Tools/bootloaders/mRoKitCANrevC_bl.bin        |  Bin 0 -> 18732 bytes
 Tools/bootloaders/mRoKitCANrevC_bl.hex        | 1173 +++++++++++++++++
 .../hwdef/mRoKitCANrevC/defaults.parm         |    4 +
 .../hwdef/mRoKitCANrevC/hwdef-bl.dat          |    8 +
 .../hwdef/mRoKitCANrevC/hwdef.dat             |   30 +
 5 files changed, 1215 insertions(+)
 create mode 100755 Tools/bootloaders/mRoKitCANrevC_bl.bin
 create mode 100644 Tools/bootloaders/mRoKitCANrevC_bl.hex
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/defaults.parm
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat

diff --git a/Tools/bootloaders/mRoKitCANrevC_bl.bin b/Tools/bootloaders/mRoKitCANrevC_bl.bin
new file mode 100755
index 0000000000000000000000000000000000000000..de138c355e8415f97d42d6b9e73247bfc2633452
GIT binary patch
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diff --git a/Tools/bootloaders/mRoKitCANrevC_bl.hex b/Tools/bootloaders/mRoKitCANrevC_bl.hex
new file mode 100644
index 00000000000000..3ba95d12767dcc
--- /dev/null
+++ b/Tools/bootloaders/mRoKitCANrevC_bl.hex
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/defaults.parm
new file mode 100644
index 00000000000000..b574c697efefc3
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/defaults.parm
@@ -0,0 +1,4 @@
+# Default HAL_COMPASS_MAX_SENSORS
+
+ARSPD_PRIMARY 0
+ARSPD_TYPE 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef-bl.dat
new file mode 100644
index 00000000000000..6bbaeb3ef1cbd9
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef-bl.dat
@@ -0,0 +1,8 @@
+include ../f303-periph/hwdef-bl.inc
+
+# start as DNA
+
+undef APJ_BOARD_ID
+APJ_BOARD_ID 1145
+
+define CAN_APP_NODE_NAME "org.ardupilot.mRoKitCANrevC"
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat
new file mode 100644
index 00000000000000..a44f8a39f3cf79
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoKitCANrevC/hwdef.dat
@@ -0,0 +1,30 @@
+include ../f303-periph/hwdef.inc
+
+# start as DNA
+
+define CAN_APP_NODE_NAME "org.ardupilot.mRoKitCANrevC"
+undef APJ_BOARD_ID
+APJ_BOARD_ID 1145
+
+define AP_RM3100_REVERSAL_MASK 2
+
+# added rm3100 mag on SPI
+SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ
+COMPASS RM3100 SPI:rm3100 false ROTATION_NONE
+
+# an I2C baro (DPS310)
+BARO DPS310 I2C:0:0x77
+
+# GPS+MAG+LED+Baro
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_ENABLE_MAG
+define HAL_PERIPH_ENABLE_NCP5623_BGR_LED_WITHOUT_NOTIFY
+define HAL_PERIPH_ENABLE_BARO
+# I2C Airspeed sensor must use a different address than 0x77
+define HAL_PERIPH_ENABLE_AIRSPEED
+
+
+# Safety button
+PC13 SAFE_BUTTON INPUT PULLUP
+# Button is active LOW
+define HAL_SAFE_BUTTON_ON 0
\ No newline at end of file

From 078697c82547990a2d0d53492bb790e2483e910a Mon Sep 17 00:00:00 2001
From: David O'Connor <the_alchemist@fastmail.com>
Date: Sat, 27 Jan 2024 14:12:05 -0600
Subject: [PATCH 0937/1335] hwdef: add AnyLeaf H7 board

---
 .../AP_HAL_ChibiOS/hwdef/AnyleafH7/README.md  |  87 +++++++++++++
 .../AnyleafH7/anyleaf_h7_diagram_bottom.jpg   | Bin 0 -> 358844 bytes
 .../AnyleafH7/anyleaf_h7_diagram_top.jpg      | Bin 0 -> 314461 bytes
 .../AP_HAL_ChibiOS/hwdef/AnyleafH7/common.inc |  20 +++
 .../hwdef/AnyleafH7/defaults.parm             |  23 ++++
 .../hwdef/AnyleafH7/hwdef-bl.dat              |  16 +++
 .../AP_HAL_ChibiOS/hwdef/AnyleafH7/hwdef.dat  | 118 ++++++++++++++++++
 7 files changed, 264 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/README.md
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/anyleaf_h7_diagram_bottom.jpg
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/anyleaf_h7_diagram_top.jpg
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/common.inc
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/defaults.parm
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/README.md b/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/README.md
new file mode 100644
index 00000000000000..08db2c7ab067af
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/README.md
@@ -0,0 +1,87 @@
+# AnyLeaf Mercury H7 Flight Controller
+
+The Mercury H7 is a flight controller produced by [AnyLeaf](http://www.anyleaf.org/).
+
+## Features
+    Processor
+        STM32H743 32-bit processor
+    Sensors
+        ICM42688 Acc/Gyro with dedicated 32.768kHz crystal
+        DPS310 barometer
+    Power
+        2S - 6S Lipo input voltage with voltage monitoring
+        9V, 3A supply for powering video transmitters
+        5V, 2A supply for powering servos and electronics
+        3.3V, 500mA supply for powering electronics
+    Interfaces
+        8x Bidirectional-DSHOT, or PWM-capable motor outputs
+        1x CAN-FD port for external peripherals
+        1x DJI-format Vtx connector
+        4x UARTs/serial for external peripherals, 3 of which are available by default
+        1x I2C bus for external peripherals
+        USB-C port
+        All UARTs support hardware inversion
+        Onboard ExpressLRS radio tranceiver for control and/or telemetry data.
+    Dimensions
+        Size: 37.5 x 37.5mm
+        Weight: 8g
+
+## Pinout
+
+![Anyleaf H7 pinout, bottom](anyleaf_h7_diagram_bottom.jpg)
+![Anyleaf H7 connectors, top](anyleaf_h7_diagram_top.jpg)
+
+Pins and connector values are labeled on the flight controller PCB, with the following exceptions:
+- The onboard ELRS tranceiver is connected to pins PA2 (FC Tx) and PA3 (FC Rx), on UART2.
+- ESC telemetry is connected to UART3 Rx (PD9)
+- OSD HDL (DJI hand controller interop) is connected to UART1 Rx (PB7)
+
+## UART Mapping
+ All UARTs are DMA capable
+ 
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (External pads, and RX1 on DJI connector SBUS pin; defaulted to MAVLINK2)
+ - SERIAL2 -> UART2 (DJI Connector telemetry; defaulted to DisplayPort)
+ - SERIAL3 -> UART3 (ESC connector telemetry pin, or external pad; defaulted to ESC telemetry)
+ - SERIAL4 -> USART4 (External pads; GPS protocol by default)
+ - SERIAL5 -> UART7 (Onboard ELRS receiver only, RCIN protocol)
+ - SERIAL6 -> UART8 (USER, External pads)
+
+## Can FD port
+
+This flight controller includes a 4-pin DroneCAN standard CAN port. It's capable of 64-byte frames,
+and up to 5Mbps data rates. It's useful for connecting GPS devices, compasses, power monitoring, sensors, motors, servos, and other CAN peripherals.
+
+## RC Input
+
+This flight controller includes a 2.4Ghz ExpressLRS transceiver, capable of receiving control input, and transmitting or receiving MavLink telemetry. To enable all ELRS features, either RC5 channel should be setup as an ARM switch (there are several RC5_OPTIONS that can do this) or by mapping the transmitter's Channel 5 to reflect ARM status from telemetry. See: https://youtu.be/YO2yA1fmZBs for an axample.
+
+SBUS on the DJI connector may be used if SERIAL5_PROTOCOL is changed to 0 and SERIAL1_PROTOCOL is changed to 23 for RC input.
+   
+## OSD Support
+
+This flight controller has an MSP-DisplayPort output on a 6-pin DJI-compatible JST SH port re-configured.
+
+## Motor Output
+
+Motor 1-8 is capable of bidirectional DSHOT and PWM.
+
+All outputs in the motor groups below must be either PWM or DShot:
+Motors 1-4  Group1
+Motors 5-6  Group2
+Motors 7-8  Group3
+
+## Magnetometer
+
+This flight controller does not have a built-in magnetometer, but you can attach an external one using the CAN connector, or the I2C pads on the bottom.
+
+## Loading Firmware
+Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled “Anyleaf H7”.
+
+Initial firmware load can be done with DFU by plugging in USB with the
+boot button pressed. Then you should load the "AnyleafH7_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Subsequently, you can update firmware using Mission Planner or QGroundControl.
+
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/anyleaf_h7_diagram_bottom.jpg b/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/anyleaf_h7_diagram_bottom.jpg
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literal 0
HcmV?d00001

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/common.inc b/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/common.inc
new file mode 100644
index 00000000000000..75ad7d1fce77ea
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/common.inc
@@ -0,0 +1,20 @@
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1146
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 16000000
+
+FLASH_SIZE_KB 2048
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define AP_CAN_SCLAN_ENABLED 1
+define HAL_OTG2_PROTOCOL SerialProtocol_SLCAN
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/defaults.parm
new file mode 100644
index 00000000000000..adcd6cca41638e
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/defaults.parm
@@ -0,0 +1,23 @@
+# CAN
+CAN_P1_DRIVER 1  # Enables the use of CAN
+
+# Onboard ELRS
+SERIAL5_PROTOCOL 23 # RCIN
+RC_OPTIONS 8192  # Set 420k baud for ELRS
+# RC2_REVERSED 1 # Prevent inverse pitch controls
+RSSI_TYPE 3 # RC provided RSSI
+# ARMING_RUDDER 0  # Disable rudder arming
+
+
+# Onboard OSD
+OSD_TYPE 5 # MSP
+SERIAL2_PROTOCOL 42 # DisplayPort
+OSD_CELL_COUNT 0 # auto based on voltage at start
+
+
+# ESC telemetry
+SERIAL3_PROTOCOL 16 # ESC telemetry
+
+
+# Remove default serial protocols; set to None.
+SERIAL6_PROTOCOL -1
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/hwdef-bl.dat
new file mode 100644
index 00000000000000..ce3391e05f04be
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/hwdef-bl.dat
@@ -0,0 +1,16 @@
+include common.inc
+
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+SERIAL_ORDER OTG1
+
+# Add CS pins to ensure they are high in bootloader
+PC4 IMU1_CS CS
+PE11 FLASH_SPI_CS CS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/hwdef.dat
new file mode 100644
index 00000000000000..91281228a2ca4f
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/AnyleafH7/hwdef.dat
@@ -0,0 +1,118 @@
+include common.inc
+
+env OPTIMIZE -Os
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+define HAL_STORAGE_SIZE 32768
+STORAGE_FLASH_PAGE 14
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# SPI1 for IMU1 (ICM42688)
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+PC4 IMU1_CS CS
+
+# SPI2 for flash (W25Q64JVZPIQ (64Mbit))
+PA9 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+PE11 FLASH_CS CS
+
+# two I2C buses
+I2C_ORDER I2C2 I2C1
+
+# I2C1
+PB8 I2C1_SCL I2C1 PULLUP
+PB9 I2C1_SDA I2C1 PULLUP
+
+# I2C2
+PB10 I2C2_SCL I2C2 PULLUP
+PB11 I2C2_SDA I2C2 PULLUP
+
+# ADC
+PA4 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PA0 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+define HAL_BATT_MONITOR_DEFAULT 4  # Analog voltage and current
+define HAL_BATT_VOLT_PIN 18  # ADC channel
+define HAL_BATT_CURR_PIN 16
+define HAL_BATT_VOLT_SCALE 11.44  # Nominally a 11x divider. 11.44 is based on experimenting.
+define HAL_BATT_CURR_SCALE 40.0  # This depends on the ESC's V/mA output ratio.
+
+# LED
+PC13 LED0 OUTPUT LOW GPIO(90) # Amber; System status.
+PC0 LED1 OUTPUT LOW GPIO(91) # Not connected; GPS Status. (Required, or the system status LED won't work.)
+define HAL_GPIO_A_LED_PIN 90
+define HAL_GPIO_B_LED_PIN 91
+define HAL_GPIO_LED_ON 0
+define HAL_GPIO_LED_OFF 1
+
+# order of UARTs (and USB) OTG2 may be required for SLCAN.
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART7 UART8 #OTG2
+
+# USART1
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# USART2 (MSP Displayport OSD)
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2
+
+# USART3
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+
+# UART4
+PC10 UART4_TX UART4
+PC11 UART4_RX UART4
+
+# UART7 (ELRS receiver)
+PB4 UART7_TX UART7
+PB3 UART7_RX UART7
+
+PE1 UART8_TX UART8
+PE0 UART8_RX UART8
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+# Motors
+PC6  TIM3_CH1 TIM3  PWM(1)  GPIO(50)  BIDIR
+PC7  TIM3_CH2 TIM3  PWM(2)  GPIO(51)  
+PC8  TIM3_CH3  TIM3  PWM(3)  GPIO(52)  BIDIR
+PC9  TIM3_CH4  TIM3  PWM(4)  GPIO(53)  
+PE5  TIM15_CH1  TIM15  PWM(5)  GPIO(54)  BIDIR
+PE6  TIM15_CH2  TIM15  PWM(6)  GPIO(55)
+PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)  BIDIR
+PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
+
+# Beeper
+PE9 TIM1_CH1 TIM1 GPIO(58) ALARM
+
+DMA_PRIORITY S*
+
+DMA_NOSHARE SPI1* TIM3* TIM15* TIM1*
+
+# SPI devices
+SPIDEV icm42688  SPI1 DEVID1 IMU1_CS      MODE3  2*MHZ 16*MHZ
+SPIDEV dataflash SPI2 DEVID1 FLASH_CS     MODE3 104*MHZ 104*MHZ 
+
+# IMU
+IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# DPS310 integrated on I2C2 bus, multiple possible choices for external barometer
+BARO DPS310 I2C:0:0x77
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 5 # MSP Displayport

From eaec73ca70a03f793b81cabb06709884796692f8 Mon Sep 17 00:00:00 2001
From: David O'Connor <the_alchemist@fastmail.com>
Date: Sat, 27 Jan 2024 14:12:05 -0600
Subject: [PATCH 0938/1335] Tools: add AnyLeaf H7 board

---
 Tools/bootloaders/AnyleafH7_bl.bin |  Bin 0 -> 15972 bytes
 Tools/bootloaders/AnyleafH7_bl.hex | 1001 ++++++++++++++++++++++++++++
 2 files changed, 1001 insertions(+)
 create mode 100644 Tools/bootloaders/AnyleafH7_bl.bin
 create mode 100644 Tools/bootloaders/AnyleafH7_bl.hex

diff --git a/Tools/bootloaders/AnyleafH7_bl.bin b/Tools/bootloaders/AnyleafH7_bl.bin
new file mode 100644
index 0000000000000000000000000000000000000000..1dccc7452b1fb0064dec33ef142c48eeb6bdb313
GIT binary patch
literal 15972
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diff --git a/Tools/bootloaders/AnyleafH7_bl.hex b/Tools/bootloaders/AnyleafH7_bl.hex
new file mode 100644
index 00000000000000..50eb9bfbe2b675
--- /dev/null
+++ b/Tools/bootloaders/AnyleafH7_bl.hex
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From cfe68441960408fa8a00424b6c00e56a7a39aac7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jan 2024 12:32:18 +1100
Subject: [PATCH 0939/1335] Tracker: factor handle_message function

with an eye to removing the ability to set home via mission upload
---
 AntennaTracker/GCS_Mavlink.cpp | 75 ++++++++++++++++++++--------------
 AntennaTracker/GCS_Mavlink.h   |  5 +++
 AntennaTracker/config.h        |  4 ++
 3 files changed, 54 insertions(+), 30 deletions(-)

diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 6e6d83bc2c8e45..102bffb61f27ee 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -472,9 +472,38 @@ void GCS_MAVLINK_Tracker::handle_message(const mavlink_message_t &msg)
         handle_set_attitude_target(msg);
         break;
 
+#if AP_TRACKER_SET_HOME_VIA_MISSION_UPLOAD_ENABLED
     // When mavproxy 'wp sethome' 
     case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
-    {
+        handle_message_mission_write_partial_list(msg);
+        break;
+
+    // XXX receive a WP from GCS and store in EEPROM if it is HOME
+    case MAVLINK_MSG_ID_MISSION_ITEM:
+        handle_message_mission_item(msg);
+        break;
+#endif
+
+    case MAVLINK_MSG_ID_MANUAL_CONTROL:
+        handle_message_manual_control(msg);
+        break;
+
+    case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
+        handle_message_global_position_int(msg);
+        break;
+
+    case MAVLINK_MSG_ID_SCALED_PRESSURE:
+        handle_message_scaled_pressure(msg);
+        break;
+    }
+
+    GCS_MAVLINK::handle_message(msg);
+}
+
+
+#if AP_TRACKER_SET_HOME_VIA_MISSION_UPLOAD_ENABLED
+void GCS_MAVLINK_Tracker::handle_message_mission_write_partial_list(const mavlink_message_t &msg)
+{
         // decode
         mavlink_mission_write_partial_list_t packet;
         mavlink_msg_mission_write_partial_list_decode(&msg, &packet);
@@ -484,13 +513,10 @@ void GCS_MAVLINK_Tracker::handle_message(const mavlink_message_t &msg)
             waypoint_receiving = true;
             send_message(MSG_NEXT_MISSION_REQUEST_WAYPOINTS);
         }
-        break;
-    }
+}
 
-    // XXX receive a WP from GCS and store in EEPROM if it is HOME
-    case MAVLINK_MSG_ID_MISSION_ITEM:
-    {
-        // decode
+void GCS_MAVLINK_Tracker::handle_message_mission_item(const mavlink_message_t &msg)
+{
         mavlink_mission_item_t packet;
         MAV_MISSION_RESULT result = MAV_MISSION_ACCEPTED;
 
@@ -573,48 +599,37 @@ void GCS_MAVLINK_Tracker::handle_message(const mavlink_message_t &msg)
         }
 
 mission_failed:
-        // we are rejecting the mission/waypoint
+        // send ACK (including in success case)
         mavlink_msg_mission_ack_send(
             chan,
             msg.sysid,
             msg.compid,
             result,
             MAV_MISSION_TYPE_MISSION);
-        break;
-    }
+}
+#endif
 
-    case MAVLINK_MSG_ID_MANUAL_CONTROL:
-    {
+void GCS_MAVLINK_Tracker::handle_message_manual_control(const mavlink_message_t &msg)
+{
         mavlink_manual_control_t packet;
         mavlink_msg_manual_control_decode(&msg, &packet);
         tracker.tracking_manual_control(packet);
-        break;
-    }
+}
 
-    case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: 
-    {
+void GCS_MAVLINK_Tracker::handle_message_global_position_int(const mavlink_message_t &msg)
+{
         // decode
         mavlink_global_position_int_t packet;
         mavlink_msg_global_position_int_decode(&msg, &packet);
         tracker.tracking_update_position(packet);
-        break;
-    }
+}
 
-    case MAVLINK_MSG_ID_SCALED_PRESSURE: 
-    {
-        // decode
+void GCS_MAVLINK_Tracker::handle_message_scaled_pressure(const mavlink_message_t &msg)
+{
         mavlink_scaled_pressure_t packet;
         mavlink_msg_scaled_pressure_decode(&msg, &packet);
         tracker.tracking_update_pressure(packet);
-        break;
-    }
-
-    default:
-        GCS_MAVLINK::handle_message(msg);
-        break;
-    } // end switch
-} // end handle mavlink
-
+}
 
 // send position tracker is using
 void GCS_MAVLINK_Tracker::send_global_position_int()
diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h
index 6389a06cfd3eaf..f4a063842b3e0a 100644
--- a/AntennaTracker/GCS_Mavlink.h
+++ b/AntennaTracker/GCS_Mavlink.h
@@ -38,6 +38,11 @@ class GCS_MAVLINK_Tracker : public GCS_MAVLINK
     void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;
     void mavlink_check_target(const mavlink_message_t &msg);
     void handle_message(const mavlink_message_t &msg) override;
+    void handle_message_mission_write_partial_list(const mavlink_message_t &msg);
+    void handle_message_mission_item(const mavlink_message_t &msg);
+    void handle_message_manual_control(const mavlink_message_t &msg);
+    void handle_message_global_position_int(const mavlink_message_t &msg);
+    void handle_message_scaled_pressure(const mavlink_message_t &msg);
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     void handle_set_attitude_target(const mavlink_message_t &msg);
 
diff --git a/AntennaTracker/config.h b/AntennaTracker/config.h
index 1aa7984e6e6317..fd2932550ddbaa 100644
--- a/AntennaTracker/config.h
+++ b/AntennaTracker/config.h
@@ -69,3 +69,7 @@
     MASK_LOG_COMPASS | \
     MASK_LOG_CURRENT
 #endif
+
+#ifndef AP_TRACKER_SET_HOME_VIA_MISSION_UPLOAD_ENABLED
+#define AP_TRACKER_SET_HOME_VIA_MISSION_UPLOAD_ENABLED 1
+#endif

From 039701b6167d22ef8a4eb039152a70722a365484 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jan 2024 12:41:43 +1100
Subject: [PATCH 0940/1335] board_list.py: correct autobuild target name

this has to be the waf target name
---
 Tools/scripts/board_list.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/scripts/board_list.py b/Tools/scripts/board_list.py
index ab92794673821a..1891c8225855c3 100755
--- a/Tools/scripts/board_list.py
+++ b/Tools/scripts/board_list.py
@@ -16,7 +16,7 @@ def __init__(self, name):
         self.name = name
         self.is_ap_periph = False
         self.autobuild_targets = [
-            'Tracker',
+            'AntennaTracker',
             'Blimp',
             'Copter',
             'Heli',

From cd1e1273fad2a61a57b4a6a7d25459ff2d603623 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Feb 2024 11:18:31 +1100
Subject: [PATCH 0941/1335] Tools: size_compare_branches.py: correct pruning of
 threads

---
 Tools/scripts/size_compare_branches.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Tools/scripts/size_compare_branches.py b/Tools/scripts/size_compare_branches.py
index c20a5b70bb11a2..a7321448c1da15 100755
--- a/Tools/scripts/size_compare_branches.py
+++ b/Tools/scripts/size_compare_branches.py
@@ -453,8 +453,8 @@ def run_build_tasks_in_parallel(self, tasks):
 
         thread_number = 0
         while len(self.parallel_tasks) or len(threads):
-            if len(tasks) < self.n_threads:
-                self.n_threads = len(tasks)
+            if len(self.parallel_tasks) < self.n_threads:
+                self.n_threads = len(self.parallel_tasks)
             while len(threads) < self.n_threads:
                 self.progress(f"Starting thread {thread_number}")
                 t = threading.Thread(

From a82b7f20c930343332ca85f274c203d7308a75bc Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 25 Nov 2022 09:42:27 +1100
Subject: [PATCH 0942/1335] AP_HAL_ChibiOS: use HAL_LOGGING_ENABLED in place of
 HAL_BOOTLOADER_BUILD

bootloader already disables GCS, so we can rely on HAL_GCS_ENABLED in place of HAL_BOOTLOADER_BUILD
---
 libraries/AP_HAL_ChibiOS/Util.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index 85308f5345c83e..6488aa2b043af5 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -37,7 +37,8 @@
 #include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_OpenDroneID/AP_OpenDroneID.h>
 #endif
-#ifndef HAL_BOOTLOADER_BUILD
+#include <AP_Logger/AP_Logger_config.h>
+#if HAL_LOGGING_ENABLED
 #include <AP_Logger/AP_Logger.h>
 #endif
 
@@ -267,6 +268,7 @@ uint64_t Util::get_hw_rtc() const
 #if AP_BOOTLOADER_FLASHING_ENABLED
 
 #if HAL_GCS_ENABLED
+#include <GCS_MAVLink/GCS.h>
 #define Debug(fmt, args ...)  do { gcs().send_text(MAV_SEVERITY_INFO, fmt, ## args); } while (0)
 #endif // HAL_GCS_ENABLED
 
@@ -761,7 +763,7 @@ bool Util::get_true_random_vals(uint8_t* data, size_t size, uint32_t timeout_us)
 */
 void Util::log_stack_info(void)
 {
-#if !defined(HAL_BOOTLOADER_BUILD) && HAL_LOGGING_ENABLED
+#if HAL_LOGGING_ENABLED
     static thread_t *last_tp;
     static uint8_t thread_id;
     thread_t *tp = last_tp;

From 5130f93c030e9ccc0bef6da45db68f3bae3b3145 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 2 Feb 2024 12:24:00 +1100
Subject: [PATCH 0943/1335] AP_Param: fixed setting of defaults for dynamic
 param trees

when we load a VARPTR subtree we need to re-scan the parameter
defaults file from @ROMFS/defaults.parm in case there are defaults
applicable to this subtree
---
 libraries/AP_Param/AP_Param.cpp | 13 +++++++++++++
 libraries/AP_Param/AP_Param.h   |  5 +++++
 2 files changed, 18 insertions(+)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index 3ab10b87999db0..e3983e2812b9a6 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -115,6 +115,8 @@ uint16_t AP_Param::num_read_only;
 ObjectBuffer_TS<AP_Param::param_save> AP_Param::save_queue{30};
 bool AP_Param::registered_save_handler;
 
+bool AP_Param::done_all_default_params;
+
 AP_Param::defaults_list *AP_Param::default_list;
 
 // we need a dummy object for the parameter save callback
@@ -1689,6 +1691,13 @@ void AP_Param::load_object_from_eeprom(const void *object_pointer, const struct
         }
     }
 
+    if (!done_all_default_params) {
+        /*
+          the new subtree may need defaults from defaults.parm
+         */
+        reload_defaults_file(false);
+    }
+
     // reset cached param counter as we may be loading a dynamic var_info
     invalidate_count();
 }
@@ -2250,6 +2259,7 @@ bool AP_Param::read_param_defaults_file(const char *filename, bool last_pass, ui
         return false;
     }
 
+    bool done_all = true;
     char line[100];
     while (AP::FS().fgets(line, sizeof(line)-1, file_apfs)) {
         char *pname;
@@ -2270,6 +2280,7 @@ bool AP_Param::read_param_defaults_file(const char *filename, bool last_pass, ui
                          pname, filename);
 #endif
             }
+            done_all = false;
             continue;
         }
         if (idx >= param_overrides_len) {
@@ -2289,6 +2300,8 @@ bool AP_Param::read_param_defaults_file(const char *filename, bool last_pass, ui
     }
     AP::FS().close(file_apfs);
 
+    done_all_default_params = done_all;
+
     return true;
 }
 
diff --git a/libraries/AP_Param/AP_Param.h b/libraries/AP_Param/AP_Param.h
index 4fed080f07e663..85d533c1fd1487 100644
--- a/libraries/AP_Param/AP_Param.h
+++ b/libraries/AP_Param/AP_Param.h
@@ -636,6 +636,11 @@ class AP_Param
 
     static uint16_t             _frame_type_flags;
 
+    /*
+      this is true if when scanning a defaults file we find all of the parameters
+     */
+    static bool done_all_default_params;
+
     /*
       structure for built-in defaults file that can be modified using apj_tool.py
      */

From 1e4f597e02cb66e70a9cf0b617335c64d602a2e9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 28 Jan 2024 11:41:02 +1100
Subject: [PATCH 0944/1335] HAL_ChibiOS: fixed support for STM32H7A3

need to tell ChibiOS this is a newer H7
---
 libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_A3_mcuconf.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_A3_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_A3_mcuconf.h
index 7ca99ab4a104f4..6472f71a67b813 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_A3_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_A3_mcuconf.h
@@ -18,6 +18,9 @@
  */
 #pragma once
 
+// this is a newer H7 varient
+#define STM32_ENFORCE_H7_REV_XY
+
 // MPU region for ethernet
 #define STM32_NOCACHE_MPU_REGION_ETH            MPU_REGION_2
 

From 4f327e44eaa42dd88ac5402b3affdd4707d26450 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 3 Feb 2024 14:23:05 +1100
Subject: [PATCH 0945/1335] Plane: fixed handling of arming with safety on

if safety is on and you force arm them turn safety off then Q modes
cannot run the motors as the AP_Motors armed state will still be off.

This ensures that the motors are armed immediately we arm. This
matches what copter does when arming with safety on
---
 ArduPlane/AP_Arming.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index 28c8e8e2354a68..d7ecaa03fad0af 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -294,7 +294,7 @@ void AP_Arming_Plane::change_arm_state(void)
 {
     update_soft_armed();
 #if HAL_QUADPLANE_ENABLED
-    plane.quadplane.set_armed(is_armed_and_safety_off());
+    plane.quadplane.set_armed(hal.util->get_soft_armed());
 #endif
 }
 

From 85439360d79872d08501de099cdae64224846c60 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 2 Feb 2024 17:03:47 +1100
Subject: [PATCH 0946/1335] HAL_ChibiOS: fixed I2C4 on STM32G4

---
 libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
index 96a3673148afe9..0988076775b198 100755
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
@@ -67,9 +67,9 @@ def can_share(periph, noshare_list):
     return False
 
 
-# list of peripherals on H7 that are on DMAMUX2 and BDMA
+# list of peripherals that are on DMAMUX2 and BDMA
 have_DMAMUX = False
-DMAMUX2_peripherals = [ 'I2C4', 'SPI6', 'ADC3' ]
+DMAMUX2_peripherals = []
 
 def dmamux_channel(key):
     '''return DMAMUX channel for H7'''
@@ -298,6 +298,10 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
     global dma_map, have_DMAMUX, has_bdshot
     timer_ch_periph = []
 
+    if mcu_type.startswith('STM32H7'):
+        global DMAMUX2_peripherals
+        DMAMUX2_peripherals = [ 'I2C4', 'SPI6', 'ADC3' ]
+
     has_bdshot = False
 
     # form a list of DMA priorities

From 0d26118b128ad147f3f681c90132a2fe6e3f9353 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Feb 2024 16:45:16 +1100
Subject: [PATCH 0947/1335] hwdef: tidy AP_Radio includes

---
 libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat | 4 ++++
 libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/hwdef.dat   | 5 +++++
 libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat     | 3 +++
 3 files changed, 12 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat
index acad0918627d0f..602edd8721cb7f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat
@@ -110,6 +110,10 @@ IMU Invensense SPI:icm20789 ROTATION_NONE
 define HAL_GPIO_RADIO_IRQ 100
 
 define HAL_RCINPUT_WITH_AP_RADIO 1
+define AP_RADIO_BACKEND_DEFAULT_ENABLED 0
+define AP_RADIO_CC2500_ENABLED 1
+define AP_RADIO_CYRF6936_ENABLED 1
+
 STORAGE_FLASH_PAGE	 1
 define HAL_STORAGE_SIZE 15360
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/hwdef.dat
index 67af5681fe33db..5a3282bd63e638 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/hwdef.dat
@@ -100,6 +100,11 @@ IMU Invensense I2C:1:0x68 ROTATION_NONE
 define HAL_GPIO_RADIO_IRQ 100
 
 define HAL_RCINPUT_WITH_AP_RADIO 1
+define AP_RADIO_BACKEND_DEFAULT_ENABLED 0
+define AP_RADIO_CC2500_ENABLED 1
+define AP_RADIO_CYRF6936_ENABLED 1
+define AP_RADIO_BK2425_ENABLED 1
+
 STORAGE_FLASH_PAGE	 1
 define HAL_STORAGE_SIZE 15360
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat
index 7ca9230dffddbd..88a6bf4711a66b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat
@@ -32,6 +32,9 @@ SERIAL_ORDER OTG1 USART2 EMPTY UART4
 
 # enable AP_Radio support
 define HAL_RCINPUT_WITH_AP_RADIO 1
+define AP_RADIO_BACKEND_DEFAULT_ENABLED 0
+define AP_RADIO_CC2500_ENABLED 1
+define AP_RADIO_CYRF6936_ENABLED 1
 
 define HAL_GPIO_RADIO_RESET      1 // PB0 GPIO from FMU3
 

From 49b4a74641089aacdfea5c513d24bfab2f24dc92 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Feb 2024 16:45:16 +1100
Subject: [PATCH 0948/1335] AP_Radio: tidy AP_Radio includes

---
 libraries/AP_Radio/AP_Radio.cpp         | 25 +++++++++++--------------
 libraries/AP_Radio/AP_Radio.h           |  6 ++++++
 libraries/AP_Radio/AP_Radio_backend.cpp |  6 ++++++
 libraries/AP_Radio/AP_Radio_backend.h   |  6 ++++++
 libraries/AP_Radio/AP_Radio_bk2425.cpp  | 11 +++++------
 libraries/AP_Radio/AP_Radio_bk2425.h    |  7 +++++--
 libraries/AP_Radio/AP_Radio_cc2500.h    |  9 ++++++---
 libraries/AP_Radio/AP_Radio_config.h    | 23 +++++++++++++++++++++++
 libraries/AP_Radio/AP_Radio_cypress.cpp |  9 +++++----
 libraries/AP_Radio/AP_Radio_cypress.h   |  6 ++++--
 libraries/AP_Radio/driver_bk2425.cpp    |  8 +++++---
 libraries/AP_Radio/driver_bk2425.h      |  8 +++++---
 12 files changed, 87 insertions(+), 37 deletions(-)
 create mode 100644 libraries/AP_Radio/AP_Radio_config.h

diff --git a/libraries/AP_Radio/AP_Radio.cpp b/libraries/AP_Radio/AP_Radio.cpp
index ae7f805922a8aa..5afaa5764b6032 100644
--- a/libraries/AP_Radio/AP_Radio.cpp
+++ b/libraries/AP_Radio/AP_Radio.cpp
@@ -1,6 +1,8 @@
-#include <AP_HAL/AP_HAL.h>
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_ENABLED
 
-#if HAL_RCINPUT_WITH_AP_RADIO
+#include <AP_HAL/AP_HAL.h>
 
 #include "AP_Radio.h"
 #include "AP_Radio_backend.h"
@@ -151,40 +153,36 @@ AP_Radio::AP_Radio(void)
 bool AP_Radio::init(void)
 {
     switch (radio_type) {
-#if (not defined AP_RADIO_CYRF6936 || AP_RADIO_CYRF6936)
+#if AP_RADIO_CYRF6936_ENABLED
     case RADIO_TYPE_CYRF6936:
         driver = new AP_Radio_cypress(*this);
         break;
 #endif
-#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-#if (not defined AP_RADIO_CC2500 || AP_RADIO_CC2500)
+#if AP_RADIO_CC2500_ENABLED
     case RADIO_TYPE_CC2500:
         driver = new AP_Radio_cc2500(*this);
         break;
 #endif
-#endif
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
-#if (not defined AP_RADIO_BK2425 || AP_RADIO_BK2425)
+#if AP_RADIO_BK2425_ENABLED
     case RADIO_TYPE_BK2425:
         driver = new AP_Radio_beken(*this);
         break;
 #endif
-#endif
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
     case RADIO_TYPE_AUTO:
         // auto-detect between cc2500 and beken radios
-#if (not defined AP_RADIO_CC2500 || AP_RADIO_CC2500)
+#if AP_RADIO_CC2500_ENABLED
         if (AP_Radio_cc2500::probe()) {
             driver = new AP_Radio_cc2500(*this);
         }
 #endif
-#if (not defined AP_RADIO_BK2425 || AP_RADIO_BK2425)
+#if AP_RADIO_BK2425_ENABLED
         if (driver == nullptr) {
             driver = new AP_Radio_beken(*this);
         }
 #endif
         break;
-#endif
+#endif  // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
     default:
         break;
     }
@@ -301,5 +299,4 @@ void AP_Radio::change_txmode(void)
     }
 }
 
-#endif // HAL_RCINPUT_WITH_AP_RADIO
-
+#endif  // AP_RADIO_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio.h b/libraries/AP_Radio/AP_Radio.h
index 0095457de26d33..450bcecd4a781c 100644
--- a/libraries/AP_Radio/AP_Radio.h
+++ b/libraries/AP_Radio/AP_Radio.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_ENABLED
+
 /*
  * base class for direct attached radios
  */
@@ -128,3 +132,5 @@ class AP_Radio
 
     static AP_Radio *_singleton;
 };
+
+#endif  // AP_RADIO_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio_backend.cpp b/libraries/AP_Radio/AP_Radio_backend.cpp
index b30a509d972ef2..f3dcdaf2de2ef7 100644
--- a/libraries/AP_Radio/AP_Radio_backend.cpp
+++ b/libraries/AP_Radio/AP_Radio_backend.cpp
@@ -16,6 +16,10 @@
  * backend class for direct attached radios
  */
 
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include "AP_Radio_backend.h"
 
@@ -27,3 +31,5 @@ AP_Radio_backend::AP_Radio_backend(AP_Radio &_radio) :
 AP_Radio_backend::~AP_Radio_backend(void)
 {
 }
+
+#endif  // AP_RADIO_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio_backend.h b/libraries/AP_Radio/AP_Radio_backend.h
index a1fd9e168e8de8..f360224603aa3e 100644
--- a/libraries/AP_Radio/AP_Radio_backend.h
+++ b/libraries/AP_Radio/AP_Radio_backend.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_ENABLED
+
 /*
  * backend class for direct attached radios
  */
@@ -156,3 +160,5 @@ class AP_Radio_backend
 
     AP_Radio &radio;
 };
+
+#endif  // AP_RADIO_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio_bk2425.cpp b/libraries/AP_Radio/AP_Radio_bk2425.cpp
index 46c4ca079cabc1..2ed5b64f1b710a 100644
--- a/libraries/AP_Radio/AP_Radio_bk2425.cpp
+++ b/libraries/AP_Radio/AP_Radio_bk2425.cpp
@@ -1,3 +1,7 @@
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_BK2425_ENABLED
+
 /*
   driver for Beken_2425 radio
  */
@@ -5,8 +9,6 @@
 
 //#pragma GCC optimize("O0")
 
-#if defined(HAL_RCINPUT_WITH_AP_RADIO) && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
-
 #include <AP_Math/AP_Math.h>
 #include "AP_Radio_bk2425.h"
 #include <utility>
@@ -1421,7 +1423,4 @@ void SyncAdaptive::Miss(uint8_t channel)
     }
 }
 
-
-
-#endif // HAL_RCINPUT_WITH_AP_RADIO
-
+#endif // AP_RADIO_BK2425_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio_bk2425.h b/libraries/AP_Radio/AP_Radio_bk2425.h
index 5d35e250d7c3e1..4481b707791342 100644
--- a/libraries/AP_Radio/AP_Radio_bk2425.h
+++ b/libraries/AP_Radio/AP_Radio_bk2425.h
@@ -20,9 +20,12 @@
   With thanks to cleanflight and betaflight projects
  */
 
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_BK2425_ENABLED
+
 #include "AP_Radio_backend.h"
 
-#if defined(HAL_RCINPUT_WITH_AP_RADIO) && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
 #include "hal.h"
 #include "telem_structure.h"
 #include "driver_bk2425.h"
@@ -258,4 +261,4 @@ class AP_Radio_beken : public AP_Radio_backend
     uint8_t myDroneId[4]; // CRC of the flight boards UUID, to inform the tx
 };
 
-#endif // HAL_RCINPUT_WITH_AP_RADIO
+#endif // AP_RADIO_BK2425_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio_cc2500.h b/libraries/AP_Radio/AP_Radio_cc2500.h
index 1ddc608173ad32..b5eedad3fd36a6 100644
--- a/libraries/AP_Radio/AP_Radio_cc2500.h
+++ b/libraries/AP_Radio/AP_Radio_cc2500.h
@@ -20,8 +20,12 @@
   With thanks to cleanflight and betaflight projects
  */
 
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_CC2500_ENABLED
+
 #include "AP_Radio_backend.h"
-#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+
 #include "hal.h"
 #include "telem_structure.h"
 #include "driver_cc2500.h"
@@ -226,5 +230,4 @@ class AP_Radio_cc2500 : public AP_Radio_backend
 };
 
 
-#endif // CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-
+#endif // AP_RADIO_CC2500_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio_config.h b/libraries/AP_Radio/AP_Radio_config.h
new file mode 100644
index 00000000000000..92ab9fbd789a29
--- /dev/null
+++ b/libraries/AP_Radio/AP_Radio_config.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_RADIO_ENABLED
+#define AP_RADIO_ENABLED HAL_RCINPUT_WITH_AP_RADIO
+#endif
+
+#ifndef AP_RADIO_BACKEND_DEFAULT_ENABLED
+#define AP_RADIO_BACKEND_DEFAULT_ENABLED AP_RADIO_ENABLED
+#endif
+
+#ifndef AP_RADIO_CC2500_ENABLED
+#define AP_RADIO_CC2500_ENABLED AP_RADIO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RADIO_CYRF6936_ENABLED
+#define AP_RADIO_CYRF6936_ENABLED AP_RADIO_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RADIO_BK2425_ENABLED
+#define AP_RADIO_BK2425_ENABLED AP_RADIO_BACKEND_DEFAULT_ENABLED
+#endif
diff --git a/libraries/AP_Radio/AP_Radio_cypress.cpp b/libraries/AP_Radio/AP_Radio_cypress.cpp
index ff6f99b4b65ef6..7d3d2101be0fa2 100644
--- a/libraries/AP_Radio/AP_Radio_cypress.cpp
+++ b/libraries/AP_Radio/AP_Radio_cypress.cpp
@@ -1,6 +1,8 @@
-#include <AP_HAL/AP_HAL.h>
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_CYRF6936_ENABLED
 
-#if HAL_RCINPUT_WITH_AP_RADIO
+#include <AP_HAL/AP_HAL.h>
 
 #include <AP_Math/AP_Math.h>
 #include "AP_Radio_cypress.h"
@@ -1681,5 +1683,4 @@ void AP_Radio_cypress::handle_data_packet(mavlink_channel_t chan, const mavlink_
     }
 }
 
-#endif // HAL_RCINPUT_WITH_AP_RADIO
-
+#endif  // AP_RADIO_CYRF6936_ENABLED
diff --git a/libraries/AP_Radio/AP_Radio_cypress.h b/libraries/AP_Radio/AP_Radio_cypress.h
index 15c63d528d7071..504f9737e9b3c2 100644
--- a/libraries/AP_Radio/AP_Radio_cypress.h
+++ b/libraries/AP_Radio/AP_Radio_cypress.h
@@ -14,7 +14,9 @@
  */
 #pragma once
 
-#if HAL_RCINPUT_WITH_AP_RADIO
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_CYRF6936_ENABLED
 
 /*
   AP_Radio implementation for Cypress 2.4GHz radio.
@@ -279,4 +281,4 @@ class AP_Radio_cypress : public AP_Radio_backend
     void setup_timeout(uint32_t timeout_ms);
 };
 
-#endif
+#endif  // AP_RADIO_CYRPRESS_ENABLED
diff --git a/libraries/AP_Radio/driver_bk2425.cpp b/libraries/AP_Radio/driver_bk2425.cpp
index 04452cde2beda5..4fb08653c887d5 100644
--- a/libraries/AP_Radio/driver_bk2425.cpp
+++ b/libraries/AP_Radio/driver_bk2425.cpp
@@ -1,11 +1,13 @@
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_BK2425_ENABLED
+
 // --------------------------------------------------------------------
 //  low level driver for the beken radio on SPI
 // --------------------------------------------------------------------
 
 #include "driver_bk2425.h"
 
-#if defined(HAL_RCINPUT_WITH_AP_RADIO) && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
-
 #include <utility>
 #include <AP_HAL_ChibiOS/AP_HAL_ChibiOS.h>
 using namespace ChibiOS;
@@ -722,4 +724,4 @@ void Radio_Beken::DumpRegisters(void)
     SetRBank(0);
 }
 
-#endif // HAL_RCINPUT_WITH_AP_RADIO
+#endif // AP_RADIO_BK2425_ENABLED
diff --git a/libraries/AP_Radio/driver_bk2425.h b/libraries/AP_Radio/driver_bk2425.h
index 14fbf5a264a147..9352a21ff75308 100644
--- a/libraries/AP_Radio/driver_bk2425.h
+++ b/libraries/AP_Radio/driver_bk2425.h
@@ -6,9 +6,11 @@
 
 #pragma once
 
-#include <AP_HAL/AP_HAL.h>
+#include "AP_Radio_config.h"
+
+#if AP_RADIO_BK2425_ENABLED
 
-#if defined(HAL_RCINPUT_WITH_AP_RADIO) && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
+#include <AP_HAL/AP_HAL.h>
 
 #define SUPPORT_BK_DEBUG_PINS 0 // 0=UART6 is for GPS, 1=UART6 is debug gpio
 #define TX_SPEED 250u // Default transmit speed in kilobits per second.
@@ -414,4 +416,4 @@ class Radio_Beken
     BkRadioMode bkMode;
 };
 
-#endif
+#endif  // AP_RADIO_BK2425_ENABLED

From 2ca6ea4ffdc1b02a26bdd1033feec218162ff6ee Mon Sep 17 00:00:00 2001
From: Richard Allen <rsaxvc@rsaxvc.net>
Date: Sun, 4 Feb 2024 10:56:00 -0600
Subject: [PATCH 0949/1335] README: Fix broken link to CI unit test

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 7b603fc1632425..e015b750ff32b0 100644
--- a/README.md
+++ b/README.md
@@ -6,7 +6,7 @@
 
 [![Test AP_Periph](https://github.com/ArduPilot/ardupilot/workflows/test%20ap_periph/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_sitl_periph.yml) [![Test Chibios](https://github.com/ArduPilot/ardupilot/workflows/test%20chibios/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_chibios.yml) [![Test Linux SBC](https://github.com/ArduPilot/ardupilot/workflows/test%20Linux%20SBC/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_linux_sbc.yml) [![Test Replay](https://github.com/ArduPilot/ardupilot/workflows/test%20replay/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_replay.yml)
 
-[![Test Unit Tests](https://github.com/ArduPilot/ardupilot/workflows/test%20unit%20tests/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_unit_tests.yml) [![test size](https://github.com/ArduPilot/ardupilot/actions/workflows/test_size.yml/badge.svg)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_size.yml)
+[![Test Unit Tests](https://github.com/ArduPilot/ardupilot/workflows/test%20unit%20tests%20and%20sitl%20building/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_unit_tests.yml)[![test size](https://github.com/ArduPilot/ardupilot/actions/workflows/test_size.yml/badge.svg)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_size.yml)
 
 [![Test Environment Setup](https://github.com/ArduPilot/ardupilot/actions/workflows/test_environment.yml/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_environment.yml)
 

From 45ca3ad4bb0673d1d6ce378afe4ac87329488941 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 31 Jan 2024 15:06:44 +1100
Subject: [PATCH 0950/1335] HAL_Linux: fixed time function to use integer maths

avoid floating point rounding errors after long uptimes.

thanks to Richard (RSAXVC) for finding this
---
 libraries/AP_HAL_Linux/system.cpp | 28 ++++++++++++----------------
 1 file changed, 12 insertions(+), 16 deletions(-)

diff --git a/libraries/AP_HAL_Linux/system.cpp b/libraries/AP_HAL_Linux/system.cpp
index 0e0bb8e4f73ab2..2bc1641ecf66e6 100644
--- a/libraries/AP_HAL_Linux/system.cpp
+++ b/libraries/AP_HAL_Linux/system.cpp
@@ -7,18 +7,26 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/system.h>
 #include <AP_HAL_Linux/Scheduler.h>
+#include <AP_Math/div1000.h>
 
 extern const AP_HAL::HAL& hal;
 
 namespace AP_HAL {
 
 static struct {
-    struct timespec start_time;
+    uint64_t start_time_ns;
 } state;
 
+static uint64_t ts_to_nsec(struct timespec &ts)
+{
+    return ts.tv_sec*1000000000ULL + ts.tv_nsec;
+}
+
 void init()
 {
-    clock_gettime(CLOCK_MONOTONIC, &state.start_time);
+    struct timespec ts {};
+    clock_gettime(CLOCK_MONOTONIC, &ts);
+    state.start_time_ns = ts_to_nsec(ts);
 }
 
 void WEAK panic(const char *errormsg, ...)
@@ -59,24 +67,12 @@ uint64_t micros64()
 
     struct timespec ts;
     clock_gettime(CLOCK_MONOTONIC, &ts);
-    return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
-                  (state.start_time.tv_sec +
-                   (state.start_time.tv_nsec*1.0e-9)));
+    return uint64_div1000(ts_to_nsec(ts) - state.start_time_ns);
 }
 
 uint64_t millis64()
 {
-    const Linux::Scheduler* scheduler = Linux::Scheduler::from(hal.scheduler);
-    uint64_t stopped_usec = scheduler->stopped_clock_usec();
-    if (stopped_usec) {
-        return stopped_usec / 1000;
-    }
-
-    struct timespec ts;
-    clock_gettime(CLOCK_MONOTONIC, &ts);
-    return 1.0e3*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
-                  (state.start_time.tv_sec +
-                   (state.start_time.tv_nsec*1.0e-9)));
+    return uint64_div1000(micros64());
 }
 
 } // namespace AP_HAL

From c26f6d0a9870ade0bcc6e60018260edb66696d00 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 5 Feb 2024 14:30:09 +1100
Subject: [PATCH 0951/1335] HAL_SITL: use integer maths for clocks

same fix as for HAL_Linux
---
 libraries/AP_HAL_SITL/system.cpp | 20 ++++++++++++--------
 1 file changed, 12 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_HAL_SITL/system.cpp b/libraries/AP_HAL_SITL/system.cpp
index 1e4a59be2019ec..81c5b4941b0c07 100644
--- a/libraries/AP_HAL_SITL/system.cpp
+++ b/libraries/AP_HAL_SITL/system.cpp
@@ -18,12 +18,19 @@ using HALSITL::Scheduler;
 namespace AP_HAL {
 
 static struct {
-    struct timeval start_time;
+    uint64_t start_time_ns;
 } state;
 
+static uint64_t ts_to_nsec(struct timespec &ts)
+{
+    return ts.tv_sec*1000000000ULL + ts.tv_nsec;
+}
+    
 void init()
 {
-    gettimeofday(&state.start_time, nullptr);
+    struct timespec ts {};
+    clock_gettime(CLOCK_MONOTONIC, &ts);
+    state.start_time_ns = ts_to_nsec(ts);
 }
 
 #if defined(__CYGWIN__) || defined(__CYGWIN64__) || defined(CYGWIN_BUILD)
@@ -170,12 +177,9 @@ uint64_t micros64()
         return stopped_usec;
     }
 
-    struct timeval tp;
-    gettimeofday(&tp, nullptr);
-    uint64_t ret = 1.0e6 * ((tp.tv_sec + (tp.tv_usec * 1.0e-6)) -
-                            (state.start_time.tv_sec +
-                             (state.start_time.tv_usec * 1.0e-6)));
-    return ret;
+    struct timespec ts;
+    clock_gettime(CLOCK_MONOTONIC, &ts);
+    return uint64_div1000(ts_to_nsec(ts) - state.start_time_ns);
 }
 
 uint64_t millis64()

From 1f2b9df2903d5815b9478896eb44d93b2a69337b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 5 Feb 2024 14:38:40 +1100
Subject: [PATCH 0952/1335] HAL_Linux: fixed float calc of time for onboard
 flow

---
 libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp b/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
index 981afc77bbaa8a..9f597ace534133 100644
--- a/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
+++ b/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
@@ -220,7 +220,7 @@ void OpticalFlow_Onboard::push_gyro(float gyro_x, float gyro_y, float dt)
     _integrated_gyro.x += (gyro_x - _gyro_bias.x) * dt;
     _integrated_gyro.y += (gyro_y - _gyro_bias.y) * dt;
     sample.gyro = _integrated_gyro;
-    sample.time_us = 1.0e6 * (ts.tv_sec + (ts.tv_nsec*1.0e-9));
+    sample.time_us = ts.tv_sec*1000000ULL + ts.tv_nsec/1000ULL;
 
     _gyro_ring_buffer->push(sample);
 }

From d5ba0b6302050dee76f7d15c71f358c7f7b7fc66 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 1 Feb 2024 13:51:02 +0000
Subject: [PATCH 0953/1335] AP_RCProtocol: discriminate GHST and CRSF based on
 first byte

do not change to GHST baudrate unless it has been specifically configured
---
 libraries/AP_RCProtocol/AP_RCProtocol_Backend.h |  4 ++++
 libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp  |  6 +++++-
 libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp  | 11 ++++++++---
 3 files changed, 17 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
index e0a128dc30a3cd..18aeb33cff90b9 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
@@ -67,6 +67,10 @@ class AP_RCProtocol_Backend {
         return frontend.rc_protocols_mask;
     }
 
+    bool protocol_enabled(enum AP_RCProtocol::rcprotocol_t protocol) const {
+        return frontend.protocol_enabled(protocol);
+    }
+
     // get RSSI
     int16_t get_RSSI(void) const {
         return rssi;
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
index b9d68b63900b5a..2fd5a35a546c73 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
@@ -238,6 +238,10 @@ void AP_RCProtocol_CRSF::_process_byte(uint32_t timestamp_us, uint8_t byte)
         return;
     }
 
+    if (_frame.device_address != DeviceAddress::CRSF_ADDRESS_FLIGHT_CONTROLLER) {
+        return;
+    }
+
     // parse the length
     if (_frame_ofs == CSRF_HEADER_TYPE_LEN) {
         _frame_crc = crc8_dvb_s2(0, _frame.type);
@@ -617,7 +621,7 @@ void AP_RCProtocol_CRSF::process_handshake(uint32_t baudrate)
         || baudrate != CRSF_BAUDRATE
         || baudrate == get_bootstrap_baud_rate()
         || uart->get_baud_rate() == get_bootstrap_baud_rate()
-        || (get_rc_protocols_mask() & ((1U<<(uint8_t(AP_RCProtocol::CRSF)+1))+1)) == 0) {
+        || !protocol_enabled(AP_RCProtocol::CRSF)) {
         return;
     }
 
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
index 9a8a68f871383f..a51c9dd795c88d 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
@@ -152,6 +152,10 @@ void AP_RCProtocol_GHST::_process_byte(uint32_t timestamp_us, uint8_t byte)
         return;
     }
 
+    if (_frame.device_address != DeviceAddress::GHST_ADDRESS_FLIGHT_CONTROLLER) {
+        return;
+    }
+
     // parse the length
     if (_frame_ofs == GHST_HEADER_TYPE_LEN) {
         _frame_crc = crc8_dvb_s2(0, _frame.type);
@@ -421,17 +425,18 @@ void AP_RCProtocol_GHST::process_byte(uint8_t byte, uint32_t baudrate)
     _process_byte(AP_HAL::micros(), byte);
 }
 
-// change the bootstrap baud rate to ELRS standard if configured
+// change the bootstrap baud rate to Ghost standard if configured
 void AP_RCProtocol_GHST::process_handshake(uint32_t baudrate)
 {
     AP_HAL::UARTDriver *uart = get_current_UART();
 
-    // only change the baudrate if we are bootstrapping CRSF
+    // only change the baudrate if we are specifically bootstrapping Ghost
     if (uart == nullptr
         || baudrate != CRSF_BAUDRATE
         || baudrate == GHST_BAUDRATE
         || uart->get_baud_rate() == GHST_BAUDRATE
-        || (get_rc_protocols_mask() & ((1U<<(uint8_t(AP_RCProtocol::GHST)+1))+1)) == 0) {
+        || !protocol_enabled(AP_RCProtocol::GHST)
+        || protocol_enabled(AP_RCProtocol::CRSF)) {
         return;
     }
 

From 0cdfdc6234dd982cf886f6164927306dfebb7d9f Mon Sep 17 00:00:00 2001
From: rishabsingh3003 <rishabh.singh100358@gmail.com>
Date: Tue, 19 Dec 2023 23:14:32 +0530
Subject: [PATCH 0954/1335] AP_CANMangaer: Add support for CAN MR72

---
 libraries/AP_CANManager/AP_CAN.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_CANManager/AP_CAN.h b/libraries/AP_CANManager/AP_CAN.h
index 53e7ccb14fea94..dff85215c15fa9 100644
--- a/libraries/AP_CANManager/AP_CAN.h
+++ b/libraries/AP_CANManager/AP_CAN.h
@@ -29,5 +29,6 @@ class AP_CAN {
         Scripting2 = 12,
         TOFSenseP = 13,
         NanoRadar_NRA24 = 14,
+        MR72 = 15,
     };
 };

From b8d08a721145026b3e3c0e556af3e88313c53c82 Mon Sep 17 00:00:00 2001
From: rishabsingh3003 <rishabh.singh100358@gmail.com>
Date: Tue, 19 Dec 2023 23:14:50 +0530
Subject: [PATCH 0955/1335] AP_Proximity: Add support for CAN MR72

---
 libraries/AP_Proximity/AP_Proximity.cpp       |  32 ++++
 libraries/AP_Proximity/AP_Proximity.h         |   7 +
 .../AP_Proximity/AP_Proximity_MR72_CAN.cpp    | 146 ++++++++++++++++++
 .../AP_Proximity/AP_Proximity_MR72_CAN.h      |  68 ++++++++
 .../AP_Proximity/AP_Proximity_Params.cpp      |   2 +-
 libraries/AP_Proximity/AP_Proximity_config.h  |   5 +
 6 files changed, 259 insertions(+), 1 deletion(-)
 create mode 100644 libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp
 create mode 100644 libraries/AP_Proximity/AP_Proximity_MR72_CAN.h

diff --git a/libraries/AP_Proximity/AP_Proximity.cpp b/libraries/AP_Proximity/AP_Proximity.cpp
index ac1d6786e6c6ba..82dc97e7919d06 100644
--- a/libraries/AP_Proximity/AP_Proximity.cpp
+++ b/libraries/AP_Proximity/AP_Proximity.cpp
@@ -30,6 +30,8 @@
 #include "AP_Proximity_DroneCAN.h"
 #include "AP_Proximity_Scripting.h"
 #include "AP_Proximity_LD06.h"
+#include "AP_Proximity_MR72_CAN.h"
+
 
 #include <AP_Logger/AP_Logger.h>
 
@@ -81,27 +83,45 @@ const AP_Param::GroupInfo AP_Proximity::var_info[] = {
     // @Path: AP_Proximity_Params.cpp
     AP_SUBGROUPINFO(params[0], "1", 21, AP_Proximity, AP_Proximity_Params),
 
+    // @Group: 1_
+    // @Path: AP_Proximity_MR72_CAN.cpp
+    AP_SUBGROUPVARPTR(drivers[0], "1_",  26, AP_Proximity, backend_var_info[0]),
+
 #if PROXIMITY_MAX_INSTANCES > 1
     // @Group: 2
     // @Path: AP_Proximity_Params.cpp
     AP_SUBGROUPINFO(params[1], "2", 22, AP_Proximity, AP_Proximity_Params),
+
+    // @Group: 2_
+    // @Path: AP_Proximity_MR72_CAN.cpp
+    AP_SUBGROUPVARPTR(drivers[1], "2_",  27, AP_Proximity, backend_var_info[1]),
 #endif
 
 #if PROXIMITY_MAX_INSTANCES > 2
     // @Group: 3
     // @Path: AP_Proximity_Params.cpp
     AP_SUBGROUPINFO(params[2], "3", 23, AP_Proximity, AP_Proximity_Params),
+
+    // @Group: 3_
+    // @Path: AP_Proximity_MR72_CAN.cpp
+    AP_SUBGROUPVARPTR(drivers[2], "3_",  28, AP_Proximity, backend_var_info[2]),
 #endif
 
 #if PROXIMITY_MAX_INSTANCES > 3
     // @Group: 4
     // @Path: AP_Proximity_Params.cpp
     AP_SUBGROUPINFO(params[3], "4", 24, AP_Proximity, AP_Proximity_Params),
+
+    // @Group: 4_
+    // @Path: AP_Proximity_MR72_CAN.cpp
+    AP_SUBGROUPVARPTR(drivers[3], "4_",  29, AP_Proximity, backend_var_info[3]),
 #endif
 
     AP_GROUPEND
 };
 
+const AP_Param::GroupInfo *AP_Proximity::backend_var_info[PROXIMITY_MAX_INSTANCES];
+
 AP_Proximity::AP_Proximity()
 {
     AP_Param::setup_object_defaults(this, var_info);
@@ -206,6 +226,12 @@ void AP_Proximity::init()
             drivers[instance] = new AP_Proximity_Scripting(*this, state[instance], params[instance]);
         break;
 #endif
+#if AP_PROXIMITY_MR72_ENABLED
+        case Type::MR72:
+            state[instance].instance = instance;
+            drivers[instance] = new AP_Proximity_MR72_CAN(*this, state[instance], params[instance]);
+            break;
+# endif
 #if AP_PROXIMITY_SITL_ENABLED
         case Type::SITL:
             state[instance].instance = instance;
@@ -237,6 +263,12 @@ void AP_Proximity::init()
 
         // initialise status
         state[instance].status = Status::NotConnected;
+
+        // if the backend has some local parameters then make those available in the tree
+        if (drivers[instance] && state[instance].var_info) {
+            backend_var_info[instance] = state[instance].var_info;
+            AP_Param::load_object_from_eeprom(drivers[instance], backend_var_info[instance]);
+        }
     }
 }
 
diff --git a/libraries/AP_Proximity/AP_Proximity.h b/libraries/AP_Proximity/AP_Proximity.h
index 0363fea8f4da97..92d6f123e07939 100644
--- a/libraries/AP_Proximity/AP_Proximity.h
+++ b/libraries/AP_Proximity/AP_Proximity.h
@@ -86,6 +86,9 @@ class AP_Proximity
 #endif
 #if AP_PROXIMITY_LD06_ENABLED
         LD06 = 16,
+#endif
+#if AP_PROXIMITY_MR72_ENABLED
+        MR72 = 17,
 #endif
     };
 
@@ -179,8 +182,12 @@ class AP_Proximity
     struct Proximity_State {
         uint8_t instance;   // the instance number of this proximity sensor
         Status status;      // sensor status
+
+        const struct AP_Param::GroupInfo *var_info; // stores extra parameter information for the sensor (if it exists)
     };
 
+    static const struct AP_Param::GroupInfo *backend_var_info[PROXIMITY_MAX_INSTANCES];
+
     // parameter list
     static const struct AP_Param::GroupInfo var_info[];
 
diff --git a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp
new file mode 100644
index 00000000000000..4f0225c65bd6cc
--- /dev/null
+++ b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp
@@ -0,0 +1,146 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_MR72_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
+#include "AP_Proximity_MR72_CAN.h"
+
+const AP_Param::GroupInfo AP_Proximity_MR72_CAN::var_info[] = {
+
+    // @Param: RECV_ID
+    // @DisplayName: CAN receive ID
+    // @Description: The receive ID of the CAN frames. A value of zero means all IDs are accepted.
+    // @Range: 0 65535
+    // @User: Advanced
+    AP_GROUPINFO("RECV_ID", 1, AP_Proximity_MR72_CAN, receive_id, 0),
+
+    AP_GROUPEND
+};
+
+MR72_MultiCAN *AP_Proximity_MR72_CAN::multican;
+
+AP_Proximity_MR72_CAN::AP_Proximity_MR72_CAN(AP_Proximity &_frontend,
+                                     AP_Proximity::Proximity_State &_state,
+                                     AP_Proximity_Params& _params):
+    AP_Proximity_Backend(_frontend, _state, _params)
+{
+    if (multican == nullptr) {
+        multican = new MR72_MultiCAN();
+        if (multican == nullptr) {
+            AP_BoardConfig::allocation_error("MR72_CAN");
+        }
+    }
+
+    {
+        // add to linked list of drivers
+        WITH_SEMAPHORE(multican->sem);
+        auto *prev = multican->drivers;
+        next = prev;
+        multican->drivers = this;
+    }
+
+    AP_Param::setup_object_defaults(this, var_info);
+    state.var_info = var_info;
+}
+
+// update state
+void AP_Proximity_MR72_CAN::update(void)
+{
+    WITH_SEMAPHORE(_sem);
+    const uint32_t now = AP_HAL::millis();
+    if (now - last_update_ms > 500) {
+        // no new data.
+        set_status(AP_Proximity::Status::NoData);
+    } else {
+        set_status(AP_Proximity::Status::Good);
+    }
+}
+
+// handler for incoming frames. These come in at 100Hz
+bool AP_Proximity_MR72_CAN::handle_frame(AP_HAL::CANFrame &frame)
+{
+    WITH_SEMAPHORE(_sem);
+
+
+    // check if message is coming from the right sensor ID
+    const uint16_t id = frame.id;
+
+    if (receive_id > 0 && (get_radar_id(frame.id) != uint32_t(receive_id))) {
+        return false;
+    }
+
+    switch (id & 0xFU) {
+    case 0xAU:
+        // number of objects
+        _object_count = frame.data[0];
+        _current_object_index = 0;
+        _temp_boundary.update_3D_boundary(state.instance, frontend.boundary);
+        _temp_boundary.reset();
+        last_update_ms = AP_HAL::millis();
+        break;
+    case 0xBU:
+        // obstacle data
+        parse_distance_message(frame);
+        break;
+    default:
+        break;
+    }
+
+    return true;
+
+}
+
+// parse a distance message from CAN frame
+bool AP_Proximity_MR72_CAN::parse_distance_message(AP_HAL::CANFrame &frame)
+{
+    if (_current_object_index >= _object_count) {
+        // should never happen
+        return false;
+    }
+    _current_object_index++;
+
+    Vector2f obstacle_fr;
+    // This parsing comes from the NanoRadar MR72 datasheet
+    obstacle_fr.x = ((frame.data[2] & 0x07U) * 256 + frame.data[3]) * 0.2 - 204.6;
+    obstacle_fr.y = (frame.data[1] * 32 + (frame.data[2] >> 3)) * 0.2 - 500;
+    const float yaw = correct_angle_for_orientation(wrap_360(degrees(atan2f(obstacle_fr.x, obstacle_fr.y))));
+
+    const float objects_dist = obstacle_fr.length();
+
+    if (ignore_reading(yaw, objects_dist)) {
+        // obstacle is probably near ground or out of range
+        return false;
+    }
+
+    const AP_Proximity_Boundary_3D::Face face = frontend.boundary.get_face(yaw);
+    _temp_boundary.add_distance(face, yaw, objects_dist);
+    return true;
+}
+
+// handle frames from CANSensor, passing to the drivers
+void MR72_MultiCAN::handle_frame(AP_HAL::CANFrame &frame)
+{
+    WITH_SEMAPHORE(sem);
+    for (auto *d = drivers; d; d=d->next) {
+        if (d->handle_frame(frame)) {
+            break;
+        }
+    }
+}
+
+#endif // HAL_PROXIMITY_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h
new file mode 100644
index 00000000000000..e2a3dcbb9df361
--- /dev/null
+++ b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h
@@ -0,0 +1,68 @@
+#pragma once
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_MR72_ENABLED
+
+#include "AP_Proximity.h"
+#include "AP_Proximity_Backend.h"
+#include <AP_HAL/AP_HAL.h>
+#include <AP_CANManager/AP_CANSensor.h>
+
+#define MR72_MAX_RANGE_M             50.0f   // max range of the sensor in meters
+#define MR72_MIN_RANGE_M             0.2f   // min range of the sensor in meters
+
+class MR72_MultiCAN;
+
+class AP_Proximity_MR72_CAN : public AP_Proximity_Backend {
+public:
+    friend class MR72_MultiCAN;
+
+    AP_Proximity_MR72_CAN(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_Proximity_Params& _params);
+
+    void update() override;
+
+    // handler for incoming frames. Return true if consumed
+    bool handle_frame(AP_HAL::CANFrame &frame);
+
+    // parse a distance message from CAN frame
+    bool parse_distance_message(AP_HAL::CANFrame &frame);
+
+    // get maximum and minimum distances (in meters) of sensor
+    float distance_max() const override { return MR72_MAX_RANGE_M; }
+    float distance_min() const override { return MR72_MIN_RANGE_M; }
+
+    static const struct AP_Param::GroupInfo var_info[];
+
+    AP_Proximity_Temp_Boundary _temp_boundary;
+
+private:
+
+    uint32_t get_radar_id(uint32_t id) const { return ((id & 0xF0U) >> 4U); }
+
+    uint32_t _object_count;             // total number of objects to read
+    uint32_t _current_object_index;     // current object index
+    uint32_t last_update_ms;            // last update time in ms
+
+    AP_Int32 receive_id;                // ID of the sensor
+
+    static MR72_MultiCAN *multican;     // linked list
+    AP_Proximity_MR72_CAN *next;
+};
+
+// a class to allow for multiple MR_72 backends with one
+// CANSensor driver
+class MR72_MultiCAN : public CANSensor {
+public:
+    MR72_MultiCAN() : CANSensor("MR72") {
+        register_driver(AP_CAN::Protocol::MR72);
+    }
+
+    // handler for incoming frames
+    void handle_frame(AP_HAL::CANFrame &frame) override;
+
+    HAL_Semaphore sem;
+    AP_Proximity_MR72_CAN *drivers;
+
+};
+
+#endif // HAL_PROXIMITY_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_Params.cpp b/libraries/AP_Proximity/AP_Proximity_Params.cpp
index 046a29c3b71810..ad85936067fe45 100644
--- a/libraries/AP_Proximity/AP_Proximity_Params.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_Params.cpp
@@ -8,7 +8,7 @@ const AP_Param::GroupInfo AP_Proximity_Params::var_info[] = {
     // @Param: _TYPE
     // @DisplayName: Proximity type
     // @Description: What type of proximity sensor is connected
-    // @Values: 0:None,7:LightwareSF40c,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,12:AirSimSITL,13:CygbotD1, 14:DroneCAN, 15:Scripting, 16:LD06
+    // @Values: 0:None,7:LightwareSF40c,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,12:AirSimSITL,13:CygbotD1, 14:DroneCAN, 15:Scripting, 16:LD06, 17: MR72_CAN
     // @RebootRequired: True
     // @User: Standard
     AP_GROUPINFO_FLAGS("_TYPE",   1, AP_Proximity_Params, type, 0, AP_PARAM_FLAG_ENABLE),
diff --git a/libraries/AP_Proximity/AP_Proximity_config.h b/libraries/AP_Proximity/AP_Proximity_config.h
index a2130b0b5c4f25..a05e94b653268c 100644
--- a/libraries/AP_Proximity/AP_Proximity_config.h
+++ b/libraries/AP_Proximity/AP_Proximity_config.h
@@ -37,6 +37,11 @@
 #define AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED
 #endif
 
+
+#ifndef AP_PROXIMITY_MR72_ENABLED
+#define AP_PROXIMITY_MR72_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED && HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif
+
 #ifndef AP_PROXIMITY_SCRIPTING_ENABLED
 #define AP_PROXIMITY_SCRIPTING_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED && AP_SCRIPTING_ENABLED
 #endif

From b2dfd14696bd8234019367d62169106d005c7fd6 Mon Sep 17 00:00:00 2001
From: rishabsingh3003 <rishabh.singh100358@gmail.com>
Date: Tue, 19 Dec 2023 23:15:12 +0530
Subject: [PATCH 0956/1335] AP_Arming: Add check for CAN MR72

---
 libraries/AP_Arming/AP_Arming.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index a2fa77d6e092b1..0b6ae786a2b08f 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -1244,6 +1244,7 @@ bool AP_Arming::can_checks(bool report)
                 case AP_CAN::Protocol::TOFSenseP:
                 case AP_CAN::Protocol::NanoRadar_NRA24:
                 case AP_CAN::Protocol::Benewake:
+                case AP_CAN::Protocol::MR72:
                 {
                     for (uint8_t j = i; j; j--) {
                         if (AP::can().get_driver_type(i) == AP::can().get_driver_type(j-1)) {

From 9961e8c49d48fe9186d77c7d13c0a6149d069b2d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 19:32:18 +1100
Subject: [PATCH 0957/1335] hwdef: remove bad hwdef lines

these have no effect
---
 libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat     | 3 ---
 .../AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat      | 8 --------
 2 files changed, 11 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat
index ea20a6af98b863..f3fee9ff6d7363 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/HEEWING-F405/hwdef.dat
@@ -160,9 +160,6 @@ define HAL_BATT_CURR_SCALE 26.7
 define HAL_WITH_DSP FALSE
 define HAL_GYROFFT_ENABLED 0
 
-# --------------------- save flash ----------------------
-define AP_BATTMON_SMBUS_ENABLE 0
-
 include ../include/minimize_fpv_osd.inc
 include ../include/save_some_flash.inc
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat
index f6052add8b9772..f6842833c8d386 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat
@@ -171,14 +171,6 @@ define STM32_PWM_USE_ADVANCED TRUE
 
 define HAL_WITH_DSP FALSE
 
-# save some flash
-
-# disable SMBUS and fuel battery monitors to save flash
-define AP_BATTMON_SMBUS_ENABLE 0
-define AP_BATTMON_FUEL_ENABLE 0
-define AP_BATTMON_SYNTHETIC_CURRENT_ENABLED 0
-define HAL_BATTMON_INA2XX_ENABLED 0
-
 # disable parachute and sprayer to save flash
 define HAL_PARACHUTE_ENABLED 0
 define HAL_SPRAYER_ENABLED 0

From 1f4c129341c66c6c890eaccbbfcbbf9eb966cc5f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 19:38:49 +1100
Subject: [PATCH 0958/1335] AP_BattMonitor: add and use AP_BATTERY_ENABLED

---
 libraries/AP_BattMonitor/AP_BattMonitor.cpp         | 7 +++++++
 libraries/AP_BattMonitor/AP_BattMonitor.h           | 7 ++++++-
 libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp | 6 ++++++
 libraries/AP_BattMonitor/AP_BattMonitor_Backend.h   | 9 ++++++++-
 libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp | 5 +++--
 libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp  | 6 ++++++
 6 files changed, 36 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.cpp b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
index e62ddc28b112cf..d929b8182a06df 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
@@ -1,4 +1,9 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_ENABLED
+
 #include "AP_BattMonitor.h"
+
 #include "AP_BattMonitor_Analog.h"
 #include "AP_BattMonitor_SMBus.h"
 #include "AP_BattMonitor_SMBus_Solo.h"
@@ -1117,3 +1122,5 @@ AP_BattMonitor &battery()
 }
 
 };
+
+#endif  // AP_BATTERY_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.h b/libraries/AP_BattMonitor/AP_BattMonitor.h
index e9e10b7ef06edb..67c138e5f779fa 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor.h
@@ -1,12 +1,15 @@
 #pragma once
 
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_TemperatureSensor/AP_TemperatureSensor_config.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include "AP_BattMonitor_Params.h"
-#include "AP_BattMonitor_config.h"
 
 // maximum number of battery monitors
 #ifndef AP_BATT_MONITOR_MAX_INSTANCES
@@ -315,3 +318,5 @@ class AP_BattMonitor
 namespace AP {
     AP_BattMonitor &battery();
 };
+
+#endif  // AP_BATTERY_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp
index 842c6ac907852e..195dbded04047e 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp
@@ -13,6 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include "AP_BattMonitor.h"
@@ -334,3 +338,5 @@ void AP_BattMonitor_Backend::update_consumed(AP_BattMonitor::BattMonitor_State &
         state.consumed_wh  += 0.001 * mah * state.voltage;
     }
 }
+
+#endif  // AP_BATTERY_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.h b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
index 907d8712c11748..a33c316d70d7bc 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
@@ -14,9 +14,14 @@
  */
 #pragma once
 
-#include <AP_Common/AP_Common.h>
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_ENABLED
+
 #include "AP_BattMonitor.h"
 
+#include <AP_Common/AP_Common.h>
+
 class AP_BattMonitor_Backend
 {
 public:
@@ -141,3 +146,5 @@ struct BattMonitorScript_State {
     float temperature=nanf(""); // Battery temperature in degrees Celsius
 };
 #endif // AP_BATTERY_SCRIPTING_ENABLED
+
+#endif  // AP_BATTERY_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp
index 4b5d4fe2c57e1d..c7950b847eac2d 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp
@@ -1,6 +1,7 @@
+#include "AP_BattMonitor_config.h"
 #include <AP_Logger/AP_Logger_config.h>
 
-#if HAL_LOGGING_ENABLED
+#if AP_BATTERY_ENABLED && HAL_LOGGING_ENABLED
 
 #include "AP_BattMonitor_Backend.h"
 #include <AP_Logger/AP_Logger.h>
@@ -88,4 +89,4 @@ void AP_BattMonitor_Backend::Log_Write_BCL(const uint8_t instance, const uint64_
 #endif
 }
 
-#endif  // HAL_LOGGING_ENABLED
+#endif  // AP_BATTERY_ENABLED && HAL_LOGGING_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
index 09e1b7ae61bd4f..60cdf5ad769bc5 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp
@@ -1,3 +1,7 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include "AP_BattMonitor_Params.h"
@@ -172,3 +176,5 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
 AP_BattMonitor_Params::AP_BattMonitor_Params(void) {
     AP_Param::setup_object_defaults(this, var_info);
 }
+
+#endif  // AP_BATTERY_ENABLED

From 7f6cb0eab35183afb620e679da487436326d31aa Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 19:38:49 +1100
Subject: [PATCH 0959/1335] AP_Hott_Telem: add and use AP_BATTERY_ENABLED

---
 libraries/AP_Hott_Telem/AP_Hott_Telem.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Hott_Telem/AP_Hott_Telem.cpp b/libraries/AP_Hott_Telem/AP_Hott_Telem.cpp
index 98bff2d86ecbaa..14a2550343614b 100644
--- a/libraries/AP_Hott_Telem/AP_Hott_Telem.cpp
+++ b/libraries/AP_Hott_Telem/AP_Hott_Telem.cpp
@@ -109,6 +109,7 @@ void AP_Hott_Telem::send_EAM(void)
         uint8_t stop_byte = 0x7D;     //#44 stop
     } msg {};
 
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &battery = AP::battery();
     if (battery.num_instances() > 0) {
         msg.batt1_voltage = uint16_t(battery.voltage(0) * 10);
@@ -125,6 +126,7 @@ void AP_Hott_Telem::send_EAM(void)
     if (battery.consumed_mah(used_mah)) {
         msg.batt_used = used_mah * 0.1;
     }
+#endif  // AP_BATTERY_ENABLED
 
     const AP_Baro &baro = AP::baro();
     msg.temp1 = uint8_t(baro.get_temperature(0) + 20.5);

From 55dbee78f8069e80d54cf988943bf414db4a80a6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 19:38:49 +1100
Subject: [PATCH 0960/1335] AP_LTM_Telem: add and use AP_BATTERY_ENABLED

---
 libraries/AP_LTM_Telem/AP_LTM_Telem.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_LTM_Telem/AP_LTM_Telem.cpp b/libraries/AP_LTM_Telem/AP_LTM_Telem.cpp
index d4599d28d16fd4..5d3bdc2f41558a 100644
--- a/libraries/AP_LTM_Telem/AP_LTM_Telem.cpp
+++ b/libraries/AP_LTM_Telem/AP_LTM_Telem.cpp
@@ -116,6 +116,7 @@ void AP_LTM_Telem::send_Gframe(void)
 // Sensors frame
 void AP_LTM_Telem::send_Sframe(void)
 {
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &battery = AP::battery();
     const uint16_t volt = (uint16_t) roundf(battery.voltage() * 1000.0f);              // battery voltage (expects value in mV)
     float current;
@@ -124,6 +125,10 @@ void AP_LTM_Telem::send_Sframe(void)
     }
     // note: max. current value we can send is 65.536 A
     const uint16_t amp = (uint16_t) roundf(current * 100.0f);                          // current sensor (expects value in hundredth of A)
+#else
+    const uint16_t volt = 0;
+    const uint16_t amp = 0;
+#endif
 
     // airspeed in m/s if available and enabled - even if not used - otherwise send 0
     uint8_t airspeed = 0; // airspeed sensor (m/s)

From cfab2e08ef4b11b2b80d9b16d847b79ced493137 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 19:38:49 +1100
Subject: [PATCH 0961/1335] AP_MSP: add and use AP_BATTERY_ENABLED

---
 libraries/AP_MSP/AP_MSP_Telem_Backend.cpp | 35 +++++++++++++++++++++++
 1 file changed, 35 insertions(+)

diff --git a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
index 2f4fe9c63bb188..e2e804d0d21692 100644
--- a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
+++ b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
@@ -66,7 +66,9 @@ void AP_MSP_Telem_Backend::setup_wfq_scheduler(void)
     set_scheduler_entry(ATTITUDE, 200, 200);          // 5Hz  attitude
     set_scheduler_entry(ALTITUDE, 250, 250);          // 4Hz  altitude(cm) and velocity(cm/s)
     set_scheduler_entry(ANALOG, 250, 250);            // 4Hz  rssi + batt
+#if AP_BATTERY_ENABLED
     set_scheduler_entry(BATTERY_STATE, 500, 500);     // 2Hz  battery
+#endif
 #if HAL_WITH_ESC_TELEM
     set_scheduler_entry(ESC_SENSOR_DATA, 500, 500);   // 2Hz  ESC telemetry
 #endif
@@ -114,7 +116,9 @@ bool AP_MSP_Telem_Backend::is_packet_ready(uint8_t idx, bool queue_empty)
     case ATTITUDE:          // Attitude
     case ALTITUDE:          // Altitude and Vario
     case ANALOG:            // Rssi, Battery, mAh, Current
+#if AP_BATTERY_ENABLED
     case BATTERY_STATE:     // voltage, capacity, current, mAh
+#endif
 #if HAL_WITH_ESC_TELEM
     case ESC_SENSOR_DATA:   // esc temp + rpm
 #endif
@@ -155,10 +159,12 @@ void AP_MSP_Telem_Backend::process_packet(uint8_t idx)
     _msp_port.c_state = MSP_IDLE;
 }
 
+#if AP_BATTERY_ENABLED
 uint8_t AP_MSP_Telem_Backend::calc_cell_count(const float battery_voltage)
 {
     return floorf((battery_voltage / CELLFULL) + 1);
 }
+#endif
 
 float AP_MSP_Telem_Backend::get_vspeed_ms(void) const
 {
@@ -215,6 +221,7 @@ void AP_MSP_Telem_Backend::update_gps_state(gps_state_t &gps_state)
     }
 }
 
+#if AP_BATTERY_ENABLED
 void AP_MSP_Telem_Backend::update_battery_state(battery_state_t &battery_state)
 {
     memset(&battery_state, 0, sizeof(battery_state));
@@ -241,6 +248,7 @@ void AP_MSP_Telem_Backend::update_battery_state(battery_state_t &battery_state)
         battery_state.batt_cellcount = cc;
     }
 }
+#endif  // AP_BATTERY_ENABLED
 
 void AP_MSP_Telem_Backend::update_airspeed(airspeed_state_t &airspeed_state)
 {
@@ -334,7 +342,9 @@ void AP_MSP_Telem_Backend::enable_warnings()
         return;
     }
     BIT_SET(msp->_osd_config.enabled_warnings, OSD_WARNING_FAIL_SAFE);
+#if AP_BATTERY_ENABLED
     BIT_SET(msp->_osd_config.enabled_warnings, OSD_WARNING_BATTERY_CRITICAL);
+#endif
 }
 
 void AP_MSP_Telem_Backend::process_incoming_data()
@@ -466,8 +476,10 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_command(uint16_t cmd_msp,
         return msp_process_out_altitude(dst);
     case MSP_ANALOG:
         return msp_process_out_analog(dst);
+#if AP_BATTERY_ENABLED
     case MSP_BATTERY_STATE:
         return msp_process_out_battery_state(dst);
+#endif
     case MSP_UID:
         return msp_process_out_uid(dst);
 #if HAL_WITH_ESC_TELEM
@@ -905,6 +917,7 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_altitude(sbuf_t *dst)
 
 MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_analog(sbuf_t *dst)
 {
+#if AP_BATTERY_ENABLED
     battery_state_t battery_state;
     update_battery_state(battery_state);
 
@@ -922,10 +935,27 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_analog(sbuf_t *dst)
         current_ca : (int16_t)constrain_int32(battery_state.batt_current_a * 100, -0x8000, 0x7FFF),         // current A to cA (0.01 steps, range is -320A to 320A)
         voltage_cv : (uint16_t)constrain_int32(battery_state.batt_voltage_v * 100,0,0xFFFF)                 // battery voltage in 0.01V steps
     };
+#else
+    float rssi;
+    const struct PACKED {
+        uint8_t voltage_dv;
+        uint16_t mah;
+        uint16_t rssi;
+        int16_t current_ca;
+        uint16_t voltage_cv;
+    } analog {
+        voltage_dv : 0,
+        mah : 0,
+        rssi : uint16_t(get_rssi(rssi) ? constrain_float(rssi,0,1) * 1023 : 0),                             // rssi 0-1 to 0-1023)
+        current_ca : 0,
+        voltage_cv : 0
+    };
+#endif
     sbuf_write_data(dst, &analog, sizeof(analog));
     return MSP_RESULT_ACK;
 }
 
+#if AP_BATTERY_ENABLED
 MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_battery_state(sbuf_t *dst)
 {
     const AP_MSP *msp = AP::msp();
@@ -956,6 +986,7 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_battery_state(sbuf_t *dst
     sbuf_write_data(dst, &battery, sizeof(battery));
     return MSP_RESULT_ACK;
 }
+#endif
 
 MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_esc_sensor_data(sbuf_t *dst)
 {
@@ -1104,7 +1135,9 @@ void AP_MSP_Telem_Backend::hide_osd_items(void)
     if (msp == nullptr) {
         return;
     }
+#if AP_BATTERY_ENABLED
     const AP_Notify &notify = AP::notify();
+#endif
     // clear all and only set the flashing ones
     BIT_CLEAR(osd_hidden_items_bitmask, OSD_GPS_SATS);
     BIT_CLEAR(osd_hidden_items_bitmask, OSD_HOME_DIR);
@@ -1146,11 +1179,13 @@ void AP_MSP_Telem_Backend::hide_osd_items(void)
         if (msp->_msp_status.flight_mode_focus) {
             BIT_SET(osd_hidden_items_bitmask, OSD_CRAFT_NAME);
         }
+#if AP_BATTERY_ENABLED
         // flash battery on failsafe
         if (notify.flags.failsafe_battery) {
             BIT_SET(osd_hidden_items_bitmask, OSD_AVG_CELL_VOLTAGE);
             BIT_SET(osd_hidden_items_bitmask, OSD_MAIN_BATT_VOLTAGE);
         }
+#endif
         // flash rtc if no time available
 #if AP_RTC_ENABLED
         uint64_t time_usec;

From 10a815d3a2ff22f414c4b7c3f613ef6db10436a7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 19:38:50 +1100
Subject: [PATCH 0962/1335] AP_Notify: add and use AP_BATTERY_ENABLED

---
 libraries/AP_Notify/Display.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Notify/Display.cpp b/libraries/AP_Notify/Display.cpp
index 301cc862f3cc63..35ecbdb315b670 100644
--- a/libraries/AP_Notify/Display.cpp
+++ b/libraries/AP_Notify/Display.cpp
@@ -406,7 +406,9 @@ void Display::update_all()
 {
     update_text(0);
     update_mode(1);
+#if AP_BATTERY_ENABLED
     update_battery(2);
+#endif
 #if AP_GPS_ENABLED
     update_gps(3);
 #endif
@@ -530,6 +532,7 @@ void Display::update_ekf(uint8_t r)
     }
 }
 
+#if AP_BATTERY_ENABLED
 void Display::update_battery(uint8_t r)
 {
     char msg [DISPLAY_MESSAGE_SIZE];
@@ -541,7 +544,8 @@ void Display::update_battery(uint8_t r)
         snprintf(msg, DISPLAY_MESSAGE_SIZE, "BAT:%4.2fV --%% ", (double)battery.voltage()) ;
     }
     draw_text(COLUMN(0), ROW(r), msg);
- }
+}
+#endif  // AP_BATTERY_ENABLED
 
 void Display::update_mode(uint8_t r)
 {

From c7678042da33b0dfcb4ee88d57b0d51dae1afb8d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 19:38:50 +1100
Subject: [PATCH 0963/1335] AP_OSD: add and use AP_BATTERY_ENABLED

---
 libraries/AP_OSD/AP_OSD.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_OSD/AP_OSD.cpp b/libraries/AP_OSD/AP_OSD.cpp
index e88e2363959a48..4329c423e55d7d 100644
--- a/libraries/AP_OSD/AP_OSD.cpp
+++ b/libraries/AP_OSD/AP_OSD.cpp
@@ -446,6 +446,7 @@ void AP_OSD::update_stats()
     // maximum altitude
     alt = -alt;
     _stats.max_alt_m = fmaxf(_stats.max_alt_m, alt);
+#if AP_BATTERY_ENABLED
     // maximum current
     AP_BattMonitor &battery = AP::battery();
     float amps;
@@ -457,6 +458,7 @@ void AP_OSD::update_stats()
     if (voltage > 0) {
         _stats.min_voltage_v = fminf(_stats.min_voltage_v, voltage);
     }
+#endif
 #if AP_RSSI_ENABLED
     // minimum rssi
     AP_RSSI *ap_rssi = AP_RSSI::get_singleton();

From b48b26ddb87a8064c146cbe4f1399f2793a5c8af Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 19:38:50 +1100
Subject: [PATCH 0964/1335] AP_RCTelemetry: add and use AP_BATTERY_ENABLED

---
 libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp b/libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp
index 3e669206ec847f..083bb7af923409 100644
--- a/libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp
+++ b/libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp
@@ -296,12 +296,16 @@ void AP_Spektrum_Telem::calc_qos()
 // prepare rpm data - B/E mandatory frame that must be sent periodically
 void AP_Spektrum_Telem::calc_rpm()
 {
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &_battery = AP::battery();
+#endif
 
     _telem.rpm.identifier = TELE_DEVICE_RPM;
     _telem.rpm.sID = 0;
     // battery voltage in centivolts, can have up to a 12S battery (4.25Vx12S = 51.0V)
+#if AP_BATTERY_ENABLED
     _telem.rpm.volts = htobe16(((uint16_t)roundf(_battery.voltage(0) * 100.0f)));
+#endif
     _telem.rpm.temperature = htobe16(int16_t(roundf(32.0f + AP::baro().get_temperature(0) * 9.0f / 5.0f)));
 #if AP_RPM_ENABLED
     const AP_RPM *rpm = AP::rpm();
@@ -328,10 +332,12 @@ void AP_Spektrum_Telem::send_msg_chunk(const MessageChunk& chunk)
 // prepare battery data - B/E but not supported by Spektrum
 void AP_Spektrum_Telem::calc_batt_volts(uint8_t instance)
 {
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &_battery = AP::battery();
 
     // battery voltage in centivolts, can have up to a 12S battery (4.25Vx12S = 51.0V)
     _telem.hv.volts = htobe16(uint16_t(roundf(_battery.voltage(instance) * 100.0f)));
+#endif
     _telem.hv.identifier = TELE_DEVICE_VOLTAGE;
     _telem.hv.sID = 0;
     _telem_pending = true;
@@ -340,6 +346,7 @@ void AP_Spektrum_Telem::calc_batt_volts(uint8_t instance)
 // prepare battery data - B/E but not supported by Spektrum
 void AP_Spektrum_Telem::calc_batt_amps(uint8_t instance)
 {
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &_battery = AP::battery();
 
     float current;
@@ -349,6 +356,7 @@ void AP_Spektrum_Telem::calc_batt_amps(uint8_t instance)
 
     // Range: +/- 150A     Resolution: 300A / 2048 = 0.196791 A/count
     _telem.amps.current = htobe16(int16_t(roundf(current * 2048.0f / 300.0f)));
+#endif
     _telem.amps.identifier = TELE_DEVICE_AMPS;
     _telem.amps.sID = 0;
     _telem_pending = true;
@@ -357,11 +365,14 @@ void AP_Spektrum_Telem::calc_batt_amps(uint8_t instance)
 // prepare battery data - L/E
 void AP_Spektrum_Telem::calc_batt_mah()
 {
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &_battery = AP::battery();
+#endif
 
     _telem.fpMAH.identifier = TELE_DEVICE_FP_MAH;
     _telem.fpMAH.sID = 0;
 
+#if AP_BATTERY_ENABLED
     float current;
     if (!_battery.current_amps(current, 0)) {
         current = 0;
@@ -396,6 +407,10 @@ void AP_Spektrum_Telem::calc_batt_mah()
     } else {
         _telem.fpMAH.temp_B = 0x7FFF;
     }
+#else
+        _telem.fpMAH.temp_A = 0x7FFF;
+        _telem.fpMAH.temp_B = 0x7FFF;
+#endif
 
     _telem_pending = true;
 }

From eda6d0b6a09b3c1466e20e4b9c1197354878636e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 22:07:24 +1100
Subject: [PATCH 0965/1335] AP_Motors: add and use AP_BATTERY_ENABLED

---
 libraries/AP_Motors/AP_Motors6DOF.cpp                  | 2 ++
 libraries/AP_Motors/AP_MotorsMulticopter.cpp           | 4 ++++
 libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp | 2 ++
 3 files changed, 8 insertions(+)

diff --git a/libraries/AP_Motors/AP_Motors6DOF.cpp b/libraries/AP_Motors/AP_Motors6DOF.cpp
index 951ecabbcbb7bd..239544f9685bd6 100644
--- a/libraries/AP_Motors/AP_Motors6DOF.cpp
+++ b/libraries/AP_Motors/AP_Motors6DOF.cpp
@@ -359,6 +359,7 @@ void AP_Motors6DOF::output_armed_stabilizing()
         }
     }
 
+#if AP_BATTERY_ENABLED
     const AP_BattMonitor &battery = AP::battery();
 
 	// Current limiting
@@ -384,6 +385,7 @@ void AP_Motors6DOF::output_armed_stabilizing()
         batt_current_ratio = predicted_current_ratio;
     }
     _output_limited += (_dt / (_dt + _batt_current_time_constant)) * (1 - batt_current_ratio);
+#endif
 
     _output_limited = constrain_float(_output_limited, 0.0f, 1.0f);
 
diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
index cc7eb0fd3e7f7a..e68cf85c8208ab 100644
--- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp
+++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp
@@ -345,6 +345,7 @@ void AP_MotorsMulticopter::update_throttle_filter()
 // return current_limit as a number from 0 ~ 1 in the range throttle_min to throttle_max
 float AP_MotorsMulticopter::get_current_limit_max_throttle()
 {
+#if AP_BATTERY_ENABLED
     AP_BattMonitor &battery = AP::battery();
 
     const uint8_t batt_idx = thr_lin.get_battery_index();
@@ -376,6 +377,9 @@ float AP_MotorsMulticopter::get_current_limit_max_throttle()
 
     // limit max throttle
     return get_throttle_hover() + ((1.0 - get_throttle_hover()) * _throttle_limit);
+#else
+    return 1.0;
+#endif
 }
 
 #if HAL_LOGGING_ENABLED
diff --git a/libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp b/libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp
index 92d4f800c9b676..ff2114864a4556 100644
--- a/libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp
+++ b/libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp
@@ -151,6 +151,7 @@ float Thrust_Linearization::remove_thrust_curve_and_volt_scaling(float throttle)
 // update_lift_max from battery voltage - used for voltage compensation
 void Thrust_Linearization::update_lift_max_from_batt_voltage()
 {
+#if AP_BATTERY_ENABLED
     // sanity check battery_voltage_min is not too small
     // if disabled or misconfigured exit immediately
     float _batt_voltage = motors.has_option(AP_Motors::MotorOptions::BATT_RAW_VOLTAGE) ? AP::battery().voltage(batt_idx) : AP::battery().voltage_resting_estimate(batt_idx);
@@ -177,6 +178,7 @@ void Thrust_Linearization::update_lift_max_from_batt_voltage()
     // calculate lift max
     float thrust_curve_expo = constrain_float(curve_expo, -1.0, 1.0);
     lift_max = batt_voltage_filt.get() * (1 - thrust_curve_expo) + thrust_curve_expo * batt_voltage_filt.get() * batt_voltage_filt.get();
+#endif
 }
 
 // return gain scheduling gain based on voltage and air density

From a8bc7761d34b4340aac8f43770f27ce75b282ec5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 22:07:24 +1100
Subject: [PATCH 0966/1335] AP_OSD: add and use AP_BATTERY_ENABLED

---
 libraries/AP_OSD/AP_OSD_Screen.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/libraries/AP_OSD/AP_OSD_Screen.cpp b/libraries/AP_OSD/AP_OSD_Screen.cpp
index 53cb8ce8e50f1f..1309707f9c2a9b 100644
--- a/libraries/AP_OSD/AP_OSD_Screen.cpp
+++ b/libraries/AP_OSD/AP_OSD_Screen.cpp
@@ -1334,6 +1334,7 @@ void AP_OSD_Screen::draw_altitude(uint8_t x, uint8_t y)
     backend->write(x, y, false, "%4d%c", (int)u_scale(ALTITUDE, alt), u_icon(ALTITUDE));
 }
 
+#if AP_BATTERY_ENABLED
 void AP_OSD_Screen::draw_bat_volt(uint8_t instance, VoltageType type, uint8_t x, uint8_t y)
 {
     AP_BattMonitor &battery = AP::battery();
@@ -1409,6 +1410,7 @@ void AP_OSD_Screen::draw_restvolt(uint8_t x, uint8_t y)
 {
     draw_bat_volt(0,VoltageType::RESTING_VOLTAGE,x,y);
 }
+#endif  // AP_BATTERY_ENABLED
 
 #if AP_RSSI_ENABLED
 void AP_OSD_Screen::draw_rssi(uint8_t x, uint8_t y)
@@ -1434,6 +1436,7 @@ void AP_OSD_Screen::draw_link_quality(uint8_t x, uint8_t y)
 }
 #endif  // AP_RSSI_ENABLED
 
+#if AP_BATTERY_ENABLED
 void AP_OSD_Screen::draw_current(uint8_t instance, uint8_t x, uint8_t y)
 {
     float amps;
@@ -1454,6 +1457,7 @@ void AP_OSD_Screen::draw_current(uint8_t x, uint8_t y)
 {
     draw_current(0, x, y);
 }
+#endif
 
 void AP_OSD_Screen::draw_fltmode(uint8_t x, uint8_t y)
 {
@@ -1477,6 +1481,7 @@ void AP_OSD_Screen::draw_sats(uint8_t x, uint8_t y)
     backend->write(x, y, flash, "%c%c%2u", SYMBOL(SYM_SAT_L), SYMBOL(SYM_SAT_R), nsat);
 }
 
+#if AP_BATTERY_ENABLED
 void AP_OSD_Screen::draw_batused(uint8_t instance, uint8_t x, uint8_t y)
 {
     float mah;
@@ -1495,6 +1500,7 @@ void AP_OSD_Screen::draw_batused(uint8_t x, uint8_t y)
 {
     draw_batused(0, x, y);
 }
+#endif
 
 //Autoscroll message is the same as in minimosd-extra.
 //Thanks to night-ghost for the approach.
@@ -2035,6 +2041,7 @@ void  AP_OSD_Screen::draw_flightime(uint8_t x, uint8_t y)
     }
 }
 
+#if AP_BATTERY_ENABLED
 void AP_OSD_Screen::draw_eff(uint8_t x, uint8_t y)
 {
     AP_BattMonitor &battery = AP::battery();
@@ -2052,7 +2059,9 @@ void AP_OSD_Screen::draw_eff(uint8_t x, uint8_t y)
         backend->write(x, y, false, "%c---%c", SYMBOL(SYM_EFF),SYMBOL(SYM_MAH));
     }
 }
+#endif  // AP_BATTERY_ENABLED
 
+#if AP_BATTERY_ENABLED
 void AP_OSD_Screen::draw_climbeff(uint8_t x, uint8_t y)
 {
     char unit_icon = u_icon(DISTANCE);
@@ -2082,6 +2091,7 @@ void AP_OSD_Screen::draw_climbeff(uint8_t x, uint8_t y)
         backend->write(x, y, false,"%c%c---%c",SYMBOL(SYM_PTCHUP),SYMBOL(SYM_EFF),unit_icon);
     }
 }
+#endif
 
 #if BARO_MAX_INSTANCES > 1
 void AP_OSD_Screen::draw_btemp(uint8_t x, uint8_t y)

From bed976a8fcd49a08929a6993ff0ac17fb2b27555 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 22:07:24 +1100
Subject: [PATCH 0967/1335] AP_Scripting: add and use AP_BATTERY_ENABLED

---
 libraries/AP_Scripting/generator/description/bindings.desc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 0f4194a9bc8ab6..0eee97bf20d509 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -90,7 +90,7 @@ userdata BattMonitorScript_State field consumed_wh float'skip_check write
 userdata BattMonitorScript_State field temperature float'skip_check write
 
 singleton AP_BattMonitor rename battery
-singleton AP_BattMonitor depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY))
+singleton AP_BattMonitor depends AP_BATTERY_ENABLED
 singleton AP_BattMonitor method num_instances uint8_t
 singleton AP_BattMonitor method healthy boolean uint8_t 0 ud->num_instances()
 singleton AP_BattMonitor method voltage float uint8_t 0 ud->num_instances()

From b1ddbe9904ed1258ab5213ca65347667844be81f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 31 Jan 2024 22:07:24 +1100
Subject: [PATCH 0968/1335] RC_Channel: add and use AP_BATTERY_ENABLED

---
 libraries/RC_Channel/RC_Channel.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 296afb878ba854..ef80a7ab849cf0 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -1319,11 +1319,13 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
         break;
 #endif
 
+#if AP_BATTERY_ENABLED
     case AUX_FUNC::BATTERY_MPPT_ENABLE:
         if (ch_flag != AuxSwitchPos::MIDDLE) {
             AP::battery().MPPT_set_powered_state_to_all(ch_flag == AuxSwitchPos::HIGH);
         }
         break;
+#endif
 
 #if HAL_SPRAYER_ENABLED
     case AUX_FUNC::SPRAYER:

From 2f42f55278b840fb92c16b16c73925da8ac73f80 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 31 Jan 2024 15:16:30 +0000
Subject: [PATCH 0969/1335] Plane: move pilot throttle output up to control
 modes

---
 ArduPlane/mode.cpp           | 15 +++++++++++++++
 ArduPlane/mode.h             |  7 +++++++
 ArduPlane/mode_acro.cpp      |  2 ++
 ArduPlane/mode_autotune.cpp  |  7 +++++++
 ArduPlane/mode_fbwa.cpp      |  8 ++++++++
 ArduPlane/mode_stabilize.cpp |  2 ++
 ArduPlane/mode_training.cpp  |  2 ++
 ArduPlane/servos.cpp         | 17 +----------------
 8 files changed, 44 insertions(+), 16 deletions(-)

diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index ec10b69631370f..30ec5fc5b0fb1b 100644
--- a/ArduPlane/mode.cpp
+++ b/ArduPlane/mode.cpp
@@ -259,6 +259,21 @@ void Mode::output_rudder_and_steering(float val)
     SRV_Channels::set_output_scaled(SRV_Channel::k_steering, val);
 }
 
+// Output pilot throttle, this is used in stabilized modes without auto throttle control
+// Direct mapping if THR_PASS_STAB is set
+// Otherwise apply curve for trim correction if configured
+void Mode::output_pilot_throttle()
+{
+    if (plane.g.throttle_passthru_stabilize) {
+        // THR_PASS_STAB set, direct mapping
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.get_throttle_input(true));
+        return;
+    }
+
+    // get throttle, but adjust center to output TRIM_THROTTLE if flight option set
+    SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.get_adjusted_throttle_input(true));
+}
+
 // true if throttle min/max limits should be applied
 bool Mode::use_throttle_limits() const
 {
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 2c10d2a94e6eee..b7f4732e924fe7 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -155,6 +155,9 @@ class Mode
     // Helper to output to both k_rudder and k_steering servo functions
     void output_rudder_and_steering(float val);
 
+    // Output pilot throttle, this is used in stabilized modes without auto throttle control
+    void output_pilot_throttle();
+
 #if HAL_QUADPLANE_ENABLED
     // References for convenience, used by QModes
     AC_PosControl*& pos_control;
@@ -262,6 +265,8 @@ class ModeAutoTune : public Mode
     
     bool mode_allows_autotuning() const override { return true; }
 
+    void run() override;
+
 protected:
 
     bool _enter() override;
@@ -493,6 +498,8 @@ class ModeFBWA : public Mode
     
     bool mode_allows_autotuning() const override { return true; }
 
+    void run() override;
+
 };
 
 class ModeFBWB : public Mode
diff --git a/ArduPlane/mode_acro.cpp b/ArduPlane/mode_acro.cpp
index c15970b9bdecec..7093fd96b8cd23 100644
--- a/ArduPlane/mode_acro.cpp
+++ b/ArduPlane/mode_acro.cpp
@@ -26,6 +26,8 @@ void ModeAcro::update()
 
 void ModeAcro::run()
 {
+    output_pilot_throttle();
+
     if (plane.g.acro_locking == 2 && plane.g.acro_yaw_rate > 0 &&
         plane.yawController.rate_control_enabled()) {
         // we can do 3D acro locking
diff --git a/ArduPlane/mode_autotune.cpp b/ArduPlane/mode_autotune.cpp
index 395a6d6ef531cb..cbbf5a22bcddbb 100644
--- a/ArduPlane/mode_autotune.cpp
+++ b/ArduPlane/mode_autotune.cpp
@@ -14,3 +14,10 @@ void ModeAutoTune::update()
     plane.mode_fbwa.update();
 }
 
+void ModeAutoTune::run()
+{
+    // Run base class function and then output throttle
+    Mode::run();
+
+    output_pilot_throttle();
+}
diff --git a/ArduPlane/mode_fbwa.cpp b/ArduPlane/mode_fbwa.cpp
index 6fd5ea877fd438..ff53a835ee49ac 100644
--- a/ArduPlane/mode_fbwa.cpp
+++ b/ArduPlane/mode_fbwa.cpp
@@ -35,3 +35,11 @@ void ModeFBWA::update()
         }
     }
 }
+
+void ModeFBWA::run()
+{
+    // Run base class function and then output throttle
+    Mode::run();
+
+    output_pilot_throttle();
+}
diff --git a/ArduPlane/mode_stabilize.cpp b/ArduPlane/mode_stabilize.cpp
index b73dfb6fc26506..ee0f7626de8295 100644
--- a/ArduPlane/mode_stabilize.cpp
+++ b/ArduPlane/mode_stabilize.cpp
@@ -13,4 +13,6 @@ void ModeStabilize::run()
     plane.stabilize_pitch();
     stabilize_stick_mixing_direct();
     plane.stabilize_yaw();
+
+    output_pilot_throttle();
 }
diff --git a/ArduPlane/mode_training.cpp b/ArduPlane/mode_training.cpp
index 1c86e6d9c9c5c1..eb7040ce6fadea 100644
--- a/ArduPlane/mode_training.cpp
+++ b/ArduPlane/mode_training.cpp
@@ -66,4 +66,6 @@ void ModeTraining::run()
     // Always manual rudder control
     output_rudder_and_steering(plane.rudder_in_expo(false));
 
+    output_pilot_throttle();
+
 }
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 8e91fd20de087e..c0cab9f9de4f41 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -585,23 +585,8 @@ void Plane::set_throttle(void)
 #if AP_SCRIPTING_ENABLED
     if (nav_scripting_active()) {
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
-    } else
-#endif
-           if (control_mode == &mode_stabilize ||
-               control_mode == &mode_training ||
-               control_mode == &mode_acro ||
-               control_mode == &mode_fbwa ||
-               control_mode == &mode_autotune) {
-        // a manual throttle mode
-        if (g.throttle_passthru_stabilize) {
-            // manual pass through of throttle while in FBWA or
-            // STABILIZE mode with THR_PASS_STAB set
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
-        } else {
-            // get throttle, but adjust center to output TRIM_THROTTLE if flight option set
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_adjusted_throttle_input(true));
-        }
     }
+#endif
 
     if (control_mode->use_battery_compensation()) {
         // Apply voltage compensation to throttle output from flight mode

From e660a1925eabd60c2b2a22c167923b087c650e3d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Feb 2024 11:02:43 +1100
Subject: [PATCH 0970/1335] AP_Vehicle: move can_mgr.init call up to AP_Vehicle

... also adds the call for Blimp...
---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 73520e33d55137..c138c19d79a2a5 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -360,6 +360,10 @@ void AP_Vehicle::setup()
 
     BoardConfig.init();
 
+#if HAL_CANMANAGER_ENABLED
+    can_mgr.init();
+#endif
+
     // init_ardupilot is where the vehicle does most of its initialisation.
     init_ardupilot();
 

From f0d99535e28644b6a928b1ff5ec250c82782689a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Feb 2024 11:02:43 +1100
Subject: [PATCH 0971/1335] AntennaTracker: move can_mgr.init call up to
 AP_Vehicle

... also adds the call for Blimp...
---
 AntennaTracker/system.cpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index ca22797bcb03cb..a05be96b61dd24 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -5,10 +5,6 @@ static const StorageAccess wp_storage(StorageManager::StorageMission);
 
 void Tracker::init_ardupilot()
 {
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
-    can_mgr.init();
-#endif
-
     // initialise notify
     notify.init();
     AP_Notify::flags.pre_arm_check = true;

From af5cba58260c4f102621494844d5a91424656bcb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Feb 2024 11:02:44 +1100
Subject: [PATCH 0972/1335] ArduCopter: move can_mgr.init call up to AP_Vehicle

... also adds the call for Blimp...
---
 ArduCopter/system.cpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index e9889a1e33b730..ec167d96480adc 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -15,10 +15,6 @@ static void failsafe_check_static()
 
 void Copter::init_ardupilot()
 {
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
-    can_mgr.init();
-#endif
-
     // init cargo gripper
 #if AP_GRIPPER_ENABLED
     g2.gripper.init();

From e7a6a2e3ec5caa840473f04715f7bb367ac7f159 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Feb 2024 11:02:44 +1100
Subject: [PATCH 0973/1335] ArduPlane: move can_mgr.init call up to AP_Vehicle

... also adds the call for Blimp...
---
 ArduPlane/system.cpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index e099f156ef6cf4..4b46bd837dd58a 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -19,10 +19,6 @@ void Plane::init_ardupilot()
 
     ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
-    can_mgr.init();
-#endif
-
     rollController.convert_pid();
     pitchController.convert_pid();
 

From cb05eef23841c4856f3fb8e7c8d286956c66991f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Feb 2024 11:02:44 +1100
Subject: [PATCH 0974/1335] ArduSub: move can_mgr.init call up to AP_Vehicle

... also adds the call for Blimp...
---
 ArduSub/system.cpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index 2bbb356e08ea81..c3653f077cc2fe 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -14,10 +14,6 @@ static void failsafe_check_static()
 
 void Sub::init_ardupilot()
 {
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
-    can_mgr.init();
-#endif
-
     // init cargo gripper
 #if AP_GRIPPER_ENABLED
     g2.gripper.init();

From 17145bea4626e2e6bcdac2502b77f6ba8dca8937 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Feb 2024 11:02:44 +1100
Subject: [PATCH 0975/1335] Rover: move can_mgr.init call up to AP_Vehicle

... also adds the call for Blimp...
---
 Rover/system.cpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/Rover/system.cpp b/Rover/system.cpp
index 052b64d78712cc..f358aee5b76486 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -14,10 +14,6 @@ static void failsafe_check_static()
 
 void Rover::init_ardupilot()
 {
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
-    can_mgr.init();
-#endif
-
     // init gripper
 #if AP_GRIPPER_ENABLED
     g2.gripper.init();

From 95661bb9bb60c71d5410ea07602d6606e08e8220 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Feb 2024 14:20:33 +1100
Subject: [PATCH 0976/1335] waf: include piccolocan protocol directory in all
 libraries

with can_mgr in AP_Vehicle, eliding no longer works for the symbols generated from this directory, as *all* vehicles now get can, including the ones especially created in examples.  So now we include the symbols.
---
 Tools/ardupilotwaf/ardupilotwaf.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index 75c9975b826bd7..2beb1c5478349c 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -238,6 +238,7 @@ def ap_get_all_libraries(bld):
             continue
         libraries.append(name)
     libraries.extend(['AP_HAL', 'AP_HAL_Empty'])
+    libraries.append('AP_PiccoloCAN/piccolo_protocol')
     return libraries
 
 @conf

From f1457034e24aa75d9f331e2e3107d3e9ecd2d952 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Feb 2024 12:56:52 +1100
Subject: [PATCH 0977/1335] GCS_MAVLink: provide and use base-method
 implementation for guided mode request

---
 libraries/GCS_MAVLink/GCS.h       | 2 +-
 libraries/GCS_MAVLink/GCS_Dummy.h | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 0f4b42cb0368c0..87a76c3823f3f3 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -1014,7 +1014,7 @@ class GCS_MAVLINK
 
     void send_distance_sensor(const class AP_RangeFinder_Backend *sensor, const uint8_t instance) const;
 
-    virtual bool handle_guided_request(AP_Mission::Mission_Command &cmd) = 0;
+    virtual bool handle_guided_request(AP_Mission::Mission_Command &cmd) { return false; };
     virtual void handle_change_alt_request(AP_Mission::Mission_Command &cmd) {};
     void handle_common_mission_message(const mavlink_message_t &msg);
 
diff --git a/libraries/GCS_MAVLink/GCS_Dummy.h b/libraries/GCS_MAVLink/GCS_Dummy.h
index d14d52fb7aa634..e40968ca82231e 100644
--- a/libraries/GCS_MAVLink/GCS_Dummy.h
+++ b/libraries/GCS_MAVLink/GCS_Dummy.h
@@ -25,7 +25,6 @@ class GCS_MAVLINK_Dummy : public GCS_MAVLINK
 
     uint32_t telem_delay() const override { return 0; }
     bool try_send_message(enum ap_message id) override { return true; }
-    bool handle_guided_request(AP_Mission::Mission_Command &cmd) override { return true; }
     uint8_t sysid_my_gcs() const override { return 1; }
 
 protected:

From 25777adfb57538ba4dd873d0fc34f6569699170f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Feb 2024 12:56:52 +1100
Subject: [PATCH 0978/1335] AntennaTracker: provide and use base-method
 implementation for guided mode request

---
 AntennaTracker/GCS_Mavlink.cpp | 6 ------
 AntennaTracker/GCS_Mavlink.h   | 1 -
 2 files changed, 7 deletions(-)

diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 102bffb61f27ee..270d3a74df838f 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -161,12 +161,6 @@ void GCS_MAVLINK_Tracker::send_pid_tuning()
     }
 }
 
-bool GCS_MAVLINK_Tracker::handle_guided_request(AP_Mission::Mission_Command&)
-{
-    // do nothing
-    return false;
-}
-
 /*
   default stream rates to 1Hz
  */
diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h
index f4a063842b3e0a..79610f00311ec0 100644
--- a/AntennaTracker/GCS_Mavlink.h
+++ b/AntennaTracker/GCS_Mavlink.h
@@ -43,7 +43,6 @@ class GCS_MAVLINK_Tracker : public GCS_MAVLINK
     void handle_message_manual_control(const mavlink_message_t &msg);
     void handle_message_global_position_int(const mavlink_message_t &msg);
     void handle_message_scaled_pressure(const mavlink_message_t &msg);
-    bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     void handle_set_attitude_target(const mavlink_message_t &msg);
 
     void send_global_position_int() override;

From e3d00f20a62d028ef31a9600cc5d0983649132bd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 1 Feb 2024 12:56:52 +1100
Subject: [PATCH 0979/1335] Blimp: provide and use base-method implementation
 for guided mode request

---
 Blimp/GCS_Mavlink.cpp | 9 ---------
 Blimp/GCS_Mavlink.h   | 1 -
 2 files changed, 10 deletions(-)

diff --git a/Blimp/GCS_Mavlink.cpp b/Blimp/GCS_Mavlink.cpp
index 2c0e92fa26c9d8..17193438c1dd67 100644
--- a/Blimp/GCS_Mavlink.cpp
+++ b/Blimp/GCS_Mavlink.cpp
@@ -407,15 +407,6 @@ const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] = {
     MAV_STREAM_TERMINATOR // must have this at end of stream_entries
 };
 
-bool GCS_MAVLINK_Blimp::handle_guided_request(AP_Mission::Mission_Command &cmd)
-{
-    // #if MODE_AUTO_ENABLED == ENABLED
-    //     // return blimp.mode_auto.do_guided(cmd);
-    // #else
-    return false;
-    // #endif
-}
-
 void GCS_MAVLINK_Blimp::packetReceived(const mavlink_status_t &status,
                                        const mavlink_message_t &msg)
 {
diff --git a/Blimp/GCS_Mavlink.h b/Blimp/GCS_Mavlink.h
index 87dad1ceb0820e..71f10a414e7c34 100644
--- a/Blimp/GCS_Mavlink.h
+++ b/Blimp/GCS_Mavlink.h
@@ -53,7 +53,6 @@ class GCS_MAVLINK_Blimp : public GCS_MAVLINK
 private:
 
     void handle_message(const mavlink_message_t &msg) override;
-    bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     bool try_send_message(enum ap_message id) override;
 
     void packetReceived(const mavlink_status_t &status,

From 8cc662163b17712e8ed79edb95c091a33a1e8246 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 16 May 2023 12:21:28 +1000
Subject: [PATCH 0980/1335] AP_RCProtocol: add separate define for
 AP_RCPROTOCOL_DSM_ENABLED

---
 libraries/AP_RCProtocol/AP_RCProtocol.cpp      | 4 ++++
 libraries/AP_RCProtocol/AP_RCProtocol.h        | 4 ++++
 libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp  | 4 ++--
 libraries/AP_RCProtocol/AP_RCProtocol_DSM.h    | 4 ++--
 libraries/AP_RCProtocol/AP_RCProtocol_config.h | 4 ++++
 5 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.cpp b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
index d2d11cfb304bf4..2b501c888f8967 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
@@ -55,7 +55,9 @@ void AP_RCProtocol::init()
 #if AP_RCPROTOCOL_FASTSBUS_ENABLED
     backend[AP_RCProtocol::FASTSBUS] = new AP_RCProtocol_SBUS(*this, true, 200000);
 #endif
+#if AP_RCPROTOCOL_DSM_ENABLED
     backend[AP_RCProtocol::DSM] = new AP_RCProtocol_DSM(*this);
+#endif
 #if AP_RCPROTOCOL_SUMD_ENABLED
     backend[AP_RCProtocol::SUMD] = new AP_RCProtocol_SUMD(*this);
 #endif
@@ -475,8 +477,10 @@ const char *AP_RCProtocol::protocol_name_from_protocol(rcprotocol_t protocol)
     case FASTSBUS:
         return "FastSBUS";
 #endif
+#if AP_RCPROTOCOL_DSM_ENABLED
     case DSM:
         return "DSM";
+#endif
 #if AP_RCPROTOCOL_SUMD_ENABLED
     case SUMD:
         return "SUMD";
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.h b/libraries/AP_RCProtocol/AP_RCProtocol.h
index 8889fdce89ee49..f5823739d6d09a 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.h
@@ -42,7 +42,9 @@ class AP_RCProtocol {
 #if AP_RCPROTOCOL_SBUS_NI_ENABLED
         SBUS_NI    =  3,
 #endif
+#if AP_RCPROTOCOL_DSM_ENABLED
         DSM        =  4,
+#endif
 #if AP_RCPROTOCOL_SUMD_ENABLED
         SUMD       =  5,
 #endif
@@ -111,7 +113,9 @@ class AP_RCProtocol {
     // for protocols without strong CRCs we require 3 good frames to lock on
     bool requires_3_frames(enum rcprotocol_t p) {
         switch (p) {
+#if AP_RCPROTOCOL_DSM_ENABLED
         case DSM:
+#endif
 #if AP_RCPROTOCOL_FASTSBUS_ENABLED
         case FASTSBUS:
 #endif
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
index 6258f4069c541a..bcfd8f3f640fc4 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
@@ -20,7 +20,7 @@
 
 #include "AP_RCProtocol_config.h"
 
-#if AP_RCPROTOCOL_ENABLED
+#if AP_RCPROTOCOL_DSM_ENABLED
 
 #include "AP_RCProtocol_DSM.h"
 #include <AP_VideoTX/AP_VideoTX_config.h>
@@ -539,4 +539,4 @@ void AP_RCProtocol_DSM::process_byte(uint8_t b, uint32_t baudrate)
     _process_byte(AP_HAL::millis(), b);
 }
 
-#endif  // AP_RCPROTOCOL_ENABLED
+#endif  // AP_RCPROTOCOL_DSM_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_DSM.h b/libraries/AP_RCProtocol/AP_RCProtocol_DSM.h
index 65a3e266c139cf..61141bf8f653f0 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_DSM.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_DSM.h
@@ -19,7 +19,7 @@
 
 #include "AP_RCProtocol_config.h"
 
-#if AP_RCPROTOCOL_ENABLED
+#if AP_RCPROTOCOL_DSM_ENABLED
 
 #include "AP_RCProtocol_Backend.h"
 
@@ -83,4 +83,4 @@ class AP_RCProtocol_DSM : public AP_RCProtocol_Backend {
     SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
 };
 
-#endif  // AP_RCPROTOCOL_ENABLED
+#endif  // AP_RCPROTOCOL_DSM_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_config.h b/libraries/AP_RCProtocol/AP_RCProtocol_config.h
index d6bef7d61bb01b..7136a381e34ef9 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_config.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_config.h
@@ -19,6 +19,10 @@
 #define AP_RCPROTOCOL_DRONECAN_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS
 #endif
 
+#ifndef AP_RCPROTOCOL_DSM_ENABLED
+#define AP_RCPROTOCOL_DSM_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED
+#endif
+
 #ifndef AP_RCPROTOCOL_FPORT_ENABLED
 #define AP_RCPROTOCOL_FPORT_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED
 #endif

From 084b0aea24319f72d71ab5edb275737ed513d9a5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 2 Feb 2024 11:12:03 +1100
Subject: [PATCH 0981/1335] AP_Compass: make compass.mag_cal_fixed_yaw return
 boolean

this method could be used from a transmitter without GCS enabled, for example
---
 libraries/AP_Compass/AP_Compass.h               | 14 +++++++++-----
 libraries/AP_Compass/AP_Compass_Calibration.cpp | 12 ++++++------
 libraries/AP_Compass/AP_Compass_config.h        |  2 +-
 libraries/AP_Compass/Compass_learn.cpp          |  4 ++--
 4 files changed, 18 insertions(+), 14 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index 66e2bc0ff409f7..f08a63e81c96b6 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -39,7 +39,7 @@
 #define COMPASS_MOT_ENABLED 1
 #endif
 #ifndef COMPASS_LEARN_ENABLED
-#define COMPASS_LEARN_ENABLED 1
+#define COMPASS_LEARN_ENABLED AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
 #endif
 
 // define default compass calibration fitness and consistency checks
@@ -342,12 +342,14 @@ friend class AP_Compass_Backend;
 
     uint8_t get_filter_range() const { return uint8_t(_filter_range.get()); }
 
+#if AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
     /*
       fast compass calibration given vehicle position and yaw
      */
-    MAV_RESULT mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
-                                 float lat_deg, float lon_deg,
-                                 bool force_use=false);
+    bool mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
+                           float lat_deg, float lon_deg,
+                           bool force_use=false);
+#endif
 
 #if AP_COMPASS_MSP_ENABLED
     void handle_msp(const MSP::msp_compass_data_message_t &pkt);
@@ -405,12 +407,14 @@ friend class AP_Compass_Backend;
     // see if we already have probed a i2c driver by bus number and address
     bool _have_i2c_driver(uint8_t bus_num, uint8_t address) const;
 
+#if AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
     /*
       get mag field with the effects of offsets, diagonals and
       off-diagonals removed
     */
     bool get_uncorrected_field(uint8_t instance, Vector3f &field) const;
-    
+#endif
+
 #if COMPASS_CAL_ENABLED
     //keep track of which calibrators have been saved
     RestrictIDTypeArray<bool, COMPASS_MAX_INSTANCES, Priority> _cal_saved;
diff --git a/libraries/AP_Compass/AP_Compass_Calibration.cpp b/libraries/AP_Compass/AP_Compass_Calibration.cpp
index d573888c77395f..b8c498483ac05e 100644
--- a/libraries/AP_Compass/AP_Compass_Calibration.cpp
+++ b/libraries/AP_Compass/AP_Compass_Calibration.cpp
@@ -504,7 +504,7 @@ bool Compass::get_uncorrected_field(uint8_t instance, Vector3f &field) const
 
   This assumes that the compass is correctly scaled in milliGauss
 */
-MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
+bool Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
                                       float lat_deg, float lon_deg, bool force_use)
 {
     _reset_compass_id();
@@ -514,7 +514,7 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
         if (!AP::ahrs().get_location(loc)) {
             if (AP::gps().status() < AP_GPS::GPS_OK_FIX_3D) {
                 GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Mag: no position available");
-                return MAV_RESULT_FAILED;
+                return false;
             }
             loc = AP::gps().location();
         }
@@ -528,7 +528,7 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
     float inclination;
     if (!AP_Declination::get_mag_field_ef(lat_deg, lon_deg, intensity, declination, inclination)) {
         GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Mag: WMM table error");
-        return MAV_RESULT_FAILED;
+        return false;
     }
 
     // create a field vector and rotate to the required orientation
@@ -553,13 +553,13 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
         }
         if (!healthy(i)) {
             GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Mag[%u]: unhealthy\n", i);
-            return MAV_RESULT_FAILED;
+            return false;
         }
 
         Vector3f measurement;
         if (!get_uncorrected_field(i, measurement)) {
             GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Mag[%u]: bad uncorrected field", i);
-            return MAV_RESULT_FAILED;
+            return false;
         }
 
         Vector3f offsets = field - measurement;
@@ -572,7 +572,7 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
 #endif
     }
 
-    return MAV_RESULT_ACCEPTED;
+    return true;
 }
 
 #endif  // AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index ce8989f2be591f..df53675ea8f1ea 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -19,7 +19,7 @@
 #endif
 
 #ifndef AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
-#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_GPS_ENABLED
+#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_COMPASS_ENABLED && AP_GPS_ENABLED
 #endif
 
 #define COMPASS_MAX_SCALE_FACTOR 1.5
diff --git a/libraries/AP_Compass/Compass_learn.cpp b/libraries/AP_Compass/Compass_learn.cpp
index fe57f712e41936..12861e3fe29ca3 100644
--- a/libraries/AP_Compass/Compass_learn.cpp
+++ b/libraries/AP_Compass/Compass_learn.cpp
@@ -60,8 +60,8 @@ void CompassLearn::update(void)
         return;
     }
 
-    const auto result = compass.mag_cal_fixed_yaw(degrees(yaw_rad), (1U<<HAL_COMPASS_MAX_SENSORS)-1, 0, 0, true);
-    if (result == MAV_RESULT_ACCEPTED) {
+    const bool result = compass.mag_cal_fixed_yaw(degrees(yaw_rad), (1U<<HAL_COMPASS_MAX_SENSORS)-1, 0, 0, true);
+    if (result) {
         AP_Notify::flags.compass_cal_running = false;
         compass.set_learn_type(Compass::LEARN_NONE, true);
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "CompassLearn: Finished");

From 4c272d21ee64b761b606453d572fa3fb62537053 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 2 Feb 2024 11:34:22 +1100
Subject: [PATCH 0982/1335] AP_HAL_ChibiOS: make compass.mag_cal_fixed_yaw
 return boolean

this method could be used from a transmitter without GCS enabled, for example
---
 libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
index e7f32d724f475e..c2f75d230642fc 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
@@ -130,6 +130,9 @@
 #ifndef COMPASS_CAL_ENABLED
 #define COMPASS_CAL_ENABLED 0
 #endif
+#ifndef AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
+#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED 0
+#endif
 #ifndef COMPASS_MOT_ENABLED
 #define COMPASS_MOT_ENABLED 0
 #endif

From 4a1adc69da319e495e0f3e57f1c02fb18b9561e8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 2 Feb 2024 11:34:22 +1100
Subject: [PATCH 0983/1335] GCS_MAVLink: make compass.mag_cal_fixed_yaw return
 boolean

this method could be used from a transmitter without GCS enabled, for example
---
 libraries/GCS_MAVLink/GCS_Common.cpp | 19 +++++++++++++------
 1 file changed, 13 insertions(+), 6 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index c1f07fea17c828..ec4ff7eae0d762 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3832,19 +3832,24 @@ void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t &msg)
 #endif
 
 
-#if COMPASS_CAL_ENABLED
+#if AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
 /*
   handle MAV_CMD_FIXED_MAG_CAL_YAW
  */
 MAV_RESULT GCS_MAVLINK::handle_command_fixed_mag_cal_yaw(const mavlink_command_int_t &packet)
 {
     Compass &compass = AP::compass();
-    return compass.mag_cal_fixed_yaw(packet.param1,
-                                     uint8_t(packet.param2),
-                                     packet.param3,
-                                     packet.param4);
+    if (!compass.mag_cal_fixed_yaw(packet.param1,
+                                   uint8_t(packet.param2),
+                                   packet.param3,
+                                   packet.param4)) {
+        return MAV_RESULT_FAILED;
+    }
+    return MAV_RESULT_ACCEPTED;
 }
+#endif  // AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
 
+#if COMPASS_CAL_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_mag_cal(const mavlink_command_int_t &packet)
 {
     return AP::compass().handle_mag_cal_command(packet);
@@ -5226,9 +5231,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
     case MAV_CMD_COMPONENT_ARM_DISARM:
         return handle_command_component_arm_disarm(packet);
 
-#if COMPASS_CAL_ENABLED
+#if AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
     case MAV_CMD_FIXED_MAG_CAL_YAW:
         return handle_command_fixed_mag_cal_yaw(packet);
+#endif
+#if COMPASS_CAL_ENABLED
     case MAV_CMD_DO_START_MAG_CAL:
     case MAV_CMD_DO_ACCEPT_MAG_CAL:
     case MAV_CMD_DO_CANCEL_MAG_CAL:

From 857547ba557bbd1ff1446ff0e1f5032ba4685aae Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 2 Feb 2024 11:45:34 +1100
Subject: [PATCH 0984/1335] Tools: build_options.py: include fixed-yaw and
 in-flight learning options

---
 Tools/scripts/build_options.py    | 2 ++
 Tools/scripts/extract_features.py | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index 5f6f1e184dfdf8..3cf264ce3ec993 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -160,6 +160,8 @@ def __init__(self,
     Feature('Compass', 'QMC5883L', 'AP_COMPASS_QMC5883L_ENABLED', 'Enable QMC5883L compasses', 1, None),
     Feature('Compass', 'RM3100', 'AP_COMPASS_RM3100_ENABLED', 'Enable RM3100 compasses', 1, None),
     Feature('Compass', 'DRONECAN_COMPASS', 'AP_COMPASS_DRONECAN_ENABLED', 'Enable DroneCAN compasses', 0, None),
+    Feature('Compass', 'FixedYawCal', 'AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED', 'Enable Fixed-Yaw Compass Calibration', 1, None),  # noqa
+    Feature('Compass', 'CompassLearn', 'COMPASS_LEARN_ENABLED', 'Enable In-Flight Compass Learning', 1, "FixedYawCal"),
 
     Feature('Gimbal', 'MOUNT', 'HAL_MOUNT_ENABLED', 'Enable Mount', 0, None),
     Feature('Gimbal', 'ALEXMOS', 'HAL_MOUNT_ALEXMOS_ENABLED', 'Enable Alexmos Gimbal', 0, "MOUNT"),
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index c50d87db273e05..5a8665bf7faf7c 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -242,6 +242,8 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('FORCE_APJ_DEFAULT_PARAMETERS', 'AP_Param::param_defaults_data'),
             ('HAL_BUTTON_ENABLED', 'AP_Button::update'),
             ('HAL_LOGGING_ENABLED', 'AP_Logger::Init'),
+            ('AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED', 'AP_Compass::mag_cal_fixed_yaw'),
+            ('COMPASS_LEARN_ENABLED', 'CompassLearn::update'),
         ]
 
     def progress(self, msg):

From ecae3a462c95afaafcd91ded59cae0d68901455f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 2 Feb 2024 14:25:57 +1100
Subject: [PATCH 0985/1335] Tools: param_parse.py: correct extraction of enum
 class in nested classes

It was putting AP_HAL::AnalogIn::PowerStatusFlag in AP_HAL::AnalogIn
---
 Tools/autotest/logger_metadata/enum_parse.py | 15 +++++++++++----
 Tools/autotest/logger_metadata/parse.py      |  7 ++++++-
 2 files changed, 17 insertions(+), 5 deletions(-)

diff --git a/Tools/autotest/logger_metadata/enum_parse.py b/Tools/autotest/logger_metadata/enum_parse.py
index 81aad8c432648f..99227a211e9766 100755
--- a/Tools/autotest/logger_metadata/enum_parse.py
+++ b/Tools/autotest/logger_metadata/enum_parse.py
@@ -92,6 +92,10 @@ def match_enum_line(self, line):
             raise ValueError("Failed to match (%s)" % line)
 
     def enumerations_from_file(self, source_file):
+        def debug(x):
+            pass
+        # if source_file == "/home/pbarker/rc/ardupilot/libraries/AP_HAL/AnalogIn.h":
+        #     debug = print
         state_outside = "outside"
         state_inside = "inside"
 
@@ -103,6 +107,7 @@ def enumerations_from_file(self, source_file):
             in_class = None
             while True:
                 line = f.readline()
+                #  debug(f"{state} line: {line}")
                 if line == "":
                     break
                 line = line.rstrip()
@@ -113,7 +118,7 @@ def enumerations_from_file(self, source_file):
                     if re.match("class .*;", line) is not None:
                         # forward-declaration of a class
                         continue
-                    m = re.match("class *(\w+)", line)
+                    m = re.match("class *([:\w]+)", line)
                     if m is not None:
                         in_class = m.group(1)
                         continue
@@ -125,6 +130,7 @@ def enumerations_from_file(self, source_file):
                     if m is not None:
                         # all one one line!  Thanks!
                         enum_name = m.group(2)
+                        debug("ol: %s: %s" % (source_file, enum_name))
                         entries_string = m.group(3)
                         entry_names = [x.strip() for x in entries_string.split(",")]
                         count = 0
@@ -139,7 +145,7 @@ def enumerations_from_file(self, source_file):
                     m = re.match(".*enum\s*(class)? *([\w]+)\s*(?::.*_t)? *{", line)
                     if m is not None:
                         enum_name = m.group(2)
-                        # print("%s: %s" % (source_file, enum_name))
+                        debug("%s: %s" % (source_file, enum_name))
                         entries = []
                         last_value = None
                         state = state_inside
@@ -172,7 +178,7 @@ def enumerations_from_file(self, source_file):
                     if name is None:
                         skip_enumeration = True
                         continue
-                    # print(" name=(%s) value=(%s) comment=(%s)\n" % (name, value, comment))
+                    debug(" name=(%s) value=(%s) comment=(%s)\n" % (name, value, comment))
                     if value is None:
                         if last_value is None:
                             value = 0
@@ -190,6 +196,7 @@ def enumerations_from_file(self, source_file):
     class Enumeration(object):
 
         def __init__(self, name, entries):
+            # print("creating enum %s" % name)
             self.name = name
             self.entries = entries
 
@@ -246,4 +253,4 @@ def run(self):
         sys.exit(1)
 
     s.run()
-    print("Enumerations: %s" % s.enumerations)
+#    print("Enumerations: %s" % s.enumerations)
diff --git a/Tools/autotest/logger_metadata/parse.py b/Tools/autotest/logger_metadata/parse.py
index a3ce3221c6c1ae..2f7517d2182f46 100755
--- a/Tools/autotest/logger_metadata/parse.py
+++ b/Tools/autotest/logger_metadata/parse.py
@@ -325,15 +325,20 @@ def search_messagedef_start(self,line,prevmessagedef=""):
 
     def parse_file(self, filepath):
         with open(filepath) as f:
-            #            print("Opened (%s)" % filepath)
+#            print("Opened (%s)" % filepath)
             lines = f.readlines()
             f.close()
+        def debug(x):
+            pass
+#        if filepath == "/home/pbarker/rc/ardupilot/libraries/AP_HAL/AnalogIn.h":
+#            debug = print
         state_outside = "outside"
         state_inside = "inside"
         messagedef = ""
         state = state_outside
         docco = None
         for line in lines:
+            debug(f"{state}: {line}")
             if messagedef:
                 messagedef = messagedef + line
                 if "}" in line or ";" in line:

From b1ade6ccf523e9017ac04bc6bf526c1eb06988b0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 2 Feb 2024 14:26:43 +1100
Subject: [PATCH 0986/1335] AP_HAL: add power status bits to logger metadata

---
 libraries/AP_HAL/AnalogIn.h | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/libraries/AP_HAL/AnalogIn.h b/libraries/AP_HAL/AnalogIn.h
index 2a8f72207a5fa5..c07799acc4fabc 100644
--- a/libraries/AP_HAL/AnalogIn.h
+++ b/libraries/AP_HAL/AnalogIn.h
@@ -42,6 +42,16 @@ class AP_HAL::AnalogIn {
     // failures can still be diagnosed
     virtual uint16_t accumulated_power_status_flags(void) const { return 0; }
 
+    // this enum class is 1:1 with MAVLink's MAV_POWER_STATUS enumeration!
+    enum class PowerStatusFlag : uint16_t {
+        BRICK_VALID = 1,                  // main brick power supply valid
+        SERVO_VALID = 2,                  // main servo power supply valid for FMU
+        USB_CONNECTED = 4,                // USB power is connected
+        PERIPH_OVERCURRENT = 8,           // peripheral supply is in over-current state
+        PERIPH_HIPOWER_OVERCURRENT = 16,  // hi-power peripheral supply is in over-current state
+        CHANGED = 32,                     // Power status has changed since boot
+    };
+
 #if HAL_WITH_MCU_MONITORING
     virtual float mcu_temperature(void) { return 0; }
     virtual float mcu_voltage(void) { return 0; }

From 89b2e62b0fd2e4ae5877da77b74038ba985bbade Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 2 Feb 2024 14:26:43 +1100
Subject: [PATCH 0987/1335] AP_Logger: add power status bits to logger metadata

---
 libraries/AP_Logger/LogStructure.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index 43dcdd88f736b4..8845c9ba00fc2f 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -954,7 +954,9 @@ struct PACKED log_VER {
 // @Field: Vcc: Flight board voltage
 // @Field: VServo: Servo rail voltage
 // @Field: Flags: System power flags
+// @FieldBitmaskEnum: Flags: AP_HAL::AnalogIn::PowerStatusFlag
 // @Field: AccFlags: Accumulated System power flags; all flags which have ever been set
+// @FieldBitmaskEnum: AccFlags: AP_HAL::AnalogIn::PowerStatusFlag
 // @Field: Safety: Hardware Safety Switch status
 
 // @LoggerMessage: MCU

From 6713a203f0b91daead897a2c39b2dcf190ae1b32 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 2 Feb 2024 16:36:11 +1100
Subject: [PATCH 0988/1335] AP_BattMonitor: added temperature reading to INA2xx
 driver

---
 .../AP_BattMonitor/AP_BattMonitor_INA2xx.cpp  | 28 ++++++++++++++++---
 .../AP_BattMonitor/AP_BattMonitor_INA2xx.h    |  7 ++++-
 2 files changed, 30 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp
index cab13b302f191a..94be30abc7b9f2 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp
@@ -31,8 +31,10 @@ extern const AP_HAL::HAL& hal;
 #define REG_228_CURRENT       0x07
 #define REG_228_MANUFACT_ID   0x3e
 #define REG_228_DEVICE_ID     0x3f
+#define REG_228_DIETEMP       0x06
+#define INA_228_TEMP_C_LSB    7.8125e-3
 
-// INA238 specific registers
+// INA237/INA238 specific registers
 #define REG_238_CONFIG        0x00
 #define  REG_238_CONFIG_RESET   0x8000
 #define REG_238_ADC_CONFIG    0x01
@@ -41,6 +43,8 @@ extern const AP_HAL::HAL& hal;
 #define REG_238_CURRENT       0x07
 #define REG_238_MANUFACT_ID   0x3e
 #define REG_238_DEVICE_ID     0x3f
+#define REG_238_DIETEMP       0x06
+#define INA_238_TEMP_C_LSB    7.8125e-3 // need to mask bottom 4 bits
 
 #ifndef DEFAULT_BATTMON_INA2XX_MAX_AMPS
 #define DEFAULT_BATTMON_INA2XX_MAX_AMPS 90.0
@@ -262,10 +266,12 @@ bool AP_BattMonitor_INA2XX::detect_device(void)
 
     if (read_word16(REG_228_MANUFACT_ID, id) && id == 0x5449 &&
         read_word16(REG_228_DEVICE_ID, id) && (id&0xFFF0) == 0x2280) {
+        has_temp = true;
         return configure(DevType::INA228);
     }
     if (read_word16(REG_238_MANUFACT_ID, id) && id == 0x5449 &&
         read_word16(REG_238_DEVICE_ID, id) && (id&0xFFF0) == 0x2380) {
+        has_temp = true;
         return configure(DevType::INA238);
     }
     if (read_word16(REG_226_MANUFACT_ID, id) && id == 0x5449 &&
@@ -311,8 +317,10 @@ void AP_BattMonitor_INA2XX::timer(void)
 
     case DevType::INA228: {
         int32_t bus_voltage24, current24;
+        int16_t temp16;
         if (!read_word24(REG_228_VBUS, bus_voltage24) ||
-            !read_word24(REG_228_CURRENT, current24)) {
+            !read_word24(REG_228_CURRENT, current24) ||
+            !read_word16(REG_228_DIETEMP, temp16)) {
             failed_reads++;
             if (failed_reads > 10) {
                 // device has disconnected, we need to reconfigure it
@@ -322,13 +330,15 @@ void AP_BattMonitor_INA2XX::timer(void)
         }
         voltage = (bus_voltage24>>4) * voltage_LSB;
         current = (current24>>4) * current_LSB;
+        temperature = temp16 * INA_228_TEMP_C_LSB;
         break;
     }
 
     case DevType::INA238: {
-        int16_t bus_voltage16, current16;
+        int16_t bus_voltage16, current16, temp16;
         if (!read_word16(REG_238_VBUS, bus_voltage16) ||
-            !read_word16(REG_238_CURRENT, current16)) {
+            !read_word16(REG_238_CURRENT, current16) ||
+            !read_word16(REG_238_DIETEMP, temp16)) {
             failed_reads++;
             if (failed_reads > 10) {
                 // device has disconnected, we need to reconfigure it
@@ -338,6 +348,7 @@ void AP_BattMonitor_INA2XX::timer(void)
         }
         voltage = bus_voltage16 * voltage_LSB;
         current = current16 * current_LSB;
+        temperature = (temp16&0xFFF0) * INA_238_TEMP_C_LSB;
         break;
     }
     }
@@ -350,4 +361,13 @@ void AP_BattMonitor_INA2XX::timer(void)
     accumulate.count++;
 }
 
+/*
+  get last temperature
+ */
+bool AP_BattMonitor_INA2XX::get_temperature(float &temp) const
+{
+    temp = temperature;
+    return has_temp;
+}
+
 #endif // AP_BATTERY_INA2XX_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h b/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h
index d49e7c82746da3..b23b4420eacfc8 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h
@@ -17,9 +17,10 @@ class AP_BattMonitor_INA2XX : public AP_BattMonitor_Backend
                           AP_BattMonitor_Params &params);
 
     bool has_cell_voltages() const override { return false; }
-    bool has_temperature() const override { return false; }
+    bool has_temperature() const override { return has_temp; }
     bool has_current() const override { return true; }
     bool get_cycle_count(uint16_t &cycles) const override { return false; }
+    bool get_temperature(float &temperature) const override;
 
     void init(void) override;
     void read() override;
@@ -63,6 +64,10 @@ class AP_BattMonitor_INA2XX : public AP_BattMonitor_Backend
     } accumulate;
     float current_LSB;
     float voltage_LSB;
+
+    float temperature;
+
+    bool has_temp;
 };
 
 #endif // AP_BATTERY_INA2XX_ENABLED

From 2729b11b2f80a2af41eb21a3537aaed4c3a75d52 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Sat, 3 Feb 2024 16:43:14 -0600
Subject: [PATCH 0989/1335] hwdef: add ASP5033 airspeed in minimal builds

---
 libraries/AP_HAL_ChibiOS/hwdef/include/minimize_common.inc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/include/minimize_common.inc b/libraries/AP_HAL_ChibiOS/hwdef/include/minimize_common.inc
index c7fc0f6e61700d..5b3ea0e7c2e9ee 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/include/minimize_common.inc
+++ b/libraries/AP_HAL_ChibiOS/hwdef/include/minimize_common.inc
@@ -122,6 +122,7 @@ define AP_MAVLINK_MSG_RELAY_STATUS_ENABLED 0
 #fewer airspeed sensors
 define AP_AIRSPEED_BACKEND_DEFAULT_ENABLED 0
 define AP_AIRSPEED_MS4525_ENABLED 1
+define AP_AIRSPEED_ASP5033_ENABLED 1
 define AP_AIRSPEED_ANALOG_ENABLED 1
 define AP_AIRSPEED_MS5525_ENABLED 1
 define AP_AIRSPEED_SDP3X_ENABLED 1

From 31247316919bc1b388463db1b39b28637ddc14b7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 4 Feb 2024 22:37:48 +1100
Subject: [PATCH 0990/1335] board_types.txt: reserve 1410 for RadiolinkPIX6

---
 Tools/AP_Bootloader/board_types.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
index 1f0c285f0ab8cf..c85bb3a60910bb 100644
--- a/Tools/AP_Bootloader/board_types.txt
+++ b/Tools/AP_Bootloader/board_types.txt
@@ -278,7 +278,7 @@ AP_HW_VIMDRONES_PERIPH               1407
 
 AP_HW_PIXHAWK6X_PERIPH               1408
 AP_HW_CUBERED_PERIPH                 1409
-
+AP_HW_RadiolinkPIX6                  1410
 
 # IDs 5000-5099 reserved for Carbonix
 # IDs 5100-5199 reserved for SYPAQ Systems

From 700f850b58b4d0516619b2bba2295cb777872c6f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jan 2024 15:15:47 +1100
Subject: [PATCH 0991/1335] ArduCopter: add comment for lost AP_Stats object
 params

---
 ArduCopter/Parameters.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index e8c2d5039661a3..3da28c69432518 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -821,6 +821,8 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 11, ParametersG2, sysid_enforce, 0),
 
+    // 12 was AP_Stats
+
 #if AP_GRIPPER_ENABLED
     // @Group: GRIP_
     // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp

From 9aab59ca9ee5988718e6cfcbe0865f19c9ceea5c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jan 2024 15:15:47 +1100
Subject: [PATCH 0992/1335] ArduPlane: add comment for lost AP_Stats object
 params

---
 ArduPlane/Parameters.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 1e6b5901bc8608..113539dd17814b 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1033,6 +1033,8 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 4, ParametersG2, sysid_enforce, 0),
 
+    // AP_Stats was 5
+
     // @Group: SERVO
     // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
     AP_SUBGROUPINFO(servo_channels, "SERVO", 6, ParametersG2, SRV_Channels),

From 3bf58ad5404fb440dadacdc1ddb0357a2f3acd5e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jan 2024 15:15:47 +1100
Subject: [PATCH 0993/1335] ArduSub: add comment for lost AP_Stats object
 params

---
 ArduSub/Parameters.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 90d493659b4fc3..c87897b83b5cdb 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -690,6 +690,9 @@ const AP_Param::Info Sub::var_info[] = {
   2nd group of parameters
  */
 const AP_Param::GroupInfo ParametersG2::var_info[] = {
+
+    // 1 was AP_Stats
+
 #if HAL_PROXIMITY_ENABLED
     // @Group: PRX
     // @Path: ../libraries/AP_Proximity/AP_Proximity.cpp

From fa0797a5f41a85fb2fbfc226aa767926db6a706c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jan 2024 15:15:48 +1100
Subject: [PATCH 0994/1335] Blimp: add comment for lost AP_Stats object params

---
 Blimp/Parameters.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp
index 592087be62ef25..d231274847d6be 100644
--- a/Blimp/Parameters.cpp
+++ b/Blimp/Parameters.cpp
@@ -780,6 +780,8 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("SYSID_ENFORCE", 11, ParametersG2, sysid_enforce, 0),
 
+    // 12 was AP_Stats
+
     // @Param: FRAME_CLASS
     // @DisplayName: Frame Class
     // @Description: Controls major frame class for blimp.

From 13af81ba61a26b60717e1d5a2bb46f5c96ffecc6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jan 2024 15:15:48 +1100
Subject: [PATCH 0995/1335] Rover: add comment for lost AP_Stats object params

---
 Rover/Parameters.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 66149625735829..3481b7ea49acbf 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -404,6 +404,8 @@ const AP_Param::Info Rover::var_info[] = {
   2nd group of parameters
  */
 const AP_Param::GroupInfo ParametersG2::var_info[] = {
+    // 1 was AP_Stats
+
     // @Param: SYSID_ENFORCE
     // @DisplayName: GCS sysid enforcement
     // @Description: This controls whether packets from other than the expected GCS system ID will be accepted

From 6da7cfcf4e01d5582234b16eea579e5ccb1fa394 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jan 2024 13:41:27 +1100
Subject: [PATCH 0996/1335] AP_Vehicle: move scripting up to AP_Vehicle

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 15 +++++++++++----
 libraries/AP_Vehicle/AP_Vehicle.h   |  7 +++++++
 2 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index c138c19d79a2a5..fcb78c2799e712 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -258,6 +258,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(stats, "STAT", 27, AP_Vehicle, AP_Stats),
 #endif
 
+#if AP_SCRIPTING_ENABLED
+    // @Group: SCR_
+    // @Path: ../AP_Scripting/AP_Scripting.cpp
+    AP_SUBGROUPINFO(scripting, "SCR_", 28, AP_Vehicle, AP_Scripting),
+#endif
+
     AP_GROUPEND
 };
 
@@ -367,6 +373,10 @@ void AP_Vehicle::setup()
     // init_ardupilot is where the vehicle does most of its initialisation.
     init_ardupilot();
 
+#if AP_SCRIPTING_ENABLED
+    scripting.init();
+#endif // AP_SCRIPTING_ENABLED
+
 #if AP_AIRSPEED_ENABLED
     airspeed.init();
     if (airspeed.enabled()) {
@@ -976,10 +986,7 @@ void AP_Vehicle::one_Hz_update(void)
     }
 
 #if AP_SCRIPTING_ENABLED
-    AP_Scripting *scripting = AP_Scripting::get_singleton();
-    if (scripting != nullptr) {
-        scripting->update();
-    }
+    scripting.update();
 #endif
 
 }
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 32e0f3150cb953..3e38ac9b63691c 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -69,6 +69,9 @@
 #include <AP_KDECAN/AP_KDECAN.h>
 #include <Filter/AP_Filter.h>
 #include <AP_Stats/AP_Stats.h>              // statistics library
+#if AP_SCRIPTING_ENABLED
+#include <AP_Scripting/AP_Scripting.h>
+#endif
 
 class AP_DDS_Client;
 
@@ -415,6 +418,10 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     AP_TemperatureSensor temperature_sensor;
 #endif
 
+#if AP_SCRIPTING_ENABLED
+    AP_Scripting scripting;
+#endif
+
     static const struct AP_Param::GroupInfo var_info[];
     static const struct AP_Scheduler::Task scheduler_tasks[];
 

From 7a14427d2696e6728690ff47839b6b52c9223367 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jan 2024 13:41:43 +1100
Subject: [PATCH 0997/1335] Tracker: move scripting up to AP_Vehicle

---
 AntennaTracker/Parameters.cpp | 11 +++++------
 AntennaTracker/Parameters.h   |  2 +-
 AntennaTracker/Tracker.h      |  8 --------
 AntennaTracker/system.cpp     |  4 ----
 4 files changed, 6 insertions(+), 19 deletions(-)

diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index 20d8da47aa06e9..c21d5dbf4f5d7e 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -505,12 +505,6 @@ const AP_Param::Info Tracker::var_info[] = {
 
     GGROUP(pidYaw2Srv,         "YAW2SRV_", AC_PID),
 
-#if AP_SCRIPTING_ENABLED
-    // @Group: SCR_
-    // @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
-    GOBJECT(scripting, "SCR_", AP_Scripting),
-#endif
-
     // @Param: CMD_TOTAL
     // @DisplayName: Number of loaded mission items
     // @Description: Set to 1 if HOME location has been loaded by the ground station. Do not change this manually.
@@ -619,6 +613,11 @@ void Tracker::load_parameters(void)
     AP_Param::convert_class(g.k_param_stats_old, &stats, stats.var_info, 0, 0, true);
 #endif
 
+#if AP_SCRIPTING_ENABLED
+    // PARAMETER_CONVERSION - Added: Jan-2024
+    AP_Param::convert_class(g.k_param_scripting_old, &scripting, scripting.var_info, 0, 0, true);
+#endif
+
     hal.console->printf("load_all took %luus\n", (unsigned long)(AP_HAL::micros() - before));
 
 #if HAL_HAVE_SAFETY_SWITCH
diff --git a/AntennaTracker/Parameters.h b/AntennaTracker/Parameters.h
index 836a70853615e1..1db980b04aaa00 100644
--- a/AntennaTracker/Parameters.h
+++ b/AntennaTracker/Parameters.h
@@ -115,7 +115,7 @@ class Parameters {
         k_param_servo_channels,
 
         k_param_stats_old = 218,
-        k_param_scripting = 219,
+        k_param_scripting_old = 219,
 
         //
         // 220: Waypoint data
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 54b2719433fcd2..22c7687ef73ea9 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -53,10 +53,6 @@
 
 #include "AP_Arming.h"
 
-#if AP_SCRIPTING_ENABLED
-#include <AP_Scripting/AP_Scripting.h>
-#endif
-
 #include "mode.h"
 
 class Tracker : public AP_Vehicle {
@@ -115,10 +111,6 @@ class Tracker : public AP_Vehicle {
     ModeServoTest mode_servotest;
     ModeStop mode_stop;
 
-#if AP_SCRIPTING_ENABLED
-    AP_Scripting scripting;
-#endif
-
     // Vehicle state
     struct {
         bool location_valid;    // true if we have a valid location for the vehicle
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index a05be96b61dd24..db4438ded4c063 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -28,10 +28,6 @@ void Tracker::init_ardupilot()
     log_init();
 #endif
 
-#if AP_SCRIPTING_ENABLED
-    scripting.init();
-#endif // AP_SCRIPTING_ENABLED
-
     // initialise compass
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();

From 33895e88160c5ff5081996eca0125e764b5effc4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jan 2024 14:08:53 +1100
Subject: [PATCH 0998/1335] Plane: move scripting up to AP_Vehicle

---
 ArduPlane/Parameters.cpp | 20 +++++++++++++++-----
 ArduPlane/Parameters.h   |  4 ----
 ArduPlane/system.cpp     |  4 ----
 3 files changed, 15 insertions(+), 13 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 113539dd17814b..639aa73039e6a2 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1100,11 +1100,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0),
 
-#if AP_SCRIPTING_ENABLED
-    // @Group: SCR_
-    // @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
-    AP_SUBGROUPINFO(scripting, "SCR_", 14, ParametersG2, AP_Scripting),
-#endif
+    // 14 was AP_Scripting
 
     // @Param: TKOFF_ACCEL_CNT
     // @DisplayName: Takeoff throttle acceleration count
@@ -1568,6 +1564,20 @@ void Plane::load_parameters(void)
         AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
     }
 #endif
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-4.6
+#if AP_SCRIPTING_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 14;       // Old parameter index in g2
+        const uint16_t old_top_element = 78; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &scripting, scripting.var_info, old_index, old_top_element, false);
+    }
+#endif
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 4a80e21943962d..ad78f76de7e216 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -519,10 +519,6 @@ class ParametersG2 {
 
     AP_Int32 flight_options;
 
-#if AP_SCRIPTING_ENABLED
-    AP_Scripting scripting;
-#endif // AP_SCRIPTING_ENABLED
-
     AP_Int8 takeoff_throttle_accel_count;
     AP_Int8 takeoff_timeout;
 
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 4b46bd837dd58a..56998c367904db 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -176,10 +176,6 @@ void Plane::startup_ground(void)
         );
 #endif
 
-#if AP_SCRIPTING_ENABLED
-    g2.scripting.init();
-#endif // AP_SCRIPTING_ENABLED
-
     // reset last heartbeat time, so we don't trigger failsafe on slow
     // startup
     gcs().sysid_myggcs_seen(AP_HAL::millis());

From 78e37198351b1d5f4b6163072f0bbb14880c2cb0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jan 2024 14:24:44 +1100
Subject: [PATCH 0999/1335] Copter: move scripting up to AP_Vehicle

---
 ArduCopter/Parameters.cpp | 20 +++++++++++++++-----
 ArduCopter/Parameters.h   |  4 ----
 ArduCopter/system.cpp     |  4 ----
 3 files changed, 15 insertions(+), 13 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 3da28c69432518..4318da61e084e4 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -913,11 +913,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPPTR(autotune_ptr, "AUTOTUNE_",  29, ParametersG2, AutoTune),
 #endif
 
-#if AP_SCRIPTING_ENABLED
-    // @Group: SCR_
-    // @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
-    AP_SUBGROUPINFO(scripting, "SCR_", 30, ParametersG2, AP_Scripting),
-#endif
+    // 30 was AP_Scripting
 
     // @Param: TUNE_MIN
     // @DisplayName: Tuning minimum
@@ -1392,6 +1388,20 @@ void Copter::load_parameters(void)
         AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
     }
 #endif
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+#if AP_SCRIPTING_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 30;       // Old parameter index in g2
+        const uint16_t old_top_element = 94; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &scripting, scripting.var_info, old_index, old_top_element, false);
+    }
+#endif
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 5ac04f8946c608..c797f86cfe1aaf 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -600,10 +600,6 @@ class ParametersG2 {
     void *autotune_ptr;
 #endif
 
-#if AP_SCRIPTING_ENABLED
-    AP_Scripting scripting;
-#endif // AP_SCRIPTING_ENABLED
-
     AP_Float tuning_min;
     AP_Float tuning_max;
 
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index ec167d96480adc..01d9d6d0ed1f02 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -179,10 +179,6 @@ void Copter::init_ardupilot()
 
     startup_INS_ground();
 
-#if AP_SCRIPTING_ENABLED
-    g2.scripting.init();
-#endif // AP_SCRIPTING_ENABLED
-
 #if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
     custom_control.init();
 #endif

From b315192dcf30aa7109b468e453a5c4f4a63506ec Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jan 2024 14:53:43 +1100
Subject: [PATCH 1000/1335] Rover: move scripting up to AP_Vehicle

---
 Rover/Parameters.cpp | 20 +++++++++++++++-----
 Rover/Parameters.h   |  4 ----
 Rover/system.cpp     |  4 ----
 3 files changed, 15 insertions(+), 13 deletions(-)

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 3481b7ea49acbf..1c7ae1a07b2a65 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -601,11 +601,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("BAL_PITCH_TRIM", 40, ParametersG2, bal_pitch_trim, 0),
 
-#if AP_SCRIPTING_ENABLED
-    // @Group: SCR_
-    // @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
-    AP_SUBGROUPINFO(scripting, "SCR_", 41, ParametersG2, AP_Scripting),
-#endif
+    // 41 was Scripting
 
     // @Param: STICK_MIXING
     // @DisplayName: Stick Mixing
@@ -933,5 +929,19 @@ void Rover::load_parameters(void)
         AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false);
     }
 #endif
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Rover-4.6
+#if AP_SCRIPTING_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo scripting_info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, scripting_info.old_key)) {
+            return;
+        }
+
+        const uint16_t scripting_old_index = 41;       // Old parameter index in g2
+        const uint16_t scripting_old_top_element = 105; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false);
+    }
+#endif
 
 }
diff --git a/Rover/Parameters.h b/Rover/Parameters.h
index e8dbb86a0eb249..ef8d6194706ac3 100644
--- a/Rover/Parameters.h
+++ b/Rover/Parameters.h
@@ -396,10 +396,6 @@ class ParametersG2 {
     // stick mixing for auto modes
     AP_Int8     stick_mixing;
 
-#if AP_SCRIPTING_ENABLED
-    AP_Scripting scripting;
-#endif // AP_SCRIPTING_ENABLED
-
     // waypoint navigation
     AR_WPNav_OA wp_nav;
 
diff --git a/Rover/system.cpp b/Rover/system.cpp
index f358aee5b76486..67f0a8ebdfcbb3 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -174,10 +174,6 @@ void Rover::startup_ground(void)
         FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void)
         );
 #endif
-
-#if AP_SCRIPTING_ENABLED
-    g2.scripting.init();
-#endif // AP_SCRIPTING_ENABLED
 }
 
 // update the ahrs flyforward setting which can allow

From 00bca3499fec990eebf37ee20f0261576453bf6c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jan 2024 15:06:21 +1100
Subject: [PATCH 1001/1335] Sub: move scripting up to AP_Vehicle

---
 ArduSub/Parameters.cpp | 20 +++++++++++++++-----
 ArduSub/Parameters.h   |  7 -------
 ArduSub/system.cpp     |  4 ----
 3 files changed, 15 insertions(+), 16 deletions(-)

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index c87897b83b5cdb..168990b01f4c82 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -713,11 +713,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
     AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels),
 
-#if AP_SCRIPTING_ENABLED
-    // @Group: SCR_
-    // @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
-    AP_SUBGROUPINFO(scripting, "SCR_", 18, ParametersG2, AP_Scripting),
-#endif
+    // 18 was scripting
 
     // 19 was airspeed
 
@@ -803,6 +799,20 @@ void Sub::load_parameters()
         const uint16_t stats_old_top_element = 4033; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
         AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false);
     }
+#endif
+    // PARAMETER_CONVERSION - Added: Jan-2024
+#if AP_SCRIPTING_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo scripting_info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, scripting_info.old_key)) {
+            return;
+        }
+
+        const uint16_t scripting_old_index = 18;       // Old parameter index in g2
+        const uint16_t scripting_old_top_element = 82; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false);
+    }
 #endif
 }
 
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index 1e0b86a4e52409..f8fd851fbf5e11 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -7,10 +7,6 @@
 #include <AP_Gripper/AP_Gripper.h>
 #include <AP_Arming/AP_Arming.h>
 
-#if AP_SCRIPTING_ENABLED
-#include <AP_Scripting/AP_Scripting.h>
-#endif
-
 // Global parameter class.
 //
 class Parameters {
@@ -372,9 +368,6 @@ class ParametersG2 {
     // control over servo output ranges
     SRV_Channels servo_channels;
 
-#if AP_SCRIPTING_ENABLED
-    AP_Scripting scripting;
-#endif // AP_SCRIPTING_ENABLED
 };
 
 extern const AP_Param::Info        var_info[];
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index c3653f077cc2fe..f86637c5a143ab 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -157,10 +157,6 @@ void Sub::init_ardupilot()
 
     startup_INS_ground();
 
-#if AP_SCRIPTING_ENABLED
-    g2.scripting.init();
-#endif // AP_SCRIPTING_ENABLED
-
     // enable CPU failsafe
     mainloop_failsafe_enable();
 

From b69c51a2963509bd4266a0894c402158c741bc3f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jan 2024 15:26:59 +1100
Subject: [PATCH 1002/1335] Blimp: move scripting up to AP_Vehicle

---
 Blimp/Parameters.cpp | 20 +++++++++++++++-----
 Blimp/Parameters.h   |  5 -----
 Blimp/system.cpp     |  4 ----
 3 files changed, 15 insertions(+), 14 deletions(-)

diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp
index d231274847d6be..f0641e0cf28229 100644
--- a/Blimp/Parameters.cpp
+++ b/Blimp/Parameters.cpp
@@ -807,11 +807,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("PILOT_SPEED_DN", 24, ParametersG2, pilot_speed_dn, 0),
 
-#if AP_SCRIPTING_ENABLED
-    // @Group: SCR_
-    // @Path: ../libraries/AP_Scripting/AP_Scripting.cpp
-    AP_SUBGROUPINFO(scripting, "SCR_", 30, ParametersG2, AP_Scripting),
-#endif
+    // 30 was AP_Scripting
 
     // @Param: FS_VIBE_ENABLE
     // @DisplayName: Vibration Failsafe enable
@@ -884,6 +880,20 @@ void Blimp::load_parameters(void)
         AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
     }
 #endif
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+#if AP_SCRIPTING_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 30;       // Old parameter index in g2
+        const uint16_t old_top_element = 94; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &scripting, scripting.var_info, old_index, old_top_element, false);
+    }
+#endif
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
diff --git a/Blimp/Parameters.h b/Blimp/Parameters.h
index 3d44b579a28101..769e9d2df7a4ad 100644
--- a/Blimp/Parameters.h
+++ b/Blimp/Parameters.h
@@ -305,11 +305,6 @@ class ParametersG2
     // Land alt final stage
     AP_Int16 land_alt_low;
 
-
-#if AP_SCRIPTING_ENABLED
-    AP_Scripting scripting;
-#endif // AP_SCRIPTING_ENABLED
-
     // vibration failsafe enable/disable
     AP_Int8 fs_vibe_enabled;
 
diff --git a/Blimp/system.cpp b/Blimp/system.cpp
index dc3799a74a410d..5bde10d45bb60f 100644
--- a/Blimp/system.cpp
+++ b/Blimp/system.cpp
@@ -79,10 +79,6 @@ void Blimp::init_ardupilot()
 
     startup_INS_ground();
 
-#if AP_SCRIPTING_ENABLED
-    g2.scripting.init();
-#endif // AP_SCRIPTING_ENABLED
-
     ins.set_log_raw_bit(MASK_LOG_IMU_RAW);
 
     // setup fin output

From 9919af69bcc19fec2facdf4fdb1b4b29a673fdc7 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Fri, 12 Jan 2024 19:08:24 +1100
Subject: [PATCH 1003/1335] AP_HAL_ChibiOS: add config to enable sccripting on
 CANMod

---
 libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat
index 4994a739fb77af..965cd4462cba1e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat
@@ -85,11 +85,13 @@ define HAL_DISABLE_LOOP_DELAY
 #################################
 
 define HAL_BARO_ALLOW_INIT_NO_BARO
-define AP_RC_CHANNEL_ENABLED 1
 define AP_INERTIALSENSOR_ENABLED 0
 
 define AP_NETWORKING_MAX_INSTANCES 4
 
+define AP_SCRIPTING_ENABLED 1
+define AP_FILESYSTEM_ROMFS_ENABLED 1
+
 # listen for reboot command from uploader.py script
 # undefine to disable. Use -1 to allow on all ports, otherwise serial number index defined in SERIAL_ORDER starting at 0
 define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0

From 85a8b6c414a10bc4ceb1c1b62bdcb5fb6559e2c8 Mon Sep 17 00:00:00 2001
From: Hayden Donald <haydendonald@gmail.com>
Date: Wed, 7 Feb 2024 14:30:44 +1100
Subject: [PATCH 1004/1335] AP_Scripting: Add filesystem format

Added the ability to format the SD card from LUA
---
 libraries/AP_Scripting/docs/docs.lua                     | 9 ++++++++-
 .../AP_Scripting/generator/description/bindings.desc     | 2 ++
 2 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 0d4ac3d3a7d1d7..5a6589610b742c 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1221,7 +1221,6 @@ compass = {}
 ---@return boolean
 function compass:healthy(instance) end
 
-
 -- desc
 ---@class camera
 camera = {}
@@ -3372,6 +3371,14 @@ fs = {}
 ---@return stat_t_ud|nil
 function fs:stat(param1) end
 
+-- Format the SD card. This is a async operation, use get_format_status to get the status of the format
+---@return boolean
+function fs:format() end
+
+-- Get the current status of a format. 0=NOT_STARTED, 1=PENDING, 2=IN_PROGRESS, 3=SUCCESS, 4=FAILURE
+---@return number
+function fs:get_format_status() end
+
 -- desc
 ---@class networking
 networking = {}
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 0eee97bf20d509..c608870c879f51 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -881,6 +881,8 @@ userdata AP_Filesystem::stat_t method is_directory boolean
 
 singleton AP_Filesystem rename fs
 singleton AP_Filesystem method stat boolean string AP_Filesystem::stat_t'Null
+singleton AP_Filesystem method format boolean
+singleton AP_Filesystem method get_format_status uint8_t'skip_check
 
 include AP_RTC/AP_RTC.h depends AP_RTC_ENABLED
 include AP_RTC/AP_RTC_config.h

From 14aea255e6dc54b19909b33132505370d4d9a369 Mon Sep 17 00:00:00 2001
From: Hayden Donald <haydendonald@gmail.com>
Date: Thu, 16 Nov 2023 11:40:05 +1100
Subject: [PATCH 1005/1335] AP_Scripting: Add calibrating method

Add the calibrating method to lua so we can see if the device is currently calibrating
---
 libraries/AP_Scripting/docs/docs.lua                       | 4 ++++
 libraries/AP_Scripting/generator/description/bindings.desc | 1 +
 2 files changed, 5 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 5a6589610b742c..ebbe49d515a7d6 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1505,6 +1505,10 @@ function ins:get_gyro_health(instance) end
 ---@return boolean
 function ins:get_accel_health(instance) end
 
+-- Get if the INS is currently calibrating
+---@return boolean
+function ins:calibrating() end
+
 -- desc
 ---@class Motors_dynamic
 Motors_dynamic = {}
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index c608870c879f51..951f1757570e49 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -633,6 +633,7 @@ singleton AP_InertialSensor rename ins
 singleton AP_InertialSensor method get_temperature float uint8_t 0 INS_MAX_INSTANCES
 singleton AP_InertialSensor method get_gyro_health boolean uint8_t'skip_check
 singleton AP_InertialSensor method get_accel_health boolean uint8_t'skip_check
+singleton AP_InertialSensor method calibrating boolean
 
 singleton CAN manual get_device lua_get_CAN_device 1
 singleton CAN manual get_device2 lua_get_CAN_device2 1

From 43a8432936b4056528ad7baa572317eb1dbac44f Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 6 Feb 2024 20:37:09 +0000
Subject: [PATCH 1006/1335] vscode: set lua version to 5.3

---
 .vscode/settings.default.json | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.vscode/settings.default.json b/.vscode/settings.default.json
index d6469cb6b6bae8..1a5ba955dd21ab 100644
--- a/.vscode/settings.default.json
+++ b/.vscode/settings.default.json
@@ -1,4 +1,5 @@
 {
     "cSpell.language": "en-GB",
-    "astyle.astylerc": "${workspaceFolder}/Tools/CodeStyle/astylerc"
+    "astyle.astylerc": "${workspaceFolder}/Tools/CodeStyle/astylerc",
+    "Lua.runtime.version": "Lua 5.3"
 }

From 5b6d86c278356c655d6cb62d58532eee8931d96c Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 6 Feb 2024 14:59:08 +0000
Subject: [PATCH 1007/1335] AP_Parachute: do relay conversion if ever enabled

---
 libraries/AP_Parachute/AP_Parachute.cpp | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Parachute/AP_Parachute.cpp b/libraries/AP_Parachute/AP_Parachute.cpp
index aae6ea9bc9b942..c570f8bf6cfa85 100644
--- a/libraries/AP_Parachute/AP_Parachute.cpp
+++ b/libraries/AP_Parachute/AP_Parachute.cpp
@@ -241,7 +241,17 @@ bool AP_Parachute::arming_checks(size_t buflen, char *buffer) const
 bool AP_Parachute::get_legacy_relay_index(int8_t &index) const
 {
     // PARAMETER_CONVERSION - Added: Dec-2023
-    if (!enabled() || (_release_type > AP_PARACHUTE_TRIGGER_TYPE_RELAY_3)) {
+    if (_release_type > AP_PARACHUTE_TRIGGER_TYPE_RELAY_3) {
+        // Not relay type
+        return false;
+    }
+    if (!enabled() && !_enabled.configured()) {
+        // Disabled and parameter never changed
+        // Copter manual parachute release enables and deploys in one step
+        // This means it is possible for parachute to still function correctly if disabled at boot
+        // Checking if the enable param is configured means the user must have setup chute at some point
+        // this means relay parm conversion will be done if parachute has ever been enabled
+        // Parachute has priority in relay param conversion, so this might mean we overwrite some other function
         return false;
     }
     index = _release_type; 

From ae19d032ce73fdbf4eb7c375079244131b24babb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 6 Feb 2024 10:14:53 +1100
Subject: [PATCH 1008/1335] AP_RCProtocol: use constructor from parent class in
 ibus

---
 libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp | 5 -----
 libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h   | 3 ++-
 2 files changed, 2 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp
index bf286f8985aaec..d35d12d0e2b434 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.cpp
@@ -20,11 +20,6 @@
 
 #include "AP_RCProtocol_IBUS.h"
 
-// constructor
-AP_RCProtocol_IBUS::AP_RCProtocol_IBUS(AP_RCProtocol &_frontend) :
-    AP_RCProtocol_Backend(_frontend)
-{}
-
 // decode a full IBUS frame
 bool AP_RCProtocol_IBUS::ibus_decode(const uint8_t frame[IBUS_FRAME_SIZE], uint16_t *values, bool *ibus_failsafe)
 {
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h b/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h
index b3e759781662ae..179eb22e22032b 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_IBUS.h
@@ -30,7 +30,8 @@
 class AP_RCProtocol_IBUS : public AP_RCProtocol_Backend
 {
 public:
-    AP_RCProtocol_IBUS(AP_RCProtocol &_frontend);
+    using AP_RCProtocol_Backend::AP_RCProtocol_Backend;
+
     void process_pulse(uint32_t width_s0, uint32_t width_s1) override;
     void process_byte(uint8_t byte, uint32_t baudrate) override;
 private:

From 780045ee3a34984ffc54b2e3c1c1fa4d2ebc86f4 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 23 Nov 2023 18:03:38 +0000
Subject: [PATCH 1009/1335] Copter: filter ekf variances for failsafe and
 vibration checks

add a parameter to control EKF failsafe filtering
---
 ArduCopter/Copter.cpp     |  5 ++++-
 ArduCopter/Copter.h       |  8 ++++++++
 ArduCopter/Parameters.cpp |  7 +++++++
 ArduCopter/Parameters.h   |  3 +++
 ArduCopter/config.h       |  4 ++++
 ArduCopter/ekf_check.cpp  | 38 ++++++++++++++++++++++++--------------
 ArduCopter/system.cpp     |  4 ++++
 7 files changed, 54 insertions(+), 15 deletions(-)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 70bc6be0c41744..5374c79357765a 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -830,7 +830,10 @@ Copter::Copter(void)
     rc_throttle_control_in_filter(1.0f),
     inertial_nav(ahrs),
     param_loader(var_info),
-    flightmode(&mode_stabilize)
+    flightmode(&mode_stabilize),
+    pos_variance_filt(FS_EKF_FILT_DEFAULT),
+    vel_variance_filt(FS_EKF_FILT_DEFAULT),
+    hgt_variance_filt(FS_EKF_FILT_DEFAULT)
 {
 }
 
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 4632cec0876627..633d413cdc1207 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -342,6 +342,14 @@ class Copter : public AP_Vehicle {
         uint32_t clear_ms;  // system time high vibrations stopped
     } vibration_check;
 
+    // EKF variances are unfiltered and are designed to recover very quickly when possible
+    // thus failsafes should be triggered on filtered values in order to avoid transient errors 
+    LowPassFilterFloat pos_variance_filt;
+    LowPassFilterFloat vel_variance_filt;
+    LowPassFilterFloat hgt_variance_filt;
+    bool variances_valid;
+    uint32_t last_ekf_check_us;
+
     // takeoff check
     uint32_t takeoff_check_warning_ms;  // system time user was last warned of takeoff check failure
 
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 4318da61e084e4..35b1780ff9cc1a 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1234,6 +1234,13 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = {
     AP_GROUPINFO("TKOFF_RPM_MAX", 7, ParametersG2, takeoff_rpm_max, 0),
 #endif
 
+    // @Param: FS_EKF_FILT
+    // @DisplayName: EKF Failsafe filter cutoff
+    // @Description: EKF Failsafe filter cutoff frequency. EKF variances are filtered using this value to avoid spurious failsafes from transient high variances. A higher value means the failsafe is more likely to trigger.
+    // @Range: 0 10
+    // @User: Advanced
+    AP_GROUPINFO("FS_EKF_FILT", 8, ParametersG2, fs_ekf_filt_hz, FS_EKF_FILT_DEFAULT),
+
     // ID 62 is reserved for the AP_SUBGROUPEXTENSION
 
     AP_GROUPEND
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index c797f86cfe1aaf..a7374f37744d5f 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -681,6 +681,9 @@ class ParametersG2 {
     AP_Int16 takeoff_rpm_max;
 #endif
 
+    // EKF variance filter cutoff
+    AP_Float fs_ekf_filt_hz;
+
 #if WEATHERVANE_ENABLED == ENABLED
     AC_WeatherVane weathervane;
 #endif
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 3952cf8722ab5d..9b134c70e577d3 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -134,6 +134,10 @@
  # define EKF_ORIGIN_MAX_ALT_KM         50   // EKF origin and home must be within 50km vertically
 #endif
 
+#ifndef FS_EKF_FILT_DEFAULT
+# define FS_EKF_FILT_DEFAULT     5.0f    // frequency cutoff of EKF variance filters
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 //  Auto Tuning
 #ifndef AUTOTUNE_ENABLED
diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp
index 87cbd20f6e7a34..47d9121be9b742 100644
--- a/ArduCopter/ekf_check.cpp
+++ b/ArduCopter/ekf_check.cpp
@@ -113,15 +113,27 @@ void Copter::ekf_check()
 // ekf_over_threshold - returns true if the ekf's variance are over the tolerance
 bool Copter::ekf_over_threshold()
 {
-    // return false immediately if disabled
-    if (g.fs_ekf_thresh <= 0.0f) {
+    // use EKF to get variance
+    float position_var, vel_var, height_var, tas_variance;
+    Vector3f mag_variance;
+    variances_valid = ahrs.get_variances(vel_var, position_var, height_var, mag_variance, tas_variance);
+
+    if (!variances_valid) {
         return false;
     }
 
-    // use EKF to get variance
-    float position_variance, vel_variance, height_variance, tas_variance;
-    Vector3f mag_variance;
-    if (!ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance)) {
+    uint32_t now_us = AP_HAL::micros();
+    float dt = (now_us - last_ekf_check_us) / 1000000.0f;
+
+    // always update filtered values as this serves the vibration check as well
+    position_var = pos_variance_filt.apply(position_var, dt);
+    vel_var = vel_variance_filt.apply(vel_var, dt);
+    height_var = hgt_variance_filt.apply(height_var, dt);
+
+    last_ekf_check_us = now_us;
+
+    // return false if disabled
+    if (g.fs_ekf_thresh <= 0.0f) {
         return false;
     }
 
@@ -137,13 +149,13 @@ bool Copter::ekf_over_threshold()
 #if AP_OPTICALFLOW_ENABLED
     optflow_healthy = optflow.healthy();
 #endif
-    if (!optflow_healthy && (vel_variance >= (2.0f * g.fs_ekf_thresh))) {
+    if (!optflow_healthy && (vel_var >= (2.0f * g.fs_ekf_thresh))) {
         over_thresh_count += 2;
-    } else if (vel_variance >= g.fs_ekf_thresh) {
+    } else if (vel_var >= g.fs_ekf_thresh) {
         over_thresh_count++;
     }
 
-    if ((position_variance >= g.fs_ekf_thresh && over_thresh_count >= 1) || over_thresh_count >= 2) {
+    if ((position_var >= g.fs_ekf_thresh && over_thresh_count >= 1) || over_thresh_count >= 2) {
         return true;
     }
 
@@ -264,14 +276,12 @@ void Copter::check_vibration()
     const bool innov_velD_posD_positive = is_positive(vel_innovation.z) && is_positive(pos_innovation.z);
 
     // check if vertical velocity variance is at least 1 (NK4.SV >= 1.0)
-    float position_variance, vel_variance, height_variance, tas_variance;
-    Vector3f mag_variance;
-    if (!ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance)) {
+    // filtered variances are updated in ekf_check() which runs at the same rate (10Hz) as this check
+    if (!variances_valid) {
         innovation_checks_valid = false;
     }
-
     const bool is_vibration_affected = ahrs.is_vibration_affected();
-    const bool bad_vibe_detected = (innovation_checks_valid && innov_velD_posD_positive && (vel_variance > 1.0f)) || is_vibration_affected;
+    const bool bad_vibe_detected = (innovation_checks_valid && innov_velD_posD_positive && (vel_variance_filt.get() > 1.0f)) || is_vibration_affected;
     const bool do_bad_vibe_actions = (g2.fs_vibe_enabled == 1) && bad_vibe_detected && motors->armed() && !flightmode->has_manual_throttle();
 
     if (!vibration_check.high_vibes) {
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 01d9d6d0ed1f02..31b96628245b64 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -200,6 +200,10 @@ void Copter::init_ardupilot()
         set_mode(Mode::Number::STABILIZE, ModeReason::UNAVAILABLE);
     }
 
+    pos_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
+    vel_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
+    hgt_variance_filt.set_cutoff_frequency(g2.fs_ekf_filt_hz);
+
     // flag that initialisation has completed
     ap.initialised = true;
 }

From dea51c9c508784e73101a4e467ce864a45eb20a9 Mon Sep 17 00:00:00 2001
From: Hayden Donald <haydendonald@gmail.com>
Date: Wed, 7 Feb 2024 15:58:16 +1100
Subject: [PATCH 1010/1335] AP_Notify: Add send_text for scripting use

Added a send_test_src method to override the text on the display and display custom text on a given row
---
 libraries/AP_Notify/AP_Notify.cpp  | 21 +++++++++++++
 libraries/AP_Notify/AP_Notify.h    |  6 ++++
 libraries/AP_Notify/Display.cpp    | 50 +++++++++++++++++++++++++-----
 libraries/AP_Notify/Display.h      |  7 ++++-
 libraries/AP_Notify/NotifyDevice.h |  4 +++
 5 files changed, 80 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp
index bf3b7b1024510a..1a1b6d2158276f 100644
--- a/libraries/AP_Notify/AP_Notify.cpp
+++ b/libraries/AP_Notify/AP_Notify.cpp
@@ -535,6 +535,27 @@ void AP_Notify::send_text(const char *str)
     _send_text_updated_millis = AP_HAL::millis();
 }
 
+#if AP_SCRIPTING_ENABLED
+void AP_Notify::send_text_scripting(const char *str, uint8_t r)
+{
+    for (uint8_t i = 0; i < _num_devices; i++) {
+        if (_devices[i] != nullptr) {
+            _devices[i]->send_text_blocking(str, r);
+        }
+    }
+}
+
+void AP_Notify::release_text_scripting(uint8_t r)
+{
+    for (uint8_t i = 0; i < _num_devices; i++) {
+        if (_devices[i] != nullptr) {
+            _devices[i]->release_text(r);
+        }
+    }
+}
+#endif
+
+
 // convert 0-3 to 0-100
 int8_t AP_Notify::get_rgb_led_brightness_percent() const
 {
diff --git a/libraries/AP_Notify/AP_Notify.h b/libraries/AP_Notify/AP_Notify.h
index 0db8c825bb8ce5..b71988bdf13097 100644
--- a/libraries/AP_Notify/AP_Notify.h
+++ b/libraries/AP_Notify/AP_Notify.h
@@ -210,6 +210,12 @@ class AP_Notify
     void send_text(const char *str);
     const char* get_text() const { return _send_text; }
     uint32_t get_text_updated_millis() const {return _send_text_updated_millis; }
+ 
+#if AP_SCRIPTING_ENABLED
+    // send text to the display using scripting
+    void send_text_scripting(const char *str, uint8_t r);
+    void release_text_scripting(uint8_t r);
+#endif
 
     static const struct AP_Param::GroupInfo var_info[];
     int8_t get_buzz_pin() const  { return _buzzer_pin; }
diff --git a/libraries/AP_Notify/Display.cpp b/libraries/AP_Notify/Display.cpp
index 35ecbdb315b670..a17b72637996e4 100644
--- a/libraries/AP_Notify/Display.cpp
+++ b/libraries/AP_Notify/Display.cpp
@@ -404,17 +404,53 @@ void Display::update()
 
 void Display::update_all()
 {
-    update_text(0);
-    update_mode(1);
+    if(!BIT_IS_SET(_send_text_scr_override, 0)) {
+        update_text(0);
+    }
+
+    if(!BIT_IS_SET(_send_text_scr_override, 1)) {
+       update_mode(1);
+    }
+
 #if AP_BATTERY_ENABLED
-    update_battery(2);
+    if(!BIT_IS_SET(_send_text_scr_override, 2)) {
+        update_battery(2);
+    }
 #endif
 #if AP_GPS_ENABLED
-    update_gps(3);
+    if(!BIT_IS_SET(_send_text_scr_override, 3)) {
+        update_gps(3);
+    }
 #endif
-    //update_gps_sats(4);
-    update_prearm(4);
-    update_ekf(5);
+
+    if(!BIT_IS_SET(_send_text_scr_override, 4)) {
+        //update_gps_sats(4);
+        update_prearm(4);
+    }
+
+    if(!BIT_IS_SET(_send_text_scr_override, 5)) {
+        update_ekf(5);
+    }
+}
+
+void Display::send_text_blocking(const char *text, uint8_t r)
+{
+    if (text == nullptr) {
+        return;
+    }
+    if (r >= DISPLAY_TEXT_NUM_ROWS) {
+        return;
+    }
+    BIT_SET(_send_text_scr_override, r);
+    char txt [DISPLAY_MESSAGE_SIZE] = {};
+    memset(txt, ' ', DISPLAY_MESSAGE_SIZE);
+    memcpy(txt, text, strnlen(text, DISPLAY_MESSAGE_SIZE));
+    draw_text(COLUMN(0), ROW(r), txt);
+}
+
+void Display::release_text(uint8_t r)
+{
+    BIT_CLEAR(_send_text_scr_override, r);
 }
 
 void Display::draw_text(uint16_t x, uint16_t y, const char* c)
diff --git a/libraries/AP_Notify/Display.h b/libraries/AP_Notify/Display.h
index 5c0fbb3e857b58..6243a3696e6a08 100644
--- a/libraries/AP_Notify/Display.h
+++ b/libraries/AP_Notify/Display.h
@@ -9,6 +9,7 @@
 #define ROW(Y)    ((Y * 10) + 6)
 #define COLUMN(X) ((X *  7) + 0)
 
+#define DISPLAY_TEXT_NUM_ROWS 6
 #define DISPLAY_MESSAGE_SIZE 19
 
 class Display_Backend;
@@ -19,7 +20,8 @@ class Display: public NotifyDevice {
 
     bool init(void) override;
     void update() override;
-
+    void send_text_blocking(const char *text, uint8_t line) override;
+    void release_text(uint8_t line) override;
 private:
     void draw_char(uint16_t x, uint16_t y, const char c);
     void draw_text(uint16_t x, uint16_t y, const char *c);
@@ -42,6 +44,9 @@ class Display: public NotifyDevice {
 
     // stop showing text in display after this many millis:
     const uint16_t _send_text_valid_millis = 20000;
+
+    //Bitmask of what lines send_text_scripting should override
+    uint8_t _send_text_scr_override;
 };
 
 #endif  // HAL_DISPLAY_ENABLED
diff --git a/libraries/AP_Notify/NotifyDevice.h b/libraries/AP_Notify/NotifyDevice.h
index 2f2f76ca92a306..f5f6d89d804bb4 100644
--- a/libraries/AP_Notify/NotifyDevice.h
+++ b/libraries/AP_Notify/NotifyDevice.h
@@ -30,6 +30,10 @@ class NotifyDevice {
     // give RGB value for single led
     virtual void rgb_set_id(uint8_t r, uint8_t g, uint8_t b, uint8_t id) {}
 
+    // Allow text to be sent or removed from a display
+    virtual void send_text_blocking(const char *text, uint8_t line) {}
+    virtual void release_text(uint8_t line) {}
+
     // this pointer is used to read the parameters relative to devices
     const AP_Notify *pNotify;
 };

From baf8958ee04981255626d307ea3340dd65ee9a5d Mon Sep 17 00:00:00 2001
From: Hayden Donald <haydendonald@gmail.com>
Date: Wed, 24 Jan 2024 13:16:27 +1100
Subject: [PATCH 1011/1335] AP_Scripting: Add send_text to display binding

Added a notify:send_text and notify:release_text binding to override the text displayed on a display with custom text
---
 libraries/AP_Scripting/docs/docs.lua          |  8 +++
 .../examples/hello_world_display.lua          | 66 +++++++++++++++++++
 .../generator/description/bindings.desc       |  4 ++
 3 files changed, 78 insertions(+)
 create mode 100644 libraries/AP_Scripting/examples/hello_world_display.lua

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index ebbe49d515a7d6..789d0d5d9a4c7c 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -2768,6 +2768,14 @@ function notify:handle_rgb(red, green, blue, rate_hz) end
 ---@param tune string
 function notify:play_tune(tune) end
 
+-- Display text on a notify display, text too long to fit will automatically be scrolled.
+---@param text string -- upto 50 characters
+---@param row integer -- row number to display on, 0 is at the top.
+function notify:send_text(text, row) end
+
+-- desc
+---@param row integer
+function notify:release_text(row) end
 
 -- desc
 ---@class gps
diff --git a/libraries/AP_Scripting/examples/hello_world_display.lua b/libraries/AP_Scripting/examples/hello_world_display.lua
new file mode 100644
index 00000000000000..cf356da6252637
--- /dev/null
+++ b/libraries/AP_Scripting/examples/hello_world_display.lua
@@ -0,0 +1,66 @@
+-- This script is an example of printing to a display via scripting
+-- Connect a supported display to the autopilot, and configure the NTF_DISPLAY_TYPE parameter seen at https://ardupilot.org/copter/docs/common-display-onboard.html
+-- The notify:send_text(text, row) method will override default on the display, disabling the default messages
+
+local switchTimeA
+local switchTimeB
+local displayWidth = 18
+local function update()
+    -- Just keep track of when we should switch to a smiley :)
+    if switchTimeA == nil then
+        switchTimeA = millis() + 5000
+        switchTimeB = switchTimeA + 10000
+    end
+
+    -- Example of overriding a line keeping some defaults, here we will replace the battery(1) and GPS(2) rows
+    if switchTimeA > millis() then
+        notify:send_text("Hello, World!", 1)
+        notify:send_text(tostring(millis()), 2)
+
+    -- Next demonstrate we can release the text, and the default will be shown again
+    elseif switchTimeB > millis() then
+        notify:release_text(1)
+        notify:release_text(2)
+
+    -- Example of overriding all lines, a smiley, try moving the autopilot around to see it change
+    else
+        -- Generate the smiley
+        local width = (displayWidth / 2)
+        local roll = math.floor(width + (ahrs:get_roll() * width)) - 4
+        local pitch = math.floor(ahrs:get_pitch() * 6) + 2;
+        local sub = 5 - roll
+        if sub < 0 then
+            sub = 0
+        end
+        local rows = {}
+        if pitch - 2 >= 0 and pitch - 2 <= 5 then 
+            rows[pitch - 2] = (string.rep(" ", roll) .. "    ##"):sub(sub);
+        end
+        if pitch - 1 >= 0 and pitch - 1 <= 5 then 
+            rows[pitch - 1] = (string.rep(" ", roll) .. " #    #"):sub(sub);
+        end
+        if pitch >= 0 and pitch <= 5 then 
+            rows[pitch] = (string.rep(" ", roll) .. "      #"):sub(sub);
+        end
+        if pitch + 1 >= 0 and pitch + 1 <= 5 then 
+            rows[pitch + 1] = (string.rep(" ", roll) .. " #    #"):sub(sub);
+        end
+        if pitch + 2 >= 0 and pitch + 2 <= 5 then 
+            rows[pitch + 2] = (string.rep(" ", roll) .. "    ##"):sub(sub);
+        end
+        if pitch + 3 >= 0 and pitch + 3 <= 5 then 
+            rows[pitch + 3] = "";
+        end
+
+        -- Send it out to the display
+        for i = 0, 5 do
+            if rows[i] == nil then
+                rows[i] = ""
+            end
+            notify:send_text(rows[i], i)
+        end
+    end
+
+    return update, 10
+ end
+ return update, 1000 -- Wait a few seconds before starting
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 951f1757570e49..fb6f3815e2dfd5 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -191,6 +191,10 @@ singleton AP_Notify depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH
 singleton AP_Notify method play_tune void string
 singleton AP_Notify method handle_rgb void uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check
 singleton AP_Notify method handle_rgb_id void uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check
+singleton AP_Notify method send_text_scripting void string uint8_t'skip_check
+singleton AP_Notify method send_text_scripting rename send_text
+singleton AP_Notify method release_text_scripting void uint8_t'skip_check
+singleton AP_Notify method release_text_scripting rename release_text
 
 include AP_Proximity/AP_Proximity.h
 include AP_Proximity/AP_Proximity_Backend.h

From b3f518996f2d27c1034acb811d154dbf804036b4 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 7 Feb 2024 10:26:52 +0900
Subject: [PATCH 1012/1335] Tools: update hexsoon-edu650 params

---
 Tools/Frame_params/hexsoon-td650.param | 32 ++++++++++++++------------
 1 file changed, 17 insertions(+), 15 deletions(-)

diff --git a/Tools/Frame_params/hexsoon-td650.param b/Tools/Frame_params/hexsoon-td650.param
index 34a31ee3c71480..a4d0c84800909f 100644
--- a/Tools/Frame_params/hexsoon-td650.param
+++ b/Tools/Frame_params/hexsoon-td650.param
@@ -1,21 +1,23 @@
-#NOTE: Hexsoon TD650 params for ArduPilot Copter 4.1
+#NOTE: Hexsoon EDU650 params for ArduPilot Copter 4.5 (and higher)
 ANGLE_MAX,3500
 ACRO_YAW_P,2.6
 ATC_ACCEL_P_MAX,86000
 ATC_ACCEL_R_MAX,86000
-ATC_ACCEL_Y_MAX,23400
-ATC_RAT_PIT_FLTD,17
-ATC_RAT_PIT_FLTT,17
-ATC_RAT_PIT_D,0.0034
-ATC_RAT_PIT_I,0.12
-ATC_RAT_PIT_P,0.12
-ATC_RAT_RLL_D,0.0034
-ATC_RAT_RLL_FLTD,17
-ATC_RAT_RLL_FLTT,17
-ATC_RAT_RLL_I,0.12
-ATC_RAT_RLL_P,0.12
+ATC_ACCEL_Y_MAX,15000
+ATC_RAT_PIT_FLTD,10
+ATC_RAT_PIT_FLTT,10
+ATC_RAT_PIT_D,0.0056
+ATC_RAT_PIT_I,0.11
+ATC_RAT_PIT_P,0.11
+ATC_RAT_RLL_D,0.0048
+ATC_RAT_RLL_FLTD,10
+ATC_RAT_RLL_FLTT,10
+ATC_RAT_RLL_I,0.10
+ATC_RAT_RLL_P,0.10
+ATC_RAT_YAW_FLTD,10
 ATC_RAT_YAW_FLTE,2
-BATT_MONITOR,4
+ATC_RAT_YAW_FLTT,10
+BATT_MONITOR,3
 BATT_VOLT_MULT,12.02
 FRAME_CLASS,1
 FRAME_TYPE,1
@@ -23,7 +25,7 @@ INS_GYRO_FILTER,34
 MOT_BAT_VOLT_MAX,25.2
 MOT_BAT_VOLT_MIN,19.8
 MOT_THST_EXPO,0.68
-MOT_THST_HOVER,0.2288489
+MOT_THST_HOVER,0.22
+PILOT_Y_RATE,60
 PSC_ACCZ_I,0.5
 PSC_ACCZ_P,0.3
-

From cbfb707ddeca999fce3a72a838f5fd6717ce04fb Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 7 Feb 2024 10:27:17 +0900
Subject: [PATCH 1013/1335] Tools: rename hexsoon-edu650 param file

---
 Tools/Frame_params/{hexsoon-td650.param => hexsoon-edu650.param} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename Tools/Frame_params/{hexsoon-td650.param => hexsoon-edu650.param} (100%)

diff --git a/Tools/Frame_params/hexsoon-td650.param b/Tools/Frame_params/hexsoon-edu650.param
similarity index 100%
rename from Tools/Frame_params/hexsoon-td650.param
rename to Tools/Frame_params/hexsoon-edu650.param

From 022e8be7350c98775c73f24beaa9239302b29c39 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 8 Feb 2024 10:18:54 +0900
Subject: [PATCH 1014/1335] Tools: update hexsoon-edu650 notch params

---
 Tools/Frame_params/hexsoon-edu650.param | 19 +++++++++++++++----
 1 file changed, 15 insertions(+), 4 deletions(-)

diff --git a/Tools/Frame_params/hexsoon-edu650.param b/Tools/Frame_params/hexsoon-edu650.param
index a4d0c84800909f..330ffba32feed4 100644
--- a/Tools/Frame_params/hexsoon-edu650.param
+++ b/Tools/Frame_params/hexsoon-edu650.param
@@ -1,5 +1,5 @@
 #NOTE: Hexsoon EDU650 params for ArduPilot Copter 4.5 (and higher)
-ANGLE_MAX,3500
+ANGLE_MAX,3000
 ACRO_YAW_P,2.6
 ATC_ACCEL_P_MAX,86000
 ATC_ACCEL_R_MAX,86000
@@ -21,11 +21,22 @@ BATT_MONITOR,3
 BATT_VOLT_MULT,12.02
 FRAME_CLASS,1
 FRAME_TYPE,1
-INS_GYRO_FILTER,34
+INS_GYRO_FILTER,40 
+INS_HNTCH_ATT,40 
+INS_HNTCH_BW,28 
+INS_HNTCH_ENABLE,1 
+INS_HNTCH_FM_RAT,0.7 
+INS_HNTCH_FREQ,63 
+INS_HNTCH_HMNCS,7 
+INS_HNTCH_MODE,1 
+INS_HNTCH_OPTS,20 
+INS_HNTCH_REF,0.202 
 MOT_BAT_VOLT_MAX,25.2
 MOT_BAT_VOLT_MIN,19.8
-MOT_THST_EXPO,0.68
-MOT_THST_HOVER,0.22
+MOT_SPIN_ARM,0.16
+MOT_SPIN_MIN,0.18
+MOT_THST_EXPO,0.70
+MOT_THST_HOVER,0.20
 PILOT_Y_RATE,60
 PSC_ACCZ_I,0.5
 PSC_ACCZ_P,0.3

From c259d11cd60cf0c8d40c1839af9d621545200bad Mon Sep 17 00:00:00 2001
From: Hayden Donald <haydendonald@gmail.com>
Date: Thu, 8 Feb 2024 08:59:08 +1100
Subject: [PATCH 1015/1335] AP_Scripting: Add getting of gyro/accel values

Added the ability to get gyro/accel from LUA
---
 libraries/AP_Scripting/docs/docs.lua               | 14 ++++++++++++--
 .../generator/description/bindings.desc            |  2 ++
 2 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 789d0d5d9a4c7c..336495f8a0bf77 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1495,8 +1495,8 @@ ins = {}
 ---@return number
 function ins:get_temperature(instance) end
 
--- Check if a specific gyrometer sensor is healthy
----@param instance integer -- the 0-based index of the gyrometer instance to return.
+-- Check if a specific gyroscope sensor is healthy
+---@param instance integer -- the 0-based index of the gyroscope instance to return.
 ---@return boolean
 function ins:get_gyro_health(instance) end
 
@@ -1509,6 +1509,16 @@ function ins:get_accel_health(instance) end
 ---@return boolean
 function ins:calibrating() end
 
+-- Get the value of a specific gyroscope
+---@param instance integer -- the 0-based index of the gyroscope instance to return.
+---@return Vector3f_ud
+function ins:get_gyro(instance) end
+
+-- Get the value of a specific accelerometer
+---@param instance integer -- the 0-based index of the accelerometer instance to return.
+---@return Vector3f_ud
+function ins:get_accel(instance) end
+
 -- desc
 ---@class Motors_dynamic
 Motors_dynamic = {}
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index fb6f3815e2dfd5..f8860dce6d707b 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -638,6 +638,8 @@ singleton AP_InertialSensor method get_temperature float uint8_t 0 INS_MAX_INSTA
 singleton AP_InertialSensor method get_gyro_health boolean uint8_t'skip_check
 singleton AP_InertialSensor method get_accel_health boolean uint8_t'skip_check
 singleton AP_InertialSensor method calibrating boolean
+singleton AP_InertialSensor method get_gyro Vector3f uint8_t'skip_check
+singleton AP_InertialSensor method get_accel Vector3f uint8_t'skip_check
 
 singleton CAN manual get_device lua_get_CAN_device 1
 singleton CAN manual get_device2 lua_get_CAN_device2 1

From 4bcac076f6cb7f18b2a4f2dd58ec14c44e04c369 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Tue, 6 Feb 2024 10:52:28 +1100
Subject: [PATCH 1016/1335] AP_GPS: broaden the acceptance criteria for GPS Yaw
 measurement

---
 libraries/AP_GPS/GPS_Backend.cpp | 41 +++++++++++++++++++-------------
 libraries/AP_GPS/GPS_Backend.h   |  8 +++++++
 2 files changed, 32 insertions(+), 17 deletions(-)

diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
index 7dc6dfd670e167..f6d08fc761705c 100644
--- a/libraries/AP_GPS/GPS_Backend.cpp
+++ b/libraries/AP_GPS/GPS_Backend.cpp
@@ -326,7 +326,10 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(float reported_heading_deg, const
 bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state, const float reported_heading_deg, const float reported_distance, const float reported_D) {
     constexpr float minimum_antenna_seperation = 0.05; // meters
     constexpr float permitted_error_length_pct = 0.2;  // percentage
-
+#if HAL_LOGGING_ENABLED || AP_AHRS_ENABLED
+    float min_D = 0.0f;
+    float max_D = 0.0f;
+#endif
     bool selectedOffset = false;
     Vector3f offset;
     switch (MovingBase::Type(gps.mb_params[interim_state.instance].type.get())) {
@@ -373,10 +376,6 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
 
 #if AP_AHRS_ENABLED
         {
-            // get lag
-            float lag = 0.1;
-            get_lag(lag);
-
             // get vehicle rotation, projected back in time using the gyro
             // this is not 100% accurate, but it is good enough for
             // this test. To do it completely accurately we'd need an
@@ -385,17 +384,21 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
             // for this use case
             const auto &ahrs = AP::ahrs();
             const Vector3f &gyro = ahrs.get_gyro();
-            Matrix3f rot_body_to_ned = ahrs.get_rotation_body_to_ned();
-            rot_body_to_ned.rotate(gyro * (-lag));
+            Matrix3f rot_body_to_ned_min_lag = ahrs.get_rotation_body_to_ned();
+            rot_body_to_ned_min_lag.rotate(gyro * -AP_GPS_MB_MIN_LAG);
+            Matrix3f rot_body_to_ned_max_lag = ahrs.get_rotation_body_to_ned();
+            rot_body_to_ned_max_lag.rotate(gyro * -AP_GPS_MB_MAX_LAG);
 
             // apply rotation to the offset to get the Z offset in NED
-            const Vector3f antenna_tilt = rot_body_to_ned * offset;
-            const float alt_error = reported_D + antenna_tilt.z;
-
-            if (fabsf(alt_error) > permitted_error_length_pct * min_dist) {
+            const Vector3f antenna_tilt_min_lag = rot_body_to_ned_min_lag * offset;
+            const Vector3f antenna_tilt_max_lag = rot_body_to_ned_max_lag * offset;
+            min_D = MIN(-antenna_tilt_min_lag.z, -antenna_tilt_max_lag.z);
+            max_D = MAX(-antenna_tilt_min_lag.z, -antenna_tilt_max_lag.z);
+            min_D -= permitted_error_length_pct * min_dist;
+            max_D += permitted_error_length_pct * min_dist;
+            if (reported_D < min_D || reported_D > max_D) {
                 // the vertical component is out of range, reject it
-                Debug("bad alt_err %.1f > %.1f\n",
-                      alt_error, permitted_error_length_pct * min_dist);
+                Debug("bad alt_err %f < %f < %f", (double)min_D, (double)reported_D, (double)max_D);
                 goto bad_yaw;
             }
         }
@@ -425,16 +428,20 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
     // @Field: RHD: reported heading,deg
     // @Field: RDist: antenna separation,m
     // @Field: RDown: vertical antenna separation,m
+    // @Field: MinCDown: minimum tolerable vertical antenna separation,m
+    // @Field: MaxCDown: maximum tolerable vertical antenna separation,m 
     // @Field: OK: 1 if have yaw
-    AP::logger().WriteStreaming("GPYW", "TimeUS,Id,RHD,RDist,RDown,OK",
-                                "s#dmm-",
-                                "F-----",
-                                "QBfffB",
+    AP::logger().WriteStreaming("GPYW", "TimeUS,Id,RHD,RDist,RDown,MinCDown,MaxCDown,OK",
+                                "s#dmmmm-",
+                                "F-------",
+                                "QBfffffB",
                                 AP_HAL::micros64(),
                                 state.instance,
                                 reported_heading_deg,
                                 reported_distance,
                                 reported_D,
+                                min_D,
+                                max_D,
                                 interim_state.have_gps_yaw);
 #endif
 
diff --git a/libraries/AP_GPS/GPS_Backend.h b/libraries/AP_GPS/GPS_Backend.h
index f69125f145147a..2fdae674d9ba44 100644
--- a/libraries/AP_GPS/GPS_Backend.h
+++ b/libraries/AP_GPS/GPS_Backend.h
@@ -34,6 +34,14 @@
 #define AP_GPS_DEBUG_LOGGING_ENABLED 0
 #endif
 
+#ifndef AP_GPS_MB_MIN_LAG
+#define AP_GPS_MB_MIN_LAG 0.05f
+#endif
+
+#ifndef AP_GPS_MB_MAX_LAG
+#define AP_GPS_MB_MAX_LAG 0.25f
+#endif
+
 #if AP_GPS_DEBUG_LOGGING_ENABLED
 #include <AP_HAL/utility/RingBuffer.h>
 #endif

From 0fca670f85d055db901143914079dff7ee6096f6 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 8 Feb 2024 15:22:21 +0900
Subject: [PATCH 1017/1335] Mount: Siyi waits for non-zero cam firmware version

---
 libraries/AP_Mount/AP_Mount_Siyi.cpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Mount/AP_Mount_Siyi.cpp b/libraries/AP_Mount/AP_Mount_Siyi.cpp
index 2925e5b70e41fa..c33fb3ec94a52d 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.cpp
+++ b/libraries/AP_Mount/AP_Mount_Siyi.cpp
@@ -353,11 +353,16 @@ void AP_Mount_Siyi::process_packet()
         _fw_version.camera.major = _msg_buff[_msg_buff_data_start+2];  // firmware major version
         _fw_version.camera.minor = _msg_buff[_msg_buff_data_start+1];  // firmware minor version
         _fw_version.camera.patch = _msg_buff[_msg_buff_data_start+0];  // firmware revision (aka patch)
-        
+
         _fw_version.gimbal.major = _msg_buff[_msg_buff_data_start+6];  // firmware major version
         _fw_version.gimbal.minor = _msg_buff[_msg_buff_data_start+5];  // firmware minor version
         _fw_version.gimbal.patch = _msg_buff[_msg_buff_data_start+4];  // firmware revision (aka patch)
-        
+
+        // camera firmware version may be all zero soon after startup.  giveup and try again later
+        if (_fw_version.camera.major == 0 && _fw_version.camera.minor == 0 && _fw_version.camera.patch == 0) {
+            break;
+        }
+
         _fw_version.received = true;
 
         // display camera info to user

From 2a55e6a030f648925b5f705a9c236a7d471bb717 Mon Sep 17 00:00:00 2001
From: Hayden Donald <haydendonald@gmail.com>
Date: Thu, 9 Nov 2023 13:32:12 +1100
Subject: [PATCH 1018/1335] AP_Arming: Move accel/gyro_consistent to
 AP_IntertialSensor

Move the accel_consistent and gyro_consistent methods from AP_Arming to AP_IntertialSensor
---
 libraries/AP_Arming/AP_Arming.cpp | 66 ++++++-------------------------
 1 file changed, 11 insertions(+), 55 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 0b6ae786a2b08f..2a0a3e1fa0ac90 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -352,44 +352,15 @@ bool AP_Arming::logging_checks(bool report)
 #if AP_INERTIALSENSOR_ENABLED
 bool AP_Arming::ins_accels_consistent(const AP_InertialSensor &ins)
 {
-    const uint8_t accel_count = ins.get_accel_count();
-    if (accel_count <= 1) {
-        return true;
-    }
-
-    const Vector3f &prime_accel_vec = ins.get_accel();
     const uint32_t now = AP_HAL::millis();
-    for(uint8_t i=0; i<accel_count; i++) {
-        if (!ins.use_accel(i)) {
-            continue;
-        }
-        // get next accel vector
-        const Vector3f &accel_vec = ins.get_accel(i);
-        Vector3f vec_diff = accel_vec - prime_accel_vec;
-        // allow for user-defined difference, typically 0.75 m/s/s. Has to pass in last 10 seconds
-        float threshold = accel_error_threshold;
-        if (i >= 2) {
-            /*
-              we allow for a higher threshold for IMU3 as it
-              runs at a different temperature to IMU1/IMU2,
-              and is not used for accel data in the EKF
-            */
-            threshold *= 3;
-        }
-
-        // EKF is less sensitive to Z-axis error
-        vec_diff.z *= 0.5f;
-
-        if (vec_diff.length() > threshold) {
-            // this sensor disagrees with the primary sensor, so
-            // accels are inconsistent:
-            last_accel_pass_ms = 0;
-            return false;
-        }
+    if (!ins.accels_consistent(accel_error_threshold)) {
+        // accels are inconsistent:
+        last_accel_pass_ms = 0;
+        return false;
     }
 
     if (last_accel_pass_ms == 0) {
-        // we didn't return false in the loop above, so sensors are
+        // we didn't return false above, so sensors are
         // consistent right now:
         last_accel_pass_ms = now;
     }
@@ -404,30 +375,15 @@ bool AP_Arming::ins_accels_consistent(const AP_InertialSensor &ins)
 
 bool AP_Arming::ins_gyros_consistent(const AP_InertialSensor &ins)
 {
-    const uint8_t gyro_count = ins.get_gyro_count();
-    if (gyro_count <= 1) {
-        return true;
-    }
-
-    const Vector3f &prime_gyro_vec = ins.get_gyro();
     const uint32_t now = AP_HAL::millis();
-    for(uint8_t i=0; i<gyro_count; i++) {
-        if (!ins.use_gyro(i)) {
-            continue;
-        }
-        // get next gyro vector
-        const Vector3f &gyro_vec = ins.get_gyro(i);
-        const Vector3f vec_diff = gyro_vec - prime_gyro_vec;
-        // allow for up to 5 degrees/s difference
-        if (vec_diff.length() > radians(5)) {
-            // this sensor disagrees with the primary sensor, so
-            // gyros are inconsistent:
-            last_gyro_pass_ms = 0;
-            return false;
-        }
+    // allow for up to 5 degrees/s difference
+    if (!ins.gyros_consistent(5)) {
+        // gyros are inconsistent:
+        last_gyro_pass_ms = 0;
+        return false;
     }
 
-    // we didn't return false in the loop above, so sensors are
+    // we didn't return false above, so sensors are
     // consistent right now:
     if (last_gyro_pass_ms == 0) {
         last_gyro_pass_ms = now;

From fdf56c2ec4d4cdea7f4b3bdf8d999df598ab7123 Mon Sep 17 00:00:00 2001
From: Hayden Donald <haydendonald@gmail.com>
Date: Thu, 9 Nov 2023 13:45:13 +1100
Subject: [PATCH 1019/1335] AP_InertialSensor: Move accel/gyro_consistent to
 AP_IntertialSensor

Move the accel_consistent and gyro_consistent methods from AP_Arming to AP_IntertialSensor
---
 .../AP_InertialSensor/AP_InertialSensor.cpp   | 68 +++++++++++++++++++
 .../AP_InertialSensor/AP_InertialSensor.h     |  2 +
 2 files changed, 70 insertions(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 37504d8897abf3..9450d58447e28d 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1421,6 +1421,35 @@ bool AP_InertialSensor::get_gyro_health_all(void) const
     return (get_gyro_count() > 0);
 }
 
+// threshold in degrees/s to be consistent, consistent_time_sec duration for which
+// gyros need to be consistent to be considered consistent
+bool AP_InertialSensor::gyros_consistent(uint8_t threshold) const
+{
+     
+    const uint8_t gyro_count = get_gyro_count();
+    if (gyro_count <= 1) {
+        return true;
+    }
+
+    const Vector3f &prime_gyro_vec = get_gyro();
+    for(uint8_t i=0; i<gyro_count; i++) {
+        if (!use_gyro(i)) {
+            continue;
+        }
+        // get next gyro vector
+        const Vector3f &gyro_vec = get_gyro(i);
+        const Vector3f vec_diff = gyro_vec - prime_gyro_vec;
+        // allow for up to threshold degrees/s difference
+        if (vec_diff.length() > radians(threshold)) {
+            // this sensor disagrees with the primary sensor, so
+            // gyros are inconsistent:
+            return false;
+        }
+    }
+
+    return true;
+}
+
 // gyro_calibration_ok_all - returns true if all gyros were calibrated successfully
 bool AP_InertialSensor::gyro_calibrated_ok_all() const
 {
@@ -1460,6 +1489,45 @@ bool AP_InertialSensor::get_accel_health_all(void) const
     return (get_accel_count() > 0);
 }
 
+// accel_error_threshold in m/s/s to be consistent
+bool AP_InertialSensor::accels_consistent(float accel_error_threshold) const
+{
+    const uint8_t accel_count = get_accel_count();
+    if (accel_count <= 1) {
+        return true;
+    }
+
+    const Vector3f &prime_accel_vec = get_accel();
+    for(uint8_t i=0; i<accel_count; i++) {
+        if (!use_accel(i)) {
+            continue;
+        }
+        // get next accel vector
+        const Vector3f &accel_vec = get_accel(i);
+        Vector3f vec_diff = accel_vec - prime_accel_vec;
+        // allow for user-defined difference, threshold m/s/s. Has to pass in last consistent_time_sec seconds
+        float threshold = accel_error_threshold;
+        if (i >= 2) {
+            /*
+              we allow for a higher threshold for IMU3 as it
+              runs at a different temperature to IMU1/IMU2,
+              and is not used for accel data in the EKF
+            */
+            threshold *= 3;
+        }
+
+        // EKF is less sensitive to Z-axis error
+        vec_diff.z *= 0.5f;
+
+        if (vec_diff.length() > threshold) {
+            // this sensor disagrees with the primary sensor, so
+            // accels are inconsistent:
+            return false;
+        }
+    }
+    return true;
+}
+
 #if HAL_GCS_ENABLED && AP_AHRS_ENABLED
 /*
   calculate the trim_roll and trim_pitch. This is used for redoing the
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index fd085cf7d3bb4d..3df340b673a488 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -137,6 +137,7 @@ class AP_InertialSensor : AP_AccelCal_Client
     bool get_gyro_health(uint8_t instance) const { return (instance<_gyro_count) ? _gyro_healthy[instance] : false; }
     bool get_gyro_health(void) const { return get_gyro_health(_primary_gyro); }
     bool get_gyro_health_all(void) const;
+    bool gyros_consistent(uint8_t threshold) const;
     uint8_t get_gyro_count(void) const { return MIN(INS_MAX_INSTANCES, _gyro_count); }
     bool gyro_calibrated_ok(uint8_t instance) const { return _gyro_cal_ok[instance]; }
     bool gyro_calibrated_ok_all() const;
@@ -146,6 +147,7 @@ class AP_InertialSensor : AP_AccelCal_Client
     bool get_accel_health(uint8_t instance) const { return (instance<_accel_count) ? _accel_healthy[instance] : false; }
     bool get_accel_health(void) const { return get_accel_health(_primary_accel); }
     bool get_accel_health_all(void) const;
+    bool accels_consistent(float accel_error_threshold) const;
     uint8_t get_accel_count(void) const { return MIN(INS_MAX_INSTANCES, _accel_count); }
     bool accel_calibrated_ok_all() const;
     bool use_accel(uint8_t instance) const;

From 52409d6765dfab4cc890dfd2718e030fe2b44902 Mon Sep 17 00:00:00 2001
From: Hayden Donald <haydendonald@gmail.com>
Date: Wed, 7 Feb 2024 15:06:58 +1100
Subject: [PATCH 1020/1335] AP_Scripting: Add gyro/accel consistency checks to
 lua

Added the accels_consistent and gyros_consistent methods to the lua bindings
---
 libraries/AP_Scripting/docs/docs.lua                   | 10 ++++++++++
 .../AP_Scripting/generator/description/bindings.desc   |  2 ++
 2 files changed, 12 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 336495f8a0bf77..3208c6ac224a82 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1495,11 +1495,21 @@ ins = {}
 ---@return number
 function ins:get_temperature(instance) end
 
+-- Check if the gyrometers are consistent
+---@param threshold integer -- the allowed threshold in degrees per second
+---@return boolean
+function ins:gyros_consistent(threshold) end
+
 -- Check if a specific gyroscope sensor is healthy
 ---@param instance integer -- the 0-based index of the gyroscope instance to return.
 ---@return boolean
 function ins:get_gyro_health(instance) end
 
+-- Check if the accelerometers are consistent
+---@param threshold float -- the threshold allowed before returning false
+---@return boolean
+function ins:accels_consistent(threshold) end
+
 -- Check if a specific accelerometer sensor is healthy
 ---@param instance integer -- the 0-based index of the accelerometer instance to return.
 ---@return boolean
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index f8860dce6d707b..7a2d88e470d7e0 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -636,10 +636,12 @@ singleton AP_InertialSensor depends AP_INERTIALSENSOR_ENABLED
 singleton AP_InertialSensor rename ins
 singleton AP_InertialSensor method get_temperature float uint8_t 0 INS_MAX_INSTANCES
 singleton AP_InertialSensor method get_gyro_health boolean uint8_t'skip_check
+singleton AP_InertialSensor method accels_consistent boolean float'skip_check
 singleton AP_InertialSensor method get_accel_health boolean uint8_t'skip_check
 singleton AP_InertialSensor method calibrating boolean
 singleton AP_InertialSensor method get_gyro Vector3f uint8_t'skip_check
 singleton AP_InertialSensor method get_accel Vector3f uint8_t'skip_check
+singleton AP_InertialSensor method gyros_consistent boolean uint8_t'skip_check
 
 singleton CAN manual get_device lua_get_CAN_device 1
 singleton CAN manual get_device2 lua_get_CAN_device2 1

From e8b4010899c79fc78733378b9062b1546c1c4043 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 5 Feb 2024 12:44:44 +1100
Subject: [PATCH 1021/1335] HAL_ChibiOS: fixed CANFD timings (again!)

the timing table was not correct, thanks to APD for pointing this out.

This is recalculated from
https://www.kvaser.com/support/calculators/can-fd-bit-timing-calculator,
with transmitter timing delay compensation added and tested with Salae
captures to ensure we are getting the right bit rates
---
 libraries/AP_HAL_ChibiOS/CANFDIface.cpp | 17 +++++++++++------
 1 file changed, 11 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
index 388db3f07651d4..cc4001940a4ecd 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
@@ -323,6 +323,7 @@ bool CANIface::computeTimings(const uint32_t target_bitrate, Timings& out_timing
 
 /*
   table driven timings for CANFD
+  These timings are from https://www.kvaser.com/support/calculators/can-fd-bit-timing-calculator
  */
 bool CANIface::computeFDTimings(const uint32_t target_bitrate, Timings& out_timings) const
 {
@@ -334,11 +335,11 @@ bool CANIface::computeFDTimings(const uint32_t target_bitrate, Timings& out_timi
         uint8_t sjw;
         uint8_t sample_point_pct;
     } CANFD_timings[] {
-        { 1, 5, 15, 6, 6, 75},
-        { 2, 3, 15, 6, 6, 75},
-        { 4, 2, 15, 6, 6, 75},
-        { 5, 2, 12, 5, 5, 75},
-        { 8, 2,  8, 3, 3, 80},
+        { 1, 4, 14, 5, 5, 75},
+        { 2, 2, 14, 5, 5, 75},
+        { 4, 1, 14, 5, 5, 75},
+        { 5, 1, 11, 4, 4, 75},
+        { 8, 1,  6, 3, 3, 70},
     };
     for (const auto &t : CANFD_timings) {
         if (t.bitrate_mbaud*1000U*1000U == target_bitrate) {
@@ -719,7 +720,11 @@ bool CANIface::init(const uint32_t bitrate, const uint32_t fdbitrate, const Oper
         can_->DBTP = (((fdtimings.bs1-1) << FDCAN_DBTP_DTSEG1_Pos) |
                       ((fdtimings.bs2-1) << FDCAN_DBTP_DTSEG2_Pos)  |
                       ((fdtimings.prescaler-1) << FDCAN_DBTP_DBRP_Pos) |
-                      ((fdtimings.sjw-1) << FDCAN_DBTP_DSJW_Pos));
+                      ((fdtimings.sjw-1) << FDCAN_DBTP_DSJW_Pos)) |
+            FDCAN_DBTP_TDC;
+        // use a transmitter delay compensation offset of 10, suitable
+        // for MCP2557FD transceiver with delay of 120ns
+        can_->TDCR = 10<<FDCAN_TDCR_TDCO_Pos;
     }
 
     //RX Config

From 8c87d96f974a4c1f447430a5865c69a6b58df975 Mon Sep 17 00:00:00 2001
From: anchitbhuhan <bhushananchit@gmail.com>
Date: Sat, 10 Feb 2024 00:35:28 +0530
Subject: [PATCH 1022/1335] Tools: added name to GIT_Success.txt

---
 Tools/GIT_Test/GIT_Success.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/GIT_Test/GIT_Success.txt b/Tools/GIT_Test/GIT_Success.txt
index 82f59f568a52ef..bb069f99439304 100644
--- a/Tools/GIT_Test/GIT_Success.txt
+++ b/Tools/GIT_Test/GIT_Success.txt
@@ -181,3 +181,4 @@ Mehmet Keten
 prathap devendran (Tamil) india, 11-23
 Taqwaisneeded
 FreeName
+Anchit

From 1e7df560aac9028df4e502d5a337d5297d0ebefc Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 19:47:19 +1100
Subject: [PATCH 1023/1335] Revert "board_list.py: correct autobuild target
 name"

This reverts commit 039701b6167d22ef8a4eb039152a70722a365484.

This broken builds on the build server.  We should be correcting the other way anyway, from antennatracker -> tracker
---
 Tools/scripts/board_list.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/scripts/board_list.py b/Tools/scripts/board_list.py
index 1891c8225855c3..ab92794673821a 100755
--- a/Tools/scripts/board_list.py
+++ b/Tools/scripts/board_list.py
@@ -16,7 +16,7 @@ def __init__(self, name):
         self.name = name
         self.is_ap_periph = False
         self.autobuild_targets = [
-            'AntennaTracker',
+            'Tracker',
             'Blimp',
             'Copter',
             'Heli',

From c23ba046385d16940f46b6d8a56ba648f98ed4c5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 15:14:27 +1100
Subject: [PATCH 1024/1335] GCS_MAVLink: move RC bits in mavlink to common code

Plane's semantics change to be like Copter. Rover, Sub and Tracker will start reporting the bits
---
 libraries/GCS_MAVLink/GCS.cpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index 5d730b7c89e2a4..65f799d118a401 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -18,6 +18,7 @@
 #include <AP_Notify/AP_Notify.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
 #include <AP_GPS/AP_GPS.h>
+#include <RC_Channel/RC_Channel.h>
 
 #include "MissionItemProtocol_Waypoints.h"
 #include "MissionItemProtocol_Rally.h"
@@ -340,6 +341,16 @@ void GCS::update_sensor_status_flags()
     }
 #endif
 
+#if AP_RC_CHANNEL_ENABLED
+    if (rc().has_ever_seen_rc_input()) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
+        if (!rc().in_rc_failsafe()) {  // should this be has_valid_input?
+            control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
+        }
+    }
+#endif
+
     update_vehicle_sensor_status_flags();
 }
 

From 821cfcd6acd7d460d517d65fd60a00808ed1d67c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 15:14:27 +1100
Subject: [PATCH 1025/1335] RC_Channel: move RC bits in mavlink to common code

Plane's semantics change to be like Copter. Rover, Sub and Tracker will start reporting the bits
---
 libraries/RC_Channel/RC_Channel.h    | 9 +++++++++
 libraries/RC_Channel/RC_Channels.cpp | 2 ++
 2 files changed, 11 insertions(+)

diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 5216f2a4ac7ab3..368e3a013eae56 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -589,6 +589,12 @@ class RC_Channels {
     bool get_aux_cached(RC_Channel::aux_func_t aux_fn, uint8_t &pos);
 #endif
 
+    // returns true if we've ever seen RC input, via overrides or via
+    // AP_RCProtocol
+    bool has_ever_seen_rc_input() const {
+        return _has_ever_seen_rc_input;
+    }
+
     // get failsafe timeout in milliseconds
     uint32_t get_fs_timeout_ms() const { return MAX(_fs_timeout * 1000, 100); }
 
@@ -614,6 +620,9 @@ class RC_Channels {
     AP_Int32  _protocols;
     AP_Float _fs_timeout;
 
+    // set to true if we see overrides or other RC input
+    bool _has_ever_seen_rc_input;
+
     RC_Channel *flight_mode_channel() const;
 
     // Allow override by default at start
diff --git a/libraries/RC_Channel/RC_Channels.cpp b/libraries/RC_Channel/RC_Channels.cpp
index 0ecdaba6d9fbf9..4beee5e5d69f2d 100644
--- a/libraries/RC_Channel/RC_Channels.cpp
+++ b/libraries/RC_Channel/RC_Channels.cpp
@@ -78,6 +78,8 @@ bool RC_Channels::read_input(void)
         return false;
     }
 
+    _has_ever_seen_rc_input = true;
+
     has_new_overrides = false;
 
     last_update_ms = AP_HAL::millis();

From d462756cbc8daf60f234b64e08ffd42ffe1707e4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 15:14:28 +1100
Subject: [PATCH 1026/1335] ArduCopter: move RC bits in mavlink to common code

Plane's semantics change to be like Copter. Rover, Sub and Tracker will start reporting the bits
---
 ArduCopter/Attitude.cpp    |  2 +-
 ArduCopter/Copter.h        |  2 +-
 ArduCopter/GCS_Copter.cpp  | 10 ----------
 ArduCopter/mode.cpp        |  6 +++---
 ArduCopter/mode_turtle.cpp |  2 +-
 ArduCopter/radio.cpp       |  7 ++-----
 6 files changed, 8 insertions(+), 21 deletions(-)

diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
index deee31f0e3968f..67646caed9c0b8 100644
--- a/ArduCopter/Attitude.cpp
+++ b/ArduCopter/Attitude.cpp
@@ -60,7 +60,7 @@ void Copter::update_throttle_hover()
 float Copter::get_pilot_desired_climb_rate(float throttle_control)
 {
     // throttle failsafe check
-    if (failsafe.radio || !ap.rc_receiver_present) {
+    if (failsafe.radio || !rc().has_ever_seen_rc_input()) {
         return 0.0f;
     }
 
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 633d413cdc1207..53576d969bd714 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -374,7 +374,7 @@ class Copter : public AP_Vehicle {
             uint8_t land_complete           : 1; // 7       // true if we have detected a landing
             uint8_t new_radio_frame         : 1; // 8       // Set true if we have new PWM data to act on from the Radio
             uint8_t usb_connected_unused    : 1; // 9       // UNUSED
-            uint8_t rc_receiver_present     : 1; // 10      // true if we have an rc receiver present (i.e. if we've ever received an update
+            uint8_t rc_receiver_present_unused : 1; // 10      // UNUSED
             uint8_t compass_mot             : 1; // 11      // true if we are currently performing compassmot calibration
             uint8_t motor_test              : 1; // 12      // true if we are currently performing the motors test
             uint8_t initialised             : 1; // 13      // true once the init_ardupilot function has completed.  Extended status to GCS is not sent until this completes
diff --git a/ArduCopter/GCS_Copter.cpp b/ArduCopter/GCS_Copter.cpp
index 02599b045d798f..2a5f776b5edd15 100644
--- a/ArduCopter/GCS_Copter.cpp
+++ b/ArduCopter/GCS_Copter.cpp
@@ -42,16 +42,6 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
         MAV_SYS_STATUS_SENSOR_YAW_POSITION;
 
-    const Copter::ap_t &ap = copter.ap;
-
-    if (ap.rc_receiver_present) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
-    }
-    if (ap.rc_receiver_present && !copter.failsafe.radio) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
-    }
-
     // update flightmode-specific flags:
     control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
     control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index f235cc22ef3906..921f9fb32902e6 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -472,7 +472,7 @@ void Copter::notify_flight_mode() {
 void Mode::get_pilot_desired_lean_angles(float &roll_out_cd, float &pitch_out_cd, float angle_max_cd, float angle_limit_cd) const
 {
     // throttle failsafe check
-    if (copter.failsafe.radio || !copter.ap.rc_receiver_present) {
+    if (copter.failsafe.radio || !rc().has_ever_seen_rc_input()) {
         roll_out_cd = 0.0;
         pitch_out_cd = 0.0;
         return;
@@ -494,7 +494,7 @@ Vector2f Mode::get_pilot_desired_velocity(float vel_max) const
     Vector2f vel;
 
     // throttle failsafe check
-    if (copter.failsafe.radio || !copter.ap.rc_receiver_present) {
+    if (copter.failsafe.radio || !rc().has_ever_seen_rc_input()) {
         return vel;
     }
     // fetch roll and pitch inputs
@@ -1013,7 +1013,7 @@ Mode::AltHoldModeState Mode::get_alt_hold_state(float target_climb_rate_cms)
 float Mode::get_pilot_desired_yaw_rate(float yaw_in)
 {
     // throttle failsafe check
-    if (copter.failsafe.radio || !copter.ap.rc_receiver_present) {
+    if (copter.failsafe.radio || !rc().has_ever_seen_rc_input()) {
         return 0.0f;
     }
 
diff --git a/ArduCopter/mode_turtle.cpp b/ArduCopter/mode_turtle.cpp
index 74dc49421ecff6..94728d6a29be9d 100644
--- a/ArduCopter/mode_turtle.cpp
+++ b/ArduCopter/mode_turtle.cpp
@@ -113,7 +113,7 @@ void ModeTurtle::change_motor_direction(bool reverse)
 void ModeTurtle::run()
 {
     const float flip_power_factor = 1.0f - CRASH_FLIP_EXPO * 0.01f;
-    const bool norc = copter.failsafe.radio || !copter.ap.rc_receiver_present;
+    const bool norc = copter.failsafe.radio || !rc().has_ever_seen_rc_input();
     const float stick_deflection_pitch = norc ? 0.0f : channel_pitch->norm_input_dz();
     const float stick_deflection_roll = norc ? 0.0f : channel_roll->norm_input_dz();
     const float stick_deflection_yaw = norc ? 0.0f : channel_yaw->norm_input_dz();
diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp
index 430bed7e93836b..d39d876c53761b 100644
--- a/ArduCopter/radio.cpp
+++ b/ArduCopter/radio.cpp
@@ -87,9 +87,6 @@ void Copter::read_radio()
         set_throttle_and_failsafe(channel_throttle->get_radio_in());
         set_throttle_zero_flag(channel_throttle->get_control_in());
 
-        // RC receiver must be attached if we've just got input
-        ap.rc_receiver_present = true;
-
         // pass pilot input through to motors (used to allow wiggling servos while disarmed on heli, single, coax copters)
         radio_passthrough_to_motors();
 
@@ -115,7 +112,7 @@ void Copter::read_radio()
         // throttle failsafe not enabled
         return;
     }
-    if (!ap.rc_receiver_present && !motors->armed()) {
+    if (!rc().has_ever_seen_rc_input() && !motors->armed()) {
         // we only failsafe if we are armed OR we have ever seen an RC receiver
         return;
     }
@@ -137,7 +134,7 @@ void Copter::set_throttle_and_failsafe(uint16_t throttle_pwm)
     if (throttle_pwm < (uint16_t)g.failsafe_throttle_value) {
 
         // if we are already in failsafe or motors not armed pass through throttle and exit
-        if (failsafe.radio || !(ap.rc_receiver_present || motors->armed())) {
+        if (failsafe.radio || !(rc().has_ever_seen_rc_input() || motors->armed())) {
             return;
         }
 

From 04fab2713680f2237765fdbc914618206bc6533e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 15:14:28 +1100
Subject: [PATCH 1027/1335] ArduPlane: move RC bits in mavlink to common code

Plane's semantics change to be like Copter. Rover, Sub and Tracker will start reporting the bits
---
 ArduPlane/GCS_Plane.cpp | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/ArduPlane/GCS_Plane.cpp b/ArduPlane/GCS_Plane.cpp
index 3413401ddec5d2..39989dba93c64f 100644
--- a/ArduPlane/GCS_Plane.cpp
+++ b/ArduPlane/GCS_Plane.cpp
@@ -98,13 +98,6 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void)
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION;
     }
 
-    control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
-    control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
-    uint32_t last_valid = plane.failsafe.last_valid_rc_ms;
-    if (millis() - last_valid < 200) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
-    }
-
 #if AP_TERRAIN_AVAILABLE
     switch (plane.terrain.status()) {
     case AP_Terrain::TerrainStatusDisabled:

From 1f46bd3a6f7891bba240124c01bceeec653a0a0f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 15:14:28 +1100
Subject: [PATCH 1028/1335] Blimp: move RC bits in mavlink to common code

Plane's semantics change to be like Copter. Rover, Sub and Tracker will start reporting the bits
---
 Blimp/Blimp.h       |  2 +-
 Blimp/GCS_Blimp.cpp | 10 ----------
 Blimp/mode.cpp      |  2 +-
 Blimp/radio.cpp     |  7 ++-----
 4 files changed, 4 insertions(+), 17 deletions(-)

diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
index 63f5eb888fa54a..9566f9294e1f17 100644
--- a/Blimp/Blimp.h
+++ b/Blimp/Blimp.h
@@ -151,7 +151,7 @@ class Blimp : public AP_Vehicle
             uint8_t logging_started         : 1; // 4       // true if logging has started
             uint8_t land_complete           : 1; // 5       // true if we have detected a landing
             uint8_t new_radio_frame         : 1; // 6       // Set true if we have new PWM data to act on from the Radio
-            uint8_t rc_receiver_present     : 1; // 7       // true if we have an rc receiver present (i.e. if we've ever received an update
+            uint8_t rc_receiver_present_unused     : 1; // 7       // UNUSED
             uint8_t compass_mot             : 1; // 8       // true if we are currently performing compassmot calibration
             uint8_t motor_test              : 1; // 9       // true if we are currently performing the motors test
             uint8_t initialised             : 1; // 10      // true once the init_ardupilot function has completed.  Extended status to GCS is not sent until this completes
diff --git a/Blimp/GCS_Blimp.cpp b/Blimp/GCS_Blimp.cpp
index ed7c212014a4f3..cc2ca07232715d 100644
--- a/Blimp/GCS_Blimp.cpp
+++ b/Blimp/GCS_Blimp.cpp
@@ -32,14 +32,4 @@ void GCS_Blimp::update_vehicle_sensor_status_flags(void)
 
     control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
     control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
-
-    const Blimp::ap_t &ap = blimp.ap;
-
-    if (ap.rc_receiver_present) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
-    }
-    if (ap.rc_receiver_present && !blimp.failsafe.radio) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
-    }
 }
diff --git a/Blimp/mode.cpp b/Blimp/mode.cpp
index 9165036cb7639e..849b4af27568d1 100644
--- a/Blimp/mode.cpp
+++ b/Blimp/mode.cpp
@@ -162,7 +162,7 @@ void Mode::update_navigation()
 void Mode::get_pilot_input(Vector3f &pilot, float &yaw)
 {
     // throttle failsafe check
-    if (blimp.failsafe.radio || !blimp.ap.rc_receiver_present) {
+    if (blimp.failsafe.radio || !rc().has_ever_seen_rc_input()) {
         pilot.y = 0;
         pilot.x = 0;
         pilot.z = 0;
diff --git a/Blimp/radio.cpp b/Blimp/radio.cpp
index 02a42672e1843e..fddce3e914dd21 100644
--- a/Blimp/radio.cpp
+++ b/Blimp/radio.cpp
@@ -61,9 +61,6 @@ void Blimp::read_radio()
         set_throttle_and_failsafe(channel_up->get_radio_in());
         set_throttle_zero_flag(channel_up->get_control_in());
 
-        // RC receiver must be attached if we've just got input
-        ap.rc_receiver_present = true;
-
         const float dt = (tnow_ms - last_radio_update_ms)*1.0e-3f;
         rc_throttle_control_in_filter.apply(channel_up->get_control_in(), dt);
         last_radio_update_ms = tnow_ms;
@@ -87,7 +84,7 @@ void Blimp::read_radio()
         // throttle failsafe not enabled
         return;
     }
-    if (!ap.rc_receiver_present && !motors->armed()) {
+    if (!rc().has_ever_seen_rc_input() && !motors->armed()) {
         // we only failsafe if we are armed OR we have ever seen an RC receiver
         return;
     }
@@ -109,7 +106,7 @@ void Blimp::set_throttle_and_failsafe(uint16_t throttle_pwm)
     if (throttle_pwm < (uint16_t)g.failsafe_throttle_value) {
 
         // if we are already in failsafe or motors not armed pass through throttle and exit
-        if (failsafe.radio || !(ap.rc_receiver_present || motors->armed())) {
+        if (failsafe.radio || !(rc().has_ever_seen_rc_input() || motors->armed())) {
             return;
         }
 

From 2fe2c3b520ab5b4b9b29caa1d91dae8d0a5b7465 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 15:15:49 +1100
Subject: [PATCH 1029/1335] Tools: move RC bits in mavlink to common code

Plane's semantics change to be like Copter. Rover, Sub and Tracker will start reporting the bits
---
 Tools/scripts/du32_change.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/scripts/du32_change.py b/Tools/scripts/du32_change.py
index b0452b4c57286d..2d9f40d07a17e5 100755
--- a/Tools/scripts/du32_change.py
+++ b/Tools/scripts/du32_change.py
@@ -41,7 +41,7 @@ def run(self):
             "land_complete",
             "new_radio_frame",
             "usb_connected_unused",
-            "rc_receiver_present",
+            "rc_receiver_present_unused",
             "compass_mot",
             "motor_test",
             "initialised",

From c71e3e973d9a0781a374b00e65355726f855a3a7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 17:09:44 +1100
Subject: [PATCH 1030/1335] Tracker: always report RC as not-in-failsafe

we always trust our inputs in Tracker...
---
 AntennaTracker/RC_Channel.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/AntennaTracker/RC_Channel.h b/AntennaTracker/RC_Channel.h
index 0b4a20a4a4138f..74f15ce34afa98 100644
--- a/AntennaTracker/RC_Channel.h
+++ b/AntennaTracker/RC_Channel.h
@@ -25,6 +25,9 @@ class RC_Channels_Tracker : public RC_Channels
         return &obj_channels[chan];
     }
 
+    // we always trust our RC inputs ATM:
+    bool in_rc_failsafe() const override { return false; }
+
 protected:
 
     // note that these callbacks are not presently used on Tracker:

From e358d1d2377909a96434feadf00355d1070f8652 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 6 Feb 2024 23:28:21 +1100
Subject: [PATCH 1031/1335] AP_MSP: add rcmapper config

---
 libraries/AP_MSP/AP_MSP_Telem_Backend.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
index e2e804d0d21692..ef4a674e745d31 100644
--- a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
+++ b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
@@ -1051,6 +1051,7 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rtc(sbuf_t *dst)
 #if AP_RC_CHANNEL_ENABLED
 MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rc(sbuf_t *dst)
 {
+#if AP_RCMAPPER_ENABLED
     const RCMapper* rcmap = AP::rcmap();
     if (rcmap == nullptr) {
         return MSP_RESULT_ERROR;
@@ -1074,6 +1075,9 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rc(sbuf_t *dst)
 
     sbuf_write_data(dst, &rc, sizeof(rc));
     return MSP_RESULT_ACK;
+#else
+    return MSP_RESULT_ERROR;
+#endif
 }
 #endif  // AP_RC_CHANNEL_ENABLED
 

From 1e50e3600051872dc12261a872717dc55bcd40e0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 6 Feb 2024 23:28:21 +1100
Subject: [PATCH 1032/1335] AP_RCMapper: add rcmapper config

---
 libraries/AP_RCMapper/AP_RCMapper.h        | 6 ++++++
 libraries/AP_RCMapper/AP_RCMapper_config.h | 5 +++++
 2 files changed, 11 insertions(+)
 create mode 100644 libraries/AP_RCMapper/AP_RCMapper_config.h

diff --git a/libraries/AP_RCMapper/AP_RCMapper.h b/libraries/AP_RCMapper/AP_RCMapper.h
index bd93813123b72b..7170a0712f2e9c 100644
--- a/libraries/AP_RCMapper/AP_RCMapper.h
+++ b/libraries/AP_RCMapper/AP_RCMapper.h
@@ -1,5 +1,9 @@
 #pragma once
 
+#include "AP_RCMapper_config.h"
+
+#if AP_RCMAPPER_ENABLED
+
 #include <inttypes.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
@@ -52,3 +56,5 @@ namespace AP
 {
 RCMapper *rcmap();
 };
+
+#endif  // AP_RCMAPPER_ENABLED
diff --git a/libraries/AP_RCMapper/AP_RCMapper_config.h b/libraries/AP_RCMapper/AP_RCMapper_config.h
new file mode 100644
index 00000000000000..ad11cb1785b850
--- /dev/null
+++ b/libraries/AP_RCMapper/AP_RCMapper_config.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#ifndef AP_RCMAPPER_ENABLED
+#define AP_RCMAPPER_ENABLED 1
+#endif

From e2543bdcb90a20acc4a5639f47ce8d0ffab5fffb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 6 Feb 2024 23:28:26 +1100
Subject: [PATCH 1033/1335] AP_Arming: add support for compiling arming out

---
 libraries/AP_Arming/AP_Arming_config.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming_config.h b/libraries/AP_Arming/AP_Arming_config.h
index 748bb498901ece..b8b28f3cd162f6 100644
--- a/libraries/AP_Arming/AP_Arming_config.h
+++ b/libraries/AP_Arming/AP_Arming_config.h
@@ -2,6 +2,10 @@
 
 #include <AP_HAL/AP_HAL_Boards.h>
 
+#ifndef AP_ARMING_ENABLED
+#define AP_ARMING_ENABLED 1
+#endif
+
 #ifndef AP_ARMING_AUX_AUTH_ENABLED
 #define AP_ARMING_AUX_AUTH_ENABLED AP_SCRIPTING_ENABLED
 #endif

From a949b52b5a6431e7cf763eb16ad39c05628800c6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 6 Feb 2024 23:28:26 +1100
Subject: [PATCH 1034/1335] AP_Vehicle: add support for compiling arming out

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index fcb78c2799e712..026db3b64c979c 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -605,7 +605,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #if AP_STATS_ENABLED
     SCHED_TASK_CLASS(AP_Stats,             &vehicle.stats,            update,           1, 100, 252),
 #endif
+#if AP_ARMING_ENABLED
     SCHED_TASK(update_arming,          1,     50, 253),
+#endif
 };
 
 void AP_Vehicle::get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks)
@@ -692,10 +694,14 @@ void AP_Vehicle::send_watchdog_reset_statustext()
 
 bool AP_Vehicle::is_crashed() const
 {
+#if AP_ARMING_ENABLED
     if (AP::arming().is_armed()) {
         return false;
     }
     return AP::arming().last_disarm_method() == AP_Arming::Method::CRASH;
+#else
+    return false;
+#endif
 }
 
 // update the harmonic notch filter for throttle based notch
@@ -950,11 +956,13 @@ void AP_Vehicle::accel_cal_update()
 }
 #endif // HAL_INS_ACCELCAL_ENABLED
 
+#if AP_ARMING_ENABLED
 // call the arming library's update function
 void AP_Vehicle::update_arming()
 {
     AP::arming().update();
 }
+#endif
 
 /*
   one Hz checks common to all vehicles

From 04ae9879f345f860db6fe2fbc30175b72cfb3c95 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 1 Sep 2023 23:05:52 +1000
Subject: [PATCH 1035/1335] AP_Vehicle: compile without scheduler

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 2 ++
 libraries/AP_Vehicle/AP_Vehicle.h   | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 026db3b64c979c..9141e22fef7217 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -307,6 +307,7 @@ void AP_Vehicle::setup()
     }
 #endif
 
+#if AP_SCHEDULER_ENABLED
     // initialise the main loop scheduler
     const AP_Scheduler::Task *tasks;
     uint8_t task_count;
@@ -317,6 +318,7 @@ void AP_Vehicle::setup()
     // time per loop - this gets updated in the main loop() based on
     // actual loop rate
     G_Dt = scheduler.get_loop_period_s();
+#endif
 
     // this is here for Plane; its failsafe_check method requires the
     // RC channels to be set as early as possible for maximum
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 3e38ac9b63691c..5d780933a79f78 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -123,7 +123,9 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     void get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks);
     // implementations *MUST* fill in all passed-in fields or we get
     // Valgrind errors
+#if AP_SCHEDULER_ENABLED
     virtual void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) = 0;
+#endif
 
     /*
       set the "likely flying" flag. This is not guaranteed to be

From e7ded6276395436a093e6208c014471891710701 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 5 Sep 2023 23:03:39 +1000
Subject: [PATCH 1036/1335] AP_Vehicle: compile without ins

---
 libraries/AP_Vehicle/AP_Vehicle.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 5d780933a79f78..47e101e5fed521 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -309,7 +309,9 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 #endif
     AP_Baro barometer;
     Compass compass;
+#if AP_INERTIALSENSOR_ENABLED
     AP_InertialSensor ins;
+#endif
 #if HAL_BUTTON_ENABLED
     AP_Button button;
 #endif
@@ -466,6 +468,7 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     // statustext:
     void send_watchdog_reset_statustext();
 
+#if AP_INERTIALSENSOR_ENABLED
     // update the harmonic notch for throttle based notch
     void update_throttle_notch(AP_InertialSensor::HarmonicNotch &notch);
 
@@ -474,6 +477,7 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 
     // run notch update at either loop rate or 200Hz
     void update_dynamic_notch_at_specified_rate();
+#endif
 
     // decimation for 1Hz update
     uint8_t one_Hz_counter;

From 185396ee2720a983adb37f53df4d8a83874da065 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 4 Jan 2024 12:25:36 +1100
Subject: [PATCH 1037/1335] AP_Vehicle: compile with AHRS not available

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 5 +++++
 libraries/AP_Vehicle/AP_Vehicle.h   | 2 ++
 2 files changed, 7 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 9141e22fef7217..37507b41a2d53d 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -922,8 +922,13 @@ void AP_Vehicle::publish_osd_info()
 
 void AP_Vehicle::get_osd_roll_pitch_rad(float &roll, float &pitch) const
 {
+#if AP_AHRS_ENABLED
     roll = ahrs.get_roll();
     pitch = ahrs.get_pitch();
+#else
+    roll = 0.0;
+    pitch = 0.0;
+#endif
 }
 
 #if HAL_INS_ACCELCAL_ENABLED
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 47e101e5fed521..953ea8d7c5c547 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -344,8 +344,10 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     // false disables external leds)
     AP_Notify notify;
 
+#if AP_AHRS_ENABLED
     // Inertial Navigation EKF
     AP_AHRS ahrs;
+#endif
 
 #if HAL_HOTT_TELEM_ENABLED
     AP_Hott_Telem hott_telem;

From 0e67209790cdafebeb22a99091e9c9c4a3ae0ae1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 4 Jan 2024 12:09:54 +1100
Subject: [PATCH 1038/1335] AP_Compass: fixed-yaw requires the AP_AHRS library
 to exist

---
 libraries/AP_Compass/AP_Compass_config.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index df53675ea8f1ea..f032d0f9f837d1 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -19,7 +19,7 @@
 #endif
 
 #ifndef AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
-#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_COMPASS_ENABLED && AP_GPS_ENABLED
+#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_COMPASS_ENABLED && AP_GPS_ENABLED && AP_AHRS_ENABLED
 #endif
 
 #define COMPASS_MAX_SCALE_FACTOR 1.5

From e728176d4ed57ca50c4d7b1f9d4249e72965ad8b Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir.emn@gmail.com>
Date: Thu, 8 Feb 2024 10:32:06 +0100
Subject: [PATCH 1039/1335] .github: Autotest build need debug flag, rover also
 need enable-math-check-indexes. Fix caching

---
 .github/workflows/test_sitl_blimp.yml   | 2 +-
 .github/workflows/test_sitl_copter.yml  | 2 +-
 .github/workflows/test_sitl_periph.yml  | 2 +-
 .github/workflows/test_sitl_plane.yml   | 2 +-
 .github/workflows/test_sitl_rover.yml   | 2 +-
 .github/workflows/test_sitl_sub.yml     | 2 +-
 .github/workflows/test_sitl_tracker.yml | 2 +-
 7 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/test_sitl_blimp.yml b/.github/workflows/test_sitl_blimp.yml
index c43546273c50cd..d4530e6614dc00 100644
--- a/.github/workflows/test_sitl_blimp.yml
+++ b/.github/workflows/test_sitl_blimp.yml
@@ -200,7 +200,7 @@ jobs:
             export CXX=clang++
           fi
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
+          ./waf configure --board sitl --debug
           ./waf build --target bin/blimp
           ccache -s
           ccache -z
diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml
index 0a379980978e6e..c3e8dd622f1ca0 100644
--- a/.github/workflows/test_sitl_copter.yml
+++ b/.github/workflows/test_sitl_copter.yml
@@ -198,7 +198,7 @@ jobs:
             export CXX=clang++
           fi
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
+          ./waf configure --board sitl --debug
           ./waf build --target bin/arducopter
           ccache -s
           ccache -z
diff --git a/.github/workflows/test_sitl_periph.yml b/.github/workflows/test_sitl_periph.yml
index df6588792cfe7c..e538b7aa58700f 100644
--- a/.github/workflows/test_sitl_periph.yml
+++ b/.github/workflows/test_sitl_periph.yml
@@ -192,7 +192,7 @@ jobs:
         run: |
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl_periph_universal
+          ./waf configure --board sitl_periph_universal --debug
           ./waf build --target bin/AP_Periph
           ccache -s
           ccache -z
diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
index 18b1f0a8019015..245c738a2bb930 100644
--- a/.github/workflows/test_sitl_plane.yml
+++ b/.github/workflows/test_sitl_plane.yml
@@ -199,7 +199,7 @@ jobs:
             export CXX=clang++
           fi
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
+          ./waf configure --board sitl --debug
           ./waf build --target bin/arduplane
           ccache -s
           ccache -z
diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
index 444ad7f2118c64..e778f5953a2a86 100644
--- a/.github/workflows/test_sitl_rover.yml
+++ b/.github/workflows/test_sitl_rover.yml
@@ -200,7 +200,7 @@ jobs:
             export CXX=clang++
           fi
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
+          ./waf configure --board sitl --debug --enable-math-check-indexes
           ./waf build --target bin/ardurover
           ccache -s
           ccache -z
diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml
index 65812b31b79e5a..d4d84b38cd20ff 100644
--- a/.github/workflows/test_sitl_sub.yml
+++ b/.github/workflows/test_sitl_sub.yml
@@ -201,7 +201,7 @@ jobs:
             export CXX=clang++
           fi
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
+          ./waf configure --board sitl --debug
           ./waf build --target bin/ardusub
           ccache -s
           ccache -z
diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml
index e9e20eccfd8ae3..7bb633e0e552a5 100644
--- a/.github/workflows/test_sitl_tracker.yml
+++ b/.github/workflows/test_sitl_tracker.yml
@@ -201,7 +201,7 @@ jobs:
             export CXX=clang++
           fi
           PATH="/github/home/.local/bin:$PATH"
-          ./waf configure --board sitl
+          ./waf configure --board sitl --debug
           ./waf build --target bin/antennatracker
           ccache -s
           ccache -z

From 0eb73c1db2a9b9401f5a37c9368a5bf861921e7e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 12:43:46 +1100
Subject: [PATCH 1040/1335] autotest: only check for PitotBlockage once vehicle
 is loitering

vehicle should be a in a steady state before we make the ratio change to synthesise a pitot blockage.

Otherwise, changes to the shape of the takeoff will affect the heuristics used to detect pitot blockage.
---
 Tools/autotest/arduplane.py | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index ce476165310b47..636575f57cb318 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -2131,9 +2131,7 @@ def PitotBlockage(self):
             "SIM_WIND_DIR": 0,
             "ARSPD_WIND_MAX": 15,
         })
-        self.change_mode("TAKEOFF")
-        self.wait_ready_to_arm()
-        self.arm_vehicle()
+        self.takeoff(alt=50, mode='TAKEOFF')
         # simulate the effect of a blocked pitot tube
         self.set_parameter("ARSPD_RATIO", 0.1)
         self.delay_sim_time(10)
@@ -2156,7 +2154,7 @@ def PitotBlockage(self):
             self.progress("Sensor Re-Enabled")
         else:
             raise NotAchievedException("Airspeed Sensor Not Re-Enabled")
-        self.disarm_vehicle(force=True)
+        self.fly_home_land_and_disarm()
 
     def AIRSPEED_AUTOCAL(self):
         '''Test AIRSPEED_AUTOCAL'''

From 81f2e15f8ba2efff9febf377ba7f2f8da6d5a9d4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 11:29:10 +1100
Subject: [PATCH 1041/1335] Tools: add Gundaroo oval testing location

---
 Tools/autotest/locations.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/autotest/locations.txt b/Tools/autotest/locations.txt
index 3717b3613f9899..123a94009541d1 100644
--- a/Tools/autotest/locations.txt
+++ b/Tools/autotest/locations.txt
@@ -97,3 +97,4 @@ RF_Castle=37.090662,-3.074557,2736,0
 RF_Garage=37.621798,-2.646596,788,0
 SFO_Bay=37.62561973,-122.33235387,0.0,0
 Egge=60.215720,10.324071,198,303
+Gundaroo=-35.02349196,149.26496411,576.8,0

From 1862b5dc27f8bb857a493b254d919820a61cddb9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 11:26:58 +1100
Subject: [PATCH 1042/1335] chibios_hwdef.py: allow re-use of bootloader from
 other boards

---
 libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index f100b0dae2c807..a9d8521ef3076a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -1106,7 +1106,7 @@ def write_mcu_config(self, f):
             f.write('#define APP_START_OFFSET_KB %u\n' % self.get_config('APP_START_OFFSET_KB', default=0, type=int))
         f.write('\n')
 
-        ram_reserve_start,ram0_start_address = self.get_ram_reserve_start()
+        ram_reserve_start, ram0_start_address = self.get_ram_reserve_start()
         f.write('#define HAL_RAM0_START 0x%08x\n' % ram0_start_address)
         if ram_reserve_start > 0:
             f.write('#define HAL_RAM_RESERVE_START 0x%08x\n' % ram_reserve_start)
@@ -1385,7 +1385,7 @@ def write_ldscript(self, fname):
         if ext_flash_size > 32:
             self.error("We only support 24bit addressing over external flash")
 
-        ram_reserve_start,ram0_start_address = self.get_ram_reserve_start()
+        ram_reserve_start, ram0_start_address = self.get_ram_reserve_start()
         if ram_reserve_start > 0 and ram0_start_address == ram0_start:
             ram0_start += ram_reserve_start
             ram0_len -= ram_reserve_start
@@ -2413,6 +2413,10 @@ def bootloader_path(self):
         this_dir = os.path.realpath(__file__)
         rootdir = os.path.relpath(os.path.join(this_dir, "../../../../.."))
         hwdef_dirname = os.path.basename(os.path.dirname(args.hwdef[0]))
+        # allow re-using of bootloader from different build:
+        use_bootloader_from_board = self.get_config('USE_BOOTLOADER_FROM_BOARD', default=None, required=False)
+        if use_bootloader_from_board is not None:
+            hwdef_dirname = use_bootloader_from_board
         bootloader_filename = "%s_bl.bin" % (hwdef_dirname,)
         bootloader_path = os.path.join(rootdir,
                                        "Tools",

From e59d43228150f8f0458cbb8b5c94f163ac646343 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 08:59:03 +1100
Subject: [PATCH 1043/1335] autotest: change default board for
 test_build_options

rather more rpresentative of what people are likely to compile for
---
 Tools/autotest/test_build_options.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/autotest/test_build_options.py b/Tools/autotest/test_build_options.py
index 839269415554c9..9caf2333aeac8c 100755
--- a/Tools/autotest/test_build_options.py
+++ b/Tools/autotest/test_build_options.py
@@ -49,7 +49,7 @@ def __init__(self,
                  do_step_disable_in_turn=True,
                  do_step_enable_in_turn=True,
                  build_targets=None,
-                 board="DevEBoxH7v2",
+                 board="CubeOrange",  # DevEBoxH7v2 also works
                  extra_hwdef=None):
         self.extra_hwdef = extra_hwdef
         self.sizes_nothing_disabled = None

From 50332ab23f4061f055186c85c88a2dc2fa788442 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 11 Feb 2024 09:07:00 +1100
Subject: [PATCH 1044/1335] AP_Periph: check decode for DNA message

---
 Tools/AP_Periph/can.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 1c658463a6e84a..c985403fd282d3 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -434,7 +434,10 @@ void AP_Periph_FW::handle_allocation_response(CanardInstance* canard_instance, C
     // Copying the unique ID from the message
     uavcan_protocol_dynamic_node_id_Allocation msg;
 
-    uavcan_protocol_dynamic_node_id_Allocation_decode(transfer, &msg);
+    if (uavcan_protocol_dynamic_node_id_Allocation_decode(transfer, &msg)) {
+        // failed decode
+        return;
+    }
 
     // Obtaining the local unique ID
     uint8_t my_unique_id[sizeof(msg.unique_id.data)];

From 208f47e84f8a8610b63ce81367ee8989ca84ae32 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 11 Feb 2024 09:07:28 +1100
Subject: [PATCH 1045/1335] DroneCAN: update DSDL compiler, libcanard and
 pydronecan

fixed handling of bad multi-frame messages
---
 modules/DroneCAN/dronecan_dsdlc | 2 +-
 modules/DroneCAN/libcanard      | 2 +-
 modules/DroneCAN/pydronecan     | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/modules/DroneCAN/dronecan_dsdlc b/modules/DroneCAN/dronecan_dsdlc
index ebaf96860a11a4..2465ace6c8cb01 160000
--- a/modules/DroneCAN/dronecan_dsdlc
+++ b/modules/DroneCAN/dronecan_dsdlc
@@ -1 +1 @@
-Subproject commit ebaf96860a11a4cc43c01df6b651df143c6cde2d
+Subproject commit 2465ace6c8cb0148e3ff5865aa9e4dd17d691a71
diff --git a/modules/DroneCAN/libcanard b/modules/DroneCAN/libcanard
index 22102c717db29c..0ae477b82bc18d 160000
--- a/modules/DroneCAN/libcanard
+++ b/modules/DroneCAN/libcanard
@@ -1 +1 @@
-Subproject commit 22102c717db29cc2a2c2869ff80f3e4389704d89
+Subproject commit 0ae477b82bc18daf642383079a02710f69294aa8
diff --git a/modules/DroneCAN/pydronecan b/modules/DroneCAN/pydronecan
index 19fdf2e5b38324..1f494e9a56ac99 160000
--- a/modules/DroneCAN/pydronecan
+++ b/modules/DroneCAN/pydronecan
@@ -1 +1 @@
-Subproject commit 19fdf2e5b383243ccdb1094edae0603cf11469e8
+Subproject commit 1f494e9a56ac9930f1e11c2f453789414b10d54e

From 38b5d942fdfedb8e352e0ff3c470f1a10fa5cc1c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 11 Feb 2024 10:32:35 +1100
Subject: [PATCH 1046/1335] waf: avoid trying to compile .github directory as
 DSDL

---
 wscript | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/wscript b/wscript
index c21a031e52f920..61fffcb8beb58e 100644
--- a/wscript
+++ b/wscript
@@ -725,7 +725,7 @@ def _build_dynamic_sources(bld):
     if (bld.get_board().with_can or bld.env.HAL_NUM_CAN_IFACES) and not bld.env.AP_PERIPH:
         bld(
             features='dronecangen',
-            source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_DroneCAN/dsdl/*', dir=True, src=False),
+            source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/[a-z]* libraries/AP_DroneCAN/dsdl/[a-z]*', dir=True, src=False),
             output_dir='modules/DroneCAN/libcanard/dsdlc_generated/',
             name='dronecan',
             export_includes=[

From eaf40fbfb33da95b5d407606b51207f50644b834 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 11 Feb 2024 11:11:40 +1100
Subject: [PATCH 1047/1335] waf: help diagnose dronecangen errors

---
 .github/workflows/test_sitl_periph.yml |  1 +
 Tools/ardupilotwaf/dronecangen.py      | 11 ++++++++---
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/test_sitl_periph.yml b/.github/workflows/test_sitl_periph.yml
index e538b7aa58700f..06580252dd8029 100644
--- a/.github/workflows/test_sitl_periph.yml
+++ b/.github/workflows/test_sitl_periph.yml
@@ -185,6 +185,7 @@ jobs:
       - name: run dronecan dsdlc generator test
         run: |
           PATH="/github/home/.local/bin:$PATH"
+          python -m pip install --upgrade dronecan
           python modules/DroneCAN/dronecan_dsdlc/dronecan_dsdlc.py -O dsdlc_generated modules/DroneCAN/DSDL/uavcan modules/DroneCAN/DSDL/dronecan modules/DroneCAN/DSDL/com --run-test
 
       - name: build sitl_periph_universal
diff --git a/Tools/ardupilotwaf/dronecangen.py b/Tools/ardupilotwaf/dronecangen.py
index f6e067da3ea237..1ba2a10941e54e 100644
--- a/Tools/ardupilotwaf/dronecangen.py
+++ b/Tools/ardupilotwaf/dronecangen.py
@@ -9,6 +9,7 @@
 import os
 import os.path
 from xml.etree import ElementTree as et
+import subprocess
 
 class dronecangen(Task.Task):
     """generate uavcan header files"""
@@ -21,9 +22,10 @@ def run(self):
         src = self.env.get_flat('SRC')
         dsdlc = self.env.get_flat("DC_DSDL_COMPILER")
 
-        ret = self.exec_command(['{}'.format(python),
-                                 '{}'.format(dsdlc),
-                                 '-O{}'.format(out)] + [x.abspath() for x in self.inputs])
+        cmd = ['{}'.format(python),
+               '{}'.format(dsdlc),
+               '-O{}'.format(out)] + [x.abspath() for x in self.inputs]
+        ret = self.exec_command(cmd)
         if ret != 0:
             # ignore if there was a signal to the interpreter rather
             # than a real error in the script. Some environments use a
@@ -32,6 +34,9 @@ def run(self):
                 Logs.warn('dronecangen crashed with code: {}'.format(ret))
                 ret = 0
             else:
+                Logs.warn('dronecangen: cmd=%s ' % str(cmd))
+                # re-run command with stdout visible to see errors
+                subprocess.call(cmd)
                 Logs.error('dronecangen returned {} error code'.format(ret))
         return ret
 

From bb8047c026f3bc5cc4fac1d74e6441e1fabcd8af Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 22:52:49 +1100
Subject: [PATCH 1048/1335] AP_Scripting: correct compilation with
 AP_FILESYSTEM_FORMAT_ENABLED is false

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
---
 libraries/AP_Scripting/generator/description/bindings.desc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 7a2d88e470d7e0..299bd2b27e3c71 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -891,7 +891,9 @@ userdata AP_Filesystem::stat_t method is_directory boolean
 singleton AP_Filesystem rename fs
 singleton AP_Filesystem method stat boolean string AP_Filesystem::stat_t'Null
 singleton AP_Filesystem method format boolean
+singleton AP_Filesystem method format depends AP_FILESYSTEM_FORMAT_ENABLED
 singleton AP_Filesystem method get_format_status uint8_t'skip_check
+singleton AP_Filesystem method get_format_status depends AP_FILESYSTEM_FORMAT_ENABLED
 
 include AP_RTC/AP_RTC.h depends AP_RTC_ENABLED
 include AP_RTC/AP_RTC_config.h

From 7199ccacda6bf7df16269067b7134178e239ed90 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 11 Feb 2024 13:36:51 +1100
Subject: [PATCH 1049/1335] AP_Bootloader: cope with RAM0_START not matching
 between bl and periph

this allows us to stay in bootloader based solely on RTC_BOOT_CANBL
without the RAM0 area matching between bootloader and periph fw

fixes an issue with current bootloaders where the old bl may not match
current RAM0 value
---
 Tools/AP_Bootloader/AP_Bootloader.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/Tools/AP_Bootloader/AP_Bootloader.cpp b/Tools/AP_Bootloader/AP_Bootloader.cpp
index da268f948f6249..b3b9caa5fdd07f 100644
--- a/Tools/AP_Bootloader/AP_Bootloader.cpp
+++ b/Tools/AP_Bootloader/AP_Bootloader.cpp
@@ -136,8 +136,9 @@ int main(void)
     }
 #endif  // AP_CHECK_FIRMWARE_ENABLED
 #ifndef BOOTLOADER_DEV_LIST
-    else if (timeout != 0) {
-        // fast boot for good firmware
+    else if (timeout == HAL_BOOTLOADER_TIMEOUT) {
+        // fast boot for good firmware if we haven't been told to stay
+        // in bootloader
         try_boot = true;
         timeout = 1000;
     }

From 74e742f2c6f0502e7a50ed22ba5cf3087663744b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 11 Feb 2024 14:20:11 +1100
Subject: [PATCH 1050/1335] Tools: rebuild peripheral bootloaders

fixes issue with RAM0 mismatch
---
 Tools/bootloaders/AR-F407SmartBat_bl.bin      |  Bin 21736 -> 20904 bytes
 Tools/bootloaders/AR-F407SmartBat_bl.elf      |  Bin 168240 -> 167804 bytes
 Tools/bootloaders/AR-F407SmartBat_bl.hex      | 2666 ++++++-----
 Tools/bootloaders/ARK_CANNODE_bl.bin          |  Bin 22044 -> 22044 bytes
 Tools/bootloaders/ARK_CANNODE_bl.hex          | 2740 +++++------
 Tools/bootloaders/ARK_GPS_bl.bin              |  Bin 20496 -> 19688 bytes
 Tools/bootloaders/ARK_GPS_bl.hex              | 2512 +++++-----
 Tools/bootloaders/ARK_RTK_GPS_bl.bin          |  Bin 20496 -> 19680 bytes
 Tools/bootloaders/ARK_RTK_GPS_bl.hex          | 2511 +++++-----
 .../bootloaders/AeroFox-Airspeed-DLVR_bl.bin  |  Bin 15924 -> 15172 bytes
 Tools/bootloaders/AeroFox-Airspeed_bl.bin     |  Bin 15932 -> 15172 bytes
 Tools/bootloaders/AeroFox-GNSS_F9P_bl.bin     |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/AeroFox-PMU_bl.bin          |  Bin 18500 -> 17684 bytes
 Tools/bootloaders/BirdCANdy_bl.bin            |  Bin 20488 -> 19672 bytes
 Tools/bootloaders/BirdCANdy_bl.elf            |  Bin 167676 -> 166872 bytes
 Tools/bootloaders/BirdCANdy_bl.hex            | 2511 +++++-----
 Tools/bootloaders/C-RTK2-HP_bl.bin            |  Bin 20584 -> 19776 bytes
 Tools/bootloaders/CUAV_GPS_bl.bin             |  Bin 20592 -> 19776 bytes
 Tools/bootloaders/CUAV_GPS_bl.elf             |  Bin 167800 -> 166996 bytes
 Tools/bootloaders/CUAV_GPS_bl.hex             | 2523 +++++-----
 Tools/bootloaders/CarbonixF405_bl.bin         |  Bin 29476 -> 28684 bytes
 Tools/bootloaders/CarbonixL496_bl.bin         |  Bin 29136 -> 28344 bytes
 .../CubeOrange-periph-heavy_bl.bin            |  Bin 32184 -> 33128 bytes
 .../CubeOrange-periph-heavy_bl.hex            | 4077 +++++++++--------
 Tools/bootloaders/CubeOrange-periph_bl.bin    |  Bin 32176 -> 33120 bytes
 Tools/bootloaders/CubeOrange-periph_bl.hex    | 4075 ++++++++--------
 Tools/bootloaders/CubePilot-CANMod_bl.bin     |  Bin 31904 -> 32816 bytes
 Tools/bootloaders/CubePilot-CANMod_bl.hex     | 4045 ++++++++--------
 Tools/bootloaders/CubePilot-PPPGW_bl.bin      |  Bin 90532 -> 90876 bytes
 Tools/bootloaders/CubeRedPrimary-PPPGW_bl.bin |  Bin 92968 -> 93312 bytes
 Tools/bootloaders/FreeflyRTK_bl.bin           |  Bin 28316 -> 27524 bytes
 Tools/bootloaders/FreeflyRTK_bl.elf           |  Bin 173876 -> 173052 bytes
 Tools/bootloaders/FreeflyRTK_bl.hex           | 3491 +++++++-------
 Tools/bootloaders/G4-ESC_bl.bin               |  Bin 22804 -> 22420 bytes
 Tools/bootloaders/Here4AP_bl.bin              |  Bin 21676 -> 22564 bytes
 Tools/bootloaders/Here4FC_bl.bin              |  Bin 25472 -> 26360 bytes
 Tools/bootloaders/Here4FC_bl.hex              | 3240 ++++++-------
 Tools/bootloaders/Hitec-Airspeed_bl.bin       |  Bin 19084 -> 18708 bytes
 Tools/bootloaders/Hitec-Airspeed_bl.elf       |  Bin 159956 -> 159660 bytes
 Tools/bootloaders/Hitec-Airspeed_bl.hex       | 2363 +++++-----
 Tools/bootloaders/HitecMosaic_bl.bin          |  Bin 19436 -> 18708 bytes
 Tools/bootloaders/HitecMosaic_bl.elf          |  Bin 162356 -> 161552 bytes
 Tools/bootloaders/HitecMosaic_bl.hex          | 2385 +++++-----
 Tools/bootloaders/HolybroG4_Compass_bl.bin    |  Bin 22524 -> 22156 bytes
 Tools/bootloaders/HolybroG4_GPS_bl.bin        |  Bin 22812 -> 22428 bytes
 Tools/bootloaders/HolybroG4_GPS_bl.elf        |  Bin 168052 -> 167756 bytes
 Tools/bootloaders/HolybroG4_GPS_bl.hex        | 2826 ++++++------
 Tools/bootloaders/HolybroGPS_bl.bin           |  Bin 23048 -> 22232 bytes
 Tools/bootloaders/HolybroGPS_bl.elf           |  Bin 169688 -> 168880 bytes
 Tools/bootloaders/HolybroGPS_bl.hex           | 2831 ++++++------
 Tools/bootloaders/MatekL431-ADSB_bl.bin       |  Bin 18516 -> 17700 bytes
 Tools/bootloaders/MatekL431-ADSB_bl.hex       | 2265 +++++----
 Tools/bootloaders/MatekL431-Airspeed_bl.bin   |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/MatekL431-Airspeed_bl.hex   | 2265 +++++----
 Tools/bootloaders/MatekL431-BattMon_bl.bin    |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/MatekL431-DShot_bl.bin      |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/MatekL431-EFI_bl.bin        |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/MatekL431-GPS_bl.bin        |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/MatekL431-Periph_bl.bin     |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/MatekL431-Periph_bl.hex     | 2265 +++++----
 Tools/bootloaders/MatekL431-Proximity_bl.bin  |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/MatekL431-RC_bl.bin         |  Bin 18516 -> 17700 bytes
 .../bootloaders/MatekL431-Rangefinder_bl.bin  |  Bin 18532 -> 17716 bytes
 Tools/bootloaders/MatekL431-Serial_bl.bin     |  Bin 17668 -> 17708 bytes
 Tools/bootloaders/MatekL431-bdshot_bl.bin     |  Bin 18524 -> 17708 bytes
 Tools/bootloaders/Nucleo-G491_bl.bin          |  Bin 19060 -> 18684 bytes
 Tools/bootloaders/Nucleo-G491_bl.elf          |  Bin 164564 -> 164268 bytes
 Tools/bootloaders/Nucleo-G491_bl.hex          | 2360 +++++-----
 Tools/bootloaders/Pixhawk6X-PPPGW_bl.bin      |  Bin 93756 -> 94092 bytes
 Tools/bootloaders/Pixracer-periph_bl.bin      |  Bin 29700 -> 28908 bytes
 Tools/bootloaders/Pixracer-periph_bl.hex      | 3664 ++++++++-------
 Tools/bootloaders/Sierra-L431_bl.bin          |  Bin 22020 -> 21204 bytes
 .../bootloaders/Sierra-PrecisionPoint_bl.bin  |  Bin 29572 -> 28780 bytes
 .../bootloaders/Sierra-PrecisionPoint_bl.hex  | 3648 ++++++++-------
 Tools/bootloaders/Sierra-TrueNavIC_bl.bin     |  Bin 17732 -> 17724 bytes
 Tools/bootloaders/Sierra-TrueNavIC_bl.hex     | 2145 +++++----
 Tools/bootloaders/Sierra-TrueNavPro-G4_bl.bin |  Bin 18276 -> 18708 bytes
 Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex | 2043 +++++----
 Tools/bootloaders/Sierra-TrueNavPro_bl.bin    |  Bin 18556 -> 17740 bytes
 Tools/bootloaders/Sierra-TrueNorth_bl.bin     |  Bin 18532 -> 17716 bytes
 Tools/bootloaders/Sierra-TrueSpeed_bl.bin     |  Bin 18540 -> 17724 bytes
 Tools/bootloaders/ZubaxGNSS_bl.bin            |  Bin 18576 -> 17848 bytes
 Tools/bootloaders/ZubaxGNSS_bl.elf            |  Bin 158820 -> 158016 bytes
 Tools/bootloaders/ZubaxGNSS_bl.hex            | 2157 +++++----
 Tools/bootloaders/f103-ADSB_bl.bin            |  Bin 15916 -> 15156 bytes
 Tools/bootloaders/f103-ADSB_bl.elf            |  Bin 155152 -> 154424 bytes
 Tools/bootloaders/f103-ADSB_bl.hex            | 1823 ++++----
 Tools/bootloaders/f103-Airspeed_bl.bin        |  Bin 15916 -> 15164 bytes
 Tools/bootloaders/f103-Airspeed_bl.elf        |  Bin 155152 -> 154424 bytes
 Tools/bootloaders/f103-Airspeed_bl.hex        | 1823 ++++----
 Tools/bootloaders/f103-GPS_bl.bin             |  Bin 15916 -> 15156 bytes
 Tools/bootloaders/f103-GPS_bl.hex             | 1823 ++++----
 Tools/bootloaders/f103-HWESC_bl.bin           |  Bin 15908 -> 15156 bytes
 Tools/bootloaders/f103-HWESC_bl.hex           | 1823 ++++----
 Tools/bootloaders/f103-QiotekPeriph_bl.bin    |  Bin 15924 -> 15164 bytes
 Tools/bootloaders/f103-QiotekPeriph_bl.hex    | 1824 ++++----
 Tools/bootloaders/f103-RangeFinder_bl.bin     |  Bin 15924 -> 15164 bytes
 Tools/bootloaders/f103-RangeFinder_bl.elf     |  Bin 155152 -> 154424 bytes
 Tools/bootloaders/f103-RangeFinder_bl.hex     | 1824 ++++----
 Tools/bootloaders/f103-Trigger_bl.bin         |  Bin 15908 -> 15156 bytes
 Tools/bootloaders/f103-Trigger_bl.elf         |  Bin 155152 -> 154424 bytes
 Tools/bootloaders/f103-Trigger_bl.hex         | 1823 ++++----
 Tools/bootloaders/f303-GPS_bl.bin             |  Bin 19436 -> 18716 bytes
 Tools/bootloaders/f303-GPS_bl.hex             | 2385 +++++-----
 Tools/bootloaders/f303-HWESC_bl.bin           |  Bin 19436 -> 18708 bytes
 Tools/bootloaders/f303-HWESC_bl.hex           | 2385 +++++-----
 Tools/bootloaders/f303-M10025_bl.bin          |  Bin 19436 -> 18708 bytes
 Tools/bootloaders/f303-M10025_bl.hex          | 2385 +++++-----
 Tools/bootloaders/f303-M10070_bl.bin          |  Bin 19436 -> 18708 bytes
 Tools/bootloaders/f303-M10070_bl.elf          |  Bin 162356 -> 161552 bytes
 Tools/bootloaders/f303-M10070_bl.hex          | 2385 +++++-----
 Tools/bootloaders/f303-MatekGPS_bl.bin        |  Bin 19444 -> 18716 bytes
 Tools/bootloaders/f303-MatekGPS_bl.elf        |  Bin 162356 -> 161552 bytes
 Tools/bootloaders/f303-MatekGPS_bl.hex        | 2386 +++++-----
 Tools/bootloaders/f303-PWM_bl.bin             |  Bin 19436 -> 18716 bytes
 Tools/bootloaders/f303-TempSensor_bl.bin      |  Bin 19444 -> 18724 bytes
 Tools/bootloaders/f303-Universal_bl.bin       |  Bin 19436 -> 18716 bytes
 Tools/bootloaders/f303-Universal_bl.elf       |  Bin 162356 -> 161552 bytes
 Tools/bootloaders/f303-Universal_bl.hex       | 2385 +++++-----
 Tools/bootloaders/f405-MatekAirspeed_bl.bin   |  Bin 27816 -> 27024 bytes
 Tools/bootloaders/f405-MatekAirspeed_bl.hex   | 3428 +++++++-------
 Tools/bootloaders/f405-MatekGPS_bl.bin        |  Bin 27816 -> 27024 bytes
 Tools/bootloaders/f405-MatekGPS_bl.hex        | 3428 +++++++-------
 Tools/bootloaders/mRo-M10095_bl.bin           |  Bin 22556 -> 22188 bytes
 Tools/bootloaders/mRo-M10095_bl.elf           |  Bin 167820 -> 167524 bytes
 Tools/bootloaders/mRo-M10095_bl.hex           | 2795 ++++++-----
 Tools/bootloaders/mRoCANPWM-M10126_bl.bin     |  Bin 22540 -> 22172 bytes
 Tools/bootloaders/mRoKitCANrevC_bl.bin        |  Bin 18732 -> 18724 bytes
 Tools/bootloaders/mRoKitCANrevC_bl.hex        |  482 +-
 Tools/bootloaders/rGNSS_bl.bin                |  Bin 22540 -> 22172 bytes
 Tools/bootloaders/sw-nav-f405_bl.bin          |  Bin 19136 -> 18328 bytes
 Tools/bootloaders/sw-nav-f405_bl.hex          | 2342 +++++-----
 Tools/bootloaders/sw-spar-f407_bl.bin         |  Bin 28152 -> 27336 bytes
 Tools/bootloaders/sw-spar-f407_bl.hex         | 3469 +++++++-------
 134 files changed, 54644 insertions(+), 55982 deletions(-)
 mode change 100644 => 100755 Tools/bootloaders/ARK_CANNODE_bl.bin
 mode change 100644 => 100755 Tools/bootloaders/Sierra-PrecisionPoint_bl.bin
 mode change 100644 => 100755 Tools/bootloaders/Sierra-TrueNavPro_bl.bin
 mode change 100644 => 100755 Tools/bootloaders/Sierra-TrueNorth_bl.bin
 mode change 100644 => 100755 Tools/bootloaders/Sierra-TrueSpeed_bl.bin

diff --git a/Tools/bootloaders/AR-F407SmartBat_bl.bin b/Tools/bootloaders/AR-F407SmartBat_bl.bin
index 41d9182f70450880f27bb76e0351982bd6e61fa1..cf7061c74f640fb3c4dac5e09ed069478517a57f 100755
GIT binary patch
delta 5547
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diff --git a/Tools/bootloaders/AR-F407SmartBat_bl.elf b/Tools/bootloaders/AR-F407SmartBat_bl.elf
index 49212ab4543676e9acf155fae40be62159e25871..f527113d056bcb7da5f0df814be9fab8a182901f 100755
GIT binary patch
delta 22524
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diff --git a/Tools/bootloaders/AR-F407SmartBat_bl.hex b/Tools/bootloaders/AR-F407SmartBat_bl.hex
index 5f4de701c613b2..5731dadd7704f9 100644
--- a/Tools/bootloaders/AR-F407SmartBat_bl.hex
+++ b/Tools/bootloaders/AR-F407SmartBat_bl.hex
@@ -1,1361 +1,1309 @@
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diff --git a/Tools/bootloaders/ARK_CANNODE_bl.bin b/Tools/bootloaders/ARK_CANNODE_bl.bin
old mode 100644
new mode 100755
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diff --git a/Tools/bootloaders/ARK_CANNODE_bl.hex b/Tools/bootloaders/ARK_CANNODE_bl.hex
index 352197b9428a9e..4f899ae93904d8 100644
--- a/Tools/bootloaders/ARK_CANNODE_bl.hex
+++ b/Tools/bootloaders/ARK_CANNODE_bl.hex
@@ -1,1376 +1,1376 @@
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diff --git a/Tools/bootloaders/ARK_GPS_bl.bin b/Tools/bootloaders/ARK_GPS_bl.bin
index 35f306f9c63f2a8d0569800af8d0a513b91047a4..12dcfd7eff154b862925e65299bb2faffd81d350 100755
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diff --git a/Tools/bootloaders/ARK_GPS_bl.hex b/Tools/bootloaders/ARK_GPS_bl.hex
index e705911e53c6aa..efc643d73f845f 100644
--- a/Tools/bootloaders/ARK_GPS_bl.hex
+++ b/Tools/bootloaders/ARK_GPS_bl.hex
@@ -1,1283 +1,1233 @@
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diff --git a/Tools/bootloaders/ARK_RTK_GPS_bl.hex b/Tools/bootloaders/ARK_RTK_GPS_bl.hex
index 74f82628901d96..a9dedf72f0d2ed 100644
--- a/Tools/bootloaders/ARK_RTK_GPS_bl.hex
+++ b/Tools/bootloaders/ARK_RTK_GPS_bl.hex
@@ -1,1283 +1,1232 @@
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diff --git a/Tools/bootloaders/AeroFox-Airspeed-DLVR_bl.bin b/Tools/bootloaders/AeroFox-Airspeed-DLVR_bl.bin
index 6ecf3bd9743e612b9689f6e3b2e46cbd8b9b679b..ba9a627090e008ef806047d53f87446ea9d461a2 100755
GIT binary patch
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diff --git a/Tools/bootloaders/AeroFox-Airspeed_bl.bin b/Tools/bootloaders/AeroFox-Airspeed_bl.bin
index 03d0aecf8a24257fccf29c3abb1a743fa6a53430..05cff056a4a85d53d1996524b114ad70da11bfa6 100755
GIT binary patch
delta 2589
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diff --git a/Tools/bootloaders/AeroFox-GNSS_F9P_bl.bin b/Tools/bootloaders/AeroFox-GNSS_F9P_bl.bin
index c83805c9feb01f1906770c37d85b40af8c2bb14b..a5415f8768da73fb289d4bc1db3e5ebf9f0eac11 100755
GIT binary patch
delta 5071
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diff --git a/Tools/bootloaders/AeroFox-PMU_bl.bin b/Tools/bootloaders/AeroFox-PMU_bl.bin
index 359a9d498bb3c88e32e2077585bf53c76623623d..a8a4fec817da6a8f0264a1db2dd6a1dbead7435e 100755
GIT binary patch
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diff --git a/Tools/bootloaders/BirdCANdy_bl.bin b/Tools/bootloaders/BirdCANdy_bl.bin
index d1858f4735aee35fbe5ac3effaa6e41fc7160259..4c07f052d0cfdd075caacabe82520a6bf0a537dc 100755
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diff --git a/Tools/bootloaders/BirdCANdy_bl.elf b/Tools/bootloaders/BirdCANdy_bl.elf
index 2a38b21e51206f7ed68347917a631bfbff7889fd..fb979f4826587911b5a240419a6d41ef7395f2ab 100755
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diff --git a/Tools/bootloaders/BirdCANdy_bl.hex b/Tools/bootloaders/BirdCANdy_bl.hex
index 2f9950b2c8cbc8..dc28b0b5ad6313 100644
--- a/Tools/bootloaders/BirdCANdy_bl.hex
+++ b/Tools/bootloaders/BirdCANdy_bl.hex
@@ -1,1283 +1,1232 @@
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diff --git a/Tools/bootloaders/C-RTK2-HP_bl.bin b/Tools/bootloaders/C-RTK2-HP_bl.bin
index 54d5d3b04c4d423118e8338feb4038c28b9e70d0..184444acda64d50d10d7630e5168603f0ce22a05 100755
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diff --git a/Tools/bootloaders/CUAV_GPS_bl.bin b/Tools/bootloaders/CUAV_GPS_bl.bin
index ba018a0af705609c8476d1a29fb63124141f5884..ab7b6d90b770333524f073652b627e6a3e24f21b 100755
GIT binary patch
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delta 6288
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diff --git a/Tools/bootloaders/CUAV_GPS_bl.elf b/Tools/bootloaders/CUAV_GPS_bl.elf
index e07dbb7f30c867089bf960468630d0eb5e91a057..09c376bbafc8644939c137089ea881035dc17dd6 100755
GIT binary patch
delta 22016
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diff --git a/Tools/bootloaders/CUAV_GPS_bl.hex b/Tools/bootloaders/CUAV_GPS_bl.hex
index 3ffd8f8b5699b2..6a5a98d0633ec8 100644
--- a/Tools/bootloaders/CUAV_GPS_bl.hex
+++ b/Tools/bootloaders/CUAV_GPS_bl.hex
@@ -1,1289 +1,1238 @@
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diff --git a/Tools/bootloaders/CarbonixL496_bl.bin b/Tools/bootloaders/CarbonixL496_bl.bin
index 47736493150d3c2649d8ef4e3cae93e875743987..73aab00f2af6d80a5728a0bc590f46dd35ab722d 100755
GIT binary patch
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diff --git a/Tools/bootloaders/CubeOrange-periph-heavy_bl.bin b/Tools/bootloaders/CubeOrange-periph-heavy_bl.bin
index c912c780818ced0719c8c70d81aa4d9259adbf92..cd09e9be90ed95ebf6a1dd7475da2c30ec26d3ad 100755
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diff --git a/Tools/bootloaders/CubeOrange-periph-heavy_bl.hex b/Tools/bootloaders/CubeOrange-periph-heavy_bl.hex
index 6b527aec21bde3..d7433019f9d1c4 100644
--- a/Tools/bootloaders/CubeOrange-periph-heavy_bl.hex
+++ b/Tools/bootloaders/CubeOrange-periph-heavy_bl.hex
@@ -1,2014 +1,2073 @@
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diff --git a/Tools/bootloaders/CubeOrange-periph_bl.hex b/Tools/bootloaders/CubeOrange-periph_bl.hex
index c1a27f91483174..c5edc232014275 100644
--- a/Tools/bootloaders/CubeOrange-periph_bl.hex
+++ b/Tools/bootloaders/CubeOrange-periph_bl.hex
@@ -1,2013 +1,2072 @@
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diff --git a/Tools/bootloaders/CubePilot-CANMod_bl.bin b/Tools/bootloaders/CubePilot-CANMod_bl.bin
index 8530e9ba2f9d572b21137ab625cd0b313a4cc30e..164019d4b6aa9de501d203f37eaa6ee46e6d7bab 100755
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diff --git a/Tools/bootloaders/CubePilot-CANMod_bl.hex b/Tools/bootloaders/CubePilot-CANMod_bl.hex
index e8bf2bd2d4d8ea..79443030873fff 100644
--- a/Tools/bootloaders/CubePilot-CANMod_bl.hex
+++ b/Tools/bootloaders/CubePilot-CANMod_bl.hex
@@ -1,1996 +1,2053 @@
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diff --git a/Tools/bootloaders/CubeRedPrimary-PPPGW_bl.bin b/Tools/bootloaders/CubeRedPrimary-PPPGW_bl.bin
index 981377a7456dc5118e51b314ace886e3a57039ad..60d444d05398d0cd29cd3c2964ab65eead382f23 100755
GIT binary patch
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diff --git a/Tools/bootloaders/FreeflyRTK_bl.bin b/Tools/bootloaders/FreeflyRTK_bl.bin
index 08144e90fa3ee69f41e1ae36162db172716da90a..1175d29c49119ff579d96f72b150126152e13e02 100755
GIT binary patch
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diff --git a/Tools/bootloaders/FreeflyRTK_bl.elf b/Tools/bootloaders/FreeflyRTK_bl.elf
index 64ba9bdb6458b6b723310ce039192a249f03ac9b..02128459b3222595fae1eb5d31fa0af1d4a8a68c 100755
GIT binary patch
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diff --git a/Tools/bootloaders/FreeflyRTK_bl.hex b/Tools/bootloaders/FreeflyRTK_bl.hex
index f96d350ee15827..28cf89bbcb4601 100644
--- a/Tools/bootloaders/FreeflyRTK_bl.hex
+++ b/Tools/bootloaders/FreeflyRTK_bl.hex
@@ -1,1772 +1,1723 @@
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diff --git a/Tools/bootloaders/Here4AP_bl.bin b/Tools/bootloaders/Here4AP_bl.bin
index a815282c2037dc9cf23d17c19d545cfa06d9572b..be76f1f4814ac1a003cf983e321bd0b0460b8304 100755
GIT binary patch
delta 9164
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diff --git a/Tools/bootloaders/Here4FC_bl.bin b/Tools/bootloaders/Here4FC_bl.bin
index 72a593edecc45152abcfe20b724f01684e5edd7b..b84daeaa0e02db07f858d7362f93a7227d2f0796 100755
GIT binary patch
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diff --git a/Tools/bootloaders/Here4FC_bl.hex b/Tools/bootloaders/Here4FC_bl.hex
index 2ca9ef747bf0b0..3d421f5cea1709 100644
--- a/Tools/bootloaders/Here4FC_bl.hex
+++ b/Tools/bootloaders/Here4FC_bl.hex
@@ -1,1594 +1,1650 @@
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diff --git a/Tools/bootloaders/Hitec-Airspeed_bl.elf b/Tools/bootloaders/Hitec-Airspeed_bl.elf
index 4d314a924ab6451cd63f497efb5538b2c5a496e8..af0727e16d901106ff22db05527785042c739cd1 100755
GIT binary patch
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diff --git a/Tools/bootloaders/Hitec-Airspeed_bl.hex b/Tools/bootloaders/Hitec-Airspeed_bl.hex
index efa3593106fa24..d820559c415220 100644
--- a/Tools/bootloaders/Hitec-Airspeed_bl.hex
+++ b/Tools/bootloaders/Hitec-Airspeed_bl.hex
@@ -1,1195 +1,1172 @@
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diff --git a/Tools/bootloaders/HitecMosaic_bl.elf b/Tools/bootloaders/HitecMosaic_bl.elf
index 3fe7c2f127917bf88fe35f6efd647348a06c869c..6ae0d4bffdf87039703a1935201db0aed64bd25a 100755
GIT binary patch
delta 20550
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diff --git a/Tools/bootloaders/HitecMosaic_bl.hex b/Tools/bootloaders/HitecMosaic_bl.hex
index 91872d56ef6c4e..224893272ad5a2 100644
--- a/Tools/bootloaders/HitecMosaic_bl.hex
+++ b/Tools/bootloaders/HitecMosaic_bl.hex
@@ -1,1217 +1,1172 @@
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diff --git a/Tools/bootloaders/HolybroG4_Compass_bl.bin b/Tools/bootloaders/HolybroG4_Compass_bl.bin
index 1fae62e434005d14f2d163e9fb2f51ad897a44f8..e9415120d2456da84342ce6121066fd66cd79dc2 100755
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diff --git a/Tools/bootloaders/HolybroG4_GPS_bl.bin b/Tools/bootloaders/HolybroG4_GPS_bl.bin
index 6889581a3b3206fc17882425b41d9fc9c6fc9a0d..53050cf9b337aeda47edf430d874e14a967d3207 100755
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diff --git a/Tools/bootloaders/HolybroG4_GPS_bl.elf b/Tools/bootloaders/HolybroG4_GPS_bl.elf
index 66b34a15b100fbb6fcf0f757ce07890d0ba8a932..02ecaa187323282b463169fda95c70573cbba44b 100755
GIT binary patch
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diff --git a/Tools/bootloaders/HolybroG4_GPS_bl.hex b/Tools/bootloaders/HolybroG4_GPS_bl.hex
index b8ae6e861be360..2b20bbc5869292 100644
--- a/Tools/bootloaders/HolybroG4_GPS_bl.hex
+++ b/Tools/bootloaders/HolybroG4_GPS_bl.hex
@@ -1,1428 +1,1404 @@
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diff --git a/Tools/bootloaders/HolybroGPS_bl.elf b/Tools/bootloaders/HolybroGPS_bl.elf
index 6a549f4e5e58c64c716a7bb4197956ac2c853cdd..f825cb5e4c7fa2b82885669c046bedbf6fbe7861 100755
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diff --git a/Tools/bootloaders/HolybroGPS_bl.hex b/Tools/bootloaders/HolybroGPS_bl.hex
index faba48087fa096..e88d878c8e8565 100644
--- a/Tools/bootloaders/HolybroGPS_bl.hex
+++ b/Tools/bootloaders/HolybroGPS_bl.hex
@@ -1,1443 +1,1392 @@
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diff --git a/Tools/bootloaders/MatekL431-ADSB_bl.bin b/Tools/bootloaders/MatekL431-ADSB_bl.bin
index 017ff999e0d358f3c4f5b0549d36b7ebdc797787..fee5d2e5315095cc9117821706e5574896a7529d 100755
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diff --git a/Tools/bootloaders/MatekL431-ADSB_bl.hex b/Tools/bootloaders/MatekL431-ADSB_bl.hex
index 5718b9a9ff16fd..e456865cec53c7 100644
--- a/Tools/bootloaders/MatekL431-ADSB_bl.hex
+++ b/Tools/bootloaders/MatekL431-ADSB_bl.hex
@@ -1,1160 +1,1109 @@
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diff --git a/Tools/bootloaders/MatekL431-Airspeed_bl.bin b/Tools/bootloaders/MatekL431-Airspeed_bl.bin
index 4b3dbcd326bfa361ab49eb4e542595e8d1e46a97..5a9ea3b5735558c59b57c2d92ec69fba98c69b2e 100755
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diff --git a/Tools/bootloaders/MatekL431-Airspeed_bl.hex b/Tools/bootloaders/MatekL431-Airspeed_bl.hex
index 641e598c7d3506..3032cd0d784b21 100644
--- a/Tools/bootloaders/MatekL431-Airspeed_bl.hex
+++ b/Tools/bootloaders/MatekL431-Airspeed_bl.hex
@@ -1,1160 +1,1109 @@
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diff --git a/Tools/bootloaders/MatekL431-BattMon_bl.bin b/Tools/bootloaders/MatekL431-BattMon_bl.bin
index f7b0d44adc7248a4c62fb5483ecf9cfbc12dc55a..f4848018aea28eee4733798f540ca4d04fb87d59 100755
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diff --git a/Tools/bootloaders/MatekL431-DShot_bl.bin b/Tools/bootloaders/MatekL431-DShot_bl.bin
index 7120c1086811fe1081045ff5dbd603c55c86cd2a..9c60044eeadc0f9fa40afcaa196e568501657eeb 100755
GIT binary patch
delta 5071
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diff --git a/Tools/bootloaders/MatekL431-EFI_bl.bin b/Tools/bootloaders/MatekL431-EFI_bl.bin
index f68f10dc363bade0009b2db92948f1bb122e777d..d6a79d5a2b424ea786c21589e1f7921985a07d73 100755
GIT binary patch
delta 5071
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delta 5953
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diff --git a/Tools/bootloaders/MatekL431-GPS_bl.bin b/Tools/bootloaders/MatekL431-GPS_bl.bin
index 266291e731af4ceee2d10a73c2602d27319916af..61041d64f69345367a1a0160131814d86f22dc9b 100755
GIT binary patch
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diff --git a/Tools/bootloaders/MatekL431-Periph_bl.bin b/Tools/bootloaders/MatekL431-Periph_bl.bin
index c7798ec3909c68f774ff7006a802e898c2ebfd68..67f6620fef0afe079edbe87293bf7c96399e8296 100755
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diff --git a/Tools/bootloaders/MatekL431-Periph_bl.hex b/Tools/bootloaders/MatekL431-Periph_bl.hex
index 9166fa5402b711..65523f87d58768 100644
--- a/Tools/bootloaders/MatekL431-Periph_bl.hex
+++ b/Tools/bootloaders/MatekL431-Periph_bl.hex
@@ -1,1160 +1,1109 @@
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diff --git a/Tools/bootloaders/MatekL431-RC_bl.bin b/Tools/bootloaders/MatekL431-RC_bl.bin
index 49bf5329c25df39c048a69c77c6c35430f91e746..6e63c57fb8ea44a12d3a8111d28ce478e650c8ca 100755
GIT binary patch
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diff --git a/Tools/bootloaders/MatekL431-Rangefinder_bl.bin b/Tools/bootloaders/MatekL431-Rangefinder_bl.bin
index bab890793634ce7fad4595a953253b760beadb04..3dc296d2fe3363f3fa76ab467ca7412acdba203a 100755
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diff --git a/Tools/bootloaders/MatekL431-Serial_bl.bin b/Tools/bootloaders/MatekL431-Serial_bl.bin
index 80b78370907fa835cf3efa8e324d91e8898dc12b..657d8e11630bf945e02173ad3d05fab5ff5e3bf0 100755
GIT binary patch
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diff --git a/Tools/bootloaders/MatekL431-bdshot_bl.bin b/Tools/bootloaders/MatekL431-bdshot_bl.bin
index 5c422467a3ca097065d1fa51aaef152ebad0be48..7ae5e09ea5f11c11782c8d3740aa3e7c1b39ad5f 100755
GIT binary patch
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diff --git a/Tools/bootloaders/Nucleo-G491_bl.bin b/Tools/bootloaders/Nucleo-G491_bl.bin
index f7939575c7a403bcda4a0297f4f1fc4fe26ea8e0..495bcdfae2d248f4842f1eec372fb97f5b1847d6 100755
GIT binary patch
delta 7097
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delta 7511
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diff --git a/Tools/bootloaders/Nucleo-G491_bl.elf b/Tools/bootloaders/Nucleo-G491_bl.elf
index 8b3b6d6c5a911270dc06a5bf9194444fec95a429..6f47c8397ac5e11bd95e99b49957540f0a624aed 100755
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diff --git a/Tools/bootloaders/Nucleo-G491_bl.hex b/Tools/bootloaders/Nucleo-G491_bl.hex
index 048444290b5b45..8234019cd1b8a9 100644
--- a/Tools/bootloaders/Nucleo-G491_bl.hex
+++ b/Tools/bootloaders/Nucleo-G491_bl.hex
@@ -1,1194 +1,1170 @@
 :020000040800F2
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diff --git a/Tools/bootloaders/Pixracer-periph_bl.bin b/Tools/bootloaders/Pixracer-periph_bl.bin
index a1c5cc5e4a347a5e1f684f42c8874188c611c87f..ffa1ea7a60e9bfb90540c301bb3dc1fcf89654bf 100755
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diff --git a/Tools/bootloaders/Pixracer-periph_bl.hex b/Tools/bootloaders/Pixracer-periph_bl.hex
index 33a8a8e4b61199..cfcfa42018b425 100644
--- a/Tools/bootloaders/Pixracer-periph_bl.hex
+++ b/Tools/bootloaders/Pixracer-periph_bl.hex
@@ -1,1859 +1,1809 @@
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diff --git a/Tools/bootloaders/Sierra-L431_bl.bin b/Tools/bootloaders/Sierra-L431_bl.bin
index 64dfe430f880fb07c99b5c196af1d564bcaaba4e..46646b7e038f70176254cc67388f4839dd5630e0 100755
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diff --git a/Tools/bootloaders/Sierra-PrecisionPoint_bl.bin b/Tools/bootloaders/Sierra-PrecisionPoint_bl.bin
old mode 100644
new mode 100755
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diff --git a/Tools/bootloaders/Sierra-PrecisionPoint_bl.hex b/Tools/bootloaders/Sierra-PrecisionPoint_bl.hex
index 11826b369e91be..c91ff23b4ba604 100644
--- a/Tools/bootloaders/Sierra-PrecisionPoint_bl.hex
+++ b/Tools/bootloaders/Sierra-PrecisionPoint_bl.hex
@@ -1,1851 +1,1801 @@
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diff --git a/Tools/bootloaders/Sierra-TrueNavIC_bl.hex b/Tools/bootloaders/Sierra-TrueNavIC_bl.hex
index cc08da520c12ab..186fcc74c01b03 100644
--- a/Tools/bootloaders/Sierra-TrueNavIC_bl.hex
+++ b/Tools/bootloaders/Sierra-TrueNavIC_bl.hex
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diff --git a/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.bin b/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.bin
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diff --git a/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex b/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex
index a252f716cf17ca..1fc93056ac280e 100644
--- a/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex
+++ b/Tools/bootloaders/Sierra-TrueNavPro-G4_bl.hex
@@ -1,19 +1,19 @@
 :020000040800F2
-:1000000000070020F1010008852500083D250008B3
-:10001000652500083D2500085D250008F30100085E
-:10002000F3010008F3010008F3010008653500083A
+:1000000000070020F1010008E125000899250008FB
+:10001000C125000899250008B9250008F30100084A
+:10002000F3010008F3010008F3010008C1350008DE
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old mode 100644
new mode 100755
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diff --git a/Tools/bootloaders/Sierra-TrueNorth_bl.bin b/Tools/bootloaders/Sierra-TrueNorth_bl.bin
old mode 100644
new mode 100755
index f03c94358947acc963634a31feeddf9da02bdf46..dea074102898d9ce1a48cad34b743b4512cbf064
GIT binary patch
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diff --git a/Tools/bootloaders/Sierra-TrueSpeed_bl.bin b/Tools/bootloaders/Sierra-TrueSpeed_bl.bin
old mode 100644
new mode 100755
index 216fbb887ca5ef82e3b74101bd1f6eebb626d058..e771932c7121486e9e4dadcd9aa602ccca7b4012
GIT binary patch
delta 4927
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diff --git a/Tools/bootloaders/ZubaxGNSS_bl.bin b/Tools/bootloaders/ZubaxGNSS_bl.bin
index a3eaf5eb2ec827ec660a7da40c826ec4214cb0d2..fdf74b4bccb1994af1584738708ac0dc00fc37a4 100755
GIT binary patch
delta 5112
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delta 5718
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diff --git a/Tools/bootloaders/ZubaxGNSS_bl.elf b/Tools/bootloaders/ZubaxGNSS_bl.elf
index aaf300ca07199c5787970e525e58ab93bb47d0c4..0219c9c985908fc6e3784b43c64fe5d104ca5f22 100755
GIT binary patch
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diff --git a/Tools/bootloaders/ZubaxGNSS_bl.hex b/Tools/bootloaders/ZubaxGNSS_bl.hex
index 48dccd0022483e..9ed6b6d79b60ca 100644
--- a/Tools/bootloaders/ZubaxGNSS_bl.hex
+++ b/Tools/bootloaders/ZubaxGNSS_bl.hex
@@ -1,27 +1,27 @@
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delta 3427
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diff --git a/Tools/bootloaders/f103-ADSB_bl.elf b/Tools/bootloaders/f103-ADSB_bl.elf
index 9776e83a7c9680e74d55a7660766135bb3d0e44e..6367e054e64bc52c6a25904c6aa6c613c2bc8b5f 100755
GIT binary patch
delta 13829
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diff --git a/Tools/bootloaders/f103-ADSB_bl.hex b/Tools/bootloaders/f103-ADSB_bl.hex
index 1cd83a81d0fc07..9e8b46c7b04f8b 100644
--- a/Tools/bootloaders/f103-ADSB_bl.hex
+++ b/Tools/bootloaders/f103-ADSB_bl.hex
@@ -1,26 +1,26 @@
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diff --git a/Tools/bootloaders/f103-Airspeed_bl.bin b/Tools/bootloaders/f103-Airspeed_bl.bin
index 9e902bbc2315562b69b29673ed46cc1508ac1093..0e9f9717928a7bb7c2acb4c04e4d02937df21f15 100755
GIT binary patch
delta 2602
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diff --git a/Tools/bootloaders/f103-Airspeed_bl.elf b/Tools/bootloaders/f103-Airspeed_bl.elf
index 2756e4071d71947b517019cb6606b12459cbf19f..a6698a04181ecab4757cba079520e6ae33fe5c0a 100755
GIT binary patch
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diff --git a/Tools/bootloaders/f103-Airspeed_bl.hex b/Tools/bootloaders/f103-Airspeed_bl.hex
index 11db8402437a6e..f178c60d7e2453 100644
--- a/Tools/bootloaders/f103-Airspeed_bl.hex
+++ b/Tools/bootloaders/f103-Airspeed_bl.hex
@@ -1,26 +1,26 @@
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diff --git a/Tools/bootloaders/f103-GPS_bl.bin b/Tools/bootloaders/f103-GPS_bl.bin
index 5b6a77a88f3fd64f941fed2d4e5853aa8e7f0794..93f5cd3265c417d518b26e1bdf7cb6ee523a5c38 100755
GIT binary patch
delta 2600
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diff --git a/Tools/bootloaders/f103-GPS_bl.hex b/Tools/bootloaders/f103-GPS_bl.hex
index 301d4e22175d65..d0268c3c3546fe 100644
--- a/Tools/bootloaders/f103-GPS_bl.hex
+++ b/Tools/bootloaders/f103-GPS_bl.hex
@@ -1,26 +1,26 @@
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diff --git a/Tools/bootloaders/f103-HWESC_bl.bin b/Tools/bootloaders/f103-HWESC_bl.bin
index 1ff1cd6a394bcac1348ddc5e9cf24b9206d8fb3b..13633ea1dffc640624f049b5a186344a7e07d67e 100755
GIT binary patch
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diff --git a/Tools/bootloaders/f103-HWESC_bl.hex b/Tools/bootloaders/f103-HWESC_bl.hex
index 9dcc716daf87d0..92994d12b64922 100644
--- a/Tools/bootloaders/f103-HWESC_bl.hex
+++ b/Tools/bootloaders/f103-HWESC_bl.hex
@@ -1,26 +1,26 @@
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diff --git a/Tools/bootloaders/f103-QiotekPeriph_bl.bin b/Tools/bootloaders/f103-QiotekPeriph_bl.bin
index ffde9e119ef8ff5a5ee3b48e1d1ac6a1f36c5db1..4faa840de53728172a31d44b3465a154b307d8ee 100755
GIT binary patch
delta 2600
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diff --git a/Tools/bootloaders/f103-QiotekPeriph_bl.hex b/Tools/bootloaders/f103-QiotekPeriph_bl.hex
index 072f1569b8776f..dce4580e2f9f5c 100644
--- a/Tools/bootloaders/f103-QiotekPeriph_bl.hex
+++ b/Tools/bootloaders/f103-QiotekPeriph_bl.hex
@@ -1,26 +1,26 @@
 :020000040800F2
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diff --git a/Tools/bootloaders/f103-RangeFinder_bl.bin b/Tools/bootloaders/f103-RangeFinder_bl.bin
index bc59ee7adab86cdc46b55f4cc057a83e42352dc8..3e4607027cd1b16882d8dcc79c4bc19f983690cd 100755
GIT binary patch
delta 2600
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D_Pey|

delta 3427
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diff --git a/Tools/bootloaders/f103-RangeFinder_bl.elf b/Tools/bootloaders/f103-RangeFinder_bl.elf
index 4f85de7a629ca5e25fff733cf01fde0ae6a69115..ea56a0cb072fb77530d795ee94bbd1c001107092 100755
GIT binary patch
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diff --git a/Tools/bootloaders/f103-RangeFinder_bl.hex b/Tools/bootloaders/f103-RangeFinder_bl.hex
index d9010ef8e65a7a..941d652c2c0a31 100644
--- a/Tools/bootloaders/f103-RangeFinder_bl.hex
+++ b/Tools/bootloaders/f103-RangeFinder_bl.hex
@@ -1,26 +1,26 @@
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diff --git a/Tools/bootloaders/f103-Trigger_bl.bin b/Tools/bootloaders/f103-Trigger_bl.bin
index a2de5dfcab8091c0575027976d864cb9951d33a8..faf1f07fa405f98f3a071eace3f0f99b1f9813dc 100755
GIT binary patch
delta 2510
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delta 3384
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diff --git a/Tools/bootloaders/f103-Trigger_bl.elf b/Tools/bootloaders/f103-Trigger_bl.elf
index dc9a90b5ba556fe012f6240cf397182a0ae6408e..55bc626ca3852473d38d9dc9bff0a1a4d73ccd31 100755
GIT binary patch
delta 13746
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diff --git a/Tools/bootloaders/f103-Trigger_bl.hex b/Tools/bootloaders/f103-Trigger_bl.hex
index fe677d32dd3236..e61b87f2ef1892 100644
--- a/Tools/bootloaders/f103-Trigger_bl.hex
+++ b/Tools/bootloaders/f103-Trigger_bl.hex
@@ -1,26 +1,26 @@
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diff --git a/Tools/bootloaders/f303-GPS_bl.bin b/Tools/bootloaders/f303-GPS_bl.bin
index 52d37cb46e4f8f0645f465df9b7cfebb6314eef2..98a2afed0f6904a5589cca32a91ec1318a75609f 100755
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diff --git a/Tools/bootloaders/f303-GPS_bl.hex b/Tools/bootloaders/f303-GPS_bl.hex
index 8411e72140b114..dba536f8458946 100644
--- a/Tools/bootloaders/f303-GPS_bl.hex
+++ b/Tools/bootloaders/f303-GPS_bl.hex
@@ -1,1217 +1,1172 @@
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diff --git a/Tools/bootloaders/f303-HWESC_bl.bin b/Tools/bootloaders/f303-HWESC_bl.bin
index 39b8393e35212152a4b923c6488ef259a1d4bfc8..9419312c08c2dfb0fa8564a5be9483d9d3dea558 100755
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diff --git a/Tools/bootloaders/f303-HWESC_bl.hex b/Tools/bootloaders/f303-HWESC_bl.hex
index e35db883a3e8dc..3d882502410125 100644
--- a/Tools/bootloaders/f303-HWESC_bl.hex
+++ b/Tools/bootloaders/f303-HWESC_bl.hex
@@ -1,1217 +1,1172 @@
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diff --git a/Tools/bootloaders/f303-M10025_bl.hex b/Tools/bootloaders/f303-M10025_bl.hex
index 7d09f547760507..703e54b675df3c 100644
--- a/Tools/bootloaders/f303-M10025_bl.hex
+++ b/Tools/bootloaders/f303-M10025_bl.hex
@@ -1,1217 +1,1172 @@
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diff --git a/Tools/bootloaders/f303-M10070_bl.bin b/Tools/bootloaders/f303-M10070_bl.bin
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diff --git a/Tools/bootloaders/f303-M10070_bl.elf b/Tools/bootloaders/f303-M10070_bl.elf
index 403ba5566ccc741fe2476691246c6a28c60a78b1..92ed42ffe9ceddbadebb136df1ef09e6be226de1 100755
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diff --git a/Tools/bootloaders/f303-M10070_bl.hex b/Tools/bootloaders/f303-M10070_bl.hex
index 9f424cf403bd91..40838464d60ae7 100644
--- a/Tools/bootloaders/f303-M10070_bl.hex
+++ b/Tools/bootloaders/f303-M10070_bl.hex
@@ -1,1217 +1,1172 @@
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diff --git a/Tools/bootloaders/f303-MatekGPS_bl.elf b/Tools/bootloaders/f303-MatekGPS_bl.elf
index dd3736d8abc76a3a1a0e64a61f942a328a02fd95..ca17f19803d4d12eb06fac355a705efe0bef6d4c 100755
GIT binary patch
delta 20580
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diff --git a/Tools/bootloaders/f303-MatekGPS_bl.hex b/Tools/bootloaders/f303-MatekGPS_bl.hex
index fa31d391a6aafc..1a59ad847b383c 100644
--- a/Tools/bootloaders/f303-MatekGPS_bl.hex
+++ b/Tools/bootloaders/f303-MatekGPS_bl.hex
@@ -1,1218 +1,1172 @@
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diff --git a/Tools/bootloaders/f303-PWM_bl.bin b/Tools/bootloaders/f303-PWM_bl.bin
index 17ae202d0e3a8a038bdb07e2ca438c830cfdcb52..566e37bec0e0fb2d089a44bca13075ba37111b81 100755
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diff --git a/Tools/bootloaders/f303-TempSensor_bl.bin b/Tools/bootloaders/f303-TempSensor_bl.bin
index 928f635ffa6f972f7a349ec0e5d7439aa842b85b..ec7a3652b5fdf99ce003070a0bc5baf32e602f27 100755
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diff --git a/Tools/bootloaders/f303-Universal_bl.bin b/Tools/bootloaders/f303-Universal_bl.bin
index eb9bebcbb2aca6683e36d6ebcd082364297358cb..2261e310ae5b91449594a0993a47d9813bb4e60e 100755
GIT binary patch
delta 5402
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diff --git a/Tools/bootloaders/f303-Universal_bl.elf b/Tools/bootloaders/f303-Universal_bl.elf
index 711136577c2da2076867c52af950fcafbc767913..535bb279e61fe0effb97aa7df153f0d231b6e277 100755
GIT binary patch
delta 20612
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diff --git a/Tools/bootloaders/f303-Universal_bl.hex b/Tools/bootloaders/f303-Universal_bl.hex
index feb060e57e8088..da1e3f4bf6f3e9 100644
--- a/Tools/bootloaders/f303-Universal_bl.hex
+++ b/Tools/bootloaders/f303-Universal_bl.hex
@@ -1,1217 +1,1172 @@
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diff --git a/Tools/bootloaders/f405-MatekAirspeed_bl.hex b/Tools/bootloaders/f405-MatekAirspeed_bl.hex
index 989d82a4d68cb8..929f367d44a551 100644
--- a/Tools/bootloaders/f405-MatekAirspeed_bl.hex
+++ b/Tools/bootloaders/f405-MatekAirspeed_bl.hex
@@ -1,1741 +1,1691 @@
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diff --git a/Tools/bootloaders/f405-MatekGPS_bl.hex b/Tools/bootloaders/f405-MatekGPS_bl.hex
index 68e31533fbae0b..41122bf1ad2bde 100644
--- a/Tools/bootloaders/f405-MatekGPS_bl.hex
+++ b/Tools/bootloaders/f405-MatekGPS_bl.hex
@@ -1,1741 +1,1691 @@
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diff --git a/Tools/bootloaders/mRo-M10095_bl.elf b/Tools/bootloaders/mRo-M10095_bl.elf
index f516a144bc382beb013c8be3a6a02ae7e7de5610..d2ac1fbe7627202146beec3faebea980d9aba3dc 100755
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diff --git a/Tools/bootloaders/mRo-M10095_bl.hex b/Tools/bootloaders/mRo-M10095_bl.hex
index 097fbdc19b25cd..6787419734ba19 100644
--- a/Tools/bootloaders/mRo-M10095_bl.hex
+++ b/Tools/bootloaders/mRo-M10095_bl.hex
@@ -1,1412 +1,1389 @@
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diff --git a/Tools/bootloaders/mRoCANPWM-M10126_bl.bin b/Tools/bootloaders/mRoCANPWM-M10126_bl.bin
index 96fd236045c79e30c22a1b3b8ab2bf0139165471..c18c58f06953e0304ec8c03dbe90e8d41a6e48d2 100755
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diff --git a/Tools/bootloaders/mRoKitCANrevC_bl.bin b/Tools/bootloaders/mRoKitCANrevC_bl.bin
index de138c355e8415f97d42d6b9e73247bfc2633452..e7841c82b9a5eb2143673deb10d0aa241468bc55 100755
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diff --git a/Tools/bootloaders/mRoKitCANrevC_bl.hex b/Tools/bootloaders/mRoKitCANrevC_bl.hex
index 3ba95d12767dcc..2cfa28e9fc55a5 100644
--- a/Tools/bootloaders/mRoKitCANrevC_bl.hex
+++ b/Tools/bootloaders/mRoKitCANrevC_bl.hex
@@ -25,7 +25,7 @@
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 :10018000B3010008B3010008B3010008B30100087F
 :10019000B3010008B3010008B3010008B30100086F
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+:1001A000210F000800000000000000000000000017
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 :1001C000364880F3098836483649086040F2000016
 :1001D000CCF200004EF63471CEF200010860BFF39D
@@ -42,208 +42,208 @@
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diff --git a/Tools/bootloaders/rGNSS_bl.bin b/Tools/bootloaders/rGNSS_bl.bin
index 11593c73e2fd52ad473a449044d165ecf5b86520..81055c357beb3615a97b9b17d89ebe67863ac803 100755
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diff --git a/Tools/bootloaders/sw-nav-f405_bl.bin b/Tools/bootloaders/sw-nav-f405_bl.bin
index 308f76f1fb5f454e616e4bc001bfa531ee8fd3c8..e4bcac19c24eaf7e0e04781f2eaee33718435d6d 100755
GIT binary patch
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diff --git a/Tools/bootloaders/sw-nav-f405_bl.hex b/Tools/bootloaders/sw-nav-f405_bl.hex
index cb588d700be370..2b27b817de76df 100644
--- a/Tools/bootloaders/sw-nav-f405_bl.hex
+++ b/Tools/bootloaders/sw-nav-f405_bl.hex
@@ -1,1198 +1,1148 @@
 :020000040800F2
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diff --git a/Tools/bootloaders/sw-spar-f407_bl.hex b/Tools/bootloaders/sw-spar-f407_bl.hex
index 88c60c7a045d44..5e0a9fabd55e0f 100644
--- a/Tools/bootloaders/sw-spar-f407_bl.hex
+++ b/Tools/bootloaders/sw-spar-f407_bl.hex
@@ -1,1762 +1,1711 @@
 :020000040800F2
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From aaad98e8985fe8c63ae2720f3af45fb963ab09c6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 12 Feb 2024 16:02:31 +1100
Subject: [PATCH 1051/1335] AP_RCProtocol: correct compilation when crossfire
 not compiled in

---
 libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
index a51c9dd795c88d..b0b678d8a5f8f1 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
@@ -435,10 +435,15 @@ void AP_RCProtocol_GHST::process_handshake(uint32_t baudrate)
         || baudrate != CRSF_BAUDRATE
         || baudrate == GHST_BAUDRATE
         || uart->get_baud_rate() == GHST_BAUDRATE
-        || !protocol_enabled(AP_RCProtocol::GHST)
-        || protocol_enabled(AP_RCProtocol::CRSF)) {
+        || !protocol_enabled(AP_RCProtocol::GHST)) {
         return;
     }
+#if AP_RCPROTOCOL_CRSF_ENABLED
+    if (protocol_enabled(AP_RCProtocol::CRSF)) {
+        // don't fight CRSF
+        return;
+    }
+#endif
 
     uart->begin(GHST_BAUDRATE);
 }

From dfc1b841868c0e5790bf5056c8847c51f0312a82 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Tue, 19 Dec 2023 13:42:24 -0600
Subject: [PATCH 1052/1335] AC_Fence: fix autofence enable in takeoff mode

---
 libraries/AC_Fence/AC_Fence.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp
index ac9d7f50a031ab..c1e3b4cebb56b4 100644
--- a/libraries/AC_Fence/AC_Fence.cpp
+++ b/libraries/AC_Fence/AC_Fence.cpp
@@ -205,6 +205,9 @@ void AC_Fence::disable_floor()
 */
 void AC_Fence::auto_enable_fence_after_takeoff(void)
 {
+    if (_enabled) {
+        return;
+    } 
     switch(auto_enabled()) {
         case AC_Fence::AutoEnable::ALWAYS_ENABLED:
         case AC_Fence::AutoEnable::ENABLE_DISABLE_FLOOR_ONLY:

From d91ff440e7d635d95a7478ff2126075ba039d807 Mon Sep 17 00:00:00 2001
From: Henry Wurzburg <hwurzburg@yahoo.com>
Date: Tue, 19 Dec 2023 13:42:24 -0600
Subject: [PATCH 1053/1335] ArduPlane: fix autofence enable in takeoff mode

---
 ArduPlane/mode_takeoff.cpp | 31 +++++++++++++++++++------------
 1 file changed, 19 insertions(+), 12 deletions(-)

diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp
index 2f70bef07115a3..37d0203fcf413f 100644
--- a/ArduPlane/mode_takeoff.cpp
+++ b/ArduPlane/mode_takeoff.cpp
@@ -134,34 +134,41 @@ void ModeTakeoff::update()
     // reset the loiter waypoint target to be correct bearing and dist
     // from starting location in case original yaw used to set it was off due to EKF
     // reset or compass interference from max throttle
+    const float altitude_cm = plane.current_loc.alt - start_loc.alt;
     if (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF &&
-        (plane.current_loc.alt - start_loc.alt >= level_alt*100 ||
+        (altitude_cm >= level_alt*100 ||
          start_loc.get_distance(plane.current_loc) >= dist)) {
         // reset the target loiter waypoint using current yaw which should be close to correct starting heading
         const float direction = start_loc.get_bearing_to(plane.current_loc) * 0.01;
         plane.next_WP_loc = start_loc;
         plane.next_WP_loc.offset_bearing(direction, dist);
         plane.next_WP_loc.alt += alt*100.0;
-
         plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
-
-#if AP_FENCE_ENABLED
-        plane.fence.auto_enable_fence_after_takeoff();
-#endif
     }
 
     if (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF) {
+        //below TAKOFF_LVL_ALT
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 100.0);
         plane.takeoff_calc_roll();
         plane.takeoff_calc_pitch();
     } else {
-        plane.calc_nav_roll();
-        plane.calc_nav_pitch();
-        plane.calc_throttle();
-        //check if in long failsafe, if it is recall long failsafe now to get fs action via events call
+        if ((altitude_cm >= alt * 100 - 200)) { //within 2m of TKOFF_ALT ,or above and loitering
+#if AP_FENCE_ENABLED
+            plane.fence.auto_enable_fence_after_takeoff();
+#endif
+            plane.calc_nav_roll();
+            plane.calc_nav_pitch();
+            plane.calc_throttle();
+        } else { // still climbing to TAKEOFF_ALT; may be loitering
+            plane.calc_throttle();
+            plane.takeoff_calc_roll();
+            plane.takeoff_calc_pitch();
+        }
+        
+        //check if in long failsafe due to being in initial TAKEOFF stage; if it is, recall long failsafe now to get fs action via events call
         if (plane.long_failsafe_pending) {
-        plane.long_failsafe_pending = false;
-        plane.failsafe_long_on_event(FAILSAFE_LONG, ModeReason::MODE_TAKEOFF_FAILSAFE);
+            plane.long_failsafe_pending = false;
+            plane.failsafe_long_on_event(FAILSAFE_LONG, ModeReason::MODE_TAKEOFF_FAILSAFE);
         }
     }
 }

From 3aa742e1b905b1cd4ecdb729e46993e39f391b5b Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 28 Jan 2024 00:09:15 +0000
Subject: [PATCH 1054/1335] Plane: rework `isHeadingLinedUp` function for
 loiter breakout

---
 ArduPlane/mode.h          |  1 +
 ArduPlane/mode_loiter.cpp | 67 ++++++++++++++++++++++++++++++++-------
 2 files changed, 56 insertions(+), 12 deletions(-)

diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index b7f4732e924fe7..83da193de00590 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -343,6 +343,7 @@ class ModeLoiter : public Mode
     void navigate() override;
 
     bool isHeadingLinedUp(const Location loiterCenterLoc, const Location targetLoc);
+    bool isHeadingLinedUp_cd(const int32_t bearing_cd, const int32_t heading_cd);
     bool isHeadingLinedUp_cd(const int32_t bearing_cd);
 
     bool allows_throttle_nudging() const override { return true; }
diff --git a/ArduPlane/mode_loiter.cpp b/ArduPlane/mode_loiter.cpp
index 05ce3a69568572..b37f3bdcb0311e 100644
--- a/ArduPlane/mode_loiter.cpp
+++ b/ArduPlane/mode_loiter.cpp
@@ -42,28 +42,71 @@ bool ModeLoiter::isHeadingLinedUp(const Location loiterCenterLoc, const Location
     // Return true if current heading is aligned to vector to targetLoc.
     // Tolerance is initially 10 degrees and grows at 10 degrees for each loiter circle completed.
 
-    if (loiterCenterLoc.get_distance(targetLoc) < 1.05f * fabsf(plane.loiter.radius)) {
-        /* Whenever next waypoint is within the loiter radius plus 5%,
-           maintaining loiter would prevent us from ever pointing toward the next waypoint.
-           Hence break out of loiter immediately
-         */
+    // Corrected radius for altitude
+    const float loiter_radius = plane.nav_controller->loiter_radius(fabsf(plane.loiter.radius));
+    if (!is_positive(loiter_radius)) {
+        // Zero is invalid, protect against divide by zero for destination inside loiter radius case
         return true;
     }
 
-    // Bearing in centi-degrees
-    const int32_t bearing_cd = plane.current_loc.get_bearing_to(targetLoc);
-    return isHeadingLinedUp_cd(bearing_cd);
+    // Calculate relative position of the vehicle relative to loiter center projected onto the closest point of the loiter circle
+    // This removes error due to radial position as the nav controller attempts to track the circle
+    const Vector2f projected_pos = loiterCenterLoc.get_distance_NE(plane.current_loc).normalized() * loiter_radius;
+
+    // Target position relative to loiter center
+    const Vector2f target_pos = loiterCenterLoc.get_distance_NE(targetLoc);
+
+    // Distance between loiter circle and target
+    const float target_dist = target_pos.length();
+    if (!is_positive(target_dist)) {
+        // Target is coincident with loiter center, no heading will be closer than any other
+        return true;
+    }
+
+    // Target bearing in centi-degrees
+    int32_t target_bearing_cd;
+
+    if (target_dist >= loiter_radius) {
+        // Destination outside loiter radius, heading will always line up with destination
+
+        // Vector from between projected vehicle position and target postion
+        const Vector2f pos_to_target = target_pos - projected_pos;
+        target_bearing_cd = degrees(pos_to_target.angle()) * 100;
+
+    } else {
+        // Destination is inside loiter, heading will never line up with destination
+
+        // Advance turn point by the angle of a segment with chord "a"
+        // This results in turning earlier as the target point approaches the center
+        // If target is on radius angle of 0 and angle of 60 deg if target is on center 
+        const float a = loiter_radius - target_dist;
+        const float segment_angle = 2.0 * asinf(a / (2.0 * loiter_radius));
+
+        // Pick the intersection point that will be hit first for the current loiter direction, add 90 deg to get the tangent angle
+        target_bearing_cd = degrees(wrap_PI(target_pos.angle() + (M_PI_2 - segment_angle) * plane.loiter.direction)) * 100;
+
+    }
+
+    // Ideal heading in centi-degrees, +- 90 to get tangent to loiter circle at closest point
+    const int32_t current_heading_cd = degrees(wrap_PI(projected_pos.angle() + M_PI_2 * plane.loiter.direction)) * 100;
+
+    return isHeadingLinedUp_cd(target_bearing_cd, current_heading_cd);
 }
 
 
-bool ModeLoiter::isHeadingLinedUp_cd(const int32_t bearing_cd)
-{
-    // Return true if current heading is aligned to bearing_cd.
-    // Tolerance is initially 10 degrees and grows at 10 degrees for each loiter circle completed.
+bool ModeLoiter::isHeadingLinedUp_cd(const int32_t bearing_cd) {
 
     // get current heading.
     const int32_t heading_cd = (wrap_360(degrees(ahrs.groundspeed_vector().angle())))*100;
 
+    return isHeadingLinedUp_cd(bearing_cd, heading_cd);
+}
+
+
+bool ModeLoiter::isHeadingLinedUp_cd(const int32_t bearing_cd, const int32_t heading_cd)
+{
+    // Return true if current heading is aligned to bearing_cd.
+    // Tolerance is initially 10 degrees and grows at 10 degrees for each loiter circle completed.
     const int32_t heading_err_cd = wrap_180_cd(bearing_cd - heading_cd);
 
     /*

From 6b32227d2ff82a84acadd280d74d9ef02f34219b Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 6 Feb 2024 01:01:02 +0000
Subject: [PATCH 1055/1335] Plane: output nav scripting throttle with rest of
 nav scripting stuff

---
 ArduPlane/Attitude.cpp  | 1 +
 ArduPlane/mode_auto.cpp | 1 -
 ArduPlane/servos.cpp    | 6 ------
 3 files changed, 1 insertion(+), 7 deletions(-)

diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index b566d4ca730bf9..0996a50b725ab4 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -420,6 +420,7 @@ void Plane::stabilize()
         }
         SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, rudder);
         SRV_Channels::set_output_scaled(SRV_Channel::k_steering, rudder);
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
 #endif
     } else {
         plane.control_mode->run();
diff --git a/ArduPlane/mode_auto.cpp b/ArduPlane/mode_auto.cpp
index f1a9f5de5540b2..73753e1fa44ca5 100644
--- a/ArduPlane/mode_auto.cpp
+++ b/ArduPlane/mode_auto.cpp
@@ -102,7 +102,6 @@ void ModeAuto::update()
         // NAV_SCRIPTING has a desired roll and pitch rate and desired throttle
         plane.nav_roll_cd = ahrs.roll_sensor;
         plane.nav_pitch_cd = ahrs.pitch_sensor;
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
 #endif
     } else {
         // we are doing normal AUTO flight, the special cases
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index c0cab9f9de4f41..3f4310def0850f 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -582,12 +582,6 @@ void Plane::set_throttle(void)
     // Update voltage scaling
     g2.fwd_batt_cmp.update();
 
-#if AP_SCRIPTING_ENABLED
-    if (nav_scripting_active()) {
-            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
-    }
-#endif
-
     if (control_mode->use_battery_compensation()) {
         // Apply voltage compensation to throttle output from flight mode
         const float throttle = g2.fwd_batt_cmp.apply_throttle(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));

From eb0c66fc9000a602406ceb43fca7abf1f78ceb9e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 08:48:46 +1100
Subject: [PATCH 1056/1335] AP_AHRS: move logger object up to AP_Vehicle

---
 libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
index a4138916877693..f0f240dbf4eb68 100644
--- a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
+++ b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
@@ -20,8 +20,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 
 static AP_SerialManager serial_manager;
-AP_Int32 logger_bitmask;
-static AP_Logger logger{logger_bitmask};
 
 class DummyVehicle : public AP_Vehicle {
 public:
@@ -36,7 +34,17 @@ class DummyVehicle : public AP_Vehicle {
         ins.init(100);
         ahrs.init();
     }
+    AP_Int32 unused_log_bitmask;
+    struct LogStructure log_structure[1] = {
+    };
+    const AP_Int32 &get_log_bitmask() override { return unused_log_bitmask; }
 
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override {
+        return 0;
+    }
 };
 
 static DummyVehicle vehicle;

From dc74f9773939d39f766acb6549c2e1c4918b9653 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 20:50:34 +1100
Subject: [PATCH 1057/1335] AP_Compass: move logger object up to AP_Vehicle

---
 libraries/AP_Compass/Compass_learn.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Compass/Compass_learn.cpp b/libraries/AP_Compass/Compass_learn.cpp
index 12861e3fe29ca3..f39933f1fe928a 100644
--- a/libraries/AP_Compass/Compass_learn.cpp
+++ b/libraries/AP_Compass/Compass_learn.cpp
@@ -9,6 +9,8 @@
 
 #if COMPASS_LEARN_ENABLED
 
+#include <AP_Logger/AP_Logger.h>
+
 extern const AP_HAL::HAL &hal;
 
 // constructor

From e39fad1411615640693a9a43d5e63da3d590f2d8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 20:50:34 +1100
Subject: [PATCH 1058/1335] AP_Logger: move logger object up to AP_Vehicle

---
 libraries/AP_Logger/AP_Logger.cpp                        | 9 +++++----
 libraries/AP_Logger/AP_Logger.h                          | 6 +++---
 .../examples/AP_Logger_AllTypes/AP_Logger_AllTypes.cpp   | 4 ++--
 .../AP_Logger/examples/AP_Logger_test/AP_Logger_test.cpp | 4 ++--
 4 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_Logger/AP_Logger.cpp b/libraries/AP_Logger/AP_Logger.cpp
index fb55e52f4ddeb5..5477e5b7516afe 100644
--- a/libraries/AP_Logger/AP_Logger.cpp
+++ b/libraries/AP_Logger/AP_Logger.cpp
@@ -193,8 +193,7 @@ const AP_Param::GroupInfo AP_Logger::var_info[] = {
 
 #define streq(x, y) (!strcmp(x, y))
 
-AP_Logger::AP_Logger(const AP_Int32 &log_bitmask)
-    : _log_bitmask(log_bitmask)
+AP_Logger::AP_Logger()
 {
     AP_Param::setup_object_defaults(this, var_info);
     if (_singleton != nullptr) {
@@ -204,8 +203,10 @@ AP_Logger::AP_Logger(const AP_Int32 &log_bitmask)
     _singleton = this;
 }
 
-void AP_Logger::Init(const struct LogStructure *structures, uint8_t num_types)
+void AP_Logger::init(const AP_Int32 &log_bitmask, const struct LogStructure *structures, uint8_t num_types)
 {
+    _log_bitmask = &log_bitmask;
+
     // convert from 8 bit to 16 bit LOG_FILE_BUFSIZE
     _params.file_bufsize.convert_parameter_width(AP_PARAM_INT8);
 
@@ -629,7 +630,7 @@ bool AP_Logger::should_log(const uint32_t mask) const
 {
     bool armed = vehicle_is_armed();
 
-    if (!(mask & _log_bitmask)) {
+    if (!(mask & *_log_bitmask)) {
         return false;
     }
     if (!armed && !log_while_disarmed()) {
diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h
index cab112ea654c38..77abfb47577aaa 100644
--- a/libraries/AP_Logger/AP_Logger.h
+++ b/libraries/AP_Logger/AP_Logger.h
@@ -187,7 +187,7 @@ class AP_Logger
 public:
     FUNCTOR_TYPEDEF(vehicle_startup_message_Writer, void);
 
-    AP_Logger(const AP_Int32 &log_bitmask);
+    AP_Logger();
 
     /* Do not allow copies */
     CLASS_NO_COPY(AP_Logger);
@@ -198,7 +198,7 @@ class AP_Logger
     }
 
     // initialisation
-    void Init(const struct LogStructure *structure, uint8_t num_types);
+    void init(const AP_Int32 &log_bitmask, const struct LogStructure *structure, uint8_t num_types);
     void set_num_types(uint8_t num_types) { _num_types = num_types; }
 
     bool CardInserted(void);
@@ -426,7 +426,7 @@ class AP_Logger
     #define LOGGER_MAX_BACKENDS 2
     uint8_t _next_backend;
     AP_Logger_Backend *backends[LOGGER_MAX_BACKENDS];
-    const AP_Int32 &_log_bitmask;
+    const AP_Int32 *_log_bitmask;
 
     enum class Backend_Type : uint8_t {
         NONE       = 0,
diff --git a/libraries/AP_Logger/examples/AP_Logger_AllTypes/AP_Logger_AllTypes.cpp b/libraries/AP_Logger/examples/AP_Logger_AllTypes/AP_Logger_AllTypes.cpp
index efa9c4253aa14d..76e8aac2b696c3 100644
--- a/libraries/AP_Logger/examples/AP_Logger_AllTypes/AP_Logger_AllTypes.cpp
+++ b/libraries/AP_Logger/examples/AP_Logger_AllTypes/AP_Logger_AllTypes.cpp
@@ -106,7 +106,7 @@ class AP_LoggerTest_AllTypes : public AP_HAL::HAL::Callbacks {
 private:
 
     AP_Int32 log_bitmask;
-    AP_Logger logger{log_bitmask};
+    AP_Logger logger;
     AP_Scheduler scheduler;
 
     void Log_Write_TypeMessages();
@@ -248,7 +248,7 @@ void AP_LoggerTest_AllTypes::setup(void)
     hal.console->printf("Logger All Types 1.0\n");
 
     log_bitmask.set((uint32_t)-1);
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
+    logger.init(log_bitmask, log_structure, ARRAY_SIZE(log_structure));
     logger.set_vehicle_armed(true);
     logger.Write_Message("AP_Logger Test");
 
diff --git a/libraries/AP_Logger/examples/AP_Logger_test/AP_Logger_test.cpp b/libraries/AP_Logger/examples/AP_Logger_test/AP_Logger_test.cpp
index fcb6aeb95a52cf..b3b14eef05b1dd 100644
--- a/libraries/AP_Logger/examples/AP_Logger_test/AP_Logger_test.cpp
+++ b/libraries/AP_Logger/examples/AP_Logger_test/AP_Logger_test.cpp
@@ -41,7 +41,7 @@ class AP_LoggerTest {
 private:
 
     AP_Int32 log_bitmask;
-    AP_Logger logger{log_bitmask};
+    AP_Logger logger;
     AP_Scheduler scheduler;
 
 };
@@ -53,7 +53,7 @@ void AP_LoggerTest::setup(void)
     hal.console->printf("Logger Log Test 1.0\n");
 
     log_bitmask.set((uint32_t)-1);
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
+    logger.init(log_bitmask, log_structure, ARRAY_SIZE(log_structure));
     logger.set_vehicle_armed(true);
     logger.Write_Message("AP_Logger Test");
 #ifdef DEBUG_RATES

From 0694154f1c69b004caa4ceb7ebb29f2a0cacf1e8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 20:50:34 +1100
Subject: [PATCH 1059/1335] AP_Vehicle: move logger object up to AP_Vehicle

---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 10 ++++++++++
 libraries/AP_Vehicle/AP_Vehicle.h   |  9 +++++++++
 2 files changed, 19 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 37507b41a2d53d..bfaa356e8f90d9 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -264,6 +264,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(scripting, "SCR_", 28, AP_Vehicle, AP_Scripting),
 #endif
 
+#if HAL_LOGGING_ENABLED
+    // @Group: LOG
+    // @Path: ../AP_Logger/AP_Logger.cpp
+    AP_SUBGROUPINFO(logger, "LOG",  29, AP_Vehicle, AP_Logger),
+#endif
+
     AP_GROUPEND
 };
 
@@ -372,6 +378,10 @@ void AP_Vehicle::setup()
     can_mgr.init();
 #endif
 
+#if HAL_LOGGING_ENABLED
+    logger.init(get_log_bitmask(), get_log_structures(), get_num_log_structures());
+#endif
+
     // init_ardupilot is where the vehicle does most of its initialisation.
     init_ardupilot();
 
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 953ea8d7c5c547..33797531a6ab48 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -37,6 +37,7 @@
 #include <AP_ExternalControl/AP_ExternalControl_config.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Generator/AP_Generator.h>
+#include <AP_Logger/AP_Logger.h>
 #include <AP_Notify/AP_Notify.h>                    // Notify library
 #include <AP_Param/AP_Param.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
@@ -317,6 +318,14 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 #endif
     RangeFinder rangefinder;
 
+#if HAL_LOGGING_ENABLED
+    AP_Logger logger;
+    // method supplied by vehicle to provide log bitmask:
+    virtual const AP_Int32 &get_log_bitmask() = 0;
+    virtual const struct LogStructure *get_log_structures() const = 0;
+    virtual uint8_t get_num_log_structures() const = 0;
+#endif
+
 #if AP_RSSI_ENABLED
     AP_RSSI rssi;
 #endif

From 4e97561d5bb550eff97b4e3477bbce7794d3d915 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 20:50:34 +1100
Subject: [PATCH 1060/1335] ArduCopter: move logger object up to AP_Vehicle

---
 ArduCopter/Copter.cpp     |  3 ---
 ArduCopter/Copter.h       | 12 +++++++-----
 ArduCopter/Log.cpp        | 10 +++++-----
 ArduCopter/Parameters.cpp | 11 +++++------
 ArduCopter/system.cpp     |  4 ----
 5 files changed, 17 insertions(+), 23 deletions(-)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 5374c79357765a..dda496b3e0921f 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -820,9 +820,6 @@ bool Copter::get_rate_ef_targets(Vector3f& rate_ef_targets) const
  */
 Copter::Copter(void)
     :
-#if HAL_LOGGING_ENABLED
-    logger(g.log_bitmask),
-#endif
     flight_modes(&g.flight_mode1),
     simple_cos_yaw(1.0f),
     super_simple_cos_yaw(1.0),
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 53576d969bd714..3c922cb14073fd 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -251,10 +251,6 @@ class Copter : public AP_Vehicle {
     RC_Channel *channel_throttle;
     RC_Channel *channel_yaw;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     // flight modes convenience array
     AP_Int8 *flight_modes;
     const uint8_t num_flight_modes = 6;
@@ -846,6 +842,13 @@ class Copter : public AP_Vehicle {
     void standby_update();
 
 #if HAL_LOGGING_ENABLED
+    // methods for AP_Vehicle:
+    const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override;
+
     // Log.cpp
     void Log_Write_Control_Tuning();
     void Log_Write_Attitude();
@@ -866,7 +869,6 @@ class Copter : public AP_Vehicle {
     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_Vehicle_Startup_Messages();
-    void log_init(void);
 #endif  // HAL_LOGGING_ENABLED
 
     // mode.cpp
diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp
index 4d9e4ef87b01b6..d1d530ca1355e4 100644
--- a/ArduCopter/Log.cpp
+++ b/ArduCopter/Log.cpp
@@ -560,6 +560,11 @@ const struct LogStructure Copter::log_structure[] = {
       "GUIA",  "QBffffffff",    "TimeUS,Type,Roll,Pitch,Yaw,RollRt,PitchRt,YawRt,Thrust,ClimbRt", "s-dddkkk-n", "F-000000-0" , true },
 };
 
+uint8_t Copter::get_num_log_structures() const
+{
+    return ARRAY_SIZE(log_structure);
+}
+
 void Copter::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by AP_Logger
@@ -571,9 +576,4 @@ void Copter::Log_Write_Vehicle_Startup_Messages()
     gps.Write_AP_Logger_Log_Startup_messages();
 }
 
-void Copter::log_init(void)
-{
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
-}
-
 #endif // HAL_LOGGING_ENABLED
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 35b1780ff9cc1a..d5d7174ff19ff6 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -554,12 +554,6 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECT(camera_mount,           "MNT",  AP_Mount),
 #endif
 
-#if HAL_LOGGING_ENABLED
-    // @Group: LOG
-    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
-    GOBJECT(logger,           "LOG",  AP_Logger),
-#endif
-
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
     GOBJECT(battery,                "BATT",         AP_BattMonitor),
@@ -1410,6 +1404,11 @@ void Copter::load_parameters(void)
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+#endif
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
     // setup AP_Param frame type flags
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 31b96628245b64..5347a67901039b 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -44,10 +44,6 @@ void Copter::init_ardupilot()
     osd.init();
 #endif
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     // update motor interlock state
     update_using_interlock();
 

From fcd7c5beb945746546d8948b9687085ac1403e07 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 22:13:01 +1100
Subject: [PATCH 1061/1335] ArduPlane: move logger object up to AP_Vehicle

---
 ArduPlane/Log.cpp        | 13 +++++--------
 ArduPlane/Parameters.cpp | 11 +++++------
 ArduPlane/Plane.cpp      |  3 ---
 ArduPlane/Plane.h        | 16 ++++++++++------
 ArduPlane/system.cpp     |  4 ----
 5 files changed, 20 insertions(+), 27 deletions(-)

diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index 2df80fbbc1415c..7b2249e6243745 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -483,6 +483,11 @@ const struct LogStructure Plane::log_structure[] = {
 #endif
 };
 
+uint8_t Plane::get_num_log_structures() const
+{
+    return ARRAY_SIZE(log_structure);
+}
+
 void Plane::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by AP_Logger
@@ -498,12 +503,4 @@ void Plane::Log_Write_Vehicle_Startup_Messages()
     gps.Write_AP_Logger_Log_Startup_messages();
 }
 
-/*
-  initialise logging subsystem
- */
-void Plane::log_init(void)
-{
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
-}
-
 #endif // HAL_LOGGING_ENABLED
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 639aa73039e6a2..beb418b3456e87 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -908,12 +908,6 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(camera_mount,           "MNT",  AP_Mount),
 #endif
 
-#if HAL_LOGGING_ENABLED
-    // @Group: LOG
-    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
-    GOBJECT(logger,           "LOG",  AP_Logger),
-#endif
-
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
     GOBJECT(battery,                "BATT", AP_BattMonitor),
@@ -1579,5 +1573,10 @@ void Plane::load_parameters(void)
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+#endif
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
diff --git a/ArduPlane/Plane.cpp b/ArduPlane/Plane.cpp
index 07055294b523a0..4be3c0df7c60e8 100644
--- a/ArduPlane/Plane.cpp
+++ b/ArduPlane/Plane.cpp
@@ -24,9 +24,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
   constructor for main Plane class
  */
 Plane::Plane(void)
-#if HAL_LOGGING_ENABLED
-    : logger(g.log_bitmask)
-#endif
 {
     // C++11 doesn't allow in-class initialisation of bitfields
     auto_state.takeoff_complete = true;
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 3769e44a543c5f..3d08a2bca9add5 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -192,10 +192,6 @@ class Plane : public AP_Vehicle {
     RC_Channel *channel_flap;
     RC_Channel *channel_airbrake;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     // scaled roll limit based on pitch
     int32_t roll_limit_cd;
     float pitch_limit_min;
@@ -886,9 +882,16 @@ class Plane : public AP_Vehicle {
     int16_t calc_nav_yaw_course(void);
     int16_t calc_nav_yaw_ground(void);
 
-    // Log.cpp
-    uint32_t last_log_fast_ms;
+#if HAL_LOGGING_ENABLED
 
+    // methods for AP_Vehicle:
+    const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override;
+
+    // Log.cpp
     void Log_Write_FullRate(void);
     void Log_Write_Attitude(void);
     void Log_Write_Control_Tuning();
@@ -900,6 +903,7 @@ class Plane : public AP_Vehicle {
     void Log_Write_Vehicle_Startup_Messages();
     void Log_Write_AETR();
     void log_init();
+#endif
 
     // Parameters.cpp
     void load_parameters(void) override;
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 56998c367904db..eab2ecef94084b 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -64,10 +64,6 @@ void Plane::init_ardupilot()
     osd.init();
 #endif
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();
 

From 80fa66104290e43a980ac3927b62e4d96ed55da9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 22:21:25 +1100
Subject: [PATCH 1062/1335] ArduSub: move logger object up to AP_Vehicle

---
 ArduSub/Log.cpp        | 10 +++++-----
 ArduSub/Parameters.cpp | 11 +++++------
 ArduSub/Sub.cpp        |  3 ---
 ArduSub/Sub.h          | 11 +++++++----
 ArduSub/system.cpp     |  4 ----
 5 files changed, 17 insertions(+), 22 deletions(-)

diff --git a/ArduSub/Log.cpp b/ArduSub/Log.cpp
index 63d3feb8ff222d..45603f2d3aed1f 100644
--- a/ArduSub/Log.cpp
+++ b/ArduSub/Log.cpp
@@ -275,6 +275,11 @@ const struct LogStructure Sub::log_structure[] = {
       "GUIP",  "QBffffff",    "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
 };
 
+uint8_t Sub::get_num_log_structures() const
+{
+    return ARRAY_SIZE(log_structure);
+}
+
 void Sub::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by AP_Logger
@@ -284,9 +289,4 @@ void Sub::Log_Write_Vehicle_Startup_Messages()
 }
 
 
-void Sub::log_init()
-{
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
-}
-
 #endif // HAL_LOGGING_ENABLED
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 168990b01f4c82..82771fb8082031 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -561,12 +561,6 @@ const AP_Param::Info Sub::var_info[] = {
     GOBJECT(camera_mount,           "MNT",  AP_Mount),
 #endif
 
-#if HAL_LOGGING_ENABLED
-    // @Group: LOG
-    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
-    GOBJECT(logger,           "LOG",  AP_Logger),
-#endif
-
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
     GOBJECT(battery,                "BATT",         AP_BattMonitor),
@@ -814,6 +808,11 @@ void Sub::load_parameters()
         AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false);
     }
 #endif
+
+    // PARAMETER_CONVERSION - Added: Feb-2024
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+#endif
 }
 
 void Sub::convert_old_parameters()
diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index 304ed327249e55..877f3bf8c17cae 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -25,9 +25,6 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
  */
 Sub::Sub()
     :
-#if HAL_LOGGING_ENABLED
-          logger(g.log_bitmask),
-#endif
           control_mode(Mode::Number::MANUAL),
           motors(MAIN_LOOP_RATE),
           auto_mode(Auto_WP),
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 53de38af092b79..2419e0fc799345 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -146,10 +146,6 @@ class Sub : public AP_Vehicle {
     RC_Channel *channel_forward;
     RC_Channel *channel_lateral;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     AP_LeakDetector leak_detector;
 
     struct {
@@ -403,6 +399,13 @@ class Sub : public AP_Vehicle {
     float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
     void rotate_body_frame_to_NE(float &x, float &y);
 #if HAL_LOGGING_ENABLED
+    // methods for AP_Vehicle:
+    const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override;
+
     void Log_Write_Control_Tuning();
     void Log_Write_Attitude();
     void Log_Write_Data(LogDataID id, int32_t value);
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index f86637c5a143ab..b72b9889c11853 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -52,10 +52,6 @@ void Sub::init_ardupilot()
     // setup telem slots with serial ports
     gcs().setup_uarts();
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     // initialise rc channels including setting mode
     rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
     rc().init();

From ff1ccdf2eed6a9c628cfa9383508b750b9d633d6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 22:27:57 +1100
Subject: [PATCH 1063/1335] Blimp: move logger object up to AP_Vehicle

---
 Blimp/Blimp.cpp      |  3 ---
 Blimp/Blimp.h        | 14 +++++++-------
 Blimp/Log.cpp        | 11 ++++++-----
 Blimp/Parameters.cpp | 11 +++++------
 Blimp/system.cpp     |  4 ----
 5 files changed, 18 insertions(+), 25 deletions(-)

diff --git a/Blimp/Blimp.cpp b/Blimp/Blimp.cpp
index 3231580eaf619c..05b5c459160e06 100644
--- a/Blimp/Blimp.cpp
+++ b/Blimp/Blimp.cpp
@@ -286,9 +286,6 @@ void Blimp::rotate_NE_to_BF(Vector2f &vec)
  */
 Blimp::Blimp(void)
     :
-#if HAL_LOGGING_ENABLED
-      logger(g.log_bitmask),
-#endif
       flight_modes(&g.flight_mode1),
       control_mode(Mode::Number::MANUAL),
       rc_throttle_control_in_filter(1.0f),
diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
index 9566f9294e1f17..826d92b98c49fe 100644
--- a/Blimp/Blimp.h
+++ b/Blimp/Blimp.h
@@ -113,10 +113,6 @@ class Blimp : public AP_Vehicle
     RC_Channel *channel_up;
     RC_Channel *channel_yaw;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     // flight modes convenience array
     AP_Int8 *flight_modes;
     const uint8_t num_flight_modes = 6;
@@ -354,8 +350,14 @@ class Blimp : public AP_Vehicle
     void landinggear_update();
 
 #if HAL_LOGGING_ENABLED
+    // methods for AP_Vehicle:
+    const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override;
+
     // Log.cpp
-    void Log_Write_Performance();
     void Log_Write_Attitude();
     void Log_Write_PIDs();
     void Log_Write_EKF_POS();
@@ -365,11 +367,9 @@ class Blimp : public AP_Vehicle
     void Log_Write_Data(LogDataID id, uint16_t value);
     void Log_Write_Data(LogDataID id, float value);
     void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max);
-    void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);
 
 
     void Log_Write_Vehicle_Startup_Messages();
-    void log_init(void);
     void Write_FINI(float right, float front, float down, float yaw);
     void Write_FINO(float *amp, float *off);
 #endif
diff --git a/Blimp/Log.cpp b/Blimp/Log.cpp
index 7d62fc9d5ebc6b..e7fcea3cfbdc24 100644
--- a/Blimp/Log.cpp
+++ b/Blimp/Log.cpp
@@ -393,6 +393,12 @@ const struct LogStructure Blimp::log_structure[] = {
     },
 };
 
+uint8_t Blimp::get_num_log_structures() const
+{
+    return ARRAY_SIZE(log_structure);
+
+}
+
 void Blimp::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by AP_Logger
@@ -402,9 +408,4 @@ void Blimp::Log_Write_Vehicle_Startup_Messages()
     gps.Write_AP_Logger_Log_Startup_messages();
 }
 
-void Blimp::log_init(void)
-{
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
-}
-
 #endif // HAL_LOGGING_ENABLED
diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp
index f0641e0cf28229..805f704d7584b7 100644
--- a/Blimp/Parameters.cpp
+++ b/Blimp/Parameters.cpp
@@ -341,12 +341,6 @@ const AP_Param::Info Blimp::var_info[] = {
     // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
     GOBJECT(ahrs,                   "AHRS_",    AP_AHRS),
 
-#if HAL_LOGGING_ENABLED
-    // @Group: LOG
-    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
-    GOBJECT(logger,           "LOG",  AP_Logger),
-#endif
-
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
     GOBJECT(battery,                "BATT",         AP_BattMonitor),
@@ -895,6 +889,11 @@ void Blimp::load_parameters(void)
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+#endif
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 
     // setup AP_Param frame type flags
diff --git a/Blimp/system.cpp b/Blimp/system.cpp
index 5bde10d45bb60f..b95b2db9d61581 100644
--- a/Blimp/system.cpp
+++ b/Blimp/system.cpp
@@ -29,10 +29,6 @@ void Blimp::init_ardupilot()
     // setup telem slots with serial ports
     gcs().setup_uarts();
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     init_rc_in();               // sets up rc channels from radio
 
     // allocate the motors class

From 74f2c5a8811bce0e8304f6b9eebb6c6bb55f64e8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 7 Feb 2024 22:33:32 +1100
Subject: [PATCH 1064/1335] AntennaTracker: move logger object up to AP_Vehicle

---
 AntennaTracker/Log.cpp        | 10 +++++-----
 AntennaTracker/Parameters.cpp | 11 +++++------
 AntennaTracker/Tracker.cpp    |  7 -------
 AntennaTracker/Tracker.h      | 16 +++++++++-------
 AntennaTracker/system.cpp     |  4 ----
 5 files changed, 19 insertions(+), 29 deletions(-)

diff --git a/AntennaTracker/Log.cpp b/AntennaTracker/Log.cpp
index 5a70a09eb44305..48048dc1a17cdc 100644
--- a/AntennaTracker/Log.cpp
+++ b/AntennaTracker/Log.cpp
@@ -87,15 +87,15 @@ const struct LogStructure Tracker::log_structure[] = {
        "VPOS", "QLLefff", "TimeUS,Lat,Lng,Alt,VelX,VelY,VelZ", "sddmnnn", "FGGB000", true }
 };
 
-void Tracker::Log_Write_Vehicle_Startup_Messages()
+uint8_t Tracker::get_num_log_structures() const
 {
-    logger.Write_Mode((uint8_t)mode->number(), ModeReason::INITIALISED);
-    gps.Write_AP_Logger_Log_Startup_messages();
+    return ARRAY_SIZE(log_structure);
 }
 
-void Tracker::log_init(void)
+void Tracker::Log_Write_Vehicle_Startup_Messages()
 {
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
+    logger.Write_Mode((uint8_t)mode->number(), ModeReason::INITIALISED);
+    gps.Write_AP_Logger_Log_Startup_messages();
 }
 
 #endif // HAL_LOGGING_ENABLED
diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index c21d5dbf4f5d7e..35b20c530309bc 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -566,12 +566,6 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
     PARAM_VEHICLE_INFO,
 
-#if HAL_LOGGING_ENABLED
-    // @Group: LOG
-    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
-    GOBJECT(logger,           "LOG",  AP_Logger),
-#endif
-
 #if HAL_NAVEKF2_AVAILABLE
     // @Group: EK2_
     // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -618,6 +612,11 @@ void Tracker::load_parameters(void)
     AP_Param::convert_class(g.k_param_scripting_old, &scripting, scripting.var_info, 0, 0, true);
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Tracker-4.6
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+#endif
+
     hal.console->printf("load_all took %luus\n", (unsigned long)(AP_HAL::micros() - before));
 
 #if HAL_HAVE_SAFETY_SWITCH
diff --git a/AntennaTracker/Tracker.cpp b/AntennaTracker/Tracker.cpp
index cd4a4eb5777e18..5fd202b1bdf4a6 100644
--- a/AntennaTracker/Tracker.cpp
+++ b/AntennaTracker/Tracker.cpp
@@ -164,13 +164,6 @@ void Tracker::stats_update(void)
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-Tracker::Tracker(void)
-#if HAL_LOGGING_ENABLED
-    : logger(g.log_bitmask)
-#endif
-{
-}
-
 Tracker tracker;
 AP_Vehicle& vehicle = tracker;
 
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 22c7687ef73ea9..8c745fcf41952a 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -64,8 +64,6 @@ class Tracker : public AP_Vehicle {
     friend class ModeGuided;
     friend class Mode;
 
-    Tracker(void);
-
     void arm_servos();
     void disarm_servos();
 
@@ -74,10 +72,6 @@ class Tracker : public AP_Vehicle {
 
     uint32_t start_time_ms = 0;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     /**
        antenna control channels
     */
@@ -160,12 +154,20 @@ class Tracker : public AP_Vehicle {
     // GCS_Mavlink.cpp
     void send_nav_controller_output(mavlink_channel_t chan);
 
+#if HAL_LOGGING_ENABLED
+    // methods for AP_Vehicle:
+    const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override;
+
     // Log.cpp
     void Log_Write_Attitude();
     void Log_Write_Vehicle_Baro(float pressure, float altitude);
     void Log_Write_Vehicle_Pos(int32_t lat,int32_t lng,int32_t alt, const Vector3f& vel);
     void Log_Write_Vehicle_Startup_Messages();
-    void log_init(void);
+#endif
 
     // Parameters.cpp
     void load_parameters(void) override;
diff --git a/AntennaTracker/system.cpp b/AntennaTracker/system.cpp
index db4438ded4c063..a9c2527fa8843b 100644
--- a/AntennaTracker/system.cpp
+++ b/AntennaTracker/system.cpp
@@ -24,10 +24,6 @@ void Tracker::init_ardupilot()
     // try to initialise stream rates in the main loop.
     gcs().update_send();
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     // initialise compass
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();

From aa4a805bb6fe053b6562e50aa140441f98ae2dd0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 8 Feb 2024 07:42:28 +1100
Subject: [PATCH 1065/1335] Rover: move logger object up to AP_Vehicle

---
 Rover/Log.cpp         | 17 ++---------------
 Rover/Parameters.cpp  | 11 +++++------
 Rover/Rover.cpp       |  3 ---
 Rover/Rover.h         | 16 +++++++++-------
 Rover/mode_guided.cpp |  6 ++++++
 Rover/sensors.cpp     |  2 ++
 Rover/system.cpp      |  4 ----
 7 files changed, 24 insertions(+), 35 deletions(-)

diff --git a/Rover/Log.cpp b/Rover/Log.cpp
index f102fa95c0ca41..99fd471dccee4d 100644
--- a/Rover/Log.cpp
+++ b/Rover/Log.cpp
@@ -308,22 +308,9 @@ const LogStructure Rover::log_structure[] = {
       "GUIP",  "QBffffff",    "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
 };
 
-void Rover::log_init(void)
+uint8_t Rover::get_num_log_structures() const
 {
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
+    return ARRAY_SIZE(log_structure);
 }
 
-#else  // LOGGING_ENABLED
-
-// dummy functions
-void Rover::Log_Write_Attitude() {}
-void Rover::Log_Write_Depth() {}
-void Rover::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}
-void Rover::Log_Write_Nav_Tuning() {}
-void Rover::Log_Write_Sail() {}
-void Rover::Log_Write_Throttle() {}
-void Rover::Log_Write_RC(void) {}
-void Rover::Log_Write_Steering() {}
-void Rover::Log_Write_Vehicle_Startup_Messages() {}
-
 #endif  // LOGGING_ENABLED
diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 1c7ae1a07b2a65..2183768399e003 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -316,12 +316,6 @@ const AP_Param::Info Rover::var_info[] = {
     // @Path: ../libraries/AP_Arming/AP_Arming.cpp
     GOBJECT(arming,                 "ARMING_", AP_Arming),
 
-#if HAL_LOGGING_ENABLED
-    // @Group: LOG
-    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
-    GOBJECT(logger,           "LOG",  AP_Logger),
-#endif
-
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
     GOBJECT(battery,                "BATT", AP_BattMonitor),
@@ -944,4 +938,9 @@ void Rover::load_parameters(void)
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Rover-4.6
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+#endif
+
 }
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index 4d8c3e3fd29da9..b956267eef48e6 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -157,9 +157,6 @@ constexpr int8_t Rover::_failsafe_priorities[7];
 Rover::Rover(void) :
     AP_Vehicle(),
     param_loader(var_info),
-#if HAL_LOGGING_ENABLED
-    logger{g.log_bitmask},
-#endif
     modes(&g.mode1),
     control_mode(&mode_initializing)
 {
diff --git a/Rover/Rover.h b/Rover/Rover.h
index cbc508cd2c0a84..e12ed2db608b85 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -136,10 +136,6 @@ class Rover : public AP_Vehicle {
     RC_Channel *channel_pitch;
     RC_Channel *channel_walking_height;
 
-#if HAL_LOGGING_ENABLED
-    AP_Logger logger;
-#endif
-
     // flight modes convenience array
     AP_Int8 *modes;
     const uint8_t num_modes = 6;
@@ -272,8 +268,6 @@ class Rover : public AP_Vehicle {
     } cruise_learn_t;
     cruise_learn_t cruise_learn;
 
-private:
-
     // Rover.cpp
 #if AP_SCRIPTING_ENABLED
     bool set_target_location(const Location& target_loc) override;
@@ -334,6 +328,14 @@ class Rover : public AP_Vehicle {
     // GCS_Mavlink.cpp
     void send_wheel_encoder_distance(mavlink_channel_t chan);
 
+#if HAL_LOGGING_ENABLED
+    // methods for AP_Vehicle:
+    const AP_Int32 &get_log_bitmask() override { return g.log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override;
+
     // Log.cpp
     void Log_Write_Attitude();
     void Log_Write_Depth();
@@ -345,7 +347,7 @@ class Rover : public AP_Vehicle {
     void Log_Write_RC(void);
     void Log_Write_Vehicle_Startup_Messages();
     void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page);
-    void log_init(void);
+#endif
 
     // mode.cpp
     Mode *mode_from_mode_num(enum Mode::Number num);
diff --git a/Rover/mode_guided.cpp b/Rover/mode_guided.cpp
index a1d18cf92d006d..96ab7e15651d46 100644
--- a/Rover/mode_guided.cpp
+++ b/Rover/mode_guided.cpp
@@ -322,7 +322,9 @@ bool ModeGuided::set_desired_location(const Location &destination, Location next
     // handle guided specific initialisation and logging
     _guided_mode = SubMode::WP;
     send_notification = true;
+#if HAL_LOGGING_ENABLED
     rover.Log_Write_GuidedTarget((uint8_t)_guided_mode, Vector3f(destination.lat, destination.lng, 0), Vector3f(g2.wp_nav.get_speed_max(), 0.0f, 0.0f));
+#endif
     return true;
 }
 
@@ -338,8 +340,10 @@ void ModeGuided::set_desired_heading_and_speed(float yaw_angle_cd, float target_
     _desired_speed = target_speed;
     have_attitude_target = true;
 
+#if HAL_LOGGING_ENABLED
     // log new target
     rover.Log_Write_GuidedTarget((uint8_t)_guided_mode, Vector3f(_desired_yaw_cd, 0.0f, 0.0f), Vector3f(_desired_speed, 0.0f, 0.0f));
+#endif
 }
 
 void ModeGuided::set_desired_heading_delta_and_speed(float yaw_delta_cd, float target_speed)
@@ -364,8 +368,10 @@ void ModeGuided::set_desired_turn_rate_and_speed(float turn_rate_cds, float targ
     _desired_speed = target_speed;
     have_attitude_target = true;
 
+#if HAL_LOGGING_ENABLED
     // log new target
     rover.Log_Write_GuidedTarget((uint8_t)_guided_mode, Vector3f(_desired_yaw_rate_cds, 0.0f, 0.0f), Vector3f(_desired_speed, 0.0f, 0.0f));
+#endif
 }
 
 // set steering and throttle (both in the range -1 to +1)
diff --git a/Rover/sensors.cpp b/Rover/sensors.cpp
index 9153fd7e348c9e..aa9f7918912275 100644
--- a/Rover/sensors.cpp
+++ b/Rover/sensors.cpp
@@ -91,5 +91,7 @@ void Rover::update_wheel_encoder()
 void Rover::read_rangefinders(void)
 {
     rangefinder.update();
+#if HAL_LOGGING_ENABLED
     Log_Write_Depth();
+#endif
 }
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 67f0a8ebdfcbb3..35e76c4d472bc7 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -44,10 +44,6 @@ void Rover::init_ardupilot()
     osd.init();
 #endif
 
-#if HAL_LOGGING_ENABLED
-    log_init();
-#endif
-
     // initialise compass
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();

From f7886ca14d1bb08df900023e352a6179c76c6848 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 08:50:28 +1100
Subject: [PATCH 1066/1335] AP_HAL: move logger object up to AP_Vehicle

---
 libraries/AP_HAL/examples/DSP_test/DSP_test.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL/examples/DSP_test/DSP_test.cpp b/libraries/AP_HAL/examples/DSP_test/DSP_test.cpp
index f40e0653bc621e..23e079f23ead8c 100644
--- a/libraries/AP_HAL/examples/DSP_test/DSP_test.cpp
+++ b/libraries/AP_HAL/examples/DSP_test/DSP_test.cpp
@@ -32,7 +32,7 @@ static AP_SerialManager serial_manager;
 static AP_BoardConfig board_config;
 static AP_InertialSensor ins;
 AP_Int32 logger_bitmask;
-static AP_Logger logger{logger_bitmask};
+static AP_Logger logger;
 
 class DummyVehicle {
 public:

From 477fa3e16160d18659946554da602455b877619c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 08:50:28 +1100
Subject: [PATCH 1067/1335] AP_InertialSensor: move logger object up to
 AP_Vehicle

---
 .../AP_InertialSensor/examples/INS_generic/INS_generic.cpp      | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp b/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp
index 1856e6f801ed9b..b5c8ad97fea719 100644
--- a/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp
+++ b/libraries/AP_InertialSensor/examples/INS_generic/INS_generic.cpp
@@ -22,7 +22,7 @@ static void run_test();
 // board specific config
 static AP_BoardConfig BoardConfig;
 static AP_Int32 log_bitmask;
-static AP_Logger logger{log_bitmask};
+static AP_Logger logger;
 
 void setup(void);
 void loop(void);

From fb7ccd327a2fc8625a57e5e05c7a4f2338c7bb89 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 08:50:28 +1100
Subject: [PATCH 1068/1335] AP_NMEA_Output: move logger object up to AP_Vehicle

---
 .../examples/NMEA_Output/nmea_output.cpp            | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp b/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp
index b2d7f5e33fda33..b48716b12c3758 100644
--- a/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp
+++ b/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp
@@ -8,7 +8,6 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <GCS_MAVLink/GCS_Dummy.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
-#include <AP_Logger/AP_Logger.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Baro/AP_Baro.h>
 #include <AP_NMEA_Output/AP_NMEA_Output.h>
@@ -40,10 +39,6 @@ const struct AP_Param::Info var_info[] = {
 
 static AP_Param param{var_info};
 
-
-AP_Int32 logger_bitmask;
-static AP_Logger logger{logger_bitmask};
-
 class DummyVehicle : public AP_Vehicle {
 public:
     AP_AHRS ahrs{AP_AHRS::FLAG_ALWAYS_USE_EKF};
@@ -55,6 +50,14 @@ class DummyVehicle : public AP_Vehicle {
     void init() {
         BoardConfig.init();
     }
+
+    // methods for AP_Vehicle:
+    AP_Int32 log_bitmask;
+    const AP_Int32 &get_log_bitmask() override { return log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return nullptr;
+    }
+    uint8_t get_num_log_structures() const override { return 0; }
 };
 
 static DummyVehicle vehicle;

From 92be3e72370c5440bf658ac7ba7c24eec02ddfdd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 08:50:29 +1100
Subject: [PATCH 1069/1335] AP_RTC: move logger object up to AP_Vehicle

---
 libraries/AP_RTC/examples/RTC_test/RTC_Test.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_RTC/examples/RTC_test/RTC_Test.cpp b/libraries/AP_RTC/examples/RTC_test/RTC_Test.cpp
index 85c987a58d148b..18963e86528f6b 100644
--- a/libraries/AP_RTC/examples/RTC_test/RTC_Test.cpp
+++ b/libraries/AP_RTC/examples/RTC_test/RTC_Test.cpp
@@ -17,7 +17,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 static AP_BoardConfig board_config;
 static AP_SerialManager serial_manager;
 AP_Int32 logger_bitmask;
-static AP_Logger logger{logger_bitmask};
+static AP_Logger logger;
 static AP_RTC _rtc;
 
 void setup(void)

From 9ce9f88254424ad30318578574f221d6b3586a07 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 08:50:29 +1100
Subject: [PATCH 1070/1335] AP_Scheduler: move logger object up to AP_Vehicle

---
 .../AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp    | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp b/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp
index 04754e651a735a..5a9eb79d20ee78 100644
--- a/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp
+++ b/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp
@@ -17,8 +17,7 @@ GCS_Dummy _gcs;
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-AP_Int32 log_bitmask;
-AP_Logger AP_Logger{log_bitmask};
+AP_Logger logger;
 
 class SchedTest {
 public:

From 7b3a91996bc4bdb314d9cc2c015cde62f61842c8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 11:39:02 +1100
Subject: [PATCH 1071/1335] AP_GyroFFT: move logger object up to AP_Vehicle

---
 libraries/AP_GyroFFT/examples/ReplayGyroFFT/ReplayGyroFFT.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_GyroFFT/examples/ReplayGyroFFT/ReplayGyroFFT.cpp b/libraries/AP_GyroFFT/examples/ReplayGyroFFT/ReplayGyroFFT.cpp
index 70b74f42283dd0..c607c88c53dfdc 100644
--- a/libraries/AP_GyroFFT/examples/ReplayGyroFFT/ReplayGyroFFT.cpp
+++ b/libraries/AP_GyroFFT/examples/ReplayGyroFFT/ReplayGyroFFT.cpp
@@ -29,7 +29,7 @@ static AP_BoardConfig board_config;
 static AP_InertialSensor ins;
 static AP_Baro baro;
 AP_Int32 logger_bitmask;
-static AP_Logger logger{logger_bitmask};
+static AP_Logger logger;
 #if HAL_EXTERNAL_AHRS_ENABLED
 static AP_ExternalAHRS external_ahrs;
 #endif
@@ -123,7 +123,7 @@ void setup()
         sitl.gyro_file_rw.set(SITL::SIM::INSFileMode::INS_FILE_READ_STOP_ON_EOF);   // SIM_GYR_FILE_RW
     }
     logger_bitmask.set(128);    // IMU
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
+    logger.init(logger_bitmask, log_structure, ARRAY_SIZE(log_structure));
     ins.init(LOOP_RATE_HZ);
     baro.init();
 

From bdb84181bcabb164b89914f4cc352635d54ef3ce Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 11 Feb 2024 14:56:41 +1100
Subject: [PATCH 1072/1335] Tools: move logger object up to AP_Vehicle

---
 Tools/AP_Periph/AP_Periph.cpp |  5 +----
 Tools/Replay/Replay.cpp       |  5 -----
 Tools/Replay/Replay.h         | 17 +++++++++++++----
 3 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
index 8a08df7aed9fa6..b663855304b19e 100644
--- a/Tools/AP_Periph/AP_Periph.cpp
+++ b/Tools/AP_Periph/AP_Periph.cpp
@@ -62,9 +62,6 @@ void loop(void)
 static uint32_t start_ms;
 
 AP_Periph_FW::AP_Periph_FW()
-#if HAL_LOGGING_ENABLED
-    : logger(g.log_bitmask)
-#endif
 {
     if (_singleton != nullptr) {
         AP_HAL::panic("AP_Periph_FW must be singleton");
@@ -127,7 +124,7 @@ void AP_Periph_FW::init()
 #endif
 
 #if HAL_LOGGING_ENABLED
-    logger.Init(log_structure, ARRAY_SIZE(log_structure));
+    logger.init(g.log_bitmask, log_structure, ARRAY_SIZE(log_structure));
 #endif
 
     check_firmware_print();
diff --git a/Tools/Replay/Replay.cpp b/Tools/Replay/Replay.cpp
index a55a33a799d1b3..d3dc5339798403 100644
--- a/Tools/Replay/Replay.cpp
+++ b/Tools/Replay/Replay.cpp
@@ -69,10 +69,6 @@ const AP_Param::Info ReplayVehicle::var_info[] = {
     // @Path: ../libraries/AP_Compass/AP_Compass.cpp
     GOBJECT(compass, "COMPASS_", Compass),
 
-    // @Group: LOG
-    // @Path: ../libraries/AP_Logger/AP_Logger.cpp
-    GOBJECT(logger, "LOG", AP_Logger),
-    
     // @Group: EK3_
     // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
     GOBJECTN(ekf3, NavEKF3, "EK3_", NavEKF3),
@@ -124,7 +120,6 @@ void ReplayVehicle::init_ardupilot(void)
     // message as a product of Replay), or the format understood in
     // the current code (if we do emit the message in the normal
     // places in the EKF, for example)
-    logger.Init(log_structure, 0);
     logger.set_force_log_disarmed(true);
 }
 
diff --git a/Tools/Replay/Replay.h b/Tools/Replay/Replay.h
index 623c1a4aa83b55..a153eab6659891 100644
--- a/Tools/Replay/Replay.h
+++ b/Tools/Replay/Replay.h
@@ -34,7 +34,7 @@ class ReplayVehicle : public AP_Vehicle {
 public:
     friend class Replay;
 
-    ReplayVehicle() { unused.set(-1); }
+    ReplayVehicle() { unused_log_bitmask.set(-1); }
     // HAL::Callbacks implementation.
     void load_parameters(void) override;
     void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
@@ -50,16 +50,25 @@ class ReplayVehicle : public AP_Vehicle {
 
     AP_FixedWing aparm;
 
-    AP_Int32 unused; // logging is magic for Replay; this is unused
+    AP_Int32 unused_log_bitmask; // logging is magic for Replay; this is unused
     struct LogStructure log_structure[256] = {
     };
-    AP_Logger logger{unused};
 
     NavEKF2 ekf2;
     NavEKF3 ekf3;
 
 protected:
 
+protected:
+
+    const AP_Int32 &get_log_bitmask() override { return unused_log_bitmask; }
+    const struct LogStructure *get_log_structures() const override {
+        return log_structure;
+    }
+    uint8_t get_num_log_structures() const override {
+        return uint8_t(ARRAY_SIZE(log_structure));
+    }
+
     void init_ardupilot() override;
 
 private:
@@ -82,7 +91,7 @@ class Replay : public AP_HAL::HAL::Callbacks {
 
     // return true if a user parameter of name is set
     bool check_user_param(const char *name);
-    
+
 private:
     const char *filename;
     ReplayVehicle &_vehicle;

From a158b4f7b99341a0f9572ad03bf7b8eafa97027e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 12 Feb 2024 10:56:24 +1100
Subject: [PATCH 1073/1335] AP_Vehicle: provide dummy implementations of log
 structure methods

this allows a vehicle that doesnt' want to use logging to just ignore it, rather than provide dummy methods
---
 libraries/AP_Vehicle/AP_Vehicle.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 33797531a6ab48..fef90644be4939 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -320,10 +320,11 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 
 #if HAL_LOGGING_ENABLED
     AP_Logger logger;
+    AP_Int32 bitmask_unused;
     // method supplied by vehicle to provide log bitmask:
-    virtual const AP_Int32 &get_log_bitmask() = 0;
-    virtual const struct LogStructure *get_log_structures() const = 0;
-    virtual uint8_t get_num_log_structures() const = 0;
+    virtual const AP_Int32 &get_log_bitmask() { return bitmask_unused; }
+    virtual const struct LogStructure *get_log_structures() const { return nullptr; }
+    virtual uint8_t get_num_log_structures() const { return 0; }
 #endif
 
 #if AP_RSSI_ENABLED

From 0e36ca31544720282b61314641652d4bff6773c4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 12 Feb 2024 11:08:16 +1100
Subject: [PATCH 1074/1335] AP_NMEA_Output: take advantage of AP_Vehicle
 supplying dummy methods

---
 .../AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp   | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp b/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp
index b48716b12c3758..554e766324f8ea 100644
--- a/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp
+++ b/libraries/AP_NMEA_Output/examples/NMEA_Output/nmea_output.cpp
@@ -50,14 +50,6 @@ class DummyVehicle : public AP_Vehicle {
     void init() {
         BoardConfig.init();
     }
-
-    // methods for AP_Vehicle:
-    AP_Int32 log_bitmask;
-    const AP_Int32 &get_log_bitmask() override { return log_bitmask; }
-    const struct LogStructure *get_log_structures() const override {
-        return nullptr;
-    }
-    uint8_t get_num_log_structures() const override { return 0; }
 };
 
 static DummyVehicle vehicle;

From 04b46678a4c76bc743105c1f39dacda1a51b7d35 Mon Sep 17 00:00:00 2001
From: Richard Marko <srk@48.io>
Date: Mon, 4 Dec 2023 10:55:08 +0100
Subject: [PATCH 1075/1335] treewide: fix shebangs - /bin/bash -> /usr/bin/env
 bash

Most scripts/tools use non-portable `/bin/bash`, switch
to environment agnostic `/usr/bin/env bash`.
---
 ArduPlane/createTags                                         | 2 +-
 Rover/createTags                                             | 2 +-
 Tools/Linux_HAL_Essentials/pru/aiopru/start_test             | 2 +-
 Tools/Linux_HAL_Essentials/startup.sh                        | 2 +-
 Tools/Replay/plotit.sh                                       | 2 +-
 Tools/UDP_Proxy/start_proxies.sh                             | 2 +-
 Tools/autotest/run_in_terminal_window.sh                     | 2 +-
 Tools/debug/gdb_crashdump.sh                                 | 2 +-
 Tools/environment_install/APM_install.sh                     | 2 +-
 Tools/environment_install/install-ROS-ubuntu.sh              | 2 +-
 Tools/environment_install/install-prereqs-arch.sh            | 2 +-
 Tools/environment_install/install-prereqs-mac.sh             | 4 ++--
 Tools/environment_install/install-prereqs-ubuntu.sh          | 2 +-
 Tools/environment_install/ubuntu-18.04-python3.sh            | 2 +-
 Tools/geotag/geotag.sh                                       | 2 +-
 Tools/gittools/git-commit-subsystems                         | 2 +-
 Tools/gittools/git-subsystems-split                          | 2 +-
 Tools/gittools/path-libraries.sh                             | 2 +-
 Tools/gittools/path-nonlibraries.sh                          | 2 +-
 Tools/scripts/CAN/can_sitl.sh                                | 2 +-
 Tools/scripts/CAN/can_sitl_nodev.sh                          | 2 +-
 Tools/scripts/build-jsbsim.sh                                | 2 +-
 Tools/scripts/build_all.sh                                   | 2 +-
 Tools/scripts/build_appveyor.sh                              | 2 +-
 Tools/scripts/build_autotest.sh                              | 2 +-
 Tools/scripts/build_ci.sh                                    | 2 +-
 Tools/scripts/build_docs.sh                                  | 2 +-
 Tools/scripts/build_examples.sh                              | 2 +-
 Tools/scripts/build_log_message_documentation.sh             | 2 +-
 Tools/scripts/build_parameters.sh                            | 2 +-
 Tools/scripts/configure-ci.sh                                | 2 +-
 Tools/scripts/cygwin_build.sh                                | 2 +-
 Tools/scripts/esp32_get_idf.sh                               | 5 ++---
 Tools/scripts/fix_libraries_includes.sh                      | 2 +-
 Tools/scripts/format.sh                                      | 2 +-
 Tools/scripts/macos_remote_upload.sh                         | 2 +-
 Tools/scripts/run_luacheck.sh                                | 2 +-
 Tools/scripts/unpack_mp.sh                                   | 2 +-
 Tools/vagrant/initvagrant-desktop.sh                         | 2 +-
 Tools/vagrant/initvagrant-trusty64.sh                        | 2 +-
 Tools/vagrant/initvagrant.sh                                 | 2 +-
 docs/build-apmrover2.sh                                      | 2 +-
 docs/build-arducopter.sh                                     | 2 +-
 docs/build-arduplane.sh                                      | 2 +-
 docs/build-ardusub.sh                                        | 2 +-
 docs/build-libs.sh                                           | 2 +-
 .../AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh      | 2 +-
 .../AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh  | 2 +-
 libraries/SITL/examples/Airsim/follow-copter.sh              | 2 +-
 libraries/SITL/examples/Airsim/multi_vehicle.sh              | 2 +-
 libraries/SITL/examples/Follow/plane_quad.sh                 | 2 +-
 libraries/SITL/examples/Morse/start_follow.sh                | 2 +-
 libraries/SITL/examples/Webots/dronePlus.sh                  | 2 +-
 libraries/SITL/examples/Webots/droneTricopter.sh             | 2 +-
 libraries/SITL/examples/Webots/droneTwoTricopters.sh         | 2 +-
 libraries/SITL/examples/Webots/droneX.sh                     | 2 +-
 libraries/SITL/examples/Webots/droneX_TwoDrones.sh           | 2 +-
 libraries/SITL/examples/Webots/pyramids_droneX.sh            | 2 +-
 libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh  | 2 +-
 libraries/SITL/examples/Webots/rover.sh                      | 2 +-
 libraries/SITL/examples/follow-copter.sh                     | 2 +-
 libraries/SITL/examples/follow-mavproxy.sh                   | 2 +-
 libraries/doc/updateDocs                                     | 2 +-
 63 files changed, 65 insertions(+), 66 deletions(-)

diff --git a/ArduPlane/createTags b/ArduPlane/createTags
index e13937801d6ecf..df38cc23ca6ade 100755
--- a/ArduPlane/createTags
+++ b/ArduPlane/createTags
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 #" Autocompletion enabled vim for arduino pde's
 
 ctags -RV --language-force=C++ --c++-kinds=+p --fields=+iaS --extra=+q  \
diff --git a/Rover/createTags b/Rover/createTags
index e13937801d6ecf..df38cc23ca6ade 100755
--- a/Rover/createTags
+++ b/Rover/createTags
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 #" Autocompletion enabled vim for arduino pde's
 
 ctags -RV --language-force=C++ --c++-kinds=+p --fields=+iaS --extra=+q  \
diff --git a/Tools/Linux_HAL_Essentials/pru/aiopru/start_test b/Tools/Linux_HAL_Essentials/pru/aiopru/start_test
index 437e267d03d40e..162ab16d1261ca 100755
--- a/Tools/Linux_HAL_Essentials/pru/aiopru/start_test
+++ b/Tools/Linux_HAL_Essentials/pru/aiopru/start_test
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 #make debug
 #make test
 if [ ! -L /sys/class/gpio/gpio80 ] || [ ! -e /sys/class/gpio/gpio80 ] ; then
diff --git a/Tools/Linux_HAL_Essentials/startup.sh b/Tools/Linux_HAL_Essentials/startup.sh
index 82b3847f87fc7b..b5fd5f06071409 100755
--- a/Tools/Linux_HAL_Essentials/startup.sh
+++ b/Tools/Linux_HAL_Essentials/startup.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 if [ "`echo $1`" = "load" ]; then
     echo "Loading Test_Capes..."
diff --git a/Tools/Replay/plotit.sh b/Tools/Replay/plotit.sh
index 59a2fea56f20d4..68bd9f1c7e6bf2 100755
--- a/Tools/Replay/plotit.sh
+++ b/Tools/Replay/plotit.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 cmd="plot "
 echo $#
diff --git a/Tools/UDP_Proxy/start_proxies.sh b/Tools/UDP_Proxy/start_proxies.sh
index 4763d0cd92182e..3e8ef97671b6b5 100755
--- a/Tools/UDP_Proxy/start_proxies.sh
+++ b/Tools/UDP_Proxy/start_proxies.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # an example script that starts udpproxy for multiple ports under GNU
 # screen, allowing for unattended operation of the proxy for long
 # periods
diff --git a/Tools/autotest/run_in_terminal_window.sh b/Tools/autotest/run_in_terminal_window.sh
index 7a83f1c565dacd..ac5c8e792dbcab 100755
--- a/Tools/autotest/run_in_terminal_window.sh
+++ b/Tools/autotest/run_in_terminal_window.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Try to run a command in an appropriate type of terminal window
 # depending on whats available
diff --git a/Tools/debug/gdb_crashdump.sh b/Tools/debug/gdb_crashdump.sh
index 89f6b4d66c160a..917ffa75033fbd 100755
--- a/Tools/debug/gdb_crashdump.sh
+++ b/Tools/debug/gdb_crashdump.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # script to more easily get a backtrace from an ArduPilot crash_dump.bin
 
diff --git a/Tools/environment_install/APM_install.sh b/Tools/environment_install/APM_install.sh
index acb7a1fbae9448..869687dbff0179 100755
--- a/Tools/environment_install/APM_install.sh
+++ b/Tools/environment_install/APM_install.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 #A simple script to install the APM SITL environment into cygwin
 
diff --git a/Tools/environment_install/install-ROS-ubuntu.sh b/Tools/environment_install/install-ROS-ubuntu.sh
index 565670f5a502b1..435560ac4f0ab1 100755
--- a/Tools/environment_install/install-ROS-ubuntu.sh
+++ b/Tools/environment_install/install-ROS-ubuntu.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 set -e
 # set -x
diff --git a/Tools/environment_install/install-prereqs-arch.sh b/Tools/environment_install/install-prereqs-arch.sh
index 52b94eca23cd62..965815ec71efc1 100755
--- a/Tools/environment_install/install-prereqs-arch.sh
+++ b/Tools/environment_install/install-prereqs-arch.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 set -x
 
diff --git a/Tools/environment_install/install-prereqs-mac.sh b/Tools/environment_install/install-prereqs-mac.sh
index 6486b007d6452c..de2cd666ef760b 100755
--- a/Tools/environment_install/install-prereqs-mac.sh
+++ b/Tools/environment_install/install-prereqs-mac.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 set -e
 set -x
@@ -42,7 +42,7 @@ echo "Checking homebrew..."
 $(which -s brew) ||
 {
     echo "installing homebrew..."
-    /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
+    /usr/bin/env bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
 } 
 echo "Homebrew installed"
 
diff --git a/Tools/environment_install/install-prereqs-ubuntu.sh b/Tools/environment_install/install-prereqs-ubuntu.sh
index 594aa33708e456..0107c24a33e11c 100755
--- a/Tools/environment_install/install-prereqs-ubuntu.sh
+++ b/Tools/environment_install/install-prereqs-ubuntu.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 set -e
 set -x
diff --git a/Tools/environment_install/ubuntu-18.04-python3.sh b/Tools/environment_install/ubuntu-18.04-python3.sh
index a82a4138a4c73d..1b0df324fddcf3 100755
--- a/Tools/environment_install/ubuntu-18.04-python3.sh
+++ b/Tools/environment_install/ubuntu-18.04-python3.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 set -x
diff --git a/Tools/geotag/geotag.sh b/Tools/geotag/geotag.sh
index 58703fd43c6b72..02b30342560bf7 100755
--- a/Tools/geotag/geotag.sh
+++ b/Tools/geotag/geotag.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Advanced geotagging tool by André Kjellstrup
 ######################################################################  VARIABLES ########################
diff --git a/Tools/gittools/git-commit-subsystems b/Tools/gittools/git-commit-subsystems
index 4ef38059960b73..a06fa7dc54b28f 100755
--- a/Tools/gittools/git-commit-subsystems
+++ b/Tools/gittools/git-commit-subsystems
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]}))
 GIT_DIR=$(git rev-parse --git-dir)
diff --git a/Tools/gittools/git-subsystems-split b/Tools/gittools/git-subsystems-split
index 1810aea8932c95..a8fd09787244ac 100755
--- a/Tools/gittools/git-subsystems-split
+++ b/Tools/gittools/git-subsystems-split
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]}))
 GIT_DIR=$(git rev-parse --git-dir)
diff --git a/Tools/gittools/path-libraries.sh b/Tools/gittools/path-libraries.sh
index 14aaf4f2e33ced..711931776c62df 100755
--- a/Tools/gittools/path-libraries.sh
+++ b/Tools/gittools/path-libraries.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 usage() {
     cat >&$1 <<EOF
diff --git a/Tools/gittools/path-nonlibraries.sh b/Tools/gittools/path-nonlibraries.sh
index 7010e292cfc564..dd52ad0d41938f 100755
--- a/Tools/gittools/path-nonlibraries.sh
+++ b/Tools/gittools/path-nonlibraries.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 usage() {
     cat >&$1 <<EOF
diff --git a/Tools/scripts/CAN/can_sitl.sh b/Tools/scripts/CAN/can_sitl.sh
index 65aa2339a5f9dc..54be78e2cd2a2a 100755
--- a/Tools/scripts/CAN/can_sitl.sh
+++ b/Tools/scripts/CAN/can_sitl.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # this script sets up SITL to be able to attach to real CAN devices
 # once run, you can configure SITL for CAN just like a real board, with the CAN parameters
 #
diff --git a/Tools/scripts/CAN/can_sitl_nodev.sh b/Tools/scripts/CAN/can_sitl_nodev.sh
index d31514c802f4da..8928061c3067fa 100755
--- a/Tools/scripts/CAN/can_sitl_nodev.sh
+++ b/Tools/scripts/CAN/can_sitl_nodev.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # once run, you can configure SITL for CAN just like a real board, with the CAN parameters
 #
diff --git a/Tools/scripts/build-jsbsim.sh b/Tools/scripts/build-jsbsim.sh
index 9e84927015e76d..a1381949557843 100755
--- a/Tools/scripts/build-jsbsim.sh
+++ b/Tools/scripts/build-jsbsim.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 set -x
diff --git a/Tools/scripts/build_all.sh b/Tools/scripts/build_all.sh
index 5a3eaf84130a1c..590c115305b7d5 100755
--- a/Tools/scripts/build_all.sh
+++ b/Tools/scripts/build_all.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # useful script to test all the different build types that we support.
 # This helps when doing large merges
 # Andrew Tridgell, November 2011
diff --git a/Tools/scripts/build_appveyor.sh b/Tools/scripts/build_appveyor.sh
index 23de34276522e3..d392bbe4e041db 100755
--- a/Tools/scripts/build_appveyor.sh
+++ b/Tools/scripts/build_appveyor.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # script to build 32 bit cygwin binaries for SITL
 
 export PATH="/usr/local/bin:/usr/bin:/bin"
diff --git a/Tools/scripts/build_autotest.sh b/Tools/scripts/build_autotest.sh
index 53bd889e5a5ff9..8b42e0a3c0ec08 100755
--- a/Tools/scripts/build_autotest.sh
+++ b/Tools/scripts/build_autotest.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 export PATH=$HOME/.local/bin:/usr/local/bin:$HOME/prefix/bin:$HOME/gcc/active/bin:$PATH
 export PYTHONUNBUFFERED=1
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index 4dbc66c4bff61b..ec491de5891730 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # useful script to test all the different build types that we support.
 # This helps when doing large merges
 # Andrew Tridgell, November 2011
diff --git a/Tools/scripts/build_docs.sh b/Tools/scripts/build_docs.sh
index acc4899a954e24..9c183e5d9866e9 100755
--- a/Tools/scripts/build_docs.sh
+++ b/Tools/scripts/build_docs.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 
diff --git a/Tools/scripts/build_examples.sh b/Tools/scripts/build_examples.sh
index 5543f0ad16e763..127754df830e64 100755
--- a/Tools/scripts/build_examples.sh
+++ b/Tools/scripts/build_examples.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 
diff --git a/Tools/scripts/build_log_message_documentation.sh b/Tools/scripts/build_log_message_documentation.sh
index 1ec04d08f93566..14bdcbd69f608c 100755
--- a/Tools/scripts/build_log_message_documentation.sh
+++ b/Tools/scripts/build_log_message_documentation.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 set -x
diff --git a/Tools/scripts/build_parameters.sh b/Tools/scripts/build_parameters.sh
index b0ee979a6a6cb0..50c01e53bb3cf7 100755
--- a/Tools/scripts/build_parameters.sh
+++ b/Tools/scripts/build_parameters.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 set -x
diff --git a/Tools/scripts/configure-ci.sh b/Tools/scripts/configure-ci.sh
index a547b729fce176..207ee51959d9fa 100755
--- a/Tools/scripts/configure-ci.sh
+++ b/Tools/scripts/configure-ci.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # Install dependencies and configure the environment for CI build testing
 
 set -ex
diff --git a/Tools/scripts/cygwin_build.sh b/Tools/scripts/cygwin_build.sh
index 7761bd5ae32cee..204acbe9cca257 100755
--- a/Tools/scripts/cygwin_build.sh
+++ b/Tools/scripts/cygwin_build.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # script to build cygwin binaries for using in MissionPlanner
 # the contents of artifacts directory is uploaded to:
diff --git a/Tools/scripts/esp32_get_idf.sh b/Tools/scripts/esp32_get_idf.sh
index 4ad61e15e9d360..f7e8318b472fd3 100755
--- a/Tools/scripts/esp32_get_idf.sh
+++ b/Tools/scripts/esp32_get_idf.sh
@@ -1,5 +1,4 @@
-#!/bin/bash 
-
+#!/usr/bin/env bash
 # if you have modules/esp_idf setup as a submodule, then leave it as a submodule and switch branches
 if [ ! -d modules ]; then
 echo "this script needs to be run from the root of your repo, sorry, giving up."
@@ -60,4 +59,4 @@ git submodule update --init --recursive
 cd ../..
 echo "after changing IDF versions [ such as between 4.2 and 4.4 ] you should re-run these in your console:"
 echo "./modules/esp_idf/install.sh"
-echo "source ./modules/esp_idf/export.sh"
\ No newline at end of file
+echo "source ./modules/esp_idf/export.sh"
diff --git a/Tools/scripts/fix_libraries_includes.sh b/Tools/scripts/fix_libraries_includes.sh
index 8e3ac17f53e1a1..171fa598dab05f 100755
--- a/Tools/scripts/fix_libraries_includes.sh
+++ b/Tools/scripts/fix_libraries_includes.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 src=$(realpath $(dirname $BASH_SOURCE)/../../)
 base=$src/libraries
diff --git a/Tools/scripts/format.sh b/Tools/scripts/format.sh
index cef831de596d4f..4ad18ba18cdfd3 100755
--- a/Tools/scripts/format.sh
+++ b/Tools/scripts/format.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 function format {
 	DIR=$1
 	find $DIR -regex ".*\.\(h\|cpp\|pde\)" -exec astyle {} \;
diff --git a/Tools/scripts/macos_remote_upload.sh b/Tools/scripts/macos_remote_upload.sh
index 2d27eabeb4df84..399d39929b1e02 100755
--- a/Tools/scripts/macos_remote_upload.sh
+++ b/Tools/scripts/macos_remote_upload.sh
@@ -14,4 +14,4 @@ ssh $USER_HOST /bin/bash << ENDSSH
 source ~/.bash_profile
 $tmpdir/uploader.py $tmpdir/$filename
 rm -r $tmpdir
-ENDSSH
\ No newline at end of file
+ENDSSH
diff --git a/Tools/scripts/run_luacheck.sh b/Tools/scripts/run_luacheck.sh
index 43e0af5d0e9275..7b613634fb3ed1 100755
--- a/Tools/scripts/run_luacheck.sh
+++ b/Tools/scripts/run_luacheck.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # Run lua check for all lua files passing AP specific config
 # Can also pass any number of arguments that are passed onto luacheck
 # for example the path of a single script could be given
diff --git a/Tools/scripts/unpack_mp.sh b/Tools/scripts/unpack_mp.sh
index 3719836f67f79c..b75966e7b90d4f 100755
--- a/Tools/scripts/unpack_mp.sh
+++ b/Tools/scripts/unpack_mp.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # unpack latest MissionPlanner*.zip on firmware.ardupilot.org
 # to facilitate upgrade of existing MissionPlanner installs
diff --git a/Tools/vagrant/initvagrant-desktop.sh b/Tools/vagrant/initvagrant-desktop.sh
index 702c78d5b08753..f9299044e04e27 100755
--- a/Tools/vagrant/initvagrant-desktop.sh
+++ b/Tools/vagrant/initvagrant-desktop.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 
 set -e
diff --git a/Tools/vagrant/initvagrant-trusty64.sh b/Tools/vagrant/initvagrant-trusty64.sh
index e820d91ad0d7b3..318be2cb94ac95 100755
--- a/Tools/vagrant/initvagrant-trusty64.sh
+++ b/Tools/vagrant/initvagrant-trusty64.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # this script is run by the root user in the virtual machine
 
diff --git a/Tools/vagrant/initvagrant.sh b/Tools/vagrant/initvagrant.sh
index 08bd7d81c3b0a4..acb0f482819d96 100755
--- a/Tools/vagrant/initvagrant.sh
+++ b/Tools/vagrant/initvagrant.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 
 # this script is run by the root user in the virtual machine
diff --git a/docs/build-apmrover2.sh b/docs/build-apmrover2.sh
index 0bb15a95371af8..d3180ffb76c459 100755
--- a/docs/build-apmrover2.sh
+++ b/docs/build-apmrover2.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/docs/build-arducopter.sh b/docs/build-arducopter.sh
index ef8dd9e13f0c59..67db80ca2cc775 100755
--- a/docs/build-arducopter.sh
+++ b/docs/build-arducopter.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/docs/build-arduplane.sh b/docs/build-arduplane.sh
index 125d4302882807..35ccddd35d4733 100755
--- a/docs/build-arduplane.sh
+++ b/docs/build-arduplane.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/docs/build-ardusub.sh b/docs/build-ardusub.sh
index b34490428c7ed3..eed18f8ee64b7e 100755
--- a/docs/build-ardusub.sh
+++ b/docs/build-ardusub.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/docs/build-libs.sh b/docs/build-libs.sh
index 0a843a5427a3dc..9d796bdd391954 100755
--- a/docs/build-libs.sh
+++ b/docs/build-libs.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/libraries/AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh b/libraries/AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh
index 9aa45495411d26..387192b96ff433 100755
--- a/libraries/AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh
+++ b/libraries/AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # Build and run the motors example stability test at a range of yaw headroom and throttle average max values
 # Output results to files for comparison
 
diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh
index fa67876008e8e8..6e95e303aeb25e 100755
--- a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh
+++ b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # two planes flying together doing aerobatics
 
diff --git a/libraries/SITL/examples/Airsim/follow-copter.sh b/libraries/SITL/examples/Airsim/follow-copter.sh
index 47625999c82c9e..302f85ac33dad6 100755
--- a/libraries/SITL/examples/Airsim/follow-copter.sh
+++ b/libraries/SITL/examples/Airsim/follow-copter.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Example script for multi-vehicle simulation with AirSim
 # see https://ardupilot.org/dev/docs/sitl-with-airsim.html#multi-vehicle-simulation for details
diff --git a/libraries/SITL/examples/Airsim/multi_vehicle.sh b/libraries/SITL/examples/Airsim/multi_vehicle.sh
index f02717e6fc3895..f227173d40faa1 100755
--- a/libraries/SITL/examples/Airsim/multi_vehicle.sh
+++ b/libraries/SITL/examples/Airsim/multi_vehicle.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Example script for multi-vehicle simulation with AirSim and usage with ROS
 # see https://ardupilot.org/dev/docs/sitl-with-airsim.html#multi-vehicle-simulation for details
diff --git a/libraries/SITL/examples/Follow/plane_quad.sh b/libraries/SITL/examples/Follow/plane_quad.sh
index 171bcdff20cbd6..1b6310cc5035e2 100755
--- a/libraries/SITL/examples/Follow/plane_quad.sh
+++ b/libraries/SITL/examples/Follow/plane_quad.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # a quad following a plane
 
diff --git a/libraries/SITL/examples/Morse/start_follow.sh b/libraries/SITL/examples/Morse/start_follow.sh
index e213eaeb8daadf..43bc88e1805f7b 100755
--- a/libraries/SITL/examples/Morse/start_follow.sh
+++ b/libraries/SITL/examples/Morse/start_follow.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/dronePlus.sh b/libraries/SITL/examples/Webots/dronePlus.sh
index 171a0f4850f928..6b3b3b087650a1 100755
--- a/libraries/SITL/examples/Webots/dronePlus.sh
+++ b/libraries/SITL/examples/Webots/dronePlus.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/droneTricopter.sh b/libraries/SITL/examples/Webots/droneTricopter.sh
index ac6f520ac2ee8e..256f3cdbe27873 100755
--- a/libraries/SITL/examples/Webots/droneTricopter.sh
+++ b/libraries/SITL/examples/Webots/droneTricopter.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/droneTwoTricopters.sh b/libraries/SITL/examples/Webots/droneTwoTricopters.sh
index 3553228de3a7cf..9833af3422ca84 100755
--- a/libraries/SITL/examples/Webots/droneTwoTricopters.sh
+++ b/libraries/SITL/examples/Webots/droneTwoTricopters.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 
diff --git a/libraries/SITL/examples/Webots/droneX.sh b/libraries/SITL/examples/Webots/droneX.sh
index 45d18874c15f1f..0c29da5877e730 100755
--- a/libraries/SITL/examples/Webots/droneX.sh
+++ b/libraries/SITL/examples/Webots/droneX.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/droneX_TwoDrones.sh b/libraries/SITL/examples/Webots/droneX_TwoDrones.sh
index 064a7d8125be1e..0564cb8bc01945 100755
--- a/libraries/SITL/examples/Webots/droneX_TwoDrones.sh
+++ b/libraries/SITL/examples/Webots/droneX_TwoDrones.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/pyramids_droneX.sh b/libraries/SITL/examples/Webots/pyramids_droneX.sh
index d40d123d0ccfaa..02328840b1fbfc 100755
--- a/libraries/SITL/examples/Webots/pyramids_droneX.sh
+++ b/libraries/SITL/examples/Webots/pyramids_droneX.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh b/libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh
index 0081fe283bc823..d9064a0e634235 100755
--- a/libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh
+++ b/libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/rover.sh b/libraries/SITL/examples/Webots/rover.sh
index 187d7315262e65..568495d5199eed 100755
--- a/libraries/SITL/examples/Webots/rover.sh
+++ b/libraries/SITL/examples/Webots/rover.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/follow-copter.sh b/libraries/SITL/examples/follow-copter.sh
index 8dbeebc75f0d68..5ef7c218582d8e 100755
--- a/libraries/SITL/examples/follow-copter.sh
+++ b/libraries/SITL/examples/follow-copter.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Usage - From ardupilot root directory, run - libraries/SITL/examples/follow-copter.sh $GCS_IP
 # $GCS_IP is the IP address of the system running the GCs, by default is 127.0.0.1
diff --git a/libraries/SITL/examples/follow-mavproxy.sh b/libraries/SITL/examples/follow-mavproxy.sh
index 54cbc889e20928..0fa14fd85765f0 100755
--- a/libraries/SITL/examples/follow-mavproxy.sh
+++ b/libraries/SITL/examples/follow-mavproxy.sh
@@ -1,3 +1,3 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 mavproxy.py --master=mcast: --console --map --cmd='map set showgpspos 0; map set showgps2pos 0;'
diff --git a/libraries/doc/updateDocs b/libraries/doc/updateDocs
index 50cf459f4a4e83..a0d60b7b264db2 100755
--- a/libraries/doc/updateDocs
+++ b/libraries/doc/updateDocs
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 rm -rf html
 svn cleanup
 svn update html

From 84913569cd07c9a0ef4452b58ca444a164a8662f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 09:33:40 +1100
Subject: [PATCH 1076/1335] AP_Vehicle: correct compilation when AHRS not
 available

CubeOrange-periph-heavy was broken
---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index bfaa356e8f90d9..04f80777fcf7fb 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -957,11 +957,14 @@ void AP_Vehicle::accel_cal_update()
         return;
     }
     ins.acal_update();
+
+#if AP_AHRS_ENABLED
     // check if new trim values, and set them
     Vector3f trim_rad;
     if (ins.get_new_trim(trim_rad)) {
         ahrs.set_trim(trim_rad);
     }
+#endif
 
 #if HAL_CAL_ALWAYS_REBOOT
     if (ins.accel_cal_requires_reboot() &&

From 7b36adf49d26f1f8805003e2308225c85af1b368 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 9 Feb 2024 08:00:17 +1100
Subject: [PATCH 1077/1335] AP_Scripting: prevent re-use of closed socket

this prevents a null pointer dereference after a close of a network
socket
---
 libraries/AP_Scripting/lua_bindings.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index ffa3e349fe00b9..f4cf9bb30735b0 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -826,6 +826,7 @@ int SocketAPM_close(lua_State *L) {
             ud->close();
             delete ud;
             scripting->_net_sockets[i] = nullptr;
+            *check_SocketAPM(L, 1) = nullptr;
             break;
         }
     }

From 5d789f46ea06a92bf199e8e0d6241149e0b5ccb2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 9 Feb 2024 08:00:36 +1100
Subject: [PATCH 1078/1335] AP_Scripting: prevent double close in web server

---
 libraries/AP_Scripting/applets/net_webserver.lua | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/applets/net_webserver.lua b/libraries/AP_Scripting/applets/net_webserver.lua
index cccbc6eb0c36fc..278acd2b2575f0 100644
--- a/libraries/AP_Scripting/applets/net_webserver.lua
+++ b/libraries/AP_Scripting/applets/net_webserver.lua
@@ -913,7 +913,10 @@ local function Client(_sock, _idx)
 
    function self.remove()
       DEBUG(string.format("%u: removing client OFFSET=%u", idx, offset))
-      sock:close()
+      if sock then
+         sock:close()
+         sock = nil
+      end
       self.closed = true
    end
 

From c864047c1f40e8672aab9758f081838c82a4117e Mon Sep 17 00:00:00 2001
From: Tiziano Fiorenzani <fiorenzani@avinc.com>
Date: Thu, 7 Dec 2023 15:27:26 -0800
Subject: [PATCH 1079/1335] Tools: ardupilot_sitl launch file to include an out
 parameter for mavproxy

---
 Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py b/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py
index 6578e537d8fbc7..10203e148bf530 100644
--- a/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py
+++ b/Tools/ros2/ardupilot_sitl/src/ardupilot_sitl/launch.py
@@ -284,21 +284,21 @@ def generate_action(context: LaunchContext, *args, **kwargs) -> ExecuteProcess:
 
         # Retrieve launch arguments.
         master = LaunchConfiguration("master").perform(context)
-        # out = LaunchConfiguration("out").perform(context)
+        out = LaunchConfiguration("out").perform(context)
         sitl = LaunchConfiguration("sitl").perform(context)
 
         # Display launch arguments.
         print(f"command:          {command}")
         print(f"master:           {master}")
         print(f"sitl:             {sitl}")
+        print(f"out:              {out}")
 
         # Create action.
         mavproxy_process = ExecuteProcess(
             cmd=[
                 [
                     f"{command} ",
-                    "--out ",
-                    "127.0.0.1:14550 ",
+                    f"--out {out} ",
                     "--out ",
                     "127.0.0.1:14551 ",
                     f"--master {master} ",

From 222fe57915b096c8505838781b56128cd8d12ee1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 15:38:50 +1100
Subject: [PATCH 1080/1335] AP_Vehicle: move parameter storage formatting up to
 AP_Vehicle

---
 libraries/AP_Vehicle/AP_Vehicle.h   |  2 ++
 libraries/AP_Vehicle/Parameters.cpp | 24 ++++++++++++++++++++++++
 2 files changed, 26 insertions(+)
 create mode 100644 libraries/AP_Vehicle/Parameters.cpp

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index fef90644be4939..c2fb1edfc1c0d2 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -287,6 +287,8 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 
     virtual void init_ardupilot() = 0;
     virtual void load_parameters() = 0;
+    void load_parameters(AP_Int16 &format_version, const uint16_t expected_format_version);
+
     virtual void set_control_channels() {}
 
     // board specific config
diff --git a/libraries/AP_Vehicle/Parameters.cpp b/libraries/AP_Vehicle/Parameters.cpp
new file mode 100644
index 00000000000000..328a25bdd749ba
--- /dev/null
+++ b/libraries/AP_Vehicle/Parameters.cpp
@@ -0,0 +1,24 @@
+#include "AP_Vehicle.h"
+
+#include <AP_Param/AP_Param.h>
+#include <StorageManager/StorageManager.h>
+
+void AP_Vehicle::load_parameters(AP_Int16 &format_version, const uint16_t expected_format_version)
+{
+    if (!format_version.load() ||
+        format_version != expected_format_version) {
+
+        // erase all parameters
+        hal.console->printf("Firmware change: erasing EEPROM...\n");
+        StorageManager::erase();
+        AP_Param::erase_all();
+
+        // save the current format version
+        format_version.set_and_save(expected_format_version);
+        hal.console->printf("done.\n");
+    }
+    format_version.set_default(expected_format_version);
+
+    // Load all auto-loaded EEPROM variables
+    AP_Param::load_all();
+}

From 23aeef4bfe3694e23b9f2cd9e425bda09f7791f9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 15:38:50 +1100
Subject: [PATCH 1081/1335] AntennaTracker: move parameter storage formatting
 up to AP_Vehicle

---
 AntennaTracker/Parameters.cpp | 20 +-------------------
 1 file changed, 1 insertion(+), 19 deletions(-)

diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index 35b20c530309bc..4eb3db11691f5c 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -584,23 +584,7 @@ const AP_Param::Info Tracker::var_info[] = {
 
 void Tracker::load_parameters(void)
 {
-    if (!g.format_version.load() ||
-        g.format_version != Parameters::k_format_version) {
-
-        // erase all parameters
-        hal.console->printf("Firmware change: erasing EEPROM...\n");
-        StorageManager::erase();
-        AP_Param::erase_all();
-
-        // save the current format version
-        g.format_version.set_and_save(Parameters::k_format_version);
-        hal.console->printf("done.\n");
-    }
-    g.format_version.set_default(Parameters::k_format_version);
-
-    uint32_t before = AP_HAL::micros();
-    // Load all auto-loaded EEPROM variables
-    AP_Param::load_all();
+    AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
 #if AP_STATS_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024
@@ -617,8 +601,6 @@ void Tracker::load_parameters(void)
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
 
-    hal.console->printf("load_all took %luus\n", (unsigned long)(AP_HAL::micros() - before));
-
 #if HAL_HAVE_SAFETY_SWITCH
     // configure safety switch to allow stopping the motors while armed
     AP_Param::set_default_by_name("BRD_SAFETYOPTION", AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|

From 00356e0eb4c61053090a1348e5085c034cd23230 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 15:38:50 +1100
Subject: [PATCH 1082/1335] ArduCopter: move parameter storage formatting up to
 AP_Vehicle

---
 ArduCopter/Parameters.cpp | 22 +---------------------
 1 file changed, 1 insertion(+), 21 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index d5d7174ff19ff6..162492ffd86c71 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1338,25 +1338,8 @@ const AP_Param::ConversionInfo conversion_table[] = {
 
 void Copter::load_parameters(void)
 {
-    hal.util->set_soft_armed(false);
+    AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
-    if (!g.format_version.load() ||
-        g.format_version != Parameters::k_format_version) {
-
-        // erase all parameters
-        DEV_PRINTF("Firmware change: erasing EEPROM...\n");
-        StorageManager::erase();
-        AP_Param::erase_all();
-
-        // save the current format version
-        g.format_version.set_and_save(Parameters::k_format_version);
-        DEV_PRINTF("done.\n");
-    }
-    g.format_version.set_default(Parameters::k_format_version);
-
-    uint32_t before = micros();
-    // Load all auto-loaded EEPROM variables
-    AP_Param::load_all();
     AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
 
 #if AP_LANDINGGEAR_ENABLED
@@ -1409,11 +1392,8 @@ void Copter::load_parameters(void)
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
 
-    hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
-
     // setup AP_Param frame type flags
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);
-
 }
 
 // handle conversion of PID gains

From 739a4a97daa5b96c6e396e56c8ca547b140ba8a4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 15:38:50 +1100
Subject: [PATCH 1083/1335] ArduPlane: move parameter storage formatting up to
 AP_Vehicle

---
 ArduPlane/Parameters.cpp | 19 +------------------
 1 file changed, 1 insertion(+), 18 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index beb418b3456e87..6d3c1d945652fd 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1344,23 +1344,8 @@ static const RCConversionInfo rc_option_conversion[] = {
 
 void Plane::load_parameters(void)
 {
-    if (!g.format_version.load() ||
-        g.format_version != Parameters::k_format_version) {
+    AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
-        // erase all parameters
-        hal.console->printf("Firmware change: erasing EEPROM...\n");
-        StorageManager::erase();
-        AP_Param::erase_all();
-
-        // save the current format version
-        g.format_version.set_and_save(Parameters::k_format_version);
-        hal.console->printf("done.\n");
-    }
-    g.format_version.set_default(Parameters::k_format_version);
-
-    uint32_t before = micros();
-    // Load all auto-loaded EEPROM variables
-    AP_Param::load_all();
     AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
 
     // setup defaults in SRV_Channels
@@ -1577,6 +1562,4 @@ void Plane::load_parameters(void)
 #if HAL_LOGGING_ENABLED
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
-
-    hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }

From df72d3faacd8dd54db6cd2c242f90d480f07b2b9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 15:38:51 +1100
Subject: [PATCH 1084/1335] ArduSub: move parameter storage formatting up to
 AP_Vehicle

---
 ArduSub/Parameters.cpp | 20 +-------------------
 1 file changed, 1 insertion(+), 19 deletions(-)

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 82771fb8082031..58e554f348ef98 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -732,26 +732,8 @@ const AP_Param::ConversionInfo conversion_table[] = {
 
 void Sub::load_parameters()
 {
-    hal.util->set_soft_armed(false);
+    AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
-    if (!g.format_version.load() ||
-            g.format_version != Parameters::k_format_version) {
-
-        // erase all parameters
-        hal.console->printf("Firmware change: erasing EEPROM...\n");
-        StorageManager::erase();
-        AP_Param::erase_all();
-
-        // save the current format version
-        g.format_version.set_and_save(Parameters::k_format_version);
-        hal.console->println("done.");
-    }
-    g.format_version.set_default(Parameters::k_format_version);
-
-    uint32_t before = AP_HAL::micros();
-    // Load all auto-loaded EEPROM variables
-    AP_Param::load_all();
-    hal.console->printf("load_all took %uus\n", (unsigned)(AP_HAL::micros() - before));
     AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
 
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_SUB);

From ea7788f49d5db2aa7f0e46f78b6ed42bd5494356 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 15:38:51 +1100
Subject: [PATCH 1085/1335] Blimp: move parameter storage formatting up to
 AP_Vehicle

---
 Blimp/Parameters.cpp | 22 +---------------------
 1 file changed, 1 insertion(+), 21 deletions(-)

diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp
index 805f704d7584b7..cbc14fc4101a2f 100644
--- a/Blimp/Parameters.cpp
+++ b/Blimp/Parameters.cpp
@@ -840,25 +840,7 @@ ParametersG2::ParametersG2(void)
 
 void Blimp::load_parameters(void)
 {
-    hal.util->set_soft_armed(false);
-
-    if (!g.format_version.load() ||
-        g.format_version != Parameters::k_format_version) {
-
-        // erase all parameters
-        hal.console->printf("Firmware change: erasing EEPROM...\n");
-        StorageManager::erase();
-        AP_Param::erase_all();
-
-        // save the current format version
-        g.format_version.set_and_save(Parameters::k_format_version);
-        hal.console->printf("done.\n");
-    }
-    g.format_version.set_default(Parameters::k_format_version);
-
-    uint32_t before = micros();
-    // Load all auto-loaded EEPROM variables
-    AP_Param::load_all();
+    AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
     // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
 #if AP_STATS_ENABLED
@@ -894,8 +876,6 @@ void Blimp::load_parameters(void)
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
 
-    hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
-
     // setup AP_Param frame type flags
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_BLIMP);
 }

From 5f24f337116ef7b64781a18c2fe04b1c10e869ed Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2024 15:38:51 +1100
Subject: [PATCH 1086/1335] Rover: move parameter storage formatting up to
 AP_Vehicle

---
 Rover/Parameters.cpp | 17 +----------------
 1 file changed, 1 insertion(+), 16 deletions(-)

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 2183768399e003..34f393b740a918 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -811,22 +811,8 @@ const AP_Param::ConversionInfo conversion_table[] = {
 
 void Rover::load_parameters(void)
 {
-    if (!g.format_version.load() ||
-         g.format_version != Parameters::k_format_version) {
-        // erase all parameters
-        hal.console->printf("Firmware change: erasing EEPROM...\n");
-        StorageManager::erase();
-        AP_Param::erase_all();
-
-        // save the current format version
-        g.format_version.set_and_save(Parameters::k_format_version);
-        hal.console->printf("done.\n");
-    }
-    g.format_version.set_default(Parameters::k_format_version);
+    AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
-    const uint32_t before = micros();
-    // Load all auto-loaded EEPROM variables
-    AP_Param::load_all();
     AP_Param::convert_old_parameters(&conversion_table[0], ARRAY_SIZE(conversion_table));
 
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_ROVER);
@@ -839,7 +825,6 @@ void Rover::load_parameters(void)
     }
 
     SRV_Channels::upgrade_parameters();
-    hal.console->printf("load_all took %uus\n", unsigned(micros() - before));
 
     // convert CH7_OPTION to RC7_OPTION for Rover-3.4 to 3.5 upgrade
     const AP_Param::ConversionInfo ch7_option_info = { Parameters::k_param_ch7_option, 0, AP_PARAM_INT8, "RC7_OPTION" };

From 63c95b32b4dcf6d510a30e293035a1295d7f638e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 11:11:53 +1100
Subject: [PATCH 1087/1335] AP_Vehicle: add missing inertialsensor include

we're making this object, so we should include the header
---
 libraries/AP_Vehicle/AP_Vehicle.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index c2fb1edfc1c0d2..6476dffea19ec1 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -38,6 +38,7 @@
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Generator/AP_Generator.h>
 #include <AP_Logger/AP_Logger.h>
+#include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_Notify/AP_Notify.h>                    // Notify library
 #include <AP_Param/AP_Param.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>

From 8da89492a710d495f350079544ba974110a4ef94 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 14:57:57 +1100
Subject: [PATCH 1088/1335] RC_Channel: correct compilation when
 AP_MISSION_ENABLED is false

---
 libraries/RC_Channel/RC_Channel.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index ef80a7ab849cf0..736e7e18d6a2df 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -1066,6 +1066,7 @@ void RC_Channel::do_aux_function_fence(const AuxSwitchPos ch_flag)
 }
 #endif
 
+#if AP_MISSION_ENABLED
 void RC_Channel::do_aux_function_clear_wp(const AuxSwitchPos ch_flag)
 {
     if (ch_flag == AuxSwitchPos::HIGH) {
@@ -1076,6 +1077,7 @@ void RC_Channel::do_aux_function_clear_wp(const AuxSwitchPos ch_flag)
         mission->clear();
     }
 }
+#endif  // AP_MISSION_ENABLED
 
 #if AP_SERVORELAYEVENTS_ENABLED && AP_RELAY_ENABLED
 void RC_Channel::do_aux_function_relay(const uint8_t relay, bool val)
@@ -1178,6 +1180,7 @@ void RC_Channel::do_aux_function_rc_override_enable(const AuxSwitchPos ch_flag)
     }
 }
 
+#if AP_MISSION_ENABLED
 void RC_Channel::do_aux_function_mission_reset(const AuxSwitchPos ch_flag)
 {
     if (ch_flag != AuxSwitchPos::HIGH) {
@@ -1189,6 +1192,7 @@ void RC_Channel::do_aux_function_mission_reset(const AuxSwitchPos ch_flag)
     }
     mission->reset();
 }
+#endif
 
 void RC_Channel::do_aux_function_fft_notch_tune(const AuxSwitchPos ch_flag)
 {

From d33cc2847d78b3623f5880e04e27a0df60d722a6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 14:57:28 +1100
Subject: [PATCH 1089/1335] AP_Mount: correct compilation with GCS disabled

---
 libraries/AP_Mount/AP_Mount_Backend.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp
index 28536134adaee3..9e15e719abee3a 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.cpp
+++ b/libraries/AP_Mount/AP_Mount_Backend.cpp
@@ -387,7 +387,7 @@ MAV_RESULT AP_Mount_Backend::handle_command_do_gimbal_manager_configure(const ma
 
     // send gimbal_manager_status if control has changed
     if (prev_control_id != mavlink_control_id) {
-        gcs().send_message(MSG_GIMBAL_MANAGER_STATUS);
+        GCS_SEND_MESSAGE(MSG_GIMBAL_MANAGER_STATUS);
     }
 
     return MAV_RESULT_ACCEPTED;

From 5de4ac42584e4cc08b3787f4435eb479a0aef5bd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 16:00:48 +1100
Subject: [PATCH 1090/1335] AP_Motors: use GCS_SEND_TEXT

---
 libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.cpp b/libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.cpp
index 42b9d164b30678..d22c75d1e0a2bd 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.cpp
@@ -266,7 +266,7 @@ void AP_MotorsMatrix_6DoF_Scripting::add_motor(int8_t motor_num, float roll_fact
 
         uint8_t chan;
         if (!SRV_Channels::find_channel(function, chan)) {
-            gcs().send_text(MAV_SEVERITY_ERROR, "Motors: unable to setup motor %u", motor_num);
+            GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "Motors: unable to setup motor %u", motor_num);
             return;
         }
 

From 57b0a0db62639884877cdaaea9da31d969a0cf17 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 15:15:48 +1100
Subject: [PATCH 1091/1335] AP_Vehicle: add AP_VEHICLE_ENABLED guards for
 Parameters.cpp

---
 libraries/AP_Vehicle/Parameters.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_Vehicle/Parameters.cpp b/libraries/AP_Vehicle/Parameters.cpp
index 328a25bdd749ba..7741d1ac0e08f3 100644
--- a/libraries/AP_Vehicle/Parameters.cpp
+++ b/libraries/AP_Vehicle/Parameters.cpp
@@ -1,5 +1,7 @@
 #include "AP_Vehicle.h"
 
+#if AP_VEHICLE_ENABLED
+
 #include <AP_Param/AP_Param.h>
 #include <StorageManager/StorageManager.h>
 
@@ -22,3 +24,5 @@ void AP_Vehicle::load_parameters(AP_Int16 &format_version, const uint16_t expect
     // Load all auto-loaded EEPROM variables
     AP_Param::load_all();
 }
+
+#endif  // AP_VEHICLE_ENABLED

From 37a9fd4e1460a75ca0a22dcb296cfae326380689 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 14:22:21 +1100
Subject: [PATCH 1092/1335] AP_Vehicle: add missing include in config.h

---
 libraries/AP_Vehicle/AP_Vehicle_config.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle_config.h b/libraries/AP_Vehicle/AP_Vehicle_config.h
index 8cdfa764a05294..91e365aa50a4f6 100644
--- a/libraries/AP_Vehicle/AP_Vehicle_config.h
+++ b/libraries/AP_Vehicle/AP_Vehicle_config.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <AP_HAL/AP_HAL_Boards.h>
+
 #ifndef AP_VEHICLE_ENABLED
 #define AP_VEHICLE_ENABLED 1
 #endif

From 3f34eb12b052ce7b3079415ef59fa8c376b3471f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 16:38:56 +1100
Subject: [PATCH 1093/1335] AP_Scripting: include extern-hal line to fix
 compilation

this external line was coming in from a header file somewhere...
---
 libraries/AP_Scripting/generator/src/main.c | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Scripting/generator/src/main.c b/libraries/AP_Scripting/generator/src/main.c
index b414f45546c10a..da19db67783f73 100644
--- a/libraries/AP_Scripting/generator/src/main.c
+++ b/libraries/AP_Scripting/generator/src/main.c
@@ -2924,6 +2924,8 @@ int main(int argc, char **argv) {
   // for set_and_print_new_error_message deprecate warning
   fprintf(source, "#include <AP_Scripting/lua_scripts.h>\n");
 
+  fprintf(source, "extern const AP_HAL::HAL& hal;\n");
+
   trace(TRACE_GENERAL, "Starting emission");
 
   emit_headers(source);

From e58dd0de73a3f0e02d6e31b14e5779c45dd26c73 Mon Sep 17 00:00:00 2001
From: Rhys Mainwaring <rhys.mainwaring@me.com>
Date: Fri, 9 Feb 2024 20:41:31 +0000
Subject: [PATCH 1094/1335] Tools: ros2: add cmake options to ardupilot_sitl

- Add options for networking and PPP to match waf configure flags

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
---
 Tools/ros2/ardupilot_sitl/CMakeLists.txt | 22 +++++++++++++++++++++-
 1 file changed, 21 insertions(+), 1 deletion(-)

diff --git a/Tools/ros2/ardupilot_sitl/CMakeLists.txt b/Tools/ros2/ardupilot_sitl/CMakeLists.txt
index 4b50d602da341b..83a30907c549fd 100644
--- a/Tools/ros2/ardupilot_sitl/CMakeLists.txt
+++ b/Tools/ros2/ardupilot_sitl/CMakeLists.txt
@@ -12,6 +12,13 @@ find_package(ament_cmake_python REQUIRED)
 # TODO(srmainwaring): add cache variables for vehicle type, debug etc.
 # set(ARDUPILOT_VEHICLE "copter" CACHE STRING "Vehicle type")
 
+option(ARDUPILOT_DISABLE_NETWORKING "Disable the networking API code" OFF)
+option(ARDUPILOT_DISABLE_SCRIPTING "Disable the scripting API code" OFF)
+option(ARDUPILOT_DISABLE_WATCHDOG "Build with watchdog disabled" OFF)
+option(ARDUPILOT_ENABLE_DDS "Enable the DDS client" ON)
+option(ARDUPILOT_ENABLE_NETWORKING_TESTS "Enable the networking test code" OFF)
+option(ARDUPILOT_ENABLE_PPP "Enable PPP networking" OFF)
+
 # NOTE: look for `waf` and set source and build directories to top level.
 # ${PROJECT_SOURCE_DIR} = ./Tools/ros2/ardupilot
 #
@@ -22,9 +29,22 @@ message(STATUS "WAF_COMMAND: ${WAF_COMMAND}")
 
 # Set the build config.
 set(WAF_CONFIG $<$<OR:$<CONFIG:Debug>,$<CONFIG:RelWithDebInfo>>:"--debug">)
+set(WAF_DISABLE_NETWORKING $<$<BOOL:${ARDUPILOT_DISABLE_NETWORKING}>:"--disable-networking">)
+set(WAF_DISABLE_SCRIPTING $<$<BOOL:${ARDUPILOT_DISABLE_SCRIPTING}>:"--disable-scripting">)
+set(WAF_DISABLE_WATCHDOG $<$<BOOL:${ARDUPILOT_DISABLE_WATCHDOG}>:"--disable-watchdog">)
+set(WAF_ENABLE_DDS $<$<BOOL:${ARDUPILOT_ENABLE_DDS}>:"--enable-dds">)
+set(WAF_ENABLE_NETWORKING_TESTS $<$<BOOL:${ARDUPILOT_ENABLE_NETWORKING_TESTS}>:"--enable-networking-tests">)
+set(WAF_ENABLE_PPP $<$<BOOL:${ARDUPILOT_ENABLE_PPP}>:"--enable-ppp">)
 
 add_custom_target(ardupilot_configure ALL
-  ${WAF_COMMAND} configure --board sitl --enable-dds ${WAF_CONFIG}
+  ${WAF_COMMAND} configure --board sitl
+    ${WAF_CONFIG}
+    ${WAF_DISABLE_NETWORKING}
+    ${WAF_DISABLE_SCRIPTING}
+    ${WAF_DISABLE_WATCHDOG}
+    ${WAF_ENABLE_DDS}
+    ${WAF_ENABLE_NETWORKING_TESTS}
+    ${WAF_ENABLE_PPP}
   WORKING_DIRECTORY ${ARDUPILOT_ROOT}
 )
 

From d6b1644710848ae0a12ecd9b5d2d664dd1a601bf Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Thu, 12 May 2022 16:31:48 +0200
Subject: [PATCH 1095/1335] AP_Mount: send text feedback when gimbal gets
 detected

---
 libraries/AP_Mount/AP_Mount_SToRM32.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Mount/AP_Mount_SToRM32.cpp b/libraries/AP_Mount/AP_Mount_SToRM32.cpp
index de3c8035c989a9..333bac05775059 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32.cpp
+++ b/libraries/AP_Mount/AP_Mount_SToRM32.cpp
@@ -128,6 +128,7 @@ void AP_Mount_SToRM32::find_gimbal()
     if (GCS_MAVLINK::find_by_mavtype_and_compid(MAV_TYPE_GIMBAL, compid, _sysid, _chan)) {
         _compid = compid;
         _initialised = true;
+        gcs().send_text(MAV_SEVERITY_INFO, "Mount: SToRM32");
     }
 }
 

From 312fa7c4d61d1199e9cf5dfac59b150d9edaa7e6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 13 Feb 2024 13:02:19 +1100
Subject: [PATCH 1096/1335] Copter: release notes for 4.5.0-beta2

---
 ArduCopter/ReleaseNotes.txt | 28 ++++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index b80cc28e9fa23b..2c4c7893f7e758 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@@ -1,4 +1,32 @@
 ArduPilot Copter Release Notes:
+-------------------------------
+
+Copter 4.5.0-beta2 14-February-2024
+
+Changes from 4.5.0-beta1:
+
+1) New Autopilots supported
+ - YJUAV_A6Ultra
+ - AnyLeaf H7
+
+2) System level changes
+ - fixed float rounding issue in HAL_Linux millis and micros functions
+ - fixed loading of defaults.parm parameters for dynamic parameter subtrees
+ - fixed discrimination between GHST and CRSF protocols
+ - fixed bug in DroneCAN packet parsing for corrupt packets that could cause a crash
+ - fixed handling of network sockets in scripting when used after close
+ - fixed bit timing of CANFD buses
+
+3) Copter specific changes
+ - added filter to EKF variances for EKF failsafe
+
+4) Camera and gimbal enhancements
+ - wait for non-zero camera version in SIYI driver
+
+5) Miscellaneous
+ - do relay parameter conversion for parachute parameters if ever has been used
+ - broaden acceptance criteria for GPS yaw measurement for moving baseline yaw
+
 ------------------------------------------------------------------
 Copter 4.5.0-beta1 30-Jan-2025
 Changes from 4.4.4

From b6d8b37018c6593fcc274efa25ef836c414034e2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 13 Feb 2024 13:02:19 +1100
Subject: [PATCH 1097/1335] Plane: release notes for 4.5.0-beta2

---
 ArduPlane/ReleaseNotes.txt | 28 ++++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
index bff21a6845c3db..54e8a90461a1aa 100644
--- a/ArduPlane/ReleaseNotes.txt
+++ b/ArduPlane/ReleaseNotes.txt
@@ -1,3 +1,31 @@
+Release 4.5.0-beta2 14th February 2024
+--------------------------------------
+
+Changes from 4.5.0-beta1:
+
+1) New Autopilots supported
+ - YJUAV_A6Ultra
+ - AnyLeaf H7
+
+2) System level changes
+ - fixed float rounding issue in HAL_Linux millis and micros functions
+ - fixed loading of defaults.parm parameters for dynamic parameter subtrees
+ - fixed discrimination between GHST and CRSF protocols
+ - fixed bug in DroneCAN packet parsing for corrupt packets that could cause a crash
+ - fixed handling of network sockets in scripting when used after close
+ - fixed bit timing of CANFD buses
+
+3) Plane specific changes
+ - fixed handling of force arming when safety is enabled for VTOL motor state
+
+4) Camera and gimbal enhancements
+ - wait for non-zero camera version in SIYI driver
+
+5) Miscellaneous
+ - do relay parameter conversion for parachute parameters if ever has been used
+ - broaden acceptance criteria for GPS yaw measurement for moving baseline yaw
+
+
 Release 4.5.0-beta1 30th January 2024
 -------------------------------------
 

From 6b1edfb0975a93db26bf531fc549c6ea33de901c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 13 Feb 2024 13:02:20 +1100
Subject: [PATCH 1098/1335] Rover: release notes for 4.5.0-beta2

---
 Rover/release-notes.txt | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)

diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt
index 5cae4fdfc24358..af59caf5c2df9f 100644
--- a/Rover/release-notes.txt
+++ b/Rover/release-notes.txt
@@ -1,4 +1,28 @@
 Rover Release Notes:
+--------------------
+
+Rover 4.5.0-beta2 14th February 2024
+Changes from 4.5.0-beta1:
+
+1) New Autopilots supported
+ - YJUAV_A6Ultra
+ - AnyLeaf H7
+
+2) System level changes
+ - fixed float rounding issue in HAL_Linux millis and micros functions
+ - fixed loading of defaults.parm parameters for dynamic parameter subtrees
+ - fixed discrimination between GHST and CRSF protocols
+ - fixed bug in DroneCAN packet parsing for corrupt packets that could cause a crash
+ - fixed handling of network sockets in scripting when used after close
+ - fixed bit timing of CANFD buses
+
+3) Camera and gimbal enhancements
+ - wait for non-zero camera version in SIYI driver
+
+4) Miscellaneous
+ - do relay parameter conversion for parachute parameters if ever has been used
+ - broaden acceptance criteria for GPS yaw measurement for moving baseline yaw
+
 ------------------------------------------------------------------
 Rover 4.5.0-beta1 30-Jan-2025
 Changes from 4.4.4

From 29cd0ab179bf135f7a78d7fd8b27287e2cf8a847 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 14:57:07 +1100
Subject: [PATCH 1099/1335] AP_Mission: remove AP_MISSION_ENABLED special-cases

these are static methods which are called when they really shouldn't be
---
 libraries/AP_Mission/AP_Mission.cpp | 25 +++++++------------------
 1 file changed, 7 insertions(+), 18 deletions(-)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 2fd101c8fab0bf..e13dadf3dc34a2 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -2,18 +2,19 @@
 /// @brief   Handles the MAVLINK command mission stack.  Reads and writes mission to storage.
 
 #include "AP_Mission_config.h"
-#include <AP_Vehicle/AP_Vehicle_Type.h>
-#include <AP_Gripper/AP_Gripper_config.h>
-#include <GCS_MAVLink/GCS.h>
 
 #if AP_MISSION_ENABLED
 
-#include "AP_Mission.h"
-#include <AP_Terrain/AP_Terrain.h>
 #include <AP_AHRS/AP_AHRS.h>
-#include <AP_Camera/AP_Camera.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_Camera/AP_Camera.h>
+#include <AP_Gripper/AP_Gripper_config.h>
+#include "AP_Mission.h"
+#include <AP_Scripting/AP_Scripting.h>
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents_config.h>
+#include <AP_Terrain/AP_Terrain.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
+#include <GCS_MAVLink/GCS.h>
 #include <RC_Channel/RC_Channel_config.h>
 
 const AP_Param::GroupInfo AP_Mission::var_info[] = {
@@ -836,8 +837,6 @@ bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) con
     return true;
 }
 
-#endif  // AP_MISSION_ENABLED
-
 bool AP_Mission::stored_in_location(uint16_t id)
 {
     switch (id) {
@@ -864,8 +863,6 @@ bool AP_Mission::stored_in_location(uint16_t id)
     }
 }
 
-#if AP_MISSION_ENABLED
-
 /// write_cmd_to_storage - write a command to storage
 ///     index is used to calculate the storage location
 ///     true is returned if successful
@@ -939,8 +936,6 @@ void AP_Mission::write_home_to_storage()
     write_cmd_to_storage(0,home_cmd);
 }
 
-#endif  // AP_MISSION_ENABLED
-
 MAV_MISSION_RESULT AP_Mission::sanity_check_params(const mavlink_mission_item_int_t& packet)
 {
     uint8_t nan_mask;
@@ -1510,8 +1505,6 @@ MAV_MISSION_RESULT AP_Mission::convert_MISSION_ITEM_INT_to_MISSION_ITEM(const ma
     return MAV_MISSION_ACCEPTED;
 }
 
-#if AP_MISSION_ENABLED
-
 // mission_cmd_to_mavlink_int - converts an AP_Mission::Mission_Command object to a mavlink message which can be sent to the GCS
 //  return true on success, false on failure
 //  NOTE: callers to this method current fill parts of "packet" in before calling this method, so do NOT attempt to zero the entire packet in here
@@ -2746,8 +2739,6 @@ bool AP_Mission::contains_item(MAV_CMD command) const
     return false;
 }
 
-#endif  // AP_MISSION_ENABLED
-
 /*
   return true if the mission item has a location
 */
@@ -2757,8 +2748,6 @@ bool AP_Mission::cmd_has_location(const uint16_t command)
     return stored_in_location(command);
 }
 
-#if AP_MISSION_ENABLED
-
 /*
   return true if the mission has a terrain relative item.  ~2200us for 530 items on H7
  */

From 43adaf3714356c8b7a636148bfca6533365847f3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 15:07:35 +1100
Subject: [PATCH 1100/1335] GCS_MAVLink: make guided-mode-change-alt and
 guided-mode-wp dependant on AP_MISSION_ENABLED

We really should not be using Mission_Command to transfer information between the base-class GCS_MAVLink and subclasses like GCS_MAVLink_Plane.  But until we fix that we can exclude the code if Mission is not available (like on peripherals...)
---
 libraries/GCS_MAVLink/GCS_Common.cpp | 16 +++++++++++++++-
 libraries/GCS_MAVLink/GCS_config.h   |  2 +-
 2 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index ec4ff7eae0d762..31233b69f3147e 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -54,6 +54,7 @@
 #include <AP_Scripting/AP_Scripting.h>
 #include <SRV_Channel/SRV_Channel.h>
 #include <AP_Winch/AP_Winch.h>
+#include <AP_Mission/AP_Mission.h>
 #include <AP_OpenDroneID/AP_OpenDroneID.h>
 #include <AP_OSD/AP_OSD.h>
 #include <AP_RCTelemetry/AP_CRSF_Telem.h>
@@ -887,19 +888,31 @@ void GCS_MAVLINK::handle_mission_item(const mavlink_message_t &msg)
     if (msg.msgid == MAVLINK_MSG_ID_MISSION_ITEM) {
         mavlink_mission_item_t mission_item;
         mavlink_msg_mission_item_decode(&msg, &mission_item);
+#if AP_MISSION_ENABLED
         MAV_MISSION_RESULT ret = AP_Mission::convert_MISSION_ITEM_to_MISSION_ITEM_INT(mission_item, mission_item_int);
         if (ret != MAV_MISSION_ACCEPTED) {
             const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)mission_item_int.mission_type;
             send_mission_ack(msg, type, ret);
             return;
         }
+#else
+        // No mission library, so we can't convert from MISSION_ITEM
+        // to MISSION_ITEM_INT.  Since we shouldn't be receiving fence
+        // or rally items via MISSION_ITEM, we don't need to work hard
+        // here, just fail:
+        const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)mission_item.mission_type;
+        send_mission_ack(msg, type, MAV_MISSION_UNSUPPORTED);
+        return;
+#endif
         send_mission_item_warning = true;
     } else {
         mavlink_msg_mission_item_int_decode(&msg, &mission_item_int);
     }
-    const uint8_t current = mission_item_int.current;
     const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)mission_item_int.mission_type;
 
+#if AP_MISSION_ENABLED
+    const uint8_t current = mission_item_int.current;
+
     if (type == MAV_MISSION_TYPE_MISSION && (current == 2 || current == 3)) {
         struct AP_Mission::Mission_Command cmd = {};
         MAV_MISSION_RESULT result = AP_Mission::mavlink_int_to_mission_cmd(mission_item_int, cmd);
@@ -925,6 +938,7 @@ void GCS_MAVLINK::handle_mission_item(const mavlink_message_t &msg)
         send_mission_ack(msg, MAV_MISSION_TYPE_MISSION, result);
         return;
     }
+#endif
 
     // not a guided-mode reqest
     MissionItemProtocol *prot = gcs().get_prot_for_mission_type(type);
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 8960a881ab45cb..14449af38220f2 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -89,7 +89,7 @@
 // sending warnings to the GCS in Sep 2022 if this command was used.
 // Copter 4.4.0 sends this warning.
 #ifndef AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED
-#define AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED 1
+#define AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED AP_MISSION_ENABLED
 #endif
 
 // all commands can be executed by COMMAND_INT, so COMMAND_LONG isn't

From c449c71286384d0468fa7359d739c5485f55b2ba Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 12 Feb 2024 12:16:39 +0900
Subject: [PATCH 1101/1335] Tools: update AION R1 params

---
 Tools/Frame_params/AION_R1_Rover.param | 84 +++++++++-----------------
 1 file changed, 30 insertions(+), 54 deletions(-)

diff --git a/Tools/Frame_params/AION_R1_Rover.param b/Tools/Frame_params/AION_R1_Rover.param
index 07b0a15d0309b4..e7c8de00a00521 100644
--- a/Tools/Frame_params/AION_R1_Rover.param
+++ b/Tools/Frame_params/AION_R1_Rover.param
@@ -1,72 +1,46 @@
-#NOTE: AION Robotics Params for Rover V3.2.0
+#NOTE: AION Robotics Params for Rover V4.5.0 (and higher)
 ACRO_TURN_RATE,120
-#most users will want manual capabilites on boot without the need for a GCS to arm
-ARMING_REQUIRE,0
-#MIN 4S SOLO BATTERY
-ARMING_VOLT_MIN,13
-ATC_ACCEL_MAX,2.0
-ATC_SPEED_P,0.2
-ATC_SPEED_I,0.2
-ATC_SPEED_D,0.0
-ATC_SPEED_FILT,10
-ATC_STR_ACC_MAX,180
-ATC_STR_ANG_P,2.5
-ATC_STR_RAT_FF,0.2
-ATC_STR_RAT_P,0.0
-ATC_STR_RAT_I,0.1
+ATC_ACCEL_MAX,0.75
+ATC_DECEL_MAX,1.5
+ATC_SPEED_P,0.5
+ATC_SPEED_I,0.5
+ATC_SPEED_D,0.018
+ATC_SPEED_FLTE,10
+ATC_STR_ACC_MAX,120
+ATC_STR_ANG_P,2
+ATC_STR_RAT_FF,0.25
+ATC_STR_RAT_P,0.13
+ATC_STR_RAT_I,0.13
 ATC_STR_RAT_D,0.0
-ATC_STR_RAT_FILT,20
+ATC_STR_RAT_FLTD,2
+ATC_STR_RAT_FLTE,10
+ATC_STR_RAT_FLTT,2
 ATC_STR_RAT_MAX,120
-#default aux ch to match documentation
-AUX_CH,7
-#cube power brick - 4s solo battery - SMBus hardware side not yet supported
-BATT_AMP_OFFSET,0
-BATT_AMP_PERVOLT,0.1
-BATT_CAPACITY,5200
-BATT_CURR_PIN,3
-BATT_LOW_TIMER,10
-BATT_LOW_TYPE,0
+ATC_TURN_MAX_G,0.3
 BATT_MONITOR,4
-BATT_SERIAL_NUM,-1
-BATT_VOLT_MULT,13.99818
-BATT_VOLT_PIN,2
 BRD_PWM_COUNT,2
-#default save waypoint
-RC7_OPTION,1
+BRD_SAFETY_DEFLT,0
 COMPASS_OFFS_MAX,2000
-#default use only first (hopefully external) compass
 COMPASS_USE,1
 COMPASS_USE2,0
 COMPASS_USE3,0
 CRUISE_SPEED,1.0
 CRUISE_THROTTLE,70
-EK2_YAW_M_NSE,0.7
-FS_CRASH_CHECK,1
-#default modes
-MODE_CH,5
-MODE1,0
-MODE2,3
-MODE3,10
-MODE4,12
-NAVL1_PERIOD,6
-NAVL1_DAMPING,0.7
-NAVL1_XTRACK_I,0.02
-PIVOT_TURN_ANGLE,30
-#default telem radio
-SERIAL1_BAUD,57
-SERIAL1_PROTOCOL,1
-#default APSync
-SERIAL2_BAUD,921
-SERIAL2_PROTOCOL,1
-SERVO1_FUNCTION,74
+FRAME_CLASS,1
+FRAME_TYPE,0
+PSC_POS_P,0.2
+PSC_VEL_FLTD,5
+PSC_VEL_FLTE,5
+PSC_VEL_I,0
+PSC_VEL_P,1
+WP_PIVOT_ANGLE,60
+WP_PIVOT_RATE,60
+SERVO1_FUNCTION,73
 SERVO1_MAX,2000
 SERVO1_MIN,1000
-SERVO3_FUNCTION,73
+SERVO3_FUNCTION,74
 SERVO3_MAX,2000
 SERVO3_MIN,1000
-SPEED_TURN_GAIN,50
-ATC_TURN_MAX_G,0.3
-TURN_RADIUS,0.9
 WENC_CPR,1120
 WENC_PINA,55
 WENC_PINB,54
@@ -83,3 +57,5 @@ WENC2_POS_Y,0.16
 WENC2_POS_Z,0
 WENC_RADIUS,0.0775
 WENC2_TYPE,0
+WP_RADIUS,2
+WP_SPEED,1

From 5216dc92f9839776b6096c1c7c98ef4b503f1211 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 13 Feb 2024 00:44:45 +0000
Subject: [PATCH 1102/1335] Plane: reorder set_throttle function

---
 ArduPlane/servos.cpp | 34 ++++++++++++++++------------------
 1 file changed, 16 insertions(+), 18 deletions(-)

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 3f4310def0850f..da770481600eff 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -547,6 +547,21 @@ float Plane::apply_throttle_limits(float throttle_in)
 void Plane::set_throttle(void)
 {
 
+    // Update voltage scaling
+    g2.fwd_batt_cmp.update();
+
+    if (control_mode->use_battery_compensation()) {
+        // Apply voltage compensation to throttle output from flight mode
+        const float throttle = g2.fwd_batt_cmp.apply_throttle(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
+    }
+
+    if (control_mode->use_throttle_limits()) {
+        // Apply min/max throttle limits
+        const float limited_throttle = apply_throttle_limits(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, limited_throttle);
+    }
+
     if (!arming.is_armed_and_safety_off()) {
         // Always set 0 scaled even if overriding to zero pwm.
         // This ensures slew limits and other functions using the scaled value pick up in the correct place
@@ -559,10 +574,8 @@ void Plane::set_throttle(void)
             SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
             SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
         }
-        return;
-    }
 
-    if (suppress_throttle()) {
+    } else if (suppress_throttle()) {
         if (g.throttle_suppress_manual) {
             // manual pass through of throttle while throttle is suppressed
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
@@ -576,23 +589,8 @@ void Plane::set_throttle(void)
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
 
         }
-        return;
-    }
-
-    // Update voltage scaling
-    g2.fwd_batt_cmp.update();
-
-    if (control_mode->use_battery_compensation()) {
-        // Apply voltage compensation to throttle output from flight mode
-        const float throttle = g2.fwd_batt_cmp.apply_throttle(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
     }
 
-    if (control_mode->use_throttle_limits()) {
-        // Apply min/max throttle limits
-        const float limited_throttle = apply_throttle_limits(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle));
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, limited_throttle);
-    }
 }
 
 /*

From 9cc194bc8a5df18e4162c89e54446fcb72250fbd Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Fri, 9 Feb 2024 10:33:47 +0000
Subject: [PATCH 1103/1335] Copter: cleanup EKF failsafe units and division

---
 ArduCopter/Parameters.cpp | 1 +
 ArduCopter/ekf_check.cpp  | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 162492ffd86c71..35ede3b0516cb6 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1232,6 +1232,7 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = {
     // @DisplayName: EKF Failsafe filter cutoff
     // @Description: EKF Failsafe filter cutoff frequency. EKF variances are filtered using this value to avoid spurious failsafes from transient high variances. A higher value means the failsafe is more likely to trigger.
     // @Range: 0 10
+    // @Units: Hz
     // @User: Advanced
     AP_GROUPINFO("FS_EKF_FILT", 8, ParametersG2, fs_ekf_filt_hz, FS_EKF_FILT_DEFAULT),
 
diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp
index 47d9121be9b742..c05e7a279cc49f 100644
--- a/ArduCopter/ekf_check.cpp
+++ b/ArduCopter/ekf_check.cpp
@@ -123,7 +123,7 @@ bool Copter::ekf_over_threshold()
     }
 
     uint32_t now_us = AP_HAL::micros();
-    float dt = (now_us - last_ekf_check_us) / 1000000.0f;
+    float dt = (now_us - last_ekf_check_us) * 1e-6f;
 
     // always update filtered values as this serves the vibration check as well
     position_var = pos_variance_filt.apply(position_var, dt);

From 40f0001aeae1cb9e9f42563ecdb8ec98fda0e2e2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 11:10:09 +1100
Subject: [PATCH 1104/1335] AP_BattMonitor: fix compilation when scripting in
 but scripted-battery out

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
---
 libraries/AP_Scripting/generator/description/bindings.desc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 299bd2b27e3c71..be65f4da50c47e 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -77,7 +77,7 @@ singleton AP_Arming method set_aux_auth_failed void uint8_t'skip_check string
 include AP_BattMonitor/AP_BattMonitor.h
 
 include AP_BattMonitor/AP_BattMonitor_Scripting.h
-userdata BattMonitorScript_State depends AP_BATTERY_SCRIPTING_ENABLED == 1
+userdata BattMonitorScript_State depends AP_BATTERY_SCRIPTING_ENABLED
 userdata BattMonitorScript_State field healthy boolean write
 userdata BattMonitorScript_State field voltage float'skip_check write
 userdata BattMonitorScript_State field cell_count uint8_t'skip_check write
@@ -107,6 +107,7 @@ singleton AP_BattMonitor method get_cycle_count boolean uint8_t 0 ud->num_instan
 singleton AP_BattMonitor method reset_remaining boolean uint8_t 0 ud->num_instances() float 0 100
 singleton AP_BattMonitor method get_cell_voltage boolean uint8_t'skip_check uint8_t'skip_check float'Null
 singleton AP_BattMonitor method handle_scripting boolean uint8_t'skip_check BattMonitorScript_State
+singleton AP_BattMonitor method handle_scripting depends AP_BATTERY_SCRIPTING_ENABLED
 
 include AP_GPS/AP_GPS.h
 

From e15f9d3f3988666782fe26e6f5d68eabcc730420 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 10:56:56 +1100
Subject: [PATCH 1105/1335] AP_BattMonitor: tidy defines in scripting backend

---
 libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp | 5 +++--
 libraries/AP_BattMonitor/AP_BattMonitor_Scripting.h   | 7 ++++---
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp
index 337c9d9b7ac2c1..e7b846258dd4fb 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.cpp
@@ -1,7 +1,9 @@
-#include "AP_BattMonitor_Scripting.h"
+#include "AP_BattMonitor_config.h"
 
 #if AP_BATTERY_SCRIPTING_ENABLED
 
+#include "AP_BattMonitor_Scripting.h"
+
 #define AP_BATT_MONITOR_SCRIPTING_TIMEOUT_US 5000000
 
 bool AP_BattMonitor_Scripting::capacity_remaining_pct(uint8_t &percentage) const
@@ -81,4 +83,3 @@ bool AP_BattMonitor_Scripting::handle_scripting(const BattMonitorScript_State &b
 }
 
 #endif // AP_BATTERY_SCRIPTING_ENABLED
-
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.h b/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.h
index f68f11b9dceb5b..382437d0aa55ea 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Scripting.h
@@ -1,9 +1,11 @@
 #pragma once
 
-#include "AP_BattMonitor_Backend.h"
+#include "AP_BattMonitor_config.h"
 
 #if AP_BATTERY_SCRIPTING_ENABLED
 
+#include "AP_BattMonitor_Backend.h"
+
 class AP_BattMonitor_Scripting : public AP_BattMonitor_Backend
 {
 public:
@@ -28,5 +30,4 @@ class AP_BattMonitor_Scripting : public AP_BattMonitor_Backend
     HAL_Semaphore sem;
 };
 
-#endif // AP_BATTMONITOR_SCRIPTING_ENABLED
-
+#endif // AP_BATTERY_SCRIPTING_ENABLED

From 46e4588cf776301497ca22922d875ea3545bf7e8 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 13 Feb 2024 19:28:05 +0000
Subject: [PATCH 1106/1335] AP_Scripting: add file system crc32 binding

---
 libraries/AP_Scripting/docs/docs.lua                       | 4 ++++
 libraries/AP_Scripting/generator/description/bindings.desc | 1 +
 2 files changed, 5 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 3208c6ac224a82..8a8db7001b49b9 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -3411,6 +3411,10 @@ function fs:format() end
 ---@return number
 function fs:get_format_status() end
 
+-- Get crc32 checksum of a file with given name
+---@return uint32_t_ud|nil
+function fs:crc32(file_name) end
+
 -- desc
 ---@class networking
 networking = {}
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index be65f4da50c47e..5f4458985fca4d 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -895,6 +895,7 @@ singleton AP_Filesystem method format boolean
 singleton AP_Filesystem method format depends AP_FILESYSTEM_FORMAT_ENABLED
 singleton AP_Filesystem method get_format_status uint8_t'skip_check
 singleton AP_Filesystem method get_format_status depends AP_FILESYSTEM_FORMAT_ENABLED
+singleton AP_Filesystem method crc32 boolean string uint32_t'Null
 
 include AP_RTC/AP_RTC.h depends AP_RTC_ENABLED
 include AP_RTC/AP_RTC_config.h

From c48759f4ba04d2c9ea0a26794fe47d9d58f38ccc Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 14 Feb 2024 11:16:31 +0000
Subject: [PATCH 1107/1335] AP_Filesystem: crc32: Ensure checksum value is
 initialized

---
 libraries/AP_Filesystem/AP_Filesystem.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_Filesystem/AP_Filesystem.cpp b/libraries/AP_Filesystem/AP_Filesystem.cpp
index e62ec5920827c3..564696bb979045 100644
--- a/libraries/AP_Filesystem/AP_Filesystem.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem.cpp
@@ -290,6 +290,9 @@ bool AP_Filesystem::fgets(char *buf, uint8_t buflen, int fd)
 // run crc32 over file with given name, returns true if successful
 bool AP_Filesystem::crc32(const char *fname, uint32_t& checksum)
 {
+    // Ensure value is initialized
+    checksum = 0;
+
     // Open file in readonly mode
     int fd = open(fname, O_RDONLY);
     if (fd == -1) {

From ad3724177dc8c61c1baa8debbec64ffd877e90e7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 13:36:11 +1100
Subject: [PATCH 1108/1335] RC_Channel: use AUX_FUNC instead of typedef
 aux_func_t

---
 libraries/RC_Channel/RC_Channel.cpp  | 18 +++++++++---------
 libraries/RC_Channel/RC_Channel.h    | 15 +++++++--------
 libraries/RC_Channel/RC_Channels.cpp |  6 +++---
 3 files changed, 19 insertions(+), 20 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 736e7e18d6a2df..a544f8638e5a46 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -617,7 +617,7 @@ bool RC_Channel::debounce_completed(int8_t position)
 //
 
 // init_aux_switch_function - initialize aux functions
-void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+void RC_Channel::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     // init channel options
     switch (ch_option) {
@@ -805,7 +805,7 @@ const char *RC_Channel::string_for_aux_pos(AuxSwitchPos pos) const
  */
 bool RC_Channel::read_aux()
 {
-    const aux_func_t _option = (aux_func_t)option.get();
+    const AUX_FUNC _option = (AUX_FUNC)option.get();
     if (_option == AUX_FUNC::DO_NOTHING) {
         // may wish to add special cases for other "AUXSW" things
         // here e.g. RCMAP_ROLL etc once they become options
@@ -1214,7 +1214,7 @@ void RC_Channel::do_aux_function_fft_notch_tune(const AuxSwitchPos ch_flag)
 #endif
 }
 
-bool RC_Channel::run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source)
+bool RC_Channel::run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source)
 {
 #if AP_SCRIPTING_ENABLED
     rc().set_aux_cached(ch_option, pos);
@@ -1249,7 +1249,7 @@ bool RC_Channel::run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFun
     return ret;
 }
 
-bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     switch (ch_option) {
 #if AP_FENCE_ENABLED
@@ -1684,7 +1684,7 @@ void RC_Channel::init_aux()
     if (!read_3pos_switch(position)) {
         position = AuxSwitchPos::LOW;
     }
-    init_aux_function((aux_func_t)option.get(), position);
+    init_aux_function((AUX_FUNC)option.get(), position);
 }
 
 // read_3pos_switch
@@ -1726,7 +1726,7 @@ RC_Channel::AuxSwitchPos RC_Channels::get_channel_pos(const uint8_t rcmapchan) c
     return chan != nullptr ? chan->get_aux_switch_pos() : RC_Channel::AuxSwitchPos::LOW;
 }
 
-RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::aux_func_t option)
+RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::AUX_FUNC option)
 {
     for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
         RC_Channel *c = channel(i);
@@ -1734,7 +1734,7 @@ RC_Channel *RC_Channels::find_channel_for_option(const RC_Channel::aux_func_t op
             // odd?
             continue;
         }
-        if ((RC_Channel::aux_func_t)c->option.get() == option) {
+        if ((RC_Channel::AUX_FUNC)c->option.get() == option) {
             return c;
         }
     }
@@ -1770,7 +1770,7 @@ bool RC_Channels::duplicate_options_exist()
 }
 
 // convert option parameter from old to new
-void RC_Channels::convert_options(const RC_Channel::aux_func_t old_option, const RC_Channel::aux_func_t new_option)
+void RC_Channels::convert_options(const RC_Channel::AUX_FUNC old_option, const RC_Channel::AUX_FUNC new_option)
 {
     for (uint8_t i=0; i<NUM_RC_CHANNELS; i++) {
         RC_Channel *c = channel(i);
@@ -1778,7 +1778,7 @@ void RC_Channels::convert_options(const RC_Channel::aux_func_t old_option, const
             // odd?
             continue;
         }
-        if ((RC_Channel::aux_func_t)c->option.get() == old_option) {
+        if ((RC_Channel::AUX_FUNC)c->option.get() == old_option) {
             c->option.set_and_save((int16_t)new_option);
         }
     }
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 368e3a013eae56..4ad9e532fa0494 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -285,7 +285,6 @@ class RC_Channel {
         // this must be higher than any aux function above
         AUX_FUNCTION_MAX =   308,
     };
-    typedef enum AUX_FUNC aux_func_t;
 
     // auxiliary switch handling (n.b.: we store this as 2-bits!):
     enum class AuxSwitchPos : uint8_t {
@@ -306,7 +305,7 @@ class RC_Channel {
     AuxSwitchPos get_aux_switch_pos() const;
 
     // wrapper function around do_aux_function which allows us to log
-    bool run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source);
+    bool run_aux_function(AUX_FUNC ch_option, AuxSwitchPos pos, AuxFuncTriggerSource source);
 
 #if AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
     const char *string_for_aux_function(AUX_FUNC function) const;
@@ -334,10 +333,10 @@ class RC_Channel {
 
 protected:
 
-    virtual void init_aux_function(aux_func_t ch_option, AuxSwitchPos);
+    virtual void init_aux_function(AUX_FUNC ch_option, AuxSwitchPos);
 
     // virtual function to be overridden my subclasses
-    virtual bool do_aux_function(aux_func_t ch_option, AuxSwitchPos);
+    virtual bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos);
 
     void do_aux_function_armdisarm(const AuxSwitchPos ch_flag);
     void do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag);
@@ -482,10 +481,10 @@ class RC_Channels {
     // is RC channel 1.  Beware this is not a cheap call.
     uint16_t get_override_mask() const;
 
-    class RC_Channel *find_channel_for_option(const RC_Channel::aux_func_t option);
+    class RC_Channel *find_channel_for_option(const RC_Channel::AUX_FUNC option);
     bool duplicate_options_exist();
     RC_Channel::AuxSwitchPos get_channel_pos(const uint8_t rcmapchan) const;
-    void convert_options(const RC_Channel::aux_func_t old_option, const RC_Channel::aux_func_t new_option);
+    void convert_options(const RC_Channel::AUX_FUNC old_option, const RC_Channel::AUX_FUNC new_option);
 
     void init_aux_all();
     void read_aux_all();
@@ -586,7 +585,7 @@ class RC_Channels {
 
 #if AP_SCRIPTING_ENABLED
     // get last aux cached value for scripting. Returns false if never set, otherwise 0,1,2
-    bool get_aux_cached(RC_Channel::aux_func_t aux_fn, uint8_t &pos);
+    bool get_aux_cached(RC_Channel::AUX_FUNC aux_fn, uint8_t &pos);
 #endif
 
     // returns true if we've ever seen RC input, via overrides or via
@@ -637,7 +636,7 @@ class RC_Channels {
     HAL_Semaphore aux_cache_sem;
     Bitmask<unsigned(RC_Channel::AUX_FUNC::AUX_FUNCTION_MAX)*2> aux_cached;
 
-    void set_aux_cached(RC_Channel::aux_func_t aux_fn, RC_Channel::AuxSwitchPos pos);
+    void set_aux_cached(RC_Channel::AUX_FUNC aux_fn, RC_Channel::AuxSwitchPos pos);
 #endif
 };
 
diff --git a/libraries/RC_Channel/RC_Channels.cpp b/libraries/RC_Channel/RC_Channels.cpp
index 4beee5e5d69f2d..9ec73c5dab365e 100644
--- a/libraries/RC_Channel/RC_Channels.cpp
+++ b/libraries/RC_Channel/RC_Channels.cpp
@@ -236,7 +236,7 @@ bool RC_Channels::flight_mode_channel_conflicts_with_rc_option() const
     if (chan == nullptr) {
         return false;
     }
-    return (RC_Channel::aux_func_t)chan->option.get() != RC_Channel::AUX_FUNC::DO_NOTHING;
+    return (RC_Channel::AUX_FUNC)chan->option.get() != RC_Channel::AUX_FUNC::DO_NOTHING;
 }
 
 /*
@@ -276,7 +276,7 @@ uint32_t RC_Channels::enabled_protocols() const
 /*
   get last aux cached value for scripting. Returns false if never set, otherwise 0,1,2
 */
-bool RC_Channels::get_aux_cached(RC_Channel::aux_func_t aux_fn, uint8_t &pos)
+bool RC_Channels::get_aux_cached(RC_Channel::AUX_FUNC aux_fn, uint8_t &pos)
 {
     const uint16_t aux_idx = uint16_t(aux_fn);
     if (aux_idx >= unsigned(RC_Channel::AUX_FUNC::AUX_FUNCTION_MAX)) {
@@ -295,7 +295,7 @@ bool RC_Channels::get_aux_cached(RC_Channel::aux_func_t aux_fn, uint8_t &pos)
 /*
   set cached value of an aux function
  */
-void RC_Channels::set_aux_cached(RC_Channel::aux_func_t aux_fn, RC_Channel::AuxSwitchPos pos)
+void RC_Channels::set_aux_cached(RC_Channel::AUX_FUNC aux_fn, RC_Channel::AuxSwitchPos pos)
 {
     const uint16_t aux_idx = uint16_t(aux_fn);
     if (aux_idx < unsigned(RC_Channel::AUX_FUNC::AUX_FUNCTION_MAX)) {

From d4708e2d52f92e4076c78819f0c4c3da3f74f9e2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 13:36:11 +1100
Subject: [PATCH 1109/1335] ArduCopter: use AUX_FUNC instead of typedef
 aux_func_t

---
 ArduCopter/AP_Arming.cpp  | 4 ++--
 ArduCopter/RC_Channel.cpp | 4 ++--
 ArduCopter/RC_Channel.h   | 4 ++--
 ArduCopter/tuning.cpp     | 2 +-
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 30226a9020bbc5..4167e6a7538524 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -233,12 +233,12 @@ bool AP_Arming_Copter::parameter_checks(bool display_failure)
 
         // Inverted flight feature disabled for Heli Single and Dual frames
         if (copter.g2.frame_class.get() != AP_Motors::MOTOR_FRAME_HELI_QUAD &&
-            rc().find_channel_for_option(RC_Channel::aux_func_t::INVERTED) != nullptr) {
+            rc().find_channel_for_option(RC_Channel::AUX_FUNC::INVERTED) != nullptr) {
             check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Inverted flight option not supported");
             return false;
         }
         // Ensure an Aux Channel is configured for motor interlock
-        if (rc().find_channel_for_option(RC_Channel::aux_func_t::MOTOR_INTERLOCK) == nullptr) {
+        if (rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_INTERLOCK) == nullptr) {
             check_failed(ARMING_CHECK_PARAMETERS, display_failure, "Motor Interlock not configured");
             return false;
         }
diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
index b613cb141aee43..dde5eb48e37c7d 100644
--- a/ArduCopter/RC_Channel.cpp
+++ b/ArduCopter/RC_Channel.cpp
@@ -69,7 +69,7 @@ RC_Channel * RC_Channels_Copter::get_arming_channel(void) const
 }
 
 // init_aux_switch_function - initialize aux functions
-void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     // init channel options
     switch(ch_option) {
@@ -156,7 +156,7 @@ 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_t ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     switch(ch_option) {
         case AUX_FUNC::FLIP:
diff --git a/ArduCopter/RC_Channel.h b/ArduCopter/RC_Channel.h
index 6d9d9f9426801c..b0ba3ebb1492f8 100644
--- a/ArduCopter/RC_Channel.h
+++ b/ArduCopter/RC_Channel.h
@@ -11,8 +11,8 @@ class RC_Channel_Copter : public RC_Channel
 
 protected:
 
-    void init_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
-    bool do_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
+    void init_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
+    bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
 
 private:
 
diff --git a/ArduCopter/tuning.cpp b/ArduCopter/tuning.cpp
index babc53b9ff2672..c2cea3c72f2c38 100644
--- a/ArduCopter/tuning.cpp
+++ b/ArduCopter/tuning.cpp
@@ -22,7 +22,7 @@ void Copter::tuning()
     }
 
     // exit immediately if a function is assigned to channel 6
-    if ((RC_Channel::aux_func_t)rc6->option.get() != RC_Channel::AUX_FUNC::DO_NOTHING) {
+    if ((RC_Channel::AUX_FUNC)rc6->option.get() != RC_Channel::AUX_FUNC::DO_NOTHING) {
         return;
     }
 

From 6f9400a35346370e71bf74a28470751c508a5781 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 13:36:11 +1100
Subject: [PATCH 1110/1335] ArduPlane: use AUX_FUNC instead of typedef
 aux_func_t

---
 ArduPlane/RC_Channel.cpp | 4 ++--
 ArduPlane/RC_Channel.h   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ArduPlane/RC_Channel.cpp b/ArduPlane/RC_Channel.cpp
index cb426ab21f4a28..d61413c3d0f3a4 100644
--- a/ArduPlane/RC_Channel.cpp
+++ b/ArduPlane/RC_Channel.cpp
@@ -141,7 +141,7 @@ void RC_Channel_Plane::do_aux_function_flare(AuxSwitchPos ch_flag)
 }
 
 
-void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
+void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
                                          const RC_Channel::AuxSwitchPos ch_flag)
 {
     switch(ch_option) {
@@ -212,7 +212,7 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
 }
 
 // do_aux_function - implement the function invoked by auxiliary switches
-bool RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     switch(ch_option) {
     case AUX_FUNC::INVERTED:
diff --git a/ArduPlane/RC_Channel.h b/ArduPlane/RC_Channel.h
index 7ecc352c32aa8b..858034478c9bf1 100644
--- a/ArduPlane/RC_Channel.h
+++ b/ArduPlane/RC_Channel.h
@@ -9,9 +9,9 @@ class RC_Channel_Plane : public RC_Channel
 
 protected:
 
-    void init_aux_function(aux_func_t ch_option,
+    void init_aux_function(AUX_FUNC ch_option,
                            AuxSwitchPos ch_flag) override;
-    bool do_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
+    bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
 
     // called when the mode switch changes position:
     void mode_switch_changed(modeswitch_pos_t new_pos) override;

From 482c8d7f0b60e29613c7ee7a32f5798e0128c7c4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 13:36:11 +1100
Subject: [PATCH 1111/1335] Blimp: use AUX_FUNC instead of typedef aux_func_t

---
 Blimp/RC_Channel.cpp | 4 ++--
 Blimp/RC_Channel.h   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Blimp/RC_Channel.cpp b/Blimp/RC_Channel.cpp
index ba94d82a173df4..8742d3e347953e 100644
--- a/Blimp/RC_Channel.cpp
+++ b/Blimp/RC_Channel.cpp
@@ -58,7 +58,7 @@ RC_Channel * RC_Channels_Blimp::get_arming_channel(void) const
 }
 
 // init_aux_switch_function - initialize aux functions
-void RC_Channel_Blimp::init_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+void RC_Channel_Blimp::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     // init channel options
     switch (ch_option) {
@@ -99,7 +99,7 @@ void RC_Channel_Blimp::do_aux_function_change_mode(const Mode::Number mode,
 }
 
 // do_aux_function - implement the function invoked by auxiliary switches
-bool RC_Channel_Blimp::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel_Blimp::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     switch (ch_option) {
 
diff --git a/Blimp/RC_Channel.h b/Blimp/RC_Channel.h
index ec37259794cb82..4a6e5e0156da12 100644
--- a/Blimp/RC_Channel.h
+++ b/Blimp/RC_Channel.h
@@ -11,8 +11,8 @@ class RC_Channel_Blimp : public RC_Channel
 
 protected:
 
-    void init_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
-    bool do_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
+    void init_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
+    bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
 
 private:
 

From 4b5553ac33812a4fe01ae180ba6f9726e35b8f76 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 13:36:12 +1100
Subject: [PATCH 1112/1335] Rover: use AUX_FUNC instead of typedef aux_func_t

---
 Rover/RC_Channel.cpp | 4 ++--
 Rover/RC_Channel.h   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Rover/RC_Channel.cpp b/Rover/RC_Channel.cpp
index 9a89b66d613764..eba85331194459 100644
--- a/Rover/RC_Channel.cpp
+++ b/Rover/RC_Channel.cpp
@@ -26,7 +26,7 @@ void RC_Channel_Rover::mode_switch_changed(modeswitch_pos_t new_pos)
 }
 
 // init_aux_switch_function - initialize aux functions
-void RC_Channel_Rover::init_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+void RC_Channel_Rover::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     // init channel options
     switch (ch_option) {
@@ -130,7 +130,7 @@ void RC_Channel_Rover::do_aux_function_sailboat_motor_3pos(const AuxSwitchPos ch
     }
 }
 
-bool RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
+bool RC_Channel_Rover::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
 {
     switch (ch_option) {
     case AUX_FUNC::DO_NOTHING:
diff --git a/Rover/RC_Channel.h b/Rover/RC_Channel.h
index d25d714aa261cd..01c83da59b7389 100644
--- a/Rover/RC_Channel.h
+++ b/Rover/RC_Channel.h
@@ -11,8 +11,8 @@ class RC_Channel_Rover : public RC_Channel
 
 protected:
 
-    void init_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
-    bool do_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
+    void init_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
+    bool do_aux_function(AUX_FUNC ch_option, AuxSwitchPos) override;
 
     // called when the mode switch changes position:
     void mode_switch_changed(modeswitch_pos_t new_pos) override;

From 5d421e8ee3f24d8408a06ca839fa2e46898205a5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 19:26:12 +1100
Subject: [PATCH 1113/1335] AP_HAL_ChibiOS: allow AP_Periph to use mavlink
 library

---
 .../hwdef/scripts/defaults_periph.h           | 42 ++++++++++++++++++-
 1 file changed, 41 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
index c2f75d230642fc..136987f000d948 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
@@ -325,7 +325,7 @@
 #define AP_AHRS_ENABLED defined(HAL_PERIPH_ENABLE_AHRS)
 #define AP_COMPASS_ENABLED defined(HAL_PERIPH_ENABLE_MAG)
 #define AP_BARO_ENABLED defined(HAL_PERIPH_ENABLE_BARO)
-#define AP_GPS_ENABLED 1  // FIXME: should be defined(HAL_PERIPH_ENABLE_GPS)
+#define AP_GPS_ENABLED defined(HAL_PERIPH_ENABLE_GPS)
 #define AP_RPM_ENABLED defined(HAL_PERIPH_ENABLE_RPM)
 #define AP_RCPROTOCOL_ENABLED defined(HAL_PERIPH_ENABLE_RCIN)
 #define AP_RTC_ENABLED defined(HAL_PERIPH_ENABLE_RTC)
@@ -400,3 +400,43 @@
 #ifndef AP_FILTER_ENABLED
 #define AP_FILTER_ENABLED 0
 #endif
+
+#ifndef AP_ADVANCEDFAILSAFE_ENABLED
+#define AP_ADVANCEDFAILSAFE_ENABLED 0
+#endif
+
+#ifndef AP_ARMING_ENABLED
+#define AP_ARMING_ENABLED 0
+#endif
+
+#ifndef AP_LTM_TELEM_ENABLED
+#define AP_LTM_TELEM_ENABLED 0
+#endif
+
+#ifndef AP_GRIPPER_ENABLED
+#define AP_GRIPPER_ENABLED 0
+#endif
+
+#ifndef HAL_SPRAYER_ENABLED
+#define HAL_SPRAYER_ENABLED 0
+#endif
+
+#ifndef AP_VEHICLE_ENABLED
+#define AP_VEHICLE_ENABLED 0
+#endif
+
+#ifndef OSD_ENABLED
+#define OSD_ENABLED 0
+#endif
+
+#ifndef OSD_PARAM_ENABLED
+#define OSD_PARAM_ENABLED 0
+#endif
+
+#ifndef AP_SCHEDULER_ENABLED
+#define AP_SCHEDULER_ENABLED 0
+#endif
+
+#ifndef AP_RC_CHANNEL_ENABLED
+#define AP_RC_CHANNEL_ENABLED 0
+#endif

From e787fc5dfd0ac415cde16c7003b5e1d2ce63e4d0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 19:26:12 +1100
Subject: [PATCH 1114/1335] GCS_MAVLink: allow AP_Periph to use mavlink library

---
 libraries/GCS_MAVLink/GCS.h                  |  5 ++
 libraries/GCS_MAVLink/GCS_Common.cpp         | 48 +++++++++++++++++---
 libraries/GCS_MAVLink/GCS_serial_control.cpp |  2 +
 3 files changed, 48 insertions(+), 7 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 87a76c3823f3f3..1990426423b600 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -25,6 +25,7 @@
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_RangeFinder/AP_RangeFinder_config.h>
 #include <AP_Winch/AP_Winch_config.h>
+#include <AP_Arming/AP_Arming_config.h>
 
 #include "ap_message.h"
 
@@ -527,7 +528,9 @@ class GCS_MAVLINK
     virtual bool set_home_to_current_location(bool lock) = 0;
     virtual bool set_home(const Location& loc, bool lock) = 0;
 
+#if AP_ARMING_ENABLED
     virtual MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet);
+#endif
     MAV_RESULT handle_command_do_aux_function(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_storage_format(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
     void handle_mission_request_list(const mavlink_message_t &msg);
@@ -1281,10 +1284,12 @@ class GCS
 
     char statustext_printf_buffer[256+1];
 
+#if AP_GPS_ENABLED
     virtual AP_GPS::GPS_Status min_status_for_gps_healthy() const {
         // NO_FIX simply excludes NO_GPS
         return AP_GPS::GPS_Status::NO_FIX;
     }
+#endif
 
     void update_sensor_status_flags();
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 31233b69f3147e..52fbfd97c07b27 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1619,11 +1619,13 @@ bool GCS_MAVLINK::set_ap_message_interval(enum ap_message id, uint16_t interval_
         }
     }
 
+#if AP_SCHEDULER_ENABLED
     // send messages out at most 80% of main loop rate
     if (interval_ms != 0 &&
         interval_ms*800 < AP::scheduler().get_loop_period_us()) {
         interval_ms = AP::scheduler().get_loop_period_us()/800.0f;
     }
+#endif
 
     // check if it's a specially-handled message:
     const int8_t deferred_offset = get_deferred_message_index(id);
@@ -1995,6 +1997,12 @@ void GCS_MAVLINK::send_system_time() const
 }
 
 
+bool GCS_MAVLINK::sending_mavlink1() const
+{
+    return ((_channel_status.flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) != 0);
+}
+
+#if AP_RC_CHANNEL_ENABLED
 /*
   send RC_CHANNELS messages
  */
@@ -2033,11 +2041,6 @@ void GCS_MAVLINK::send_rc_channels() const
         );
 }
 
-bool GCS_MAVLINK::sending_mavlink1() const
-{
-    return ((_channel_status.flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) != 0);
-}
-
 void GCS_MAVLINK::send_rc_channels_raw() const
 {
     // for mavlink1 send RC_CHANNELS_RAW, for compatibility with OSD
@@ -2068,6 +2071,7 @@ void GCS_MAVLINK::send_rc_channels_raw() const
 #endif
 );
 }
+#endif  // AP_RC_CHANNEL_ENABLED
 
 void GCS_MAVLINK::send_raw_imu()
 {
@@ -2907,6 +2911,7 @@ void GCS_MAVLINK::send_heartbeat() const
         system_status());
 }
 
+#if AP_RC_CHANNEL_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_do_aux_function(const mavlink_command_int_t &packet)
 {
     if (packet.param2 > 2) {
@@ -2921,6 +2926,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_aux_function(const mavlink_command_int
     }
     return MAV_RESULT_ACCEPTED;
 }
+#endif  // AP_RC_CHANNEL_ENABLED
 
 MAV_RESULT GCS_MAVLINK::handle_command_set_message_interval(const mavlink_command_int_t &packet)
 {
@@ -3369,6 +3375,7 @@ MAV_RESULT GCS_MAVLINK::handle_flight_termination(const mavlink_command_int_t &p
 #endif
 }
 
+#if AP_RC_CHANNEL_ENABLED
 /*
   handle a R/C bind request (for spektrum)
  */
@@ -3382,6 +3389,7 @@ MAV_RESULT GCS_MAVLINK::handle_START_RX_PAIR(const mavlink_command_int_t &packet
     }
     return MAV_RESULT_ACCEPTED;
 }
+#endif  // AP_RC_CHANNEL_ENABLED
 
 uint64_t GCS_MAVLINK::timesync_receive_timestamp_ns() const
 {
@@ -3781,6 +3789,7 @@ void GCS_MAVLINK::handle_command_ack(const mavlink_message_t &msg)
 #endif
 }
 
+#if AP_RC_CHANNEL_ENABLED
 // allow override of RC channel values for complete GCS
 // control of switch position and RC PWM values.
 void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg)
@@ -3833,6 +3842,7 @@ void GCS_MAVLINK::handle_rc_channels_override(const mavlink_message_t &msg)
     gcs().sysid_myggcs_seen(tnow);
 
 }
+#endif  // AP_RC_CHANNEL_ENABLED
 
 #if AP_OPTICALFLOW_ENABLED
 void GCS_MAVLINK::handle_optical_flow(const mavlink_message_t &msg)
@@ -4120,9 +4130,11 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
         break;
 #endif
 
+#if AP_RC_CHANNEL_ENABLED
     case MAVLINK_MSG_ID_MANUAL_CONTROL:
         handle_manual_control(msg);
         break;
+#endif
 
 #if AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED
     case MAVLINK_MSG_ID_PLAY_TUNE:
@@ -4185,9 +4197,11 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
         break;
 #endif
 
+#if AP_RC_CHANNEL_ENABLED
     case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
         handle_rc_channels_override(msg);
         break;
+#endif
 
 #if AP_OPTICALFLOW_ENABLED
     case MAVLINK_MSG_ID_OPTICAL_FLOW:
@@ -4489,7 +4503,9 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_comm
         return _handle_command_preflight_calibration_baro(msg);
     }
 
+#if AP_RC_CHANNEL_ENABLED
     rc().calibrating(is_positive(packet.param4));
+#endif
 
 #if HAL_INS_ACCELCAL_ENABLED
     if (packet.x == 1) {
@@ -4548,6 +4564,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_preflight_calibration(const mavlink_comma
     return _handle_command_preflight_calibration(packet, msg);
 }
 
+#if AP_ARMING_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_run_prearm_checks(const mavlink_command_int_t &packet)
 {
     if (hal.util->get_soft_armed()) {
@@ -4556,6 +4573,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_run_prearm_checks(const mavlink_command_i
     (void)AP::arming().pre_arm_checks(true);
     return MAV_RESULT_ACCEPTED;
 }
+#endif  // AP_ARMING_ENABLED
 
 #if AP_MISSION_ENABLED
 // changes the current waypoint; at time of writing GCS
@@ -4793,6 +4811,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_mount(const mavlink_command_int_t &packet
 }
 #endif  // HAL_MOUNT_ENABLED
 
+#if AP_ARMING_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_component_arm_disarm(const mavlink_command_int_t &packet)
 {
     if (is_equal(packet.param1,1.0f)) {
@@ -4820,6 +4839,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_component_arm_disarm(const mavlink_comman
 
     return MAV_RESULT_UNSUPPORTED;
 }
+#endif // AP_ARMING_ENABLED
 
 bool GCS_MAVLINK::location_from_command_t(const mavlink_command_int_t &in, Location &out)
 {
@@ -5166,8 +5186,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
         return  MAV_RESULT_FAILED;
 #endif
 
+#if AP_RC_CHANNEL_ENABLED
     case MAV_CMD_DO_AUX_FUNCTION:
         return handle_command_do_aux_function(packet);
+#endif
 
 #if AP_FENCE_ENABLED
     case MAV_CMD_DO_FENCE_ENABLE:
@@ -5242,9 +5264,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
     case MAV_CMD_EXTERNAL_POSITION_ESTIMATE:
         return handle_command_int_external_position_estimate(packet);
 #endif
+#if AP_ARMING_ENABLED
     case MAV_CMD_COMPONENT_ARM_DISARM:
         return handle_command_component_arm_disarm(packet);
-
+#endif
 #if AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
     case MAV_CMD_FIXED_MAG_CAL_YAW:
         return handle_command_fixed_mag_cal_yaw(packet);
@@ -5293,8 +5316,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
         return handle_command_request_autopilot_capabilities(packet);
 #endif
 
+#if AP_ARMING_ENABLED
     case MAV_CMD_RUN_PREARM_CHECKS:
         return handle_command_run_prearm_checks(packet);
+#endif
 
 #if AP_SCRIPTING_ENABLED
     case MAV_CMD_SCRIPTING:
@@ -5312,8 +5337,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
         return handle_command_set_ekf_source_set(packet);
 #endif
 
+#if AP_RC_CHANNEL_ENABLED
     case MAV_CMD_START_RX_PAIR:
         return handle_START_RX_PAIR(packet);
+#endif
 
 #if AP_FILESYSTEM_FORMAT_ENABLED
     case MAV_CMD_STORAGE_FORMAT:
@@ -5482,7 +5509,11 @@ void GCS_MAVLINK::send_sys_status()
         control_sensors_present,
         control_sensors_enabled,
         control_sensors_health,
+#if AP_SCHEDULER_ENABLED
         static_cast<uint16_t>(AP::scheduler().load_average() * 1000),
+#else
+        0,
+#endif
 #if AP_BATTERY_ENABLED
         battery.gcs_voltage() * 1000,  // mV
         battery_current,        // in 10mA units
@@ -6051,6 +6082,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         break;
 #endif
 
+#if AP_RC_CHANNEL_ENABLED
     case MSG_RC_CHANNELS:
         CHECK_PAYLOAD_SIZE(RC_CHANNELS);
         send_rc_channels();
@@ -6060,6 +6092,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         CHECK_PAYLOAD_SIZE(RC_CHANNELS_RAW);
         send_rc_channels_raw();
         break;
+#endif
 
     case MSG_RAW_IMU:
         CHECK_PAYLOAD_SIZE(RAW_IMU);
@@ -6735,6 +6768,7 @@ uint64_t GCS_MAVLINK::capabilities() const
 }
 
 
+#if AP_RC_CHANNEL_ENABLED
 void GCS_MAVLINK::manual_override(RC_Channel *c, int16_t value_in, const uint16_t offset, const float scaler, const uint32_t tnow, const bool reversed)
 {
     if (c == nullptr) {
@@ -6773,7 +6807,7 @@ void GCS_MAVLINK::handle_manual_control(const mavlink_message_t &msg)
     // from the ground station for failsafe purposes
     gcs().sysid_myggcs_seen(tnow);
 }
-
+#endif  // AP_RC_CHANNEL_ENABLED
 
 #if AP_RSSI_ENABLED
 uint8_t GCS_MAVLINK::receiver_rssi() const
diff --git a/libraries/GCS_MAVLink/GCS_serial_control.cpp b/libraries/GCS_MAVLink/GCS_serial_control.cpp
index 50322e2e5dac29..0c60dcb4e27bc1 100644
--- a/libraries/GCS_MAVLink/GCS_serial_control.cpp
+++ b/libraries/GCS_MAVLink/GCS_serial_control.cpp
@@ -64,6 +64,7 @@ void GCS_MAVLINK::handle_serial_control(const mavlink_message_t &msg)
         link->lock(exclusive);
         break;
     }
+#if AP_GPS_ENABLED
     case SERIAL_CONTROL_DEV_GPS1:
         stream = port = hal.serial(3);
         AP::gps().lock_port(0, exclusive);
@@ -72,6 +73,7 @@ void GCS_MAVLINK::handle_serial_control(const mavlink_message_t &msg)
         stream = port = hal.serial(4);
         AP::gps().lock_port(1, exclusive);
         break;
+#endif  // AP_GPS_ENABLED
     case SERIAL_CONTROL_DEV_SHELL:
         stream = hal.util->get_shell_stream();
         if (stream == nullptr) {

From 102ffd3aeb398b4d1860a3aa9059870dc3f94879 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 19:54:38 +1100
Subject: [PATCH 1115/1335] AP_Periph: don't send GPS messages if not compiled
 in

---
 Tools/AP_Periph/GCS_MAVLink.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Tools/AP_Periph/GCS_MAVLink.cpp b/Tools/AP_Periph/GCS_MAVLink.cpp
index cb454786ac8dde..a3df4631fef872 100644
--- a/Tools/AP_Periph/GCS_MAVLink.cpp
+++ b/Tools/AP_Periph/GCS_MAVLink.cpp
@@ -32,8 +32,10 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_MCU_STATUS,
 #endif
     MSG_MEMINFO,
+#if AP_GPS_ENABLED
     MSG_GPS_RAW,
     MSG_GPS_RTK,
+#endif
 };
 
 static const ap_message STREAM_POSITION_msgs[] = {

From 2263dced74c2f51af8be378b7d6dc36b02e54383 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 15 Feb 2024 08:48:02 +1100
Subject: [PATCH 1116/1335] AP_Scripting use scheduler semaphore only if
 AP_SCHEDULER_ENABLED

---
 libraries/AP_Scripting/generator/src/main.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_Scripting/generator/src/main.c b/libraries/AP_Scripting/generator/src/main.c
index da19db67783f73..de1c6e48eca242 100644
--- a/libraries/AP_Scripting/generator/src/main.c
+++ b/libraries/AP_Scripting/generator/src/main.c
@@ -1918,7 +1918,9 @@ void emit_userdata_method(const struct userdata *data, const struct method *meth
   } else if (data->flags & UD_FLAG_SEMAPHORE_POINTER) {
     fprintf(source, "    %s%sget_semaphore()->take_blocking();\n", ud_name, ud_access);
   } else if (data->flags & UD_FLAG_SCHEDULER_SEMAPHORE) {
+    fprintf(source, "#if AP_SCHEDULER_ENABLED\n");
     fprintf(source, "    AP::scheduler().get_semaphore().take_blocking();\n");
+    fprintf(source, "#endif\n");
   }
 
   int static_cast = TRUE;
@@ -2050,7 +2052,9 @@ void emit_userdata_method(const struct userdata *data, const struct method *meth
   } else if (data->flags & UD_FLAG_SEMAPHORE_POINTER) {
     fprintf(source, "    %s%sget_semaphore()->give();\n", ud_name, ud_access);
   } else if (data->flags & UD_FLAG_SCHEDULER_SEMAPHORE) {
+    fprintf(source, "#if AP_SCHEDULER_ENABLED\n");
     fprintf(source, "    AP::scheduler().get_semaphore().give();\n");
+    fprintf(source, "#endif\n");
   }
 
   // we need to emit out refernce arguments, iterate the args again, creating and copying objects, while keeping a new count

From a16d71ced442da569f17b6079ba7f01eb9d56d7b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 14 Feb 2024 11:13:12 +0900
Subject: [PATCH 1117/1335] AP_Camera: fix video recording while armed

---
 libraries/AP_Camera/AP_Camera_Backend.cpp | 8 +++++---
 libraries/AP_Camera/AP_Camera_Backend.h   | 5 +++--
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_Camera/AP_Camera_Backend.cpp b/libraries/AP_Camera/AP_Camera_Backend.cpp
index 4781c4180721a9..fafe4546aa2535 100644
--- a/libraries/AP_Camera/AP_Camera_Backend.cpp
+++ b/libraries/AP_Camera/AP_Camera_Backend.cpp
@@ -17,11 +17,13 @@ AP_Camera_Backend::AP_Camera_Backend(AP_Camera &frontend, AP_Camera_Params &para
 // update - should be called at 50hz
 void AP_Camera_Backend::update()
 {
-    // Check CAMx_OPTIONS and start/stop recording based on arm/disarm
-    if (_params.options.get() & CAMOPTIONS::REC_ARM_DISARM) {
+    // Check camera options and start/stop recording based on arm/disarm
+    if ((_params.options.get() & (uint8_t)Options::RecordWhileArmed) != 0) {
         if (hal.util->get_soft_armed() != last_is_armed) {
             last_is_armed = hal.util->get_soft_armed();
-            record_video(last_is_armed);
+            if (!record_video(last_is_armed)) {
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Camera: failed to %s recording", last_is_armed ? "start" : "stop");
+            }
         }
     }
 
diff --git a/libraries/AP_Camera/AP_Camera_Backend.h b/libraries/AP_Camera/AP_Camera_Backend.h
index a6b4c8a60a3200..b60e06d4dcd142 100644
--- a/libraries/AP_Camera/AP_Camera_Backend.h
+++ b/libraries/AP_Camera/AP_Camera_Backend.h
@@ -36,8 +36,9 @@ class AP_Camera_Backend
     /* Do not allow copies */
     CLASS_NO_COPY(AP_Camera_Backend);
 
-    enum CAMOPTIONS {
-        REC_ARM_DISARM = 0, // Recording start/stop on Arm/Disarm
+    // camera options parameter values
+    enum class Options : int8_t {
+        RecordWhileArmed = (1 << 0U)
     };
 
     // init - performs any required initialisation

From 08468904dbbd27656cba26ec89667f8d683c58b1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 14 Feb 2024 11:31:50 +1100
Subject: [PATCH 1118/1335] AP_Param: fixed cygwin build

the cygwin build is not generating binaries failing with:

   undefined reference to `AP_Param::load_param_defaults(char const volatile*, int, bool)

there is a 2nd problem that the CI test for cygwin doesn't fail when
the build fails. That will be addressed separately
---
 libraries/AP_Param/AP_Param.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index e3983e2812b9a6..7d203239b81417 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -2370,7 +2370,7 @@ bool AP_Param::load_defaults_file(const char *filename, bool last_pass)
 #endif // AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED
 
 
-#if AP_PARAM_MAX_EMBEDDED_PARAM > 0 || (!AP_FILESYSTEM_FILE_READING_ENABLED && defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H))
+#if AP_PARAM_MAX_EMBEDDED_PARAM > 0 || (AP_FILESYSTEM_FILE_READING_ENABLED && defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H))
 /*
   count the number of parameter defaults present in supplied string
  */

From df45140a5651c8e94927ed21d0347330934e8455 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 15 Feb 2024 12:23:10 +1100
Subject: [PATCH 1119/1335] AP_Param: fixed build of CubeOrange-periph

---
 libraries/AP_Param/AP_Param.cpp | 31 ++++++++++++++++---------------
 1 file changed, 16 insertions(+), 15 deletions(-)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index 7d203239b81417..996960a0b58197 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -2369,8 +2369,7 @@ bool AP_Param::load_defaults_file(const char *filename, bool last_pass)
 }
 #endif // AP_PARAM_DEFAULTS_FILE_PARSING_ENABLED
 
-
-#if AP_PARAM_MAX_EMBEDDED_PARAM > 0 || (AP_FILESYSTEM_FILE_READING_ENABLED && defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H))
+#if AP_PARAM_MAX_EMBEDDED_PARAM > 0 || defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H)
 /*
   count the number of parameter defaults present in supplied string
  */
@@ -2416,18 +2415,6 @@ bool AP_Param::count_param_defaults(const volatile char *ptr, int32_t length, ui
     return true;
 }
 
-#if AP_PARAM_MAX_EMBEDDED_PARAM > 0
-/*
- * load a default set of parameters from a embedded parameter region
- * @last_pass: if this is the last pass on defaults - unknown parameters are
- *             ignored but if this is set a warning will be emitted
- */
-void AP_Param::load_embedded_param_defaults(bool last_pass)
-{
-    load_param_defaults(param_defaults_data.data, param_defaults_data.length, last_pass);
-}
-#endif  // AP_PARAM_MAX_EMBEDDED_PARAM > 0
-
 /*
  *  load parameter defaults from supplied string
  */
@@ -2508,7 +2495,21 @@ void AP_Param::load_param_defaults(const volatile char *ptr, int32_t length, boo
     }
     num_param_overrides = num_defaults;
 }
-#endif // AP_PARAM_MAX_EMBEDDED_PARAM > 0
+#endif // AP_PARAM_MAX_EMBEDDED_PARAM > 0 || defined(HAL_HAVE_AP_ROMFS_EMBEDDED_H)
+
+
+#if AP_PARAM_MAX_EMBEDDED_PARAM > 0
+/*
+ * load a default set of parameters from a embedded parameter region
+ * @last_pass: if this is the last pass on defaults - unknown parameters are
+ *             ignored but if this is set a warning will be emitted
+ */
+void AP_Param::load_embedded_param_defaults(bool last_pass)
+{
+    load_param_defaults(param_defaults_data.data, param_defaults_data.length, last_pass);
+}
+#endif  // AP_PARAM_MAX_EMBEDDED_PARAM > 0
+
 
 /* 
    find a default value given a pointer to a default value in flash

From 41132901538a563b6a81a9419d7f0ed4d7c9bf42 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 18:39:29 +1100
Subject: [PATCH 1120/1335] AP_HAL_ChibiOS: remove HerePro

to be replaced by a HereProAP
---
 .../hwdef/HerePro/defaults.parm               |   3 -
 .../AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat | 147 --------
 .../AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat    | 221 ------------
 .../hwdef/HerePro/scripts/hereproled.lua      | 315 ------------------
 4 files changed, 686 deletions(-)
 delete mode 100644 libraries/AP_HAL_ChibiOS/hwdef/HerePro/defaults.parm
 delete mode 100644 libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat
 delete mode 100644 libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat
 delete mode 100644 libraries/AP_HAL_ChibiOS/hwdef/HerePro/scripts/hereproled.lua

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/HerePro/defaults.parm
deleted file mode 100644
index 16b4cd021aa557..00000000000000
--- a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/defaults.parm
+++ /dev/null
@@ -1,3 +0,0 @@
-NTF_LED_OVERRIDE 1 
-SCR_ENABLE 1
-GPS_INJECT_TO 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat
deleted file mode 100644
index 5f8cffae714cd1..00000000000000
--- a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat
+++ /dev/null
@@ -1,147 +0,0 @@
-# hw definition file for processing by chibios_hwdef.py
-# for H743 bootloader
-
-# MCU class and specific type
-MCU STM32H7xx STM32H743xx
-
-FULL_FEATURED_BOOTLOADER 1
-
-# USB setup
-USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
-USB_PRODUCT 0x5011
-USB_STRING_MANUFACTURER "CubePilot"
-
-# setup build for a peripheral firmware
-env AP_PERIPH 1
-
-# crystal frequency
-OSCILLATOR_HZ 24000000
-
-# board ID for firmware load
-APJ_BOARD_ID 1037
-
-FLASH_SIZE_KB 2048
-
-# bootloader is installed at zero offset
-FLASH_RESERVE_START_KB 0
-
-# the location where the bootloader will put the firmware
-# the H743 has 128k sectors
-FLASH_BOOTLOADER_LOAD_KB 256
-
-PB15 LED_2 OUTPUT LOW
-PB14 LED OUTPUT LOW
-
-# board voltage
-STM32_VDD 330U
-
-# order of UARTs (and USB)
-SERIAL_ORDER OTG1 UART7
-
-define HAL_NO_MONITOR_THREAD
-
-# USART3 F9
-PD9 USART3_RX USART3 
-PD8 USART3_TX USART3
-
-# UART7 F9
-PE7 UART7_RX UART7 
-PE8 UART7_TX UART7 NODMA
-
-
-PA11 OTG_FS_DM OTG1
-PA12 OTG_FS_DP OTG1
-
-PA13 JTMS-SWDIO SWD
-PA14 JTCK-SWCLK SWD
-
-
-define USB_USE_WAIT TRUE
-define HAL_USE_USB_MSD 1
-
-define HAL_DEVICE_THREAD_STACK 2048
-
-#define AP_PARAM_MAX_EMBEDDED_PARAM 0
-
-define HAL_BARO_ALLOW_INIT_NO_BARO
-
-define HAL_COMPASS_MAX_SENSORS 1
-
-# GPS+MAG
-define HAL_PERIPH_ENABLE_GPS
-define HAL_PERIPH_ENABLE_MAG
-
-# Add MAVLink
-env FORCE_MAVLINK_INCLUDE 1
-
-# enable CAN support
-PB8 CAN1_RX CAN1
-PB9 CAN1_TX CAN1
-PB5 CAN2_RX CAN2
-PB6 CAN2_TX CAN2
-#PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
-
-PF8 blank CS
-SPIDEV profiled     SPI5 DEVID1 blank MODE3 1*MHZ 1*MHZ
-
-PE4 MPU_EXT_CS CS
-PE2 SPI4_SCK  SPI4
-PE5 SPI4_MISO SPI4
-PE6 SPI4_MOSI SPI4
-
-
-PG15 spi6cs CS
-PG13 SPI6_SCK  SPI6
-PG12 SPI6_MISO SPI6
-PG14 SPI6_MOSI SPI6
-
-PF7 SPI5_SCK  SPI5
-PF9 SPI5_MOSI SPI5
-
-define BOARD_SER1_RTSCTS_DEFAULT 0
-
-#gps f9
-PD10 F91TXR INPUT 
-PD11 F92RST INPUT
-PD13 F93SB INPUT 
-PD14 F94EXTINT INPUT 
-PD15 F95RSV1 INPUT 
-PG2 F97 INPUT GPIO(100)
-PG3 F96RSV2 INPUT 
-PD4 RTKSTAT INPUT
-PD5 GEOFENCESTAT INPUT
-
-#others
-PG10 can2int INPUT 
-PG11 can2sleep OUTPUT PUSHPULL SPEED_LOW LOW 
-PF1 GNDDET2 INPUT
-PF2 GNDDET1 INPUT
-PC6 EXTERN_GPIO1 OUTPUT GPIO(1)
-PC7 EXTERN_GPIO2 OUTPUT GPIO(2)
-#sensor enable
-PC0 SENSEN OUTPUT HIGH
-PB1 IMUINT INPUT
-PB3 QCAN2TERM OUTPUT LOW GPIO(4)
-PB4 QCAN2INT0 INPUT
-PC13 QCAN1SLEEP OUTPUT PUSHPULL SPEED_LOW LOW 
-PE0 QCAN1INT INPUT
-PE1 QCAN1INT0 INPUT
-PE3 QCAN1INT1 INPUT
-
-PD6 QCAN1TERM OUTPUT LOW GPIO(3)
-PD7 QCAN2INT1 INPUT
-PA8 QCAN12OSC1 INPUT
-
-# This input pin is used to detect that power is valid on USB.
-PA9 VBUS INPUT
-PH13 VDD_33V_SENS INPUT
-
-# This defines some input pins, currently unused.
-PB2 BOOT1 INPUT
-
-
-
-# passthrough CAN1
-define HAL_DEFAULT_CPORT 1
-
-FULL_CHIBIOS_BOOTLOADER 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat
deleted file mode 100644
index 0c8c2b46a8174d..00000000000000
--- a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat
+++ /dev/null
@@ -1,221 +0,0 @@
-# hw definition file for processing by chibios_hwdef.py
-# for H743 bootloader
-
-# MCU class and specific type
-MCU STM32H7xx STM32H743xx
-
-# USB setup
-USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
-USB_PRODUCT 0x5001
-USB_STRING_MANUFACTURER "CubePilot"
-
-# setup build for a peripheral firmware
-env AP_PERIPH 1
-env AP_PERIPH_HEAVY 1
-
-# crystal frequency
-OSCILLATOR_HZ 24000000
-
-# board ID for firmware load
-APJ_BOARD_ID 1037
-
-FLASH_SIZE_KB 2048
-
-# the location where the bootloader will put the firmware
-# the H743 has 128k sectors, we leave 2 sectors for BL
-FLASH_BOOTLOADER_LOAD_KB 256
-
-PB15 LED_SWITCH_2 OUTPUT HIGH
-PB14 LED_SWITCH_1 OUTPUT HIGH
-
-# board voltage
-STM32_VDD 330U
-
-# order of UARTs (and USB)
-SERIAL_ORDER OTG1 OTG2 EMPTY USART3 UART7
-
-define DEFAULT_SERIAL0_PROTOCOL SerialProtocol_None
-
-# USART3 F9
-PD9 USART3_RX USART3 
-PD8 USART3_TX USART3
-
-# UART7 F9
-PE7 UART7_RX UART7 
-PE8 UART7_TX UART7 NODMA
-
-
-PA11 OTG_FS_DM OTG1
-PA12 OTG_FS_DP OTG1
-
-PA13 JTMS-SWDIO SWD
-PA14 JTCK-SWCLK SWD
-
-###########################
-define AP_NOTIFY_PROFILED_SPI_ENABLED 1
-define DEFAULT_NTF_LED_TYPES Notify_LED_ProfiLED_SPI
-define NOTIFY_LED_LEN_DEFAULT 16
-define CONFIGURE_PPS_PIN TRUE
-define HAL_PERIPH_ENABLE_NOTIFY
-define HAL_PERIPH_NOTIFY_WITHOUT_RCOUT
-
-FLASH_RESERVE_START_KB 256
-
-define GPS_UBLOX_MOVING_BASELINE TRUE
-define HAL_GCS_ENABLED 1
-define HAL_LOGGING_ENABLED TRUE
-define HAL_PERIPH_ENABLE_RTC 1
-define HAL_NO_MONITOR_THREAD
-
-
-define HAL_DISABLE_LOOP_DELAY
-define USB_USE_WAIT TRUE
-define HAL_USE_USB_MSD 1
-
-
-define HAL_DEVICE_THREAD_STACK 2048
-
-#define AP_PARAM_MAX_EMBEDDED_PARAM 0
-
-define HAL_BARO_ALLOW_INIT_NO_BARO
-
-define HAL_STORAGE_SIZE 16384
-
-# disable dual GPS and GPS blending to save flash space
-define GPS_MAX_RECEIVERS 1
-define GPS_MAX_INSTANCES 1
-define HAL_COMPASS_MAX_SENSORS 1
-
-# GPS+MAG
-define HAL_PERIPH_ENABLE_AHRS
-define HAL_PERIPH_ENABLE_GPS
-define HAL_PERIPH_ENABLE_MAG
-define AP_INERTIALSENSOR_ENABLED 1
-
-
-# enable CAN support
-PB8 CAN1_RX CAN1
-PB9 CAN1_TX CAN1
-PB5 CAN2_RX CAN2
-PB6 CAN2_TX CAN2
-
-PA4 MPU_CS CS
-PA5 SPI1_SCK SPI1
-PA6 SPI1_MISO SPI1
-PA7 SPI1_MOSI SPI1
-SPIDEV icm20948       SPI1 DEVID4  MPU_CS       MODE3  4*MHZ  8*MHZ
-
-PF8 blank CS
-SPIDEV profiled     SPI5 DEVID1 blank MODE3 1*MHZ 1*MHZ
-
-IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
-
-define HAL_DEFAULT_INS_FAST_SAMPLE 5
-
-# compass as part of ICM20948 on newer cubes
-COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
-
-# one baro
-#BARO MS56XX I2C:0:0x77
-
-PE4 CSPI4_CS CS
-PE2 SPI4_SCK  SPI4
-PE5 SPI4_MISO SPI4
-PE6 SPI4_MOSI SPI4
-
-
-PG15 CSPI6_CS CS
-PG13 SPI6_SCK  SPI6
-PG12 SPI6_MISO SPI6
-PG14 SPI6_MOSI SPI6
-
-PF7 SPI5_SCK  SPI5
-PF9 SPI5_MOSI SPI5
-
-# Now setup the pins for the microSD card, if available.
-PC8 SDMMC1_D0 SDMMC1
-PC9 SDMMC1_D1 SDMMC1
-PC10 SDMMC1_D2 SDMMC1
-PC11 SDMMC1_D3 SDMMC1
-PC12 SDMMC1_CK SDMMC1
-PD2 SDMMC1_CMD SDMMC1
-
-define BOARD_SER1_RTSCTS_DEFAULT 0
-
-define HAL_OS_FATFS_IO 1
-define HAL_WITH_DRONECAN 1
-env HAL_WITH_DRONECAN 1
-define HAL_PICCOLO_CAN_ENABLE 0
-define AP_CAN_SLCAN_ENABLED 1
-
-PA1 ANALOG_CAN_VOLTAGE1 ADC1 SCALE(21.404)
-PA2 ANALOG_CAN_VOLTAGE2 ADC1 SCALE(21.404)
-
-#gps f9
-PD10 F91TXR INPUT 
-PD11 F92RST INPUT
-PD13 F93SB INPUT 
-PD14 F94EXTINT INPUT 
-PD15 F95RSV1 INPUT 
-PG2 F97 INPUT GPIO(100)
-PG3 F96RSV2 INPUT 
-PD4 RTKSTAT INPUT
-PD5 GEOFENCESTAT INPUT
-
-#others
-PG10 can2int INPUT 
-PG11 can2sleep OUTPUT PUSHPULL SPEED_LOW LOW 
-PF1 GNDDET2 INPUT
-PF2 GNDDET1 INPUT
-PC6 EXTERN_GPIO1 OUTPUT GPIO(1)
-PC7 EXTERN_GPIO2 OUTPUT GPIO(2)
-PD6 TERMCAN1 OUTPUT LOW GPIO(3)
-PB3 TERMCAN2 OUTPUT LOW GPIO(4)
-
-#sensor enable
-PC0 SENSEN OUTPUT HIGH
-PB1 IMUINT INPUT
-PB4 QCAN2INT0 INPUT
-PC13 QCAN1SLEEP OUTPUT PUSHPULL SPEED_LOW LOW 
-PE0 QCAN1INT INPUT
-PE1 QCAN1INT0 INPUT
-PE3 QCAN1INT1 INPUT
-
-PD7 QCAN2INT1 INPUT
-PA8 QCAN12OSC1 INPUT
-
-# This defines more ADC inputs.
-PC3 ANALOG_VCC_1_8V ADC1 SCALE(2)
-PC4 ANALOG_VCC_5V_PIN ADC1 SCALE(2.044)
-
-# This input pin is used to detect that power is valid on USB.
-PA9 VBUS INPUT
-PH13 VDD_33V_SENS INPUT
-
-# This defines some input pins, currently unused.
-PB2 BOOT1 INPUT
-
-
-
-# disabled compass cal as it doesn't work for now
-# define COMPASS_CAL_ENABLED 1
-
-define HAL_ENABLE_SLCAN 1
-# passthrough CAN1
-define HAL_DEFAULT_CPORT 1
-
-define CONFIGURE_PPS_PIN TRUE
-define AP_PERIPH_HAVE_LED TRUE
-
-define AP_SCRIPTING_ENABLED 1
-define SCRIPTING_HEAP_SIZE (64*1024)
-
-define GPS_MOVING_BASELINE 1
-
-define AP_RC_CHANNEL_ENABLED 1
-
-define AP_RELAY_ENABLED 1
-define AP_SERVORELAYEVENTS_ENABLED 1
-
-# bootloader embedding / bootloader flashing not available
-define AP_BOOTLOADER_FLASHING_ENABLED 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/scripts/hereproled.lua b/libraries/AP_HAL_ChibiOS/hwdef/HerePro/scripts/hereproled.lua
deleted file mode 100644
index 106d27e150ff42..00000000000000
--- a/libraries/AP_HAL_ChibiOS/hwdef/HerePro/scripts/hereproled.lua
+++ /dev/null
@@ -1,315 +0,0 @@
--- This script is a test of led override
--- luacheck: only 0
-
-local count = 0
-local num_leds = 16
-local total_time = 1
-local animation_end = 0
-local current_anim = 0
-
--- constrain a value between limits
-function constrain(v, vmin, vmax)
-  if v < vmin then
-     v = vmin
-  end
-  if v > vmax then
-     v = vmax
-    
-  end
-  return v
-end
-
---[[
-Table of neon colors on a rainbow, red first
---]]
--- local rainbow = {
---   { 252, 23, 0 },
---   { 253, 72, 37 },
---   { 250, 237, 39 },
---   { 51,   255, 20 },
---   { 27,   3,   163 }
--- }
-
-local rainbow = {
-  { 252, 23, 0 },
-  { 253, 100, 0 },
-  { 250, 237, 0 },
-  { 51,   255, 20 },
-  { 27,   3,   163 }
-}
-
-local led_map = {
-  14,
-  15,
-  2,
-  3,
-  4,
-  5,
-  6,
-  7,
-  8,
-  9,
-  1,
-  0,
-  10,
-  11,
-  12,
-  13}
-
-function table.contains(table, element)
-  for _, value in pairs(table) do
-    if value == element then
-      return true
-    end
-  end
-  return false
-end
-
---[[
-Function to set a LED to a color on a classic rainbow spectrum, with v=0 giving red
---]]
-function get_Rainbow(v, num_rows)
-  local row = math.floor(constrain(v * (num_rows-1)+1, 1, num_rows-1))
-  local v0 = (row-1) / (num_rows-1)
-  local v1 = row / (num_rows-1)
-  local p = (v - v0) / (v1 - v0)
-  r = math.max(math.floor(rainbow[row][1] + p * (rainbow[row+1][1] - rainbow[row][1])),0)
-  g = math.max(math.floor(rainbow[row][2] + p * (rainbow[row+1][2] - rainbow[row][2])),0)
-  b = math.max(math.floor(rainbow[row][3] + p * (rainbow[row+1][3] - rainbow[row][3])),0)
-  return r,g,b
-end
-
-function do_initialisation()
-  local pos = math.rad(total_time/2)
-  local v  =0.5 + 0.5 * math.sin(pos)
-  local invert = 1
-  local r, g, b = get_Rainbow(v, 5)
-  local led_trail_length = 3
-  local softness = 10
-  local bfact = 1
-  local updated_leds = {}
-  if math.cos(pos) > 0 then
-    invert = 1
-  else
-    invert = 0
-  end
-
-  pos = math.floor(6 + (v*8))%16
-  if pos == 6 then
-    animation_end = 1
-  else
-    animation_end = 0
-  end
-
-  for trail = 0, led_trail_length-1 do
-    if invert == 1 then
-      bfact = softness^(2*(led_trail_length - 1 - trail)/(led_trail_length-1))
-    else
-      bfact = softness^(2*trail/(led_trail_length-1))
-    end
-    local led_id = 1 + ((pos + trail) % num_leds)
-    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
-    table.insert(updated_leds, led_id)
-  end
-
-  pos = math.floor(6 - (v*8))%16
-  for trail = 0, led_trail_length-1 do
-    if invert == 0 then
-      bfact = softness^(2*(led_trail_length - 1 - trail)/(led_trail_length-1))
-    else
-      bfact = softness^(2*trail/(led_trail_length-1))
-    end
-    local led_id = 1 + ((pos + trail) % num_leds)
-    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
-    table.insert(updated_leds, led_id)
-  end
-
-  for led = 1, num_leds do
-    if not table.contains(updated_leds, led) then
-      notify:handle_rgb_id(0, 0, 0, led_map[led])
-    end
-  end
-end
-
-function do_point_north(r, g, b, led_trail_length, softness)
-  local north_bias = 4
-  local yaw = 8 - ((16 * periph:get_yaw_earth()/(2*math.pi))) - north_bias
-  local ofs = yaw - math.floor(yaw+0.5)
-  yaw = math.floor(yaw+0.5) % 16
-  local updated_leds = {}
-  for trail = 0, led_trail_length-1 do
-    local bfact = softness^(2*(math.abs((led_trail_length-1)/2 - trail + ofs))/(led_trail_length-1))
-    local led_id = 1 + ((yaw + trail) % 16)
-    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
-    table.insert(updated_leds, led_id)
-  end
-
-  for led = 1, num_leds do
-    if not table.contains(updated_leds, led) then
-      notify:handle_rgb_id(0, 0, 0, led_map[led])
-    end
-  end
-  return yaw
-end
-
-function finish_initialisation(r, g, b, led_trail_length, softness, speed_factor, next_call)
-  local north_bias = 4
-  local yaw = 8 - ((16 * periph:get_yaw_earth()/(2*math.pi))) - north_bias
-  yaw = math.floor(yaw+0.5) % 16
-  local led_id = math.floor((count/speed_factor) + north_bias) % 16
-  if yaw == led_id then
-    if total_time > 3000 then
-      animation_end = 1
-    end
-    return
-  end
-  count = count + next_call
-  local updated_leds = {}
-  for trail = 0, led_trail_length-1 do
-    local bfact = softness^(2*(math.abs((led_trail_length-1)/2 - trail))/(led_trail_length-1))
-    local this_led_id = 1 + ((led_id + trail) % 16)
-    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[this_led_id])
-    table.insert(updated_leds, this_led_id)
-  end
-
-  for led = 1, num_leds do
-    if not table.contains(updated_leds, led) then
-      notify:handle_rgb_id(0, 0, 0, led_map[led])
-    end
-  end
-end
-
-function do_arm_spin(r, g, b, softness, speed_factor, arming)
-  -- reset led states
-  local updated_leds = {}
-
-  -- calculate next call based on time
-  local next_call = 1
-  if arming then
-    next_call = speed_factor - math.floor(((total_time)/speed_factor) + 0.5)
-    if next_call < 1 then
-      return next_call
-    end
-  else
-    next_call = 1 + math.floor(((total_time)/speed_factor) + 0.5)
-    if next_call > speed_factor then
-      return next_call
-    end
-  end
-  -- set trail length bassed on spin progress
-  local led_trail_length =  3 + (13 * (1 - (next_call/75)))
-
-
-  -- create a trail
-  for trail = 0, led_trail_length-1 do
-    local bfact = softness^(led_trail_length - trail)
-    local led_id = 1 + (count + trail) % 16
-    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
-    table.insert(updated_leds, led_id)
-  end
-
-  for led = 1, num_leds do
-    if not table.contains(updated_leds, led) then
-      notify:handle_rgb_id(0, 0, 0, led_map[led])
-    end
-  end
-  return next_call
-end
-
-function set_all(r, g, b)
-  for led = 1, num_leds do
-    notify:handle_rgb_id(r, g, b, led_map[led])
-  end
-end
-
-function animation_state_machine(vehicle_state)
-  -- change state only when last loop finished
-  if animation_end == 0 then
-    return
-  end
-
-  if ((vehicle_state & 1) == uint32_t(1)) then
-    -- do_initialisation
-    if current_anim ~= 0 then
-      current_anim = 0
-      total_time = 0
-      animation_end = 0
-    end
-  elseif current_anim == 0 then
-    -- do finish by move to north
-    count = 0
-    total_time = 0
-    current_anim = 1
-    animation_end = 0
-  elseif current_anim == 1 then
-    -- do always point north
-    current_anim = 2
-  elseif current_anim ~= 3 and ((vehicle_state & (1 << 1)) ~= uint32_t(0)) then --VEHICLE_STATE_ARMED
-    total_time = 0
-    current_anim = 3
-    animation_end = 0
-  elseif current_anim == 3 and ((vehicle_state & (1 << 1)) == uint32_t(0)) then
-    total_time = 0
-    current_anim = 4
-    animation_end = 0
-  elseif current_anim == 4 then
-    current_anim = 1
-  end
-end
-
-function update() -- this is the loop which periodically runs
-  local next_call = 20
-  local vehicle_state = periph:get_vehicle_state()
-  animation_state_machine(vehicle_state)
-
-  -- Initialisation
-  if current_anim == 0 then
-    do_initialisation()
-    total_time = total_time + next_call
-  elseif current_anim == 1 then
-    finish_initialisation(rainbow[1][1], rainbow[1][2], rainbow[1][3], 5, 20, 50, next_call)
-    total_time = total_time + next_call
-  elseif current_anim == 2 then
-    local v
-    if (vehicle_state & (1<<3)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM
-       (vehicle_state & (1<<4)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM_GPS
-       (vehicle_state & (1<<7)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_RADIO
-       (vehicle_state & (1<<8)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_BATT
-       (vehicle_state & (1<<11)) ~= uint32_t(0) then --VEHICLE_STATE_EKF_BAD
-      v = 0.0
-    end
-    if (vehicle_state & (1<<17)) == uint32_t(0) then--VEHICLE_STATE_POS_ABS_AVAIL
-      v = 0.5 + (0.5 * math.min(gps:num_sats(0)/20, 1.0))
-    else
-      v = 1.0
-    end
-    local r, g, b = get_Rainbow(v, 4)
-    count = do_point_north(r, g, b, 5, 20)
-  -- --[[ ARM Display
-  elseif current_anim == 3 then
-    if animation_end == 0 then
-      next_call = do_arm_spin(rainbow[4][1], rainbow[4][2], rainbow[4][3], 2, 75, true)
-      count = count + 1
-    end
-    if next_call < 1 then
-      set_all(rainbow[4][1], rainbow[4][2], rainbow[4][3])
-      animation_end = 1
-    else
-      total_time = total_time + next_call
-    end
-  elseif current_anim == 4 then
-    if animation_end == 0 then
-      next_call = do_arm_spin(rainbow[4][1], rainbow[4][2], rainbow[4][3], 2, 75, false)
-      count = count - 1
-    end
-    if next_call > 75 then
-      animation_end = 1
-    else
-      total_time = total_time + next_call
-    end
-  end
-  -- gcs:send_text(0, string.format("NCALL: %s", tostring(next_call)))
-  return update, next_call -- reschedules the loop in next_call milliseconds
-end
-
-return update() -- run immediately before starting to reschedule
\ No newline at end of file

From 492bbe48305efdee203a8d973efbb355fa690757 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 14 Feb 2024 18:39:29 +1100
Subject: [PATCH 1121/1335] Tools: remove HerePro

to be replaced by a HereProAP
---
 Tools/scripts/board_list.py | 1 -
 Tools/scripts/build_ci.sh   | 8 --------
 2 files changed, 9 deletions(-)

diff --git a/Tools/scripts/board_list.py b/Tools/scripts/board_list.py
index ab92794673821a..9758a1cc800ea3 100755
--- a/Tools/scripts/board_list.py
+++ b/Tools/scripts/board_list.py
@@ -179,7 +179,6 @@ def find_ap_periph_boards(self):
             "f103-HWESC",
             "f103-Trigger",
             "G4-ESC",
-            "HerePro",
         ]
         ret = []
         for x in self.boards:
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index ec491de5891730..75a42b516c6bbe 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -215,18 +215,10 @@ for t in $CI_BUILD_TARGET; do
         $waf configure --board f303-Universal
         $waf clean
         $waf AP_Periph
-        echo "Building HerePro peripheral fw"
-        $waf configure --board HerePro
-        $waf clean
-        $waf AP_Periph
         echo "Building CubeOrange-periph peripheral fw"
         $waf configure --board CubeOrange-periph
         $waf clean
         $waf AP_Periph
-        echo "Building HerePro bootloader"
-        $waf configure --board HerePro --bootloader
-        $waf clean
-        $waf bootloader
         echo "Building G4-ESC peripheral fw"
         $waf configure --board G4-ESC
         $waf clean

From 594f96670a8fdd7a4a43c7496bc4bfbbf267d111 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 15 Feb 2024 11:40:30 +1100
Subject: [PATCH 1122/1335] AP_Torqeedo: correct compilation when GCS not
 available

this variable is unused in that case
---
 libraries/AP_Torqeedo/AP_Torqeedo.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Torqeedo/AP_Torqeedo.cpp b/libraries/AP_Torqeedo/AP_Torqeedo.cpp
index 0d4b80ec86396f..2f4ec59e311adb 100644
--- a/libraries/AP_Torqeedo/AP_Torqeedo.cpp
+++ b/libraries/AP_Torqeedo/AP_Torqeedo.cpp
@@ -345,6 +345,7 @@ void AP_Torqeedo::report_error_codes()
 
     // report display system errors
     const char* msg_prefix = "Torqeedo:";
+    (void)msg_prefix;  // sometimes unused when HAL_GCS_ENABLED is false
     if (_display_system_state.flags.set_throttle_stop) {
         GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "%s zero throttle required", msg_prefix);
     }

From 3668616c53e173312c9047db2be035dfbcd986bd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 14 Feb 2024 12:03:10 +1100
Subject: [PATCH 1123/1335] Tools: added -e to cygwin build

error if any part of build fails

also ensure cygwin build in CI is parallelised
---
 Tools/scripts/cygwin_build.sh | 14 +++++++++-----
 1 file changed, 9 insertions(+), 5 deletions(-)

diff --git a/Tools/scripts/cygwin_build.sh b/Tools/scripts/cygwin_build.sh
index 204acbe9cca257..8c8228df90afa5 100755
--- a/Tools/scripts/cygwin_build.sh
+++ b/Tools/scripts/cygwin_build.sh
@@ -7,6 +7,7 @@
 # the script assumes you start in the root of the ardupilot git tree
 
 set -x
+set -e
 
 # TOOLCHAIN=i686-pc-cygwin
 TOOLCHAIN=x86_64-pc-cygwin
@@ -22,13 +23,16 @@ git config --global --add safe.directory /cygdrive/d/a/ardupilot/ardupilot
 rm -rf artifacts
 mkdir artifacts
 
+# cygwin doesn't work out the parallelism properly
+WAF_OPTIONS="-j8"
+
 (
     python ./waf --color yes --toolchain $TOOLCHAIN --board sitl configure 2>&1
-    python ./waf plane 2>&1
-    python ./waf copter 2>&1
-    python ./waf heli 2>&1
-    python ./waf rover 2>&1
-    python ./waf sub 2>&1
+    python ./waf plane $WAF_OPTIONS 2>&1
+    python ./waf copter $WAF_OPTIONS 2>&1
+    python ./waf heli $WAF_OPTIONS 2>&1
+    python ./waf rover $WAF_OPTIONS 2>&1
+    python ./waf sub $WAF_OPTIONS 2>&1
 ) | tee artifacts/build.txt
 
 # copy both with exe and without to cope with differences

From ff00d562fe71b9af04f4fd445a732310f733c5ac Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 14 Feb 2024 17:04:59 +0000
Subject: [PATCH 1124/1335] AP_DroneCAN: DNA_Server: log driver index in CAND

---
 libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp b/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
index 1164d4f7346c5d..12262859c53a0b 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
@@ -448,6 +448,7 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co
         // @LoggerMessage: CAND
         // @Description: Info from GetNodeInfo request
         // @Field: TimeUS: Time since system startup
+        // @Field: Driver: Driver index
         // @Field: NodeId: Node ID
         // @Field: UID1: Hardware ID, part 1
         // @Field: UID2: Hardware ID, part 2
@@ -455,9 +456,10 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co
         // @Field: Major: major revision id
         // @Field: Minor: minor revision id
         // @Field: Version: AP_Periph git hash
-        AP::logger().Write("CAND", "TimeUS,NodeId,UID1,UID2,Name,Major,Minor,Version",
-                           "s#------", "F-------", "QBQQZBBI",
+        AP::logger().Write("CAND", "TimeUS,Driver,NodeId,UID1,UID2,Name,Major,Minor,Version",
+                           "s-#------", "F--------", "QBBQQZBBI",
                            AP_HAL::micros64(),
+                           _ap_dronecan.get_driver_index(),
                            transfer.source_node_id,
                            uid[0], uid[1],
                            rsp.name.data,

From c0deee23a3cc0146d3a1cafb55ec47bc51dd89bb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 15 Feb 2024 11:40:30 +1100
Subject: [PATCH 1125/1335] AP_TemperatureSensor: correct compilation when GCS
 not available

This variable becomes unused
---
 libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS03.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS03.cpp b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS03.cpp
index 649a0063a31b06..eb14de06a77575 100644
--- a/libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS03.cpp
+++ b/libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS03.cpp
@@ -36,6 +36,7 @@ static const uint8_t TSYS03_CMD_READ_ADC    = 0x00;
 void AP_TemperatureSensor_TSYS03::init()
 {
     constexpr char name[] = "TSYS03";
+    (void)name;  // sometimes this is unused (e.g. HAL_GCS_ENABLED false)
 
 #if AP_TEMPERATURE_SENSOR_TSYS03_ENFORCE_KNOWN_VALID_I2C_ADDRESS
     // I2C Address: Default to using TSYS03_ADDR_CSB0 & Check I2C Address is Correct

From 9986fb972635016171235750a465adc0d0174ba0 Mon Sep 17 00:00:00 2001
From: Jaaaky <43599380+Jaaaky@users.noreply.github.com>
Date: Tue, 13 Feb 2024 12:24:50 +0300
Subject: [PATCH 1126/1335] Tools: Add prerequisites install script for
 openSUSE Tumbleweed

Tried to make it as complete as compatible as possible with Ubuntu environment

Installing static libs for SITL_static
And gcc_arm-linux for Linux based boards
---
 .../install-prereqs-openSUSE-Tumbleweed.sh    | 214 ++++++++++++++++++
 1 file changed, 214 insertions(+)
 create mode 100755 Tools/environment_install/install-prereqs-openSUSE-Tumbleweed.sh

diff --git a/Tools/environment_install/install-prereqs-openSUSE-Tumbleweed.sh b/Tools/environment_install/install-prereqs-openSUSE-Tumbleweed.sh
new file mode 100755
index 00000000000000..5895dbdeb5b2be
--- /dev/null
+++ b/Tools/environment_install/install-prereqs-openSUSE-Tumbleweed.sh
@@ -0,0 +1,214 @@
+#!/usr/bin/env bash
+echo "---------- $0 start ----------"
+set -e
+set -x
+set +H
+
+if [ $EUID == 0 ]; then
+    echo "Please do not run this script as root; don't sudo it!"
+    exit 1
+fi
+
+
+OPT="/opt"
+# Ardupilot Tools
+ARDUPILOT_TOOLS="Tools/autotest"
+
+ASSUME_YES=false
+QUIET=false
+sep="##############################################"
+
+OPTIND=1  # Reset in case getopts has been used previously in the shell.
+while getopts "yq" opt; do
+    case "$opt" in
+        \?)
+            exit 1
+            ;;
+        y)  ASSUME_YES=true
+            ;;
+        q)  QUIET=true
+            ;;
+    esac
+done
+
+ZYPPER="sudo zypper in --no-recommends"
+if $ASSUME_YES; then
+    ZYPPER="sudo zypper in -y --no-recommends"
+fi
+PIP3=pip3
+if $QUIET; then
+    PIP3="pip3 -q"
+fi
+
+function package_is_installed() {
+    rpm -q $1 &>/dev/null
+}
+
+function heading() {
+    echo "$sep"
+    echo $*
+    echo "$sep"
+}
+
+#Install python3 1st, as openSUSE TW WSL does not come with preinstalled python
+$ZYPPER python3 || echo "Check zypper output for errors"
+
+#As tumbleweed can have many python versions, we need to know which one is currently active
+PYPKGVER=python$(python3 --version | cut -d' ' -f2 | awk -F. '{print $1$2}')
+
+BASE_PKGS="patterns-devel-base-devel_basis ccache git axel valgrind screen gcc-c++ xterm free-ttf-fonts sfml2-devel zip glibc-devel-static rsync"
+SITL_PKGS="${PYPKGVER}-pip ${PYPKGVER}-devel ${PYPKGVER}-setuptools ${PYPKGVER}-wheel ${PYPKGVER}-lxml ${PYPKGVER}-pyaml ${PYPKGVER}-wxPython ${PYPKGVER}-pyparsing ${PYPKGVER}-opencv ${PYPKGVER}-numpy ${PYPKGVER}-scipy ${PYPKGVER}-matplotlib"
+
+PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect argparse pyparsing geocoder pyserial empy==3.3.4 ptyprocess dronecan"
+PYTHON_PKGS+=" flake8 junitparser pygame intelhex psutil pyyaml"
+# GNU Tools for ARM Embedded Processors
+# (see https://launchpad.net/gcc-arm-embedded/)
+ARM_ROOT="gcc-arm-none-eabi-10-2020-q4-major"
+ARM_TARBALL="$ARM_ROOT-x86_64-linux.tar.bz2"
+ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
+
+ARM_LINUX_ROOT=gcc-linaro-7.5.0-2019.12-x86_64_arm-linux-gnueabihf
+ARM_LINUX_GCC_URL="https://releases.linaro.org/components/toolchain/binaries/7.5-2019.12/arm-linux-gnueabihf/gcc-linaro-7.5.0-2019.12-x86_64_arm-linux-gnueabihf.tar.xz"
+ARM_LINUX_TARBALL="gcc-linaro-7.5.0-2019.12-x86_64_arm-linux-gnueabihf.tar.xz"
+
+function maybe_prompt_user() {
+    if $ASSUME_YES; then
+        return 0
+    else
+        read -p "$1"
+        if [[ $REPLY =~ ^[Yy]$ ]]; then
+            return 0
+        else
+            return 1
+        fi
+    fi
+}
+
+sudo usermod -a -G dialout "$USER"
+
+$ZYPPER $BASE_PKGS $SITL_PKGS || echo "Check zypper output for errors"
+
+python3 -m venv "$HOME"/venv-ardupilot
+
+SHELL_LOGIN=".profile"
+# activate it:
+SOURCE_LINE="source $HOME/venv-ardupilot/bin/activate"
+$SOURCE_LINE
+
+if ! grep -Fxq "$SOURCE_LINE" ~/.bashrc; then 
+    if [[ -z "${DO_PYTHON_VENV_ENV}" ]] && maybe_prompt_user "Make ArduPilot venv default for python [N/y]?" ; then
+        DO_PYTHON_VENV_ENV=1
+    fi
+
+    if [[ $DO_PYTHON_VENV_ENV -eq 1 ]]; then
+        echo $SOURCE_LINE >> ~/.bashrc
+    fi
+fi
+
+$PIP3 install -U pip setuptools wheel
+$PIP3 install -U attrdict3
+$PIP3 install -U $PYTHON_PKGS
+
+(
+    cd /usr/lib64/ccache
+    for C in arm-none-eabi-g++  arm-none-eabi-gcc arm-linux-gnueabihf-g++ arm-linux-gnueabihf-gcc; do
+        if [ ! -f "$C" ]; then
+            sudo ln -s ../../bin/ccache "$C"
+        fi
+    done
+)
+
+ccache --set-config sloppiness=file_macro,locale,time_macros
+ccache --set-config ignore_options="--specs=nano.specs --specs=nosys.specs"
+
+if [ ! -d $OPT/$ARM_ROOT ]; then
+    (
+        cd $OPT;
+        sudo axel -a -c $ARM_TARBALL_URL;
+        sudo tar xjf ${ARM_TARBALL};
+        sudo rm ${ARM_TARBALL};
+    )
+fi
+
+if [ ! -d $OPT/$ARM_LINUX_ROOT ]; then
+    (
+        cd $OPT;
+        sudo axel -a -c "${ARM_LINUX_GCC_URL}";
+        sudo tar xf ${ARM_LINUX_TARBALL};
+        sudo rm ${ARM_LINUX_TARBALL};
+    )
+fi
+
+heading "Removing modemmanager and brltty package that could conflict with firmware uploading"
+if package_is_installed "ModemManager"; then
+    sudo zypper rm ModemManager
+fi
+if package_is_installed "brltty"; then
+    sudo zypper rm brltty
+fi
+echo "Done!"
+
+heading "Adding ArduPilot Tools to environment"
+
+SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]}))
+ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../")
+
+
+exportline="export PATH=$OPT/$ARM_ROOT/bin:\$PATH";
+if ! grep -Fxq "$exportline" ~/$SHELL_LOGIN ; then
+    if maybe_prompt_user "Add $OPT/$ARM_ROOT/bin to your PATH [N/y]?" ; then
+        echo $exportline >> ~/$SHELL_LOGIN
+    else
+        echo "Skipping adding $OPT/$ARM_ROOT/bin to PATH."
+    fi
+fi
+
+exportline1="export PATH=$OPT/$ARM_LINUX_ROOT/bin:\$PATH";
+if ! grep -Fxq "$exportline1" ~/$SHELL_LOGIN ; then
+    if maybe_prompt_user "Add $OPT/$ARM_LINUX_ROOT/bin to your PATH [N/y]?" ; then
+        echo $exportline1 >> ~/$SHELL_LOGIN
+    else
+        echo "Skipping adding $OPT/$ARM_LINUX_ROOT/bin to PATH."
+    fi
+fi
+
+exportline2="export PATH=$ARDUPILOT_ROOT/$ARDUPILOT_TOOLS:\$PATH";
+if  ! grep -Fxq "$exportline2" ~/$SHELL_LOGIN ; then
+    if maybe_prompt_user "Add $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to your PATH [N/y]?" ; then
+        echo $exportline2 >> ~/$SHELL_LOGIN
+    else
+        echo "Skipping adding $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to PATH."
+    fi
+fi
+
+exportline3="source $ARDUPILOT_ROOT/Tools/completion/completion.bash";
+if  ! grep -Fxq "$exportline3" ~/.bashrc ; then
+    if maybe_prompt_user "Add ArduPilot Bash Completion to your bash shell [N/y]?" ; then
+        echo $exportline3 >> ~/.bashrc
+    else
+        echo "Skipping adding ArduPilot Bash Completion."
+    fi
+fi
+
+exportline4="export PATH=/usr/lib64/ccache:\$PATH";
+if ! grep -Fxq "$exportline4" ~/$SHELL_LOGIN ; then
+    if maybe_prompt_user "Append CCache to your PATH [N/y]?" ; then
+        echo $exportline4 >> ~/$SHELL_LOGIN
+    else
+        echo "Skipping appending CCache to PATH."
+    fi
+fi
+echo "Done!"
+
+if [[ $SKIP_AP_GIT_CHECK -ne 1 ]]; then
+  cd "$ARDUPILOT_ROOT"
+  if [ -d ".git" ]; then
+    heading "Update git submodules"
+    cd $ARDUPILOT_ROOT
+    git submodule update --init --recursive
+    echo "Done!"
+  fi
+fi
+
+echo "---------- $0 end ----------"
+echo "Done. Please log out and log in again."

From 388b04d67155fcbf883c02703e43129c1b3b9e05 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 17 Feb 2024 19:26:49 +1100
Subject: [PATCH 1127/1335] SITL: fixed SITL for tilted motors

vector math was done in the wrong order
---
 libraries/SITL/SIM_Motor.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/SITL/SIM_Motor.cpp b/libraries/SITL/SIM_Motor.cpp
index e145d0d8239f4a..9c82d1ac0b72f9 100644
--- a/libraries/SITL/SIM_Motor.cpp
+++ b/libraries/SITL/SIM_Motor.cpp
@@ -98,17 +98,17 @@ void Motor::calculate_forces(const struct sitl_input &input,
     }
     last_change_usec = now;
 
-    // calculate torque in newton-meters
-    torque = (position % thrust) + rotor_torque;
-
     // possibly rotate the thrust vector and the rotor torque
     if (!is_zero(roll) || !is_zero(pitch)) {
         Matrix3f rotation;
         rotation.from_euler(radians(roll), radians(pitch), 0);
         thrust = rotation * thrust;
-        torque = rotation * torque;
+        rotor_torque = rotation * rotor_torque;
     }
 
+    // calculate total torque in newton-meters
+    torque = (position % thrust) + rotor_torque;
+
     if (use_drag) {
         // calculate momentum drag per motor
         const float momentum_drag_factor = momentum_drag_coefficient * sqrtf(air_density * true_prop_area);

From 9225b9f76df02ea5f49a8436256e29a2dd85a7a7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 17 Feb 2024 19:27:24 +1100
Subject: [PATCH 1128/1335] SITL: added 4 motor tilt vectored quadplane

from 2 motors tilt for "quadplane-tilt". This is the most common tilt
quadplane setup
---
 libraries/SITL/SIM_Frame.cpp     | 11 ++++++++++-
 libraries/SITL/SIM_QuadPlane.cpp |  4 ++++
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/libraries/SITL/SIM_Frame.cpp b/libraries/SITL/SIM_Frame.cpp
index a9b49040427371..ef106020b99eae 100644
--- a/libraries/SITL/SIM_Frame.cpp
+++ b/libraries/SITL/SIM_Frame.cpp
@@ -89,6 +89,14 @@ static Motor tiltquad_h_vectored_motors[] =
     Motor(AP_MOTORS_MOT_4,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2, -1, 0, 0, 7, 10, -90),
 };
 
+static Motor tiltquad[] =
+{
+    Motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  1, -1, 0, 0, 7, 10, -90),
+    Motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  3),
+    Motor(AP_MOTORS_MOT_3,  -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   4, -1, 0, 0, 8, 10, -90),
+    Motor(AP_MOTORS_MOT_4,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   2),
+};
+
 static Motor hexa_motors[] =
 {
     Motor(AP_MOTORS_MOT_1,   0, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1),
@@ -308,7 +316,8 @@ static Frame supported_frames[] =
     Frame("tilttrivec",3, tilttri_vectored_motors),
     Frame("tilttri",   3, tilttri_motors),
     Frame("y6",        6, y6_motors),
-    Frame("firefly",   6, firefly_motors)
+    Frame("firefly",   6, firefly_motors),
+    Frame("tilt",      4, tiltquad),
 };
 
 // get air density in kg/m^3
diff --git a/libraries/SITL/SIM_QuadPlane.cpp b/libraries/SITL/SIM_QuadPlane.cpp
index a58b673405cdf5..2f633b84042e02 100644
--- a/libraries/SITL/SIM_QuadPlane.cpp
+++ b/libraries/SITL/SIM_QuadPlane.cpp
@@ -65,6 +65,10 @@ QuadPlane::QuadPlane(const char *frame_str) :
         thrust_scale = 0;
         // vtol motors start at 2
         motor_offset = 2;
+    } else if (strstr(frame_str, "-tilt")) {
+        frame_type = "tilt";
+        // fwd motor gives zero thrust
+        thrust_scale = 0;
     } else if (strstr(frame_str, "cl84")) {
         frame_type = "tilttri";
         // fwd motor gives zero thrust

From 1d08662c726a794190e49211f56550ea25c16e9e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 17 Feb 2024 19:28:05 +1100
Subject: [PATCH 1129/1335] autotest: fixed parameters for tilt quadplanes

and enable autotest of the disabled tilt quadplane frames
---
 Tools/autotest/arduplane.py                   |   4 -
 Tools/autotest/default_params/firefly.parm    |  97 ++------------
 .../default_params/quadplane-cl84.parm        |  76 ++---------
 .../default_params/quadplane-tilt.parm        |  18 +++
 .../default_params/quadplane-tilttri.parm     |  82 +-----------
 .../default_params/quadplane-tilttrivec.parm  | 124 +++++++-----------
 .../default_params/quadplane-tri.parm         |  72 ----------
 Tools/autotest/pysim/vehicleinfo.py           |  20 ++-
 8 files changed, 109 insertions(+), 384 deletions(-)
 create mode 100644 Tools/autotest/default_params/quadplane-tilt.parm

diff --git a/Tools/autotest/arduplane.py b/Tools/autotest/arduplane.py
index 636575f57cb318..531a63a24f9d4f 100644
--- a/Tools/autotest/arduplane.py
+++ b/Tools/autotest/arduplane.py
@@ -3948,11 +3948,7 @@ def FlyEachFrame(self):
         vinfo = vehicleinfo.VehicleInfo()
         vinfo_options = vinfo.options[self.vehicleinfo_key()]
         known_broken_frames = {
-            "firefly": "falls out of sky after transition",
             "plane-tailsitter": "does not take off; immediately emits 'AP: Transition VTOL done' while on ground",
-            "quadplane-cl84": "falls out of sky instead of transitioning",
-            "quadplane-tilttri": "falls out of sky instead of transitioning",
-            "quadplane-tilttrivec": "loses attitude control and crashes",
             "plane-ice" : "needs ICE control channel for ignition",
             "quadplane-ice" : "needs ICE control channel for ignition",
             "quadplane-can" : "needs CAN periph",
diff --git a/Tools/autotest/default_params/firefly.parm b/Tools/autotest/default_params/firefly.parm
index 07c681d8b6de3e..81e97d17d7dc48 100644
--- a/Tools/autotest/default_params/firefly.parm
+++ b/Tools/autotest/default_params/firefly.parm
@@ -1,97 +1,28 @@
-SERVO1_FUNCTION = 78
-SERVO2_FUNCTION = 77
-SERVO1_REVERSED = 1
-SERVO2_REVERSED = 1
-SERVO1_MAX = 2000
-SERVO1_MIN = 1000
-SERVO2_MAX = 2000
-SERVO2_MIN = 1000
-AHRS_EKF_TYPE    2
-ARMING_RUDDER    2
-AIRSPEED_MAX    35
-AIRSPEED_MIN    6
-ARSPD_USE        1
-AUTOTUNE_LEVEL   8
-COMPASS_OFS2_X   -0.420265
-COMPASS_OFS2_Y   -0.726942
-COMPASS_OFS2_Z   6.665476
-COMPASS_OFS3_X   -0.420265
-COMPASS_OFS3_Y   -0.726942
-COMPASS_OFS3_Z   6.665476
-COMPASS_OFS_X    -0.453570
-COMPASS_OFS_Y    -0.585846
-COMPASS_OFS_Z    6.815743
-EK2_ENABLE       1
-EK2_IMU_MASK     3
-FBWB_CLIMB_RATE  10
-FLTMODE1         10
-FLTMODE2         11
-FLTMODE3         12
-FLTMODE4         5
-FLTMODE5         19
-FLTMODE6         5
-FLTMODE_CH       5
-INS_ACC2OFFS_X   0.001000
-INS_ACC2OFFS_Y   0.001000
-INS_ACC2OFFS_Z   0.001000
-INS_ACC2SCAL_X   1.001000
-INS_ACC2SCAL_Y   1.001000
-INS_ACC2SCAL_Z   1.001000
-INS_ACCOFFS_X    0.001000
-INS_ACCOFFS_Y    0.001000
-INS_ACCOFFS_Z    0.001000
-INS_ACCSCAL_X    1.001000
-INS_ACCSCAL_Y    1.001000
-INS_ACCSCAL_Z    1.001000
-INS_GYR_CAL      0
-KFF_RDDRMIX      0.500000
-PTCH_LIM_MAX_DEG 30.00
-PTCH_LIM_MIN_DEG -30.00
-ROLL_LIMIT_DEG 65.00
-NAVL1_PERIOD     8
-PTCH_RATE_D       0.000000
-PTCH_RATE_I       0.212500
-PTCH_RATE_IMAX    0.888889
-PTCH_RATE_P       0.309954
-PTCH2SRV_RLL     1
-RALLY_INCL_HOME  0
-RALLY_LIMIT_KM   5
-RALLY_TOTAL      0
-RC1_DZ           30
-RC1_MAX          1886
-RC1_MIN          1087
-RC1_TRIM         1500
-RC3_MAX          2000
-RC3_MIN          1000
-SERVO3_MIN       1000
-SERVO3_MAX       2000
-RLL_RATE_D        0.000000
-RLL_RATE_I        0.212500
-RLL_RATE_IMAX     0.888889
-RLL_RATE_P        0.141009
-SCHED_LOOP_RATE  300
-THR_MAX          100
-AIRSPEED_CRUISE 25.00
-LOG_BITMASK      65534
-# map channel 13 out for tilt
 Q_ENABLE         1
 Q_FRAME_CLASS    5
 Q_FRAME_TYPE     11
-Q_ASSIST_SPEED   10
+
+Q_TILT_ENABLE    1
 Q_TILT_MASK      54
 Q_TILT_MAX       60
 Q_TILT_RATE_DN   15
-Q_RTL_MODE       1
+
 Q_VFWD_GAIN      0.1
 Q_WVANE_GAIN     0.3
-SERVO9_FUNCTION  41
-SERVO9_MIN       1000
-SERVO9_MAX       2000
+
+
+SERVO1_FUNCTION = 78
+SERVO2_FUNCTION = 77
+SERVO1_REVERSED = 1
+SERVO2_REVERSED = 1
+
 SERVO3_FUNCTION  33
 SERVO4_FUNCTION  34
 SERVO5_FUNCTION  35
 SERVO6_FUNCTION  36
 SERVO7_FUNCTION  37
 SERVO8_FUNCTION  38
-PTCH_RATE_FF 1.407055
-RLL_RATE_FF 0.752741
+
+SERVO9_FUNCTION  41
+SERVO9_MIN       1000
+SERVO9_MAX       2000
diff --git a/Tools/autotest/default_params/quadplane-cl84.parm b/Tools/autotest/default_params/quadplane-cl84.parm
index 493d3059581730..fee738bef83beb 100644
--- a/Tools/autotest/default_params/quadplane-cl84.parm
+++ b/Tools/autotest/default_params/quadplane-cl84.parm
@@ -1,70 +1,14 @@
-ARMING_RUDDER    2
-ARSPD_TYPE       0
-AIRSPEED_MAX    35
-AIRSPEED_MIN    6
-AUTOTUNE_LEVEL   8
-COMPASS_OFS2_X   -0.420265
-COMPASS_OFS2_Y   -0.726942
-COMPASS_OFS2_Z   6.665476
-COMPASS_OFS3_X   -0.420265
-COMPASS_OFS3_Y   -0.726942
-COMPASS_OFS3_Z   6.665476
-COMPASS_OFS_X    -0.453570
-COMPASS_OFS_Y    -0.585846
-COMPASS_OFS_Z    6.815743
-FBWB_CLIMB_RATE  10
-FLTMODE1         10
-FLTMODE2         11
-FLTMODE3         12
-FLTMODE4         5
-FLTMODE5         19
-FLTMODE6         5
-FLTMODE_CH       5
-INS_ACC2OFFS_X   0.001000
-INS_ACC2OFFS_Y   0.001000
-INS_ACC2OFFS_Z   0.001000
-INS_ACC2SCAL_X   1.001000
-INS_ACC2SCAL_Y   1.001000
-INS_ACC2SCAL_Z   1.001000
-INS_ACCOFFS_X    0.001000
-INS_ACCOFFS_Y    0.001000
-INS_ACCOFFS_Z    0.001000
-INS_ACCSCAL_X    1.001000
-INS_ACCSCAL_Y    1.001000
-INS_ACCSCAL_Z    1.001000
-INS_GYR_CAL      0
-KFF_RDDRMIX      0.500000
-PTCH_LIM_MAX_DEG 30.00
-PTCH_LIM_MIN_DEG -30.00
-ROLL_LIMIT_DEG 65.00
-NAVL1_PERIOD     14
-PTCH_RATE_D       0.000000
-PTCH_RATE_I       0.212500
-PTCH_RATE_IMAX    0.888889
-PTCH_RATE_P       0.309954
-PTCH2SRV_RLL     1
-RALLY_INCL_HOME  0
-RALLY_LIMIT_KM   5
-RALLY_TOTAL      0
-RLL_RATE_D        0.000000
-RLL_RATE_I        0.212500
-RLL_RATE_IMAX     0.888889
-RLL_RATE_P        0.141009
-THR_MAX          100
-AIRSPEED_CRUISE 25.00
-SERVO12_FUNCTION 41
-SERVO12_MIN      1000
-SERVO12_MAX      2000
-SERVO11_TRIM     1500
-RTL_RADIUS       80
-RTL_ALTITUDE 20.00
-Q_ENABLE         1
 Q_FRAME_CLASS    7
-Q_ANGLE_MAX      4500
-Q_ASSIST_SPEED   6
+Q_TILT_ENABLE    1
 Q_TILT_MASK      3
 Q_TILT_RATE      13
 Q_TILT_TYPE      1
-Q_RTL_MODE       1
-PTCH_RATE_FF 1.407055
-RLL_RATE_FF 0.552741
+
+# 7 seconds to move servo
+Q_TILT_RATE_DN 12.85
+Q_TILT_RATE_UP 12.85
+
+
+SERVO12_FUNCTION 41
+SERVO12_MIN      1000
+SERVO12_MAX      2000
diff --git a/Tools/autotest/default_params/quadplane-tilt.parm b/Tools/autotest/default_params/quadplane-tilt.parm
new file mode 100644
index 00000000000000..2968dc8b4b1c23
--- /dev/null
+++ b/Tools/autotest/default_params/quadplane-tilt.parm
@@ -0,0 +1,18 @@
+
+Q_ENABLE         1
+Q_FRAME_CLASS    1
+Q_FRAME_TYPE     1
+
+Q_TILT_ENABLE    1
+Q_TILT_TYPE      2
+Q_TILT_YAW_ANGLE 10
+Q_TILT_MASK      5
+
+SERVO3_FUNCTION 0
+
+SERVO12_FUNCTION 76
+SERVO13_FUNCTION 75
+SERVO12_MIN 1000
+SERVO12_MAX 2000
+SERVO13_MIN 1000
+SERVO13_MAX 2000
diff --git a/Tools/autotest/default_params/quadplane-tilttri.parm b/Tools/autotest/default_params/quadplane-tilttri.parm
index f4a499185163cd..4980e36f5c2d02 100644
--- a/Tools/autotest/default_params/quadplane-tilttri.parm
+++ b/Tools/autotest/default_params/quadplane-tilttri.parm
@@ -1,81 +1,11 @@
-AHRS_EKF_TYPE    2
-ARMING_RUDDER    2
-AIRSPEED_MAX    35
-AIRSPEED_MIN    6
-ARSPD_USE        1
-AUTOTUNE_LEVEL   8
-COMPASS_OFS2_X   -0.420265
-COMPASS_OFS2_Y   -0.726942
-COMPASS_OFS2_Z   6.665476
-COMPASS_OFS3_X   -0.420265
-COMPASS_OFS3_Y   -0.726942
-COMPASS_OFS3_Z   6.665476
-COMPASS_OFS_X    -0.453570
-COMPASS_OFS_Y    -0.585846
-COMPASS_OFS_Z    6.815743
-EK2_ENABLE       1
-EK2_IMU_MASK     3
-FBWB_CLIMB_RATE  10
-FLTMODE1         10
-FLTMODE2         11
-FLTMODE3         12
-FLTMODE4         5
-FLTMODE5         19
-FLTMODE6         5
-FLTMODE_CH       5
-INS_ACC2OFFS_X   0.001000
-INS_ACC2OFFS_Y   0.001000
-INS_ACC2OFFS_Z   0.001000
-INS_ACC2SCAL_X   1.001000
-INS_ACC2SCAL_Y   1.001000
-INS_ACC2SCAL_Z   1.001000
-INS_ACCOFFS_X    0.001000
-INS_ACCOFFS_Y    0.001000
-INS_ACCOFFS_Z    0.001000
-INS_ACCSCAL_X    1.001000
-INS_ACCSCAL_Y    1.001000
-INS_ACCSCAL_Z    1.001000
-INS_GYR_CAL      0
-KFF_RDDRMIX      0.500000
-PTCH_LIM_MAX_DEG 30.00
-PTCH_LIM_MIN_DEG -30.00
-ROLL_LIMIT_DEG 65.00
-NAVL1_PERIOD     14
-PTCH_RATE_D       0.000000
-PTCH_RATE_I       0.212500
-PTCH_RATE_IMAX    0.888889
-PTCH_RATE_P       0.309954
-PTCH2SRV_RLL     1
-Q_ANGLE_MAX      4500
-Q_ASSIST_SPEED   6
-Q_ENABLE         1
 Q_FRAME_CLASS    7
-RALLY_INCL_HOME  0
-RALLY_LIMIT_KM   5
-RALLY_TOTAL      0
-RC1_DZ           30
-RC1_MAX          1886
-RC1_MIN          1087
-RC1_TRIM         1500
-RC3_MAX          2000
-RC3_MIN          1000
-SERVO3_MIN       1000
-SERVO3_MAX       2000
-RLL_RATE_D        0.000000
-RLL_RATE_I        0.212500
-RLL_RATE_IMAX     0.888889
-RLL_RATE_P        0.141009
-SCHED_LOOP_RATE  300
-THR_MAX          100
-AIRSPEED_CRUISE 25.00
-LOG_BITMASK      65534
+
+SERVO3_FUNCTION  0
+
+Q_TILT_ENABLE    1
 Q_TILT_MASK      3
-Q_VFWD_GAIN      0.1
+Q_TILT_TYPE      0
+
 SERVO12_FUNCTION 41
 SERVO12_MIN      1000
 SERVO12_MAX      2000
-RTL_RADIUS       80
-Q_RTL_MODE       1
-RTL_ALTITUDE 20.00
-PTCH_RATE_FF 1.407055
-RLL_RATE_FF 0.552741
diff --git a/Tools/autotest/default_params/quadplane-tilttrivec.parm b/Tools/autotest/default_params/quadplane-tilttrivec.parm
index 1efb903f2ca0b4..62b88288b05cbc 100644
--- a/Tools/autotest/default_params/quadplane-tilttrivec.parm
+++ b/Tools/autotest/default_params/quadplane-tilttrivec.parm
@@ -1,86 +1,54 @@
-AHRS_EKF_TYPE    2
-ARMING_RUDDER    2
-AIRSPEED_MAX    35
-AIRSPEED_MIN    6
-ARSPD_USE        1
-AUTOTUNE_LEVEL   8
-COMPASS_OFS2_X   -0.420265
-COMPASS_OFS2_Y   -0.726942
-COMPASS_OFS2_Z   6.665476
-COMPASS_OFS3_X   -0.420265
-COMPASS_OFS3_Y   -0.726942
-COMPASS_OFS3_Z   6.665476
-COMPASS_OFS_X    -0.453570
-COMPASS_OFS_Y    -0.585846
-COMPASS_OFS_Z    6.815743
-EK2_ENABLE       1
-EK2_IMU_MASK     3
-FBWB_CLIMB_RATE  10
-FLTMODE1         10
-FLTMODE2         11
-FLTMODE3         12
-FLTMODE4         5
-FLTMODE5         19
-FLTMODE6         5
-FLTMODE_CH       5
-INS_ACC2OFFS_X   0.001000
-INS_ACC2OFFS_Y   0.001000
-INS_ACC2OFFS_Z   0.001000
-INS_ACC2SCAL_X   1.001000
-INS_ACC2SCAL_Y   1.001000
-INS_ACC2SCAL_Z   1.001000
-INS_ACCOFFS_X    0.001000
-INS_ACCOFFS_Y    0.001000
-INS_ACCOFFS_Z    0.001000
-INS_ACCSCAL_X    1.001000
-INS_ACCSCAL_Y    1.001000
-INS_ACCSCAL_Z    1.001000
-INS_GYR_CAL      0
-KFF_RDDRMIX      0.500000
-PTCH_LIM_MAX_DEG 30.00
-PTCH_LIM_MIN_DEG -30.00
-ROLL_LIMIT_DEG 65.00
-NAVL1_PERIOD     14
-PTCH_RATE_D       0.000000
-PTCH_RATE_I       0.212500
-PTCH_RATE_IMAX    0.888889
-PTCH_RATE_P       0.309954
-PTCH2SRV_RLL     1
-Q_ANGLE_MAX      4500
 Q_ASSIST_SPEED   6
 Q_ENABLE         1
 Q_FRAME_CLASS    7
-RALLY_INCL_HOME  0
-RALLY_LIMIT_KM   5
-RALLY_TOTAL      0
-RC1_DZ           30
-RC1_MAX          1886
-RC1_MIN          1087
-RC1_TRIM         1500
-RC3_MAX          2000
-RC3_MIN          1000
-SERVO3_MIN       1000
-SERVO3_MAX       2000
-RLL_RATE_D        0.000000
-RLL_RATE_I        0.212500
-RLL_RATE_IMAX     0.888889
-RLL_RATE_P        0.141009
-SCHED_LOOP_RATE  300
-THR_MAX          100
-AIRSPEED_CRUISE 25.00
-LOG_BITMASK      65534
+
+Q_TILT_ENABLE    1
 Q_TILT_MASK      3
-Q_VFWD_GAIN      0.1
+Q_TILT_TYPE      2
+Q_TILT_YAW_ANGLE 10
+
+SERVO3_FUNCTION 0
 SERVO12_FUNCTION 76
 SERVO12_MIN      1000
 SERVO12_MAX      2000
 SERVO13_FUNCTION 75
-SERVO12_MIN      1000
-SERVO12_MAX      2000
-RTL_RADIUS       80
-Q_RTL_MODE       1
-RTL_ALTITUDE 20.00
-Q_TILT_TYPE      2
-Q_TILT_YAW_ANGLE 10
-PTCH_RATE_FF 1.407055
-RLL_RATE_FF 0.552741
+SERVO13_MIN      1000
+SERVO13_MAX      2000
+
+Q_A_RAT_RLL_P    0.126
+Q_A_RAT_RLL_I    0.126
+Q_A_RAT_RLL_D    0.003
+Q_A_RAT_RLL_FLTT 10
+Q_A_RAT_PIT_P    0.12
+Q_A_RAT_PIT_I    0.12
+Q_A_RAT_PIT_D    0.0025
+Q_A_RAT_PIT_FLTT 10
+Q_A_RAT_YAW_P    0.5
+Q_A_RAT_YAW_I    0.05
+Q_A_RAT_YAW_D    0.01
+Q_A_RAT_YAW_FLTT 10
+Q_A_RAT_YAW_FLTE 0
+Q_A_RAT_YAW_FLTD 10
+
+RLL2SRV_TCONST   0.2
+RLL2SRV_RMAX     120
+RLL_RATE_P       0.74
+RLL_RATE_I       0.218
+RLL_RATE_D       0.012
+RLL_RATE_FF      0.218
+RLL_RATE_FLTT    7.957
+RLL_RATE_FLTD    10
+
+PTCH2SRV_TCONST  0.3
+PTCH2SRV_RMAX_UP 120
+PTCH2SRV_RMAX_DN 120
+PTCH_RATE_P      0.574
+PTCH_RATE_I      0.933
+PTCH_RATE_D      0.016
+PTCH_RATE_FF     0.933
+PTCH_RATE_FLTT   5.305
+PTCH_RATE_FLTD   10
+
+
+
+
diff --git a/Tools/autotest/default_params/quadplane-tri.parm b/Tools/autotest/default_params/quadplane-tri.parm
index c567bf4dba5d0d..593eb381e962c3 100644
--- a/Tools/autotest/default_params/quadplane-tri.parm
+++ b/Tools/autotest/default_params/quadplane-tri.parm
@@ -1,73 +1 @@
-AHRS_EKF_TYPE    2
-ARMING_RUDDER    2
-AIRSPEED_MAX    35
-AIRSPEED_MIN    13
-ARSPD_USE        1
-AUTOTUNE_LEVEL   8
-COMPASS_OFS2_X   -0.420265
-COMPASS_OFS2_Y   -0.726942
-COMPASS_OFS2_Z   6.665476
-COMPASS_OFS3_X   -0.420265
-COMPASS_OFS3_Y   -0.726942
-COMPASS_OFS3_Z   6.665476
-COMPASS_OFS_X    -0.453570
-COMPASS_OFS_Y    -0.585846
-COMPASS_OFS_Z    6.815743
-EK2_ENABLE       1
-EK2_IMU_MASK     3
-FBWB_CLIMB_RATE  10
-FLTMODE1         10
-FLTMODE2         11
-FLTMODE3         12
-FLTMODE4         5
-FLTMODE5         19
-FLTMODE6         5
-FLTMODE_CH       5
-INS_ACC2OFFS_X   0.001000
-INS_ACC2OFFS_Y   0.001000
-INS_ACC2OFFS_Z   0.001000
-INS_ACC2SCAL_X   1.001000
-INS_ACC2SCAL_Y   1.001000
-INS_ACC2SCAL_Z   1.001000
-INS_ACCOFFS_X    0.001000
-INS_ACCOFFS_Y    0.001000
-INS_ACCOFFS_Z    0.001000
-INS_ACCSCAL_X    1.001000
-INS_ACCSCAL_Y    1.001000
-INS_ACCSCAL_Z    1.001000
-INS_GYR_CAL      0
-KFF_RDDRMIX      0.500000
-PTCH_LIM_MAX_DEG 30.00
-PTCH_LIM_MIN_DEG -30.00
-ROLL_LIMIT_DEG 65.00
-NAVL1_PERIOD     14
-PTCH_RATE_D       0.000000
-PTCH_RATE_I       0.212500
-PTCH_RATE_IMAX    0.888889
-PTCH_RATE_P       0.309954
-PTCH2SRV_RLL     1
-Q_ANGLE_MAX      4500
-Q_ASSIST_SPEED   18
-Q_ENABLE         1
 Q_FRAME_CLASS    7
-RALLY_INCL_HOME  0
-RALLY_LIMIT_KM   5
-RALLY_TOTAL      0
-RC1_DZ           30
-RC1_MAX          1886
-RC1_MIN          1087
-RC1_TRIM         1500
-RC3_MAX          2000
-RC3_MIN          1000
-SERVO3_MIN       1000
-SERVO3_MAX       2000
-RLL_RATE_D        0.000000
-RLL_RATE_I        0.212500
-RLL_RATE_IMAX     0.888889
-RLL_RATE_P        0.141009
-SCHED_LOOP_RATE  300
-THR_MAX          100
-AIRSPEED_CRUISE 25.00
-LOG_BITMASK      65534
-PTCH_RATE_FF 1.407055
-RLL_RATE_FF 0.552741
diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py
index 0bba80193313ef..5972e835c4f88e 100644
--- a/Tools/autotest/pysim/vehicleinfo.py
+++ b/Tools/autotest/pysim/vehicleinfo.py
@@ -239,11 +239,13 @@ def __init__(self):
             # PLANE
             "quadplane-tilttri": {
                 "waf_target": "bin/arduplane",
-                "default_params_filename": "default_params/quadplane-tilttri.parm",
+                "default_params_filename": ["default_params/quadplane.parm",
+                                            "default_params/quadplane-tilttri.parm"],
             },
             "quadplane-tilttrivec": {
                 "waf_target": "bin/arduplane",
-                "default_params_filename": "default_params/quadplane-tilttrivec.parm",
+                "default_params_filename": ["default_params/quadplane.parm",
+                                            "default_params/quadplane-tilttrivec.parm"],
             },
             "quadplane-tilthvec": {
                 "waf_target": "bin/arduplane",
@@ -251,11 +253,13 @@ def __init__(self):
             },
             "quadplane-tri": {
                 "waf_target": "bin/arduplane",
-                "default_params_filename": "default_params/quadplane-tri.parm",
+                "default_params_filename": ["default_params/quadplane.parm",
+                                            "default_params/quadplane-tri.parm"],
             },
             "quadplane-cl84" : {
                 "waf_target" : "bin/arduplane",
-                "default_params_filename": "default_params/quadplane-cl84.parm",
+                "default_params_filename": ["default_params/quadplane.parm",
+                                            "default_params/quadplane-cl84.parm"],
             },
             "quadplane": {
                 "waf_target": "bin/arduplane",
@@ -270,9 +274,15 @@ def __init__(self):
                 "default_params_filename": ["default_params/quadplane.parm", "default_params/quadplane-can.parm"],
                 "periph_params_filename": ["default_params/periph.parm", "default_params/quadplane-periph.parm"],
             },
+            "quadplane-tilt": {
+                "waf_target": "bin/arduplane",
+                "default_params_filename": ["default_params/quadplane.parm",
+                                            "default_params/quadplane-tilt.parm"],
+            },
             "firefly": {
                 "waf_target": "bin/arduplane",
-                "default_params_filename": "default_params/firefly.parm",
+                "default_params_filename": ["default_params/quadplane.parm",
+                                            "default_params/firefly.parm"]
             },
             "plane-elevon": {
                 "waf_target": "bin/arduplane",

From 303c33411f33bca33d69a6d18dba14028b9ce422 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 19 Feb 2024 08:50:38 +1100
Subject: [PATCH 1130/1335] AP_Scripting: fixed pitch param reversion in
 revert_param.lua

---
 libraries/AP_Scripting/applets/revert_param.lua |  4 ++--
 libraries/AP_Scripting/applets/revert_param.md  | 10 +++++++---
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_Scripting/applets/revert_param.lua b/libraries/AP_Scripting/applets/revert_param.lua
index 9eb8938596b857..27dc9cc943bcf5 100644
--- a/libraries/AP_Scripting/applets/revert_param.lua
+++ b/libraries/AP_Scripting/applets/revert_param.lua
@@ -57,7 +57,7 @@ local PID_prefixes = { "_RAT_RLL_", "_RAT_PIT_", "_RAT_YAW_" }
 local PID_suffixes = { "FF", "P", "I", "D", "D_FF", "PDMX", "NEF", "NTF", "IMAX", "FLTD", "FLTE", "FLTT", "SMAX" }
 local angle_axes = { "RLL", "PIT", "YAW" }
 local PSC_types = { "ACCZ", "VELZ", "POSZ", "VELXY", "POSXY" }
-local OTHER_PARAMS = { "INS_GYRO_FILTER", "INS_ACCEL_FILTER" }
+local OTHER_PARAMS = { "INS_GYRO_FILTER", "INS_ACCEL_FILTER", "PTCH2SRV_TCONST", "RLL2SRV_TCONST" }
 
 if PREV_ENABLE:get() == 0 then
    return
@@ -92,7 +92,7 @@ end
 -- add fixed wing tuning
 for _, suffix in ipairs(PID_suffixes) do
    add_param("RLL_RATE_" .. suffix)
-   add_param("PIT_RATE_" .. suffix)
+   add_param("PTCH_RATE_" .. suffix)
    add_param("YAW_RATE_" .. suffix)
 end
 
diff --git a/libraries/AP_Scripting/applets/revert_param.md b/libraries/AP_Scripting/applets/revert_param.md
index c2dc5835d0e5ca..63d564db7b4905 100644
--- a/libraries/AP_Scripting/applets/revert_param.md
+++ b/libraries/AP_Scripting/applets/revert_param.md
@@ -47,9 +47,6 @@ The script covers the following parameters on quadplanes:
  - Q_A_ANG_RLL_P
  - Q_A_ANG_PIT_P
  - Q_A_ANG_YAW_P
- - RLL_RATE_*
- - PTCH_RATE_*
- - YAW_RATE_*
  - Q_P_ACCZ_*
  - Q_P_VELZ_*
  - Q_P_POSZ_*
@@ -69,3 +66,10 @@ The script covers the following parameters on copters:
  - PSC_POSZ_*
  - PSC_VELXY_*
  - PSC_POSXY_*
+
+For fixed wing the following parameters are covered:
+
+ - RLL_RATE_*
+ - PTCH_RATE_*
+ - RLL2SRV_TCONST
+ - PTCH2SRV_TCONST

From 6c4c7a2130bec2601f4868f7694268ebf8ab56de Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 18 Feb 2024 13:00:31 +0000
Subject: [PATCH 1131/1335] AC_AttitudeControl: fix reset_target_and_rate
 method

---
 libraries/AC_AttitudeControl/AC_AttitudeControl.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index 8d6060d06b5a65..c68e143a112fb1 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -934,11 +934,11 @@ void AC_AttitudeControl::reset_target_and_rate(bool reset_rate)
 {
     // move attitude target to current attitude
     _ahrs.get_quat_body_to_ned(_attitude_target);
+    _attitude_target.to_euler(_euler_angle_target);
 
     if (reset_rate) {
-        // Convert euler angle derivative of desired attitude into a body-frame angular velocity vector for feedforward
         _ang_vel_target.zero();
-        _euler_angle_target.zero();
+        _euler_rate_target.zero();
     }
 }
 

From 883d57b286e2405a1923d49c342d217d46ae136b Mon Sep 17 00:00:00 2001
From: Andy Little <kwikius@yahoo.com>
Date: Sun, 18 Feb 2024 10:33:45 +0000
Subject: [PATCH 1132/1335] Rover : class Mode : Add const attribute to some
 'getter' member function signatures.

---
 Rover/mode.cpp | 14 +++++++-------
 Rover/mode.h   | 16 ++++++++--------
 2 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/Rover/mode.cpp b/Rover/mode.cpp
index 6173ac337dcdbe..e54cc84f8ae288 100644
--- a/Rover/mode.cpp
+++ b/Rover/mode.cpp
@@ -56,7 +56,7 @@ bool Mode::enter()
 // decode pilot steering and throttle inputs and return in steer_out and throttle_out arguments
 // steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
 // throttle_out is in the range -100 ~ +100
-void Mode::get_pilot_input(float &steering_out, float &throttle_out)
+void Mode::get_pilot_input(float &steering_out, float &throttle_out) const
 {
     // no RC input means no throttle and centered steering
     if (rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
@@ -102,7 +102,7 @@ void Mode::get_pilot_input(float &steering_out, float &throttle_out)
 // decode pilot steering and throttle inputs and return in steer_out and throttle_out arguments
 // steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
 // throttle_out is in the range -100 ~ +100
-void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out)
+void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out) const
 {
     // do basic conversion
     get_pilot_input(steering_out, throttle_out);
@@ -130,7 +130,7 @@ void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &t
 }
 
 // decode pilot steering and return steering_out and speed_out (in m/s)
-void Mode::get_pilot_desired_steering_and_speed(float &steering_out, float &speed_out)
+void Mode::get_pilot_desired_steering_and_speed(float &steering_out, float &speed_out) const
 {
     float desired_throttle;
     get_pilot_input(steering_out, desired_throttle);
@@ -146,7 +146,7 @@ void Mode::get_pilot_desired_steering_and_speed(float &steering_out, float &spee
 }
 
 // decode pilot lateral movement input and return in lateral_out argument
-void Mode::get_pilot_desired_lateral(float &lateral_out)
+void Mode::get_pilot_desired_lateral(float &lateral_out) const
 {
     // no RC input means no lateral input
     if ((rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) || (rover.channel_lateral == nullptr)) {
@@ -159,7 +159,7 @@ void Mode::get_pilot_desired_lateral(float &lateral_out)
 }
 
 // decode pilot's input and return heading_out (in cd) and speed_out (in m/s)
-void Mode::get_pilot_desired_heading_and_speed(float &heading_out, float &speed_out)
+void Mode::get_pilot_desired_heading_and_speed(float &heading_out, float &speed_out) const
 {
     // get steering and throttle in the -1 to +1 range
     float desired_steering = constrain_float(rover.channel_steer->norm_input_dz(), -1.0f, 1.0f);
@@ -183,7 +183,7 @@ void Mode::get_pilot_desired_heading_and_speed(float &heading_out, float &speed_
 
 // decode pilot roll and pitch inputs and return in roll_out and pitch_out arguments
 // outputs are in the range -1 to +1
-void Mode::get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out)
+void Mode::get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out) const
 {
     if (channel_roll != nullptr) {
         roll_out = channel_roll->norm_input();
@@ -199,7 +199,7 @@ void Mode::get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out)
 
 // decode pilot walking_height inputs and return in walking_height_out arguments
 // outputs are in the range -1 to +1
-void Mode::get_pilot_desired_walking_height(float &walking_height_out)
+void Mode::get_pilot_desired_walking_height(float &walking_height_out) const
 {
     if (channel_walking_height != nullptr) {
         walking_height_out = channel_walking_height->norm_input();
diff --git a/Rover/mode.h b/Rover/mode.h
index 0d7833de99e126..f166843ed0d231 100644
--- a/Rover/mode.h
+++ b/Rover/mode.h
@@ -138,24 +138,24 @@ class Mode
     // decode pilot steering and throttle inputs and return in steer_out and throttle_out arguments
     // steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
     // throttle_out is in the range -100 ~ +100
-    void get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out);
+    void get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out) const;
 
     // decode pilot input steering and return steering_out and speed_out (in m/s)
-    void get_pilot_desired_steering_and_speed(float &steering_out, float &speed_out);
+    void get_pilot_desired_steering_and_speed(float &steering_out, float &speed_out) const;
 
     // decode pilot lateral movement input and return in lateral_out argument
-    void get_pilot_desired_lateral(float &lateral_out);
+    void get_pilot_desired_lateral(float &lateral_out) const;
 
     // decode pilot's input and return heading_out (in cd) and speed_out (in m/s)
-    void get_pilot_desired_heading_and_speed(float &heading_out, float &speed_out);
+    void get_pilot_desired_heading_and_speed(float &heading_out, float &speed_out) const;
 
     // decode pilot roll and pitch inputs and return in roll_out and pitch_out arguments
     // outputs are in the range -1 to +1
-    void get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out);
+    void get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out) const;
 
     // decode pilot height inputs and return in height_out arguments
     // outputs are in the range -1 to +1
-    void get_pilot_desired_walking_height(float &walking_height_out);
+    void get_pilot_desired_walking_height(float &walking_height_out) const;
 
     // high level call to navigate to waypoint
     void navigate_to_waypoint();
@@ -192,7 +192,7 @@ class Mode
     // decode pilot steering and throttle inputs and return in steer_out and throttle_out arguments
     // steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
     // throttle_out is in the range -100 ~ +100
-    void get_pilot_input(float &steering_out, float &throttle_out);
+    void get_pilot_input(float &steering_out, float &throttle_out) const;
     void set_steering(float steering_value);
 
     // references to avoid code churn:
@@ -745,7 +745,7 @@ class ModeSmartRTL : public Mode
     bool _loitering;        // true if loitering at end of SRTL
 };
 
-   
+
 
 class ModeSteering : public Mode
 {

From e9c59bf3ae9fd023b589760305268bd5014bed1a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 17 Feb 2024 13:51:45 +1100
Subject: [PATCH 1133/1335] autotest: fixed the 'X' frame

---
 Tools/autotest/default_params/copter-X.parm | 3 +++
 Tools/autotest/pysim/vehicleinfo.py         | 7 ++-----
 2 files changed, 5 insertions(+), 5 deletions(-)
 create mode 100644 Tools/autotest/default_params/copter-X.parm

diff --git a/Tools/autotest/default_params/copter-X.parm b/Tools/autotest/default_params/copter-X.parm
new file mode 100644
index 00000000000000..ee06ded19b212e
--- /dev/null
+++ b/Tools/autotest/default_params/copter-X.parm
@@ -0,0 +1,3 @@
+FRAME_CLASS 1
+FRAME_TYPE  1
+
diff --git a/Tools/autotest/pysim/vehicleinfo.py b/Tools/autotest/pysim/vehicleinfo.py
index 5972e835c4f88e..198dda7461cae1 100644
--- a/Tools/autotest/pysim/vehicleinfo.py
+++ b/Tools/autotest/pysim/vehicleinfo.py
@@ -22,11 +22,8 @@ def __init__(self):
             },
             "X": {
                 "waf_target": "bin/arducopter",
-                "default_params_filename": "default_params/copter.parm",
-                # this param set FRAME doesn't actually work because mavproxy
-                # won't set a parameter unless it knows of it, and the
-                # param fetch happens asynchronously
-                "extra_mavlink_cmds": "param fetch frame; param set FRAME 1;",
+                "default_params_filename": ["default_params/copter.parm",
+                                            "default_params/copter-X.parm"],
             },
             "bfx": {
                 "waf_target": "bin/arducopter",

From 3b9c9497aaa5171d8d7259b9abfa5bc91d197010 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 19 Feb 2024 13:07:54 +1100
Subject: [PATCH 1134/1335] AP_RCProtocol: correct CSRF->CRSF

Co-authored-by: Andy Piper <github@andypiper.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
---
 libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp | 14 +++++++-------
 libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h   |  4 ++--
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
index 2fd5a35a546c73..391f125eb87bdf 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
@@ -150,7 +150,7 @@ static const char* get_frame_type(uint8_t byte, uint8_t subtype = 0)
 #define CRSF_INTER_FRAME_TIME_US_250HZ    4000U // At fastest, frames are sent by the transmitter every 4 ms, 250 Hz
 #define CRSF_INTER_FRAME_TIME_US_150HZ    6667U // At medium, frames are sent by the transmitter every 6.667 ms, 150 Hz
 #define CRSF_INTER_FRAME_TIME_US_50HZ    20000U // At slowest, frames are sent by the transmitter every 20ms, 50 Hz
-#define CSRF_HEADER_TYPE_LEN     (CSRF_HEADER_LEN + 1)           // header length including type
+#define CRSF_HEADER_TYPE_LEN     (CRSF_HEADER_LEN + 1)           // header length including type
 
 #define CRSF_DIGITAL_CHANNEL_MIN 172
 #define CRSF_DIGITAL_CHANNEL_MAX 1811
@@ -234,7 +234,7 @@ void AP_RCProtocol_CRSF::_process_byte(uint32_t timestamp_us, uint8_t byte)
     add_to_buffer(_frame_ofs++, byte);
 
     // need a header to get the length
-    if (_frame_ofs < CSRF_HEADER_TYPE_LEN) {
+    if (_frame_ofs < CRSF_HEADER_TYPE_LEN) {
         return;
     }
 
@@ -243,7 +243,7 @@ void AP_RCProtocol_CRSF::_process_byte(uint32_t timestamp_us, uint8_t byte)
     }
 
     // parse the length
-    if (_frame_ofs == CSRF_HEADER_TYPE_LEN) {
+    if (_frame_ofs == CRSF_HEADER_TYPE_LEN) {
         _frame_crc = crc8_dvb_s2(0, _frame.type);
         // check for garbage frame
         if (_frame.length > CRSF_FRAME_PAYLOAD_MAX) {
@@ -253,19 +253,19 @@ void AP_RCProtocol_CRSF::_process_byte(uint32_t timestamp_us, uint8_t byte)
     }
 
     // update crc
-    if (_frame_ofs < _frame.length + CSRF_HEADER_LEN) {
+    if (_frame_ofs < _frame.length + CRSF_HEADER_LEN) {
         _frame_crc = crc8_dvb_s2(_frame_crc, byte);
     }
 
     // overflow check
-    if (_frame_ofs > _frame.length + CSRF_HEADER_LEN) {
+    if (_frame_ofs > _frame.length + CRSF_HEADER_LEN) {
         _frame_ofs = 0;
         return;
     }
 
     // decode whatever we got and expect
-    if (_frame_ofs == _frame.length + CSRF_HEADER_LEN) {
-        log_data(AP_RCProtocol::CRSF, timestamp_us, (const uint8_t*)&_frame, _frame_ofs - CSRF_HEADER_LEN);
+    if (_frame_ofs == _frame.length + CRSF_HEADER_LEN) {
+        log_data(AP_RCProtocol::CRSF, timestamp_us, (const uint8_t*)&_frame, _frame_ofs - CRSF_HEADER_LEN);
 
         // we consumed the partial frame, reset
         _frame_ofs = 0;
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
index c063175e01f3ef..3546ed484cc9e6 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
@@ -29,8 +29,8 @@
 
 #define CRSF_MAX_CHANNELS   24U      // Maximum number of channels from crsf datastream
 #define CRSF_FRAMELEN_MAX   64U      // maximum possible framelength
-#define CSRF_HEADER_LEN     2U       // header length
-#define CRSF_FRAME_PAYLOAD_MAX (CRSF_FRAMELEN_MAX - CSRF_HEADER_LEN)     // maximum size of the frame length field in a packet
+#define CRSF_HEADER_LEN     2U       // header length
+#define CRSF_FRAME_PAYLOAD_MAX (CRSF_FRAMELEN_MAX - CRSF_HEADER_LEN)     // maximum size of the frame length field in a packet
 #define CRSF_BAUDRATE      416666U
 #define ELRS_BAUDRATE      420000U
 #define CRSF_TX_TIMEOUT    500000U   // the period after which the transmitter is considered disconnected (matches copters failsafe)

From cca292f22220e6be4d37c9bc0f63aaf5edbed317 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 19 Feb 2024 13:07:54 +1100
Subject: [PATCH 1135/1335] AP_RCTelemetry: correct CSRF->CRSF

Co-authored-by: Andy Piper <github@andypiper.com>
Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
---
 libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp | 2 +-
 libraries/AP_RCTelemetry/AP_GHST_Telem.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
index 145f4b867cdce8..311f584cf1eab6 100644
--- a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
+++ b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
@@ -78,7 +78,7 @@ void AP_CRSF_Telem::setup_wfq_scheduler(void)
     // priority[i] = 1/_scheduler.packet_weight[i]
     // rate[i] = LinkRate * ( priority[i] / (sum(priority[1-n])) )
 
-    // CSRF telemetry rate is 150Hz (4ms) max, so these rates must fit
+    // CRSF telemetry rate is 150Hz (4ms) max, so these rates must fit
     add_scheduler_entry(50, 100);   // heartbeat        10Hz
     add_scheduler_entry(5, 20);     // parameters       50Hz (generally not active unless requested by the TX)
     add_scheduler_entry(50, 120);   // Attitude and compass 8Hz
diff --git a/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp b/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp
index cdbcea0a543332..821742273a44e1 100644
--- a/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp
+++ b/libraries/AP_RCTelemetry/AP_GHST_Telem.cpp
@@ -74,7 +74,7 @@ void AP_GHST_Telem::setup_wfq_scheduler(void)
     // priority[i] = 1/_scheduler.packet_weight[i]
     // rate[i] = LinkRate * ( priority[i] / (sum(priority[1-n])) )
 
-    // CSRF telemetry rate is 150Hz (4ms) max, so these rates must fit
+    // CRSF telemetry rate is 150Hz (4ms) max, so these rates must fit
     add_scheduler_entry(50, 120);   // Attitude and compass 8Hz
     add_scheduler_entry(200, 1000); // VTX parameters    1Hz
     add_scheduler_entry(1300, 500); // battery           2Hz

From d7ae8b8bb3dbd3a076f832c753feabf38faf9a02 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 19 Feb 2024 10:35:51 +0000
Subject: [PATCH 1136/1335] AP_RCProtocol: correctly process bytes from
 standalone UART

---
 libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
index 391f125eb87bdf..eb454752d55416 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
@@ -299,7 +299,7 @@ void AP_RCProtocol_CRSF::update(void)
         for (uint8_t i = 0; i < n; i++) {
             int16_t b = _uart->read();
             if (b >= 0) {
-                process_byte(AP_HAL::micros(), uint8_t(b));
+                _process_byte(AP_HAL::micros(), uint8_t(b));
             }
         }
     }

From ee3c9765a4b7f8c776c4c12c76b57f5b24e34f52 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 15 Feb 2024 11:40:29 +1100
Subject: [PATCH 1137/1335] AP_ICEngine: correct compilation when ICEngine
 disabled

the starter class does things with various other objects which may not be avaialb.e  Honour AP_ICENGINE_ENABLED
---
 libraries/AP_ICEngine/AP_ICEngine_config.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_ICEngine/AP_ICEngine_config.h b/libraries/AP_ICEngine/AP_ICEngine_config.h
index 24e7fd4770c301..bc3f8204070005 100644
--- a/libraries/AP_ICEngine/AP_ICEngine_config.h
+++ b/libraries/AP_ICEngine/AP_ICEngine_config.h
@@ -11,5 +11,5 @@
  */
 #ifndef AP_ICENGINE_TCA9554_STARTER_ENABLED
 // enable on SITL by default to ensure code is built
-#define AP_ICENGINE_TCA9554_STARTER_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#define AP_ICENGINE_TCA9554_STARTER_ENABLED AP_ICENGINE_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
 #endif

From 9c97dc99b1a68feab39b31439a11d17a13d6d00c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 15 Feb 2024 11:40:29 +1100
Subject: [PATCH 1138/1335] AP_Logger: correct compilation when GCS not
 available

... can't expect to do mavlink logging without GCS available...
---
 libraries/AP_Logger/AP_Logger_config.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Logger/AP_Logger_config.h b/libraries/AP_Logger/AP_Logger_config.h
index afbbc52e150aa4..8627867a380478 100644
--- a/libraries/AP_Logger/AP_Logger_config.h
+++ b/libraries/AP_Logger/AP_Logger_config.h
@@ -2,6 +2,7 @@
 
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_Filesystem/AP_Filesystem_config.h>
+#include <GCS_MAVLink/GCS_config.h>
 
 #ifndef HAL_LOGGING_ENABLED
 #define HAL_LOGGING_ENABLED 1
@@ -17,7 +18,7 @@
 #endif
 
 #ifndef HAL_LOGGING_MAVLINK_ENABLED
-    #define HAL_LOGGING_MAVLINK_ENABLED HAL_LOGGING_BACKEND_DEFAULT_ENABLED
+    #define HAL_LOGGING_MAVLINK_ENABLED HAL_LOGGING_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED
 #endif
 
 #ifndef HAL_LOGGING_FILESYSTEM_ENABLED

From c2f77d059347e2f6acaf5305ff4463f3861a3b62 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 15 Feb 2024 11:40:29 +1100
Subject: [PATCH 1139/1335] AP_Generator: tidy RichenPower defines

---
 libraries/AP_Generator/AP_Generator_RichenPower.cpp | 4 +++-
 libraries/AP_Generator/AP_Generator_RichenPower.h   | 6 ++++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Generator/AP_Generator_RichenPower.cpp b/libraries/AP_Generator/AP_Generator_RichenPower.cpp
index cbfc2fcdeb7799..6ce1e2fa8525e0 100644
--- a/libraries/AP_Generator/AP_Generator_RichenPower.cpp
+++ b/libraries/AP_Generator/AP_Generator_RichenPower.cpp
@@ -13,10 +13,12 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "AP_Generator_RichenPower.h"
+#include "AP_Generator_config.h"
 
 #if AP_GENERATOR_RICHENPOWER_ENABLED
 
+#include "AP_Generator_RichenPower.h"
+
 #include <AP_Logger/AP_Logger.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_Vehicle/AP_Vehicle.h>
diff --git a/libraries/AP_Generator/AP_Generator_RichenPower.h b/libraries/AP_Generator/AP_Generator_RichenPower.h
index bd9bfc25d926a8..2fce45e60cc32b 100644
--- a/libraries/AP_Generator/AP_Generator_RichenPower.h
+++ b/libraries/AP_Generator/AP_Generator_RichenPower.h
@@ -1,10 +1,12 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 #pragma once
 
-#include "AP_Generator_Backend.h"
+#include "AP_Generator_config.h"
 
 #if AP_GENERATOR_RICHENPOWER_ENABLED
 
+#include "AP_Generator_Backend.h"
+
 #include <AP_Logger/AP_Logger_config.h>
 #include <AP_Common/AP_Common.h>
 #include <stdint.h>
@@ -212,4 +214,4 @@ class AP_Generator_RichenPower : public AP_Generator_Backend
     // maintenamce, this is the last time we sent the warning:
     uint32_t last_maintenance_warning_ms;
 };
-#endif
+#endif  // AP_GENERATOR_RICHENPOWER_ENABLED

From 9123554db34e1d6927bbed3d690ab35f19619c7e Mon Sep 17 00:00:00 2001
From: xianglunkai <1322099375@qq.com>
Date: Mon, 8 May 2023 11:48:59 +0800
Subject: [PATCH 1140/1335] AP_OAPathPlanner: using static constexpr instead
 const

---
 libraries/AC_Avoidance/AP_OAPathPlanner.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
index 5e2b0f7e6c0026..d513d49756ec72 100644
--- a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
+++ b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
@@ -24,11 +24,11 @@
 extern const AP_HAL::HAL &hal;
 
 // parameter defaults
-const float OA_MARGIN_MAX_DEFAULT = 5;
-const int16_t OA_OPTIONS_DEFAULT = 1;
+static constexpr float OA_MARGIN_MAX_DEFAULT = 5;
+static constexpr int16_t OA_OPTIONS_DEFAULT = 1;
 
-const int16_t OA_UPDATE_MS = 1000;      // path planning updates run at 1hz
-const int16_t OA_TIMEOUT_MS = 3000;     // results over 3 seconds old are ignored
+static constexpr int16_t OA_UPDATE_MS = 1000;      // path planning updates run at 1hz
+static constexpr int16_t OA_TIMEOUT_MS = 3000;     // results over 3 seconds old are ignored
 
 const AP_Param::GroupInfo AP_OAPathPlanner::var_info[] = {
 

From a404693c7fc3cf3017b032112d910f5f585db207 Mon Sep 17 00:00:00 2001
From: CallanDaniel <callanrobertdaniel@gmail.com>
Date: Mon, 19 Feb 2024 11:20:00 +0200
Subject: [PATCH 1141/1335] Plane: QLAND if long failsafe on VTOL takeoff

---
 ArduPlane/events.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp
index f49814aca9b903..a699625779e022 100644
--- a/ArduPlane/events.cpp
+++ b/ArduPlane/events.cpp
@@ -175,6 +175,14 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason
             // don't failsafe in a landing sequence
             break;
         }
+
+#if HAL_QUADPLANE_ENABLED
+        if (quadplane.in_vtol_takeoff()) {
+            set_mode(mode_qland, reason);
+            // QLAND if in VTOL takeoff
+            break;
+        }
+#endif
         FALLTHROUGH;
 
     case Mode::Number::AVOID_ADSB:

From 3f2c82df125af031da9417a723ac2fc7780f0c70 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Patrick=20Jos=C3=A9=20Pereira?= <patrickelectric@gmail.com>
Date: Thu, 1 Feb 2024 17:54:13 -0300
Subject: [PATCH 1142/1335] GCS_MAVLink: Remove wrong usage of COMMAND_ACK
 message
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

SET_MODE message does not exist inside the MAV_CMD enum
as described in the mavlink specification.
The system that is using SET_MODE to communicate with the
vehicle should rely on HEARTBEAT message to detect if
the mode was set correctly.

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
---
 libraries/GCS_MAVLink/GCS_Common.cpp | 14 +-------------
 1 file changed, 1 insertion(+), 13 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 52fbfd97c07b27..27b771004aaa76 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -2618,19 +2618,7 @@ void GCS_MAVLINK::handle_set_mode(const mavlink_message_t &msg)
     const MAV_MODE _base_mode = (MAV_MODE)packet.base_mode;
     const uint32_t _custom_mode = packet.custom_mode;
 
-    const MAV_RESULT result = _set_mode_common(_base_mode, _custom_mode);
-
-    // send ACK or NAK.  Note that this is extraodinarily improper -
-    // we are sending a command-ack for a message which is not a
-    // command.  The command we are acking (ID=11) doesn't actually
-    // exist, but if it did we'd probably be acking something
-    // completely unrelated to setting modes.
-    if (HAVE_PAYLOAD_SPACE(chan, COMMAND_ACK)) {
-        mavlink_msg_command_ack_send(chan, MAVLINK_MSG_ID_SET_MODE, result,
-                                     0, 0,
-                                     msg.sysid,
-                                     msg.compid);
-    }
+    _set_mode_common(_base_mode, _custom_mode);
 }
 
 /*

From a825fe2537756c334745504ce7bf66e4dc57b123 Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Thu, 8 Feb 2024 21:06:39 -0700
Subject: [PATCH 1143/1335] Copter: Add DDS details to release notes

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 ArduCopter/ReleaseNotes.txt | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
index 2c4c7893f7e758..6a4f880e85ea6a 100644
--- a/ArduCopter/ReleaseNotes.txt
+++ b/ArduCopter/ReleaseNotes.txt
@@ -144,6 +144,18 @@ Changes from 4.4.4
 8) Parameters renamed
     - COMPASS_TYPEMASK renamed to COMPASS_DISBLMSK
 9) ROS2 / DDS support
+    - Added support for EProsima MicroXRCEDDS as a transport in SITL and hardware
+    - Added sensor data topic support such as NavSatStatus and BatteryState
+    - Added velocity control support in Copter
+    - Added a new AP_ExternalControl library for generic control support in SI units
+    - Added support for building ArduPilot with the colcon build system
+    - DDS topics comply with ROS REP-147
+    - Added Gazebo Garden and Gazebo Harmonic simulation with examples
+    - Added support for ROS 2 services such as Arm and Mode control
+    - Added high level goal interface for waypoints
+    - Wiki updated to support ROS 2
+    - Added ROS 2 launch scripts for SITL, MAVProxy and micro-ROS agent
+    - Add pytests for DDS client and ROS 2 launch scripts and integrate into CI
 10) Camera and gimbal enhancements
     - Calculates location where camera gimbal is pointing (see CAMERA_FOV_STATUS)
     - CAMx_MNT_INST allows specifying which mount camera is in

From 227cfe781d35101906c01e6a8ff6293be7fa8851 Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Mon, 19 Feb 2024 09:45:24 -0700
Subject: [PATCH 1144/1335] ArduPlane: Add DDS release details

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 ArduPlane/ReleaseNotes.txt | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
index 54e8a90461a1aa..712ec4ac52373a 100644
--- a/ArduPlane/ReleaseNotes.txt
+++ b/ArduPlane/ReleaseNotes.txt
@@ -162,6 +162,18 @@ Changes from 4.4.4
     - ROLL_LIMIT_DEG replaces LIM_ROLL_CD
     - RTL_ALTITUDE replaces ALT_HOLD_RTL
 8) ROS2 / DDS support
+    - Added support for EProsima MicroXRCEDDS as a transport in SITL and hardware
+    - Added sensor data topic support such as NavSatStatus and BatteryState
+    - Added a new AP_ExternalControl library for generic control support in SI units
+    - Added support for building ArduPilot with the colcon build system
+    - Added high level goal interface (waypoints) similar to MAVLink global position
+    - DDS topics comply with ROS REP-147
+    - Added Gazebo Garden and Gazebo Harmonic simulation with examples
+    - Added support for ROS 2 services such as Arm and Mode control
+    - Added high level goal interface for waypoints
+    - Wiki updated to support ROS 2
+    - Added ROS 2 launch scripts for SITL, MAVProxy and micro-ROS agent
+    - Add pytests for DDS client and ROS 2 launch scripts and integrate into CI
 9) Camera and gimbal enhancements
     - Calculates location where camera gimbal is pointing (see CAMERA_FOV_STATUS)
     - CAMx_MNT_INST allows specifying which mount camera is in

From aec0821d9a1ec7a7ccc6c4b8099e08fa73f84c64 Mon Sep 17 00:00:00 2001
From: Ryan Friedman <ryanfriedman5410+github@gmail.com>
Date: Mon, 19 Feb 2024 09:45:24 -0700
Subject: [PATCH 1145/1335] Rover: Add DDS release details

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
---
 Rover/release-notes.txt | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt
index af59caf5c2df9f..a747107069eece 100644
--- a/Rover/release-notes.txt
+++ b/Rover/release-notes.txt
@@ -127,6 +127,17 @@ Changes from 4.4.4
 6) Parameters renamed
     - COMPASS_TYPEMASK renamed to COMPASS_DISBLMSK
 7) ROS2 / DDS support
+    - Added support for EProsima MicroXRCEDDS as a transport in SITL and hardware
+    - Added sensor data topic support such as NavSatStatus and BatteryState
+    - Added a new AP_ExternalControl library for generic control support in SI units
+    - Added support for building ArduPilot with the colcon build system
+    - DDS topics comply with ROS REP-147
+    - Added Gazebo Garden and Gazebo Harmonic simulation with examples
+    - Added support for ROS 2 services such as Arm and Mode control
+    - Added high level goal interface for waypoints
+    - Wiki updated to support ROS 2
+    - Added ROS 2 launch scripts for SITL, MAVProxy and micro-ROS agent
+    - Add pytests for DDS client and ROS 2 launch scripts and integrate into CI
 8) Camera and gimbal enhancements
     - Calculates location where camera gimbal is pointing (see CAMERA_FOV_STATUS)
     - CAMx_MNT_INST allows specifying which mount camera is in

From 5907e49cb13f427c1dd0dc834746fa06a73244ef Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 13 Feb 2024 19:28:46 +0000
Subject: [PATCH 1146/1335] AP_Scripting: ensure that all pass by refence
 values are initialized

---
 libraries/AP_Scripting/generator/src/main.c | 22 ++++++++++-----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_Scripting/generator/src/main.c b/libraries/AP_Scripting/generator/src/main.c
index de1c6e48eca242..d0ce2c7fcf69a4 100644
--- a/libraries/AP_Scripting/generator/src/main.c
+++ b/libraries/AP_Scripting/generator/src/main.c
@@ -1386,41 +1386,41 @@ void emit_checker(const struct type t, int arg_number, int skipped, const char *
     arg_number = arg_number + NULLABLE_ARG_COUNT_BASE;
     switch (t.type) {
       case TYPE_BOOLEAN:
-        fprintf(source, "%sbool data_%d;\n", indentation, arg_number);
+        fprintf(source, "%sbool data_%d {};\n", indentation, arg_number);
         break;
       case TYPE_FLOAT:
-        fprintf(source, "%sfloat data_%d;\n", indentation, arg_number);
+        fprintf(source, "%sfloat data_%d {};\n", indentation, arg_number);
         break;
       case TYPE_INT8_T:
-        fprintf(source, "%sint8_t data_%d;\n", indentation, arg_number);
+        fprintf(source, "%sint8_t data_%d {};\n", indentation, arg_number);
         break;
       case TYPE_INT16_T:
-        fprintf(source, "%sint16_t data_%d;\n", indentation, arg_number);
+        fprintf(source, "%sint16_t data_%d {};\n", indentation, arg_number);
         break;
       case TYPE_INT32_T:
-        fprintf(source, "%sint32_t data_%d;\n", indentation, arg_number);
+        fprintf(source, "%sint32_t data_%d {};\n", indentation, arg_number);
         break;
       case TYPE_UINT8_T:
-        fprintf(source, "%suint8_t data_%d;\n", indentation, arg_number);
+        fprintf(source, "%suint8_t data_%d {};\n", indentation, arg_number);
         break;
       case TYPE_UINT16_T:
-        fprintf(source, "%suint16_t data_%d;\n", indentation, arg_number);
+        fprintf(source, "%suint16_t data_%d {};\n", indentation, arg_number);
         break;
       case TYPE_UINT32_T:
-        fprintf(source, "%suint32_t data_%d;\n", indentation, arg_number);
+        fprintf(source, "%suint32_t data_%d {};\n", indentation, arg_number);
         break;
       case TYPE_AP_OBJECT:
       case TYPE_NONE:
       case TYPE_LITERAL:
         return; // nothing to do here, this should potentially be checked outside of this, but it makes an easier implementation to accept it
       case TYPE_STRING:
-        fprintf(source, "%schar * data_%d = {};\n", indentation, arg_number);
+        fprintf(source, "%schar * data_%d {};\n", indentation, arg_number);
         break;
       case TYPE_ENUM:
-        fprintf(source, "%suint32_t data_%d;\n", indentation, arg_number);
+        fprintf(source, "%suint32_t data_%d {};\n", indentation, arg_number);
         break;
       case TYPE_USERDATA:
-        fprintf(source, "%s%s data_%d = {};\n", indentation, t.data.ud.name, arg_number);
+        fprintf(source, "%s%s data_%d {};\n", indentation, t.data.ud.name, arg_number);
         break;
     }
   } else {

From 8a1872bd2a98775c30e2a0ba814884aae1261885 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 14 Feb 2024 11:51:45 +0000
Subject: [PATCH 1147/1335] Plane: allow set_throttle in manual and move
 disarmed override up

---
 ArduPlane/mode.h     |  7 +++++++
 ArduPlane/servos.cpp | 36 ++++++++++++++++++++----------------
 2 files changed, 27 insertions(+), 16 deletions(-)

diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 83da193de00590..09ef6d5e7bc6a2 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -398,6 +398,13 @@ class ModeManual : public Mode
     void update() override;
 
     void run() override;
+
+    // true if throttle min/max limits should be applied
+    bool use_throttle_limits() const { return false; }
+
+    // true if voltage correction should be applied to throttle
+    bool use_battery_compensation() const { return false; }
+
 };
 
 
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index da770481600eff..24c8659d0e54d2 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -73,6 +73,11 @@ void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
 */
 bool Plane::suppress_throttle(void)
 {
+    if (control_mode == &mode_manual) {
+        // Throttle is never suppressed in manual mode
+        return false;
+    }
+
 #if PARACHUTE == ENABLED
     if (control_mode->does_auto_throttle() && parachute.release_initiated()) {
         // throttle always suppressed in auto-throttle modes after parachute release initiated
@@ -562,20 +567,7 @@ void Plane::set_throttle(void)
         SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, limited_throttle);
     }
 
-    if (!arming.is_armed_and_safety_off()) {
-        // Always set 0 scaled even if overriding to zero pwm.
-        // This ensures slew limits and other functions using the scaled value pick up in the correct place
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0.0);
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0.0);
-
-        if (arming.arming_required() == AP_Arming::Required::YES_ZERO_PWM) {
-            SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::ZERO_PWM);
-            SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
-            SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
-        }
-
-    } else if (suppress_throttle()) {
+    if (suppress_throttle()) {
         if (g.throttle_suppress_manual) {
             // manual pass through of throttle while throttle is suppressed
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
@@ -842,8 +834,20 @@ void Plane::set_servos(void)
         landing.override_servos();
     }
 
-    if (control_mode != &mode_manual) {
-        set_throttle();
+    set_throttle();
+
+    if ((control_mode != &mode_manual) && !arming.is_armed_and_safety_off()) {
+        // Always set 0 scaled even if overriding to zero pwm.
+        // This ensures slew limits and other functions using the scaled value pick up in the correct place
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0.0);
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0.0);
+
+        if (arming.arming_required() == AP_Arming::Required::YES_ZERO_PWM) {
+            SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::ZERO_PWM);
+            SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
+            SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
+        }
     }
 
     // Warn AHRS if we might take off soon

From f6d0f52876151ffffb05e996efb3600086bafadf Mon Sep 17 00:00:00 2001
From: muramura <ma2maru@gmail.com>
Date: Sat, 14 Oct 2023 22:19:09 +0900
Subject: [PATCH 1148/1335] AC_Fence: Replace with GCS_SEND_TEXT

---
 libraries/AC_Fence/AC_Fence.cpp            |  6 +--
 libraries/AC_Fence/AC_PolyFence_loader.cpp | 56 +++++++++++-----------
 2 files changed, 31 insertions(+), 31 deletions(-)

diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp
index c1e3b4cebb56b4..04a238196f58fe 100644
--- a/libraries/AC_Fence/AC_Fence.cpp
+++ b/libraries/AC_Fence/AC_Fence.cpp
@@ -212,7 +212,7 @@ void AC_Fence::auto_enable_fence_after_takeoff(void)
         case AC_Fence::AutoEnable::ALWAYS_ENABLED:
         case AC_Fence::AutoEnable::ENABLE_DISABLE_FLOOR_ONLY:
             enable(true);
-            gcs().send_text(MAV_SEVERITY_NOTICE, "Fence enabled (auto enabled)");
+            GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence enabled (auto enabled)");
             break;
         default:
             // fence does not auto-enable in other takeoff conditions
@@ -228,11 +228,11 @@ void AC_Fence::auto_disable_fence_for_landing(void)
     switch (auto_enabled()) {
         case AC_Fence::AutoEnable::ALWAYS_ENABLED:
             enable(false);
-            gcs().send_text(MAV_SEVERITY_NOTICE, "Fence disabled (auto disable)");
+            GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence disabled (auto disable)");
             break;
         case AC_Fence::AutoEnable::ENABLE_DISABLE_FLOOR_ONLY:
             disable_floor();
-            gcs().send_text(MAV_SEVERITY_NOTICE, "Fence floor disabled (auto disable)");
+            GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Fence floor disabled (auto disable)");
             break;
         default:
             // fence does not auto-disable in other landing conditions
diff --git a/libraries/AC_Fence/AC_PolyFence_loader.cpp b/libraries/AC_Fence/AC_PolyFence_loader.cpp
index 12ddba86bbb5a4..fbae61b2e821c6 100644
--- a/libraries/AC_Fence/AC_PolyFence_loader.cpp
+++ b/libraries/AC_Fence/AC_PolyFence_loader.cpp
@@ -20,7 +20,7 @@
 #define POLYFENCE_LOADER_DEBUGGING 0
 
 #if POLYFENCE_LOADER_DEBUGGING
-#define Debug(fmt, args ...)  do { gcs().send_text(MAV_SEVERITY_INFO, fmt, ## args); } while (0)
+#define Debug(fmt, args ...)  do { GCS_SEND_TEXT(MAV_SEVERITY_INFO, fmt, ## args); } while (0)
 #else
 #define Debug(fmt, args ...)
 #endif
@@ -356,7 +356,7 @@ bool AC_PolyFence_loader::scan_eeprom(scan_fn_t scan_fn)
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
             AP_HAL::panic("Fence corrupt (offset=%u)", read_offset);
 #endif
-            gcs().send_text(MAV_SEVERITY_WARNING, "Fence corrupt");
+            GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Fence corrupt");
             return false;
         }
 
@@ -700,13 +700,13 @@ bool AC_PolyFence_loader::load_from_eeprom()
             boundary.points_lla = next_storage_point_lla;
             boundary.count = index.count;
             if (index.count < 3) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "AC_Fence: invalid polygon vertex count %u", index.count);
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "AC_Fence: invalid polygon vertex count %u", index.count);
                 storage_valid = false;
                 break;
             }
             storage_offset += 1; // skip vertex count
             if (!read_polygon_from_storage(ekf_origin, storage_offset, index.count, next_storage_point, next_storage_point_lla)) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "AC_Fence: polygon read failed");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "AC_Fence: polygon read failed");
                 storage_valid = false;
                 break;
             }
@@ -719,13 +719,13 @@ bool AC_PolyFence_loader::load_from_eeprom()
             boundary.points_lla = next_storage_point_lla;
             boundary.count = index.count;
             if (index.count < 3) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "AC_Fence: invalid polygon vertex count %u", index.count);
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "AC_Fence: invalid polygon vertex count %u", index.count);
                 storage_valid = false;
                 break;
             }
             storage_offset += 1; // skip vertex count
             if (!read_polygon_from_storage(ekf_origin, storage_offset, index.count, next_storage_point, next_storage_point_lla)) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "AC_Fence: polygon read failed");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "AC_Fence: polygon read failed");
                 storage_valid = false;
                 break;
             }
@@ -736,12 +736,12 @@ bool AC_PolyFence_loader::load_from_eeprom()
         case AC_PolyFenceType::CIRCLE_EXCLUSION: {
             ExclusionCircle &circle = _loaded_circle_exclusion_boundary[_num_loaded_circle_exclusion_boundaries];
             if (!read_latlon_from_storage(storage_offset, circle.point)) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "AC_Fence: latlon read failed");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "AC_Fence: latlon read failed");
                 storage_valid = false;
                 break;
             }
             if (!scale_latlon_from_origin(ekf_origin, circle.point, circle.pos_cm)) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "AC_Fence: latlon read failed");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "AC_Fence: latlon read failed");
                 storage_valid = false;
                 break;
             }
@@ -752,7 +752,7 @@ bool AC_PolyFence_loader::load_from_eeprom()
                 circle.radius = fence_storage.read_float(storage_offset);
             }
             if (!is_positive(circle.radius)) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "AC_Fence: non-positive circle radius");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "AC_Fence: non-positive circle radius");
                 storage_valid = false;
                 break;
             }
@@ -763,12 +763,12 @@ bool AC_PolyFence_loader::load_from_eeprom()
         case AC_PolyFenceType::CIRCLE_INCLUSION: {
             InclusionCircle &circle = _loaded_circle_inclusion_boundary[_num_loaded_circle_inclusion_boundaries];
             if (!read_latlon_from_storage(storage_offset, circle.point)) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "AC_Fence: latlon read failed");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "AC_Fence: latlon read failed");
                 storage_valid = false;
                 break;
             }
             if (!scale_latlon_from_origin(ekf_origin, circle.point, circle.pos_cm)){
-                gcs().send_text(MAV_SEVERITY_WARNING, "AC_Fence: latlon read failed");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "AC_Fence: latlon read failed");
                 storage_valid = false;
                 break;
             }
@@ -779,7 +779,7 @@ bool AC_PolyFence_loader::load_from_eeprom()
                 circle.radius = fence_storage.read_float(storage_offset);
             }
             if (!is_positive(circle.radius)) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "AC_Fence: non-positive circle radius");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "AC_Fence: non-positive circle radius");
                 storage_valid = false;
                 break;
             }
@@ -788,13 +788,13 @@ bool AC_PolyFence_loader::load_from_eeprom()
         }
         case AC_PolyFenceType::RETURN_POINT:
             if (_loaded_return_point != nullptr) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "PolyFence: Multiple return points found");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "PolyFence: Multiple return points found");
                 storage_valid = false;
                 break;
             }
             _loaded_return_point = next_storage_point;
             if (_loaded_return_point_lla != nullptr) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "PolyFence: Multiple return points found");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "PolyFence: Multiple return points found");
                 storage_valid = false;
                 break;
             }
@@ -802,12 +802,12 @@ bool AC_PolyFence_loader::load_from_eeprom()
             // Read the point from storage
             if (!read_latlon_from_storage(storage_offset, *next_storage_point_lla)) {
                 storage_valid = false;
-                gcs().send_text(MAV_SEVERITY_WARNING, "PolyFence: latlon read failed");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "PolyFence: latlon read failed");
                 break;
             }
             if (!scale_latlon_from_origin(ekf_origin, *next_storage_point_lla, *next_storage_point)) {
                 storage_valid = false;
-                gcs().send_text(MAV_SEVERITY_WARNING, "PolyFence: latlon read failed");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "PolyFence: latlon read failed");
                 break;
             }
             next_storage_point++;
@@ -914,7 +914,7 @@ bool AC_PolyFence_loader::validate_fence(const AC_PolyFenceItem *new_items, uint
         case AC_PolyFenceType::POLYGON_INCLUSION:
         case AC_PolyFenceType::POLYGON_EXCLUSION:
             if (new_items[i].vertex_count < 3) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "Invalid vertex count (%u)", new_items[i].vertex_count);
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Invalid vertex count (%u)", new_items[i].vertex_count);
                 return false;
             }
             if (expected_type_count == 0) {
@@ -923,10 +923,10 @@ bool AC_PolyFence_loader::validate_fence(const AC_PolyFenceItem *new_items, uint
                 expecting_type = new_items[i].type;
             } else {
                 if (new_items[i].type != expecting_type) {
-                    gcs().send_text(MAV_SEVERITY_WARNING, "Received incorrect vertex type (want=%u got=%u)", (unsigned)expecting_type, (unsigned)new_items[i].type);
+                    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Received incorrect vertex type (want=%u got=%u)", (unsigned)expecting_type, (unsigned)new_items[i].type);
                     return false;
                 } else if (new_items[i].vertex_count != orig_expected_type_count) {
-                    gcs().send_text(MAV_SEVERITY_WARNING, "Unexpected vertex count want=%u got=%u\n", orig_expected_type_count, new_items[i].vertex_count);
+                    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Unexpected vertex count want=%u got=%u\n", orig_expected_type_count, new_items[i].vertex_count);
                     return false;
                 }
             }
@@ -942,11 +942,11 @@ bool AC_PolyFence_loader::validate_fence(const AC_PolyFenceItem *new_items, uint
         case AC_PolyFenceType::CIRCLE_INCLUSION:
         case AC_PolyFenceType::CIRCLE_EXCLUSION:
             if (expected_type_count) {
-               gcs().send_text(MAV_SEVERITY_WARNING, "Received incorrect type (want=%u got=%u)", (unsigned)expecting_type, (unsigned)new_items[i].type);
+               GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Received incorrect type (want=%u got=%u)", (unsigned)expecting_type, (unsigned)new_items[i].type);
                return false;
             }
             if (!is_positive(new_items[i].radius)) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "Non-positive circle radius");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Non-positive circle radius");
                 return false;
             }
             validate_latlon = true;
@@ -954,13 +954,13 @@ bool AC_PolyFence_loader::validate_fence(const AC_PolyFenceItem *new_items, uint
 
         case AC_PolyFenceType::RETURN_POINT:
             if (expected_type_count) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "Received incorrect type (want=%u got=%u)", (unsigned)expecting_type, (unsigned)new_items[i].type);
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Received incorrect type (want=%u got=%u)", (unsigned)expecting_type, (unsigned)new_items[i].type);
                 return false;
             }
 
             // spec says only one return point allowed
             if (seen_return_point) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "Multiple return points");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Multiple return points");
                 return false;
             }
             seen_return_point = true;
@@ -972,14 +972,14 @@ bool AC_PolyFence_loader::validate_fence(const AC_PolyFenceItem *new_items, uint
 
         if (validate_latlon) {
             if (!check_latlng(new_items[i].loc[0], new_items[i].loc[1])) {
-                gcs().send_text(MAV_SEVERITY_WARNING, "Bad lat or lon");
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Bad lat or lon");
                 return false;
             }
         }
     }
 
     if (expected_type_count) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Incorrect item count");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Incorrect item count");
         return false;
     }
 
@@ -1022,12 +1022,12 @@ uint16_t AC_PolyFence_loader::fence_storage_space_required(const AC_PolyFenceIte
 bool AC_PolyFence_loader::write_fence(const AC_PolyFenceItem *new_items, uint16_t count)
 {
     if (!validate_fence(new_items, count)) {
-        gcs().send_text(MAV_SEVERITY_WARNING, "Fence validation failed");
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Fence validation failed");
         return false;
     }
 
     if (fence_storage_space_required(new_items, count) > fence_storage.size()) {
-        gcs().send_text(MAV_SEVERITY_WARNING, "Fence exceeds storage size");
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Fence exceeds storage size");
         return false;
     }
 
@@ -1118,7 +1118,7 @@ bool AC_PolyFence_loader::write_fence(const AC_PolyFenceItem *new_items, uint16_
     if (!index_eeprom()) {
         AP_HAL::panic("Failed to index eeprom");
     }
-    gcs().send_text(MAV_SEVERITY_DEBUG, "Fence Indexed OK");
+    GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "Fence Indexed OK");
 #endif
 
 #if HAL_LOGGING_ENABLED

From 0e742fe51c5e06a6461cd2e45119337b6f699b14 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 15 Feb 2024 11:40:28 +1100
Subject: [PATCH 1149/1335] AC_Fence: ensure fencepoint protocol not compiled
 in if not HAL_GCS_ENABLED

also use GCS_SEND_TEXT a bit
---
 libraries/AC_Fence/AC_Fence_config.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AC_Fence/AC_Fence_config.h b/libraries/AC_Fence/AC_Fence_config.h
index dbc607afa755da..4abb471eac8319 100644
--- a/libraries/AC_Fence/AC_Fence_config.h
+++ b/libraries/AC_Fence/AC_Fence_config.h
@@ -2,6 +2,8 @@
 
 #include <AP_HAL/AP_HAL_Boards.h>
 
+#include <GCS_MAVLink/GCS_config.h>
+
 // Enabled 0 is compiled out
 // Enabled 1 is always enabled on all vehicles
 // Enabled 2 is enabled with dummy methods for tracker and blimp
@@ -11,5 +13,5 @@
 #endif
 
 #ifndef AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT
-#define AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT AP_FENCE_ENABLED
+#define AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT HAL_GCS_ENABLED && AP_FENCE_ENABLED
 #endif

From bedcbc24b6e08936f04402bc53c203319f903bd3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 15 Feb 2024 11:40:28 +1100
Subject: [PATCH 1150/1335] AC_CustomControl: tidy AC_CustomControl defines /
 add config file

---
 .../AC_CustomControl/AC_CustomControl.cpp     | 15 +++++++------
 libraries/AC_CustomControl/AC_CustomControl.h |  8 ++++---
 .../AC_CustomControl_Backend.h                |  6 ++++--
 .../AC_CustomControl_Empty.cpp                | 10 +++++----
 .../AC_CustomControl/AC_CustomControl_Empty.h | 10 ++++-----
 .../AC_CustomControl/AC_CustomControl_PID.cpp |  8 ++++---
 .../AC_CustomControl/AC_CustomControl_PID.h   | 12 +++++------
 .../AC_CustomControl_config.h                 | 21 +++++++++++++++++++
 8 files changed, 57 insertions(+), 33 deletions(-)
 create mode 100644 libraries/AC_CustomControl/AC_CustomControl_config.h

diff --git a/libraries/AC_CustomControl/AC_CustomControl.cpp b/libraries/AC_CustomControl/AC_CustomControl.cpp
index a5df09f11b8e84..9a291887b5b069 100644
--- a/libraries/AC_CustomControl/AC_CustomControl.cpp
+++ b/libraries/AC_CustomControl/AC_CustomControl.cpp
@@ -4,7 +4,6 @@
 
 #if AP_CUSTOMCONTROL_ENABLED
 
-
 #include "AC_CustomControl_Backend.h"
 // #include "AC_CustomControl_Empty.h"
 #include "AC_CustomControl_PID.h"
@@ -123,30 +122,30 @@ void AC_CustomControl::set_custom_controller(bool enabled)
 
     // don't allow accidental main controller reset without active custom controller
     if (_controller_type == CustomControlType::CONT_NONE) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Custom controller is not enabled");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Custom controller is not enabled");
         return;
     }
 
     // controller type is out of range
     if (_controller_type > CUSTOMCONTROL_MAX_TYPES) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Custom controller type is out of range");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Custom controller type is out of range");
         return;
     }
 
     // backend is not created
     if (_backend == nullptr) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Reboot to enable selected custom controller");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Reboot to enable selected custom controller");
         return;
     }
 
     if (_custom_controller_mask == 0 && enabled) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Axis mask is not set");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Axis mask is not set");
         return;
     }
 
     // reset main controller
     if (!enabled) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Custom controller is OFF");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Custom controller is OFF");
         // don't reset if the empty backend is selected
         if (_controller_type > CustomControlType::CONT_EMPTY) {
             reset_main_att_controller();
@@ -156,7 +155,7 @@ void AC_CustomControl::set_custom_controller(bool enabled)
     if (enabled && _controller_type > CustomControlType::CONT_NONE) {
         // reset custom controller filter, integrator etc.
         _backend->reset();
-        gcs().send_text(MAV_SEVERITY_INFO, "Custom controller is ON");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Custom controller is ON");
     }
 
     _custom_controller_active = enabled;
@@ -193,4 +192,4 @@ void AC_CustomControl::set_notch_sample_rate(float sample_rate)
 #endif
 }
 
-#endif
+#endif  // AP_CUSTOMCONTROL_ENABLED
diff --git a/libraries/AC_CustomControl/AC_CustomControl.h b/libraries/AC_CustomControl/AC_CustomControl.h
index e4405b3c28a779..93f33a7300a90e 100644
--- a/libraries/AC_CustomControl/AC_CustomControl.h
+++ b/libraries/AC_CustomControl/AC_CustomControl.h
@@ -3,6 +3,10 @@
 /// @file    AC_CustomControl.h
 /// @brief   ArduCopter custom control library
 
+#include "AC_CustomControl_config.h"
+
+#if AP_CUSTOMCONTROL_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_AHRS/AP_AHRS_View.h>
@@ -10,8 +14,6 @@
 #include <AP_Motors/AP_MotorsMulticopter.h>
 #include <AP_Logger/AP_Logger.h>
 
-#if AP_CUSTOMCONTROL_ENABLED
-
 #ifndef CUSTOMCONTROL_MAX_TYPES
 #define CUSTOMCONTROL_MAX_TYPES 2
 #endif
@@ -72,4 +74,4 @@ class AC_CustomControl {
     AC_CustomControl_Backend *_backend;
 };
 
-#endif
+#endif  // AP_CUSTOMCONTROL_ENABLED
diff --git a/libraries/AC_CustomControl/AC_CustomControl_Backend.h b/libraries/AC_CustomControl/AC_CustomControl_Backend.h
index 5355ef9cbc18d6..391353585ae4fa 100644
--- a/libraries/AC_CustomControl/AC_CustomControl_Backend.h
+++ b/libraries/AC_CustomControl/AC_CustomControl_Backend.h
@@ -1,9 +1,11 @@
 #pragma once
 
-#include "AC_CustomControl.h"
+#include "AC_CustomControl_config.h"
 
 #if AP_CUSTOMCONTROL_ENABLED
 
+#include "AC_CustomControl.h"
+
 class AC_CustomControl_Backend
 {
 public:
@@ -34,4 +36,4 @@ class AC_CustomControl_Backend
     AC_CustomControl& _frontend;
 };
 
-#endif
+#endif  // AP_CUSTOMCONTROL_ENABLED
diff --git a/libraries/AC_CustomControl/AC_CustomControl_Empty.cpp b/libraries/AC_CustomControl/AC_CustomControl_Empty.cpp
index 5c0550b0898d99..7b7f0d5dcfbffa 100644
--- a/libraries/AC_CustomControl/AC_CustomControl_Empty.cpp
+++ b/libraries/AC_CustomControl/AC_CustomControl_Empty.cpp
@@ -1,6 +1,8 @@
-#include "AC_CustomControl_Empty.h"
+#include "AC_CustomControl_config.h"
+
+#if AP_CUSTOMCONTROL_EMPTY_ENABLED
 
-#if CUSTOMCONTROL_EMPTY_ENABLED
+#include "AC_CustomControl_Empty.h"
 
 #include <GCS_MAVLink/GCS.h>
 
@@ -57,7 +59,7 @@ Vector3f AC_CustomControl_Empty::update(void)
     // arducopter main attitude controller already ran
     // we don't need to do anything else
 
-    gcs().send_text(MAV_SEVERITY_INFO, "empty custom controller working");
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "empty custom controller working");
 
     // return what arducopter main controller outputted
     return Vector3f(_motors->get_roll(), _motors->get_pitch(), _motors->get_yaw());
@@ -69,4 +71,4 @@ void AC_CustomControl_Empty::reset(void)
 {
 }
 
-#endif
+#endif  // AP_CUSTOMCONTROL_EMPTY_ENABLED
diff --git a/libraries/AC_CustomControl/AC_CustomControl_Empty.h b/libraries/AC_CustomControl/AC_CustomControl_Empty.h
index e3a6374d216246..4628d7c4a20b62 100644
--- a/libraries/AC_CustomControl/AC_CustomControl_Empty.h
+++ b/libraries/AC_CustomControl/AC_CustomControl_Empty.h
@@ -1,12 +1,10 @@
 #pragma once
 
-#include "AC_CustomControl_Backend.h"
+#include "AC_CustomControl_config.h"
 
-#ifndef CUSTOMCONTROL_EMPTY_ENABLED
-    #define CUSTOMCONTROL_EMPTY_ENABLED AP_CUSTOMCONTROL_ENABLED
-#endif
+#if AP_CUSTOMCONTROL_EMPTY_ENABLED
 
-#if CUSTOMCONTROL_EMPTY_ENABLED
+#include "AC_CustomControl_Backend.h"
 
 class AC_CustomControl_Empty : public AC_CustomControl_Backend {
 public:
@@ -26,4 +24,4 @@ class AC_CustomControl_Empty : public AC_CustomControl_Backend {
     AP_Float param3;
 };
 
-#endif
+#endif  // AP_CUSTOMCONTROL_EMPTY_ENABLED
diff --git a/libraries/AC_CustomControl/AC_CustomControl_PID.cpp b/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
index 5535d449909403..cd6d00cd2af04c 100644
--- a/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
+++ b/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
@@ -1,8 +1,10 @@
+#include "AC_CustomControl_config.h"
+
+#if AP_CUSTOMCONTROL_PID_ENABLED
+
 #include "AC_CustomControl_PID.h"
 #include "AC_AttitudeControl/AC_AttitudeControl_Multi.h"
 
-#if CUSTOMCONTROL_PID_ENABLED
-
 // table of user settable parameters
 const AP_Param::GroupInfo AC_CustomControl_PID::var_info[] = {
     // @Param: ANG_RLL_P
@@ -403,4 +405,4 @@ void AC_CustomControl_PID::set_notch_sample_rate(float sample_rate)
 #endif
 }
 
-#endif
+#endif  // AP_CUSTOMCONTROL_PID_ENABLED
diff --git a/libraries/AC_CustomControl/AC_CustomControl_PID.h b/libraries/AC_CustomControl/AC_CustomControl_PID.h
index 75649a5dd92bf8..e0eb0957fb7395 100644
--- a/libraries/AC_CustomControl/AC_CustomControl_PID.h
+++ b/libraries/AC_CustomControl/AC_CustomControl_PID.h
@@ -1,5 +1,9 @@
 #pragma once
 
+#include "AC_CustomControl_config.h"
+
+#if AP_CUSTOMCONTROL_PID_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <AC_PID/AC_PID.h>
@@ -7,12 +11,6 @@
 
 #include "AC_CustomControl_Backend.h"
 
-#ifndef CUSTOMCONTROL_PID_ENABLED
-    #define CUSTOMCONTROL_PID_ENABLED AP_CUSTOMCONTROL_ENABLED
-#endif
-
-#if CUSTOMCONTROL_PID_ENABLED
-
 class AC_CustomControl_PID : public AC_CustomControl_Backend {
 public:
     AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt);
@@ -42,4 +40,4 @@ class AC_CustomControl_PID : public AC_CustomControl_Backend {
     AC_PID _pid_atti_rate_yaw;
 };
 
-#endif
+#endif  // AP_CUSTOMCONTROL_PID_ENABLED
diff --git a/libraries/AC_CustomControl/AC_CustomControl_config.h b/libraries/AC_CustomControl/AC_CustomControl_config.h
new file mode 100644
index 00000000000000..368b0b3233046c
--- /dev/null
+++ b/libraries/AC_CustomControl/AC_CustomControl_config.h
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+// note boards.py sets this, so the default value in here doesn't
+// really matter:
+//#ifndef AP_CUSTOMCONTROL_ENABLED
+//#define AP_CUSTOMCONTROL_ENABLED 0
+//#endif
+
+#ifndef AP_CUSTOMCONTROL_BACKEND_DEFAULT_ENABLED
+#define AP_CUSTOMCONTROL_BACKEND_DEFAULT_ENABLED AP_CUSTOMCONTROL_ENABLED
+#endif
+
+#ifndef AP_CUSTOMCONTROL_EMPTY_ENABLED
+#define AP_CUSTOMCONTROL_EMPTY_ENABLED AP_CUSTOMCONTROL_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_CUSTOMCONTROL_PID_ENABLED
+#define AP_CUSTOMCONTROL_PID_ENABLED AP_CUSTOMCONTROL_BACKEND_DEFAULT_ENABLED
+#endif

From c54529aaf850390f7cc3d1583541e0055fc4c7ad Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 18 Feb 2024 13:12:35 +0000
Subject: [PATCH 1151/1335] SITL: SIM_Motor: include momentum drag in derived
 torque

---
 libraries/SITL/SIM_Motor.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/SITL/SIM_Motor.cpp b/libraries/SITL/SIM_Motor.cpp
index 9c82d1ac0b72f9..00740aba02d2e4 100644
--- a/libraries/SITL/SIM_Motor.cpp
+++ b/libraries/SITL/SIM_Motor.cpp
@@ -106,9 +106,6 @@ void Motor::calculate_forces(const struct sitl_input &input,
         rotor_torque = rotation * rotor_torque;
     }
 
-    // calculate total torque in newton-meters
-    torque = (position % thrust) + rotor_torque;
-
     if (use_drag) {
         // calculate momentum drag per motor
         const float momentum_drag_factor = momentum_drag_coefficient * sqrtf(air_density * true_prop_area);
@@ -124,6 +121,9 @@ void Motor::calculate_forces(const struct sitl_input &input,
         thrust -= momentum_drag;
     }
 
+    // calculate total torque in newton-meters
+    torque = (position % thrust) + rotor_torque;
+
     // calculate current
     float power = power_factor * fabsf(motor_thrust);
     current = power / MAX(voltage, 0.1);

From b2898ca1d3686632887c2be1d7b6b8af1769febc Mon Sep 17 00:00:00 2001
From: George Zogopoulos <tailwhipx4@gmail.com>
Date: Sun, 21 Jan 2024 20:12:47 +0100
Subject: [PATCH 1152/1335] ArduCopter: Excluded target velocity from slowdown
 calculations

The slowdown calculations should apply only to the relative velocity,
not the absolute one. Thus the target baseline velocity should be added
afterwards.
Naturally the absolute velocity limits should be applied afterwards.
---
 ArduCopter/mode_follow.cpp | 38 +++++++++++++-------------------------
 1 file changed, 13 insertions(+), 25 deletions(-)

diff --git a/ArduCopter/mode_follow.cpp b/ArduCopter/mode_follow.cpp
index a0649c5956c24f..0a76dc8cb890d2 100644
--- a/ArduCopter/mode_follow.cpp
+++ b/ArduCopter/mode_follow.cpp
@@ -66,30 +66,9 @@ void ModeFollow::run()
         // convert dist_vec_offs to cm in NEU
         const Vector3f dist_vec_offs_neu(dist_vec_offs.x * 100.0f, dist_vec_offs.y * 100.0f, -dist_vec_offs.z * 100.0f);
 
-        // calculate desired velocity vector in cm/s in NEU
+        // calculate desired relative velocity vector in cm/s in NEU
         const float kp = g2.follow.get_pos_p().kP();
-        desired_velocity_neu_cms.x = (vel_of_target.x * 100.0f) + (dist_vec_offs_neu.x * kp);
-        desired_velocity_neu_cms.y = (vel_of_target.y * 100.0f) + (dist_vec_offs_neu.y * kp);
-        desired_velocity_neu_cms.z = (-vel_of_target.z * 100.0f) + (dist_vec_offs_neu.z * kp);
-
-        // scale desired velocity to stay within horizontal speed limit
-        float desired_speed_xy = safe_sqrt(sq(desired_velocity_neu_cms.x) + sq(desired_velocity_neu_cms.y));
-        if (!is_zero(desired_speed_xy) && (desired_speed_xy > pos_control->get_max_speed_xy_cms())) {
-            const float scalar_xy = pos_control->get_max_speed_xy_cms() / desired_speed_xy;
-            desired_velocity_neu_cms.x *= scalar_xy;
-            desired_velocity_neu_cms.y *= scalar_xy;
-            desired_speed_xy = pos_control->get_max_speed_xy_cms();
-        }
-
-        // limit desired velocity to be between maximum climb and descent rates
-        desired_velocity_neu_cms.z = constrain_float(desired_velocity_neu_cms.z, -fabsf(pos_control->get_max_speed_down_cms()), pos_control->get_max_speed_up_cms());
-
-        // unit vector towards target position (i.e. vector to lead vehicle + offset)
-        Vector3f dir_to_target_neu = dist_vec_offs_neu;
-        const float dir_to_target_neu_len = dir_to_target_neu.length();
-        if (!is_zero(dir_to_target_neu_len)) {
-            dir_to_target_neu /= dir_to_target_neu_len;
-        }
+        desired_velocity_neu_cms = dist_vec_offs_neu * kp;
 
         // create horizontal desired velocity vector (required for slow down calculations)
         Vector2f desired_velocity_xy_cms(desired_velocity_neu_cms.x, desired_velocity_neu_cms.y);
@@ -104,13 +83,22 @@ void ModeFollow::run()
         const float dist_to_target_xy = Vector2f(dist_vec_offs_neu.x, dist_vec_offs_neu.y).length();
         copter.avoid.limit_velocity_2D(pos_control->get_pos_xy_p().kP().get(), pos_control->get_max_accel_xy_cmss() * 0.5f, desired_velocity_xy_cms, dir_to_target_xy, dist_to_target_xy, copter.G_Dt);
         // copy horizontal velocity limits back to 3d vector
-        desired_velocity_neu_cms.x = desired_velocity_xy_cms.x;
-        desired_velocity_neu_cms.y = desired_velocity_xy_cms.y;
+        desired_velocity_neu_cms.xy() = desired_velocity_xy_cms;
 
         // limit vertical desired_velocity_neu_cms to slow as we approach target (we use 1/2 of maximum deceleration for gentle slow down)
         const float des_vel_z_max = copter.avoid.get_max_speed(pos_control->get_pos_z_p().kP().get(), pos_control->get_max_accel_z_cmss() * 0.5f, fabsf(dist_vec_offs_neu.z), copter.G_Dt);
         desired_velocity_neu_cms.z = constrain_float(desired_velocity_neu_cms.z, -des_vel_z_max, des_vel_z_max);
 
+        // Add the target velocity baseline.
+        desired_velocity_neu_cms.xy() += vel_of_target.xy() * 100.0f;
+        desired_velocity_neu_cms.z += -vel_of_target.z * 100.0f;
+
+        // scale desired velocity to stay within horizontal speed limit
+        desired_velocity_neu_cms.xy().limit_length(pos_control->get_max_speed_xy_cms());
+
+        // limit desired velocity to be between maximum climb and descent rates
+        desired_velocity_neu_cms.z = constrain_float(desired_velocity_neu_cms.z, -fabsf(pos_control->get_max_speed_down_cms()), pos_control->get_max_speed_up_cms());
+
         // limit the velocity for obstacle/fence avoidance
         copter.avoid.adjust_velocity(desired_velocity_neu_cms, pos_control->get_pos_xy_p().kP().get(), pos_control->get_max_accel_xy_cmss(), pos_control->get_pos_z_p().kP().get(), pos_control->get_max_accel_z_cmss(), G_Dt);
 

From 494d72503ac353a17d955d8fe72442d3df4f1595 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 19 Feb 2024 10:57:18 +1100
Subject: [PATCH 1153/1335] AP_GPS: use probing when probing for GPS, add
 detected message

---
 libraries/AP_GPS/AP_GPS.cpp      | 8 ++++++++
 libraries/AP_GPS/AP_GPS.h        | 1 +
 libraries/AP_GPS/GPS_Backend.cpp | 2 +-
 3 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 25a790787a8d42..52f622458ef97b 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -999,6 +999,14 @@ void AP_GPS::update_instance(uint8_t instance)
             tnow = state[instance].last_corrected_gps_time_us/1000U;
             state[instance].corrected_timestamp_updated = false;
         }
+
+        // we set delta_time_ms to the timeout value when clearing
+        // state; use it being zero to mark first message
+        if (!state[instance].announced_detection) {
+            state[instance].announced_detection = true;
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: detected %s", instance + 1, drivers[instance]->name());
+        }
+
         // delta will only be correct after parsing two messages
         timing[instance].delta_time_ms = tnow - timing[instance].last_message_time_ms;
         timing[instance].last_message_time_ms = tnow;
diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
index a5ca9cdceaddd1..b48bf453a47428 100644
--- a/libraries/AP_GPS/AP_GPS.h
+++ b/libraries/AP_GPS/AP_GPS.h
@@ -212,6 +212,7 @@ class AP_GPS
         float undulation;                   //<height that WGS84 is above AMSL at the current location
         bool have_undulation;               ///<do we have a value for the undulation
         uint32_t last_gps_time_ms;          ///< the system time we got the last GPS timestamp, milliseconds
+        bool announced_detection;           ///< true once we have announced GPS has been seen to the user
         uint64_t last_corrected_gps_time_us;///< the system time we got the last corrected GPS timestamp, microseconds
         bool corrected_timestamp_updated;  ///< true if the corrected timestamp has been updated
         uint32_t lagged_sample_count;       ///< number of samples with 50ms more lag than expected
diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
index f6d08fc761705c..8147be24492cb6 100644
--- a/libraries/AP_GPS/GPS_Backend.cpp
+++ b/libraries/AP_GPS/GPS_Backend.cpp
@@ -136,7 +136,7 @@ void AP_GPS_Backend::_detection_message(char *buffer, const uint8_t buflen) cons
 
     if (dstate.auto_detected_baud) {
         hal.util->snprintf(buffer, buflen,
-                 "GPS %d: detected as %s at %d baud",
+                 "GPS %d: probing for %s at %d baud",
                  instance + 1,
                  name(),
                  int(gps._baudrates[dstate.current_baud]));

From 5199be991403b624431b18db707fce3525d52ef3 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 19 Feb 2024 10:57:36 +1100
Subject: [PATCH 1154/1335] SITL: add diagnostics when bad GPS backend
 specified

---
 libraries/SITL/SIM_GPS.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/SITL/SIM_GPS.cpp b/libraries/SITL/SIM_GPS.cpp
index 53f858a94634ad..38735248d97e2d 100644
--- a/libraries/SITL/SIM_GPS.cpp
+++ b/libraries/SITL/SIM_GPS.cpp
@@ -26,6 +26,8 @@
 #include "SIM_GPS_SBP.h"
 #include "SIM_GPS_UBLOX.h"
 
+#include <GCS_MAVLink/GCS.h>
+
 // the number of GPS leap seconds - copied from AP_GPS.h
 #define GPS_LEAPSECONDS_MILLIS 18000ULL
 
@@ -279,6 +281,9 @@ void GPS::check_backend_allocation()
 #endif
     };
 
+    if (configured_type != Type::NONE && backend == nullptr) {
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "SIM_GPS: No backend for %u", (unsigned)configured_type);
+    }
     allocated_type = configured_type;
 }
 

From 1515f0642b2237bd24505d1e81e9a34b3f2a719d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 19 Feb 2024 10:58:47 +1100
Subject: [PATCH 1155/1335] SITL: correct documentation around simulated GPS
 type

---
 libraries/SITL/SITL.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
index 2aeed73ab6ed28..46ff0cba1294f4 100644
--- a/libraries/SITL/SITL.cpp
+++ b/libraries/SITL/SITL.cpp
@@ -499,7 +499,7 @@ const AP_Param::GroupInfo SIM::var_gps[] = {
     // @Param: GPS_TYPE
     // @DisplayName: GPS 1 type
     // @Description: Sets the type of simulation used for GPS 1
-    // @Values: 0:None, 1:UBlox, 5:NMEA, 6:SBP, 7:File, 8:Nova, 9:SBP, 10:Trimble, 19:MSP
+    // @Values: 0:None, 1:UBlox, 5:NMEA, 6:SBP, 7:File, 8:Nova, 9:SBP2, 11:Trimble, 19:MSP
     // @User: Advanced
     AP_GROUPINFO("GPS_TYPE",       3, SIM,  gps_type[0],  GPS::Type::UBLOX),
     // @Param: GPS_BYTELOSS

From 56a73dedae821d44fc27eccd17652670d030d9f7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 19 Feb 2024 21:49:54 +1100
Subject: [PATCH 1156/1335] autotest: adjust tests for new GPS messages

---
 Tools/autotest/vehicle_test_suite.py | 18 +++++++++++-------
 1 file changed, 11 insertions(+), 7 deletions(-)

diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index 5b7e4f54b7ecdc..dbffada9201c83 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -13509,11 +13509,11 @@ def GPSTypes(self):
         # if gps_type is None we auto-detect
         sim_gps = [
             # (0, "NONE"),
-            (1, "UBLOX", None, "u-blox", 5, 'detected'),
-            (5, "NMEA", 5, "NMEA", 5, 'detected'),
-            (6, "SBP", None, "SBP", 5, 'detected'),
+            (1, "UBLOX", None, "u-blox", 5, 'probing'),
+            (5, "NMEA", 5, "NMEA", 5, 'probing'),
+            (6, "SBP", None, "SBP", 5, 'probing'),
             # (7, "SBP2", 9, "SBP2", 5),  # broken, "waiting for config data"
-            (8, "NOVA", 15, "NOVA", 5, 'detected'),  # no attempt to auto-detect this in AP_GPS
+            (8, "NOVA", 15, "NOVA", 5, 'probing'),  # no attempt to auto-detect this in AP_GPS
             (11, "GSOF", 11, "GSOF", 5, 'specified'), # no attempt to auto-detect this in AP_GPS
             (19, "MSP", 19, "MSP", 32, 'specified'),  # no attempt to auto-detect this in AP_GPS
             # (9, "FILE"),
@@ -13528,7 +13528,11 @@ def GPSTypes(self):
             self.set_parameter("GPS_TYPE", gps_type)
             self.context_clear_collection('STATUSTEXT')
             self.reboot_sitl()
-            self.wait_statustext("%s as %s" % (detect_prefix, detect_name), check_context=True)
+            if detect_prefix == "probing":
+                self.wait_statustext(f"probing for {detect_name}", check_context=True)
+            else:
+                self.wait_statustext(f"specified as {detect_name}", check_context=True)
+            self.wait_statustext(f"detected {detect_name}", check_context=True)
             n = self.poll_home_position(timeout=120)
             distance = self.get_distance_int(orig, n)
             if distance > 1:
@@ -13565,8 +13569,8 @@ def MultipleGPS(self):
         # AP_GPS::init() at boot time, so it will never be detected.
         self.context_collect("STATUSTEXT")
         self.reboot_sitl()
-        self.wait_statustext("GPS 1: detected as u-blox", check_context=True)
-        self.wait_statustext("GPS 2: detected as u-blox", check_context=True)
+        self.wait_statustext("GPS 1: detected u-blox", check_context=True)
+        self.wait_statustext("GPS 2: detected u-blox", check_context=True)
         m = self.assert_receive_message("GPS2_RAW")
         self.progress(self.dump_message_verbose(m))
         # would be nice for it to take some time to get a fix....

From 392aa8fd4809ac7849a151ea7af538a755f2af09 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 15 Feb 2024 11:41:14 +1100
Subject: [PATCH 1157/1335] waf: remove richenpower special-case

we started to include this everywhere anyway
---
 Tools/ardupilotwaf/boards.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 35f3ec24b80b4f..0d00e7c4deac19 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -654,7 +654,6 @@ def configure_env(self, cfg, env):
         cfg.define('AP_SIM_ENABLED', 1)
         cfg.define('HAL_WITH_SPI', 1)
         cfg.define('HAL_WITH_RAMTRON', 1)
-        cfg.define('AP_GENERATOR_RICHENPOWER_ENABLED', 1)
         cfg.define('AP_OPENDRONEID_ENABLED', 1)
         cfg.define('AP_SIGNED_FIRMWARE', 0)
 

From d5e4d191d58a621e1c01fcd0ec2374149c773335 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 20 Feb 2024 13:30:03 +1100
Subject: [PATCH 1158/1335] AP_OSD: use internal enumeration in place of
 mavlink enumeration

this will let us more-easily compile without the mavlink headers
---
 libraries/AP_OSD/AP_OSD.h                | 17 +++++-
 libraries/AP_OSD/AP_OSD_ParamScreen.cpp  | 78 ++++++++++++------------
 libraries/AP_OSD/AP_OSD_ParamSetting.cpp | 34 +++++++++--
 3 files changed, 82 insertions(+), 47 deletions(-)

diff --git a/libraries/AP_OSD/AP_OSD.h b/libraries/AP_OSD/AP_OSD.h
index 8594e5d2d4aaa3..f2fed33c93d3cc 100644
--- a/libraries/AP_OSD/AP_OSD.h
+++ b/libraries/AP_OSD/AP_OSD.h
@@ -329,6 +329,18 @@ class AP_OSD_ParamSetting
 {
 public:
 
+    enum class Type : uint8_t {
+        NONE = 0,
+        SERIAL_PROTOCOL    =  1,
+        SERVO_FUNCTION     =  2,
+        AUX_FUNCTION       =  3,
+        FLIGHT_MODE        =  4,
+        FAILSAFE_ACTION    =  5,
+        FAILSAFE_ACTION_1  =  6,
+        FAILSAFE_ACTION_2  =  7,
+        NUM_TYPES          =  8,
+    };
+
     AP_Int8 enabled;
     AP_Int8 xpos;
     AP_Int8 ypos;
@@ -341,7 +353,7 @@ class AP_OSD_ParamSetting
     AP_Float _param_min;
     AP_Float _param_max;
     AP_Float _param_incr;
-    AP_Int8 _type;
+    AP_Enum<Type> _type;
 
     // parameter number
     uint8_t _param_number;
@@ -357,11 +369,12 @@ class AP_OSD_ParamSetting
         uint8_t values_max;
         const char** values;
     };
+
     // compact structure used to hold default values for static initialization
     struct Initializer {
         uint8_t index;
         AP_Param::ParamToken token;
-        int8_t type;
+        Type type;
     };
 
     static const ParamMetadata _param_metadata[];
diff --git a/libraries/AP_OSD/AP_OSD_ParamScreen.cpp b/libraries/AP_OSD/AP_OSD_ParamScreen.cpp
index 9dd4e77bedfdf2..5f48cd59ef3f03 100644
--- a/libraries/AP_OSD/AP_OSD_ParamScreen.cpp
+++ b/libraries/AP_OSD/AP_OSD_ParamScreen.cpp
@@ -129,49 +129,49 @@ static const char* event_names[5] = {
 static const AP_OSD_ParamSetting::Initializer PARAM_DEFAULTS[AP_OSD_NUM_PARAM_SCREENS][AP_OSD_ParamScreen::NUM_PARAMS] {
 #if APM_BUILD_COPTER_OR_HELI
     {
-        { 1, { 102, 0, 4033 }, OSD_PARAM_NONE },            // ATC_RAT_RLL_P
-        { 2, { 102, 0, 129  }, OSD_PARAM_NONE },            // ATC_RAT_RLL_D
-        { 3, { 102, 0, 705  }, OSD_PARAM_NONE },            // ATC_RAT_RLL_FLTD
-        { 4, { 102, 0, 4034 }, OSD_PARAM_NONE },            // ATC_RAT_PIT_P
-        { 5, { 102, 0, 130  }, OSD_PARAM_NONE },            // ATC_RAT_PIT_D
-        { 6, { 102, 0, 706  }, OSD_PARAM_NONE },            // ATC_RAT_PIT_FLTD
-        { 7, { 102, 0, 4035 }, OSD_PARAM_NONE },            // ATC_RAT_YAW_P
-        { 8, { 102, 0, 131  }, OSD_PARAM_NONE },            // ATC_RAT_YAW_D
-        { 9, { 102, 0, 643  }, OSD_PARAM_NONE }             // ATC_RAT_YAW_FLTE
+        { 1, { 102, 0, 4033 }, AP_OSD_ParamSetting::Type::NONE },            // ATC_RAT_RLL_P
+        { 2, { 102, 0, 129  }, AP_OSD_ParamSetting::Type::NONE },            // ATC_RAT_RLL_D
+        { 3, { 102, 0, 705  }, AP_OSD_ParamSetting::Type::NONE },            // ATC_RAT_RLL_FLTD
+        { 4, { 102, 0, 4034 }, AP_OSD_ParamSetting::Type::NONE },            // ATC_RAT_PIT_P
+        { 5, { 102, 0, 130  }, AP_OSD_ParamSetting::Type::NONE },            // ATC_RAT_PIT_D
+        { 6, { 102, 0, 706  }, AP_OSD_ParamSetting::Type::NONE },            // ATC_RAT_PIT_FLTD
+        { 7, { 102, 0, 4035 }, AP_OSD_ParamSetting::Type::NONE },            // ATC_RAT_YAW_P
+        { 8, { 102, 0, 131  }, AP_OSD_ParamSetting::Type::NONE },            // ATC_RAT_YAW_D
+        { 9, { 102, 0, 643  }, AP_OSD_ParamSetting::Type::NONE }             // ATC_RAT_YAW_FLTE
     },
     {
-        { 1, { 3, 0, 231 }, OSD_PARAM_NONE },               // INS_LOG_BAT_OPT
-        { 2, { 3, 0, 167 }, OSD_PARAM_NONE },               // INS_LOG_BAT_MASK
-        { 3, { 60, 0, 0  }, OSD_PARAM_NONE },               // LOG_BITMASK
-        { 4, { 3, 0, 18  }, OSD_PARAM_NONE },               // INS_GYRO_FILT
-        { 5, { 102, 0, 6 }, OSD_PARAM_NONE },               // ATC_THR_MIX_MAN
-        { 6, { 102, 0, 5 }, OSD_PARAM_NONE },               // ATC_THR_MIX_MAX
-        { 7, { 6, 0, 25041 }, OSD_PARAM_AUX_FUNCTION },     // RC7_OPTION
-        { 8, { 6, 0, 25105 }, OSD_PARAM_AUX_FUNCTION },     // RC8_OPTION
-        { 9, { 36, 0, 1047 }, OSD_PARAM_FAILSAFE_ACTION_2 } // BATT_FS_LOW_ACT
+        { 1, { 3, 0, 231 }, AP_OSD_ParamSetting::Type::NONE },               // INS_LOG_BAT_OPT
+        { 2, { 3, 0, 167 }, AP_OSD_ParamSetting::Type::NONE },               // INS_LOG_BAT_MASK
+        { 3, { 60, 0, 0  }, AP_OSD_ParamSetting::Type::NONE },               // LOG_BITMASK
+        { 4, { 3, 0, 18  }, AP_OSD_ParamSetting::Type::NONE },               // INS_GYRO_FILT
+        { 5, { 102, 0, 6 }, AP_OSD_ParamSetting::Type::NONE },               // ATC_THR_MIX_MAN
+        { 6, { 102, 0, 5 }, AP_OSD_ParamSetting::Type::NONE },               // ATC_THR_MIX_MAX
+        { 7, { 6, 0, 25041 }, AP_OSD_ParamSetting::Type::AUX_FUNCTION },     // RC7_OPTION
+        { 8, { 6, 0, 25105 }, AP_OSD_ParamSetting::Type::AUX_FUNCTION },     // RC8_OPTION
+        { 9, { 36, 0, 1047 }, AP_OSD_ParamSetting::Type::FAILSAFE_ACTION_2 } // BATT_FS_LOW_ACT
     }
 #elif APM_BUILD_TYPE(APM_BUILD_ArduPlane)
     {
-        { 1, { 232, 0, 265 }, OSD_PARAM_NONE },             // RLL_RATE_FF
-        { 2, { 232, 0, 4041 }, OSD_PARAM_NONE },            // RLL_RATE_P
-        { 3, { 232, 0, 73 }, OSD_PARAM_NONE },              // RLL_RATE_I
-        { 4, { 233, 0, 267 }, OSD_PARAM_NONE },             // PTCH_RATE_FF
-        { 5, { 233, 0, 4043 }, OSD_PARAM_NONE },            // PTCH_RATE_P
-        { 6, { 233, 0, 75 }, OSD_PARAM_NONE },              // PTCH_RATE_I
-        { 7, { 233, 0, 6 }, OSD_PARAM_NONE },               // PTCH2SRV_RLL
-        { 8, { 199, 0, 1 }, OSD_PARAM_NONE },               // TUNE_PARAM
-        { 9, { 199, 0, 320 }, OSD_PARAM_NONE }              // TUNE_RANGE
+        { 1, { 232, 0, 265 }, AP_OSD_ParamSetting::Type::NONE },             // RLL_RATE_FF
+        { 2, { 232, 0, 4041 }, AP_OSD_ParamSetting::Type::NONE },            // RLL_RATE_P
+        { 3, { 232, 0, 73 }, AP_OSD_ParamSetting::Type::NONE },              // RLL_RATE_I
+        { 4, { 233, 0, 267 }, AP_OSD_ParamSetting::Type::NONE },             // PTCH_RATE_FF
+        { 5, { 233, 0, 4043 }, AP_OSD_ParamSetting::Type::NONE },            // PTCH_RATE_P
+        { 6, { 233, 0, 75 }, AP_OSD_ParamSetting::Type::NONE },              // PTCH_RATE_I
+        { 7, { 233, 0, 6 }, AP_OSD_ParamSetting::Type::NONE },               // PTCH2SRV_RLL
+        { 8, { 199, 0, 1 }, AP_OSD_ParamSetting::Type::NONE },               // TUNE_PARAM
+        { 9, { 199, 0, 320 }, AP_OSD_ParamSetting::Type::NONE }              // TUNE_RANGE
     },
     {
-        { 1, { 185, 0, 0 }, OSD_PARAM_NONE },               // TRIM_THROTTLE
-        { 2, { 155, 0, 0 }, OSD_PARAM_NONE },               // AIRSPEED_CRUISE
-        { 3, { 4, 0, 1094 }, OSD_PARAM_NONE },              // SERVO_AUTO_TRIM
-        { 4, { 120, 0, 0 }, OSD_PARAM_NONE},                // AIRSPEED_MIN
-        { 5, { 121, 0, 0 }, OSD_PARAM_NONE },               // AIRSPEED_MAX
-        { 6, { 156, 0, 0 }, OSD_PARAM_NONE },               // RTL_ALTITUDE
-        { 7, { 140, 2, 8 }, OSD_PARAM_NONE },               // AHRS_TRIM_Y
-        { 8, { 182, 0, 0 }, OSD_PARAM_NONE },               // THR_MAX
-        { 9, { 189, 0, 0 }, OSD_PARAM_NONE }                // THR_SLEWRATE
+        { 1, { 185, 0, 0 }, AP_OSD_ParamSetting::Type::NONE },               // TRIM_THROTTLE
+        { 2, { 155, 0, 0 }, AP_OSD_ParamSetting::Type::NONE },               // AIRSPEED_CRUISE
+        { 3, { 4, 0, 1094 }, AP_OSD_ParamSetting::Type::NONE },              // SERVO_AUTO_TRIM
+        { 4, { 120, 0, 0 }, AP_OSD_ParamSetting::Type::NONE},                // AIRSPEED_MIN
+        { 5, { 121, 0, 0 }, AP_OSD_ParamSetting::Type::NONE },               // AIRSPEED_MAX
+        { 6, { 156, 0, 0 }, AP_OSD_ParamSetting::Type::NONE },               // RTL_ALTITUDE
+        { 7, { 140, 2, 8 }, AP_OSD_ParamSetting::Type::NONE },               // AHRS_TRIM_Y
+        { 8, { 182, 0, 0 }, AP_OSD_ParamSetting::Type::NONE },               // THR_MAX
+        { 9, { 189, 0, 0 }, AP_OSD_ParamSetting::Type::NONE }                // THR_SLEWRATE
     }
 #else
     {
@@ -381,7 +381,7 @@ void AP_OSD_ParamScreen::modify_configured_parameter(uint8_t number, Event ev)
         setting._param_key.set(AP_Param::get_persistent_key(setting._current_token.key));
         setting._param_idx.set(setting._current_token.idx);
         setting._param = param;
-        setting._type.set(OSD_PARAM_NONE);
+        setting._type.set(AP_OSD_ParamSetting::Type::NONE);
         // force update() to refresh the token
         setting._current_token.key = 0;
         setting._current_token.idx = 0;
@@ -636,7 +636,7 @@ void AP_OSD_ParamScreen::handle_read_msg(const mavlink_osd_param_show_config_t&
     // request out of range - return an error
     if (packet.osd_index < 1 || packet.osd_index > AP_OSD_ParamScreen::NUM_PARAMS) {
         mavlink_msg_osd_param_show_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_PARAMETER_INDEX,
-            nullptr, OSD_PARAM_NONE, 0, 0, 0);
+            nullptr, uint8_t(AP_OSD_ParamSetting::Type::NONE), 0, 0, 0);
         return;
     }
     // get the parameter and make sure it is fresh
@@ -646,7 +646,7 @@ void AP_OSD_ParamScreen::handle_read_msg(const mavlink_osd_param_show_config_t&
     // check for bad things
     if (param._param == nullptr) {
         mavlink_msg_osd_param_show_config_reply_send(link.get_chan(), packet.request_id, OSD_PARAM_INVALID_PARAMETER_INDEX,
-            nullptr, OSD_PARAM_NONE, 0, 0, 0);
+            nullptr, uint8_t(AP_OSD_ParamSetting::Type::NONE), 0, 0, 0);
         return;
     }
     // get the name and send back the details
diff --git a/libraries/AP_OSD/AP_OSD_ParamSetting.cpp b/libraries/AP_OSD/AP_OSD_ParamSetting.cpp
index 9efdef9b3659a9..d2f13871114389 100644
--- a/libraries/AP_OSD/AP_OSD_ParamSetting.cpp
+++ b/libraries/AP_OSD/AP_OSD_ParamSetting.cpp
@@ -25,6 +25,7 @@
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <GCS_MAVLink/GCS.h>
 #include <SRV_Channel/SRV_Channel.h>
+#include <AP_SerialManager/AP_SerialManager.h>
 #include <ctype.h>
 
 #if OSD_PARAM_ENABLED
@@ -99,6 +100,27 @@ const AP_Param::GroupInfo AP_OSD_ParamSetting::var_info[] = {
     AP_GROUPEND
 };
 
+#if HAL_GCS_ENABLED
+// ensure that our OSD_PARAM type enumeration is 1:1 with the mavlink
+// numbers.  This allows us to do a simple cast from one to the other
+// when sending mavlink messages, rather than having some sort of
+// mapping function from our internal enumeration into the mavlink
+// enumeration.  Doing things this way has two advantages - in the
+// future we could add that mapping function and change our
+// enumeration, and the other is that it allows us to build the GPS
+// library without having the mavlink headers built (for example, in
+// AP_Periph we shouldn't need mavlink headers).
+static_assert((uint32_t)AP_OSD_ParamSetting::Type::NONE == (uint32_t)OSD_PARAM_NONE, "OSD_PARAM_NONE incorrect");
+static_assert((uint32_t)AP_OSD_ParamSetting::Type::SERIAL_PROTOCOL == (uint32_t)OSD_PARAM_SERIAL_PROTOCOL, "OSD_PARAM_SERIAL_PROTOCOL incorrect");
+static_assert((uint32_t)AP_OSD_ParamSetting::Type::SERVO_FUNCTION == (uint32_t)OSD_PARAM_SERVO_FUNCTION, "OSD_PARAM_SERVO_FUNCTION incorrect");
+static_assert((uint32_t)AP_OSD_ParamSetting::Type::AUX_FUNCTION == (uint32_t)OSD_PARAM_AUX_FUNCTION, "OSD_PARAM_AUX_FUNCTION incorrect");
+static_assert((uint32_t)AP_OSD_ParamSetting::Type::FLIGHT_MODE == (uint32_t)OSD_PARAM_FLIGHT_MODE, "OSD_PARAM_FLIGHT_MODE incorrect");
+static_assert((uint32_t)AP_OSD_ParamSetting::Type::FAILSAFE_ACTION == (uint32_t)OSD_PARAM_FAILSAFE_ACTION, "OSD_PARAM_FAILSAFE_ACTION incorrect");
+static_assert((uint32_t)AP_OSD_ParamSetting::Type::FAILSAFE_ACTION_1 == (uint32_t)OSD_PARAM_FAILSAFE_ACTION_1, "OSD_PARAM_FAILSAFE_ACTION_1 incorrect");
+static_assert((uint32_t)AP_OSD_ParamSetting::Type::FAILSAFE_ACTION_2 == (uint32_t)OSD_PARAM_FAILSAFE_ACTION_2, "OSD_PARAM_FAILSAFE_ACTION_2 incorrect");
+static_assert((uint32_t)AP_OSD_ParamSetting::Type::NUM_TYPES == (uint32_t)AP_OSD_ParamSetting::Type::NUM_TYPES, "AP_OSD_ParamSetting::Type::NUM_TYPES incorrect");
+#endif  // HAL_GCS_ENABLED
+
 #define PARAM_COMPOSITE_INDEX(key, idx, group) (uint32_t((uint32_t(key) << 23) | (uint32_t(idx) << 18) | uint32_t(group)))
 
 #define OSD_PARAM_DEBUG 0
@@ -175,7 +197,7 @@ static const char* FS_LNG_ACTNS[] = {
 };
 
 // plane parameters
-const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[OSD_PARAM_NUM_TYPES] = {
+const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[unsigned(AP_OSD_ParamSetting::Type::NUM_TYPES)] = {
     { -1, AP_SerialManager::SerialProtocol_NumProtocols - 1,    1, ARRAY_SIZE(SERIAL_PROTOCOL_VALUES), SERIAL_PROTOCOL_VALUES },  // OSD_PARAM_SERIAL_PROTOCOL
     { 0, SRV_Channel::k_nr_aux_servo_functions - 1,             1, ARRAY_SIZE(SERVO_FUNCTIONS), SERVO_FUNCTIONS },                // OSD_PARAM_SERVO_FUNCTION
     { 0, 105, 1, ARRAY_SIZE(AUX_OPTIONS), AUX_OPTIONS },                        // OSD_PARAM_AUX_FUNCTION
@@ -222,7 +244,7 @@ static const char* FS_ACT[] = {
 };
 
 // copter parameters
-const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[OSD_PARAM_NUM_TYPES] = {
+const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[unsigned(AP_OSD_ParamSetting::Type::NUM_TYPES)] = {
     { -1, AP_SerialManager::SerialProtocol_NumProtocols - 1,    1, ARRAY_SIZE(SERIAL_PROTOCOL_VALUES), SERIAL_PROTOCOL_VALUES },  // OSD_PARAM_SERIAL_PROTOCOL
     { 0, SRV_Channel::k_nr_aux_servo_functions - 1,             1, ARRAY_SIZE(SERVO_FUNCTIONS), SERVO_FUNCTIONS },                // OSD_PARAM_SERVO_FUNCTION
     { 0, 105, 1, ARRAY_SIZE(AUX_OPTIONS), AUX_OPTIONS },                        // OSD_PARAM_AUX_FUNCTION
@@ -233,7 +255,7 @@ const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[OS
 };
 
 #else
-const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[OSD_PARAM_NUM_TYPES] = {};
+const AP_OSD_ParamSetting::ParamMetadata AP_OSD_ParamSetting::_param_metadata[unsigned(AP_OSD_ParamSetting::Type::NUM_TYPES)] = {};
 #endif
 
 extern const AP_HAL::HAL& hal;
@@ -257,7 +279,7 @@ AP_OSD_ParamSetting::AP_OSD_ParamSetting(const Initializer& initializer) :
     default_param_group(initializer.token.group_element),
     default_param_idx(initializer.token.idx),
     default_param_key(initializer.token.key),
-    default_type(initializer.type)
+    default_type(float(initializer.type))
 {
     AP_Param::setup_object_defaults(this, var_info);
 }
@@ -305,7 +327,7 @@ bool AP_OSD_ParamSetting::set_by_name(const char* name, uint8_t config_type, flo
 
     _type.set_and_save_ifchanged(config_type);
 
-    if (config_type == OSD_PARAM_NONE && !is_zero(pincr)) {
+    if (config_type == uint8_t(Type::NONE) && !is_zero(pincr)) {
         // ranges
         _param_min.set_and_save_ifchanged(pmin);
         _param_max.set_and_save_ifchanged(pmax);
@@ -430,7 +452,7 @@ void AP_OSD_ParamSetting::copy_name_camel_case(char* name, size_t len) const
 bool AP_OSD_ParamSetting::set_from_metadata()
 {
     // check for statically configured setting metadata
-    if (_type > 0 && _type < OSD_PARAM_NUM_TYPES && _param_metadata[_type - 1].values_max > 0) {
+    if (_type > 0 && _type < uint8_t(Type::NUM_TYPES) && _param_metadata[_type - 1].values_max > 0) {
         _param_incr.set(_param_metadata[_type - 1].increment);
         _param_min.set(_param_metadata[_type - 1].min_value);
         _param_max.set(_param_metadata[_type - 1].max_value);

From a7fba2ba5f506de823d3cba71c73d8564f0bdd49 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 1 Feb 2024 09:01:40 +1100
Subject: [PATCH 1159/1335] waf: added AP_JSON to library list

---
 Tools/ardupilotwaf/ardupilotwaf.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index 2beb1c5478349c..2b2c89340a899d 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -116,6 +116,7 @@
     'AP_OpenDroneID',
     'AP_CheckFirmware',
     'AP_ExternalControl',
+    'AP_JSON',
 ]
 
 def get_legacy_defines(sketch_name, bld):

From a3697b3d9768653e3465ba42139c1dd6db603dc3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 1 Feb 2024 15:15:53 +1100
Subject: [PATCH 1160/1335] waf: added -Wno-psabi

the ABI change warnings for gcc 7.1 are not useful
---
 Tools/ardupilotwaf/boards.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 0d00e7c4deac19..e24b0a54f84d9e 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -274,6 +274,7 @@ def configure_env(self, cfg, env):
             env.CXXFLAGS += [
                 '-fcheck-new',
                 '-fsingle-precision-constant',
+                '-Wno-psabi',
             ]
 
         if cfg.env.DEBUG:

From cb01789b9f0d1738d3a46b556e7a3b41ed8d5a6d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 1 Feb 2024 09:01:48 +1100
Subject: [PATCH 1161/1335] SITL: use AP_JSON

---
 libraries/SITL/SIM_Aircraft.cpp               |    4 +-
 libraries/SITL/SIM_Aircraft.h                 |    4 -
 libraries/SITL/SIM_Frame.cpp                  |   17 +-
 libraries/SITL/SIM_Frame.h                    |   13 +-
 libraries/SITL/SIM_XPlane.cpp                 |   13 +-
 libraries/SITL/SIM_XPlane.h                   |    8 +-
 .../examples/EvaluateBatteryModel/wscript     |    3 -
 .../SITL/examples/EvaluateMotorModel/wscript  |    3 -
 libraries/SITL/picojson.cpp                   |   62 -
 libraries/SITL/picojson.h                     | 1203 -----------------
 10 files changed, 20 insertions(+), 1310 deletions(-)
 delete mode 100644 libraries/SITL/picojson.cpp
 delete mode 100644 libraries/SITL/picojson.h

diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
index ed43366ab6c0b4..b0f1fa6d20fe80 100644
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@@ -35,10 +35,8 @@
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_Scheduler/AP_Scheduler.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
-#if USE_PICOJSON
-#include "picojson.h"
+#include <AP_JSON/AP_JSON.h>
 #include <AP_Filesystem/AP_Filesystem.h>
-#endif
 
 using namespace SITL;
 
diff --git a/libraries/SITL/SIM_Aircraft.h b/libraries/SITL/SIM_Aircraft.h
index 8b40a4eba281fa..1d79437e9065d2 100644
--- a/libraries/SITL/SIM_Aircraft.h
+++ b/libraries/SITL/SIM_Aircraft.h
@@ -38,10 +38,6 @@
 #include <Filter/Filter.h>
 #include "SIM_JSON_Master.h"
 
-#ifndef USE_PICOJSON
-#define USE_PICOJSON (CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX)
-#endif
-
 namespace SITL {
 
 /*
diff --git a/libraries/SITL/SIM_Frame.cpp b/libraries/SITL/SIM_Frame.cpp
index ef106020b99eae..0f9bc5fb6260c4 100644
--- a/libraries/SITL/SIM_Frame.cpp
+++ b/libraries/SITL/SIM_Frame.cpp
@@ -331,7 +331,6 @@ float Frame::get_air_density(float alt_amsl) const
     return air_pressure / (ISA_GAS_CONSTANT * (C_TO_KELVIN(model.refTempC)));
 }
 
-#if USE_PICOJSON
 /*
   load frame specific parameters from a json file if available
  */
@@ -350,7 +349,7 @@ void Frame::load_frame_params(const char *model_json)
     if (fname == nullptr) {
         AP_HAL::panic("%s failed to load\n", model_json);
     }
-    picojson::value *obj = (picojson::value *)load_json(model_json);
+    AP_JSON::value *obj = AP_JSON::load_json(model_json);
     if (obj == nullptr) {
         AP_HAL::panic("%s failed to load\n", model_json);
     }
@@ -395,7 +394,7 @@ void Frame::load_frame_params(const char *model_json)
 
     for (uint8_t i=0; i<ARRAY_SIZE(vars); i++) {
         auto v = obj->get(vars[i].label);
-        if (v.is<picojson::null>()) {
+        if (v.is<AP_JSON::null>()) {
             // use default value
             continue;
         }
@@ -418,7 +417,7 @@ void Frame::load_frame_params(const char *model_json)
         for (uint8_t j=0; j<12; j++) {
             snprintf(label_name, 20, "motor%i_%s", j+1, per_motor_vars[i].label);
             auto v = obj->get(label_name);
-            if (v.is<picojson::null>()) {
+            if (v.is<AP_JSON::null>()) {
                 // use default value
                 continue;
             }
@@ -436,15 +435,15 @@ void Frame::load_frame_params(const char *model_json)
     ::printf("Loaded model params from %s\n", model_json);
 }
 
-void Frame::parse_float(picojson::value val, const char* label, float &param) {
+void Frame::parse_float(AP_JSON::value val, const char* label, float &param) {
     if (!val.is<double>()) {
         AP_HAL::panic("Bad json type for %s: %s", label, val.to_str().c_str());
     }
     param = val.get<double>();
 }
 
-void Frame::parse_vector3(picojson::value val, const char* label, Vector3f &param) {
-    if (!val.is<picojson::array>() || !val.contains(2) || val.contains(3)) {
+void Frame::parse_vector3(AP_JSON::value val, const char* label, Vector3f &param) {
+    if (!val.is<AP_JSON::value::array>() || !val.contains(2) || val.contains(3)) {
         AP_HAL::panic("Bad json type for %s: %s", label, val.to_str().c_str());
     }
     for (uint8_t j=0; j<3; j++) {
@@ -452,8 +451,6 @@ void Frame::parse_vector3(picojson::value val, const char* label, Vector3f &para
     }
 }
 
-#endif
-
 #if AP_SIM_ENABLED
 
 /*
@@ -464,13 +461,11 @@ void Frame::init(const char *frame_str, Battery *_battery)
     model = default_model;
     battery = _battery;
 
-#if USE_PICOJSON
     const char *colon = strchr(frame_str, ':');
     size_t slen = strlen(frame_str);
     if (colon != nullptr && slen > 5 && strcmp(&frame_str[slen-5], ".json") == 0) {
         load_frame_params(colon+1);
     }
-#endif
     mass = model.mass;
 
     const float drag_force = model.mass * GRAVITY_MSS * tanf(radians(model.refAngle));
diff --git a/libraries/SITL/SIM_Frame.h b/libraries/SITL/SIM_Frame.h
index 21ba0c9fd75074..a097943f6e5c4a 100644
--- a/libraries/SITL/SIM_Frame.h
+++ b/libraries/SITL/SIM_Frame.h
@@ -20,10 +20,7 @@
 
 #include "SIM_Aircraft.h"
 #include "SIM_Motor.h"
-
-#if USE_PICOJSON
-#include "picojson.h"
-#endif
+#include <AP_JSON/AP_JSON.h>
 
 namespace SITL {
 
@@ -146,10 +143,8 @@ class Frame {
     } default_model;
 
 protected:
-#if USE_PICOJSON
     // load frame parameters from a json model file
     void load_frame_params(const char *model_json);
-#endif
 
     // get air density in kg/m^3
     float get_air_density(float alt_amsl) const;
@@ -166,9 +161,7 @@ class Frame {
 #endif
 
     // json parsing helpers
-#if USE_PICOJSON
-    void parse_float(picojson::value val, const char* label, float &param);
-    void parse_vector3(picojson::value val, const char* label, Vector3f &param);
-#endif
+    void parse_float(AP_JSON::value val, const char* label, float &param);
+    void parse_vector3(AP_JSON::value val, const char* label, Vector3f &param);
 };
 }
diff --git a/libraries/SITL/SIM_XPlane.cpp b/libraries/SITL/SIM_XPlane.cpp
index e0a75091843238..0f0d9cb457091a 100644
--- a/libraries/SITL/SIM_XPlane.cpp
+++ b/libraries/SITL/SIM_XPlane.cpp
@@ -30,7 +30,6 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Filesystem/AP_Filesystem.h>
 #include <SRV_Channel/SRV_Channel.h>
-#include "picojson.h"
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 
 // ignore cast errors in this case to keep complexity down
@@ -124,7 +123,7 @@ XPlane::XPlane(const char *frame_str) :
 /*
   add one DRef to list
  */
-void XPlane::add_dref(const char *name, DRefType type, const picojson::value &dref)
+void XPlane::add_dref(const char *name, DRefType type, const AP_JSON::value &dref)
 {
     struct DRef *d = new struct DRef;
     if (d == nullptr) {
@@ -149,7 +148,7 @@ void XPlane::add_dref(const char *name, DRefType type, const picojson::value &dr
 /*
   add one joystick axis to list
  */
-void XPlane::add_joyinput(const char *label, JoyType type, const picojson::value &d)
+void XPlane::add_joyinput(const char *label, JoyType type, const AP_JSON::value &d)
 {
     if (strncmp(label, "axis", 4) == 0) {
         struct JoyInput *j = new struct JoyInput;
@@ -180,7 +179,7 @@ void XPlane::add_joyinput(const char *label, JoyType type, const picojson::value
 /*
   handle a setting
  */
-void XPlane::handle_setting(const picojson::value &d)
+void XPlane::handle_setting(const AP_JSON::value &d)
 {
     if (d.contains("debug")) {
         dref_debug = d.get("debug").get<double>();
@@ -205,7 +204,7 @@ bool XPlane::load_dref_map(const char *map_json)
     if (fname == nullptr) {
         return false;
     }
-    picojson::value *obj = (picojson::value *)load_json(fname);
+    AP_JSON::value *obj = AP_JSON::load_json(fname);
     if (obj == nullptr) {
         return false;
     }
@@ -230,8 +229,8 @@ bool XPlane::load_dref_map(const char *map_json)
     
     uint32_t count = 0;
     // obtain a const reference to the map, and print the contents
-    const picojson::value::object& o = obj->get<picojson::object>();
-    for (picojson::value::object::const_iterator i = o.begin();
+    const AP_JSON::value::object& o = obj->get<AP_JSON::value::object>();
+    for (AP_JSON::value::object::const_iterator i = o.begin();
          i != o.end();
          ++i) {
         const char *label = i->first.c_str();
diff --git a/libraries/SITL/SIM_XPlane.h b/libraries/SITL/SIM_XPlane.h
index 8c90ea6c2172e3..2e711de5a1b5cf 100644
--- a/libraries/SITL/SIM_XPlane.h
+++ b/libraries/SITL/SIM_XPlane.h
@@ -30,7 +30,7 @@
 #include <AP_Filesystem/AP_Filesystem.h>
 
 #include "SIM_Aircraft.h"
-#include "picojson.h"
+#include <AP_JSON/AP_JSON.h>
 
 namespace SITL {
 
@@ -126,9 +126,9 @@ class XPlane : public Aircraft {
     struct stat map_st;
 
     bool load_dref_map(const char *map_json);
-    void add_dref(const char *name, DRefType type, const picojson::value &dref);
-    void add_joyinput(const char *name, JoyType type, const picojson::value &d);
-    void handle_setting(const picojson::value &d);
+    void add_dref(const char *name, DRefType type, const AP_JSON::value &dref);
+    void add_joyinput(const char *name, JoyType type, const AP_JSON::value &d);
+    void handle_setting(const AP_JSON::value &d);
 
     void check_reload_dref(void);
 
diff --git a/libraries/SITL/examples/EvaluateBatteryModel/wscript b/libraries/SITL/examples/EvaluateBatteryModel/wscript
index 051d4b20402bac..9c5e8255e3095f 100644
--- a/libraries/SITL/examples/EvaluateBatteryModel/wscript
+++ b/libraries/SITL/examples/EvaluateBatteryModel/wscript
@@ -9,9 +9,6 @@ def build(bld):
     source = bld.path.ant_glob('*.cpp')
     source.append('../../../../libraries/SITL/SIM_Battery.cpp')
     source.append('../../../../libraries/SITL/SIM_Frame.cpp')
-    source.append('../../../../libraries/SITL/picojson.cpp')
-
-    bld.env.DEFINES.append("USE_PICOJSON=1")
 
     bld.ap_program(
         use='ap',
diff --git a/libraries/SITL/examples/EvaluateMotorModel/wscript b/libraries/SITL/examples/EvaluateMotorModel/wscript
index 0caacfec4de8fc..f3e260fb86090e 100644
--- a/libraries/SITL/examples/EvaluateMotorModel/wscript
+++ b/libraries/SITL/examples/EvaluateMotorModel/wscript
@@ -9,9 +9,6 @@ def build(bld):
     source = bld.path.ant_glob('*.cpp')
     source.append('../../../../libraries/SITL/SIM_Motor.cpp')
     source.append('../../../../libraries/SITL/SIM_Frame.cpp')
-    source.append('../../../../libraries/SITL/picojson.cpp')
-
-    bld.env.DEFINES.append("USE_PICOJSON=1")
 
     bld.ap_program(
         use='ap',
diff --git a/libraries/SITL/picojson.cpp b/libraries/SITL/picojson.cpp
deleted file mode 100644
index 005affd8bca793..00000000000000
--- a/libraries/SITL/picojson.cpp
+++ /dev/null
@@ -1,62 +0,0 @@
-
-#include "SIM_Aircraft.h"
-#include <AP_Filesystem/AP_Filesystem.h>
-
-#if USE_PICOJSON
-#include "picojson.h"
-
-/*
-  load JSON file, returning a picojson object or nullptr on failure
- */
-void *load_json(const char *filename)
-{
-    struct stat st;
-    if (AP::FS().stat(filename, &st) != 0) {
-        ::printf("No such json file %s\n", filename);
-        return nullptr;
-    }
-    int fd = AP::FS().open(filename, O_RDONLY);
-    if (fd == -1) {
-        ::printf("failed to open json %s\n", filename);
-        return nullptr;
-    }
-    char buf[st.st_size+1];
-    memset(buf, '\0', sizeof(buf));
-    if (AP::FS().read(fd, buf, st.st_size) != st.st_size) {
-        ::printf("failed to read json %s\n", filename);
-        AP::FS().close(fd);
-        return nullptr;
-    }
-    AP::FS().close(fd);
-
-    char *start = strchr(buf, '{');
-    if (!start) {
-        ::printf("Invalid json %s", filename);
-        return nullptr;
-    }
-
-    /*
-      remove comments, as not allowed by the parser
-     */
-    for (char *p = strchr(start,'#'); p; p=strchr(p+1, '#')) {
-        // clear to end of line
-        do {
-            *p++ = ' ';
-        } while (*p != '\n' && *p != '\r' && *p);
-    }
-
-    picojson::value *obj = new picojson::value;
-    if (obj == nullptr) {
-        ::printf("Invalid allocate json for %s", filename);
-        return nullptr;
-    }
-    std::string err = picojson::parse(*obj, start);
-    if (!err.empty()) {
-        ::printf("parse failed for json %s", filename);
-        delete obj;
-        return nullptr;
-    }
-
-    return obj;
-}
-#endif // USE_PICOJSON
diff --git a/libraries/SITL/picojson.h b/libraries/SITL/picojson.h
deleted file mode 100644
index b7a3c36e034cdb..00000000000000
--- a/libraries/SITL/picojson.h
+++ /dev/null
@@ -1,1203 +0,0 @@
-/*
-  picojson.h cloned from:
-    https://github.com/kazuho/picojson
- */
-
-/*
- * Copyright 2009-2010 Cybozu Labs, Inc.
- * Copyright 2011-2014 Kazuho Oku
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- *    this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- *    this list of conditions and the following disclaimer in the documentation
- *    and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-
-// load a json file, actual return type is picojson::value
-void *load_json(const char *filename);
-
-/*
-  use picojson to load optional frame files
- */
-#define PICOJSON_NOEXCEPT
-#ifndef PICOJSON_ASSERT
-#define PICOJSON_ASSERT(e)                                                                                                         \
-  do {                                                                                                                             \
-    if (!(e))                                                                                                                      \
-        ::printf(#e "\n");                          \
-  } while (0)
-#endif
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-
-#ifndef picojson_h
-#define picojson_h
-
-#include <algorithm>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <cstddef>
-#include <iostream>
-#include <iterator>
-#include <limits>
-#include <map>
-#include <stdexcept>
-#include <string>
-#include <vector>
-#include <utility>
-
-// for isnan/isinf
-#if __cplusplus >= 201103L
-#include <cmath>
-#else
-extern "C" {
-#ifdef _MSC_VER
-#include <float.h>
-#elif defined(__INTEL_COMPILER)
-#include <mathimf.h>
-#else
-#include <math.h>
-#endif
-}
-#endif
-
-#ifndef PICOJSON_USE_RVALUE_REFERENCE
-#if (defined(__cpp_rvalue_references) && __cpp_rvalue_references >= 200610) || (defined(_MSC_VER) && _MSC_VER >= 1600)
-#define PICOJSON_USE_RVALUE_REFERENCE 1
-#else
-#define PICOJSON_USE_RVALUE_REFERENCE 0
-#endif
-#endif // PICOJSON_USE_RVALUE_REFERENCE
-
-#ifndef PICOJSON_NOEXCEPT
-#if PICOJSON_USE_RVALUE_REFERENCE
-#define PICOJSON_NOEXCEPT noexcept
-#else
-#define PICOJSON_NOEXCEPT throw()
-#endif
-#endif
-
-// experimental support for int64_t (see README.mkdn for detail)
-#ifdef PICOJSON_USE_INT64
-#define __STDC_FORMAT_MACROS
-#include <cerrno>
-#if __cplusplus >= 201103L
-#include <cinttypes>
-#else
-extern "C" {
-#include <inttypes.h>
-}
-#endif
-#endif
-
-// to disable the use of localeconv(3), set PICOJSON_USE_LOCALE to 0
-#ifndef PICOJSON_USE_LOCALE
-#define PICOJSON_USE_LOCALE 1
-#endif
-#if PICOJSON_USE_LOCALE
-extern "C" {
-#include <locale.h>
-}
-#endif
-
-#ifndef PICOJSON_ASSERT
-#define PICOJSON_ASSERT(e)                                                                                                         \
-  do {                                                                                                                             \
-    if (!(e))                                                                                                                      \
-      throw std::runtime_error(#e);                                                                                                \
-  } while (0)
-#endif
-
-#ifdef _MSC_VER
-#define SNPRINTF _snprintf_s
-#pragma warning(push)
-#pragma warning(disable : 4244) // conversion from int to char
-#pragma warning(disable : 4127) // conditional expression is constant
-#pragma warning(disable : 4702) // unreachable code
-#pragma warning(disable : 4706) // assignment within conditional expression
-#else
-#define SNPRINTF snprintf
-#endif
-
-namespace picojson {
-
-enum {
-  null_type,
-  boolean_type,
-  number_type,
-  string_type,
-  array_type,
-  object_type
-#ifdef PICOJSON_USE_INT64
-  ,
-  int64_type
-#endif
-};
-
-enum { INDENT_WIDTH = 2 };
-
-struct null {};
-
-class value {
-public:
-  typedef std::vector<value> array;
-  typedef std::map<std::string, value> object;
-  union _storage {
-    bool boolean_;
-    double number_;
-#ifdef PICOJSON_USE_INT64
-    int64_t int64_;
-#endif
-    std::string *string_;
-    array *array_;
-    object *object_;
-  };
-
-protected:
-  int type_;
-  _storage u_;
-
-public:
-  value();
-  value(int type, bool);
-  explicit value(bool b);
-#ifdef PICOJSON_USE_INT64
-  explicit value(int64_t i);
-#endif
-  explicit value(double n);
-  explicit value(const std::string &s);
-  explicit value(const array &a);
-  explicit value(const object &o);
-#if PICOJSON_USE_RVALUE_REFERENCE
-  explicit value(std::string &&s);
-  explicit value(array &&a);
-  explicit value(object &&o);
-#endif
-  explicit value(const char *s);
-  value(const char *s, size_t len);
-  ~value();
-  value(const value &x);
-  value &operator=(const value &x);
-#if PICOJSON_USE_RVALUE_REFERENCE
-  value(value &&x) PICOJSON_NOEXCEPT;
-  value &operator=(value &&x) PICOJSON_NOEXCEPT;
-#endif
-  void swap(value &x) PICOJSON_NOEXCEPT;
-  template <typename T> bool is() const;
-  template <typename T> const T &get() const;
-  template <typename T> T &get();
-  template <typename T> void set(const T &);
-#if PICOJSON_USE_RVALUE_REFERENCE
-  template <typename T> void set(T &&);
-#endif
-  bool evaluate_as_boolean() const;
-  const value &get(const size_t idx) const;
-  const value &get(const std::string &key) const;
-  value &get(const size_t idx);
-  value &get(const std::string &key);
-
-  bool contains(const size_t idx) const;
-  bool contains(const std::string &key) const;
-  std::string to_str() const;
-  template <typename Iter> void serialize(Iter os, bool prettify = false) const;
-  std::string serialize(bool prettify = false) const;
-
-private:
-  template <typename T> value(const T *); // intentionally defined to block implicit conversion of pointer to bool
-  template <typename Iter> static void _indent(Iter os, int indent);
-  template <typename Iter> void _Serialize(Iter os, int indent) const;
-  std::string _Serialize(int indent) const;
-  void clear();
-};
-
-typedef value::array array;
-typedef value::object object;
-
-inline value::value() : type_(null_type), u_() {
-}
-
-inline value::value(int type, bool) : type_(type), u_() {
-  switch (type) {
-#define INIT(p, v)                                                                                                                 \
-  case p##type:                                                                                                                    \
-    u_.p = v;                                                                                                                      \
-    break
-    INIT(boolean_, false);
-    INIT(number_, 0.0);
-#ifdef PICOJSON_USE_INT64
-    INIT(int64_, 0);
-#endif
-    INIT(string_, new std::string());
-    INIT(array_, new array());
-    INIT(object_, new object());
-#undef INIT
-  default:
-    break;
-  }
-}
-
-inline value::value(bool b) : type_(boolean_type), u_() {
-  u_.boolean_ = b;
-}
-
-#ifdef PICOJSON_USE_INT64
-inline value::value(int64_t i) : type_(int64_type), u_() {
-  u_.int64_ = i;
-}
-#endif
-
-inline value::value(double n) : type_(number_type), u_() {
-#ifndef PICOJSON_NOEXCEPT
-  if (
-#ifdef _MSC_VER
-      !_finite(n)
-#elif __cplusplus >= 201103L
-      std::isnan(n) || std::isinf(n)
-#else
-      isnan(n) || isinf(n)
-#endif
-          ) {
-    throw std::overflow_error("");
-  }
-#endif
-  u_.number_ = n;
-}
-
-inline value::value(const std::string &s) : type_(string_type), u_() {
-  u_.string_ = new std::string(s);
-}
-
-inline value::value(const array &a) : type_(array_type), u_() {
-  u_.array_ = new array(a);
-}
-
-inline value::value(const object &o) : type_(object_type), u_() {
-  u_.object_ = new object(o);
-}
-
-#if PICOJSON_USE_RVALUE_REFERENCE
-inline value::value(std::string &&s) : type_(string_type), u_() {
-  u_.string_ = new std::string(std::move(s));
-}
-
-inline value::value(array &&a) : type_(array_type), u_() {
-  u_.array_ = new array(std::move(a));
-}
-
-inline value::value(object &&o) : type_(object_type), u_() {
-  u_.object_ = new object(std::move(o));
-}
-#endif
-
-inline value::value(const char *s) : type_(string_type), u_() {
-  u_.string_ = new std::string(s);
-}
-
-inline value::value(const char *s, size_t len) : type_(string_type), u_() {
-  u_.string_ = new std::string(s, len);
-}
-
-inline void value::clear() {
-  switch (type_) {
-#define DEINIT(p)                                                                                                                  \
-  case p##type:                                                                                                                    \
-    delete u_.p;                                                                                                                   \
-    break
-    DEINIT(string_);
-    DEINIT(array_);
-    DEINIT(object_);
-#undef DEINIT
-  default:
-    break;
-  }
-}
-
-inline value::~value() {
-  clear();
-}
-
-inline value::value(const value &x) : type_(x.type_), u_() {
-  switch (type_) {
-#define INIT(p, v)                                                                                                                 \
-  case p##type:                                                                                                                    \
-    u_.p = v;                                                                                                                      \
-    break
-    INIT(string_, new std::string(*x.u_.string_));
-    INIT(array_, new array(*x.u_.array_));
-    INIT(object_, new object(*x.u_.object_));
-#undef INIT
-  default:
-    u_ = x.u_;
-    break;
-  }
-}
-
-inline value &value::operator=(const value &x) {
-  if (this != &x) {
-    value t(x);
-    swap(t);
-  }
-  return *this;
-}
-
-#if PICOJSON_USE_RVALUE_REFERENCE
-inline value::value(value &&x) PICOJSON_NOEXCEPT : type_(null_type), u_() {
-  swap(x);
-}
-inline value &value::operator=(value &&x) PICOJSON_NOEXCEPT {
-  swap(x);
-  return *this;
-}
-#endif
-inline void value::swap(value &x) PICOJSON_NOEXCEPT {
-  std::swap(type_, x.type_);
-  std::swap(u_, x.u_);
-}
-
-#define IS(ctype, jtype)                                                                                                           \
-  template <> inline bool value::is<ctype>() const {                                                                               \
-    return type_ == jtype##_type;                                                                                                  \
-  }
-IS(null, null)
-IS(bool, boolean)
-#ifdef PICOJSON_USE_INT64
-IS(int64_t, int64)
-#endif
-IS(std::string, string)
-IS(array, array)
-IS(object, object)
-#undef IS
-template <> inline bool value::is<double>() const {
-  return type_ == number_type
-#ifdef PICOJSON_USE_INT64
-         || type_ == int64_type
-#endif
-      ;
-}
-
-#define GET(ctype, var)                                                                                                            \
-  template <> inline const ctype &value::get<ctype>() const {                                                                      \
-    PICOJSON_ASSERT("type mismatch! call is<type>() before get<type>()" && is<ctype>());                                           \
-    return var;                                                                                                                    \
-  }                                                                                                                                \
-  template <> inline ctype &value::get<ctype>() {                                                                                  \
-    PICOJSON_ASSERT("type mismatch! call is<type>() before get<type>()" && is<ctype>());                                           \
-    return var;                                                                                                                    \
-  }
-GET(bool, u_.boolean_)
-GET(std::string, *u_.string_)
-GET(array, *u_.array_)
-GET(object, *u_.object_)
-#ifdef PICOJSON_USE_INT64
-GET(double,
-    (type_ == int64_type && (const_cast<value *>(this)->type_ = number_type, const_cast<value *>(this)->u_.number_ = u_.int64_),
-     u_.number_))
-GET(int64_t, u_.int64_)
-#else
-GET(double, u_.number_)
-#endif
-#undef GET
-
-#define SET(ctype, jtype, setter)                                                                                                  \
-  template <> inline void value::set<ctype>(const ctype &_val) {                                                                   \
-    clear();                                                                                                                       \
-    type_ = jtype##_type;                                                                                                          \
-    setter                                                                                                                         \
-  }
-SET(bool, boolean, u_.boolean_ = _val;)
-SET(std::string, string, u_.string_ = new std::string(_val);)
-SET(array, array, u_.array_ = new array(_val);)
-SET(object, object, u_.object_ = new object(_val);)
-SET(double, number, u_.number_ = _val;)
-#ifdef PICOJSON_USE_INT64
-SET(int64_t, int64, u_.int64_ = _val;)
-#endif
-#undef SET
-
-#if PICOJSON_USE_RVALUE_REFERENCE
-#define MOVESET(ctype, jtype, setter)                                                                                              \
-  template <> inline void value::set<ctype>(ctype && _val) {                                                                       \
-    clear();                                                                                                                       \
-    type_ = jtype##_type;                                                                                                          \
-    setter                                                                                                                         \
-  }
-MOVESET(std::string, string, u_.string_ = new std::string(std::move(_val));)
-MOVESET(array, array, u_.array_ = new array(std::move(_val));)
-MOVESET(object, object, u_.object_ = new object(std::move(_val));)
-#undef MOVESET
-#endif
-
-inline bool value::evaluate_as_boolean() const {
-  switch (type_) {
-  case null_type:
-    return false;
-  case boolean_type:
-    return u_.boolean_;
-  case number_type:
-    return u_.number_ != 0;
-#ifdef PICOJSON_USE_INT64
-  case int64_type:
-    return u_.int64_ != 0;
-#endif
-  case string_type:
-    return !u_.string_->empty();
-  default:
-    return true;
-  }
-}
-
-inline const value &value::get(const size_t idx) const {
-  static value s_null;
-  PICOJSON_ASSERT(is<array>());
-  return idx < u_.array_->size() ? (*u_.array_)[idx] : s_null;
-}
-
-inline value &value::get(const size_t idx) {
-  static value s_null;
-  PICOJSON_ASSERT(is<array>());
-  return idx < u_.array_->size() ? (*u_.array_)[idx] : s_null;
-}
-
-inline const value &value::get(const std::string &key) const {
-  static value s_null;
-  PICOJSON_ASSERT(is<object>());
-  object::const_iterator i = u_.object_->find(key);
-  return i != u_.object_->end() ? i->second : s_null;
-}
-
-inline value &value::get(const std::string &key) {
-  static value s_null;
-  PICOJSON_ASSERT(is<object>());
-  object::iterator i = u_.object_->find(key);
-  return i != u_.object_->end() ? i->second : s_null;
-}
-
-inline bool value::contains(const size_t idx) const {
-  PICOJSON_ASSERT(is<array>());
-  return idx < u_.array_->size();
-}
-
-inline bool value::contains(const std::string &key) const {
-  PICOJSON_ASSERT(is<object>());
-  object::const_iterator i = u_.object_->find(key);
-  return i != u_.object_->end();
-}
-
-inline std::string value::to_str() const {
-  switch (type_) {
-  case null_type:
-    return "null";
-  case boolean_type:
-    return u_.boolean_ ? "true" : "false";
-#ifdef PICOJSON_USE_INT64
-  case int64_type: {
-    char buf[sizeof("-9223372036854775808")];
-    SNPRINTF(buf, sizeof(buf), "%" PRId64, u_.int64_);
-    return buf;
-  }
-#endif
-  case number_type: {
-    char buf[256];
-    double tmp;
-    SNPRINTF(buf, sizeof(buf), fabs(u_.number_) < (1ULL << 53) && modf(u_.number_, &tmp) == 0 ? "%.f" : "%.17g", u_.number_);
-#if PICOJSON_USE_LOCALE
-    char *decimal_point = localeconv()->decimal_point;
-    if (strcmp(decimal_point, ".") != 0) {
-      size_t decimal_point_len = strlen(decimal_point);
-      for (char *p = buf; *p != '\0'; ++p) {
-        if (strncmp(p, decimal_point, decimal_point_len) == 0) {
-          return std::string(buf, p) + "." + (p + decimal_point_len);
-        }
-      }
-    }
-#endif
-    return buf;
-  }
-  case string_type:
-    return *u_.string_;
-  case array_type:
-    return "array";
-  case object_type:
-    return "object";
-  default:
-    PICOJSON_ASSERT(0);
-#ifdef _MSC_VER
-    __assume(0);
-#endif
-  }
-  return std::string();
-}
-
-template <typename Iter> void copy(const std::string &s, Iter oi) {
-  std::copy(s.begin(), s.end(), oi);
-}
-
-template <typename Iter> struct serialize_str_char {
-  Iter oi;
-  void operator()(char c) {
-    switch (c) {
-#define MAP(val, sym)                                                                                                              \
-  case val:                                                                                                                        \
-    copy(sym, oi);                                                                                                                 \
-    break
-      MAP('"', "\\\"");
-      MAP('\\', "\\\\");
-      MAP('/', "\\/");
-      MAP('\b', "\\b");
-      MAP('\f', "\\f");
-      MAP('\n', "\\n");
-      MAP('\r', "\\r");
-      MAP('\t', "\\t");
-#undef MAP
-    default:
-      if (static_cast<unsigned char>(c) < 0x20 || c == 0x7f) {
-        char buf[7];
-        SNPRINTF(buf, sizeof(buf), "\\u%04x", c & 0xff);
-        copy(buf, buf + 6, oi);
-      } else {
-        *oi++ = c;
-      }
-      break;
-    }
-  }
-};
-
-template <typename Iter> void serialize_str(const std::string &s, Iter oi) {
-  *oi++ = '"';
-  serialize_str_char<Iter> process_char = {oi};
-  std::for_each(s.begin(), s.end(), process_char);
-  *oi++ = '"';
-}
-
-template <typename Iter> void value::serialize(Iter oi, bool prettify) const {
-  return _Serialize(oi, prettify ? 0 : -1);
-}
-
-inline std::string value::serialize(bool prettify) const {
-  return _Serialize(prettify ? 0 : -1);
-}
-
-template <typename Iter> void value::_indent(Iter oi, int indent) {
-  *oi++ = '\n';
-  for (int i = 0; i < indent * INDENT_WIDTH; ++i) {
-    *oi++ = ' ';
-  }
-}
-
-template <typename Iter> void value::_Serialize(Iter oi, int indent) const {
-  switch (type_) {
-  case string_type:
-    serialize_str(*u_.string_, oi);
-    break;
-  case array_type: {
-    *oi++ = '[';
-    if (indent != -1) {
-      ++indent;
-    }
-    for (array::const_iterator i = u_.array_->begin(); i != u_.array_->end(); ++i) {
-      if (i != u_.array_->begin()) {
-        *oi++ = ',';
-      }
-      if (indent != -1) {
-        _indent(oi, indent);
-      }
-      i->_Serialize(oi, indent);
-    }
-    if (indent != -1) {
-      --indent;
-      if (!u_.array_->empty()) {
-        _indent(oi, indent);
-      }
-    }
-    *oi++ = ']';
-    break;
-  }
-  case object_type: {
-    *oi++ = '{';
-    if (indent != -1) {
-      ++indent;
-    }
-    for (object::const_iterator i = u_.object_->begin(); i != u_.object_->end(); ++i) {
-      if (i != u_.object_->begin()) {
-        *oi++ = ',';
-      }
-      if (indent != -1) {
-        _indent(oi, indent);
-      }
-      serialize_str(i->first, oi);
-      *oi++ = ':';
-      if (indent != -1) {
-        *oi++ = ' ';
-      }
-      i->second._Serialize(oi, indent);
-    }
-    if (indent != -1) {
-      --indent;
-      if (!u_.object_->empty()) {
-        _indent(oi, indent);
-      }
-    }
-    *oi++ = '}';
-    break;
-  }
-  default:
-    copy(to_str(), oi);
-    break;
-  }
-  if (indent == 0) {
-    *oi++ = '\n';
-  }
-}
-
-inline std::string value::_Serialize(int indent) const {
-  std::string s;
-  _Serialize(std::back_inserter(s), indent);
-  return s;
-}
-
-template <typename Iter> class input {
-protected:
-  Iter cur_, end_;
-  bool consumed_;
-  int line_;
-
-public:
-  input(const Iter &first, const Iter &last) : cur_(first), end_(last), consumed_(false), line_(1) {
-  }
-  int getc() {
-    if (consumed_) {
-      if (*cur_ == '\n') {
-        ++line_;
-      }
-      ++cur_;
-    }
-    if (cur_ == end_) {
-      consumed_ = false;
-      return -1;
-    }
-    consumed_ = true;
-    return *cur_ & 0xff;
-  }
-  void ungetc() {
-    consumed_ = false;
-  }
-  Iter cur() const {
-    if (consumed_) {
-      input<Iter> *self = const_cast<input<Iter> *>(this);
-      self->consumed_ = false;
-      ++self->cur_;
-    }
-    return cur_;
-  }
-  int line() const {
-    return line_;
-  }
-  void skip_ws() {
-    while (1) {
-      int ch = getc();
-      if (!(ch == ' ' || ch == '\t' || ch == '\n' || ch == '\r')) {
-        ungetc();
-        break;
-      }
-    }
-  }
-  bool expect(const int expected) {
-    skip_ws();
-    if (getc() != expected) {
-      ungetc();
-      return false;
-    }
-    return true;
-  }
-  bool match(const std::string &pattern) {
-    for (std::string::const_iterator pi(pattern.begin()); pi != pattern.end(); ++pi) {
-      if (getc() != *pi) {
-        ungetc();
-        return false;
-      }
-    }
-    return true;
-  }
-};
-
-template <typename Iter> inline int _parse_quadhex(input<Iter> &in) {
-  int uni_ch = 0, hex;
-  for (int i = 0; i < 4; i++) {
-    if ((hex = in.getc()) == -1) {
-      return -1;
-    }
-    if ('0' <= hex && hex <= '9') {
-      hex -= '0';
-    } else if ('A' <= hex && hex <= 'F') {
-      hex -= 'A' - 0xa;
-    } else if ('a' <= hex && hex <= 'f') {
-      hex -= 'a' - 0xa;
-    } else {
-      in.ungetc();
-      return -1;
-    }
-    uni_ch = uni_ch * 16 + hex;
-  }
-  return uni_ch;
-}
-
-template <typename String, typename Iter> inline bool _parse_codepoint(String &out, input<Iter> &in) {
-  int uni_ch;
-  if ((uni_ch = _parse_quadhex(in)) == -1) {
-    return false;
-  }
-  if (0xd800 <= uni_ch && uni_ch <= 0xdfff) {
-    if (0xdc00 <= uni_ch) {
-      // a second 16-bit of a surrogate pair appeared
-      return false;
-    }
-    // first 16-bit of surrogate pair, get the next one
-    if (in.getc() != '\\' || in.getc() != 'u') {
-      in.ungetc();
-      return false;
-    }
-    int second = _parse_quadhex(in);
-    if (!(0xdc00 <= second && second <= 0xdfff)) {
-      return false;
-    }
-    uni_ch = ((uni_ch - 0xd800) << 10) | ((second - 0xdc00) & 0x3ff);
-    uni_ch += 0x10000;
-  }
-  if (uni_ch < 0x80) {
-    out.push_back(static_cast<char>(uni_ch));
-  } else {
-    if (uni_ch < 0x800) {
-      out.push_back(static_cast<char>(0xc0 | (uni_ch >> 6)));
-    } else {
-      if (uni_ch < 0x10000) {
-        out.push_back(static_cast<char>(0xe0 | (uni_ch >> 12)));
-      } else {
-        out.push_back(static_cast<char>(0xf0 | (uni_ch >> 18)));
-        out.push_back(static_cast<char>(0x80 | ((uni_ch >> 12) & 0x3f)));
-      }
-      out.push_back(static_cast<char>(0x80 | ((uni_ch >> 6) & 0x3f)));
-    }
-    out.push_back(static_cast<char>(0x80 | (uni_ch & 0x3f)));
-  }
-  return true;
-}
-
-template <typename String, typename Iter> inline bool _parse_string(String &out, input<Iter> &in) {
-  while (1) {
-    int ch = in.getc();
-    if (ch < ' ') {
-      in.ungetc();
-      return false;
-    } else if (ch == '"') {
-      return true;
-    } else if (ch == '\\') {
-      if ((ch = in.getc()) == -1) {
-        return false;
-      }
-      switch (ch) {
-#define MAP(sym, val)                                                                                                              \
-  case sym:                                                                                                                        \
-    out.push_back(val);                                                                                                            \
-    break
-        MAP('"', '\"');
-        MAP('\\', '\\');
-        MAP('/', '/');
-        MAP('b', '\b');
-        MAP('f', '\f');
-        MAP('n', '\n');
-        MAP('r', '\r');
-        MAP('t', '\t');
-#undef MAP
-      case 'u':
-        if (!_parse_codepoint(out, in)) {
-          return false;
-        }
-        break;
-      default:
-        return false;
-      }
-    } else {
-      out.push_back(static_cast<char>(ch));
-    }
-  }
-  return false;
-}
-
-template <typename Context, typename Iter> inline bool _parse_array(Context &ctx, input<Iter> &in) {
-  if (!ctx.parse_array_start()) {
-    return false;
-  }
-  size_t idx = 0;
-  if (in.expect(']')) {
-    return ctx.parse_array_stop(idx);
-  }
-  do {
-    if (!ctx.parse_array_item(in, idx)) {
-      return false;
-    }
-    idx++;
-  } while (in.expect(','));
-  return in.expect(']') && ctx.parse_array_stop(idx);
-}
-
-template <typename Context, typename Iter> inline bool _parse_object(Context &ctx, input<Iter> &in) {
-  if (!ctx.parse_object_start()) {
-    return false;
-  }
-  if (in.expect('}')) {
-    return true;
-  }
-  do {
-    std::string key;
-    if (!in.expect('"') || !_parse_string(key, in) || !in.expect(':')) {
-      return false;
-    }
-    if (!ctx.parse_object_item(in, key)) {
-      return false;
-    }
-  } while (in.expect(','));
-  return in.expect('}');
-}
-
-template <typename Iter> inline std::string _parse_number(input<Iter> &in) {
-  std::string num_str;
-  while (1) {
-    int ch = in.getc();
-    if (('0' <= ch && ch <= '9') || ch == '+' || ch == '-' || ch == 'e' || ch == 'E') {
-      num_str.push_back(static_cast<char>(ch));
-    } else if (ch == '.') {
-#if PICOJSON_USE_LOCALE
-      num_str += localeconv()->decimal_point;
-#else
-      num_str.push_back('.');
-#endif
-    } else {
-      in.ungetc();
-      break;
-    }
-  }
-  return num_str;
-}
-
-template <typename Context, typename Iter> inline bool _parse(Context &ctx, input<Iter> &in) {
-  in.skip_ws();
-  int ch = in.getc();
-  switch (ch) {
-#define IS(ch, text, op)                                                                                                           \
-  case ch:                                                                                                                         \
-    if (in.match(text) && op) {                                                                                                    \
-      return true;                                                                                                                 \
-    } else {                                                                                                                       \
-      return false;                                                                                                                \
-    }
-    IS('n', "ull", ctx.set_null());
-    IS('f', "alse", ctx.set_bool(false));
-    IS('t', "rue", ctx.set_bool(true));
-#undef IS
-  case '"':
-    return ctx.parse_string(in);
-  case '[':
-    return _parse_array(ctx, in);
-  case '{':
-    return _parse_object(ctx, in);
-  default:
-    if (('0' <= ch && ch <= '9') || ch == '-') {
-      double f;
-      char *endp;
-      in.ungetc();
-      std::string num_str(_parse_number(in));
-      if (num_str.empty()) {
-        return false;
-      }
-#ifdef PICOJSON_USE_INT64
-      {
-        errno = 0;
-        intmax_t ival = strtoimax(num_str.c_str(), &endp, 10);
-        if (errno == 0 && std::numeric_limits<int64_t>::min() <= ival && ival <= std::numeric_limits<int64_t>::max() &&
-            endp == num_str.c_str() + num_str.size()) {
-          ctx.set_int64(ival);
-          return true;
-        }
-      }
-#endif
-      f = strtod(num_str.c_str(), &endp);
-      if (endp == num_str.c_str() + num_str.size()) {
-        ctx.set_number(f);
-        return true;
-      }
-      return false;
-    }
-    break;
-  }
-  in.ungetc();
-  return false;
-}
-
-class deny_parse_context {
-public:
-  bool set_null() {
-    return false;
-  }
-  bool set_bool(bool) {
-    return false;
-  }
-#ifdef PICOJSON_USE_INT64
-  bool set_int64(int64_t) {
-    return false;
-  }
-#endif
-  bool set_number(double) {
-    return false;
-  }
-  template <typename Iter> bool parse_string(input<Iter> &) {
-    return false;
-  }
-  bool parse_array_start() {
-    return false;
-  }
-  template <typename Iter> bool parse_array_item(input<Iter> &, size_t) {
-    return false;
-  }
-  bool parse_array_stop(size_t) {
-    return false;
-  }
-  bool parse_object_start() {
-    return false;
-  }
-  template <typename Iter> bool parse_object_item(input<Iter> &, const std::string &) {
-    return false;
-  }
-};
-
-class default_parse_context {
-protected:
-  value *out_;
-
-public:
-  default_parse_context(value *out) : out_(out) {
-  }
-  bool set_null() {
-    *out_ = value();
-    return true;
-  }
-  bool set_bool(bool b) {
-    *out_ = value(b);
-    return true;
-  }
-#ifdef PICOJSON_USE_INT64
-  bool set_int64(int64_t i) {
-    *out_ = value(i);
-    return true;
-  }
-#endif
-  bool set_number(double f) {
-    *out_ = value(f);
-    return true;
-  }
-  template <typename Iter> bool parse_string(input<Iter> &in) {
-    *out_ = value(string_type, false);
-    return _parse_string(out_->get<std::string>(), in);
-  }
-  bool parse_array_start() {
-    *out_ = value(array_type, false);
-    return true;
-  }
-  template <typename Iter> bool parse_array_item(input<Iter> &in, size_t) {
-    array &a = out_->get<array>();
-    a.push_back(value());
-    default_parse_context ctx(&a.back());
-    return _parse(ctx, in);
-  }
-  bool parse_array_stop(size_t) {
-    return true;
-  }
-  bool parse_object_start() {
-    *out_ = value(object_type, false);
-    return true;
-  }
-  template <typename Iter> bool parse_object_item(input<Iter> &in, const std::string &key) {
-    object &o = out_->get<object>();
-    default_parse_context ctx(&o[key]);
-    return _parse(ctx, in);
-  }
-
-private:
-  default_parse_context(const default_parse_context &);
-  default_parse_context &operator=(const default_parse_context &);
-};
-
-class null_parse_context {
-public:
-  struct dummy_str {
-    void push_back(int) {
-    }
-  };
-
-public:
-  null_parse_context() {
-  }
-  bool set_null() {
-    return true;
-  }
-  bool set_bool(bool) {
-    return true;
-  }
-#ifdef PICOJSON_USE_INT64
-  bool set_int64(int64_t) {
-    return true;
-  }
-#endif
-  bool set_number(double) {
-    return true;
-  }
-  template <typename Iter> bool parse_string(input<Iter> &in) {
-    dummy_str s;
-    return _parse_string(s, in);
-  }
-  bool parse_array_start() {
-    return true;
-  }
-  template <typename Iter> bool parse_array_item(input<Iter> &in, size_t) {
-    return _parse(*this, in);
-  }
-  bool parse_array_stop(size_t) {
-    return true;
-  }
-  bool parse_object_start() {
-    return true;
-  }
-  template <typename Iter> bool parse_object_item(input<Iter> &in, const std::string &) {
-    return _parse(*this, in);
-  }
-
-private:
-  null_parse_context(const null_parse_context &);
-  null_parse_context &operator=(const null_parse_context &);
-};
-
-// obsolete, use the version below
-template <typename Iter> inline std::string parse(value &out, Iter &pos, const Iter &last) {
-  std::string err;
-  pos = parse(out, pos, last, &err);
-  return err;
-}
-
-template <typename Context, typename Iter> inline Iter _parse(Context &ctx, const Iter &first, const Iter &last, std::string *err) {
-  input<Iter> in(first, last);
-  if (!_parse(ctx, in) && err != NULL) {
-    char buf[64];
-    SNPRINTF(buf, sizeof(buf), "syntax error at line %d near: ", in.line());
-    *err = buf;
-    while (1) {
-      int ch = in.getc();
-      if (ch == -1 || ch == '\n') {
-        break;
-      } else if (ch >= ' ') {
-        err->push_back(static_cast<char>(ch));
-      }
-    }
-  }
-  return in.cur();
-}
-
-template <typename Iter> inline Iter parse(value &out, const Iter &first, const Iter &last, std::string *err) {
-  default_parse_context ctx(&out);
-  return _parse(ctx, first, last, err);
-}
-
-inline std::string parse(value &out, const std::string &s) {
-  std::string err;
-  parse(out, s.begin(), s.end(), &err);
-  return err;
-}
-
-inline std::string parse(value &out, std::istream &is) {
-  std::string err;
-  parse(out, std::istreambuf_iterator<char>(is.rdbuf()), std::istreambuf_iterator<char>(), &err);
-  return err;
-}
-
-template <typename T> struct last_error_t { static std::string s; };
-template <typename T> std::string last_error_t<T>::s;
-
-inline void set_last_error(const std::string &s) {
-  last_error_t<bool>::s = s;
-}
-
-inline const std::string &get_last_error() {
-  return last_error_t<bool>::s;
-}
-
-inline bool operator==(const value &x, const value &y) {
-  if (x.is<null>())
-    return y.is<null>();
-#define PICOJSON_CMP(type)                                                                                                         \
-  if (x.is<type>())                                                                                                                \
-  return y.is<type>() && x.get<type>() == y.get<type>()
-  PICOJSON_CMP(bool);
-  PICOJSON_CMP(double);
-  PICOJSON_CMP(std::string);
-  PICOJSON_CMP(array);
-  PICOJSON_CMP(object);
-#undef PICOJSON_CMP
-  PICOJSON_ASSERT(0);
-#ifdef _MSC_VER
-  __assume(0);
-#endif
-  return false;
-}
-
-inline bool operator!=(const value &x, const value &y) {
-  return !(x == y);
-}
-}
-
-#if !PICOJSON_USE_RVALUE_REFERENCE
-namespace std {
-template <> inline void swap(picojson::value &x, picojson::value &y) {
-  x.swap(y);
-}
-}
-#endif
-
-inline std::istream &operator>>(std::istream &is, picojson::value &x) {
-  picojson::set_last_error(std::string());
-  const std::string err(picojson::parse(x, is));
-  if (!err.empty()) {
-    picojson::set_last_error(err);
-    is.setstate(std::ios::failbit);
-  }
-  return is;
-}
-
-inline std::ostream &operator<<(std::ostream &os, const picojson::value &x) {
-  x.serialize(std::ostream_iterator<char>(os));
-  return os;
-}
-#ifdef _MSC_VER
-#pragma warning(pop)
-#endif
-
-#endif
-
-#pragma GCC diagnostic pop

From c0beda3235bd82cada142eed7548ac391f4e5340 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 1 Feb 2024 15:18:12 +1100
Subject: [PATCH 1162/1335] AP_JSON: added JSON parsing library

---
 libraries/AP_JSON/AP_JSON.cpp                | 718 +++++++++++++++++++
 libraries/AP_JSON/AP_JSON.h                  |  86 +++
 libraries/AP_JSON/examples/XPlane/XPlane.cpp |  49 ++
 libraries/AP_JSON/examples/XPlane/wscript    |   7 +
 4 files changed, 860 insertions(+)
 create mode 100644 libraries/AP_JSON/AP_JSON.cpp
 create mode 100644 libraries/AP_JSON/AP_JSON.h
 create mode 100644 libraries/AP_JSON/examples/XPlane/XPlane.cpp
 create mode 100644 libraries/AP_JSON/examples/XPlane/wscript

diff --git a/libraries/AP_JSON/AP_JSON.cpp b/libraries/AP_JSON/AP_JSON.cpp
new file mode 100644
index 00000000000000..823de3512538aa
--- /dev/null
+++ b/libraries/AP_JSON/AP_JSON.cpp
@@ -0,0 +1,718 @@
+/*
+  ArduPilot JSON parser, based on picojson.h cloned from:
+    https://github.com/kazuho/picojson
+ */
+/*
+  Picojson copyright:
+
+ * Copyright 2009-2010 Cybozu Labs, Inc.
+ * Copyright 2011-2014 Kazuho Oku
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#pragma GCC optimize("Os")
+
+#define ALLOW_DOUBLE_MATH_FUNCTIONS
+
+#include "AP_JSON.h"
+#include <AP_Filesystem/AP_Filesystem.h>
+#include <AP_Math/AP_Math.h>
+#include <stdio.h>
+
+/*
+  load JSON file, returning a value object or nullptr on failure
+ */
+AP_JSON::value *AP_JSON::load_json(const char *filename)
+{
+    struct stat st;
+    if (AP::FS().stat(filename, &st) != 0) {
+        ::printf("No such json file %s\n", filename);
+        return nullptr;
+    }
+    int fd = AP::FS().open(filename, O_RDONLY);
+    if (fd == -1) {
+        ::printf("failed to open json %s\n", filename);
+        return nullptr;
+    }
+    char *buf = new char[st.st_size+1];
+    if (buf == nullptr) {
+        AP::FS().close(fd);
+        ::printf("failed to allocate json %s\n", filename);
+        return nullptr;
+    }
+    if (AP::FS().read(fd, buf, st.st_size) != st.st_size) {
+        ::printf("failed to read json %s\n", filename);
+        delete[] buf;
+        AP::FS().close(fd);
+        return nullptr;
+    }
+    AP::FS().close(fd);
+
+    char *start = strchr(buf, '{');
+    if (!start) {
+        ::printf("Invalid json %s", filename);
+        delete[] buf;
+        return nullptr;
+    }
+
+    /*
+      remove comments, as not allowed by the parser
+     */
+    for (char *p = strchr(start,'#'); p; p=strchr(p+1, '#')) {
+        // clear to end of line
+        do {
+            *p++ = ' ';
+        } while (*p != '\n' && *p != '\r' && *p);
+    }
+
+    AP_JSON::value *obj = new AP_JSON::value;
+    if (obj == nullptr) {
+        ::printf("Invalid allocate json for %s", filename);
+        delete[] buf;
+        return nullptr;
+    }
+    std::string err = AP_JSON::parse(*obj, start);
+    if (!err.empty()) {
+        ::printf("parse failed for json %s", filename);
+        delete obj;
+        delete[] buf;
+        return nullptr;
+    }
+
+    delete[] buf;
+    return obj;
+}
+
+typedef AP_JSON::value::array array;
+typedef AP_JSON::value::object object;
+typedef AP_JSON::value value;
+typedef AP_JSON::null null;
+
+enum {
+    null_type,
+    boolean_type,
+    number_type,
+    string_type,
+    array_type,
+    object_type
+};
+
+
+AP_JSON::value::value() : type_(null_type), u_()
+{
+}
+
+AP_JSON::value::value(int type, bool) : type_(type), u_()
+{
+    switch (type) {
+#define INIT(p, v)                           \
+  case p##type:                              \
+    u_.p = v;                                \
+    break
+        INIT(boolean_, false);
+        INIT(number_, 0.0);
+        INIT(string_, new std::string());
+        INIT(array_, new array());
+        INIT(object_, new object());
+#undef INIT
+    default:
+        break;
+    }
+}
+
+AP_JSON::value::value(bool b) : type_(boolean_type), u_()
+{
+    u_.boolean_ = b;
+}
+
+AP_JSON::value::value(double n) : type_(number_type), u_()
+{
+    u_.number_ = n;
+}
+
+AP_JSON::value::value(const std::string &s) : type_(string_type), u_()
+{
+    u_.string_ = new std::string(s);
+}
+
+AP_JSON::value::value(const array &a) : type_(array_type), u_()
+{
+    u_.array_ = new array(a);
+}
+
+AP_JSON::value::value(const object &o) : type_(object_type), u_()
+{
+    u_.object_ = new object(o);
+}
+
+AP_JSON::value::value(std::string &&s) : type_(string_type), u_()
+{
+    u_.string_ = new std::string(std::move(s));
+}
+
+AP_JSON::value::value(array &&a) : type_(array_type), u_()
+{
+    u_.array_ = new array(std::move(a));
+}
+
+AP_JSON::value::value(object &&o) : type_(object_type), u_()
+{
+    u_.object_ = new object(std::move(o));
+}
+
+AP_JSON::value::value(const char *s) : type_(string_type), u_()
+{
+    u_.string_ = new std::string(s);
+}
+
+AP_JSON::value::value(const char *s, size_t len) : type_(string_type), u_()
+{
+    u_.string_ = new std::string(s, len);
+}
+
+void AP_JSON::value::clear()
+{
+    switch (type_) {
+#define DEINIT(p)           \
+  case p##type:             \
+    delete u_.p;            \
+    break
+        DEINIT(string_);
+        DEINIT(array_);
+        DEINIT(object_);
+#undef DEINIT
+    default:
+        break;
+    }
+}
+
+AP_JSON::value::~value()
+{
+    clear();
+}
+
+AP_JSON::value::value(const value &x) : type_(x.type_), u_()
+{
+    switch (type_) {
+#define INIT(p, v)          \
+  case p##type:             \
+    u_.p = v;               \
+    break
+        INIT(string_, new std::string(*x.u_.string_));
+        INIT(array_, new array(*x.u_.array_));
+        INIT(object_, new object(*x.u_.object_));
+#undef INIT
+    default:
+        u_ = x.u_;
+        break;
+    }
+}
+
+value &AP_JSON::value::operator=(const value &x)
+{
+    if (this != &x) {
+        value t(x);
+        swap(t);
+    }
+    return *this;
+}
+
+AP_JSON::value::value(value &&x) : type_(null_type), u_()
+{
+    swap(x);
+}
+value &AP_JSON::value::operator=(value &&x)
+{
+    swap(x);
+    return *this;
+}
+
+void AP_JSON::value::swap(value &x)
+{
+    std::swap(type_, x.type_);
+    std::swap(u_, x.u_);
+}
+
+#define IS(ctype, jtype)                                    \
+  template <> bool AP_JSON::value::is<ctype>() const {      \
+    return type_ == jtype##_type;                           \
+  }
+IS(null, null)
+IS(bool, boolean)
+IS(std::string, string)
+IS(array, array)
+IS(object, object)
+#undef IS
+template <> bool AP_JSON::value::is<double>() const
+{
+    return type_ == number_type;
+}
+
+#define GET(ctype, var)                                                \
+  template <> const ctype &AP_JSON::value::get<ctype>() const {        \
+    return var;                                                        \
+  }                                                                    \
+  template <> ctype &AP_JSON::value::get<ctype>() {                    \
+    return var;                                                        \
+  }
+GET(bool, u_.boolean_)
+GET(std::string, *u_.string_)
+GET(array, *u_.array_)
+GET(object, *u_.object_)
+GET(double, u_.number_)
+#undef GET
+
+#define SET(ctype, jtype, setter)                                      \
+  template <> void AP_JSON::value::set<ctype>(const ctype &_val) {     \
+    clear();                                                           \
+    type_ = jtype##_type;                                              \
+    setter                                                             \
+  }
+SET(bool, boolean, u_.boolean_ = _val;)
+SET(std::string, string, u_.string_ = new std::string(_val);)
+SET(array, array, u_.array_ = new array(_val);)
+SET(object, object, u_.object_ = new object(_val);)
+SET(double, number, u_.number_ = _val;)
+#undef SET
+
+#define MOVESET(ctype, jtype, setter)                                  \
+  template <> void AP_JSON::value::set<ctype>(ctype && _val) {         \
+    clear();                                                           \
+    type_ = jtype##_type;                                              \
+    setter                                                             \
+  }
+MOVESET(std::string, string, u_.string_ = new std::string(std::move(_val));)
+MOVESET(array, array, u_.array_ = new array(std::move(_val));)
+MOVESET(object, object, u_.object_ = new object(std::move(_val));)
+#undef MOVESET
+
+bool AP_JSON::value::evaluate_as_boolean() const
+{
+    switch (type_) {
+    case null_type:
+        return false;
+    case boolean_type:
+        return u_.boolean_;
+    case number_type:
+        return !is_zero(u_.number_);
+    case string_type:
+        return !u_.string_->empty();
+    default:
+        return true;
+    }
+}
+
+const value &AP_JSON::value::get(const size_t idx) const
+{
+    static value s_null;
+    return idx < u_.array_->size() ? (*u_.array_)[idx] : s_null;
+}
+
+value &AP_JSON::value::get(const size_t idx)
+{
+    static value s_null;
+    return idx < u_.array_->size() ? (*u_.array_)[idx] : s_null;
+}
+
+const value &AP_JSON::value::get(const std::string &key) const
+{
+    static value s_null;
+    object::const_iterator i = u_.object_->find(key);
+    return i != u_.object_->end() ? i->second : s_null;
+}
+
+value &AP_JSON::value::get(const std::string &key)
+{
+    static value s_null;
+    object::iterator i = u_.object_->find(key);
+    return i != u_.object_->end() ? i->second : s_null;
+}
+
+bool AP_JSON::value::contains(const size_t idx) const
+{
+    return idx < u_.array_->size();
+}
+
+bool AP_JSON::value::contains(const std::string &key) const
+{
+    object::const_iterator i = u_.object_->find(key);
+    return i != u_.object_->end();
+}
+
+std::string AP_JSON::value::to_str() const
+{
+    switch (type_) {
+    case null_type:
+        return "null";
+    case boolean_type:
+        return u_.boolean_ ? "true" : "false";
+    case number_type: {
+        char buf[256];
+        double tmp;
+        snprintf(buf, sizeof(buf), fabs(u_.number_) < (1ULL << 53) && is_zero(modf(u_.number_, &tmp)) ? "%.f" : "%.17g", u_.number_);
+        return buf;
+    }
+    case string_type:
+        return *u_.string_;
+    case array_type:
+        return "array";
+    case object_type:
+        return "object";
+    default:
+        break;
+    }
+    return std::string();
+}
+
+template <typename Iter> void copy(const std::string &s, Iter oi)
+{
+    std::copy(s.begin(), s.end(), oi);
+}
+
+template <typename Iter> class input
+{
+protected:
+    Iter cur_, end_;
+    bool consumed_;
+    int line_;
+
+public:
+    input(const Iter &first, const Iter &last) : cur_(first), end_(last), consumed_(false), line_(1)
+    {
+    }
+    int getc()
+    {
+        if (consumed_) {
+            if (*cur_ == '\n') {
+                ++line_;
+            }
+            ++cur_;
+        }
+        if (cur_ == end_) {
+            consumed_ = false;
+            return -1;
+        }
+        consumed_ = true;
+        return *cur_ & 0xff;
+    }
+    void ungetc()
+    {
+        consumed_ = false;
+    }
+    Iter cur() const
+    {
+        if (consumed_) {
+            input<Iter> *self = const_cast<input<Iter> *>(this);
+            self->consumed_ = false;
+            ++self->cur_;
+        }
+        return cur_;
+    }
+    int line() const
+    {
+        return line_;
+    }
+    void skip_ws()
+    {
+        while (1) {
+            int ch = getc();
+            if (!(ch == ' ' || ch == '\t' || ch == '\n' || ch == '\r')) {
+                ungetc();
+                break;
+            }
+        }
+    }
+    bool expect(const int expected)
+    {
+        skip_ws();
+        if (getc() != expected) {
+            ungetc();
+            return false;
+        }
+        return true;
+    }
+    bool match(const std::string &pattern)
+    {
+        for (std::string::const_iterator pi(pattern.begin()); pi != pattern.end(); ++pi) {
+            if (getc() != *pi) {
+                ungetc();
+                return false;
+            }
+        }
+        return true;
+    }
+};
+
+template <typename Iter> int _parse_quadhex(input<Iter> &in)
+{
+    int uni_ch = 0, hex;
+    for (int i = 0; i < 4; i++) {
+        if ((hex = in.getc()) == -1) {
+            return -1;
+        }
+        if ('0' <= hex && hex <= '9') {
+            hex -= '0';
+        } else if ('A' <= hex && hex <= 'F') {
+            hex -= 'A' - 0xa;
+        } else if ('a' <= hex && hex <= 'f') {
+            hex -= 'a' - 0xa;
+        } else {
+            in.ungetc();
+            return -1;
+        }
+        uni_ch = uni_ch * 16 + hex;
+    }
+    return uni_ch;
+}
+
+template <typename String, typename Iter> bool _parse_string(String &out, input<Iter> &in)
+{
+    while (1) {
+        int ch = in.getc();
+        if (ch < ' ') {
+            in.ungetc();
+            return false;
+        } else if (ch == '"') {
+            return true;
+        } else if (ch == '\\') {
+            if ((ch = in.getc()) == -1) {
+                return false;
+            }
+            switch (ch) {
+#define MAP(sym, val)                                                                                                              \
+  case sym:                                                                                                                        \
+    out.push_back(val);                                                                                                            \
+    break
+                MAP('"', '\"');
+                MAP('\\', '\\');
+                MAP('/', '/');
+                MAP('b', '\b');
+                MAP('f', '\f');
+                MAP('n', '\n');
+                MAP('r', '\r');
+                MAP('t', '\t');
+#undef MAP
+            default:
+                return false;
+            }
+        } else {
+            out.push_back(static_cast<char>(ch));
+        }
+    }
+    return false;
+}
+
+template <typename Context, typename Iter> bool _parse_array(Context &ctx, input<Iter> &in)
+{
+    if (!ctx.parse_array_start()) {
+        return false;
+    }
+    size_t idx = 0;
+    if (in.expect(']')) {
+        return ctx.parse_array_stop(idx);
+    }
+    do {
+        if (!ctx.parse_array_item(in, idx)) {
+            return false;
+        }
+        idx++;
+    } while (in.expect(','));
+    return in.expect(']') && ctx.parse_array_stop(idx);
+}
+
+template <typename Context, typename Iter> bool _parse_object(Context &ctx, input<Iter> &in)
+{
+    if (!ctx.parse_object_start()) {
+        return false;
+    }
+    if (in.expect('}')) {
+        return true;
+    }
+    do {
+        std::string key;
+        if (!in.expect('"') || !_parse_string(key, in) || !in.expect(':')) {
+            return false;
+        }
+        if (!ctx.parse_object_item(in, key)) {
+            return false;
+        }
+    } while (in.expect(','));
+    return in.expect('}');
+}
+
+template <typename Iter> std::string _parse_number(input<Iter> &in)
+{
+    std::string num_str;
+    while (1) {
+        int ch = in.getc();
+        if (('0' <= ch && ch <= '9') || ch == '+' || ch == '-' || ch == 'e' || ch == 'E') {
+            num_str.push_back(static_cast<char>(ch));
+        } else if (ch == '.') {
+            num_str.push_back('.');
+        } else {
+            in.ungetc();
+            break;
+        }
+    }
+    return num_str;
+}
+
+template <typename Context, typename Iter> bool _parse(Context &ctx, input<Iter> &in)
+{
+    in.skip_ws();
+    int ch = in.getc();
+    switch (ch) {
+#define IS(ch, text, op)                                                                                                           \
+  case ch:                                                                                                                         \
+    if (in.match(text) && op) {                                                                                                    \
+      return true;                                                                                                                 \
+    } else {                                                                                                                       \
+      return false;                                                                                                                \
+    }
+        IS('n', "ull", ctx.set_null());
+        IS('f', "alse", ctx.set_bool(false));
+        IS('t', "rue", ctx.set_bool(true));
+#undef IS
+    case '"':
+        return ctx.parse_string(in);
+    case '[':
+        return _parse_array(ctx, in);
+    case '{':
+        return _parse_object(ctx, in);
+    default:
+        if (('0' <= ch && ch <= '9') || ch == '-') {
+            double f;
+            char *endp;
+            in.ungetc();
+            std::string num_str(_parse_number(in));
+            if (num_str.empty()) {
+                return false;
+            }
+            f = strtod(num_str.c_str(), &endp);
+            if (endp == num_str.c_str() + num_str.size()) {
+                ctx.set_number(f);
+                return true;
+            }
+            return false;
+        }
+        break;
+    }
+    in.ungetc();
+    return false;
+}
+
+class default_parse_context
+{
+protected:
+    value *out_;
+
+public:
+    default_parse_context(value *out) : out_(out)
+    {
+    }
+    bool set_null()
+    {
+        *out_ = value();
+        return true;
+    }
+    bool set_bool(bool b)
+    {
+        *out_ = value(b);
+        return true;
+    }
+    bool set_number(double f)
+    {
+        *out_ = value(f);
+        return true;
+    }
+    template <typename Iter> bool parse_string(input<Iter> &in)
+    {
+        *out_ = value(string_type, false);
+        return _parse_string(out_->get<std::string>(), in);
+    }
+    bool parse_array_start()
+    {
+        *out_ = value(array_type, false);
+        return true;
+    }
+    template <typename Iter> bool parse_array_item(input<Iter> &in, size_t)
+    {
+        array &a = out_->get<array>();
+        a.push_back(value());
+        default_parse_context ctx(&a.back());
+        return _parse(ctx, in);
+    }
+    bool parse_array_stop(size_t)
+    {
+        return true;
+    }
+    bool parse_object_start()
+    {
+        *out_ = value(object_type, false);
+        return true;
+    }
+    template <typename Iter> bool parse_object_item(input<Iter> &in, const std::string &key)
+    {
+        object &o = out_->get<object>();
+        default_parse_context ctx(&o[key]);
+        return _parse(ctx, in);
+    }
+
+private:
+    default_parse_context(const default_parse_context &);
+    default_parse_context &operator=(const default_parse_context &);
+};
+
+template <typename Context, typename Iter> Iter _parse(Context &ctx, const Iter &first, const Iter &last, std::string *err)
+{
+    input<Iter> in(first, last);
+    if (!_parse(ctx, in) && err != NULL) {
+        char buf[64];
+        snprintf(buf, sizeof(buf), "syntax error at line %d near: ", in.line());
+        *err = buf;
+        while (1) {
+            int ch = in.getc();
+            if (ch == -1 || ch == '\n') {
+                break;
+            } else if (ch >= ' ') {
+                err->push_back(static_cast<char>(ch));
+            }
+        }
+    }
+    return in.cur();
+}
+
+template <typename Iter> Iter parse(value &out, const Iter &first, const Iter &last, std::string *err)
+{
+    default_parse_context ctx(&out);
+    return _parse(ctx, first, last, err);
+}
+
+std::string AP_JSON::parse(value &out, const std::string &s)
+{
+    std::string err;
+    ::parse(out, s.begin(), s.end(), &err);
+    return err;
+}
diff --git a/libraries/AP_JSON/AP_JSON.h b/libraries/AP_JSON/AP_JSON.h
new file mode 100644
index 00000000000000..c70a76a2dcae1f
--- /dev/null
+++ b/libraries/AP_JSON/AP_JSON.h
@@ -0,0 +1,86 @@
+/*
+  ArduPilot JSON parser
+ */
+
+#pragma once
+
+#include <cstdio>
+#include <map>
+#include <vector>
+
+/*
+  this avoids an issue on stm32 with std::string
+ */
+#undef _GLIBCXX_USE_C99_STDIO
+#include <string>
+#define _GLIBCXX_USE_C99_STDIO 1
+
+class AP_JSON
+{
+public:
+    struct null {};
+
+    class value
+    {
+    public:
+        typedef std::vector<value> array;
+        typedef std::map<std::string, value> object;
+        union _storage {
+            bool boolean_;
+            double number_;
+            std::string *string_;
+            array *array_;
+            object *object_;
+        };
+
+
+    protected:
+        int type_;
+        _storage u_;
+
+    public:
+        value();
+        value(int type, bool);
+        explicit value(bool b);
+        explicit value(double n);
+        explicit value(const std::string &s);
+        explicit value(const array &a);
+        explicit value(const object &o);
+        explicit value(std::string &&s);
+        explicit value(array &&a);
+        explicit value(object &&o);
+
+        explicit value(const char *s);
+        value(const char *s, size_t len);
+        ~value();
+        value(const value &x);
+        value &operator=(const value &x);
+        value(value &&x);
+        value &operator=(value &&x);
+        void swap(value &x);
+        template <typename T> bool is() const;
+        template <typename T> const T &get() const;
+        template <typename T> T &get();
+        template <typename T> void set(const T &);
+        template <typename T> void set(T &&);
+        bool evaluate_as_boolean() const;
+        const value &get(const size_t idx) const;
+        const value &get(const std::string &key) const;
+        value &get(const size_t idx);
+        value &get(const std::string &key);
+
+        bool contains(const size_t idx) const;
+        bool contains(const std::string &key) const;
+        std::string to_str() const;
+
+    private:
+        template <typename T> value(const T *); // intentionally defined to block implicit conversion of pointer to bool
+        void clear();
+    };
+
+    static std::string parse(value &out, const std::string &s);
+
+    // load a json file, returning a value object
+    static value *load_json(const char *filename);
+};
+
diff --git a/libraries/AP_JSON/examples/XPlane/XPlane.cpp b/libraries/AP_JSON/examples/XPlane/XPlane.cpp
new file mode 100644
index 00000000000000..d7af16a4f57221
--- /dev/null
+++ b/libraries/AP_JSON/examples/XPlane/XPlane.cpp
@@ -0,0 +1,49 @@
+//
+// tests for the AP_JSON parser
+//
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_JSON/AP_JSON.h>
+
+#include <stdio.h>
+
+void setup();
+void loop();
+
+const AP_HAL::HAL& hal = AP_HAL::get_HAL();
+
+static void test_xplane(void)
+{
+    const uint32_t m1 = hal.util->available_memory();
+    auto *obj = AP_JSON::load_json("@ROMFS/models/xplane_plane.json");
+    if (obj == nullptr) {
+        ::printf("Failed to parse json\n");
+    }
+    const uint32_t m2 = hal.util->available_memory();
+    ::printf("Used %u bytes\n", unsigned(m1-m2));
+
+    const AP_JSON::value::object& o = obj->get<AP_JSON::value::object>();
+    for (AP_JSON::value::object::const_iterator i = o.begin();
+         i != o.end();
+         ++i) {
+        const char *label = i->first.c_str();
+        ::printf("Label: %s\n", label);
+    }
+    delete obj;
+}
+
+/*
+ *  euler angle tests
+ */
+void setup(void)
+{
+    hal.console->printf("AP_JSON tests\n");
+}
+
+void loop(void)
+{
+    ::printf("Memory: %u\n", (unsigned)hal.util->available_memory());
+    test_xplane();
+}
+
+AP_HAL_MAIN();
diff --git a/libraries/AP_JSON/examples/XPlane/wscript b/libraries/AP_JSON/examples/XPlane/wscript
new file mode 100644
index 00000000000000..719ec151ba9d4b
--- /dev/null
+++ b/libraries/AP_JSON/examples/XPlane/wscript
@@ -0,0 +1,7 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+def build(bld):
+    bld.ap_example(
+        use='ap',
+    )

From 127c41f541885e42366497249d86daebf55b7b40 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Feb 2024 09:32:49 +1100
Subject: [PATCH 1163/1335] AP_ADSB: use gmtime_r() instead of gmtime()

using gmtime_r makes gmtime thread safe
---
 libraries/AP_ADSB/AP_ADSB_Sagetech.cpp     | 3 ++-
 libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_ADSB/AP_ADSB_Sagetech.cpp b/libraries/AP_ADSB/AP_ADSB_Sagetech.cpp
index 2ece79f1c004fc..6b2c89d97034da 100644
--- a/libraries/AP_ADSB/AP_ADSB_Sagetech.cpp
+++ b/libraries/AP_ADSB/AP_ADSB_Sagetech.cpp
@@ -516,7 +516,8 @@ void AP_ADSB_Sagetech::send_msg_GPS()
     if (loc.have_epoch_from_rtc_us) {
         // not completely accurate, our time includes leap seconds and time_t should be without
         const time_t time_sec = time_usec / 1000000;
-        struct tm* tm = gmtime(&time_sec);
+        struct tm tmd {};
+        struct tm* tm = gmtime_r(&time_sec, &tmd);
 
         // format time string
         snprintf((char*)&pkt.payload[36], 11, "%02u%02u%06.3f", tm->tm_hour, tm->tm_min, tm->tm_sec + (time_usec % 1000000) * 1.0e-6);
diff --git a/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp b/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
index d4964ba131b682..6f0803d2796fda 100644
--- a/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
+++ b/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.cpp
@@ -633,7 +633,8 @@ void AP_ADSB_Sagetech_MXS::send_gps_msg()
     uint64_t time_usec = ap_gps.epoch_from_rtc_us;
     if (ap_gps.have_epoch_from_rtc_us) {
         const time_t time_sec = time_usec * 1E-6;
-        struct tm* tm = gmtime(&time_sec);
+        struct tm tmd {};
+        struct tm* tm = gmtime_r(&time_sec, &tmd);
 
         snprintf((char*)&gps.timeOfFix, 11, "%02u%02u%06.3f", tm->tm_hour, tm->tm_min, tm->tm_sec + (time_usec % 1000000) * 1.0e-6);
     } else {

From 3cb3e6feda85b00e8b474de1de11cf9b18ebe45d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Feb 2024 09:32:49 +1100
Subject: [PATCH 1164/1335] AP_Filesystem: use gmtime_r() instead of gmtime()

using gmtime_r makes gmtime thread safe
---
 libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp b/libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp
index df47485a307218..ba47b60c742b9c 100644
--- a/libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem_FATFS.cpp
@@ -828,7 +828,8 @@ int64_t AP_Filesystem_FATFS::disk_space(const char *path)
  */
 static void unix_time_to_fat(time_t epoch, uint16_t &date, uint16_t &time)
 {
-    struct tm *t = gmtime((time_t *)&epoch);
+    struct tm tmd {};
+    struct tm *t = gmtime_r((time_t *)&epoch, &tmd);
 
     /* Pack date and time into a uint32_t variable */
     date = ((uint16_t)(t->tm_year - 80) << 9)

From fca0aa3d02af54ea1770ad5aa492280a77678cac Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Feb 2024 09:32:49 +1100
Subject: [PATCH 1165/1335] AP_MSP: use gmtime_r() instead of gmtime()

using gmtime_r makes gmtime thread safe
---
 libraries/AP_MSP/AP_MSP_Telem_Backend.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
index ef4a674e745d31..e107dffe5f4d64 100644
--- a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
+++ b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
@@ -1023,7 +1023,8 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rtc(sbuf_t *dst)
 #if AP_RTC_ENABLED
     if (AP::rtc().get_utc_usec(time_usec)) { // may fail, leaving time_unix at 0
         const time_t time_sec = time_usec / 1000000;
-        localtime_tm = *gmtime(&time_sec);
+        struct tm tmd {};
+        localtime_tm = *gmtime_r(&time_sec, &tmd);
     }
 #endif
     const struct PACKED {

From 476587adf1946bab975b9bd1d32321c3dac70b60 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Feb 2024 09:32:49 +1100
Subject: [PATCH 1166/1335] AP_NMEA_Output: use gmtime_r() instead of gmtime()

using gmtime_r makes gmtime thread safe
---
 libraries/AP_NMEA_Output/AP_NMEA_Output.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_NMEA_Output/AP_NMEA_Output.cpp b/libraries/AP_NMEA_Output/AP_NMEA_Output.cpp
index 6e2ab5c9d20fdc..836445abeecb65 100644
--- a/libraries/AP_NMEA_Output/AP_NMEA_Output.cpp
+++ b/libraries/AP_NMEA_Output/AP_NMEA_Output.cpp
@@ -108,7 +108,8 @@ void AP_NMEA_Output::update()
 
     // not completely accurate, our time includes leap seconds and time_t should be without
     const time_t time_sec = time_usec / 1000000;
-    struct tm* tm = gmtime(&time_sec);
+    struct tm tmd {};
+    struct tm* tm = gmtime_r(&time_sec, &tmd);
 
     // format time string
     char tstring[10];

From 052ce823bafba2517f618ce6c405149eebf9fac4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Feb 2024 09:32:49 +1100
Subject: [PATCH 1167/1335] AP_RTC: use gmtime_r() instead of gmtime()

using gmtime_r makes gmtime thread safe
---
 libraries/AP_RTC/AP_RTC.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_RTC/AP_RTC.cpp b/libraries/AP_RTC/AP_RTC.cpp
index 36d78b4043c798..a57c3242852fd5 100644
--- a/libraries/AP_RTC/AP_RTC.cpp
+++ b/libraries/AP_RTC/AP_RTC.cpp
@@ -111,7 +111,8 @@ void AP_RTC::clock_ms_to_hms_fields(const uint64_t time_ms, uint8_t &hour, uint8
 bool AP_RTC::clock_s_to_date_fields(const uint32_t utc_sec32, uint16_t& year, uint8_t& month, uint8_t& day, uint8_t &hour, uint8_t &min, uint8_t &sec, uint8_t &wday) const
 {
     const time_t utc_sec = utc_sec32;
-    struct tm* tm = gmtime(&utc_sec);
+    struct tm tmd {};
+    struct tm* tm = gmtime_r(&utc_sec, &tmd);
     if (tm == nullptr) {
         return false;
     }
@@ -284,7 +285,8 @@ bool AP_RTC::get_date_and_time_utc(uint16_t& year, uint8_t& month, uint8_t& day,
         return false;
     }
     time_t utc_sec = time_us / (1000U * 1000U);
-    struct tm* tm = gmtime(&utc_sec);
+    struct tm tmd {};
+    struct tm* tm = gmtime_r(&utc_sec, &tmd);
     if (tm == nullptr) {
         return false;
     }

From b3240ac2431722c4e66efea0112cb998f373acea Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Feb 2024 09:32:49 +1100
Subject: [PATCH 1168/1335] AP_Scripting: use gmtime_r() instead of gmtime()

using gmtime_r makes gmtime thread safe
---
 libraries/AP_Scripting/lua/src/loslib.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/lua/src/loslib.c b/libraries/AP_Scripting/lua/src/loslib.c
index de590c6b717a62..9510105778b6c0 100644
--- a/libraries/AP_Scripting/lua/src/loslib.c
+++ b/libraries/AP_Scripting/lua/src/loslib.c
@@ -81,7 +81,7 @@ static time_t l_checktime (lua_State *L, int arg) {
 ** where it uses gmtime_r/localtime_r
 */
 
-#if defined(LUA_USE_POSIX)	/* { */
+#if defined(ARDUPILOT_BUILD) || defined(LUA_USE_POSIX)	/* { */
 
 #define l_gmtime(t,r)		gmtime_r(t,r)
 #define l_localtime(t,r)	localtime_r(t,r)

From 3d4dbd0aedc84f89f0bf59636f7f8f0d19e59c34 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Feb 2024 12:22:53 +1100
Subject: [PATCH 1169/1335] SITL: use gmtime_r() instead of gmtime()

---
 libraries/SITL/SIM_GPS_MSP.cpp  | 3 ++-
 libraries/SITL/SIM_GPS_NMEA.cpp | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/SITL/SIM_GPS_MSP.cpp b/libraries/SITL/SIM_GPS_MSP.cpp
index 125f1b8de2650d..2bf9db476f0bc0 100644
--- a/libraries/SITL/SIM_GPS_MSP.cpp
+++ b/libraries/SITL/SIM_GPS_MSP.cpp
@@ -56,7 +56,8 @@ void GPS_MSP::publish(const GPS_Data *d)
     auto t = gps_time();
     struct timeval tv;
     simulation_timeval(&tv);
-    auto *tm = gmtime(&tv.tv_sec);
+    struct tm tvd {};
+    auto *tm = gmtime_r(&tv.tv_sec, &tvd);
 
     msp_gps.gps_week = t.week;
     msp_gps.ms_tow = t.ms;
diff --git a/libraries/SITL/SIM_GPS_NMEA.cpp b/libraries/SITL/SIM_GPS_NMEA.cpp
index 161f0ef0f04ff9..c4b16b89da44fd 100644
--- a/libraries/SITL/SIM_GPS_NMEA.cpp
+++ b/libraries/SITL/SIM_GPS_NMEA.cpp
@@ -45,7 +45,8 @@ void GPS_NMEA::publish(const GPS_Data *d)
 
     simulation_timeval(&tv);
 
-    tm = gmtime(&tv.tv_sec);
+    struct tm tvd {};
+    tm = gmtime_r(&tv.tv_sec, &tvd);
 
     // format time string
     hal.util->snprintf(tstring, sizeof(tstring), "%02u%02u%06.3f", tm->tm_hour, tm->tm_min, tm->tm_sec + tv.tv_usec*1.0e-6);

From 20cb709ca24316f88fdbbaa00a459b95d75c9601 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Feb 2024 12:22:53 +1100
Subject: [PATCH 1170/1335] AP_Periph: use gmtime_r() instead of gmtime()

---
 Tools/AP_Periph/msp.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Tools/AP_Periph/msp.cpp b/Tools/AP_Periph/msp.cpp
index e7d130f76f1510..8c3858fbe0d064 100644
--- a/Tools/AP_Periph/msp.cpp
+++ b/Tools/AP_Periph/msp.cpp
@@ -110,7 +110,8 @@ void AP_Periph_FW::send_msp_GPS(void)
     }
     uint64_t tepoch_us = gps.time_epoch_usec(0);
     time_t utc_sec = tepoch_us / (1000U * 1000U);
-    struct tm* tm = gmtime(&utc_sec);
+    struct tm tvd {};
+    struct tm* tm = gmtime_r(&utc_sec, &tvd);
 
     p.year = tm->tm_year+1900;
     p.month = tm->tm_mon;

From 4ad1231c8f82559a850398bab521e74e98db6f0a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Feb 2024 09:34:51 +1100
Subject: [PATCH 1171/1335] waf: prevent use of C++ library calls that can
 cause exceptions

this cleans up our blacklist of library functions, and ensures there
can be no accidential use of std:: functions that cause exceptions in
flight code on HAL_ChibiOS
---
 Tools/ardupilotwaf/ardupilotwaf.py |  8 ++++-
 Tools/ardupilotwaf/chibios.py      | 52 +++++++++++++++++++++++-------
 2 files changed, 47 insertions(+), 13 deletions(-)

diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index 2b2c89340a899d..882e2f86ca4084 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -262,6 +262,7 @@ def ap_program(bld,
                program_dir=None,
                use_legacy_defines=True,
                program_name=None,
+               vehicle_binary=True,
                **kw):
     if 'target' in kw:
         bld.fatal('Do not pass target for program')
@@ -300,6 +301,9 @@ def ap_program(bld,
         program_dir=program_dir,
         **kw
     )
+
+    tg.env.vehicle_binary = vehicle_binary
+
     if 'use' in kw and bld.env.STATIC_LINKING:
         # ensure we link against vehicle library
         tg.env.STLIB += [kw['use']]
@@ -313,7 +317,7 @@ def ap_program(bld,
 @conf
 def ap_example(bld, **kw):
     kw['program_groups'] = 'examples'
-    ap_program(bld, use_legacy_defines=False, **kw)
+    ap_program(bld, use_legacy_defines=False, vehicle_binary=False, **kw)
 
 def unique_list(items):
     '''remove duplicate elements from a list while maintaining ordering'''
@@ -383,6 +387,7 @@ def ap_find_tests(bld, use=[], DOUBLE_PRECISION_SOURCES=[]):
             program_name=f.change_ext('').name,
             program_groups='tests',
             use_legacy_defines=False,
+            vehicle_binary=False,
             cxxflags=['-Wno-undef'],
         )
         filename = os.path.basename(f.abspath())
@@ -444,6 +449,7 @@ def ap_find_benchmarks(bld, use=[]):
             includes=includes,
             source=[f],
             use=use,
+            vehicle_binary=False,
             program_name=f.change_ext('').name,
             program_groups='benchmarks',
             use_legacy_defines=False,
diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index a14e3f9b8e6f1a..0248c1c25b5d14 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -14,6 +14,7 @@
 import pickle
 import struct
 import base64
+import subprocess
 
 _dynamic_env_data = {}
 def _load_dynamic_env_data(bld):
@@ -143,6 +144,27 @@ def run(self):
             defaults.save()
 
 
+def check_elf_symbols(task):
+    '''
+    check for disallowed symbols in elf file, such as C++ exceptions
+    '''
+    elfpath = task.inputs[0].abspath()
+
+    if not task.env.vehicle_binary or task.env.SIM_ENABLED:
+        # we only want to check symbols for vehicle binaries, allowing examples
+        # to use C++ exceptions. We also allow them in simulator builds
+        return
+
+    # we use string find on these symbols, so this catches all types of throw
+    # calls this should catch all uses of exceptions unless the compiler
+    # manages to inline them
+    blacklist = ['std::__throw']
+
+    nmout = subprocess.getoutput("%s -C %s" % (task.env.get_flat('NM'), elfpath))
+    for b in blacklist:
+        if nmout.find(b) != -1:
+            raise Errors.WafError("Disallowed symbol in %s: %s" % (elfpath, b))
+
 class generate_bin(Task.Task):
     color='CYAN'
     # run_str="${OBJCOPY} -O binary ${SRC} ${TGT}"
@@ -154,6 +176,8 @@ class generate_bin(Task.Task):
     def keyword(self):
         return "Generating"
     def run(self):
+        check_elf_symbols(self)
+
         if self.env.HAS_EXTERNAL_FLASH_SECTIONS:
             ret = self.split_sections()
             if (ret < 0):
@@ -529,6 +553,7 @@ def configure(cfg):
     cfg.find_program('make', var='MAKE')
     #cfg.objcopy = cfg.find_program('%s-%s'%(cfg.env.TOOLCHAIN,'objcopy'), var='OBJCOPY', mandatory=True)
     cfg.find_program('arm-none-eabi-objcopy', var='OBJCOPY')
+    cfg.find_program('arm-none-eabi-nm', var='NM')
     env = cfg.env
     bldnode = cfg.bldnode.make_node(cfg.variant)
     def srcpath(path):
@@ -716,16 +741,19 @@ def build(bld):
     if bld.env.ENABLE_CRASHDUMP:
         bld.env.LINKFLAGS += ['-Wl,-whole-archive', 'modules/ChibiOS/libcc.a', '-Wl,-no-whole-archive']
     # list of functions that will be wrapped to move them out of libc into our
-    # own code note that we also include functions that we deliberately don't
-    # implement anywhere (the FILE* functions). This allows us to get link
-    # errors if we accidentially try to use one of those functions either
-    # directly or via another libc call
-    wraplist = ['sscanf', 'fprintf', 'snprintf', 'vsnprintf','vasprintf','asprintf','vprintf','scanf',
-                'printf',
-                'fopen', 'fflush', 'fwrite', 'fread', 'fputs', 'fgets',
-                'clearerr', 'fseek', 'ferror', 'fclose', 'tmpfile', 'getc', 'ungetc', 'feof',
-                'ftell', 'freopen', 'remove', 'vfprintf', 'fscanf',
-                '_gettimeofday', '_times', '_times_r', '_gettimeofday_r', 'time', 'clock',
-                '_sbrk', '_sbrk_r', '_malloc_r', '_calloc_r', '_free_r']
-    for w in wraplist:
+    # own code
+    wraplist = ['sscanf', 'fprintf', 'snprintf', 'vsnprintf', 'vasprintf', 'asprintf', 'vprintf', 'scanf', 'printf']
+
+    # list of functions that we will give a link error for if they are
+    # used. This is to prevent accidential use of these functions
+    blacklist = ['_sbrk', '_sbrk_r', '_malloc_r', '_calloc_r', '_free_r', 'ftell',
+                 'fopen', 'fflush', 'fwrite', 'fread', 'fputs', 'fgets',
+                 'clearerr', 'fseek', 'ferror', 'fclose', 'tmpfile', 'getc', 'ungetc', 'feof',
+                'ftell', 'freopen', 'remove', 'vfprintf', 'vfprintf_r', 'fscanf',
+                '_gettimeofday', '_times', '_times_r', '_gettimeofday_r', 'time', 'clock']
+
+    # these functions use global state that is not thread safe
+    blacklist += ['gmtime']
+
+    for w in wraplist + blacklist:
         bld.env.LINKFLAGS += ['-Wl,--wrap,%s' % w]

From f8097379cb70e68f2e2f1e544d7574448842793e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Feb 2024 09:35:42 +1100
Subject: [PATCH 1172/1335] AP_Scripting: prevent a code path to abort() in
 scripting

if scripting can't find an error handler it can call abort(). We don't
ever want to do that in ArduPilot
---
 libraries/AP_Scripting/lua/src/ldo.c     |  2 +-
 libraries/AP_Scripting/lua_bindings.cpp  | 19 +++++++++++++++++++
 libraries/AP_Scripting/lua_common_defs.h |  2 ++
 3 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Scripting/lua/src/ldo.c b/libraries/AP_Scripting/lua/src/ldo.c
index 88b9d921ddc27b..c07f4fdb32854c 100644
--- a/libraries/AP_Scripting/lua/src/ldo.c
+++ b/libraries/AP_Scripting/lua/src/ldo.c
@@ -128,7 +128,7 @@ l_noret luaD_throw (lua_State *L, int errcode) {
         lua_unlock(L);
         g->panic(L);  /* call panic function (last chance to jump out) */
       }
-      abort();
+      lua_abort();
     }
   }
 }
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index f4cf9bb30735b0..6e234130eb0e16 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -956,4 +956,23 @@ int lua_range_finder_handle_script_msg(lua_State *L) {
 }
 #endif
 
+/*
+  lua wants to abort, and doesn't have access to a panic function
+ */
+void lua_abort()
+{
+    INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
+#if AP_SIM_ENABLED
+    AP_HAL::panic("lua_abort called");
+#else
+    if (!hal.util->get_soft_armed()) {
+        AP_HAL::panic("lua_abort called");
+    }
+    // abort while flying, all we can do is loop
+    while (true) {
+        hal.scheduler->delay(1000);
+    }
+#endif
+}
+
 #endif  // AP_SCRIPTING_ENABLED
diff --git a/libraries/AP_Scripting/lua_common_defs.h b/libraries/AP_Scripting/lua_common_defs.h
index cfd047d06001cb..664541ddfa0033 100644
--- a/libraries/AP_Scripting/lua_common_defs.h
+++ b/libraries/AP_Scripting/lua_common_defs.h
@@ -27,3 +27,5 @@
 #endif // REPL_OUT
 
 int lua_get_current_ref();
+void lua_abort(void) __attribute__((noreturn));
+

From e4fc55f2825d253297b71882e3d49d456cc48683 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 15:59:31 +1100
Subject: [PATCH 1173/1335] autotest: add test that tracker can use moving
 baseline yaw

---
 Tools/autotest/antennatracker.py              | 25 +++++++++++++++++++
 .../default_params/tracker-gps-for-yaw.parm   | 11 ++++++++
 2 files changed, 36 insertions(+)
 create mode 100644 Tools/autotest/default_params/tracker-gps-for-yaw.parm

diff --git a/Tools/autotest/antennatracker.py b/Tools/autotest/antennatracker.py
index 438e6d7ce66587..b186711637b6bd 100644
--- a/Tools/autotest/antennatracker.py
+++ b/Tools/autotest/antennatracker.py
@@ -175,6 +175,30 @@ def disabled_tests(self):
             "CPUFailsafe": " tracker doesn't have a CPU failsafe",
         }
 
+    def GPSForYaw(self):
+        '''Moving baseline GPS yaw'''
+        self.context_push()
+
+        self.load_default_params_file("tracker-gps-for-yaw.parm")
+        self.reboot_sitl()
+
+        self.wait_gps_fix_type_gte(6, message_type="GPS2_RAW", verbose=True)
+        tstart = self.get_sim_time()
+        while True:
+            if self.get_sim_time_cached() - tstart > 20:
+                break
+            m_gps_raw = self.assert_receive_message("GPS2_RAW", verbose=True)
+            m_sim = self.assert_receive_message("SIMSTATE", verbose=True)
+            gps_raw_hdg = m_gps_raw.yaw * 0.01
+            sim_hdg = mavextra.wrap_360(math.degrees(m_sim.yaw))
+            if abs(gps_raw_hdg - sim_hdg) > 5:
+                raise NotAchievedException("GPS_RAW not tracking simstate yaw")
+            self.progress(f"yaw match ({gps_raw_hdg} vs {sim_hdg}")
+
+        self.context_pop()
+
+        self.reboot_sitl()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestTracker, self).tests()
@@ -186,5 +210,6 @@ def tests(self):
             self.NMEAOutput,
             self.SCAN,
             self.BaseMessageSet,
+            self.GPSForYaw,
         ])
         return ret
diff --git a/Tools/autotest/default_params/tracker-gps-for-yaw.parm b/Tools/autotest/default_params/tracker-gps-for-yaw.parm
new file mode 100644
index 00000000000000..e978b5137679c6
--- /dev/null
+++ b/Tools/autotest/default_params/tracker-gps-for-yaw.parm
@@ -0,0 +1,11 @@
+# SITL GPS-for-yaw using two simulated UBlox GPSs
+EK3_SRC1_YAW 2
+GPS_AUTO_CONFIG 0
+GPS_TYPE 17
+GPS_TYPE2 18
+GPS_POS1_Y -0.2
+GPS_POS2_Y 0.2
+SIM_GPS_POS_Y -0.2
+SIM_GPS2_POS_Y 0.2
+SIM_GPS2_DISABLE 0
+SIM_GPS2_HDG 1

From d37d70e787b1286fd0097bf878e82cb284d5061e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 5 Feb 2024 16:02:44 +1100
Subject: [PATCH 1174/1335] AP_RCProtocol: factor out a poll_protocol method

---
 libraries/AP_RCProtocol/AP_RCProtocol.cpp | 62 ++++++++++++++++++-----
 libraries/AP_RCProtocol/AP_RCProtocol.h   |  5 ++
 2 files changed, 55 insertions(+), 12 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.cpp b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
index 2b501c888f8967..81f446d53aee06 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
@@ -367,6 +367,44 @@ void AP_RCProtocol::update()
     check_added_uart();
 }
 
+// explicitly investigate a backend for data, as opposed to feeding
+// the backend a byte (or pulse-train) at a time and having them make
+// an "add_input" callback):
+bool AP_RCProtocol::detect_async_protocol(rcprotocol_t protocol)
+{
+    auto *p = backend[protocol];
+    if (p == nullptr) {
+        // backend is not allocated?!
+        return false;
+    }
+
+    if (_detected_protocol == protocol) {
+        // we are using this protocol already, see if there is new
+        // data.  Caller will handle the case where we stop presenting
+        // data
+        return p->new_input();
+    }
+
+    // we are not the currently in-use protocol.
+    const uint32_t now = AP_HAL::millis();
+
+    // see if another backend is providing data:
+    if (!should_search(now)) {
+        // apparently, yes
+        return false;
+    }
+
+    // nobody is providing data; can we provide data?
+    if (!p->new_input()) {
+        // we can't provide data
+        return false;
+    }
+
+    // we can provide data, change the detected protocol to be us:
+    _detected_protocol = protocol;
+    return true;
+}
+
 bool AP_RCProtocol::new_input()
 {
     // if we have an extra UART from a SERIALn_PROTOCOL then check it for data
@@ -379,21 +417,21 @@ bool AP_RCProtocol::new_input()
         }
     }
 
+    // iterate through backends which don't do either of pulse or uart
+    // input, and thus won't update_new_input
+    const rcprotocol_t pollable[] {
 #if AP_RCPROTOCOL_DRONECAN_ENABLED
-    uint32_t now = AP_HAL::millis();
-    if (should_search(now)) {
-        if (backend[AP_RCProtocol::DRONECAN] != nullptr &&
-            backend[AP_RCProtocol::DRONECAN]->new_input()) {
-            _detected_protocol = AP_RCProtocol::DRONECAN;
-            _last_input_ms = now;
-        }
-    } else if (_detected_protocol == AP_RCProtocol::DRONECAN) {
-        _new_input = backend[AP_RCProtocol::DRONECAN]->new_input();
-        if (_new_input) {
-            _last_input_ms = now;
+        AP_RCProtocol::DRONECAN,
+#endif
+    };
+    for (const auto protocol : pollable) {
+        _new_input = detect_async_protocol(protocol);
+        if (!_new_input) {
+            continue;
         }
+        _last_input_ms = AP_HAL::millis();
+        break;
     }
-#endif
 
     bool ret = _new_input;
     _new_input = false;
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.h b/libraries/AP_RCProtocol/AP_RCProtocol.h
index f5823739d6d09a..aae2a3b1ecc3ff 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.h
@@ -211,6 +211,11 @@ class AP_RCProtocol {
     // return true if a specific protocol is enabled
     bool protocol_enabled(enum rcprotocol_t protocol) const;
 
+    // explicitly investigate a backend for data, as opposed to
+    // feeding the backend a byte (or pulse-train) at a time and
+    // having them make an "add_input" callback):
+    bool detect_async_protocol(rcprotocol_t protocol);
+
     enum rcprotocol_t _detected_protocol = NONE;
     uint16_t _disabled_for_pulses;
     bool _detected_with_bytes;

From 74640c9e652493dfc9202ab8089b78b140a75844 Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Mon, 22 Jan 2024 16:57:37 +0100
Subject: [PATCH 1175/1335] Tools: Extracts parameter default values from an
 ArduPilot .bin file.

Supports Mission Planner, MAVProxy and QGCS file format output

Contains unittests with 95% coverage

Amilcar do Carmo Lucas, IAV GmbH
---
 .github/workflows/test_unit_tests.yml         |  10 +
 .../extract_param_defaults_unittest.py        | 310 ++++++++++++++++++
 Tools/scripts/__init__.py                     |   1 +
 Tools/scripts/extract_param_defaults.py       | 205 ++++++++++++
 4 files changed, 526 insertions(+)
 create mode 100755 Tools/autotest/unittest/extract_param_defaults_unittest.py
 create mode 100644 Tools/scripts/__init__.py
 create mode 100755 Tools/scripts/extract_param_defaults.py

diff --git a/.github/workflows/test_unit_tests.yml b/.github/workflows/test_unit_tests.yml
index 609e30386c1ca8..d78cd5408b0f61 100644
--- a/.github/workflows/test_unit_tests.yml
+++ b/.github/workflows/test_unit_tests.yml
@@ -147,6 +147,16 @@ jobs:
           fi
           PATH="/github/home/.local/bin:$PATH"
           Tools/scripts/build_ci.sh
+      - name: Unittest extract_param_defaults
+        env:
+          PYTHONPATH: "${{ github.workspace }}/Tools/scripts:${{ github.workspace }}/modules/mavlink/pymavlink"
+        shell: 'script -q -e -c "bash {0}"'
+        run: |
+          if [[ ${{ matrix.config }} == "unit-tests" ]]; then
+            Tools/autotest/unittest/extract_param_defaults_unittest.py
+          else
+            echo ${{matrix.config}} does not have pymavlink
+          fi
 
       - name: Archive buildlog artifacts
         uses: actions/upload-artifact@v3
diff --git a/Tools/autotest/unittest/extract_param_defaults_unittest.py b/Tools/autotest/unittest/extract_param_defaults_unittest.py
new file mode 100755
index 00000000000000..fe539655470f29
--- /dev/null
+++ b/Tools/autotest/unittest/extract_param_defaults_unittest.py
@@ -0,0 +1,310 @@
+#!/usr/bin/python3
+
+'''
+Extracts parameter default values from an ArduPilot .bin log file. Unittests.
+
+AP_FLAKE8_CLEAN
+
+Amilcar do Carmo Lucas, IAV GmbH
+'''
+
+import unittest
+from unittest.mock import patch, MagicMock
+from extract_param_defaults import extract_parameter_default_values, missionplanner_sort, \
+                                   mavproxy_sort, sort_params, output_params, parse_arguments, \
+                                   NO_DEFAULT_VALUES_MESSAGE, MAVLINK_SYSID_MAX, MAVLINK_COMPID_MAX
+
+
+class TestArgParseParameters(unittest.TestCase):
+    def test_command_line_arguments_combinations(self):
+        # Check the 'format' and 'sort' default parameters
+        args = parse_arguments(['dummy.bin'])
+        self.assertEqual(args.format, 'missionplanner')
+        self.assertEqual(args.sort, 'missionplanner')
+
+        # Check the 'format' and 'sort' parameters to see if 'sort' can be explicitly overwritten
+        args = parse_arguments(['-s', 'none', 'dummy.bin'])
+        self.assertEqual(args.format, 'missionplanner')
+        self.assertEqual(args.sort, 'none')
+
+        # Check the 'format' and 'sort' parameters to see if 'sort' can be implicitly overwritten (mavproxy)
+        args = parse_arguments(['-f', 'mavproxy', 'dummy.bin'])
+        self.assertEqual(args.format, 'mavproxy')
+        self.assertEqual(args.sort, 'mavproxy')
+
+        # Check the 'format' and 'sort' parameters to see if 'sort' can be implicitly overwritten (qgcs)
+        args = parse_arguments(['-f', 'qgcs', 'dummy.bin'])
+        self.assertEqual(args.format, 'qgcs')
+        self.assertEqual(args.sort, 'qgcs')
+
+        # Check the 'format' and 'sort' parameters
+        args = parse_arguments(['-f', 'mavproxy', '-s', 'none', 'dummy.bin'])
+        self.assertEqual(args.format, 'mavproxy')
+        self.assertEqual(args.sort, 'none')
+
+        # Assert that a SystemExit is raised when --sysid is used without --format set to qgcs
+        with self.assertRaises(SystemExit):
+            with patch('builtins.print') as mock_print:
+                parse_arguments(['-f', 'mavproxy', '-i', '7', 'dummy.bin'])
+                mock_print.assert_called_once_with("--sysid parameter is only relevant if --format is qgcs")
+
+        # Assert that a SystemExit is raised when --compid is used without --format set to qgcs
+        with self.assertRaises(SystemExit):
+            with patch('builtins.print') as mock_print:
+                parse_arguments(['-f', 'missionplanner', '-c', '3', 'dummy.bin'])
+                mock_print.assert_called_once_with("--compid parameter is only relevant if --format is qgcs")
+
+        # Assert that a valid sysid and compid are parsed correctly
+        args = parse_arguments(['-f', 'qgcs', '-i', '7', '-c', '3', 'dummy.bin'])
+        self.assertEqual(args.format, 'qgcs')
+        self.assertEqual(args.sort, 'qgcs')
+        self.assertEqual(args.sysid, 7)
+        self.assertEqual(args.compid, 3)
+
+
+class TestExtractParameterDefaultValues(unittest.TestCase):
+
+    @patch('extract_param_defaults.mavutil.mavlink_connection')
+    def test_logfile_does_not_exist(self, mock_mavlink_connection):
+        # Mock the mavlink connection to raise an exception
+        mock_mavlink_connection.side_effect = Exception("Test exception")
+
+        # Call the function with a dummy logfile path
+        with self.assertRaises(SystemExit) as cm:
+            extract_parameter_default_values('dummy.bin')
+
+        # Check the error message
+        self.assertEqual(str(cm.exception), "Error opening the dummy.bin logfile: Test exception")
+
+    @patch('extract_param_defaults.mavutil.mavlink_connection')
+    def test_extract_parameter_default_values(self, mock_mavlink_connection):
+        # Mock the mavlink connection and the messages it returns
+        mock_mlog = MagicMock()
+        mock_mavlink_connection.return_value = mock_mlog
+        mock_mlog.recv_match.side_effect = [
+            MagicMock(Name='PARAM1', Default=1.1),
+            MagicMock(Name='PARAM2', Default=2.0),
+            None  # End of messages
+        ]
+
+        # Call the function with a dummy logfile path
+        defaults = extract_parameter_default_values('dummy.bin')
+
+        # Check if the defaults dictionary contains the correct parameters and values
+        self.assertEqual(defaults, {'PARAM1': 1.1, 'PARAM2': 2.0})
+
+    @patch('extract_param_defaults.mavutil.mavlink_connection')
+    def test_no_parameters(self, mock_mavlink_connection):
+        # Mock the mavlink connection to return no parameter messages
+        mock_mlog = MagicMock()
+        mock_mavlink_connection.return_value = mock_mlog
+        mock_mlog.recv_match.return_value = None  # No PARM messages
+
+        # Call the function with a dummy logfile path and assert SystemExit is raised with the correct message
+        with self.assertRaises(SystemExit) as cm:
+            extract_parameter_default_values('dummy.bin')
+        self.assertEqual(str(cm.exception), NO_DEFAULT_VALUES_MESSAGE)
+
+    @patch('extract_param_defaults.mavutil.mavlink_connection')
+    def test_no_parameter_defaults(self, mock_mavlink_connection):
+        # Mock the mavlink connection to simulate no parameter default values in the .bin file
+        mock_mlog = MagicMock()
+        mock_mavlink_connection.return_value = mock_mlog
+        mock_mlog.recv_match.return_value = None  # No PARM messages
+
+        # Call the function with a dummy logfile path and assert SystemExit is raised with the correct message
+        with self.assertRaises(SystemExit) as cm:
+            extract_parameter_default_values('dummy.bin')
+        self.assertEqual(str(cm.exception), NO_DEFAULT_VALUES_MESSAGE)
+
+    @patch('extract_param_defaults.mavutil.mavlink_connection')
+    def test_invalid_parameter_name(self, mock_mavlink_connection):
+        # Mock the mavlink connection to simulate an invalid parameter name
+        mock_mlog = MagicMock()
+        mock_mavlink_connection.return_value = mock_mlog
+        mock_mlog.recv_match.return_value = MagicMock(Name='INVALID_NAME%', Default=1.0)
+
+        # Call the function with a dummy logfile path
+        with self.assertRaises(SystemExit):
+            extract_parameter_default_values('dummy.bin')
+
+    @patch('extract_param_defaults.mavutil.mavlink_connection')
+    def test_long_parameter_name(self, mock_mavlink_connection):
+        # Mock the mavlink connection to simulate a too long parameter name
+        mock_mlog = MagicMock()
+        mock_mavlink_connection.return_value = mock_mlog
+        mock_mlog.recv_match.return_value = MagicMock(Name='TOO_LONG_PARAMETER_NAME', Default=1.0)
+
+        # Call the function with a dummy logfile path
+        with self.assertRaises(SystemExit):
+            extract_parameter_default_values('dummy.bin')
+
+
+class TestSortFunctions(unittest.TestCase):
+    def test_missionplanner_sort(self):
+        # Define a list of parameter names
+        params = ['PARAM_GROUP1_PARAM1', 'PARAM_GROUP2_PARAM2', 'PARAM_GROUP1_PARAM2']
+
+        # Sort the parameters using the missionplanner_sort function
+        sorted_params = sorted(params, key=missionplanner_sort)
+
+        # Check if the parameters were sorted correctly
+        self.assertEqual(sorted_params, ['PARAM_GROUP1_PARAM1', 'PARAM_GROUP1_PARAM2', 'PARAM_GROUP2_PARAM2'])
+
+        # Test with a parameter name that doesn't contain an underscore
+        params = ['PARAM1', 'PARAM3', 'PARAM2']
+        sorted_params = sorted(params, key=missionplanner_sort)
+        self.assertEqual(sorted_params, ['PARAM1', 'PARAM2', 'PARAM3'])
+
+    def test_mavproxy_sort(self):
+        # Define a list of parameter names
+        params = ['PARAM_GROUP1_PARAM1', 'PARAM_GROUP2_PARAM2', 'PARAM_GROUP1_PARAM2']
+
+        # Sort the parameters using the mavproxy_sort function
+        sorted_params = sorted(params, key=mavproxy_sort)
+
+        # Check if the parameters were sorted correctly
+        self.assertEqual(sorted_params, ['PARAM_GROUP1_PARAM1', 'PARAM_GROUP1_PARAM2', 'PARAM_GROUP2_PARAM2'])
+
+        # Test with a parameter name that doesn't contain an underscore
+        params = ['PARAM1', 'PARAM3', 'PARAM2']
+        sorted_params = sorted(params, key=mavproxy_sort)
+        self.assertEqual(sorted_params, ['PARAM1', 'PARAM2', 'PARAM3'])
+
+
+class TestOutputParams(unittest.TestCase):
+
+    @patch('extract_param_defaults.print')
+    def test_output_params(self, mock_print):
+        # Prepare a dummy defaults dictionary
+        defaults = {'PARAM2': 1.0, 'PARAM1': 2.0}
+
+        # Call the function with the dummy dictionary, 'missionplanner' format type
+        output_params(defaults, 'missionplanner')
+
+        # Check if the print function was called with the correct parameters
+        expected_calls = [unittest.mock.call('PARAM2,1'), unittest.mock.call('PARAM1,2')]
+        mock_print.assert_has_calls(expected_calls, any_order=False)
+
+    @patch('extract_param_defaults.print')
+    def test_output_params_missionplanner_non_numeric(self, mock_print):
+        # Prepare a dummy defaults dictionary
+        defaults = {'PARAM1': 'non-numeric'}
+
+        # Call the function with the dummy dictionary, 'missionplanner' format type
+        output_params(defaults, 'missionplanner')
+
+        # Check if the print function was called with the correct parameters
+        expected_calls = [unittest.mock.call('PARAM1,non-numeric')]
+        mock_print.assert_has_calls(expected_calls, any_order=False)
+
+    @patch('extract_param_defaults.print')
+    def test_output_params_mavproxy(self, mock_print):
+        # Prepare a dummy defaults dictionary
+        defaults = {'PARAM2': 2.0, 'PARAM1': 1.0}
+
+        # Call the function with the dummy dictionary, 'mavproxy' format type and 'mavproxy' sort type
+        defaults = sort_params(defaults, 'mavproxy')
+        output_params(defaults, 'mavproxy')
+
+        # Check if the print function was called with the correct parameters
+        expected_calls = [unittest.mock.call("%-15s %.6f" % ('PARAM1', 1.0)),
+                          unittest.mock.call("%-15s %.6f" % ('PARAM2', 2.0))]
+        mock_print.assert_has_calls(expected_calls, any_order=False)
+
+    @patch('extract_param_defaults.print')
+    def test_output_params_qgcs(self, mock_print):
+        # Prepare a dummy defaults dictionary
+        defaults = {'PARAM2': 2.0, 'PARAM1': 1.0}
+
+        # Call the function with the dummy dictionary, 'qgcs' format type and 'qgcs' sort type
+        defaults = sort_params(defaults, 'qgcs')
+        output_params(defaults, 'qgcs')
+
+        # Check if the print function was called with the correct parameters
+        expected_calls = [unittest.mock.call("\n# # Vehicle-Id Component-Id Name Value Type\n"),
+                          unittest.mock.call("%u %u %-15s %.6f %u" % (1, 1, 'PARAM1', 1.0, 9)),
+                          unittest.mock.call("%u %u %-15s %.6f %u" % (1, 1, 'PARAM2', 2.0, 9))]
+        mock_print.assert_has_calls(expected_calls, any_order=False)
+
+    @patch('extract_param_defaults.print')
+    def test_output_params_qgcs_2_4(self, mock_print):
+        # Prepare a dummy defaults dictionary
+        defaults = {'PARAM2': 2.0, 'PARAM1': 1.0}
+
+        # Call the function with the dummy dictionary, 'qgcs' format type and 'qgcs' sort type
+        defaults = sort_params(defaults, 'qgcs')
+        output_params(defaults, 'qgcs', 2, 4)
+
+        # Check if the print function was called with the correct parameters
+        expected_calls = [unittest.mock.call("\n# # Vehicle-Id Component-Id Name Value Type\n"),
+                          unittest.mock.call("%u %u %-15s %.6f %u" % (2, 4, 'PARAM1', 1.0, 9)),
+                          unittest.mock.call("%u %u %-15s %.6f %u" % (2, 4, 'PARAM2', 2.0, 9))]
+        mock_print.assert_has_calls(expected_calls, any_order=False)
+
+    @patch('extract_param_defaults.print')
+    def test_output_params_qgcs_SYSID_THISMAV(self, mock_print):
+        # Prepare a dummy defaults dictionary
+        defaults = {'PARAM2': 2.0, 'PARAM1': 1.0, 'SYSID_THISMAV': 3.0}
+
+        # Call the function with the dummy dictionary, 'qgcs' format type and 'qgcs' sort type
+        defaults = sort_params(defaults, 'qgcs')
+        output_params(defaults, 'qgcs', -1, 7)
+
+        # Check if the print function was called with the correct parameters
+        expected_calls = [unittest.mock.call("\n# # Vehicle-Id Component-Id Name Value Type\n"),
+                          unittest.mock.call("%u %u %-15s %.6f %u" % (3, 7, 'PARAM1', 1.0, 9)),
+                          unittest.mock.call("%u %u %-15s %.6f %u" % (3, 7, 'PARAM2', 2.0, 9)),
+                          unittest.mock.call("%u %u %-15s %.6f %u" % (3, 7, 'SYSID_THISMAV', 3.0, 9))]
+        mock_print.assert_has_calls(expected_calls, any_order=False)
+
+    @patch('extract_param_defaults.print')
+    def test_output_params_qgcs_SYSID_INVALID(self, mock_print):
+        # Prepare a dummy defaults dictionary
+        defaults = {'PARAM2': 2.0, 'PARAM1': 1.0, 'SYSID_THISMAV': -1.0}
+
+        # Assert that a SystemExit is raised with the correct message when an invalid sysid is used
+        with self.assertRaises(SystemExit) as cm:
+            defaults = sort_params(defaults, 'qgcs')
+            output_params(defaults, 'qgcs', -1, 7)
+        self.assertEqual(str(cm.exception), "Invalid system ID parameter -1 must not be negative")
+
+        # Assert that a SystemExit is raised with the correct message when an invalid sysid is used
+        with self.assertRaises(SystemExit) as cm:
+            defaults = sort_params(defaults, 'qgcs')
+            output_params(defaults, 'qgcs', MAVLINK_SYSID_MAX+2, 7)
+        self.assertEqual(str(cm.exception), f"Invalid system ID parameter 16777218 must be smaller than {MAVLINK_SYSID_MAX}")
+
+    @patch('extract_param_defaults.print')
+    def test_output_params_qgcs_COMPID_INVALID(self, mock_print):
+        # Prepare a dummy defaults dictionary
+        defaults = {'PARAM2': 2.0, 'PARAM1': 1.0}
+
+        # Assert that a SystemExit is raised with the correct message when an invalid compid is used
+        with self.assertRaises(SystemExit) as cm:
+            defaults = sort_params(defaults, 'qgcs')
+            output_params(defaults, 'qgcs', -1, -3)
+        self.assertEqual(str(cm.exception), "Invalid component ID parameter -3 must not be negative")
+
+        # Assert that a SystemExit is raised with the correct message when an invalid compid is used
+        with self.assertRaises(SystemExit) as cm:
+            defaults = sort_params(defaults, 'qgcs')
+            output_params(defaults, 'qgcs', 1, MAVLINK_COMPID_MAX+3)
+        self.assertEqual(str(cm.exception), f"Invalid component ID parameter 259 must be smaller than {MAVLINK_COMPID_MAX}")
+
+    @patch('extract_param_defaults.print')
+    def test_output_params_integer(self, mock_print):
+        # Prepare a dummy defaults dictionary with an integer value
+        defaults = {'PARAM1': 1.01, 'PARAM2': 2.00}
+
+        # Call the function with the dummy dictionary, 'missionplanner' format type and 'missionplanner' sort type
+        defaults = sort_params(defaults, 'missionplanner')
+        output_params(defaults, 'missionplanner')
+
+        # Check if the print function was called with the correct parameters
+        expected_calls = [unittest.mock.call('PARAM1,1.01'), unittest.mock.call('PARAM2,2')]
+        mock_print.assert_has_calls(expected_calls, any_order=False)
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/Tools/scripts/__init__.py b/Tools/scripts/__init__.py
new file mode 100644
index 00000000000000..f2139397192e61
--- /dev/null
+++ b/Tools/scripts/__init__.py
@@ -0,0 +1 @@
+"""Automation Scripts"""
\ No newline at end of file
diff --git a/Tools/scripts/extract_param_defaults.py b/Tools/scripts/extract_param_defaults.py
new file mode 100755
index 00000000000000..cf50e16ab21e5b
--- /dev/null
+++ b/Tools/scripts/extract_param_defaults.py
@@ -0,0 +1,205 @@
+#!/usr/bin/python3
+
+'''
+Extracts parameter default values from an ArduPilot .bin log file.
+
+Supports Mission Planner, MAVProxy and QGCS file format output
+
+Currently has 95% unit test coverage
+
+AP_FLAKE8_CLEAN
+
+Amilcar do Carmo Lucas, IAV GmbH
+'''
+
+import argparse
+import re
+from typing import Dict, Tuple
+from pymavlink import mavutil
+
+NO_DEFAULT_VALUES_MESSAGE = "The .bin file contained no parameter default values. Update to a newer ArduPilot firmware version"
+PARAM_NAME_REGEX = r'^[A-Z][A-Z_0-9]*$'
+PARAM_NAME_MAX_LEN = 16
+MAVLINK_SYSID_MAX = 2**24
+MAVLINK_COMPID_MAX = 2**8
+
+
+def parse_arguments(args=None):
+    """
+    Parses command line arguments for the script.
+
+    Args:
+        args: List of command line arguments. Defaults to None, which means it uses sys.argv.
+
+    Returns:
+        Namespace object containing the parsed arguments.
+    """
+    parser = argparse.ArgumentParser(description='Extracts parameter default values from an ArduPilot .bin log file.')
+    parser.add_argument('-f', '--format',
+                        choices=['missionplanner', 'mavproxy', 'qgcs'],
+                        default='missionplanner', help='Output file format. Defaults to %(default)s.',
+                        )
+    parser.add_argument('-s', '--sort',
+                        choices=['none', 'missionplanner', 'mavproxy', 'qgcs'],
+                        default='', help='Sort the parameters in the file. Defaults to the same as the format.',
+                        )
+    parser.add_argument('-v', '--version', action='version', version='%(prog)s 1.0',
+                        help='Display version information and exit.',
+                        )
+    parser.add_argument('-i', '--sysid', type=int, default=-1,
+                        help='System ID for qgcs output format. Defaults to SYSID_THISMAV if defined else 1.',
+                        )
+    parser.add_argument('-c', '--compid', type=int, default=-1,
+                        help='Component ID for qgcs output format. Defaults to 1.',
+                        )
+    parser.add_argument('bin_file', help='The ArduPilot .bin log file to read')
+    args, _ = parser.parse_known_args(args)
+
+    if args.sort == '':
+        args.sort = args.format
+
+    if args.format != 'qgcs':
+        if args.sysid != -1:
+            raise SystemExit("--sysid parameter is only relevant if --format is qgcs")
+        if args.compid != -1:
+            raise SystemExit("--compid parameter is only relevant if --format is qgcs")
+
+    return args
+
+
+def extract_parameter_default_values(logfile: str) -> Dict[str, float]:
+    """
+    Extracts the parameter default values from an ArduPilot .bin log file.
+
+    Args:
+        logfile: The path to the ArduPilot .bin log file.
+
+    Returns:
+        A dictionary with parameter names as keys and their default values as float.
+    """
+    try:
+        mlog = mavutil.mavlink_connection(logfile)
+    except Exception as e:
+        raise SystemExit("Error opening the %s logfile: %s" % (logfile, str(e))) from e
+    defaults = {}
+    while True:
+        m = mlog.recv_match(type=['PARM'])
+        if m is None:
+            if not defaults:
+                raise SystemExit(NO_DEFAULT_VALUES_MESSAGE)
+            return defaults
+        pname = m.Name
+        if len(pname) > PARAM_NAME_MAX_LEN:
+            raise SystemExit("Too long parameter name: %s" % pname)
+        if not re.match(PARAM_NAME_REGEX, pname):
+            raise SystemExit("Invalid parameter name %s" % pname)
+        # parameter names are supposed to be unique
+        if pname not in defaults and hasattr(m, 'Default'):
+            defaults[pname] = m.Default  # the first time default is declared is enough
+
+
+def missionplanner_sort(item: str) -> Tuple[str, ...]:
+    """
+    Sorts a parameter name according to the rules defined in the Mission Planner software.
+
+    Args:
+        item: The parameter name to sort.
+
+    Returns:
+        A tuple representing the sorted parameter name.
+    """
+    parts = item.split("_")  # Split the parameter name by underscore
+    # Compare the parts separately
+    return tuple(parts)
+
+
+def mavproxy_sort(item: str) -> str:
+    """
+    Sorts a parameter name according to the rules defined in the MAVProxy software.
+
+    Args:
+        item: The parameter name to sort.
+
+    Returns:
+        The sorted parameter name.
+    """
+    return item
+
+
+def sort_params(defaults: Dict[str, float], sort_type: str = 'none') -> Dict[str, float]:
+    """
+    Sorts parameter names according to sort_type
+
+    Args:
+        defaults: A dictionary with parameter names as keys and their default values as float.
+        sort_type: The type of sorting to apply. Can be 'none', 'missionplanner', 'mavproxy' or 'qgcs'.
+
+    Returns:
+        A dictionary with parameter names as keys and their default values as float.
+    """
+    if sort_type == "missionplanner":
+        defaults = dict(sorted(defaults.items(), key=lambda x: missionplanner_sort(x[0])))
+    elif sort_type == "mavproxy":
+        defaults = dict(sorted(defaults.items(), key=lambda x: mavproxy_sort(x[0])))
+    elif sort_type == "qgcs":
+        defaults = {k: defaults[k] for k in sorted(defaults)}
+    return defaults
+
+
+def output_params(defaults: Dict[str, float], format_type: str = 'missionplanner',
+                  sysid: int = -1, compid: int = -1) -> None:
+    """
+    Outputs parameters names and their default values to the console
+
+    Args:
+        defaults: A dictionary with parameter names as keys and their default values as float.
+        format_type: The output file format. Can be 'missionplanner', 'mavproxy' or 'qgcs'.
+
+    Returns:
+        None
+    """
+    if format_type == "qgcs":
+        if sysid == -1:
+            if 'SYSID_THISMAV' in defaults:
+                sysid = defaults['SYSID_THISMAV']
+            else:
+                sysid = 1  # if unspecified, default to 1
+        if compid == -1:
+            compid = 1  # if unspecified, default to 1
+        if sysid < 0:
+            raise SystemExit("Invalid system ID parameter %i must not be negative" % sysid)
+        if sysid > MAVLINK_SYSID_MAX-1:
+            raise SystemExit("Invalid system ID parameter %i must be smaller than %i" % (sysid, MAVLINK_SYSID_MAX))
+        if compid < 0:
+            raise SystemExit("Invalid component ID parameter %i must not be negative" % compid)
+        if compid > MAVLINK_COMPID_MAX-1:
+            raise SystemExit("Invalid component ID parameter %i must be smaller than %i" % (compid, MAVLINK_COMPID_MAX))
+        # see https://dev.qgroundcontrol.com/master/en/file_formats/parameters.html
+        print("""
+# # Vehicle-Id Component-Id Name Value Type
+""")
+
+    for param_name, default_value in defaults.items():
+        if format_type == "missionplanner":
+            try:
+                default_value = format(default_value, '.6f').rstrip('0').rstrip('.')
+            except ValueError:
+                pass # preserve non-floating point strings, if present
+            print(f"{param_name},{default_value}")
+        elif format_type == "mavproxy":
+            print("%-15s %.6f" % (param_name, default_value))
+        elif format_type == "qgcs":
+            MAV_PARAM_TYPE_REAL32 = 9
+            print("%u %u %-15s %.6f %u" %
+                  (sysid, compid, param_name, default_value, MAV_PARAM_TYPE_REAL32))
+
+
+def main():
+    args = parse_arguments()
+    parameter_default_values = extract_parameter_default_values(args.bin_file)
+    parameter_default_values = sort_params(parameter_default_values, args.sort)
+    output_params(parameter_default_values, args.format, args.sysid, args.compid)
+
+
+if __name__ == "__main__":
+    main()

From 4996c17a75b4bbf571f98a1a21c888802790bc75 Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar Do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Thu, 8 Jun 2017 10:26:19 +0200
Subject: [PATCH 1176/1335] AP_Stats: Only reset statistics if the user
 explicitly sets AP_Stats_RESET parameter to zero.

This allows users to load parameter files (in MP, MAVProxy or any other GCS) without
accidentally reseting the statistics, because the AP_STATS_RESET value contained in
the parameter file will be ignored (unless it is zero and it is usually not zero).
The other statistics parameters are read-only, and the GCS should be clever enough to not set those.
---
 libraries/AP_Stats/AP_Stats.cpp | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Stats/AP_Stats.cpp b/libraries/AP_Stats/AP_Stats.cpp
index 2b5343a0876cb9..76c66b4edb16e9 100644
--- a/libraries/AP_Stats/AP_Stats.cpp
+++ b/libraries/AP_Stats/AP_Stats.cpp
@@ -33,7 +33,7 @@ const AP_Param::GroupInfo AP_Stats::var_info[] = {
 
     // @Param: _RESET
     // @DisplayName: Statistics Reset Time
-    // @Description: Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics)
+    // @Description: Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)
     // @Units: s
     // @ReadOnly: True
     // @User: Standard
@@ -104,8 +104,13 @@ void AP_Stats::update()
         last_flush_ms = now_ms;
     }
     const uint32_t params_reset = params.reset;
-    if (params_reset != reset || params_reset == 0) {
-        params.bootcount.set_and_save_ifchanged(params_reset == 0 ? 1 : 0);
+    if (params_reset == 0) {
+        // Only reset statistics if the user explicitly sets AP_STATS_RESET parameter to zero.
+        // This allows users to load parameter files (in MP, MAVProxy or any other GCS) without
+        // accidentally reseting the statistics, because the AP_STATS_RESET value contained in
+        // the parameter file will be ignored (unless it is zero and it is usually not zero).
+        // The other statistics parameters are read-only, and the GCS should be clever enough to not set those.
+        params.bootcount.set_and_save_ifchanged(0);
         params.flttime.set_and_save_ifchanged(0);
         params.runtime.set_and_save_ifchanged(0);
         uint32_t system_clock = 0; // in seconds

From 3ab5f8139c233e9d0ea39a0a7c152f791d04f1c2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 20 Feb 2024 20:29:20 +1100
Subject: [PATCH 1177/1335] AP_RCProtocol: remove unused enumeration

---
 libraries/AP_RCProtocol/AP_RCProtocol_Backend.h | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
index 18aeb33cff90b9..3768f6dcc07d78 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
@@ -43,10 +43,6 @@ class AP_RCProtocol_Backend {
 
     // allow for backends that need regular polling
     virtual void update(void) {}
-    enum {
-        PARSE_TYPE_SIGREAD,
-        PARSE_TYPE_SERIAL
-    };
 
     // get number of frames, ignoring failsafe
     uint32_t get_rc_frame_count(void) const {

From 5c26b40c7e56af601e265cc79e78076347399d9a Mon Sep 17 00:00:00 2001
From: Andy Little <kwikius@yahoo.com>
Date: Tue, 6 Feb 2024 14:07:41 +0000
Subject: [PATCH 1178/1335] Rover Sailboat: refactor the
 mainsail/wingmast/mast_rotation logic and make non const sailboat functions
 private to the sailboat class. Saves around 128 bytes of text image size (in
 SITL anyway)

---
 Rover/mode.cpp        |  11 +---
 Rover/mode_hold.cpp   |   3 +-
 Rover/mode_manual.cpp |   8 +--
 Rover/sailboat.cpp    | 133 ++++++++++++++++++++----------------------
 Rover/sailboat.h      |  79 ++++++++++++++-----------
 5 files changed, 110 insertions(+), 124 deletions(-)

diff --git a/Rover/mode.cpp b/Rover/mode.cpp
index e54cc84f8ae288..c78cf0d77aff18 100644
--- a/Rover/mode.cpp
+++ b/Rover/mode.cpp
@@ -304,13 +304,7 @@ void Mode::calc_throttle(float target_speed, bool avoidance_enabled)
 
     if (rover.g2.sailboat.sail_enabled()) {
         // sailboats use special throttle and mainsail controller
-        float mainsail_out = 0.0f;
-        float wingsail_out = 0.0f;
-        float mast_rotation_out = 0.0f;
-        rover.g2.sailboat.get_throttle_and_mainsail_out(target_speed, throttle_out, mainsail_out, wingsail_out, mast_rotation_out);
-        rover.g2.motors.set_mainsail(mainsail_out);
-        rover.g2.motors.set_wingsail(wingsail_out);
-        rover.g2.motors.set_mast_rotation(mast_rotation_out);
+        rover.g2.sailboat.get_throttle_and_set_mainsail(target_speed, throttle_out);
     } else {
         // call speed or stop controller
         if (is_zero(target_speed) && !rover.is_balancebot()) {
@@ -348,8 +342,7 @@ bool Mode::stop_vehicle()
     }
 
     // relax sails if present
-    g2.motors.set_mainsail(100.0f);
-    g2.motors.set_wingsail(0.0f);
+    g2.sailboat.relax_sails();
 
     // send to motor
     g2.motors.set_throttle(throttle_out);
diff --git a/Rover/mode_hold.cpp b/Rover/mode_hold.cpp
index ea989157e34c10..a8d371ce16a3ff 100644
--- a/Rover/mode_hold.cpp
+++ b/Rover/mode_hold.cpp
@@ -10,8 +10,7 @@ void ModeHold::update()
     }
 
     // relax mainsail
-    g2.motors.set_mainsail(100.0f);
-    g2.motors.set_wingsail(0.0f);
+    g2.sailboat.relax_sails();
 
     // hold position - stop motors and center steering
     g2.motors.set_throttle(throttle);
diff --git a/Rover/mode_manual.cpp b/Rover/mode_manual.cpp
index 720295e15ae65e..4b449bedb49874 100644
--- a/Rover/mode_manual.cpp
+++ b/Rover/mode_manual.cpp
@@ -29,13 +29,7 @@ void ModeManual::update()
     g2.motors.set_walking_height(desired_walking_height);
 
     // set sailboat sails
-    float desired_mainsail;
-    float desired_wingsail;
-    float desired_mast_rotation;
-    g2.sailboat.get_pilot_desired_mainsail(desired_mainsail, desired_wingsail, desired_mast_rotation);
-    g2.motors.set_mainsail(desired_mainsail);
-    g2.motors.set_wingsail(desired_wingsail);
-    g2.motors.set_mast_rotation(desired_wingsail);
+    g2.sailboat.set_pilot_desired_mainsail();
 
     // copy RC scaled inputs to outputs
     g2.motors.set_throttle(desired_throttle);
diff --git a/Rover/sailboat.cpp b/Rover/sailboat.cpp
index 23f72e8a56af24..257e9a448b6651 100644
--- a/Rover/sailboat.cpp
+++ b/Rover/sailboat.cpp
@@ -172,57 +172,24 @@ void Sailboat::init_rc_in()
     }
 }
 
-// decode pilot mainsail input and return in steer_out and throttle_out arguments
-// mainsail_out is in the range 0 to 100, defaults to 100 (fully relaxed) if no input configured
-void Sailboat::get_pilot_desired_mainsail(float &mainsail_out, float &wingsail_out, float &mast_rotation_out)
+// @brief decode pilot mainsail input in manual modes and update the various sail values for different sail types
+// ready for SRV_Channel output.
+void Sailboat::set_pilot_desired_mainsail()
 {
     // no RC input means mainsail is moved to trim
     if ((rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) || (channel_mainsail == nullptr)) {
-        mainsail_out = 100.0f;
-        wingsail_out = 0.0f;
-        mast_rotation_out = 0.0f;
-        return;
+       relax_sails();
+    }else{
+       rover.g2.motors.set_mainsail(constrain_float(channel_mainsail->get_control_in(), 0.0f, 100.0f));
+       rover.g2.motors.set_wingsail(constrain_float(channel_mainsail->get_control_in(), -100.0f, 100.0f));
+       rover.g2.motors.set_mast_rotation(constrain_float(channel_mainsail->get_control_in(), -100.0f, 100.0f));
     }
-    mainsail_out = constrain_float(channel_mainsail->get_control_in(), 0.0f, 100.0f);
-    wingsail_out = constrain_float(channel_mainsail->get_control_in(), -100.0f, 100.0f);
-    mast_rotation_out = constrain_float(channel_mainsail->get_control_in(), -100.0f, 100.0f);
 }
 
-// calculate throttle and mainsail angle required to attain desired speed (in m/s)
-// returns true if successful, false if sailboats not enabled
-void Sailboat::get_throttle_and_mainsail_out(float desired_speed, float &throttle_out, float &mainsail_out, float &wingsail_out, float &mast_rotation_out)
+/// @brief Set mainsail in auto modes
+/// @param[in] desired_speed desired speed (in m/s) only used to detect desired direction
+void Sailboat::set_auto_mainsail(float desired_speed)
 {
-    if (!sail_enabled()) {
-        throttle_out = 0.0f;
-        mainsail_out = 0.0f;
-        wingsail_out = 0.0f;
-        mast_rotation_out = 0.0f;
-        return;
-    }
-
-    // run speed controller if motor is forced on or motor assistance is required for low speeds or tacking
-    if ((motor_state == UseMotor::USE_MOTOR_ALWAYS) ||
-         motor_assist_tack() ||
-         motor_assist_low_wind()) {
-        // run speed controller - duplicate of calls found in mode::calc_throttle();
-        throttle_out = 100.0f * rover.g2.attitude_control.get_throttle_out_speed(desired_speed,
-                                                                        rover.g2.motors.limit.throttle_lower,
-                                                                        rover.g2.motors.limit.throttle_upper,
-                                                                        rover.g.speed_cruise,
-                                                                        rover.g.throttle_cruise * 0.01f,
-                                                                        rover.G_Dt);
-    } else {
-        throttle_out = 0.0f;
-    }
-
-    // if we are motoring relax sails
-    if (motor_state == UseMotor::USE_MOTOR_ALWAYS) {
-        mainsail_out = 100.0f;
-        wingsail_out = 0.0f;
-        mast_rotation_out = 0.0f;
-        return;
-    }
-
     // use PID controller to sheet out, this number is expected approximately in the 0 to 100 range (with default PIDs)
     const float pid_offset = rover.g2.attitude_control.get_sail_out_from_heel(radians(sail_heel_angle_max), rover.G_Dt) * 100.0f;
 
@@ -232,55 +199,41 @@ void Sailboat::get_throttle_and_mainsail_out(float desired_speed, float &throttl
     const float wind_dir_apparent_sign = is_negative(wind_dir_apparent) ? -1.0f : 1.0f;
 
     //
-    // mainsail control
+    // mainsail control.
     //
-
+    // mainsail_out represents a range from 0 to 100
+    float mainsail_out = 100.f;
     // main sails cannot be used to reverse
-    if (!is_positive(desired_speed)) {
-        mainsail_out = 100.0f;
-    } else {
+    if (is_positive(desired_speed)) {
         // Sails are sheeted the same on each side use abs wind direction
-
         // set the main sail to the ideal angle to the wind
-        float mainsail_angle = wind_dir_apparent_abs - sail_angle_ideal;
-
-        // make sure between allowable range
-        mainsail_angle = constrain_float(mainsail_angle,sail_angle_min, sail_angle_max);
+        const float mainsail_angle =
+            constrain_float(wind_dir_apparent_abs - sail_angle_ideal,sail_angle_min, sail_angle_max);
 
         // linear interpolate mainsail value (0 to 100) from wind angle mainsail_angle
-        float mainsail_base = linear_interpolate(0.0f, 100.0f, mainsail_angle,sail_angle_min,sail_angle_max);
+        const float mainsail_base = linear_interpolate(0.0f, 100.0f, mainsail_angle,sail_angle_min,sail_angle_max);
 
         mainsail_out = constrain_float((mainsail_base + pid_offset), 0.0f ,100.0f);
     }
-
+    rover.g2.motors.set_mainsail(mainsail_out);
     //
     // wingsail control
-    //
-
     // wing sails auto trim, we only need to reduce power if we are tipping over, must also be trimmed for correct tack
     // dont allow to reduce power to less than 0, ie not backwinding the sail to self-right
-    wingsail_out = (100.0f - MIN(pid_offset,100.0f)) * wind_dir_apparent_sign;
-
     // wing sails can be used to go backwards, probably not recommended though
-    if (is_negative(desired_speed)) {
-        wingsail_out *= -1.0f;
-    }
-
+    const float wing_sail_out_sign = is_negative(desired_speed)?-1.f:1.f;
+    const float wingsail_out = (100.0f - MIN(pid_offset,100.0f)) * wind_dir_apparent_sign * wing_sail_out_sign;
+    rover.g2.motors.set_wingsail(wingsail_out);
     //
     // direct mast rotation control
     //
-
-    if (!is_positive(desired_speed)) {
+    float mast_rotation_out = 0.f;
+    if (is_positive(desired_speed)) {
         // rotating sails can be used to reverse, but not in this version
-        mast_rotation_out = 0.0f;
-    } else {
-
         if (wind_dir_apparent_abs < sail_angle_ideal) {
             // in irons, center the sail.
             mast_rotation_out = 0.0f;
-
         } else {
-
             float mast_rotation_angle;
             if (wind_dir_apparent_abs < (90.0f + sail_angle_ideal)) {
                 // use sail as a lift device, at ideal angle of attack, but depower to prevent excessive heel
@@ -310,7 +263,45 @@ void Sailboat::get_throttle_and_mainsail_out(float desired_speed, float &throttl
             mast_rotation_out = linear_interpolate(-100.0f, 100.0f, mast_rotation_angle, -sail_angle_max, sail_angle_max);
         }
     }
+    rover.g2.motors.set_mast_rotation(mast_rotation_out);
+}
+
+void Sailboat::relax_sails()
+{
+   rover.g2.motors.set_mainsail(100.0f);
+   rover.g2.motors.set_wingsail(0.f);
+   rover.g2.motors.set_mast_rotation(0.f);
+}
+
+// calculate throttle and mainsail angle required to attain desired speed (in m/s)
+void Sailboat::get_throttle_and_set_mainsail(float desired_speed, float &throttle_out)
+{
+    if (!sail_enabled()) {
+        relax_sails();
+        throttle_out = 0.0f;
+        return;
+    }
 
+    // run speed controller if motor is forced on or motor assistance is required for low speeds or tacking
+    if ((motor_state == UseMotor::USE_MOTOR_ALWAYS) ||
+         motor_assist_tack() ||
+         motor_assist_low_wind()) {
+        // run speed controller - duplicate of calls found in mode::calc_throttle();
+        throttle_out = 100.0f * rover.g2.attitude_control.get_throttle_out_speed(desired_speed,
+                                                                        rover.g2.motors.limit.throttle_lower,
+                                                                        rover.g2.motors.limit.throttle_upper,
+                                                                        rover.g.speed_cruise,
+                                                                        rover.g.throttle_cruise * 0.01f,
+                                                                        rover.G_Dt);
+    } else {
+        throttle_out = 0.0f;
+    }
+
+    if (motor_state == UseMotor::USE_MOTOR_ALWAYS) {
+       relax_sails();
+    }else{
+       set_auto_mainsail(desired_speed);
+    }
 }
 
 // Velocity Made Good, this is the speed we are traveling towards the desired destination
diff --git a/Rover/sailboat.h b/Rover/sailboat.h
index b7a5ae2e7d3bc6..dcc30086d46f76 100644
--- a/Rover/sailboat.h
+++ b/Rover/sailboat.h
@@ -18,6 +18,15 @@
 */
 class Sailboat
 {
+
+   friend class Rover;
+   friend class Mode;
+   friend class ModeManual;
+   friend class ModeHold;
+   friend class ModeLoiter;
+   friend class ModeAcro;
+   friend class RC_Channel_Rover;
+
 public:
 
     // constructor
@@ -29,45 +38,15 @@ class Sailboat
     // true if sailboat navigation (aka tacking) is enabled
     bool tack_enabled() const;
 
-    // setup
-    void init();
-
-    // initialise rc input (channel_mainsail)
-    void init_rc_in();
-
-    // decode pilot mainsail input and return in steer_out and throttle_out arguments
-    // mainsail_out is in the range 0 to 100, defaults to 100 (fully relaxed) if no input configured
-    // wingsail_out is in the range -100 to 100, defaults to 0
-    // mast_rotation_out is in the range -100 to 100, defaults to 0
-    void get_pilot_desired_mainsail(float &mainsail_out, float &wingsail_out, float &mast_rotation_out);
-
-    // calculate throttle and mainsail angle required to attain desired speed (in m/s)
-    void get_throttle_and_mainsail_out(float desired_speed, float &throttle_out, float &mainsail_out, float &wingsail_out, float &mast_rotation_out);
-
     // Velocity Made Good, this is the speed we are traveling towards the desired destination
     float get_VMG() const;
 
-    // handle user initiated tack while in acro mode
-    void handle_tack_request_acro();
-
-    // return target heading in radians when tacking (only used in acro)
-    float get_tack_heading_rad();
-
-    // handle user initiated tack while in autonomous modes (Auto, Guided, RTL, SmartRTL, etc)
-    void handle_tack_request_auto();
-
-    // clear tacking state variables
-    void clear_tack();
-
     // returns true if boat is currently tacking
     bool tacking() const;
 
     // returns true if sailboat should take a indirect navigation route to go upwind
     bool use_indirect_route(float desired_heading_cd) const;
 
-    // calculate the heading to sail on if we cant go upwind
-    float calc_heading(float desired_heading_cd);
-
     // states of USE_MOTOR parameter and motor_state variable
     enum class UseMotor {
         USE_MOTOR_NEVER  = 0,
@@ -75,17 +54,47 @@ class Sailboat
         USE_MOTOR_ALWAYS = 2
     };
 
+    // return sailboat loiter radius
+    float get_loiter_radius() const {return loit_radius;}
+
+    // var_info for holding Parameter information
+    static const struct AP_Param::GroupInfo var_info[];
+
+private:
+
+    // handle user initiated tack while in acro mode
+    void handle_tack_request_acro();
+
+  // setup
+    void init();
+
+    // initialise rc input (channel_mainsail)
+    void init_rc_in();
+
+
+    // return target heading in radians when tacking (only used in acro)
+    float get_tack_heading_rad();
+
+    // clear tacking state variables
+    void clear_tack();
+
+    // handle user initiated tack while in autonomous modes (Auto, Guided, RTL, SmartRTL, etc)
+    void handle_tack_request_auto();
+
     // set state of motor
     // if report_failure is true a message will be sent to all GCSs
     void set_motor_state(UseMotor state, bool report_failure = true);
 
-    // var_info for holding Parameter information
-    static const struct AP_Param::GroupInfo var_info[];
+        // calculate the heading to sail on if we cant go upwind
+    float calc_heading(float desired_heading_cd);
 
-    // return sailboat loiter radius
-    float get_loiter_radius() const {return loit_radius;}
+    void set_pilot_desired_mainsail();
 
-private:
+    void set_auto_mainsail(float desired_speed);
+    void relax_sails();
+
+    // calculate throttle and set sail
+    void get_throttle_and_set_mainsail(float desired_speed, float &throttle_out);
 
     // true if motor is on to assist with slow tack
     bool motor_assist_tack() const;

From 057d7dca96abf6f9715cb3629bf0b34f44dc1221 Mon Sep 17 00:00:00 2001
From: Andy Little <kwikius@yahoo.com>
Date: Wed, 7 Feb 2024 20:46:08 +0000
Subject: [PATCH 1179/1335] Rover Sailboat: reset and Tidy up
 https://github.com/ArduPilot/ardupilot/pull/26152

---
 Rover/sailboat.cpp | 27 +++++++++++++--------------
 Rover/sailboat.h   |  1 -
 2 files changed, 13 insertions(+), 15 deletions(-)

diff --git a/Rover/sailboat.cpp b/Rover/sailboat.cpp
index 257e9a448b6651..7fb957e06c6281 100644
--- a/Rover/sailboat.cpp
+++ b/Rover/sailboat.cpp
@@ -172,14 +172,14 @@ void Sailboat::init_rc_in()
     }
 }
 
-// @brief decode pilot mainsail input in manual modes and update the various sail values for different sail types
-// ready for SRV_Channel output.
+/// @brief decode pilot mainsail input in manual modes and update the various
+/// sail actuator values for different sail types ready for SRV_Channel output.
 void Sailboat::set_pilot_desired_mainsail()
 {
     // no RC input means mainsail is moved to trim
     if ((rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) || (channel_mainsail == nullptr)) {
        relax_sails();
-    }else{
+    } else {
        rover.g2.motors.set_mainsail(constrain_float(channel_mainsail->get_control_in(), 0.0f, 100.0f));
        rover.g2.motors.set_wingsail(constrain_float(channel_mainsail->get_control_in(), -100.0f, 100.0f));
        rover.g2.motors.set_mast_rotation(constrain_float(channel_mainsail->get_control_in(), -100.0f, 100.0f));
@@ -202,7 +202,7 @@ void Sailboat::set_auto_mainsail(float desired_speed)
     // mainsail control.
     //
     // mainsail_out represents a range from 0 to 100
-    float mainsail_out = 100.f;
+    float mainsail_out = 100.0f;
     // main sails cannot be used to reverse
     if (is_positive(desired_speed)) {
         // Sails are sheeted the same on each side use abs wind direction
@@ -221,13 +221,13 @@ void Sailboat::set_auto_mainsail(float desired_speed)
     // wing sails auto trim, we only need to reduce power if we are tipping over, must also be trimmed for correct tack
     // dont allow to reduce power to less than 0, ie not backwinding the sail to self-right
     // wing sails can be used to go backwards, probably not recommended though
-    const float wing_sail_out_sign = is_negative(desired_speed)?-1.f:1.f;
+    const float wing_sail_out_sign = is_negative(desired_speed) ? -1.0f : 1.0f;
     const float wingsail_out = (100.0f - MIN(pid_offset,100.0f)) * wind_dir_apparent_sign * wing_sail_out_sign;
     rover.g2.motors.set_wingsail(wingsail_out);
     //
     // direct mast rotation control
     //
-    float mast_rotation_out = 0.f;
+    float mast_rotation_out = 0.0f;
     if (is_positive(desired_speed)) {
         // rotating sails can be used to reverse, but not in this version
         if (wind_dir_apparent_abs < sail_angle_ideal) {
@@ -258,7 +258,6 @@ void Sailboat::set_auto_mainsail(float desired_speed)
                     mast_rotation_angle *= wind_dir_apparent_sign;
                 }
             }
-
             // linear interpolate servo displacement (-100 to 100) from mast rotation angle and restore sign
             mast_rotation_out = linear_interpolate(-100.0f, 100.0f, mast_rotation_angle, -sail_angle_max, sail_angle_max);
         }
@@ -268,9 +267,9 @@ void Sailboat::set_auto_mainsail(float desired_speed)
 
 void Sailboat::relax_sails()
 {
-   rover.g2.motors.set_mainsail(100.0f);
-   rover.g2.motors.set_wingsail(0.f);
-   rover.g2.motors.set_mast_rotation(0.f);
+    rover.g2.motors.set_mainsail(100.0f);
+    rover.g2.motors.set_wingsail(0.0f);
+    rover.g2.motors.set_mast_rotation(0.0f);
 }
 
 // calculate throttle and mainsail angle required to attain desired speed (in m/s)
@@ -298,9 +297,9 @@ void Sailboat::get_throttle_and_set_mainsail(float desired_speed, float &throttl
     }
 
     if (motor_state == UseMotor::USE_MOTOR_ALWAYS) {
-       relax_sails();
-    }else{
-       set_auto_mainsail(desired_speed);
+        relax_sails();
+    } else {
+        set_auto_mainsail(desired_speed);
     }
 }
 
@@ -441,7 +440,7 @@ float Sailboat::calc_heading(float desired_heading_cd)
 
     // check for user requested tack
     uint32_t now = AP_HAL::millis();
-    if (tack_request_ms != 0 && !should_tack  && !currently_tacking) {
+    if (tack_request_ms != 0 && !should_tack && !currently_tacking) {
         // set should_tack flag is user requested tack within last 0.5 sec
         should_tack = ((now - tack_request_ms) < 500);
         tack_request_ms = 0;
diff --git a/Rover/sailboat.h b/Rover/sailboat.h
index dcc30086d46f76..b6d529c44a5772 100644
--- a/Rover/sailboat.h
+++ b/Rover/sailboat.h
@@ -71,7 +71,6 @@ class Sailboat
     // initialise rc input (channel_mainsail)
     void init_rc_in();
 
-
     // return target heading in radians when tacking (only used in acro)
     float get_tack_heading_rad();
 

From d867364088ce34c10611d27ebc4d84cbc02800b7 Mon Sep 17 00:00:00 2001
From: Andy Little <kwikius@yahoo.com>
Date: Tue, 20 Feb 2024 11:36:32 +0000
Subject: [PATCH 1180/1335] Rover: Sailboat: revert friends and private
 Sailboat functions. See
 https://github.com/ArduPilot/ardupilot/pull/26152#discussion_r1495156661

---
 Rover/sailboat.h | 74 +++++++++++++++++++++++-------------------------
 1 file changed, 35 insertions(+), 39 deletions(-)

diff --git a/Rover/sailboat.h b/Rover/sailboat.h
index b6d529c44a5772..e0f9d06f304038 100644
--- a/Rover/sailboat.h
+++ b/Rover/sailboat.h
@@ -18,15 +18,6 @@
 */
 class Sailboat
 {
-
-   friend class Rover;
-   friend class Mode;
-   friend class ModeManual;
-   friend class ModeHold;
-   friend class ModeLoiter;
-   friend class ModeAcro;
-   friend class RC_Channel_Rover;
-
 public:
 
     // constructor
@@ -38,15 +29,39 @@ class Sailboat
     // true if sailboat navigation (aka tacking) is enabled
     bool tack_enabled() const;
 
+    // setup
+    void init();
+
+    // initialise rc input (channel_mainsail)
+    void init_rc_in();
+
+    // calculate throttle and set sail
+    void get_throttle_and_set_mainsail(float desired_speed, float &throttle_out);
+
     // Velocity Made Good, this is the speed we are traveling towards the desired destination
     float get_VMG() const;
 
+    // handle user initiated tack while in acro mode
+    void handle_tack_request_acro();
+
+    // return target heading in radians when tacking (only used in acro)
+    float get_tack_heading_rad();
+
+    // handle user initiated tack while in autonomous modes (Auto, Guided, RTL, SmartRTL, etc)
+    void handle_tack_request_auto();
+
+    // clear tacking state variables
+    void clear_tack();
+
     // returns true if boat is currently tacking
     bool tacking() const;
 
     // returns true if sailboat should take a indirect navigation route to go upwind
     bool use_indirect_route(float desired_heading_cd) const;
 
+    // calculate the heading to sail on if we cant go upwind
+    float calc_heading(float desired_heading_cd);
+
     // states of USE_MOTOR parameter and motor_state variable
     enum class UseMotor {
         USE_MOTOR_NEVER  = 0,
@@ -54,46 +69,27 @@ class Sailboat
         USE_MOTOR_ALWAYS = 2
     };
 
-    // return sailboat loiter radius
-    float get_loiter_radius() const {return loit_radius;}
-
-    // var_info for holding Parameter information
-    static const struct AP_Param::GroupInfo var_info[];
-
-private:
-
-    // handle user initiated tack while in acro mode
-    void handle_tack_request_acro();
-
-  // setup
-    void init();
-
-    // initialise rc input (channel_mainsail)
-    void init_rc_in();
-
-    // return target heading in radians when tacking (only used in acro)
-    float get_tack_heading_rad();
-
-    // clear tacking state variables
-    void clear_tack();
-
-    // handle user initiated tack while in autonomous modes (Auto, Guided, RTL, SmartRTL, etc)
-    void handle_tack_request_auto();
-
     // set state of motor
     // if report_failure is true a message will be sent to all GCSs
     void set_motor_state(UseMotor state, bool report_failure = true);
 
-        // calculate the heading to sail on if we cant go upwind
-    float calc_heading(float desired_heading_cd);
+    // var_info for holding Parameter information
+    static const struct AP_Param::GroupInfo var_info[];
 
+    // return sailboat loiter radius
+    float get_loiter_radius() const {return loit_radius;}
+
+    // set mainsail according to pilot input
     void set_pilot_desired_mainsail();
 
+    // set mainsail in auto modes
     void set_auto_mainsail(float desired_speed);
+
+    // as far as possible stop sails driving the boat
+    // by feathering or sheeting right out
     void relax_sails();
 
-    // calculate throttle and set sail
-    void get_throttle_and_set_mainsail(float desired_speed, float &throttle_out);
+private:
 
     // true if motor is on to assist with slow tack
     bool motor_assist_tack() const;

From 7fabce6cb6062c81e0d94a1d5f59fe7152f7205b Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Thu, 8 Feb 2024 16:07:05 +1100
Subject: [PATCH 1181/1335] AP_Bootloader: add support for printing current
 firmware and boot status

---
 Tools/AP_Bootloader/AP_Bootloader.cpp           | 12 ++++++++++++
 Tools/AP_Bootloader/network.h                   |  2 +-
 libraries/AP_CheckFirmware/AP_CheckFirmware.cpp |  4 ++--
 3 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/Tools/AP_Bootloader/AP_Bootloader.cpp b/Tools/AP_Bootloader/AP_Bootloader.cpp
index b3b9caa5fdd07f..79fdb759b03ac1 100644
--- a/Tools/AP_Bootloader/AP_Bootloader.cpp
+++ b/Tools/AP_Bootloader/AP_Bootloader.cpp
@@ -134,6 +134,18 @@ int main(void)
         try_boot = false;
         led_set(LED_BAD_FW);
     }
+#if AP_BOOTLOADER_NETWORK_ENABLED
+    if (ok == check_fw_result_t::CHECK_FW_OK) {
+        const auto *app_descriptor = get_app_descriptor();
+        if (app_descriptor != nullptr) {
+            network.status_printf("Firmware OK: %ld.%ld.%lx\n", app_descriptor->version_major,
+                                                                app_descriptor->version_minor,
+                                                                app_descriptor->git_hash);
+        }
+    } else {
+        network.status_printf("Firmware Error: %d\n", (int)ok);
+    }
+#endif
 #endif  // AP_CHECK_FIRMWARE_ENABLED
 #ifndef BOOTLOADER_DEV_LIST
     else if (timeout == HAL_BOOTLOADER_TIMEOUT) {
diff --git a/Tools/AP_Bootloader/network.h b/Tools/AP_Bootloader/network.h
index f7f55eebebd52b..84daebd2422362 100644
--- a/Tools/AP_Bootloader/network.h
+++ b/Tools/AP_Bootloader/network.h
@@ -14,6 +14,7 @@ class BL_Network {
 public:
     void init(void);
     void save_comms_ip(void);
+    void status_printf(const char *fmt, ...);
 
 private:
     struct netif *thisif;
@@ -53,7 +54,6 @@ class BL_Network {
     HAL_Semaphore status_mtx;
     char bl_status[256];
 
-    void status_printf(const char *fmt, ...);
 };
 
 #endif // AP_BOOTLOADER_NETWORK_ENABLED
diff --git a/libraries/AP_CheckFirmware/AP_CheckFirmware.cpp b/libraries/AP_CheckFirmware/AP_CheckFirmware.cpp
index 0dce6f8103d434..7464e52787a0fb 100644
--- a/libraries/AP_CheckFirmware/AP_CheckFirmware.cpp
+++ b/libraries/AP_CheckFirmware/AP_CheckFirmware.cpp
@@ -78,7 +78,7 @@ static check_fw_result_t check_firmware_signature(const app_descriptor_signed *a
 /*
   check firmware CRC and board ID to see if it matches
  */
-static check_fw_result_t check_good_firmware_signed(void)
+static check_fw_result_t check_good_firmware_signed()
 {
     const uint8_t sig[8] = AP_APP_DESCRIPTOR_SIGNATURE_SIGNED;
     const uint8_t *flash1 = (const uint8_t *)(FLASH_LOAD_ADDRESS + (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB)*1024);
@@ -130,7 +130,7 @@ static check_fw_result_t check_good_firmware_signed(void)
   check firmware CRC and board ID to see if it matches, using unsigned
   signature
  */
-static check_fw_result_t check_good_firmware_unsigned(void)
+static check_fw_result_t check_good_firmware_unsigned()
 {
     const uint8_t sig[8] = AP_APP_DESCRIPTOR_SIGNATURE_UNSIGNED;
     const uint8_t *flash1 = (const uint8_t *)(FLASH_LOAD_ADDRESS + (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB)*1024);

From c54521511cca146661aa6a86f6366bafb9df577c Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Wed, 14 Feb 2024 22:24:52 +1100
Subject: [PATCH 1182/1335] AP_CheckFirmware: allow access to app descriptor
 from bootloader

---
 libraries/AP_CheckFirmware/AP_CheckFirmware.cpp | 17 +++++++++++++++--
 libraries/AP_CheckFirmware/AP_CheckFirmware.h   |  1 +
 2 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_CheckFirmware/AP_CheckFirmware.cpp b/libraries/AP_CheckFirmware/AP_CheckFirmware.cpp
index 7464e52787a0fb..8c0ebfbb103cd9 100644
--- a/libraries/AP_CheckFirmware/AP_CheckFirmware.cpp
+++ b/libraries/AP_CheckFirmware/AP_CheckFirmware.cpp
@@ -78,7 +78,7 @@ static check_fw_result_t check_firmware_signature(const app_descriptor_signed *a
 /*
   check firmware CRC and board ID to see if it matches
  */
-static check_fw_result_t check_good_firmware_signed()
+static check_fw_result_t check_good_firmware_signed(void)
 {
     const uint8_t sig[8] = AP_APP_DESCRIPTOR_SIGNATURE_SIGNED;
     const uint8_t *flash1 = (const uint8_t *)(FLASH_LOAD_ADDRESS + (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB)*1024);
@@ -130,7 +130,7 @@ static check_fw_result_t check_good_firmware_signed()
   check firmware CRC and board ID to see if it matches, using unsigned
   signature
  */
-static check_fw_result_t check_good_firmware_unsigned()
+static check_fw_result_t check_good_firmware_unsigned(void)
 {
     const uint8_t sig[8] = AP_APP_DESCRIPTOR_SIGNATURE_UNSIGNED;
     const uint8_t *flash1 = (const uint8_t *)(FLASH_LOAD_ADDRESS + (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB)*1024);
@@ -201,6 +201,19 @@ check_fw_result_t check_good_firmware(void)
 #endif
 }
 
+const app_descriptor_t *get_app_descriptor(void)
+{
+#if AP_SIGNED_FIRMWARE
+    const uint8_t sig[8] = AP_APP_DESCRIPTOR_SIGNATURE_SIGNED;
+#else
+    const uint8_t sig[8] = AP_APP_DESCRIPTOR_SIGNATURE_UNSIGNED;
+#endif
+    const uint8_t *flash1 = (const uint8_t *)(FLASH_LOAD_ADDRESS + (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB)*1024);
+    const uint32_t flash_size = (BOARD_FLASH_SIZE - (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB))*1024;
+    const app_descriptor_t *ad = (const app_descriptor_t *)memmem(flash1, flash_size-sizeof(app_descriptor_t), sig, sizeof(sig));
+    return ad;
+}
+
 #endif // HAL_BOOTLOADER_BUILD
 
 #if !defined(HAL_BOOTLOADER_BUILD)
diff --git a/libraries/AP_CheckFirmware/AP_CheckFirmware.h b/libraries/AP_CheckFirmware/AP_CheckFirmware.h
index 99189642e983df..5adb35e200fbe8 100644
--- a/libraries/AP_CheckFirmware/AP_CheckFirmware.h
+++ b/libraries/AP_CheckFirmware/AP_CheckFirmware.h
@@ -126,6 +126,7 @@ struct PACKED ap_secure_data {
 
 #ifdef HAL_BOOTLOADER_BUILD
 check_fw_result_t check_good_firmware(void);
+const app_descriptor_t *get_app_descriptor(void);
 #else
 void check_firmware_print(void);
 

From fd3c72310353f9cfda9ab5a63cca6939d8a89d71 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Thu, 8 Feb 2024 16:08:41 +1100
Subject: [PATCH 1183/1335] AP_CheckFirmware: add separate
 AP_CheckFirmwareDefine for correctly setting firmware versions

---
 .../AP_CheckFirmware/AP_CheckFirmware.cpp     |  9 -----
 libraries/AP_CheckFirmware/AP_CheckFirmware.h | 40 +++++++++----------
 .../AP_CheckFirmware/AP_CheckFirmwareDefine.h | 35 ++++++++++++++++
 3 files changed, 55 insertions(+), 29 deletions(-)
 create mode 100644 libraries/AP_CheckFirmware/AP_CheckFirmwareDefine.h

diff --git a/libraries/AP_CheckFirmware/AP_CheckFirmware.cpp b/libraries/AP_CheckFirmware/AP_CheckFirmware.cpp
index 8c0ebfbb103cd9..0edf4709fba7d4 100644
--- a/libraries/AP_CheckFirmware/AP_CheckFirmware.cpp
+++ b/libraries/AP_CheckFirmware/AP_CheckFirmware.cpp
@@ -218,16 +218,7 @@ const app_descriptor_t *get_app_descriptor(void)
 
 #if !defined(HAL_BOOTLOADER_BUILD)
 extern const AP_HAL::HAL &hal;
-
-/*
-  declare constant app_descriptor in flash
- */
 extern const app_descriptor_t app_descriptor;
-#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-const app_descriptor_t app_descriptor __attribute__((section(".app_descriptor")));
-#else
-const app_descriptor_t app_descriptor;
-#endif
 
 /*
   this is needed to ensure we don't elide the app_descriptor
diff --git a/libraries/AP_CheckFirmware/AP_CheckFirmware.h b/libraries/AP_CheckFirmware/AP_CheckFirmware.h
index 5adb35e200fbe8..9c49c9ca434946 100644
--- a/libraries/AP_CheckFirmware/AP_CheckFirmware.h
+++ b/libraries/AP_CheckFirmware/AP_CheckFirmware.h
@@ -57,45 +57,45 @@ enum class check_fw_result_t : uint8_t {
 #define AP_APP_DESCRIPTOR_SIGNATURE_UNSIGNED { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 }
 
 struct app_descriptor_unsigned {
-    uint8_t sig[8] = AP_APP_DESCRIPTOR_SIGNATURE_UNSIGNED;
+    uint8_t sig[8];
     // crc1 is the crc32 from firmware start to start of image_crc1
-    uint32_t image_crc1 = 0;
+    uint32_t image_crc1;
     // crc2 is the crc32 from the start of version_major to the end of the firmware
-    uint32_t image_crc2 = 0;
+    uint32_t image_crc2;
     // total size of firmware image in bytes
-    uint32_t image_size = 0;
-    uint32_t git_hash = 0;
+    uint32_t image_size;
+    uint32_t git_hash;
 
     // software version number
-    uint8_t  version_major = APP_FW_MAJOR;
-    uint8_t version_minor = APP_FW_MINOR;
+    uint8_t  version_major;
+    uint8_t version_minor;
     // APJ_BOARD_ID (hardware version). This is also used in CAN NodeInfo
     // with high byte in HardwareVersion.major and low byte in HardwareVersion.minor
-    uint16_t  board_id = APJ_BOARD_ID;
-    uint8_t reserved[8] = { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+    uint16_t  board_id;
+    uint8_t reserved[8];
 };
 
 struct app_descriptor_signed {
-    uint8_t sig[8] = AP_APP_DESCRIPTOR_SIGNATURE_SIGNED;
+    uint8_t sig[8];
     // crc1 is the crc32 from firmware start to start of image_crc1
-    uint32_t image_crc1 = 0;
+    uint32_t image_crc1;
     // crc2 is the crc32 from the start of version_major to the end of the firmware
-    uint32_t image_crc2 = 0;
+    uint32_t image_crc2;
     // total size of firmware image in bytes
-    uint32_t image_size = 0;
-    uint32_t git_hash = 0;
+    uint32_t image_size;
+    uint32_t git_hash;
 
     // firmware signature
-    uint32_t signature_length = 0;
-    uint8_t signature[72] = {};
+    uint32_t signature_length;
+    uint8_t signature[72];
 
     // software version number
-    uint8_t  version_major = APP_FW_MAJOR;
-    uint8_t version_minor = APP_FW_MINOR;
+    uint8_t  version_major;
+    uint8_t version_minor;
     // APJ_BOARD_ID (hardware version). This is also used in CAN NodeInfo
     // with high byte in HardwareVersion.major and low byte in HardwareVersion.minor
-    uint16_t  board_id = APJ_BOARD_ID;
-    uint8_t reserved[8] = { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+    uint16_t  board_id;
+    uint8_t reserved[8];
 };
 
 #if AP_SIGNED_FIRMWARE
diff --git a/libraries/AP_CheckFirmware/AP_CheckFirmwareDefine.h b/libraries/AP_CheckFirmware/AP_CheckFirmwareDefine.h
new file mode 100644
index 00000000000000..20499334621c9f
--- /dev/null
+++ b/libraries/AP_CheckFirmware/AP_CheckFirmwareDefine.h
@@ -0,0 +1,35 @@
+#ifndef FORCE_VERSION_H_INCLUDE
+#error AP_CheckFirmwareDefines.h should never be included directly. You probably want to include AP_CheckFirmware/AP_CheckFirmware.h
+#endif
+#include "AP_CheckFirmware.h"
+
+#if AP_CHECK_FIRMWARE_ENABLED
+/*
+  declare constant app_descriptor in flash
+ */
+extern const app_descriptor_t app_descriptor;
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+const app_descriptor_t app_descriptor __attribute__((section(".app_descriptor"))) = {
+#else
+const app_descriptor_t app_descriptor = {
+#endif
+#if AP_SIGNED_FIRMWARE
+    .sig = AP_APP_DESCRIPTOR_SIGNATURE_SIGNED,
+#else
+    .sig = AP_APP_DESCRIPTOR_SIGNATURE_UNSIGNED,
+#endif
+    .image_crc1 = 0,
+    .image_crc2 = 0,
+    .image_size = 0,
+    .git_hash = 0,
+#if AP_SIGNED_FIRMWARE
+    .signature_length = 0,
+    .signature = {},
+#endif
+    .version_major = APP_FW_MAJOR,
+    .version_minor = APP_FW_MINOR,
+    .board_id = APJ_BOARD_ID,
+    .reserved = { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff }
+};
+#endif // AP_CHECK_FIRMWARE_ENABLED

From d689de2e6301160db121daebcfbb7021a0ea3844 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Thu, 8 Feb 2024 17:59:01 +1100
Subject: [PATCH 1184/1335] AntennaTracker: fix version setting in
 CheckFirmware app descriptor

---
 AntennaTracker/version.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h
index ff55bece071f3e..2a6f77e1655d62 100644
--- a/AntennaTracker/version.h
+++ b/AntennaTracker/version.h
@@ -17,3 +17,4 @@
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
 #include <AP_Common/AP_FWVersionDefine.h>
+#include <AP_CheckFirmware/AP_CheckFirmwareDefine.h>

From 047d2b85da339c5d6e079812a3a2c107e7cfd991 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Thu, 8 Feb 2024 18:01:41 +1100
Subject: [PATCH 1185/1335] ArduCopter: fix version setting in CheckFirmware
 app descriptor

---
 ArduCopter/version.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
index 6fb6ed396aa735..4d81279d0fdcba 100644
--- a/ArduCopter/version.h
+++ b/ArduCopter/version.h
@@ -17,3 +17,4 @@
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
 #include <AP_Common/AP_FWVersionDefine.h>
+#include <AP_CheckFirmware/AP_CheckFirmwareDefine.h>

From 3300687aefd63042af1b7cc5288992a46ad3fe38 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Thu, 8 Feb 2024 18:02:00 +1100
Subject: [PATCH 1186/1335] ArduPlane: fix version setting in CheckFirmware app
 descriptor

---
 ArduPlane/version.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
index b4c2e5cad65941..2cc0a0941a1605 100644
--- a/ArduPlane/version.h
+++ b/ArduPlane/version.h
@@ -17,3 +17,4 @@
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
 #include <AP_Common/AP_FWVersionDefine.h>
+#include <AP_CheckFirmware/AP_CheckFirmwareDefine.h>

From c707ac19705cb2a8234d033046f94ab729deaee8 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Thu, 8 Feb 2024 18:02:35 +1100
Subject: [PATCH 1187/1335] ArduSub: fix version setting in CheckFirmware app
 descriptor

---
 ArduSub/version.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduSub/version.h b/ArduSub/version.h
index b163a7bf69b207..336c2815e50a81 100644
--- a/ArduSub/version.h
+++ b/ArduSub/version.h
@@ -16,4 +16,5 @@
 #define FW_PATCH 0
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
-#include <AP_Common/AP_FWVersionDefine.h>
\ No newline at end of file
+#include <AP_Common/AP_FWVersionDefine.h>
+#include <AP_CheckFirmware/AP_CheckFirmwareDefine.h>

From 550efc39a5791f07c1a9b81171181db69c954315 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Thu, 8 Feb 2024 18:02:48 +1100
Subject: [PATCH 1188/1335] Blimp: fix version setting in CheckFirmware app
 descriptor

---
 Blimp/version.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Blimp/version.h b/Blimp/version.h
index e5bfa27c87be87..f60d3c197858dd 100644
--- a/Blimp/version.h
+++ b/Blimp/version.h
@@ -17,3 +17,4 @@
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
 #include <AP_Common/AP_FWVersionDefine.h>
+#include <AP_CheckFirmware/AP_CheckFirmwareDefine.h>

From 5a4931b5969a61a8f383454b098288333116d984 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Thu, 8 Feb 2024 18:03:07 +1100
Subject: [PATCH 1189/1335] Rover: fix version setting in CheckFirmware app
 descriptor

---
 Rover/version.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Rover/version.h b/Rover/version.h
index a8cceba51d4c9e..b0f269dc5c24e1 100644
--- a/Rover/version.h
+++ b/Rover/version.h
@@ -17,3 +17,4 @@
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
 #include <AP_Common/AP_FWVersionDefine.h>
+#include <AP_CheckFirmware/AP_CheckFirmwareDefine.h>

From 7b6b6ae80391e7ff79316aa12eca13db26313c57 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Thu, 8 Feb 2024 18:03:20 +1100
Subject: [PATCH 1190/1335] AP_Periph: fix version setting in CheckFirmware app
 descriptor

---
 Tools/AP_Periph/version.cpp | 1 +
 Tools/AP_Periph/version.h   | 5 ++++-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/Tools/AP_Periph/version.cpp b/Tools/AP_Periph/version.cpp
index e38ffded0c65ad..d30f062321285e 100644
--- a/Tools/AP_Periph/version.cpp
+++ b/Tools/AP_Periph/version.cpp
@@ -1,3 +1,4 @@
 #define FORCE_VERSION_H_INCLUDE
+#include "AP_Periph.h"
 #include "version.h"
 #undef FORCE_VERSION_H_INCLUDE
diff --git a/Tools/AP_Periph/version.h b/Tools/AP_Periph/version.h
index 6166fba32d1459..ed2dccddb44c4b 100644
--- a/Tools/AP_Periph/version.h
+++ b/Tools/AP_Periph/version.h
@@ -5,14 +5,16 @@
 #endif
 
 #include "ap_version.h"
+#include <AP_HAL/AP_HAL.h>
 
 #define THISFIRMWARE "AP_Periph V1.7.0-dev"
 
 // defines needed due to lack of GCS includes
+#ifndef HAVE_ENUM_FIRMWARE_VERSION_TYPE
 #define FIRMWARE_VERSION_TYPE_DEV 0
 #define FIRMWARE_VERSION_TYPE_BETA 255
 #define FIRMWARE_VERSION_TYPE_OFFICIAL 255
-
+#endif
 
 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 1,7,0,FIRMWARE_VERSION_TYPE_DEV
@@ -23,3 +25,4 @@
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
 #include <AP_Common/AP_FWVersionDefine.h>
+#include <AP_CheckFirmware/AP_CheckFirmwareDefine.h>

From 402c8a5e4d97cb9637ef1b668382e68195790773 Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Thu, 8 Feb 2024 18:07:15 +1100
Subject: [PATCH 1191/1335] GCS_MAVLink: fix version setting in CheckFirmware
 app descriptor

---
 libraries/GCS_MAVLink/GCS_Dummy.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/GCS_MAVLink/GCS_Dummy.cpp b/libraries/GCS_MAVLink/GCS_Dummy.cpp
index 8b70c6c26c664d..f55212d8564e92 100644
--- a/libraries/GCS_MAVLink/GCS_Dummy.cpp
+++ b/libraries/GCS_MAVLink/GCS_Dummy.cpp
@@ -8,6 +8,7 @@
 
 #define FORCE_VERSION_H_INCLUDE
 #include <AP_Common/AP_FWVersionDefine.h>
+#include <AP_CheckFirmware/AP_CheckFirmwareDefine.h>
 #undef FORCE_VERSION_H_INCLUDE
 
 const struct GCS_MAVLINK::stream_entries GCS_MAVLINK::all_stream_entries[] {};

From 3a38aeda59367169b5b8f44c50169ed6fdacdeb5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 22 Jan 2024 14:16:08 +1100
Subject: [PATCH 1192/1335] AP_HAL_ChibiOS: set scheduler task to -4 when
 running callback tasks

---
 libraries/AP_HAL_ChibiOS/Scheduler.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index 2f6fb5504dad02..b22293383bf8b0 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -224,7 +224,10 @@ void Scheduler::delay(uint16_t ms)
         delay_microseconds(1000);
         if (_min_delay_cb_ms <= ms) {
             if (in_main_thread()) {
+                const auto old_task = hal.util->persistent_data.scheduler_task;
+                hal.util->persistent_data.scheduler_task = -4;
                 call_delay_cb();
+                hal.util->persistent_data.scheduler_task = old_task;
             }
         }
     }

From b22185436e1851d53a52ac579e2db8c30624467e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 16:47:49 +1100
Subject: [PATCH 1193/1335] AP_Param: allow AP_PARAM_KEY_DUMP from sim_vehicle
 cmdline

./Tools/autotest/sim_vehicle.py -v ArduCopter --map --configure-define=AP_PARAM_KEY_DUMP=1
---
 libraries/AP_Param/AP_Param.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Param/AP_Param.h b/libraries/AP_Param/AP_Param.h
index 85d533c1fd1487..fa71c74686bad0 100644
--- a/libraries/AP_Param/AP_Param.h
+++ b/libraries/AP_Param/AP_Param.h
@@ -36,7 +36,9 @@
 #define AP_MAX_NAME_SIZE 16
 
 // optionally enable debug code for dumping keys
+#ifndef AP_PARAM_KEY_DUMP
 #define AP_PARAM_KEY_DUMP 0
+#endif
 
 #if defined(HAL_GCS_ENABLED)
     #define AP_PARAM_DEFAULTS_ENABLED HAL_GCS_ENABLED

From 9a1a412152b2143d2478a8eb8f9f3ed320b49ce4 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 17:40:34 +1100
Subject: [PATCH 1194/1335] AP_Gripper: move gripper up to AP_Vehicle

also make the singleton return a reference rather than a pointer
---
 libraries/AP_Gripper/AP_Gripper.cpp | 4 ++--
 libraries/AP_Gripper/AP_Gripper.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Gripper/AP_Gripper.cpp b/libraries/AP_Gripper/AP_Gripper.cpp
index 0cabe2c3f6b1af..1fbd9e197ae83a 100644
--- a/libraries/AP_Gripper/AP_Gripper.cpp
+++ b/libraries/AP_Gripper/AP_Gripper.cpp
@@ -168,9 +168,9 @@ PASS_TO_BACKEND(grabbed)
 
 namespace AP {
 
-AP_Gripper *gripper()
+AP_Gripper &gripper()
 {
-    return AP_Gripper::get_singleton();
+    return *AP_Gripper::get_singleton();
 }
 
 };
diff --git a/libraries/AP_Gripper/AP_Gripper.h b/libraries/AP_Gripper/AP_Gripper.h
index 3d412a191a1096..f024b7c0be7f98 100644
--- a/libraries/AP_Gripper/AP_Gripper.h
+++ b/libraries/AP_Gripper/AP_Gripper.h
@@ -88,7 +88,7 @@ class AP_Gripper {
 };
 
 namespace AP {
-    AP_Gripper *gripper();
+    AP_Gripper &gripper();
 };
 
 #endif  // AP_GRIPPER_ENABLED

From b41d82c98930ac77707c1465184f121b9ebae752 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 17:40:35 +1100
Subject: [PATCH 1195/1335] AP_Mission: move gripper up to AP_Vehicle

also make the singleton return a reference rather than a pointer
---
 libraries/AP_Mission/AP_Mission_Commands.cpp | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_Mission/AP_Mission_Commands.cpp b/libraries/AP_Mission/AP_Mission_Commands.cpp
index 21d6731b733b07..24090ca03eff0f 100644
--- a/libraries/AP_Mission/AP_Mission_Commands.cpp
+++ b/libraries/AP_Mission/AP_Mission_Commands.cpp
@@ -38,21 +38,18 @@ bool AP_Mission::start_command_do_aux_function(const AP_Mission::Mission_Command
 #if AP_GRIPPER_ENABLED
 bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd)
 {
-    AP_Gripper *gripper = AP::gripper();
-    if (gripper == nullptr) {
-        return false;
-    }
+    AP_Gripper &gripper = AP::gripper();
 
     // Note: we ignore the gripper num parameter because we only
     // support one gripper
     switch (cmd.content.gripper.action) {
     case GRIPPER_ACTION_RELEASE:
-        gripper->release();
+        gripper.release();
         // Log_Write_Event(DATA_GRIPPER_RELEASE);
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper Released");
         return true;
     case GRIPPER_ACTION_GRAB:
-        gripper->grab();
+        gripper.grab();
         // Log_Write_Event(DATA_GRIPPER_GRAB);
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper Grabbed");
         return true;

From 9bdb886bb8859ad55ff03f05cb454b1c41516f0b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 17:40:35 +1100
Subject: [PATCH 1196/1335] AP_Vehicle: move gripper up to AP_Vehicle

also make the singleton return a reference rather than a pointer
---
 libraries/AP_Vehicle/AP_Vehicle.cpp | 14 ++++++++++++++
 libraries/AP_Vehicle/AP_Vehicle.h   |  9 +++++++++
 2 files changed, 23 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 04f80777fcf7fb..8a5733cc2ad697 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -270,6 +270,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(logger, "LOG",  29, AP_Vehicle, AP_Logger),
 #endif
 
+#if AP_GRIPPER_ENABLED
+    // @Group: GRIP_
+    // @Path: ../AP_Gripper/AP_Gripper.cpp
+    AP_SUBGROUPINFO(gripper, "GRIP_", 30, AP_Vehicle, AP_Gripper),
+#endif
+
     AP_GROUPEND
 };
 
@@ -382,6 +388,11 @@ void AP_Vehicle::setup()
     logger.init(get_log_bitmask(), get_log_structures(), get_num_log_structures());
 #endif
 
+    // init cargo gripper
+#if AP_GRIPPER_ENABLED
+    AP::gripper().init();
+#endif
+
     // init_ardupilot is where the vehicle does most of its initialisation.
     init_ardupilot();
 
@@ -606,6 +617,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #endif
 #if HAL_EFI_ENABLED
     SCHED_TASK_CLASS(AP_EFI,       &vehicle.efi,            update,                   50, 200, 250),
+#endif
+#if AP_GRIPPER_ENABLED
+    SCHED_TASK_CLASS(AP_Gripper,   &vehicle.gripper,        update,                   10,  75, 251),
 #endif
     SCHED_TASK(one_Hz_update,                                                         1, 100, 252),
 #if HAL_WITH_ESC_TELEM && HAL_GYROFFT_ENABLED
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 6476dffea19ec1..24b542d8910877 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -75,6 +75,11 @@
 #include <AP_Scripting/AP_Scripting.h>
 #endif
 
+#include <AP_Gripper/AP_Gripper_config.h>
+#if AP_GRIPPER_ENABLED
+#include <AP_Gripper/AP_Gripper.h>
+#endif
+
 class AP_DDS_Client;
 
 class AP_Vehicle : public AP_HAL::HAL::Callbacks {
@@ -330,6 +335,10 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     virtual uint8_t get_num_log_structures() const { return 0; }
 #endif
 
+#if AP_GRIPPER_ENABLED
+    AP_Gripper gripper;
+#endif
+
 #if AP_RSSI_ENABLED
     AP_RSSI rssi;
 #endif

From 362867415f32d6121bf17bc7e0529591f580d884 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 17:40:35 +1100
Subject: [PATCH 1197/1335] GCS_MAVLink: move gripper up to AP_Vehicle

also make the singleton return a reference rather than a pointer
---
 libraries/GCS_MAVLink/GCS_Common.cpp | 11 ++++-------
 1 file changed, 4 insertions(+), 7 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 27b771004aaa76..ac7dd381335b4b 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4705,14 +4705,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_set_ekf_source_set(const mavlink_command_
 #if AP_GRIPPER_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_do_gripper(const mavlink_command_int_t &packet)
 {
-    AP_Gripper *gripper = AP::gripper();
-    if (gripper == nullptr) {
-        return MAV_RESULT_FAILED;
-    }
+    AP_Gripper &gripper = AP::gripper();
 
     // param1 : gripper number (ignored)
     // param2 : action (0=release, 1=grab). See GRIPPER_ACTIONS enum.
-    if(!gripper->enabled()) {
+    if(!gripper.enabled()) {
         return MAV_RESULT_FAILED;
     }
 
@@ -4720,10 +4717,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_gripper(const mavlink_command_int_t &p
 
     switch ((uint8_t)packet.param2) {
     case GRIPPER_ACTION_RELEASE:
-        gripper->release();
+        gripper.release();
         break;
     case GRIPPER_ACTION_GRAB:
-        gripper->grab();
+        gripper.grab();
         break;
     default:
         result = MAV_RESULT_FAILED;

From f3b9304d8003a1b20a97c3b9a02517d5f76fdfd5 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 17:40:35 +1100
Subject: [PATCH 1198/1335] RC_Channel: move gripper up to AP_Vehicle

also make the singleton return a reference rather than a pointer
---
 libraries/RC_Channel/RC_Channel.cpp | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index a544f8638e5a46..4fb4d153561d75 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -1129,20 +1129,17 @@ void RC_Channel::do_aux_function_sprayer(const AuxSwitchPos ch_flag)
 #if AP_GRIPPER_ENABLED
 void RC_Channel::do_aux_function_gripper(const AuxSwitchPos ch_flag)
 {
-    AP_Gripper *gripper = AP::gripper();
-    if (gripper == nullptr) {
-        return;
-    }
+    AP_Gripper &gripper = AP::gripper();
 
     switch (ch_flag) {
     case AuxSwitchPos::LOW:
-        gripper->release();
+        gripper.release();
         break;
     case AuxSwitchPos::MIDDLE:
         // nothing
         break;
     case AuxSwitchPos::HIGH:
-        gripper->grab();
+        gripper.grab();
         break;
     }
 }

From f2a9f1516b54a5cad21c81742a243977466b1d1d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 17:40:35 +1100
Subject: [PATCH 1199/1335] ArduCopter: move gripper up to AP_Vehicle

also make the singleton return a reference rather than a pointer
---
 ArduCopter/Copter.cpp      |  3 ---
 ArduCopter/Copter.h        |  4 ----
 ArduCopter/Parameters.cpp  | 23 ++++++++++++++++++-----
 ArduCopter/Parameters.h    |  8 --------
 ArduCopter/crash_check.cpp |  2 +-
 ArduCopter/events.cpp      |  2 +-
 ArduCopter/mode_auto.cpp   | 11 +++++------
 ArduCopter/system.cpp      |  5 -----
 8 files changed, 25 insertions(+), 33 deletions(-)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index dda496b3e0921f..e765bbca9f5b62 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -236,9 +236,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if AP_TERRAIN_AVAILABLE
     SCHED_TASK(terrain_update,        10,    100, 144),
 #endif
-#if AP_GRIPPER_ENABLED
-    SCHED_TASK_CLASS(AP_Gripper,           &copter.g2.gripper,          update,          10,  75, 147),
-#endif
 #if AP_WINCH_ENABLED
     SCHED_TASK_CLASS(AP_Winch,             &copter.g2.winch,            update,          50,  50, 150),
 #endif
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 3c922cb14073fd..b4dba290ce9b35 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -110,10 +110,6 @@
  #include <AC_WPNav/AC_WPNav_OA.h>
  #include <AC_Avoidance/AP_OAPathPlanner.h>
 #endif
-#include <AP_Gripper/AP_Gripper_config.h>
-#if AP_GRIPPER_ENABLED
- # include <AP_Gripper/AP_Gripper.h>
-#endif
 #if AC_PRECLAND_ENABLED
  # include <AC_PrecLand/AC_PrecLand.h>
  # include <AC_PrecLand/AC_PrecLand_StateMachine.h>
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 35ede3b0516cb6..fcde858fc4b6d1 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1,5 +1,7 @@
 #include "Copter.h"
 
+#include <AP_Gripper/AP_Gripper.h>
+
 /*
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
@@ -817,11 +819,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
 
     // 12 was AP_Stats
 
-#if AP_GRIPPER_ENABLED
-    // @Group: GRIP_
-    // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
-    AP_SUBGROUPINFO(gripper, "GRIP_", 13, ParametersG2, AP_Gripper),
-#endif
+    // 13 was AP_Gripper
 
     // @Param: FRAME_CLASS
     // @DisplayName: Frame Class
@@ -1393,6 +1391,21 @@ void Copter::load_parameters(void)
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
+#if AP_GRIPPER_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 13;       // Old parameter index in g2
+        const uint16_t old_top_element = 4045; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &gripper, gripper.var_info, old_index, old_top_element, false);
+    }
+#endif
+
     // setup AP_Param frame type flags
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);
 }
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index a7374f37744d5f..bd0f3e92279dad 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -6,10 +6,6 @@
 #include "RC_Channel.h"
 #include <AP_Proximity/AP_Proximity.h>
 
-#include <AP_Gripper/AP_Gripper_config.h>
-#if AP_GRIPPER_ENABLED
- # include <AP_Gripper/AP_Gripper.h>
-#endif
 #if MODE_FOLLOW_ENABLED == ENABLED
  # include <AP_Follow/AP_Follow.h>
 #endif
@@ -508,10 +504,6 @@ class ParametersG2 {
     AP_Button *button_ptr;
 #endif
 
-#if AP_GRIPPER_ENABLED
-    AP_Gripper gripper;
-#endif
-
 #if MODE_THROW_ENABLED == ENABLED
     // Throw mode parameters
     AP_Int8 throw_nextmode;
diff --git a/ArduCopter/crash_check.cpp b/ArduCopter/crash_check.cpp
index 2ce5d89420cc84..07e3ba69a3b87e 100644
--- a/ArduCopter/crash_check.cpp
+++ b/ArduCopter/crash_check.cpp
@@ -172,7 +172,7 @@ void Copter::thrust_loss_check()
 
 #if AP_GRIPPER_ENABLED
         if ((copter.g2.flight_options & uint32_t(FlightOptions::RELEASE_GRIPPER_ON_THRUST_LOSS)) != 0) {
-            copter.g2.gripper.release();
+            gripper.release();
         }
 #endif
     }
diff --git a/ArduCopter/events.cpp b/ArduCopter/events.cpp
index 2160e222498b41..2796846599f81c 100644
--- a/ArduCopter/events.cpp
+++ b/ArduCopter/events.cpp
@@ -504,7 +504,7 @@ void Copter::do_failsafe_action(FailsafeAction action, ModeReason reason){
 
 #if AP_GRIPPER_ENABLED
     if (failsafe_option(FailsafeOption::RELEASE_GRIPPER)) {
-        copter.g2.gripper.release();
+        gripper.release();
     }
 #endif
 }
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 6a2b336b82650c..83d2369b5c00a8 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -1235,8 +1235,7 @@ void PayloadPlace::run()
 
 #if AP_GRIPPER_ENABLED == ENABLED
     // if pilot releases load manually:
-    if (AP::gripper() != nullptr &&
-        AP::gripper()->valid() && AP::gripper()->released()) {
+    if (AP::gripper().valid() && AP::gripper().released()) {
         switch (state) {
         case State::FlyToLocation:
         case State::Descent_Start:
@@ -1334,9 +1333,9 @@ void PayloadPlace::run()
         // Reinitialise vertical position controller to remove discontinuity due to touch down of payload
         pos_control->init_z_controller_no_descent();
 #if AP_GRIPPER_ENABLED == ENABLED
-        if (g2.gripper.valid()) {
+        if (AP::gripper().valid()) {
             gcs().send_text(MAV_SEVERITY_INFO, "%s Releasing the gripper", prefix_str);
-            g2.gripper.release();
+            AP::gripper().release();
             state = State::Releasing;
         } else {
             state = State::Delay;
@@ -1347,8 +1346,8 @@ void PayloadPlace::run()
         break;
 
     case State::Releasing:
-#if AP_GRIPPER_ENABLED == ENABLED
-        if (g2.gripper.valid() && !g2.gripper.released()) {
+#if AP_GRIPPER_ENABLED
+        if (AP::gripper().valid() && !AP::gripper().released()) {
             break;
         }
 #endif
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 5347a67901039b..8545d045cb0964 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -15,11 +15,6 @@ static void failsafe_check_static()
 
 void Copter::init_ardupilot()
 {
-    // init cargo gripper
-#if AP_GRIPPER_ENABLED
-    g2.gripper.init();
-#endif
-
     // init winch
 #if AP_WINCH_ENABLED
     g2.winch.init();

From d2d89b02cc1b2dd6a8909e5a79210d62a9c4064b Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 17:40:35 +1100
Subject: [PATCH 1200/1335] ArduPlane: move gripper up to AP_Vehicle

also make the singleton return a reference rather than a pointer
---
 ArduPlane/ArduPlane.cpp  |  3 ---
 ArduPlane/Parameters.cpp | 23 ++++++++++++++++++-----
 ArduPlane/Parameters.h   |  6 ------
 ArduPlane/system.cpp     |  5 -----
 4 files changed, 18 insertions(+), 19 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index bab97f46e259c6..b8661a45be9fee 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -132,9 +132,6 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button, &plane.button, update, 5, 100, 150),
 #endif
-#if AP_GRIPPER_ENABLED
-    SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75, 156),
-#endif
 #if AP_LANDINGGEAR_ENABLED
     SCHED_TASK(landing_gear_update, 5, 50, 159),
 #endif
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 6d3c1d945652fd..fe571b2b58293d 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1,5 +1,7 @@
 #include "Plane.h"
 
+#include <AP_Gripper/AP_Gripper.h>
+
 /*
  *  ArduPlane parameter definitions
  *
@@ -1068,11 +1070,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("HOME_RESET_ALT", 11, ParametersG2, home_reset_threshold, 0),
 
-#if AP_GRIPPER_ENABLED
-    // @Group: GRIP_
-    // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
-    AP_SUBGROUPINFO(gripper, "GRIP_", 12, ParametersG2, AP_Gripper),
-#endif
+    // 12 was AP_Gripper
 
     // @Param: FLIGHT_OPTIONS
     // @DisplayName: Flight mode options
@@ -1558,6 +1556,21 @@ void Plane::load_parameters(void)
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Plane-4.6
+#if AP_GRIPPER_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_index = 12;       // Old parameter index in g2
+        const uint16_t old_top_element = 4044; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(info.old_key, &gripper, gripper.var_info, old_index, old_top_element, false);
+    }
+#endif
+
     // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
 #if HAL_LOGGING_ENABLED
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index ad78f76de7e216..49f3822f83d902 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -3,7 +3,6 @@
 #define AP_PARAM_VEHICLE_NAME plane
 
 #include <AP_Common/AP_Common.h>
-#include <AP_Gripper/AP_Gripper.h>
 
 // Global parameter class.
 //
@@ -512,11 +511,6 @@ class ParametersG2 {
     // home reset altitude threshold
     AP_Int8 home_reset_threshold;
 
-#if AP_GRIPPER_ENABLED
-    // Payload Gripper
-    AP_Gripper gripper;
-#endif
-
     AP_Int32 flight_options;
 
     AP_Int8 takeoff_throttle_accel_count;
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index eab2ecef94084b..593dfb1c16e8c7 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -132,11 +132,6 @@ void Plane::init_ardupilot()
         optflow.init(-1);
     }
 #endif
-
-// init cargo gripper
-#if AP_GRIPPER_ENABLED
-    g2.gripper.init();
-#endif
 }
 
 //********************************************************************************

From ccc9231c6705093a22e17eda1d35598d18916c2e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 17:40:36 +1100
Subject: [PATCH 1201/1335] ArduSub: move gripper up to AP_Vehicle

also make the singleton return a reference rather than a pointer
---
 ArduSub/ArduSub.cpp    |  3 ---
 ArduSub/Parameters.cpp | 23 ++++++++++++++++++-----
 ArduSub/Parameters.h   |  5 -----
 ArduSub/Sub.h          |  5 -----
 ArduSub/system.cpp     |  5 -----
 5 files changed, 18 insertions(+), 23 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index f75ff5f9dc87dc..2306c31b8d9c8f 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -102,9 +102,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_RPM,              &sub.rpm_sensor,   update,              10, 200,  66),
 #endif
     SCHED_TASK(terrain_update,        10,    100,  72),
-#if AP_GRIPPER_ENABLED
-    SCHED_TASK_CLASS(AP_Gripper,          &sub.g2.gripper,   update,              10,  75,  75),
-#endif
 #if AP_STATS_ENABLED
     SCHED_TASK(stats_update,           1,    200,  76),
 #endif
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 58e554f348ef98..8d0fd2ef9792ec 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -1,5 +1,7 @@
 #include "Sub.h"
 
+#include <AP_Gripper/AP_Gripper.h>
+
 /*
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
@@ -693,11 +695,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(proximity, "PRX", 2, ParametersG2, AP_Proximity),
 #endif
 
-#if AP_GRIPPER_ENABLED
-    // @Group: GRIP_
-    // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
-    AP_SUBGROUPINFO(gripper, "GRIP_", 3, ParametersG2, AP_Gripper),
-#endif
+    // 3 was AP_Gripper
 
     // @Group: SERVO
     // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
@@ -791,6 +789,21 @@ void Sub::load_parameters()
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024
+#if AP_GRIPPER_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo gripper_info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, gripper_info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_gripper_index = 3;       // Old parameter index in g2
+        const uint16_t old_gripper_top_element = 4035; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(gripper_info.old_key, &gripper, gripper.var_info, old_gripper_index, old_gripper_top_element, false);
+    }
+#endif
+
     // PARAMETER_CONVERSION - Added: Feb-2024
 #if HAL_LOGGING_ENABLED
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index f8fd851fbf5e11..6ea9608f8c8ffb 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -4,7 +4,6 @@
 
 #include <AP_Common/AP_Common.h>
 
-#include <AP_Gripper/AP_Gripper.h>
 #include <AP_Arming/AP_Arming.h>
 
 // Global parameter class.
@@ -353,10 +352,6 @@ class ParametersG2 {
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
-#if AP_GRIPPER_ENABLED
-    AP_Gripper gripper;
-#endif
-
 #if HAL_PROXIMITY_ENABLED
     // proximity (aka object avoidance) library
     AP_Proximity proximity;
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 2419e0fc799345..69b43eb8a5b318 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -88,11 +88,6 @@
 #include <AP_RPM/AP_RPM.h>
 #endif
 
-#include <AP_Gripper/AP_Gripper_config.h>
-#if AP_GRIPPER_ENABLED
-#include <AP_Gripper/AP_Gripper.h>             // gripper stuff
-#endif
-
 #if AVOIDANCE_ENABLED == ENABLED
 #include <AC_Avoidance/AC_Avoid.h>           // Stop at fence library
 #endif
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index b72b9889c11853..54eb0676b24c1c 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -14,11 +14,6 @@ static void failsafe_check_static()
 
 void Sub::init_ardupilot()
 {
-    // init cargo gripper
-#if AP_GRIPPER_ENABLED
-    g2.gripper.init();
-#endif
-
     // initialise notify system
     notify.init();
 

From c26bb2b33b23af212e52cb547ffa3f2ed7e4289d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 17:40:36 +1100
Subject: [PATCH 1202/1335] Rover: move gripper up to AP_Vehicle

also make the singleton return a reference rather than a pointer
---
 Rover/Parameters.cpp | 23 ++++++++++++++++++-----
 Rover/Parameters.h   |  5 -----
 Rover/Rover.cpp      |  5 -----
 Rover/system.cpp     |  5 -----
 4 files changed, 18 insertions(+), 20 deletions(-)

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 34f393b740a918..7a4d0e312eb50c 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -1,5 +1,7 @@
 #include "Rover.h"
 
+#include <AP_Gripper/AP_Gripper.h>
+
 /*
   Rover parameter definitions
 */
@@ -580,11 +582,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("MIS_DONE_BEHAVE", 38, ParametersG2, mis_done_behave, 0),
 
-#if AP_GRIPPER_ENABLED
-    // @Group: GRIP_
-    // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
-    AP_SUBGROUPINFO(gripper, "GRIP_", 39, ParametersG2, AP_Gripper),
-#endif
+    // 39 was AP_Gripper
 
     // @Param: BAL_PITCH_TRIM
     // @DisplayName: Balance Bot pitch trim angle
@@ -923,6 +921,21 @@ void Rover::load_parameters(void)
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
+#if AP_GRIPPER_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo gripper_info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, gripper_info.old_key)) {
+            return;
+        }
+
+        const uint16_t gripper_old_index = 39;       // Old parameter index in g2
+        const uint16_t gripper_old_top_element = 4071; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(gripper_info.old_key, &gripper, gripper.var_info, gripper_old_index, gripper_old_top_element, false);
+    }
+#endif
+
     // PARAMETER_CONVERSION - Added: Feb-2024 for Rover-4.6
 #if HAL_LOGGING_ENABLED
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
diff --git a/Rover/Parameters.h b/Rover/Parameters.h
index ef8d6194706ac3..19067a2c4b45b5 100644
--- a/Rover/Parameters.h
+++ b/Rover/Parameters.h
@@ -8,7 +8,6 @@
 #include <AP_AIS/AP_AIS.h>
 #include <AP_Beacon/AP_Beacon.h>
 #include <AP_Follow/AP_Follow.h>
-#include "AP_Gripper/AP_Gripper.h"
 #include <AP_Proximity/AP_Proximity.h>
 #include "AP_Rally.h"
 #include <AP_SmartRTL/AP_SmartRTL.h>
@@ -372,10 +371,6 @@ class ParametersG2 {
     AC_Sprayer sprayer;
 #endif
 
-#if AP_GRIPPER_ENABLED
-    AP_Gripper gripper;
-#endif
-
 #if HAL_RALLY_ENABLED
     // Rally point library
     AP_Rally_Rover rally;
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index b956267eef48e6..f1a47b452545da 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -35,8 +35,6 @@
 #include "version.h"
 #undef FORCE_VERSION_H_INCLUDE
 
-#include "AP_Gripper/AP_Gripper.h"
-
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 #define SCHED_TASK(func, _interval_ticks, _max_time_micros, _priority) SCHED_TASK_CLASS(Rover, &rover, func, _interval_ticks, _max_time_micros, _priority)
@@ -101,9 +99,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #if AP_SERVORELAYEVENTS_ENABLED
     SCHED_TASK_CLASS(AP_ServoRelayEvents, &rover.ServoRelayEvents, update_events,  50,  200,  66),
 #endif
-#if AP_GRIPPER_ENABLED
-    SCHED_TASK_CLASS(AP_Gripper,          &rover.g2.gripper,       update,         10,   75,  69),
-#endif
 #if AC_PRECLAND_ENABLED
     SCHED_TASK(update_precland,      400,     50,  70),
 #endif
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 35e76c4d472bc7..1c1354dd802b88 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -14,11 +14,6 @@ static void failsafe_check_static()
 
 void Rover::init_ardupilot()
 {
-    // init gripper
-#if AP_GRIPPER_ENABLED
-    g2.gripper.init();
-#endif
-
     // initialise notify system
     notify.init();
     notify_mode(control_mode);

From e01e697343cf3eb9b0991d7153f135b60b96f965 Mon Sep 17 00:00:00 2001
From: Simon Hancock <simon@linkingdrones.com>
Date: Sun, 11 Feb 2024 15:32:11 +0000
Subject: [PATCH 1203/1335] Autotest: Generate LogMessages.xml for Sub

---
 Tools/scripts/build_log_message_documentation.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/scripts/build_log_message_documentation.sh b/Tools/scripts/build_log_message_documentation.sh
index 14bdcbd69f608c..fffd10f0bbf770 100755
--- a/Tools/scripts/build_log_message_documentation.sh
+++ b/Tools/scripts/build_log_message_documentation.sh
@@ -27,6 +27,6 @@ generate_log_message_documentation() {
     xz -e <"$VEHICLE_DIR"/LogMessages.xml >"$VEHICLE_DIR"/LogMessages.xml.xz.new && mv "$VEHICLE_DIR"/LogMessages.xml.xz.new "$VEHICLE_DIR"/LogMessages.xml.xz
 }
 
-for vehicle in Rover Plane Copter Tracker Blimp; do
+for vehicle in Rover Plane Copter Tracker Blimp Sub; do
     generate_log_message_documentation "$vehicle"
 done

From 93d8de28342991804fb10942f2cd6748f36f0764 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 20 Feb 2024 18:40:24 +0000
Subject: [PATCH 1204/1335] AP_Filesystem: support full direcotry listing in
 ROMFS

---
 libraries/AP_Filesystem/AP_Filesystem.cpp     |  1 +
 .../AP_Filesystem/AP_Filesystem_ROMFS.cpp     | 33 ++++++++++++++++---
 2 files changed, 30 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Filesystem/AP_Filesystem.cpp b/libraries/AP_Filesystem/AP_Filesystem.cpp
index 564696bb979045..cd7e88a88ecf8d 100644
--- a/libraries/AP_Filesystem/AP_Filesystem.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem.cpp
@@ -64,6 +64,7 @@ const AP_Filesystem::Backend AP_Filesystem::backends[] = {
     { nullptr, fs_local },
 #if AP_FILESYSTEM_ROMFS_ENABLED
     { "@ROMFS/", fs_romfs },
+    { "@ROMFS", fs_romfs },
 #endif
 #if AP_FILESYSTEM_PARAM_ENABLED
     { "@PARAM/", fs_param },
diff --git a/libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp b/libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp
index db4ddb42da647c..0175bc19ff9410 100644
--- a/libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem_ROMFS.cpp
@@ -159,6 +159,15 @@ void *AP_Filesystem_ROMFS::opendir(const char *pathname)
     if (!dir[idx].path) {
         return nullptr;
     }
+
+    // Take a sneak peek and reset
+    const char *name = AP_ROMFS::dir_list(dir[idx].path, dir[idx].ofs);
+    dir[idx].ofs = 0;
+    if (!name) {
+        // Directory does not exist
+        return nullptr;
+    }
+
     return (void*)&dir[idx];
 }
 
@@ -174,12 +183,28 @@ struct dirent *AP_Filesystem_ROMFS::readdir(void *dirp)
         return nullptr;
     }
     const uint32_t plen = strlen(dir[idx].path);
-    if (strncmp(name, dir[idx].path, plen) != 0 || name[plen] != '/') {
-        return nullptr;
+    if (plen > 0) {
+        // Offset to get just file/directory name
+        name += plen + 1;
     }
-    name += plen + 1;
-    dir[idx].de.d_type = DT_REG;
+
+    // Copy full name
     strncpy(dir[idx].de.d_name, name, sizeof(dir[idx].de.d_name));
+
+    const char* slash = strchr(name, '/');
+    if (slash == nullptr) {
+        // File
+        dir[idx].de.d_type = DT_REG;
+
+    } else {
+        // Directory
+        dir[idx].de.d_type = DT_DIR;
+
+        // Add null termination after directory name
+        const size_t index = slash - name;
+        dir[idx].de.d_name[index] = 0;
+    }
+
     return &dir[idx].de;
 }
 

From 785e0c4c62caafb7394f083c263d72230b32f84f Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 20 Feb 2024 18:41:23 +0000
Subject: [PATCH 1205/1335] AP_ROMFS: don't require / in filename

---
 libraries/AP_ROMFS/AP_ROMFS.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AP_ROMFS/AP_ROMFS.cpp b/libraries/AP_ROMFS/AP_ROMFS.cpp
index 67adb2313cc53a..84db21948915aa 100644
--- a/libraries/AP_ROMFS/AP_ROMFS.cpp
+++ b/libraries/AP_ROMFS/AP_ROMFS.cpp
@@ -117,8 +117,7 @@ const char *AP_ROMFS::dir_list(const char *dirname, uint16_t &ofs)
 {
     const size_t dlen = strlen(dirname);
     for ( ; ofs < ARRAY_SIZE(files); ofs++) {
-        if (strncmp(dirname, files[ofs].filename, dlen) == 0 &&
-            files[ofs].filename[dlen] == '/') {
+        if ((dlen == 0) || (strncmp(dirname, files[ofs].filename, dlen) == 0)) {
             // found one
             return files[ofs++].filename;
         }

From a9eadd9f0117c5d5ce0276768db37eb9282cbe31 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 20 Feb 2024 18:42:05 +0000
Subject: [PATCH 1206/1335] GCS_MAVLink: FTP: strip trailing `/` in dir list
 request

---
 libraries/GCS_MAVLink/GCS_FTP.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS_FTP.cpp b/libraries/GCS_MAVLink/GCS_FTP.cpp
index 53ceca24ea2c07..3225688104b3bb 100644
--- a/libraries/GCS_MAVLink/GCS_FTP.cpp
+++ b/libraries/GCS_MAVLink/GCS_FTP.cpp
@@ -624,6 +624,12 @@ void GCS_MAVLINK::ftp_list_dir(struct pending_ftp &request, struct pending_ftp &
 
     request.data[sizeof(request.data) - 1] = 0; // ensure the path is null terminated
 
+    // Strip trailing /
+    const size_t dir_len = strlen((char *)request.data);
+    if ((dir_len > 1) && (request.data[dir_len - 1] == '/')) {
+        request.data[dir_len - 1] = 0;
+    }
+
     // open the dir
     auto *dir = AP::FS().opendir((char *)request.data);
     if (dir == nullptr) {

From c7a729b7f695ba35b404d95833dc0b5bcfa895a2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 21 Feb 2024 12:57:45 +1100
Subject: [PATCH 1207/1335] waf: fixed leading slashes in root of ROMFS

---
 Tools/ardupilotwaf/boards.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index e24b0a54f84d9e..f699c5a75a5739 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -510,6 +510,8 @@ def configure_env(self, cfg, env):
                         # exclude emacs tmp files
                         continue
                     fname = root[len(custom_dir)+1:]+"/"+f
+                    if fname.startswith("/"):
+                        fname = fname[1:]
                     env.ROMFS_FILES += [(fname,root+"/"+f)]
 
     def pre_build(self, bld):

From feff639c1580634317bd6e942b43ae64f8b8ac57 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 21 Feb 2024 12:58:08 +1100
Subject: [PATCH 1208/1335] AP_ROMFS: fixed duplicate directories

---
 libraries/AP_ROMFS/AP_ROMFS.cpp | 24 +++++++++++++++++++++++-
 1 file changed, 23 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_ROMFS/AP_ROMFS.cpp b/libraries/AP_ROMFS/AP_ROMFS.cpp
index 84db21948915aa..cc131f4de329d0 100644
--- a/libraries/AP_ROMFS/AP_ROMFS.cpp
+++ b/libraries/AP_ROMFS/AP_ROMFS.cpp
@@ -66,6 +66,12 @@ const uint8_t *AP_ROMFS::find_decompress(const char *name, uint32_t &size)
         return nullptr;
     }
 
+    if (f->decompressed_size == 0) {
+        // empty file
+        size = 0;
+        return decompressed_data;
+    }
+
     // explicitly null-terminate the data
     decompressed_data[f->decompressed_size] = 0;
 
@@ -117,7 +123,23 @@ const char *AP_ROMFS::dir_list(const char *dirname, uint16_t &ofs)
 {
     const size_t dlen = strlen(dirname);
     for ( ; ofs < ARRAY_SIZE(files); ofs++) {
-        if ((dlen == 0) || (strncmp(dirname, files[ofs].filename, dlen) == 0)) {
+        if (strncmp(dirname, files[ofs].filename, dlen) == 0) {
+            const char last_char = files[ofs].filename[dlen];
+            if (dlen != 0 && last_char != '/' && last_char != 0) {
+                // only a partial match, skip
+                continue;
+            }
+            /*
+              prevent duplicate directories
+             */
+            const char *start_name = files[ofs].filename + dlen + 1;
+            const char *slash = strchr(start_name, '/');
+            if (ofs > 0 && slash != nullptr) {
+                auto len = slash - start_name;
+                if (memcmp(files[ofs].filename, files[ofs-1].filename, len+dlen+1) == 0) {
+                    continue;
+                }
+            }
             // found one
             return files[ofs++].filename;
         }

From b6b4c972f918bb8a428b591114a1eab4f1a0b75c Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Tue, 20 Feb 2024 13:53:19 +0100
Subject: [PATCH 1209/1335] Tools: Script to fetch online ArduPilot parameter
 documentation (if not cached) and add it to the specified file or to all
 *.param and *.parm files in the specified directory.

1. Checks if a local cache of the XML file exists in the target directory or on the directory of the target file:
 - If it does, the script loads the file content.
 - If it doesn't, the script sends a GET request to the URL to fetch the XML data for the requested vehicle type.
2. Parses the XML data and creates a dictionary of parameter documentation.
3. DELETES all comments that start at the beginning of a line
4. Adds the parameter documentation to the target file or to all *.param,*.parm files in the target directory.

Supports AP_Periph, AntennaTracker, ArduCopter, ArduPlane, ArduSub, Blimp, Heli, Rover and SITL vehicle types
Supports both Mission Planner and MAVProxy file formats
Supports sorting the parameters
Has unit tests with 88% coverage

AP_FLAKE8_CLEAN

Author: Amilcar do Carmo Lucas, IAV GmbH

# Conflicts:
#	.github/workflows/test_unit_tests.yml
---
 .github/workflows/test_unit_tests.yml         |  18 +-
 .../unittest/annotate_params_unittest.py      | 539 ++++++++++++++++++
 Tools/scripts/annotate_params.py              | 410 +++++++++++++
 3 files changed, 961 insertions(+), 6 deletions(-)
 create mode 100755 Tools/autotest/unittest/annotate_params_unittest.py
 create mode 100755 Tools/scripts/annotate_params.py

diff --git a/.github/workflows/test_unit_tests.yml b/.github/workflows/test_unit_tests.yml
index d78cd5408b0f61..641177b1493b71 100644
--- a/.github/workflows/test_unit_tests.yml
+++ b/.github/workflows/test_unit_tests.yml
@@ -147,16 +147,22 @@ jobs:
           fi
           PATH="/github/home/.local/bin:$PATH"
           Tools/scripts/build_ci.sh
+
       - name: Unittest extract_param_defaults
         env:
           PYTHONPATH: "${{ github.workspace }}/Tools/scripts:${{ github.workspace }}/modules/mavlink/pymavlink"
-        shell: 'script -q -e -c "bash {0}"'
+        if: matrix.config == 'unit-tests'
         run: |
-          if [[ ${{ matrix.config }} == "unit-tests" ]]; then
-            Tools/autotest/unittest/extract_param_defaults_unittest.py
-          else
-            echo ${{matrix.config}} does not have pymavlink
-          fi
+          Tools/autotest/unittest/extract_param_defaults_unittest.py
+
+      - name: Unittest annotate_params
+        env:
+          PYTHONPATH: "${{ github.workspace }}/Tools/scripts"
+        if: matrix.config == 'unit-tests'
+        run: |
+          python -m pip install --upgrade pip
+          pip install requests mock
+          Tools/autotest/unittest/annotate_params_unittest.py
 
       - name: Archive buildlog artifacts
         uses: actions/upload-artifact@v3
diff --git a/Tools/autotest/unittest/annotate_params_unittest.py b/Tools/autotest/unittest/annotate_params_unittest.py
new file mode 100755
index 00000000000000..e9db5f794a8fbb
--- /dev/null
+++ b/Tools/autotest/unittest/annotate_params_unittest.py
@@ -0,0 +1,539 @@
+#!/usr/bin/python3
+
+'''
+These are the unit tests for the python script that fetches online ArduPilot
+parameter documentation (if not cached) and adds it to the specified file or
+to all *.param and *.parm files in the specified directory.
+
+AP_FLAKE8_CLEAN
+
+Author: Amilcar do Carmo Lucas, IAV GmbH
+'''
+
+import tempfile
+from unittest.mock import patch, mock_open
+import os
+import unittest
+import xml.etree.ElementTree as ET
+import requests
+import mock
+from annotate_params import get_xml_data, remove_prefix, split_into_lines, create_doc_dict, \
+                            format_columns, update_parameter_documentation, print_read_only_params, \
+                            BASE_URL, PARAM_DEFINITION_XML_FILE
+
+
+class TestParamDocsUpdate(unittest.TestCase):
+
+    def setUp(self):
+        # Create a temporary directory
+        self.temp_dir = tempfile.mkdtemp()
+
+        # Create a temporary file
+        self.temp_file = tempfile.NamedTemporaryFile(delete=False)
+
+        # Create a dictionary of parameter documentation
+        self.doc_dict = {
+            "PARAM1": {
+                "humanName": "Param 1",
+                "documentation": ["Documentation for Param 1"],
+                "fields": {"Field1": "Value1", "Field2": "Value2"},
+                "values": {"Code1": "Value1", "Code2": "Value2"}
+            },
+            "PARAM2": {
+                "humanName": "Param 2",
+                "documentation": ["Documentation for Param 2"],
+                "fields": {"Field3": "Value3", "Field4": "Value4"},
+                "values": {"Code3": "Value3", "Code4": "Value4"}
+            },
+            "PARAM_1": {
+                "humanName": "Param _ 1",
+                "documentation": ["Documentation for Param_1"],
+                "fields": {"Field_1": "Value_1", "Field_2": "Value_2"},
+                "values": {"Code_1": "Value_1", "Code_2": "Value_2"}
+            },
+        }
+
+    @patch('builtins.open', new_callable=mock_open, read_data='<root></root>')
+    @patch('os.path.isfile')
+    def test_get_xml_data_local_file(self, mock_isfile, mock_open):
+        # Mock the isfile function to return True
+        mock_isfile.return_value = True
+
+        # Call the function with a local file
+        result = get_xml_data("/path/to/local/file/", ".", "test.xml")
+
+        # Check the result
+        self.assertIsInstance(result, ET.Element)
+
+        # Assert that the file was opened correctly
+        mock_open.assert_called_once_with('./test.xml', 'r', encoding='utf-8')
+
+    @patch('requests.get')
+    def test_get_xml_data_remote_file(self, mock_get):
+        # Mock the response
+        mock_get.return_value.status_code = 200
+        mock_get.return_value.text = "<root></root>"
+
+        # Remove the test.xml file if it exists
+        try:
+            os.remove("test.xml")
+        except FileNotFoundError:
+            pass
+
+        # Call the function with a remote file
+        result = get_xml_data("http://example.com/", ".", "test.xml")
+
+        # Check the result
+        self.assertIsInstance(result, ET.Element)
+
+        # Assert that the requests.get function was called once
+        mock_get.assert_called_once_with("http://example.com/test.xml", timeout=5)
+
+    @patch('os.path.isfile')
+    def test_get_xml_data_script_dir_file(self, mock_isfile):
+        # Mock the isfile function to return False for the current directory and True for the script directory
+        def side_effect(filename):
+            return True
+        mock_isfile.side_effect = side_effect
+
+        # Mock the open function to return a dummy XML string
+        mock_open = mock.mock_open(read_data='<root></root>')
+        with patch('builtins.open', mock_open):
+            # Call the function with a filename that exists in the script directory
+            result = get_xml_data(BASE_URL, ".", PARAM_DEFINITION_XML_FILE)
+
+        # Check the result
+        self.assertIsInstance(result, ET.Element)
+
+        # Assert that the file was opened correctly
+        mock_open.assert_called_once_with(os.path.join('.', PARAM_DEFINITION_XML_FILE), 'r', encoding='utf-8')
+
+    def test_get_xml_data_no_requests_package(self):
+        # Temporarily remove the requests module
+        with patch.dict('sys.modules', {'requests': None}):
+
+            # Remove the test.xml file if it exists
+            try:
+                os.remove("test.xml")
+            except FileNotFoundError:
+                pass
+
+            # Call the function with a remote file
+            with self.assertRaises(SystemExit):
+                get_xml_data("http://example.com/", ".", "test.xml")
+
+    @patch('requests.get')
+    def test_get_xml_data_request_failure(self, mock_get):
+        # Mock the response
+        mock_get.side_effect = requests.exceptions.RequestException
+
+        # Remove the test.xml file if it exists
+        try:
+            os.remove("test.xml")
+        except FileNotFoundError:
+            pass
+
+        # Call the function with a remote file
+        with self.assertRaises(SystemExit):
+            get_xml_data("http://example.com/", ".", "test.xml")
+
+    @patch('requests.get')
+    def test_get_xml_data_valid_xml(self, mock_get):
+        # Mock the response
+        mock_get.return_value.status_code = 200
+        mock_get.return_value.text = "<root></root>"
+
+        # Call the function with a remote file
+        result = get_xml_data("http://example.com/", ".", "test.xml")
+
+        # Check the result
+        self.assertIsInstance(result, ET.Element)
+
+    @patch('requests.get')
+    def test_get_xml_data_invalid_xml(self, mock_get):
+        # Mock the response
+        mock_get.return_value.status_code = 200
+        mock_get.return_value.text = "<root><invalid></root>"
+
+        # Remove the test.xml file if it exists
+        try:
+            os.remove("test.xml")
+        except FileNotFoundError:
+            pass
+
+        # Call the function with a remote file
+        with self.assertRaises(ET.ParseError):
+            get_xml_data("http://example.com/", ".", "test.xml")
+
+    @patch('requests.get')
+    @patch('os.path.isfile')
+    def test_get_xml_data_missing_file(self, mock_isfile, mock_get):
+        # Mock the isfile function to return False
+        mock_isfile.return_value = False
+        # Mock the requests.get call to raise FileNotFoundError
+        mock_get.side_effect = FileNotFoundError
+
+        # Remove the test.xml file if it exists
+        try:
+            os.remove("test.xml")
+        except FileNotFoundError:
+            pass
+
+        # Call the function with a local file
+        with self.assertRaises(FileNotFoundError):
+            get_xml_data("/path/to/local/file/", ".", "test.xml")
+
+    @patch('requests.get')
+    def test_get_xml_data_network_issue(self, mock_get):
+        # Mock the response
+        mock_get.side_effect = requests.exceptions.ConnectionError
+
+        # Call the function with a remote file
+        with self.assertRaises(SystemExit):
+            get_xml_data("http://example.com/", ".", "test.xml")
+
+    def test_remove_prefix(self):
+        # Test case 1: Normal operation
+        self.assertEqual(remove_prefix("prefix_test", "prefix_"), "test")
+
+        # Test case 2: Prefix not present
+        self.assertEqual(remove_prefix("test", "prefix_"), "test")
+
+        # Test case 3: Empty string
+        self.assertEqual(remove_prefix("", "prefix_"), "")
+
+    def test_split_into_lines(self):
+        # Test case 1: Normal operation
+        string_to_split = "This is a test string. It should be split into several lines."
+        maximum_line_length = 12
+        expected_output = ["This is a", "test string.", "It should be", "split into", "several",  "lines."]
+        self.assertEqual(split_into_lines(string_to_split, maximum_line_length), expected_output)
+
+        # Test case 2: String shorter than maximum line length
+        string_to_split = "Short"
+        maximum_line_length = 10
+        expected_output = ["Short"]
+        self.assertEqual(split_into_lines(string_to_split, maximum_line_length), expected_output)
+
+        # Test case 3: Empty string
+        string_to_split = ""
+        maximum_line_length = 10
+        expected_output = []
+        self.assertEqual(split_into_lines(string_to_split, maximum_line_length), expected_output)
+
+    def test_create_doc_dict(self):
+        # Mock XML data
+        xml_data = '''
+        <root>
+            <param name="PARAM1" humanName="Param 1" documentation="Documentation for Param 1">
+                <field name="Field1">Value1</field>
+                <field name="Field2">Value2</field>
+                <values>
+                    <value code="Code1">Value1</value>
+                    <value code="Code2">Value2</value>
+                </values>
+            </param>
+            <param name="PARAM2" humanName="Param 2" documentation="Documentation for Param 2">
+                <field name="Units">m/s</field>
+                <field name="UnitText">meters per second</field>
+                <values>
+                    <value code="Code3">Value3</value>
+                    <value code="Code4">Value4</value>
+                </values>
+            </param>
+        </root>
+        '''
+        root = ET.fromstring(xml_data)
+
+        # Expected output
+        expected_output = {
+            "PARAM1": {
+                "humanName": "Param 1",
+                "documentation": ["Documentation for Param 1"],
+                "fields": {"Field1": "Value1", "Field2": "Value2"},
+                "values": {"Code1": "Value1", "Code2": "Value2"}
+            },
+            "PARAM2": {
+                "humanName": "Param 2",
+                "documentation": ["Documentation for Param 2"],
+                "fields": {"Units": "m/s (meters per second)"},
+                "values": {"Code3": "Value3", "Code4": "Value4"}
+            }
+        }
+
+        # Call the function with the mock XML data
+        result = create_doc_dict(root, "VehicleType")
+
+        # Check the result
+        self.assertEqual(result, expected_output)
+
+    def test_format_columns(self):
+        # Define the input
+        values = {
+            "Key1": "Value1",
+            "Key2": "Value2",
+            "Key3": "Value3",
+            "Key4": "Value4",
+            "Key5": "Value5",
+            "Key6": "Value6",
+            "Key7": "Value7",
+            "Key8": "Value8",
+            "Key9": "Value9",
+            "Key10": "Value10",
+            "Key11": "Value11",
+            "Key12": "Value12",
+        }
+
+        # Define the expected output
+        expected_output = [
+            'Key1: Value1                                         Key7: Value7',
+            'Key2: Value2                                         Key8: Value8',
+            'Key3: Value3                                         Key9: Value9',
+            'Key4: Value4                                         Key10: Value10',
+            'Key5: Value5                                         Key11: Value11',
+            'Key6: Value6                                         Key12: Value12',
+        ]
+
+        # Call the function with the input
+        result = format_columns(values)
+
+        # Check the result
+        self.assertEqual(result, expected_output)
+
+        self.assertEqual(format_columns({}), [])
+
+    def test_update_parameter_documentation(self):
+        # Write some initial content to the temporary file
+        with open(self.temp_file.name, "w", encoding="utf-8") as file:
+            file.write("PARAM1 100\n")
+
+        # Call the function with the temporary file
+        update_parameter_documentation(self.doc_dict, self.temp_file.name)
+
+        # Read the updated content from the temporary file
+        with open(self.temp_file.name, "r", encoding="utf-8") as file:
+            updated_content = file.read()
+
+        # Check if the file has been updated correctly
+        self.assertIn("Param 1", updated_content)
+        self.assertIn("Documentation for Param 1", updated_content)
+        self.assertIn("Field1: Value1", updated_content)
+        self.assertIn("Field2: Value2", updated_content)
+        self.assertIn("Code1: Value1", updated_content)
+        self.assertIn("Code2: Value2", updated_content)
+
+    def test_update_parameter_documentation_sorting_none(self):
+        # Write some initial content to the temporary file
+        # With stray leading and trailing whitespaces
+        with open(self.temp_file.name, "w", encoding="utf-8") as file:
+            file.write("PARAM2 100\n PARAM_1 100 \nPARAM3 3\nPARAM4 4\nPARAM5 5\nPARAM1 100\n")
+
+        # Call the function with the temporary file
+        update_parameter_documentation(self.doc_dict, self.temp_file.name)
+
+        # Read the updated content from the temporary file
+        with open(self.temp_file.name, "r", encoding="utf-8") as file:
+            updated_content = file.read()
+
+        expected_content = '''# Param 2
+# Documentation for Param 2
+# Field3: Value3
+# Field4: Value4
+# Code3: Value3
+# Code4: Value4
+PARAM2 100
+
+# Param _ 1
+# Documentation for Param_1
+# Field_1: Value_1
+# Field_2: Value_2
+# Code_1: Value_1
+# Code_2: Value_2
+PARAM_1 100
+PARAM3 3
+PARAM4 4
+PARAM5 5
+
+# Param 1
+# Documentation for Param 1
+# Field1: Value1
+# Field2: Value2
+# Code1: Value1
+# Code2: Value2
+PARAM1 100
+'''
+        self.assertEqual(updated_content, expected_content)
+
+    def test_update_parameter_documentation_sorting_missionplanner(self):
+        # Write some initial content to the temporary file
+        with open(self.temp_file.name, "w", encoding="utf-8") as file:
+            file.write("PARAM2 100 # ignore, me\nPARAM_1\t100\nPARAM1,100\n")
+
+        # Call the function with the temporary file
+        update_parameter_documentation(self.doc_dict, self.temp_file.name, "missionplanner")
+
+        # Read the updated content from the temporary file
+        with open(self.temp_file.name, "r", encoding="utf-8") as file:
+            updated_content = file.read()
+
+        expected_content = '''# Param _ 1
+# Documentation for Param_1
+# Field_1: Value_1
+# Field_2: Value_2
+# Code_1: Value_1
+# Code_2: Value_2
+PARAM_1\t100
+
+# Param 1
+# Documentation for Param 1
+# Field1: Value1
+# Field2: Value2
+# Code1: Value1
+# Code2: Value2
+PARAM1,100
+
+# Param 2
+# Documentation for Param 2
+# Field3: Value3
+# Field4: Value4
+# Code3: Value3
+# Code4: Value4
+PARAM2 100 # ignore, me
+'''
+        self.assertEqual(updated_content, expected_content)
+
+    def test_update_parameter_documentation_sorting_mavproxy(self):
+        # Write some initial content to the temporary file
+        with open(self.temp_file.name, "w", encoding="utf-8") as file:
+            file.write("PARAM2 100\nPARAM_1\t100\nPARAM1,100\n")
+
+        # Call the function with the temporary file
+        update_parameter_documentation(self.doc_dict, self.temp_file.name, "mavproxy")
+
+        # Read the updated content from the temporary file
+        with open(self.temp_file.name, "r", encoding="utf-8") as file:
+            updated_content = file.read()
+
+        expected_content = '''# Param 1
+# Documentation for Param 1
+# Field1: Value1
+# Field2: Value2
+# Code1: Value1
+# Code2: Value2
+PARAM1,100
+
+# Param 2
+# Documentation for Param 2
+# Field3: Value3
+# Field4: Value4
+# Code3: Value3
+# Code4: Value4
+PARAM2 100
+
+# Param _ 1
+# Documentation for Param_1
+# Field_1: Value_1
+# Field_2: Value_2
+# Code_1: Value_1
+# Code_2: Value_2
+PARAM_1\t100
+'''
+        self.assertEqual(updated_content, expected_content)
+
+    def test_update_parameter_documentation_invalid_line_format(self):
+        # Write some initial content to the temporary file with an invalid line format
+        with open(self.temp_file.name, "w", encoding="utf-8") as file:
+            file.write("%INVALID_LINE_FORMAT\n")
+
+        # Call the function with the temporary file
+        with self.assertRaises(SystemExit) as cm:
+            update_parameter_documentation(self.doc_dict, self.temp_file.name)
+
+        # Check if the SystemExit exception contains the expected message
+        self.assertEqual(cm.exception.code, "Invalid line in input file")
+
+    @patch('logging.Logger.info')
+    def test_print_read_only_params(self, mock_info):
+        # Mock XML data
+        xml_data = '''
+        <root>
+            <param name="PARAM1" humanName="Param 1" documentation="Documentation for Param 1">
+                <field name="ReadOnly">True</field>
+                <field name="Field1">Value1</field>
+                <field name="Field2">Value2</field>
+                <values>
+                    <value code="Code1">Value1</value>
+                    <value code="Code2">Value2</value>
+                </values>
+            </param>
+            <param name="PARAM2" humanName="Param 2" documentation="Documentation for Param 2">
+                <field name="Field3">Value3</field>
+                <field name="Field4">Value4</field>
+                <values>
+                    <value code="Code3">Value3</value>
+                    <value code="Code4">Value4</value>
+                </values>
+            </param>
+        </root>
+        '''
+        root = ET.fromstring(xml_data)
+        doc_dict = create_doc_dict(root, "VehicleType")
+
+        # Call the function with the mock XML data
+        print_read_only_params(doc_dict)
+
+        # Check if the parameter name was logged
+        mock_info.assert_has_calls([mock.call('ReadOnly parameters:'), mock.call('PARAM1')])
+
+    def test_update_parameter_documentation_invalid_target(self):
+        # Call the function with an invalid target
+        with self.assertRaises(ValueError):
+            update_parameter_documentation(self.doc_dict, "invalid_target")
+
+    def test_invalid_parameter_name(self):
+        # Write some initial content to the temporary file
+        with open(self.temp_file.name, "w", encoding="utf-8") as file:
+            file.write("INVALID_$PARAM 100\n")
+
+        # Call the function with the temporary file
+        with self.assertRaises(SystemExit):
+            update_parameter_documentation(self.doc_dict, self.temp_file.name)
+
+    def test_update_parameter_documentation_too_long_parameter_name(self):
+        # Write some initial content to the temporary file
+        with open(self.temp_file.name, "w", encoding="utf-8") as file:
+            file.write("TOO_LONG_PARAMETER_NAME 100\n")
+
+        # Call the function with the temporary file
+        with self.assertRaises(SystemExit):
+            update_parameter_documentation(self.doc_dict, self.temp_file.name)
+
+    @patch('logging.Logger.warning')
+    def test_missing_parameter_documentation(self, mock_warning):
+        # Write some initial content to the temporary file
+        with open(self.temp_file.name, "w", encoding="utf-8") as file:
+            file.write("MISSING_DOC_PARA 100\n")
+
+        # Call the function with the temporary file
+        update_parameter_documentation(self.doc_dict, self.temp_file.name)
+
+        # Check if the warnings were logged
+        mock_warning.assert_has_calls([
+            mock.call('Read file %s with %d parameters, but only %s of which got documented', self.temp_file.name, 1, 0),
+            mock.call('No documentation found for: %s', 'MISSING_DOC_PARA')
+        ])
+
+    def test_empty_parameter_file(self):
+        # Call the function with the temporary file
+        update_parameter_documentation(self.doc_dict, self.temp_file.name)
+
+        # Read the updated content from the temporary file
+        with open(self.temp_file.name, "r", encoding="utf-8") as file:
+            updated_content = file.read()
+
+        # Check if the file is still empty
+        self.assertEqual(updated_content, "")
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/Tools/scripts/annotate_params.py b/Tools/scripts/annotate_params.py
new file mode 100755
index 00000000000000..11c9ca80240097
--- /dev/null
+++ b/Tools/scripts/annotate_params.py
@@ -0,0 +1,410 @@
+#!/usr/bin/python3
+
+"""
+This script fetches online ArduPilot parameter documentation (if not cached) and adds it to the specified file
+ or to all *.param and *.parm files in the specified directory.
+
+1. Checks if a local cache of the XML file exists in the target directory or on the directory of the target file:
+ - If it does, the script loads the file content.
+ - If it doesn't, the script sends a GET request to the URL to fetch the XML data for the requested vehicle type.
+2. Parses the XML data and creates a dictionary of parameter documentation.
+3. DELETES all comments that start at the beginning of a line
+4. Adds the parameter documentation to the target file or to all *.param,*.parm files in the target directory.
+
+Supports AP_Periph, AntennaTracker, ArduCopter, ArduPlane, ArduSub, Blimp, Heli, Rover and SITL vehicle types
+Supports both Mission Planner and MAVProxy file formats
+Supports sorting the parameters
+Has unit tests with 88% coverage
+
+AP_FLAKE8_CLEAN
+
+Author: Amilcar do Carmo Lucas, IAV GmbH
+"""
+
+import os
+import glob
+import re
+from typing import Any, Dict, List, Tuple
+import xml.etree.ElementTree as ET
+import argparse
+import logging
+
+# URL of the XML file
+BASE_URL = "https://autotest.ardupilot.org/Parameters/"
+
+PARAM_DEFINITION_XML_FILE = "apm.pdef.xml"
+
+# ArduPilot parameter names start with a capital letter and can have capital letters, numbers and _
+PARAM_NAME_REGEX = r'^[A-Z][A-Z_0-9]*'
+PARAM_NAME_MAX_LEN = 16
+VERSION = '1.0'
+
+
+def arg_parser():
+    parser = argparse.ArgumentParser(description='Fetches on-line ArduPilot parameter documentation and adds it to the '
+                                     'specified file or to all *.param and *.parm files in the specified directory.')
+    parser.add_argument('target',
+                        help='The target file or directory.',
+                        )
+    parser.add_argument('-s', '--sort',
+                        choices=['none', 'missionplanner', 'mavproxy'],
+                        default='none',
+                        help='Sort the parameters in the file. Defaults to not sorting.',
+                        )
+    parser.add_argument('-t', '--vehicle-type',
+                        choices=['AP_Periph', 'AntennaTracker', 'ArduCopter', 'ArduPlane',
+                                 'ArduSub', 'Blimp', 'Heli', 'Rover', 'SITL'],
+                        default='ArduCopter',
+                        help='The type of the vehicle. Defaults to ArduCopter',
+                        )
+    parser.add_argument('--verbose', action='store_true',
+                        help='Increase output verbosity, print ReadOnly parameter list. Defaults to false',
+                        )
+    parser.add_argument('-v', '--version', action='version', version=f'%(prog)s {VERSION}',
+                        help='Display version information and exit.',
+                        )
+    args = parser.parse_args()
+
+    if args.verbose:
+        logging.basicConfig(level=logging.INFO, format='%(levelname)s: %(message)s')
+    else:
+        logging.basicConfig(level=logging.WARNING, format='%(levelname)s: %(message)s')
+
+    return args
+
+
+def get_xml_data(base_url: str, directory: str, filename: str) -> ET.Element:
+    """
+    Fetches XML data from a local file or a URL.
+
+    Args:
+        base_url (str): The base URL for fetching the XML file.
+        directory (str): The directory where the XML file is expected.
+        filename (str): The name of the XML file.
+
+    Returns:
+        ET.Element: The root element of the parsed XML data.
+    """
+    file_path = os.path.join(directory, filename)
+    # Check if the locally cached file exists
+    if os.path.isfile(file_path):
+        # Load the file content relative to the script location
+        with open(file_path, "r", encoding="utf-8") as file:
+            xml_data = file.read()
+    else:
+        # No locally cached file exists, get it from the internet
+        try:
+            import requests  # pylint: disable=C0415
+        except ImportError:
+            logging.error("The requests package was not found")
+            logging.error("Please install it by running 'pip install requests' in your terminal.")
+            raise SystemExit("requests package is not installed")  # pylint: disable=W0707
+        try:
+            # Send a GET request to the URL
+            response = requests.get(base_url + filename, timeout=5)
+        except requests.exceptions.RequestException as e:
+            logging.error("Unable to fetch XML data: %s", e)
+            raise SystemExit("unable to fetch online XML documentation")  # pylint: disable=W0707
+        # Get the text content of the response
+        xml_data = response.text
+        # Write the content to a file
+        with open(os.path.join(directory, filename), "w", encoding="utf-8") as file:
+            file.write(xml_data)
+
+    # Parse the XML data
+    root = ET.fromstring(xml_data)
+    return root
+
+
+def remove_prefix(text: str, prefix: str) -> str:
+    """
+    Removes a prefix from a string.
+
+    Args:
+        text (str): The original string.
+        prefix (str): The prefix to remove.
+
+    Returns:
+        str: The string without the prefix.
+    """
+    if text.startswith(prefix):
+        return text[len(prefix):]
+    return text
+
+
+def split_into_lines(string_to_split: str, maximum_line_length: int) -> List[str]:
+    """
+    Splits a string into lines of a maximum length.
+
+    Args:
+        string_to_split (str): The string to split.
+        maximum_line_length (int): The maximum length of a line.
+
+    Returns:
+        List[str]: The list of lines.
+    """
+    doc_lines = re.findall(
+        r".{1," + str(maximum_line_length) + r"}(?:\s|$)", string_to_split
+    )
+    # Remove trailing whitespace from each line
+    return [line.rstrip() for line in doc_lines]
+
+
+def create_doc_dict(root: ET.Element, vehicle_type: str) -> Dict[str, Any]:
+    """
+    Create a dictionary of parameter documentation from the root element of the parsed XML data.
+
+    Args:
+        root (ET.Element): The root element of the parsed XML data.
+
+    Returns:
+        Dict[str, Any]: A dictionary of parameter documentation.
+    """
+    # Dictionary to store the parameter documentation
+    doc = {}
+
+    # Use the findall method with an XPath expression to find all "param" elements
+    for param in root.findall(".//param"):
+        name = param.get("name")
+        # Remove the <vehicle_type>: prefix from the name if it exists
+        name = remove_prefix(name, vehicle_type + ":")
+
+        human_name = param.get("humanName")
+        documentation = split_into_lines(param.get("documentation"), 100)
+        # the keys are the "name" attribute of the "field" sub-elements
+        # the values are the text content of the "field" sub-elements
+        fields = {field.get("name"): field.text for field in param.findall("field")}
+        # if Units and UnitText exist, combine them into a single element
+        delete_unit_text = False
+        for key, value in fields.items():
+            if key == "Units" and "UnitText" in fields:
+                fields[key] = f"{value} ({fields['UnitText']})"
+                delete_unit_text = True
+        if delete_unit_text:
+            del fields['UnitText']
+        # the keys are the "code" attribute of the "values/value" sub-elements
+        # the values are the text content of the "values/value" sub-elements
+        values = {value.get("code"): value.text for value in param.findall("values/value")}
+
+        # Dictionary with "Parameter names" as keys and the values is a
+        # dictionary with "humanName", "documentation" attributes and
+        # "fields", "values" sub-elements.
+        doc[name] = {
+            "humanName": human_name,
+            "documentation": documentation,
+            "fields": fields,
+            "values": values,
+        }
+
+    return doc
+
+
+def format_columns(values: Dict[str, Any], max_width: int = 105, max_columns: int = 4) -> List[str]:
+    """
+    Formats a dictionary of values into column-major horizontally aligned columns.
+    It uses at most max_columns columns
+
+    Args:
+        values (Dict[str, Any]): The dictionary of values to format.
+        max_width (int, optional): The maximum number of characters on all columns. Defaults to 105.
+
+    Returns:
+        List[str]: The list of formatted strings.
+    """
+    # Convert the dictionary into a list of strings
+    strings = [f"{k}: {v}" for k, v in values.items()]
+
+    if (not strings) or (len(strings) == 0):
+        return []
+
+    # Calculate the maximum length of the strings
+    max_len = max(len(s) for s in strings)
+
+    # Determine the number of columns
+    # Column distribution will only happen if it results in more than 5 rows
+    # The strings will be distributed evenly across up-to max_columns columns.
+    for num_cols in range(max_columns, 0, -1):
+        if len(strings) // num_cols > 5 and (max_len + 2) * num_cols < max_width:
+            break
+
+    # Calculate the column width
+    col_width = max_width // num_cols
+
+    num_rows = (len(strings) + num_cols - 1) // num_cols
+
+    formatted_strings = []
+    for j in range(num_rows):
+        row = []
+        for i in range(num_cols):
+            if i*num_rows + j < len(strings):
+                if i < num_cols - 1 and ((i+1)*num_rows + j < len(strings)):
+                    row.append(strings[i*num_rows + j].ljust(col_width))
+                else:
+                    row.append(strings[i*num_rows + j])
+        formatted_strings.append(" ".join(row))
+
+    return formatted_strings
+
+
+def extract_parameter_name(item: str) -> str:
+    """
+    Extract the parameter name from a line. Very simple to be used in sorting
+    """
+    item = item.strip()
+    match = re.match(PARAM_NAME_REGEX, item)
+    return match.group(0) if match else item
+
+
+def missionplanner_sort(item: str) -> Tuple[str, ...]:
+    """
+    MissionPlanner parameter sorting function
+    """
+    # Split the parameter name by underscore
+    parts = extract_parameter_name(item).split("_")
+    # Compare the parts separately
+    return tuple(parts)
+
+
+def extract_parameter_name_and_validate(line: str, filename: str, line_nr: int) -> str:
+    """
+    Extracts the parameter name from a line and validates it.
+    Args:
+        line (str): The line to extract the parameter name from.
+    Returns:
+        str: The extracted parameter name.
+    Raises:
+        SystemExit: If the line is invalid or the parameter name is too long or invalid.
+    """
+    # Extract the parameter name
+    match = re.match(PARAM_NAME_REGEX, line)
+    if match:
+        param_name = match.group(0)
+    else:
+        logging.error("Invalid line %d in file %s: %s", line_nr, filename, line)
+        raise SystemExit("Invalid line in input file")
+    param_len = len(param_name)
+    param_sep = line[param_len] # the character following the parameter name must be a separator
+    if param_sep not in {',', ' ', '\t'}:
+        logging.error("Invalid parameter name %s on line %d in file %s", param_name, line_nr,
+                      filename)
+        raise SystemExit("Invalid parameter name")
+    if param_len > PARAM_NAME_MAX_LEN:
+        logging.error("Too long parameter name on line %d in file %s", line_nr, filename)
+        raise SystemExit("Too long parameter name")
+    return param_name
+
+
+def update_parameter_documentation(doc: Dict[str, Any], target: str = '.', sort_type: str = 'none') -> None:
+    """
+    Updates the parameter documentation in the target file or in all *.param,*.parm files of the target directory.
+
+    This function iterates over all the ArduPilot parameter files in the target directory or file.
+    For each file, it DELETES all comments that start at the beginning of a line, optionally sorts the
+    parameter names and checks if the parameter name is in the dictionary of parameter documentation.
+    If it is, it prefixes the line with comment derived from the dictionary element.
+    If it's not, it copies the parameter line 1-to-1.
+    After processing all the parameters in a file, it writes the new lines back to the file.
+
+    Args:
+        doc (Dict[str, Any]): A dictionary of parameter documentation.
+        target (str, optional): The target directory or file. Defaults to '.'.
+        sort_type (str, optional): The type of sorting to apply to the parameters.
+                                   Can be 'none', 'missionplanner', or 'mavproxy'. Defaults to 'none'.
+    """
+    # Check if the target is a file or a directory
+    if os.path.isfile(target):
+        # If it's a file, process only that file
+        param_files = [target]
+    elif os.path.isdir(target):
+        # If it's a directory, process all .param and .parm files in that directory
+        param_files = glob.glob(os.path.join(target, "*.param")) \
+                    + glob.glob(os.path.join(target, "*.parm"))
+    else:
+        raise ValueError(f"Target '{target}' is neither a file nor a directory.")
+
+    # Iterate over all the target ArduPilot parameter files
+    for param_file in param_files:
+
+        # Read the entire file contents
+        with open(param_file, "r", encoding="utf-8") as file:
+            lines = file.readlines()
+
+        new_lines = []
+        total_params = 0
+        documented_params = 0
+        undocumented_params = []
+        is_first_param_in_file = True  # pylint: disable=C0103
+        if sort_type == "missionplanner":
+            lines.sort(key=missionplanner_sort)
+        if sort_type == "mavproxy":
+            lines.sort(key=extract_parameter_name)
+        for n, line in enumerate(lines, start=1):
+            line = line.strip()
+            if not line.startswith("#") and line:
+                param_name = extract_parameter_name_and_validate(line, param_file, n)
+
+                if param_name in doc:
+                    # If the parameter name is in the dictionary,
+                    #  prefix the line with comment derived from the dictionary element
+                    data = doc[param_name]
+                    prefix_parts = [
+                        f"{data['humanName']}",
+                    ]
+                    prefix_parts += data["documentation"]
+                    for key, value in data["fields"].items():
+                        prefix_parts.append(f"{key}: {value}")
+                    prefix_parts += format_columns(data["values"])
+                    doc_text = "\n# ".join(prefix_parts)  # pylint: disable=C0103
+                    if not is_first_param_in_file:
+                        new_lines.append("\n")
+                    new_lines.append(f"# {doc_text}\n{line}\n")
+                    documented_params += 1
+                else:
+                    # If the parameter name is in not the dictionary, copy the parameter line 1-to-1
+                    new_lines.append(f"{line}\n")
+                    undocumented_params.append(param_name)
+                total_params += 1
+                is_first_param_in_file = False
+
+        if total_params == documented_params:
+            logging.info("Read file %s with %d parameters, all got documented",
+                         param_file, total_params)
+        else:
+            logging.warning("Read file %s with %d parameters, but only %s of which got documented",
+                            param_file, total_params, documented_params)
+            logging.warning("No documentation found for: %s", ", ".join(undocumented_params))
+
+        # Write the new file contents to the file
+        with open(param_file, "w", encoding="utf-8") as file:
+            file.writelines(new_lines)
+
+
+def print_read_only_params(doc):
+    """
+    Print the names of read-only parameters.
+
+    Args:
+        doc (dict): A dictionary of parameter documentation.
+    """
+    logging.info("ReadOnly parameters:")
+    for param_name, param_value in doc.items():
+        if 'ReadOnly' in param_value['fields'] and param_value['fields']['ReadOnly']:
+            logging.info(param_name)
+
+
+def main():
+    args = arg_parser()
+    try:
+        xml_dir = args.target if os.path.isdir(args.target) else os.path.dirname(os.path.realpath(args.target))
+        xml_root = get_xml_data(BASE_URL + args.vehicle_type + "/", xml_dir, PARAM_DEFINITION_XML_FILE)
+        doc_dict = create_doc_dict(xml_root, args.vehicle_type)
+        update_parameter_documentation(doc_dict, args.target, args.sort)
+        if args.verbose:
+            print_read_only_params(doc_dict)
+    except Exception as exp:  # pylint: disable=W0718
+        logging.fatal(exp)
+        exit(1)  # pylint: disable=R1722
+
+
+if __name__ == "__main__":
+    main()

From 37e7c33916aaa5d8eb37528a98c552b6ed8e0045 Mon Sep 17 00:00:00 2001
From: Clyde McQueen <clyde@mcqueen.net>
Date: Wed, 21 Feb 2024 12:11:15 -0800
Subject: [PATCH 1210/1335] AP_JSButton: add SURFTRAK mode

---
 libraries/AP_JSButton/AP_JSButton.cpp | 4 ++--
 libraries/AP_JSButton/AP_JSButton.h   | 3 ++-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_JSButton/AP_JSButton.cpp b/libraries/AP_JSButton/AP_JSButton.cpp
index 95ee43f4221443..865a3a1743e4d1 100644
--- a/libraries/AP_JSButton/AP_JSButton.cpp
+++ b/libraries/AP_JSButton/AP_JSButton.cpp
@@ -5,14 +5,14 @@ const AP_Param::GroupInfo JSButton::var_info[] = {
     // @Param: FUNCTION
     // @DisplayName: Function for button
     // @Description: Set to 0 to disable or choose a function
-    // @Values: 0:Disabled,1:shift,2:arm_toggle,3:arm,4:disarm,5:mode_manual,6:mode_stabilize,7:mode_depth_hold,8:mode_poshold,9:mode_auto,10:mode_circle,11:mode_guided,12:mode_acro,21:mount_center,22:mount_tilt_up,23:mount_tilt_down,24:camera_trigger,25:camera_source_toggle,26:mount_pan_right,27:mount_pan_left,31:lights1_cycle,32:lights1_brighter,33:lights1_dimmer,34:lights2_cycle,35:lights2_brighter,36:lights2_dimmer,41:gain_toggle,42:gain_inc,43:gain_dec,44:trim_roll_inc,45:trim_roll_dec,46:trim_pitch_inc,47:trim_pitch_dec,48:input_hold_set,49:roll_pitch_toggle,51:relay_1_on,52:relay_1_off,53:relay_1_toggle,54:relay_2_on,55:relay_2_off,56:relay_2_toggle,57:relay_3_on,58:relay_3_off,59:relay_3_toggle,61:servo_1_inc,62:servo_1_dec,63:servo_1_min,64:servo_1_max,65:servo_1_center,66:servo_2_inc,67:servo_2_dec,68:servo_2_min,69:servo_2_max,70:servo_2_center,71:servo_3_inc,72:servo_3_dec,73:servo_3_min,74:servo_3_max,75:servo_3_center,76:servo_1_min_momentary,77:servo_1_max_momentary,78:servo_1_min_toggle,79:servo_1_max_toggle,80:servo_2_min_momentary,81:servo_2_max_momentary,82:servo_2_min_toggle,83:servo_2_max_toggle,84:servo_3_min_momentary,85:servo_3_max_momentary,86:servo_3_min_toggle,87:servo_3_max_toggle,91:custom_1,92:custom_2,93:custom_3,94:custom_4,95:custom_5,96:custom_6,101:relay_4_on,102:relay_4_off,103:relay_4_toggle,104:relay_1_momentary,105:relay_2_momentary,106:relay_3_momentary,107:relay_4_momentary,108:script_1,109:script_2,110:script_3,111:script_4
+    // @Values: 0:Disabled,1:shift,2:arm_toggle,3:arm,4:disarm,5:mode_manual,6:mode_stabilize,7:mode_depth_hold,8:mode_poshold,9:mode_auto,10:mode_circle,11:mode_guided,12:mode_acro,13:mode_surftrak,21:mount_center,22:mount_tilt_up,23:mount_tilt_down,24:camera_trigger,25:camera_source_toggle,26:mount_pan_right,27:mount_pan_left,31:lights1_cycle,32:lights1_brighter,33:lights1_dimmer,34:lights2_cycle,35:lights2_brighter,36:lights2_dimmer,41:gain_toggle,42:gain_inc,43:gain_dec,44:trim_roll_inc,45:trim_roll_dec,46:trim_pitch_inc,47:trim_pitch_dec,48:input_hold_set,49:roll_pitch_toggle,51:relay_1_on,52:relay_1_off,53:relay_1_toggle,54:relay_2_on,55:relay_2_off,56:relay_2_toggle,57:relay_3_on,58:relay_3_off,59:relay_3_toggle,61:servo_1_inc,62:servo_1_dec,63:servo_1_min,64:servo_1_max,65:servo_1_center,66:servo_2_inc,67:servo_2_dec,68:servo_2_min,69:servo_2_max,70:servo_2_center,71:servo_3_inc,72:servo_3_dec,73:servo_3_min,74:servo_3_max,75:servo_3_center,76:servo_1_min_momentary,77:servo_1_max_momentary,78:servo_1_min_toggle,79:servo_1_max_toggle,80:servo_2_min_momentary,81:servo_2_max_momentary,82:servo_2_min_toggle,83:servo_2_max_toggle,84:servo_3_min_momentary,85:servo_3_max_momentary,86:servo_3_min_toggle,87:servo_3_max_toggle,91:custom_1,92:custom_2,93:custom_3,94:custom_4,95:custom_5,96:custom_6,101:relay_4_on,102:relay_4_off,103:relay_4_toggle,104:relay_1_momentary,105:relay_2_momentary,106:relay_3_momentary,107:relay_4_momentary,108:script_1,109:script_2,110:script_3,111:script_4
     // @User: Standard
     AP_GROUPINFO("FUNCTION", 1, JSButton, _function, 0),
 
     // @Param: SFUNCTION
     // @DisplayName: Function for button when the shift mode is toggled on
     // @Description: Set to 0 to disable or choose a function
-    // @Values: 0:Disabled,1:shift,2:arm_toggle,3:arm,4:disarm,5:mode_manual,6:mode_stabilize,7:mode_depth_hold,8:mode_poshold,9:mode_auto,10:mode_circle,11:mode_guided,12:mode_acro,21:mount_center,22:mount_tilt_up,23:mount_tilt_down,24:camera_trigger,25:camera_source_toggle,26:mount_pan_right,27:mount_pan_left,31:lights1_cycle,32:lights1_brighter,33:lights1_dimmer,34:lights2_cycle,35:lights2_brighter,36:lights2_dimmer,41:gain_toggle,42:gain_inc,43:gain_dec,44:trim_roll_inc,45:trim_roll_dec,46:trim_pitch_inc,47:trim_pitch_dec,48:input_hold_set,49:roll_pitch_toggle,51:relay_1_on,52:relay_1_off,53:relay_1_toggle,54:relay_2_on,55:relay_2_off,56:relay_2_toggle,57:relay_3_on,58:relay_3_off,59:relay_3_toggle,61:servo_1_inc,62:servo_1_dec,63:servo_1_min,64:servo_1_max,65:servo_1_center,66:servo_2_inc,67:servo_2_dec,68:servo_2_min,69:servo_2_max,70:servo_2_center,71:servo_3_inc,72:servo_3_dec,73:servo_3_min,74:servo_3_max,75:servo_3_center,76:servo_1_min_momentary,77:servo_1_max_momentary,78:servo_1_min_toggle,79:servo_1_max_toggle,80:servo_2_min_momentary,81:servo_2_max_momentary,82:servo_2_min_toggle,83:servo_2_max_toggle,84:servo_3_min_momentary,85:servo_3_max_momentary,86:servo_3_min_toggle,87:servo_3_max_toggle,91:custom_1,92:custom_2,93:custom_3,94:custom_4,95:custom_5,96:custom_6,101:relay_4_on,102:relay_4_off,103:relay_4_toggle,104:relay_1_momentary,105:relay_2_momentary,106:relay_3_momentary,107:relay_4_momentary,108:script_1,109:script_2,110:script_3,111:script_4
+    // @Values: 0:Disabled,1:shift,2:arm_toggle,3:arm,4:disarm,5:mode_manual,6:mode_stabilize,7:mode_depth_hold,8:mode_poshold,9:mode_auto,10:mode_circle,11:mode_guided,12:mode_acro,13:mode_surftrak,21:mount_center,22:mount_tilt_up,23:mount_tilt_down,24:camera_trigger,25:camera_source_toggle,26:mount_pan_right,27:mount_pan_left,31:lights1_cycle,32:lights1_brighter,33:lights1_dimmer,34:lights2_cycle,35:lights2_brighter,36:lights2_dimmer,41:gain_toggle,42:gain_inc,43:gain_dec,44:trim_roll_inc,45:trim_roll_dec,46:trim_pitch_inc,47:trim_pitch_dec,48:input_hold_set,49:roll_pitch_toggle,51:relay_1_on,52:relay_1_off,53:relay_1_toggle,54:relay_2_on,55:relay_2_off,56:relay_2_toggle,57:relay_3_on,58:relay_3_off,59:relay_3_toggle,61:servo_1_inc,62:servo_1_dec,63:servo_1_min,64:servo_1_max,65:servo_1_center,66:servo_2_inc,67:servo_2_dec,68:servo_2_min,69:servo_2_max,70:servo_2_center,71:servo_3_inc,72:servo_3_dec,73:servo_3_min,74:servo_3_max,75:servo_3_center,76:servo_1_min_momentary,77:servo_1_max_momentary,78:servo_1_min_toggle,79:servo_1_max_toggle,80:servo_2_min_momentary,81:servo_2_max_momentary,82:servo_2_min_toggle,83:servo_2_max_toggle,84:servo_3_min_momentary,85:servo_3_max_momentary,86:servo_3_min_toggle,87:servo_3_max_toggle,91:custom_1,92:custom_2,93:custom_3,94:custom_4,95:custom_5,96:custom_6,101:relay_4_on,102:relay_4_off,103:relay_4_toggle,104:relay_1_momentary,105:relay_2_momentary,106:relay_3_momentary,107:relay_4_momentary,108:script_1,109:script_2,110:script_3,111:script_4
     // @User: Standard
     AP_GROUPINFO("SFUNCTION", 2, JSButton, _sfunction, 0),
 
diff --git a/libraries/AP_JSButton/AP_JSButton.h b/libraries/AP_JSButton/AP_JSButton.h
index f5005fcf6b7d54..19e1879f055b72 100644
--- a/libraries/AP_JSButton/AP_JSButton.h
+++ b/libraries/AP_JSButton/AP_JSButton.h
@@ -22,8 +22,9 @@ class JSButton {
         k_mode_circle           = 10,           ///< enter circle mode
         k_mode_guided           = 11,           ///< enter guided mode
         k_mode_acro             = 12,           ///< enter acro mode
+        k_mode_surftrak         = 13,           ///< enter surftrak mode
 
-        // 12-20 reserved for future mode functions
+        // 14-20 reserved for future mode functions
         k_mount_center          = 21,           ///< move mount to center
         k_mount_tilt_up         = 22,           ///< tilt mount up
         k_mount_tilt_down       = 23,           ///< tilt mount down

From b486c1cb4606b7b60648e702f6c47b6c0165677b Mon Sep 17 00:00:00 2001
From: Clyde McQueen <clyde@mcqueen.net>
Date: Wed, 21 Feb 2024 12:11:46 -0800
Subject: [PATCH 1211/1335] AP_Scripting: expose sub rangefinder methods

---
 libraries/AP_Scripting/docs/docs.lua                | 13 +++++++++++++
 .../generator/description/bindings.desc             |  3 +++
 2 files changed, 16 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 8a8db7001b49b9..f3481947289f9b 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1691,6 +1691,19 @@ function sub:is_button_pressed(index) end
 ---@return integer
 function sub:get_and_clear_button_count(index) end
 
+-- Return true if rangefinder is healthy, includes a check for good signal quality
+---@return boolean
+function sub:rangefinder_alt_ok() end
+
+-- SURFTRAK mode: return the rangefinder target in cm
+---@return float
+function sub:get_rangefinder_target_cm() end
+
+-- SURFTRAK mode: set the rangefinder target in cm, return true if successful
+---@param new_target_cm float
+---@return boolean
+function sub:set_rangefinder_target_cm(new_target_cm) end
+
 
 -- desc
 ---@class quadplane
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 5f4458985fca4d..a5d1729c473787 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -539,6 +539,9 @@ singleton Sub rename sub
 singleton Sub depends APM_BUILD_TYPE(APM_BUILD_ArduSub)
 singleton Sub method get_and_clear_button_count uint8_t uint8_t 1 4
 singleton Sub method is_button_pressed boolean uint8_t 1 4
+singleton Sub method rangefinder_alt_ok boolean
+singleton Sub method get_rangefinder_target_cm float
+singleton Sub method set_rangefinder_target_cm boolean float'skip_check
 
 include AP_Motors/AP_MotorsMatrix.h depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
 singleton AP_MotorsMatrix depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI

From f9db039dcc3b1c8e2a2c8030d927a266d6a01f0c Mon Sep 17 00:00:00 2001
From: Clyde McQueen <clyde@mcqueen.net>
Date: Wed, 21 Feb 2024 12:12:34 -0800
Subject: [PATCH 1212/1335] Sub: add SURFTRAK mode

---
 ArduSub/Attitude.cpp                   |  40 ------
 ArduSub/GCS_Mavlink.cpp                |   3 +
 ArduSub/Log.cpp                        |  10 +-
 ArduSub/Parameters.cpp                 |  24 ++--
 ArduSub/Parameters.h                   |   7 +-
 ArduSub/Sub.h                          |  22 ++--
 ArduSub/config.h                       |  20 +--
 ArduSub/joystick.cpp                   |   5 +
 ArduSub/mode.cpp                       |   3 +
 ArduSub/mode.h                         |  37 +++++-
 ArduSub/mode_althold.cpp               |  15 ++-
 ArduSub/mode_surftrak.cpp              | 165 +++++++++++++++++++++++++
 ArduSub/sensors.cpp                    |  36 ++++--
 Tools/autotest/ardusub.py              |  71 ++++++++++-
 Tools/autotest/default_params/sub.parm |   1 +
 15 files changed, 371 insertions(+), 88 deletions(-)
 create mode 100644 ArduSub/mode_surftrak.cpp

diff --git a/ArduSub/Attitude.cpp b/ArduSub/Attitude.cpp
index 408d9bfa6b1cad..de41b8833ec011 100644
--- a/ArduSub/Attitude.cpp
+++ b/ArduSub/Attitude.cpp
@@ -123,46 +123,6 @@ float Sub::get_pilot_desired_climb_rate(float throttle_control)
     return desired_rate;
 }
 
-// get_surface_tracking_climb_rate - hold vehicle at the desired distance above the ground
-//      returns climb rate (in cm/s) which should be passed to the position controller
-float Sub::get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt)
-{
-#if RANGEFINDER_ENABLED == ENABLED
-    static uint32_t last_call_ms = 0;
-    float distance_error;
-    float velocity_correction;
-    float current_alt = inertial_nav.get_position_z_up_cm();
-
-    uint32_t now = AP_HAL::millis();
-
-    // reset target altitude if this controller has just been engaged
-    if (now - last_call_ms > RANGEFINDER_TIMEOUT_MS) {
-        target_rangefinder_alt = rangefinder_state.alt_cm + current_alt_target - current_alt;
-    }
-    last_call_ms = now;
-
-    // adjust rangefinder target alt if motors have not hit their limits
-    if ((target_rate<0 && !motors.limit.throttle_lower) || (target_rate>0 && !motors.limit.throttle_upper)) {
-        target_rangefinder_alt += target_rate * dt;
-    }
-
-    // do not let target altitude get too far from current altitude above ground
-    target_rangefinder_alt = constrain_float(target_rangefinder_alt,
-        rangefinder_state.alt_cm - pos_control.get_pos_error_z_down_cm(),
-        rangefinder_state.alt_cm + pos_control.get_pos_error_z_up_cm());
-
-    // calc desired velocity correction from target rangefinder alt vs actual rangefinder alt (remove the error already passed to Altitude controller to avoid oscillations)
-    distance_error = (target_rangefinder_alt - rangefinder_state.alt_cm) - (current_alt_target - current_alt);
-    velocity_correction = distance_error * g.rangefinder_gain;
-    velocity_correction = constrain_float(velocity_correction, -THR_SURFACE_TRACKING_VELZ_MAX, THR_SURFACE_TRACKING_VELZ_MAX);
-
-    // return combined pilot climb rate + rate to correct rangefinder alt error
-    return (target_rate + velocity_correction);
-#else
-    return (float)target_rate;
-#endif
-}
-
 // rotate vector from vehicle's perspective to North-East frame
 void Sub::rotate_body_frame_to_NE(float &x, float &y)
 {
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 3b5fb95d79fd49..a2be9236718b58 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -144,6 +144,9 @@ bool GCS_MAVLINK_Sub::send_info()
     CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
     send_named_float("RollPitch", sub.roll_pitch_flag);
 
+    CHECK_PAYLOAD_SIZE(NAMED_VALUE_FLOAT);
+    send_named_float("RFTarget", sub.mode_surftrak.get_rangefinder_target_cm() / 100.0f);
+
     return true;
 }
 
diff --git a/ArduSub/Log.cpp b/ArduSub/Log.cpp
index 45603f2d3aed1f..e197ad3ba4d9cb 100644
--- a/ArduSub/Log.cpp
+++ b/ArduSub/Log.cpp
@@ -28,7 +28,13 @@ void Sub::Log_Write_Control_Tuning()
     // get terrain altitude
     float terr_alt = 0.0f;
 #if AP_TERRAIN_AVAILABLE
-    terrain.height_above_terrain(terr_alt, true);
+    if (terrain.enabled()) {
+        terrain.height_above_terrain(terr_alt, true);
+    } else {
+        terr_alt = rangefinder_state.rangefinder_terrain_offset_cm * 0.01f;
+    }
+#else
+    terr_alt = rangefinder_state.rangefinder_terrain_offset_cm * 0.01f;
 #endif
 
     struct log_Control_Tuning pkt = {
@@ -41,7 +47,7 @@ void Sub::Log_Write_Control_Tuning()
         desired_alt         : pos_control.get_pos_target_z_cm() / 100.0f,
         inav_alt            : inertial_nav.get_position_z_up_cm() * 0.01f,
         baro_alt            : barometer.get_altitude(),
-        desired_rangefinder_alt   : (int16_t)target_rangefinder_alt,
+        desired_rangefinder_alt   : (int16_t)mode_surftrak.get_rangefinder_target_cm(),
         rangefinder_alt           : rangefinder_state.alt_cm,
         terr_alt            : terr_alt,
         target_climb_rate   : (int16_t)pos_control.get_vel_target_z_cms(),
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 8d0fd2ef9792ec..1a469c4c1e3daf 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -75,16 +75,6 @@ const AP_Param::Info Sub::var_info[] = {
     // @Bitmask: 0:Roll,1:Pitch,2:Yaw
     GSCALAR(gcs_pid_mask,           "GCS_PID_MASK",     0),
 
-#if RANGEFINDER_ENABLED == ENABLED
-    // @Param: RNGFND_GAIN
-    // @DisplayName: Rangefinder gain
-    // @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the sub
-    // @Range: 0.01 2.0
-    // @Increment: 0.01
-    // @User: Standard
-    GSCALAR(rangefinder_gain,     "RNGFND_GAIN",           RANGEFINDER_GAIN_DEFAULT),
-#endif
-
     // @Param: FS_GCS_ENABLE
     // @DisplayName: Ground Station Failsafe Enable
     // @Description: Controls what action to take when GCS heartbeat is lost.
@@ -647,6 +637,20 @@ const AP_Param::Info Sub::var_info[] = {
     // @Group: RNGFND
     // @Path: ../libraries/AP_RangeFinder/AP_RangeFinder.cpp
     GOBJECT(rangefinder,   "RNGFND", RangeFinder),
+
+    // @Param: RNGFND_SQ_MIN
+    // @DisplayName: Rangefinder signal quality minimum
+    // @Description: Minimum signal quality for good rangefinder readings
+    // @Range: 0 100
+    // @User: Advanced
+    GSCALAR(rangefinder_signal_min, "RNGFND_SQ_MIN", RANGEFINDER_SIGNAL_MIN_DEFAULT),
+
+    // @Param: SURFTRAK_DEPTH
+    // @DisplayName: SURFTRAK minimum depth
+    // @Description: Minimum depth to engage SURFTRAK mode
+    // @Units: cm
+    // @User: Standard
+    GSCALAR(surftrak_depth, "SURFTRAK_DEPTH", SURFTRAK_DEPTH_DEFAULT),
 #endif
 
 #if AP_TERRAIN_AVAILABLE
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index 6ea9608f8c8ffb..0a9c1aa5dd1522 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -190,7 +190,7 @@ class Parameters {
         // Misc Sub settings
         k_param_log_bitmask = 165,
         k_param_angle_max = 167,
-        k_param_rangefinder_gain,
+        k_param_rangefinder_gain, // deprecated
         k_param_wp_yaw_behavior = 170,
         k_param_xtrack_angle_limit, // Angle limit for crosstrack correction in Auto modes (degrees)
         k_param_pilot_speed_up,     // renamed from k_param_pilot_velocity_z_max
@@ -228,6 +228,8 @@ class Parameters {
         k_param_cam_slew_limit = 237, // deprecated
         k_param_lights_steps,
         k_param_pilot_speed_dn,
+        k_param_rangefinder_signal_min,
+        k_param_surftrak_depth,
 
         k_param_vehicle = 257, // vehicle common block of parameters
     };
@@ -242,7 +244,8 @@ class Parameters {
     AP_Float        throttle_filt;
 
 #if RANGEFINDER_ENABLED == ENABLED
-    AP_Float        rangefinder_gain;
+    AP_Int8         rangefinder_signal_min;     // minimum signal quality for good rangefinder readings
+    AP_Float        surftrak_depth;             // surftrak will try to keep sub below this depth
 #endif
 
     AP_Int8         failsafe_leak;              // leak detection failsafe behavior
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 69b43eb8a5b318..483425f7915079 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -111,6 +111,7 @@ class Sub : public AP_Vehicle {
     friend class ModeStabilize;
     friend class ModeAcro;
     friend class ModeAlthold;
+    friend class ModeSurftrak;
     friend class ModeGuided;
     friend class ModePoshold;
     friend class ModeAuto;
@@ -147,9 +148,13 @@ class Sub : public AP_Vehicle {
         bool enabled:1;
         bool alt_healthy:1; // true if we can trust the altitude from the rangefinder
         int16_t alt_cm;     // tilt compensated altitude (in cm) from rangefinder
+        int16_t min_cm;     // min rangefinder distance (in cm)
+        int16_t max_cm;     // max rangefinder distance (in cm)
         uint32_t last_healthy_ms;
-        LowPassFilterFloat alt_cm_filt; // altitude filter
-    } rangefinder_state = { false, false, 0, 0 };
+        float inertial_alt_cm;                  // inertial alt at time of last rangefinder sample
+        float rangefinder_terrain_offset_cm;    // terrain height above EKF origin
+        LowPassFilterFloat alt_cm_filt;         // altitude filter
+    } rangefinder_state = { false, false, 0, 0, 0, 0, 0, 0 };
 
 #if AP_RPM_ENABLED
     AP_RPM rpm_sensor;
@@ -268,7 +273,6 @@ class Sub : public AP_Vehicle {
     // Altitude
     // The cm/s we are moving up or down based on filtered data - Positive = UP
     int16_t climb_rate;
-    float target_rangefinder_alt;      // desired altitude in cm above the ground
 
     // Turn counter
     int32_t quarter_turn_count;
@@ -391,7 +395,6 @@ class Sub : public AP_Vehicle {
     float get_roi_yaw();
     float get_look_ahead_yaw();
     float get_pilot_desired_climb_rate(float throttle_control);
-    float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
     void rotate_body_frame_to_NE(float &x, float &y);
 #if HAL_LOGGING_ENABLED
     // methods for AP_Vehicle:
@@ -475,7 +478,6 @@ class Sub : public AP_Vehicle {
     void read_barometer(void);
     void init_rangefinder(void);
     void read_rangefinder(void);
-    bool rangefinder_alt_ok(void) const;
     void terrain_update();
     void terrain_logging();
     void init_ardupilot() override;
@@ -533,9 +535,6 @@ class Sub : public AP_Vehicle {
     void translate_circle_nav_rp(float &lateral_out, float &forward_out);
     void translate_pos_control_rp(float &lateral_out, float &forward_out);
 
-    bool surface_init(void);
-    void surface_run();
-
     void stats_update();
 
     uint16_t get_pilot_speed_dn() const;
@@ -587,6 +586,7 @@ class Sub : public AP_Vehicle {
     ModeCircle mode_circle;
     ModeSurface mode_surface;
     ModeMotordetect mode_motordetect;
+    ModeSurftrak mode_surftrak;
 
     // Auto
     AutoSubMode auto_mode;   // controls which auto controller is run
@@ -598,6 +598,7 @@ class Sub : public AP_Vehicle {
 
 public:
     void mainloop_failsafe_check();
+    bool rangefinder_alt_ok() const WARN_IF_UNUSED;
 
     static Sub *_singleton;
 
@@ -611,6 +612,11 @@ class Sub : public AP_Vehicle {
 
     // For Lua scripting, so index is 1..4, not 0..3
     uint8_t get_and_clear_button_count(uint8_t index);
+
+#if RANGEFINDER_ENABLED == ENABLED
+    float get_rangefinder_target_cm() const WARN_IF_UNUSED { return mode_surftrak.get_rangefinder_target_cm(); }
+    bool set_rangefinder_target_cm(float new_target_cm) { return mode_surftrak.set_rangefinder_target_cm(new_target_cm); }
+#endif // RANGEFINDER_ENABLED
 #endif // AP_SCRIPTING_ENABLED
 };
 
diff --git a/ArduSub/config.h b/ArduSub/config.h
index d4cdc55bf93d5c..673cd17ae81a6f 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -54,14 +54,6 @@
 # define RANGEFINDER_HEALTH_MAX 3          // number of good reads that indicates a healthy rangefinder
 #endif
 
-#ifndef RANGEFINDER_GAIN_DEFAULT
-# define RANGEFINDER_GAIN_DEFAULT 0.8f     // gain for controlling how quickly rangefinder range adjusts target altitude (lower means slower reaction)
-#endif
-
-#ifndef THR_SURFACE_TRACKING_VELZ_MAX
-# define THR_SURFACE_TRACKING_VELZ_MAX 150 // max vertical speed change while surface tracking with rangefinder
-#endif
-
 #ifndef RANGEFINDER_TIMEOUT_MS
 # define RANGEFINDER_TIMEOUT_MS  1000      // desired rangefinder alt will reset to current rangefinder alt after this many milliseconds without a good rangefinder alt
 #endif
@@ -70,8 +62,16 @@
 # define RANGEFINDER_WPNAV_FILT_HZ   0.25f // filter frequency for rangefinder altitude provided to waypoint navigation class
 #endif
 
-#ifndef RANGEFINDER_TILT_CORRECTION         // by disable tilt correction for use of range finder data by EKF
-# define RANGEFINDER_TILT_CORRECTION ENABLED
+#ifndef RANGEFINDER_TILT_CORRECTION        // by disable tilt correction for use of range finder data by EKF
+# define RANGEFINDER_TILT_CORRECTION DISABLED
+#endif
+
+#ifndef RANGEFINDER_SIGNAL_MIN_DEFAULT
+# define RANGEFINDER_SIGNAL_MIN_DEFAULT 90 // rangefinder readings with signal quality below this value are ignored
+#endif
+
+#ifndef SURFTRAK_DEPTH_DEFAULT
+# define SURFTRAK_DEPTH_DEFAULT -50.0f     // surftrak will try to keep the sub below this depth
 #endif
 
 // Avoidance (relies on Proximity and Fence)
diff --git a/ArduSub/joystick.cpp b/ArduSub/joystick.cpp
index 0eeafe94fb403a..ad2710c6c1ae38 100644
--- a/ArduSub/joystick.cpp
+++ b/ArduSub/joystick.cpp
@@ -190,6 +190,11 @@ void Sub::handle_jsbutton_press(uint8_t _button, bool shift, bool held)
     case JSButton::button_function_t::k_mode_poshold:
         set_mode(Mode::Number::POSHOLD, ModeReason::RC_COMMAND);
         break;
+#if RANGEFINDER_ENABLED == ENABLED
+    case JSButton::button_function_t::k_mode_surftrak:
+        set_mode(Mode::Number::SURFTRAK, ModeReason::RC_COMMAND);
+        break;
+#endif
 
     case JSButton::button_function_t::k_mount_center:
 #if HAL_MOUNT_ENABLED
diff --git a/ArduSub/mode.cpp b/ArduSub/mode.cpp
index 9a945d85e49eb1..29d314d72af47b 100644
--- a/ArduSub/mode.cpp
+++ b/ArduSub/mode.cpp
@@ -38,6 +38,9 @@ Mode *Sub::mode_from_mode_num(const Mode::Number mode)
     case Mode::Number::ALT_HOLD:
         ret = &mode_althold;
         break;
+    case Mode::Number::SURFTRAK:
+        ret = &mode_surftrak;
+        break;
     case Mode::Number::POSHOLD:
         ret = &mode_poshold;
         break;
diff --git a/ArduSub/mode.h b/ArduSub/mode.h
index 584f5b26d315db..7e584120c23b1a 100644
--- a/ArduSub/mode.h
+++ b/ArduSub/mode.h
@@ -49,7 +49,8 @@ class Mode
         SURFACE =       9,  // automatically return to surface, pilot maintains horizontal control
         POSHOLD =      16,  // automatic position hold with manual override, with automatic throttle
         MANUAL =       19,  // Pass-through input with no stabilization
-        MOTOR_DETECT = 20   // Automatically detect motors orientation
+        MOTOR_DETECT = 20,  // Automatically detect motors orientation
+        SURFTRAK =     21   // Track distance above seafloor (hold range)
     };
 
     // constructor
@@ -266,11 +267,45 @@ class ModeAlthold : public Mode
 
 protected:
 
+    void run_pre();
+    void run_post();
+
     const char *name() const override { return "ALT_HOLD"; }
     const char *name4() const override { return "ALTH"; }
 };
 
 
+class ModeSurftrak : public ModeAlthold
+{
+
+public:
+    // constructor
+    ModeSurftrak();
+
+    void run() override;
+
+    bool init(bool ignore_checks) override;
+
+    float get_rangefinder_target_cm() const WARN_IF_UNUSED { return rangefinder_target_cm; }
+    bool set_rangefinder_target_cm(float target_cm);
+
+protected:
+
+    const char *name() const override { return "SURFTRAK"; }
+    const char *name4() const override { return "STRK"; }
+
+private:
+
+    void reset();
+    void control_range();
+    void update_surface_offset();
+
+    float rangefinder_target_cm;
+
+    bool pilot_in_control;            // pilot is moving up/down
+    float pilot_control_start_z_cm;   // alt when pilot took control
+};
+
 class ModeGuided : public Mode
 {
 
diff --git a/ArduSub/mode_althold.cpp b/ArduSub/mode_althold.cpp
index 9102ff9f802e72..cf5b2a952f508c 100644
--- a/ArduSub/mode_althold.cpp
+++ b/ArduSub/mode_althold.cpp
@@ -22,6 +22,13 @@ bool ModeAlthold::init(bool ignore_checks) {
 // althold_run - runs the althold controller
 // should be called at 100hz or more
 void ModeAlthold::run()
+{
+    run_pre();
+    control_depth();
+    run_post();
+}
+
+void ModeAlthold::run_pre()
 {
     uint32_t tnow = AP_HAL::millis();
 
@@ -84,13 +91,14 @@ void ModeAlthold::run()
             attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
             sub.last_pilot_heading = ahrs.yaw_sensor; // update heading to hold
 
-        } else { // call attitude controller holding absolute absolute bearing
+        } else { // call attitude controller holding absolute bearing
             attitude_control->input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, sub.last_pilot_heading, true);
         }
     }
+}
 
-    control_depth();
-
+void ModeAlthold::run_post()
+{
     motors.set_forward(channel_forward->norm_input());
     motors.set_lateral(channel_lateral->norm_input());
 }
@@ -111,5 +119,4 @@ void ModeAlthold::control_depth() {
 
     position_control->set_pos_target_z_from_climb_rate_cm(target_climb_rate_cm_s);
     position_control->update_z_controller();
-
 }
diff --git a/ArduSub/mode_surftrak.cpp b/ArduSub/mode_surftrak.cpp
new file mode 100644
index 00000000000000..23f90271c5b9bb
--- /dev/null
+++ b/ArduSub/mode_surftrak.cpp
@@ -0,0 +1,165 @@
+#include "Sub.h"
+
+/*
+ * SURFTRAK (surface tracking) -- a variation on ALT_HOLD (depth hold)
+ *
+ * SURFTRAK starts in the "reset" state (rangefinder_target_cm < 0). SURFTRAK exits the reset state when these
+ * conditions are met:
+ * -- There is a good rangefinder reading (the rangefinder is healthy, the reading is between min and max, etc.)
+ * -- The sub is below SURFTRAK_DEPTH
+ *
+ * During normal operation, SURFTRAK sets the offset target to the current terrain altitude estimate and calls
+ * AC_PosControl to do the rest.
+ *
+ * We generally do not want to reset SURFTRAK if the rangefinder glitches, since that will result in a new rangefinder
+ * target. E.g., if a pilot is running 1m above the seafloor, there is a glitch, and the next rangefinder reading shows
+ * 1.1m, the desired behavior is to move 10cm closer to the seafloor, vs setting a new target of 1.1m above the
+ * seafloor.
+ *
+ * If the pilot takes control, SURFTRAK uses the change in depth readings to adjust the rangefinder target. This
+ * minimizes the "bounce back" that can happen as the slower rangefinder catches up to the quicker barometer.
+ */
+
+#define INVALID_TARGET (-1)
+#define HAS_VALID_TARGET (rangefinder_target_cm > 0)
+
+ModeSurftrak::ModeSurftrak() :
+        rangefinder_target_cm(INVALID_TARGET),
+        pilot_in_control(false),
+        pilot_control_start_z_cm(0)
+{ }
+
+bool ModeSurftrak::init(bool ignore_checks)
+{
+    if (!ModeAlthold::init(ignore_checks)) {
+        return false;
+    }
+
+    reset();
+
+    if (!sub.rangefinder_alt_ok()) {
+        sub.gcs().send_text(MAV_SEVERITY_INFO, "waiting for a rangefinder reading");
+    } else if (sub.inertial_nav.get_position_z_up_cm() >= sub.g.surftrak_depth) {
+        sub.gcs().send_text(MAV_SEVERITY_WARNING, "descend below %f meters to hold range", sub.g.surftrak_depth * 0.01f);
+    }
+
+    return true;
+}
+
+void ModeSurftrak::run()
+{
+    run_pre();
+    control_range();
+    run_post();
+}
+
+/*
+ * Set the rangefinder target, return true if successful. This may be called from scripting so run a few extra checks.
+ */
+bool ModeSurftrak::set_rangefinder_target_cm(float target_cm)
+{
+    bool success = false;
+
+    if (sub.control_mode != Number::SURFTRAK) {
+        sub.gcs().send_text(MAV_SEVERITY_WARNING, "wrong mode, rangefinder target not set");
+    } else if (sub.inertial_nav.get_position_z_up_cm() >= sub.g.surftrak_depth) {
+        sub.gcs().send_text(MAV_SEVERITY_WARNING, "descend below %f meters to set rangefinder target", sub.g.surftrak_depth * 0.01f);
+    } else if (target_cm < (float)sub.rangefinder_state.min_cm) {
+        sub.gcs().send_text(MAV_SEVERITY_WARNING, "rangefinder target below minimum, ignored");
+    } else if (target_cm > (float)sub.rangefinder_state.max_cm) {
+        sub.gcs().send_text(MAV_SEVERITY_WARNING, "rangefinder target above maximum, ignored");
+    } else {
+        success = true;
+    }
+
+    if (success) {
+        rangefinder_target_cm = target_cm;
+        sub.gcs().send_text(MAV_SEVERITY_INFO, "rangefinder target is %.2f meters", rangefinder_target_cm * 0.01f);
+
+        // Initialize the terrain offset
+        auto terrain_offset_cm = sub.inertial_nav.get_position_z_up_cm() - rangefinder_target_cm;
+        sub.pos_control.set_pos_offset_z_cm(terrain_offset_cm);
+        sub.pos_control.set_pos_offset_target_z_cm(terrain_offset_cm);
+
+    } else {
+        reset();
+    }
+
+    return success;
+}
+
+void ModeSurftrak::reset()
+{
+    rangefinder_target_cm = INVALID_TARGET;
+
+    // Reset the terrain offset
+    sub.pos_control.set_pos_offset_z_cm(0);
+    sub.pos_control.set_pos_offset_target_z_cm(0);
+}
+
+/*
+ * Main controller, call at 100hz+
+ */
+void ModeSurftrak::control_range() {
+    float target_climb_rate_cm_s = sub.get_pilot_desired_climb_rate(channel_throttle->get_control_in());
+    target_climb_rate_cm_s = constrain_float(target_climb_rate_cm_s, -sub.get_pilot_speed_dn(), g.pilot_speed_up);
+
+    // Desired_climb_rate returns 0 when within the deadzone
+    if (fabsf(target_climb_rate_cm_s) < 0.05f)  {
+        if (pilot_in_control) {
+            // Pilot has released control; apply the delta to the rangefinder target
+            set_rangefinder_target_cm(rangefinder_target_cm + inertial_nav.get_position_z_up_cm() - pilot_control_start_z_cm);
+            pilot_in_control = false;
+        }
+        if (sub.ap.at_surface) {
+            // Set target depth to 5 cm below SURFACE_DEPTH and reset
+            position_control->set_pos_target_z_cm(MIN(position_control->get_pos_target_z_cm(), g.surface_depth - 5.0f));
+            reset();
+        } else if (sub.ap.at_bottom) {
+            // Set target depth to 10 cm above bottom and reset
+            position_control->set_pos_target_z_cm(MAX(inertial_nav.get_position_z_up_cm() + 10.0f, position_control->get_pos_target_z_cm()));
+            reset();
+        } else {
+            // Typical operation
+            update_surface_offset();
+        }
+    } else if (HAS_VALID_TARGET && !pilot_in_control) {
+        // Pilot has taken control; note the current depth
+        pilot_control_start_z_cm = inertial_nav.get_position_z_up_cm();
+        pilot_in_control = true;
+    }
+
+    // Set the target altitude from the climb rate and the terrain offset
+    position_control->set_pos_target_z_from_climb_rate_cm(target_climb_rate_cm_s);
+
+    // Run the PID controllers
+    position_control->update_z_controller();
+}
+
+/*
+ * Update the AC_PosControl terrain offset if we have a good rangefinder reading
+ */
+void ModeSurftrak::update_surface_offset()
+{
+    if (sub.rangefinder_alt_ok()) {
+        // Get the latest terrain offset
+        float rangefinder_terrain_offset_cm = sub.rangefinder_state.rangefinder_terrain_offset_cm;
+
+        // Handle the first reading or a reset
+        if (!HAS_VALID_TARGET && sub.rangefinder_state.inertial_alt_cm < sub.g.surftrak_depth) {
+            set_rangefinder_target_cm(sub.rangefinder_state.inertial_alt_cm - rangefinder_terrain_offset_cm);
+        }
+
+        if (HAS_VALID_TARGET) {
+            // Will the new offset target cause the sub to ascend above SURFTRAK_DEPTH?
+            float desired_z_cm = rangefinder_terrain_offset_cm + rangefinder_target_cm;
+            if (desired_z_cm >= sub.g.surftrak_depth) {
+                // Adjust the terrain offset to stay below SURFTRAK_DEPTH, this should avoid "at_surface" events
+                rangefinder_terrain_offset_cm += sub.g.surftrak_depth - desired_z_cm;
+            }
+
+            // Set the offset target, AC_PosControl will do the rest
+            sub.pos_control.set_pos_offset_target_z_cm(rangefinder_terrain_offset_cm);
+        }
+    }
+}
diff --git a/ArduSub/sensors.cpp b/ArduSub/sensors.cpp
index 481930cd75190a..a8cb75c7fd9212 100644
--- a/ArduSub/sensors.cpp
+++ b/ArduSub/sensors.cpp
@@ -18,6 +18,7 @@ void Sub::read_barometer()
 void Sub::init_rangefinder()
 {
 #if RANGEFINDER_ENABLED == ENABLED
+    rangefinder.set_log_rfnd_bit(MASK_LOG_CTUN);
     rangefinder.init(ROTATION_PITCH_270);
     rangefinder_state.alt_cm_filt.set_cutoff_frequency(RANGEFINDER_WPNAV_FILT_HZ);
     rangefinder_state.enabled = rangefinder.has_orientation(ROTATION_PITCH_270);
@@ -30,7 +31,13 @@ void Sub::read_rangefinder()
 #if RANGEFINDER_ENABLED == ENABLED
     rangefinder.update();
 
-    rangefinder_state.alt_healthy = ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::Status::Good) && (rangefinder.range_valid_count_orient(ROTATION_PITCH_270) >= RANGEFINDER_HEALTH_MAX));
+    // signal quality ranges from 0 (worst) to 100 (perfect), -1 means n/a
+    int8_t signal_quality_pct = rangefinder.signal_quality_pct_orient(ROTATION_PITCH_270);
+
+    rangefinder_state.alt_healthy =
+            (rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::Status::Good) &&
+            (rangefinder.range_valid_count_orient(ROTATION_PITCH_270) >= RANGEFINDER_HEALTH_MAX) &&
+            (signal_quality_pct == -1 || signal_quality_pct >= g.rangefinder_signal_min);
 
     int16_t temp_alt = rangefinder.distance_cm_orient(ROTATION_PITCH_270);
 
@@ -40,11 +47,13 @@ void Sub::read_rangefinder()
 #endif
 
     rangefinder_state.alt_cm = temp_alt;
+    rangefinder_state.inertial_alt_cm = inertial_nav.get_position_z_up_cm();
+    rangefinder_state.min_cm = rangefinder.min_distance_cm_orient(ROTATION_PITCH_270);
+    rangefinder_state.max_cm = rangefinder.max_distance_cm_orient(ROTATION_PITCH_270);
 
-    // filter rangefinder for use by AC_WPNav
-    uint32_t now = AP_HAL::millis();
-
+    // calculate rangefinder_terrain_offset_cm
     if (rangefinder_state.alt_healthy) {
+        uint32_t now = AP_HAL::millis();
         if (now - rangefinder_state.last_healthy_ms > RANGEFINDER_TIMEOUT_MS) {
             // reset filter if we haven't used it within the last second
             rangefinder_state.alt_cm_filt.reset(rangefinder_state.alt_cm);
@@ -52,22 +61,31 @@ void Sub::read_rangefinder()
             rangefinder_state.alt_cm_filt.apply(rangefinder_state.alt_cm, 0.05f);
         }
         rangefinder_state.last_healthy_ms = now;
+        rangefinder_state.rangefinder_terrain_offset_cm =
+                sub.rangefinder_state.inertial_alt_cm - sub.rangefinder_state.alt_cm_filt.get();
     }
 
     // send rangefinder altitude and health to waypoint navigation library
-    const float terrain_offset_cm = inertial_nav.get_position_z_up_cm() - rangefinder_state.alt_cm_filt.get();
-    wp_nav.set_rangefinder_terrain_offset(rangefinder_state.enabled, rangefinder_state.alt_healthy, terrain_offset_cm);
-    circle_nav.set_rangefinder_terrain_offset(rangefinder_state.enabled && wp_nav.rangefinder_used(), rangefinder_state.alt_healthy, terrain_offset_cm);
-
+    wp_nav.set_rangefinder_terrain_offset(
+            rangefinder_state.enabled,
+            rangefinder_state.alt_healthy,
+            rangefinder_state.rangefinder_terrain_offset_cm);
+    circle_nav.set_rangefinder_terrain_offset(
+            rangefinder_state.enabled && wp_nav.rangefinder_used(),
+            rangefinder_state.alt_healthy,
+            rangefinder_state.rangefinder_terrain_offset_cm);
 #else
     rangefinder_state.enabled = false;
     rangefinder_state.alt_healthy = false;
     rangefinder_state.alt_cm = 0;
+    rangefinder_state.inertial_alt_cm = 0;
+    rangefinder_state.rangefinder_terrain_offset_cm = 0;
 #endif
 }
 
 // return true if rangefinder_alt can be used
 bool Sub::rangefinder_alt_ok() const
 {
-    return (rangefinder_state.enabled && rangefinder_state.alt_healthy);
+    uint32_t now = AP_HAL::millis();
+    return (rangefinder_state.enabled && rangefinder_state.alt_healthy && now - rangefinder_state.last_healthy_ms < RANGEFINDER_TIMEOUT_MS);
 }
diff --git a/Tools/autotest/ardusub.py b/Tools/autotest/ardusub.py
index 6d234c8ebfd669..73ef3e08c904b4 100644
--- a/Tools/autotest/ardusub.py
+++ b/Tools/autotest/ardusub.py
@@ -14,6 +14,7 @@
 import vehicle_test_suite
 from vehicle_test_suite import NotAchievedException
 from vehicle_test_suite import AutoTestTimeoutException
+from vehicle_test_suite import PreconditionFailedException
 
 if sys.version_info[0] < 3:
     ConnectionResetError = AutoTestTimeoutException
@@ -114,7 +115,7 @@ def AltitudeHold(self):
             raise NotAchievedException("Did not get GLOBAL_POSITION_INT")
         pwm = 1300
         if msg.relative_alt/1000.0 < -6.0:
-            # need to g`o up, not down!
+            # need to go up, not down!
             pwm = 1700
         self.set_rc(Joystick.Throttle, pwm)
         self.wait_altitude(altitude_min=-6, altitude_max=-5)
@@ -204,8 +205,69 @@ def RngfndQuality(self):
         if ex:
             raise ex
 
+    def watch_distance_maintained(self, delta=0.3, timeout=5.0):
+        """Watch and wait for the rangefinder reading to be maintained"""
+        tstart = self.get_sim_time_cached()
+        previous_distance = self.mav.recv_match(type='RANGEFINDER', blocking=True).distance
+        self.progress('Distance to be watched: %.2f' % previous_distance)
+        while True:
+            m = self.mav.recv_match(type='RANGEFINDER', blocking=True)
+            if self.get_sim_time_cached() - tstart > timeout:
+                self.progress('Distance hold done: %f' % previous_distance)
+                return
+            if abs(m.distance - previous_distance) > delta:
+                raise NotAchievedException(
+                    "Distance not maintained: want %.2f (+/- %.2f) got=%.2f" %
+                    (previous_distance, delta, m.distance))
+
+    def Surftrak(self):
+        """Test SURFTRAK mode"""
+
+        if self.get_parameter('RNGFND1_MAX_CM') != 3000.0:
+            raise PreconditionFailedException("RNGFND1_MAX_CM is not %g" % 3000.0)
+
+        # Something closer to Bar30 noise
+        self.context_push()
+        self.set_parameter("SIM_BARO_RND", 0.01)
+
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+        self.change_mode('MANUAL')
+
+        # Dive to -5m, outside of rangefinder range, will act like ALT_HOLD
+        pwm = 1300 if self.get_altitude(relative=True) > -6 else 1700
+        self.set_rc(Joystick.Throttle, pwm)
+        self.wait_altitude(altitude_min=-6, altitude_max=-5, relative=False, timeout=60)
+        self.set_rc(Joystick.Throttle, 1500)
+        self.delay_sim_time(1)
+        self.context_collect('STATUSTEXT')
+        self.change_mode(21)
+        self.wait_statustext('waiting for a rangefinder reading', check_context=True)
+        self.context_clear_collection('STATUSTEXT')
+        self.watch_altitude_maintained()
+
+        # Move into range, should set a rangefinder target and maintain it
+        self.set_rc(Joystick.Throttle, 1300)
+        self.wait_altitude(altitude_min=-26, altitude_max=-25, relative=False, timeout=60)
+        self.set_rc(Joystick.Throttle, 1500)
+        self.delay_sim_time(4)
+        self.wait_statustext('rangefinder target is', check_context=True)
+        self.context_clear_collection('STATUSTEXT')
+        self.watch_distance_maintained()
+
+        # Move a few meters, should apply a delta and maintain the new rangefinder target
+        self.set_rc(Joystick.Throttle, 1300)
+        self.wait_altitude(altitude_min=-31, altitude_max=-30, relative=False, timeout=60)
+        self.set_rc(Joystick.Throttle, 1500)
+        self.delay_sim_time(4)
+        self.wait_statustext('rangefinder target is', check_context=True)
+        self.watch_distance_maintained()
+
+        self.disarm_vehicle()
+        self.context_pop()
+
     def ModeChanges(self, delta=0.2):
-        """Check if alternating between ALTHOLD, STABILIZE and POSHOLD affects altitude"""
+        """Check if alternating between ALTHOLD, STABILIZE, POSHOLD and SURFTRAK (mode 21) affects altitude"""
         self.wait_ready_to_arm()
         self.arm_vehicle()
         # zero buoyancy and no baro noise
@@ -225,12 +287,16 @@ def ModeChanges(self, delta=0.2):
         self.delay_sim_time(2)
         self.change_mode('STABILIZE')
         self.delay_sim_time(2)
+        self.change_mode(21)
+        self.delay_sim_time(2)
         self.change_mode('ALT_HOLD')
         self.delay_sim_time(2)
         self.change_mode('STABILIZE')
         self.delay_sim_time(2)
         self.change_mode('ALT_HOLD')
         self.delay_sim_time(2)
+        self.change_mode(21)
+        self.delay_sim_time(2)
         self.change_mode('MANUAL')
         self.disarm_vehicle()
         final_altitude = self.mav.recv_match(type='VFR_HUD', blocking=True).alt
@@ -562,6 +628,7 @@ def tests(self):
         ret.extend([
             self.DiveManual,
             self.AltitudeHold,
+            self.Surftrak,
             self.RngfndQuality,
             self.PositionHold,
             self.ModeChanges,
diff --git a/Tools/autotest/default_params/sub.parm b/Tools/autotest/default_params/sub.parm
index 3a173142cb73b9..bef934263fbfbd 100644
--- a/Tools/autotest/default_params/sub.parm
+++ b/Tools/autotest/default_params/sub.parm
@@ -86,3 +86,4 @@ BARO_EXT_BUS 1
 PILOT_ACCEL_Z 200
 PILOT_SPEED_UP 200
 PSC_JERK_Z 8
+LOG_BITMASK,180222

From 642a5e13d06092e67e44a9f4766ba2b66444d70f Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 21 Feb 2024 18:50:52 +0000
Subject: [PATCH 1213/1335] Plane: manual fix `use_throttle_limits` and
 `use_battery_compensation`

---
 ArduPlane/mode.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 09ef6d5e7bc6a2..3721eb8de32d7b 100644
--- a/ArduPlane/mode.h
+++ b/ArduPlane/mode.h
@@ -136,10 +136,10 @@ class Mode
     virtual bool is_taking_off() const;
 
     // true if throttle min/max limits should be applied
-    bool use_throttle_limits() const;
+    virtual bool use_throttle_limits() const;
 
     // true if voltage correction should be applied to throttle
-    bool use_battery_compensation() const;
+    virtual bool use_battery_compensation() const;
 
 protected:
 
@@ -400,10 +400,10 @@ class ModeManual : public Mode
     void run() override;
 
     // true if throttle min/max limits should be applied
-    bool use_throttle_limits() const { return false; }
+    bool use_throttle_limits() const override { return false; }
 
     // true if voltage correction should be applied to throttle
-    bool use_battery_compensation() const { return false; }
+    bool use_battery_compensation() const override { return false; }
 
 };
 

From 4fca2ee852a31121ca64434791d04d33ab269d11 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 22 Feb 2024 08:00:06 +1100
Subject: [PATCH 1214/1335] AP_GPS: prevent announcing DroneCAN at 5Hz

---
 libraries/AP_GPS/AP_GPS.cpp          | 3 +--
 libraries/AP_GPS/AP_GPS_DroneCAN.cpp | 3 +++
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 52f622458ef97b..a496df51e68dff 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -1000,8 +1000,7 @@ void AP_GPS::update_instance(uint8_t instance)
             state[instance].corrected_timestamp_updated = false;
         }
 
-        // we set delta_time_ms to the timeout value when clearing
-        // state; use it being zero to mark first message
+        // announce the GPS type once
         if (!state[instance].announced_detection) {
             state[instance].announced_detection = true;
             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: detected %s", instance + 1, drivers[instance]->name());
diff --git a/libraries/AP_GPS/AP_GPS_DroneCAN.cpp b/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
index 5da56758a517c3..8515f5d9ee057e 100644
--- a/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
+++ b/libraries/AP_GPS/AP_GPS_DroneCAN.cpp
@@ -717,6 +717,9 @@ bool AP_GPS_DroneCAN::read(void)
         interim_state.vertical_accuracy = MIN(interim_state.vertical_accuracy, 1000.0);
         interim_state.speed_accuracy = MIN(interim_state.speed_accuracy, 1000.0);
 
+        // prevent announcing multiple times
+        interim_state.announced_detection = state.announced_detection;
+
         state = interim_state;
         if (interim_state.last_corrected_gps_time_us) {
             // If we were able to get a valid last_corrected_gps_time_us

From 61dbc7a6655be075f8c8a93775e3d0e81ec132aa Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 19 Feb 2024 18:41:27 +0000
Subject: [PATCH 1215/1335] AP_Filesystem: remove unused variables

---
 libraries/AP_Filesystem/AP_Filesystem.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Filesystem/AP_Filesystem.h b/libraries/AP_Filesystem/AP_Filesystem.h
index b139713a751f59..9a5e01e6933c22 100644
--- a/libraries/AP_Filesystem/AP_Filesystem.h
+++ b/libraries/AP_Filesystem/AP_Filesystem.h
@@ -84,7 +84,7 @@ class AP_Filesystem {
     int stat(const char *pathname, struct stat *stbuf);
 
     // stat variant for scripting
-    typedef struct {
+    typedef struct Stat {
         uint32_t size;
         int32_t mode;
         uint32_t mtime;

From 01d04917cb0d63317e5e9c0ed68572c5fe919fc5 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 19 Feb 2024 18:41:50 +0000
Subject: [PATCH 1216/1335] AP_Mount: squash static_assert warnings

---
 libraries/AP_Mount/AP_Mount_Siyi.h  | 2 +-
 libraries/AP_Mount/AP_Mount_Xacti.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Mount/AP_Mount_Siyi.h b/libraries/AP_Mount/AP_Mount_Siyi.h
index 2245e4ca0dd346..5a3f228a91f5e5 100644
--- a/libraries/AP_Mount/AP_Mount_Siyi.h
+++ b/libraries/AP_Mount/AP_Mount_Siyi.h
@@ -204,7 +204,7 @@ class AP_Mount_Siyi : public AP_Mount_Backend
         GimbalMountingDirection mounting_dir;
         VideoOutputStatus video_mode;
     } GimbalConfigInfo;
-    static_assert(sizeof(GimbalConfigInfo) == 7);
+    static_assert(sizeof(GimbalConfigInfo) == 7, "GimbalConfigInfo must be 7 bytes");
 
     // camera image types (aka lens)
     enum class CameraImageType : uint8_t {
diff --git a/libraries/AP_Mount/AP_Mount_Xacti.h b/libraries/AP_Mount/AP_Mount_Xacti.h
index 247a66bac1cbb3..444acd37195d8e 100644
--- a/libraries/AP_Mount/AP_Mount_Xacti.h
+++ b/libraries/AP_Mount/AP_Mount_Xacti.h
@@ -252,7 +252,7 @@ class AP_Mount_Xacti : public AP_Mount_Backend
         uint16_t apeture;                           // cameras' aperture * 100
         uint16_t iso_sensitivity;                   // camera's iso sensitivity
     } _status;                                      // latest status received
-    static_assert(sizeof(_status) == 48);           // status should be 48 bytes
+    static_assert(sizeof(_status) == 48, "status must be 48 bytes");           // status should be 48 bytes
     struct {
         uint32_t last_request_ms;                   // system time that status was last requested
         uint32_t last_error_status;                 // last error status reported to user

From a5b28cf3e37804d23203de51e23369c0b30deb6a Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 19 Feb 2024 18:42:26 +0000
Subject: [PATCH 1217/1335] AP_RCProtocol: squash compile warning

---
 libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp | 2 +-
 libraries/AP_RCProtocol/AP_RCProtocol_GHST.h      | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
index 7c61f5355d3735..75e84ade9a7015 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
@@ -181,7 +181,7 @@ void AP_RCProtocol_Backend::log_data(AP_RCProtocol::rcprotocol_t prot, uint32_t
 #if HAL_LOGGING_ENABLED && AP_RC_CHANNEL_ENABLED
 
 #if (CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX)
-    if (&rc() == nullptr) { // allow running without RC_Channels if we are doing the examples
+    if (RC_Channels::get_singleton() == nullptr) { // allow running without RC_Channels if we are doing the examples
         return;
     }
 #endif
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.h b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.h
index 248fb3f1790d35..8b439c97c31c9c 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.h
@@ -180,7 +180,6 @@ class AP_RCProtocol_GHST : public AP_RCProtocol_Backend {
 
     uint32_t _last_frame_time_us;
     uint32_t _last_tx_frame_time_us;
-    uint32_t _last_uart_start_time_ms;
     uint32_t _last_rx_frame_time_us;
     uint32_t _start_frame_time_us;
     bool telem_available;

From 1ba5898b8264093f06fdd3effdc1b488f5db431e Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 19 Feb 2024 18:42:47 +0000
Subject: [PATCH 1218/1335] AP_Param: remove unused variable

---
 libraries/AP_Param/AP_Param.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index 996960a0b58197..57a82684956d09 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -969,7 +969,6 @@ AP_Param::find_by_index(uint16_t idx, enum ap_var_type *ptype, ParamToken *token
 AP_Param* AP_Param::find_by_name(const char* name, enum ap_var_type *ptype, ParamToken *token)
 {
     AP_Param *ap;
-    uint16_t count = 0;
     for (ap = AP_Param::first(token, ptype);
          ap && *ptype != AP_PARAM_GROUP && *ptype != AP_PARAM_NONE;
          ap = AP_Param::next_scalar(token, ptype)) {
@@ -981,7 +980,6 @@ AP_Param* AP_Param::find_by_name(const char* name, enum ap_var_type *ptype, Para
                 break;
             }
         }
-        count++;
     }
     return ap;
 }

From 4d419bb918aea007acb9c422c7f3c8337911eff8 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 19 Feb 2024 18:43:08 +0000
Subject: [PATCH 1219/1335] AP_Logger: remove unused variables

---
 libraries/AP_Logger/AP_Logger_File.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Logger/AP_Logger_File.h b/libraries/AP_Logger/AP_Logger_File.h
index 07709d3e9350c8..038324e92e2274 100644
--- a/libraries/AP_Logger/AP_Logger_File.h
+++ b/libraries/AP_Logger/AP_Logger_File.h
@@ -72,7 +72,7 @@ class AP_Logger_File : public AP_Logger_Backend
     char *_write_filename;
     bool last_log_is_marked_discard;
     uint32_t _last_write_ms;
-#if AP_RTC_ENABLED
+#if AP_RTC_ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
     bool _need_rtc_update;
 #endif
     

From 76c0b0a8e085b00363a6354aa14601fdcaacf4db Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 19 Feb 2024 18:43:24 +0000
Subject: [PATCH 1220/1335] SITL: squash static_assert warnings

---
 libraries/SITL/SIM_GPS_Trimble.cpp  | 20 ++++++++++----------
 libraries/SITL/SIM_InertialLabs.cpp |  2 +-
 libraries/SITL/SIM_Loweheiser.h     |  6 ------
 libraries/SITL/SIM_QMC5883L.h       |  4 +---
 4 files changed, 12 insertions(+), 20 deletions(-)

diff --git a/libraries/SITL/SIM_GPS_Trimble.cpp b/libraries/SITL/SIM_GPS_Trimble.cpp
index 9ddaf64027d2b2..1e1726b33376ba 100644
--- a/libraries/SITL/SIM_GPS_Trimble.cpp
+++ b/libraries/SITL/SIM_GPS_Trimble.cpp
@@ -98,7 +98,7 @@ void GPS_Trimble::publish(const GPS_Data *d)
                 pos_flags_2,
                 bootcount
             };
-            static_assert(sizeof(gsof_pos_time) - (sizeof(gsof_pos_time::OUTPUT_RECORD_TYPE) + sizeof(gsof_pos_time::RECORD_LEN)) == GSOF_POS_TIME_LEN);
+            static_assert(sizeof(gsof_pos_time) - (sizeof(gsof_pos_time::OUTPUT_RECORD_TYPE) + sizeof(gsof_pos_time::RECORD_LEN)) == GSOF_POS_TIME_LEN, "Trimble size check failed");
 
             payload_sz += sizeof(pos_time);
             memcpy(&buf[offset], &pos_time, sizeof(pos_time));
@@ -127,7 +127,7 @@ void GPS_Trimble::publish(const GPS_Data *d)
                 gsof_pack_double(d->longitude * DEG_TO_RAD_DOUBLE),
                 gsof_pack_double(static_cast<double>(d->altitude))
             };
-            static_assert(sizeof(gsof_pos) - (sizeof(gsof_pos::OUTPUT_RECORD_TYPE) + sizeof(gsof_pos::RECORD_LEN)) == GSOF_POS_LEN);
+            static_assert(sizeof(gsof_pos) - (sizeof(gsof_pos::OUTPUT_RECORD_TYPE) + sizeof(gsof_pos::RECORD_LEN)) == GSOF_POS_LEN, "Trimble size check failed");
 
             payload_sz += sizeof(pos);
             memcpy(&buf[offset], &pos, sizeof(pos));
@@ -180,7 +180,7 @@ void GPS_Trimble::publish(const GPS_Data *d)
                 // Intentionally narrow from double.
                 gsof_pack_float(static_cast<float>(d->speedD))
             };
-            static_assert(sizeof(gsof_vel) - (sizeof(gsof_vel::OUTPUT_RECORD_TYPE) + sizeof(gsof_vel::RECORD_LEN)) == GSOF_VEL_LEN);
+            static_assert(sizeof(gsof_vel) - (sizeof(gsof_vel::OUTPUT_RECORD_TYPE) + sizeof(gsof_vel::RECORD_LEN)) == GSOF_VEL_LEN, "Trimble size check failed");
 
             payload_sz += sizeof(vel);
             memcpy(&buf[offset], &vel, sizeof(vel));
@@ -204,13 +204,13 @@ void GPS_Trimble::publish(const GPS_Data *d)
             } dop {};
             // Check the payload size calculation in the compiler
             constexpr auto dop_size = sizeof(gsof_dop);
-            static_assert(dop_size == 18);
+            static_assert(dop_size == 18, "gsof_dop must be 8 bytes");
             constexpr auto dop_record_type_size = sizeof(gsof_dop::OUTPUT_RECORD_TYPE);
-            static_assert(dop_record_type_size == 1);
+            static_assert(dop_record_type_size == 1, "gsof_dop::OUTPUT_RECORD_TYPE must be 1 byte");
             constexpr auto len_size = sizeof(gsof_dop::RECORD_LEN);
-            static_assert(len_size == 1);
+            static_assert(len_size == 1, "gsof_dop::RECORD_LEN must be 1 bytes");
             constexpr auto dop_payload_size = dop_size - (dop_record_type_size + len_size);
-            static_assert(dop_payload_size == GSOF_DOP_LEN);
+            static_assert(dop_payload_size == GSOF_DOP_LEN, "dop_payload_size must be GSOF_DOP_LEN bytes");
 
             payload_sz += sizeof(dop);
             memcpy(&buf[offset], &dop, sizeof(dop));
@@ -237,7 +237,7 @@ void GPS_Trimble::publish(const GPS_Data *d)
                 uint32_t unit_variance = htobe32(0);
                 uint16_t n_epocs = htobe32(1); // Always 1 for kinematic.
             } pos_sigma {};
-            static_assert(sizeof(gsof_pos_sigma) - (sizeof(gsof_pos_sigma::OUTPUT_RECORD_TYPE) + sizeof(gsof_pos_sigma::RECORD_LEN)) == GSOF_POS_SIGMA_LEN);
+            static_assert(sizeof(gsof_pos_sigma) - (sizeof(gsof_pos_sigma::OUTPUT_RECORD_TYPE) + sizeof(gsof_pos_sigma::RECORD_LEN)) == GSOF_POS_SIGMA_LEN, "Trimble size check failed");
             payload_sz += sizeof(pos_sigma);
             memcpy(&buf[offset], &pos_sigma, sizeof(pos_sigma));
             offset += sizeof(pos_sigma);
@@ -536,7 +536,7 @@ void GPS_Trimble::send_gsof(const uint8_t *buf, const uint16_t size)
 uint64_t GPS_Trimble::gsof_pack_double(const double& src)
 {
     uint64_t dst;
-    static_assert(sizeof(src) == sizeof(dst));
+    static_assert(sizeof(src) == sizeof(dst), "src and dst must have equal size");
     memcpy(&dst, &src, sizeof(dst));
     dst = htobe64(dst);
     return dst;
@@ -545,7 +545,7 @@ uint64_t GPS_Trimble::gsof_pack_double(const double& src)
 uint32_t GPS_Trimble::gsof_pack_float(const float& src)
 {
     uint32_t dst;
-    static_assert(sizeof(src) == sizeof(dst));
+    static_assert(sizeof(src) == sizeof(dst), "src and dst must have equal size");
     memcpy(&dst, &src, sizeof(dst));
     dst = htobe32(dst);
     return dst;
diff --git a/libraries/SITL/SIM_InertialLabs.cpp b/libraries/SITL/SIM_InertialLabs.cpp
index 728c7934f9cf7c..edaadf0b8756d1 100644
--- a/libraries/SITL/SIM_InertialLabs.cpp
+++ b/libraries/SITL/SIM_InertialLabs.cpp
@@ -93,7 +93,7 @@ void InertialLabs::send_packet(void)
         pkt.gnss_extended_info.fix_type = 2;
     }
 
-    pkt.differential_pressure = 0.5*sq(fdm.airspeed+fabsf(rand_float()*0.25))*1.0e4;
+    pkt.differential_pressure = 0.5*sq(fdm.airspeed+fabsF(rand_float()*0.25))*1.0e4;
     pkt.supply_voltage = 12.3*100;
     pkt.temperature = 23.4*10;
 
diff --git a/libraries/SITL/SIM_Loweheiser.h b/libraries/SITL/SIM_Loweheiser.h
index ae4f28cdd73bf7..edad99a5569426 100644
--- a/libraries/SITL/SIM_Loweheiser.h
+++ b/libraries/SITL/SIM_Loweheiser.h
@@ -117,12 +117,6 @@ class Loweheiser : public SerialDevice {
     const float max_current = 50.0f;
     const float base_supply_voltage = 50.0;
 
-    // we share channels with the ArduPilot binary!
-    // Beware: the mavlink rangefinder and other stuff shares this channel.
-    const mavlink_channel_t mavlink_ch = (mavlink_channel_t)(MAVLINK_COMM_0+5);
-
-    class SIM *_sitl;
-
     uint32_t last_sent_ms;
 
     void update_receive();
diff --git a/libraries/SITL/SIM_QMC5883L.h b/libraries/SITL/SIM_QMC5883L.h
index 10aa1719656c44..52346250b3351d 100644
--- a/libraries/SITL/SIM_QMC5883L.h
+++ b/libraries/SITL/SIM_QMC5883L.h
@@ -41,13 +41,11 @@ class QMC5883L : public I2CDevice
     } registers;
 
     // 256 1-byte registers:
-    assert_storage_size<Registers::ByName, 256> assert_storage_size_registers_reg;
+    assert_storage_size<Registers::ByName, 256> assert_storage_size_registers_reg UNUSED_PRIVATE_MEMBER;
 
     Bitmask<256> writable_registers;
 
     void reset();
-
-    uint32_t cmd_take_reading_received_ms;
 };
 
 } // namespace SITL

From e72a39353e8aaf50e06a959289205c868ca0db85 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 15:22:39 +1100
Subject: [PATCH 1221/1335] default_params: rename vee-gull parameters to
 remove space

---
 .../default_params/{vee-gull 005.param => vee-gull_005.param}     | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename Tools/autotest/default_params/{vee-gull 005.param => vee-gull_005.param} (100%)

diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull_005.param
similarity index 100%
rename from Tools/autotest/default_params/vee-gull 005.param
rename to Tools/autotest/default_params/vee-gull_005.param

From 21a01c5587b55b73c26e19df14179fa629c789ce Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 15:23:32 +1100
Subject: [PATCH 1222/1335] AP_GPS: remove dead GPS_MINDGPS variable

---
 Tools/Frame_params/Sub/bluerov2-3_5.params                | 1 -
 Tools/Frame_params/Sub/bluerov2-3_5_2.params              | 1 -
 Tools/Frame_params/Sub/bluerov2-3_5_4.params              | 1 -
 Tools/Frame_params/Sub/bluerov2-4_0_0.params              | 4 ++--
 Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params        | 1 -
 Tools/Frame_params/Sub/bluerov2-heavy-3_5_4.params        | 1 -
 Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params        | 1 -
 Tools/autotest/default_params/vee-gull_005.param          | 1 -
 libraries/AP_GPS/AP_GPS.cpp                               | 8 +-------
 libraries/AP_GPS/AP_GPS.h                                 | 1 -
 .../SilentWings/Params/Rolladen-Schneider-LS8b.param      | 1 -
 .../examples/SilentWings/Params/Schleicher-ASW27B.param   | 1 -
 12 files changed, 3 insertions(+), 19 deletions(-)

diff --git a/Tools/Frame_params/Sub/bluerov2-3_5.params b/Tools/Frame_params/Sub/bluerov2-3_5.params
index ae960a2c01c631..9af6af304bfb71 100644
--- a/Tools/Frame_params/Sub/bluerov2-3_5.params
+++ b/Tools/Frame_params/Sub/bluerov2-3_5.params
@@ -229,7 +229,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0.000000000000000000
diff --git a/Tools/Frame_params/Sub/bluerov2-3_5_2.params b/Tools/Frame_params/Sub/bluerov2-3_5_2.params
index 5ea9c15b9554d1..6441ea6970af7c 100644
--- a/Tools/Frame_params/Sub/bluerov2-3_5_2.params
+++ b/Tools/Frame_params/Sub/bluerov2-3_5_2.params
@@ -227,7 +227,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0.0
diff --git a/Tools/Frame_params/Sub/bluerov2-3_5_4.params b/Tools/Frame_params/Sub/bluerov2-3_5_4.params
index 85d1713ec42639..6f6afd105015ef 100644
--- a/Tools/Frame_params/Sub/bluerov2-3_5_4.params
+++ b/Tools/Frame_params/Sub/bluerov2-3_5_4.params
@@ -223,7 +223,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0.0
diff --git a/Tools/Frame_params/Sub/bluerov2-4_0_0.params b/Tools/Frame_params/Sub/bluerov2-4_0_0.params
index a5a21c5343711f..d2794c79fa37d0 100644
--- a/Tools/Frame_params/Sub/bluerov2-4_0_0.params
+++ b/Tools/Frame_params/Sub/bluerov2-4_0_0.params
@@ -263,7 +263,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0.0
@@ -828,4 +827,5 @@ WPNAV_SPEED,500.0
 WPNAV_SPEED_DN,150.0
 WPNAV_SPEED_UP,250.0
 WP_YAW_BEHAVIOR,4
-XTRACK_ANG_LIM,45
\ No newline at end of file
+XTRACK_ANG_LIM,45
+
diff --git a/Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params b/Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params
index b6b10979c1146a..86aacb1fd7f2d2 100644
--- a/Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params
+++ b/Tools/Frame_params/Sub/bluerov2-heavy-3_5_2.params
@@ -227,7 +227,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0.000000000000000000
diff --git a/Tools/Frame_params/Sub/bluerov2-heavy-3_5_4.params b/Tools/Frame_params/Sub/bluerov2-heavy-3_5_4.params
index 69c7b4d8b2daf5..78eb31f289a718 100644
--- a/Tools/Frame_params/Sub/bluerov2-heavy-3_5_4.params
+++ b/Tools/Frame_params/Sub/bluerov2-heavy-3_5_4.params
@@ -223,7 +223,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0.0
diff --git a/Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params b/Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params
index 88d0826b3424a6..56ec37693d5b61 100644
--- a/Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params
+++ b/Tools/Frame_params/Sub/bluerov2-heavy-4_0_0.params
@@ -263,7 +263,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0.0
diff --git a/Tools/autotest/default_params/vee-gull_005.param b/Tools/autotest/default_params/vee-gull_005.param
index 710889e2d7b0d8..2b529f0d22ee9e 100644
--- a/Tools/autotest/default_params/vee-gull_005.param
+++ b/Tools/autotest/default_params/vee-gull_005.param
@@ -227,7 +227,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0
diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index a496df51e68dff..94e98f0ac1d83b 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -158,13 +158,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     AP_GROUPINFO("_AUTO_SWITCH", 3, AP_GPS, _auto_switch, (int8_t)GPSAutoSwitch::USE_BEST),
 #endif
 
-    // @Param: _MIN_DGPS
-    // @DisplayName: Minimum Lock Type Accepted for DGPS
-    // @Description: Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.
-    // @Values: 0:Any,50:FloatRTK,100:IntegerRTK
-    // @User: Advanced
-    // @RebootRequired: True
-    AP_GROUPINFO("_MIN_DGPS", 4, AP_GPS, _min_dgps, 100),
+    // 4 was _MIN_GPS, removed Feb 2024
 
     // @Param: _SBAS_MODE
     // @DisplayName: SBAS Mode
diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
index b48bf453a47428..1427626957926e 100644
--- a/libraries/AP_GPS/AP_GPS.h
+++ b/libraries/AP_GPS/AP_GPS.h
@@ -592,7 +592,6 @@ class AP_GPS
     AP_Int8 _type[GPS_MAX_RECEIVERS];
     AP_Int8 _navfilter;
     AP_Int8 _auto_switch;
-    AP_Int8 _min_dgps;
     AP_Int16 _sbp_logmask;
     AP_Int8 _inject_to;
     uint32_t _last_instance_swap_ms;
diff --git a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
index fa828dfc49a490..255c14676ae62a 100644
--- a/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
+++ b/libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
@@ -176,7 +176,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0
diff --git a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
index cb6b93e17612c5..2c9a9ae02ed3c9 100644
--- a/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
+++ b/libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
@@ -180,7 +180,6 @@ GPS_DELAY_MS2,0
 GPS_GNSS_MODE,0
 GPS_GNSS_MODE2,0
 GPS_INJECT_TO,127
-GPS_MIN_DGPS,100
 GPS_MIN_ELEV,-100
 GPS_NAVFILTER,8
 GPS_POS1_X,0

From 7790b1ec713edceaa6d18c7a72fc5f79109495ed Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 10 Feb 2024 15:24:54 +1100
Subject: [PATCH 1223/1335] AP_Periph: map MAV_SEVERITY to DroneCAN debug
 levels

---
 Tools/AP_Periph/AP_Periph.h |  4 ++-
 Tools/AP_Periph/can.cpp     | 49 +++++++++++++++++++++++++++++++------
 2 files changed, 45 insertions(+), 8 deletions(-)

diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index 424e341c1c8c14..95d32af7936fff 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -119,7 +119,9 @@ void stm32_watchdog_pat();
 extern const app_descriptor_t app_descriptor;
 
 extern "C" {
-void can_printf(const char *fmt, ...) FMT_PRINTF(1,2);
+    void can_vprintf(uint8_t severity, const char *fmt, va_list arg);
+    void can_printf_severity(uint8_t severity, const char *fmt, ...) FMT_PRINTF(2,3);
+    void can_printf(const char *fmt, ...) FMT_PRINTF(1,2);
 }
 
 struct CanardInstance;
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index c985403fd282d3..82cca004ee5e2f 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -1852,23 +1852,42 @@ void AP_Periph_FW::can_update()
 }
 
 // printf to CAN LogMessage for debugging
-void can_printf(const char *fmt, ...)
+void can_vprintf(uint8_t severity, const char *fmt, va_list ap)
 {
+    // map MAVLink levels to CAN levels
+    uint8_t level = UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_DEBUG;
+    switch (severity) {
+    case MAV_SEVERITY_DEBUG:
+        level = UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_DEBUG;
+        break;
+    case MAV_SEVERITY_INFO:
+        level = UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_INFO;
+        break;
+    case MAV_SEVERITY_NOTICE:
+    case MAV_SEVERITY_WARNING:
+        level = UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_WARNING;
+        break;
+    case MAV_SEVERITY_ERROR:
+    case MAV_SEVERITY_CRITICAL:
+    case MAV_SEVERITY_ALERT:
+    case MAV_SEVERITY_EMERGENCY:
+        level = UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_ERROR;
+        break;
+    }
+
 #if HAL_PERIPH_SUPPORT_LONG_CAN_PRINTF
     const uint8_t packet_count_max = 4; // how many packets we're willing to break up an over-sized string into
     const uint8_t packet_data_max = 90; // max single debug string length = sizeof(uavcan_protocol_debug_LogMessage.text.data)
     uint8_t buffer_data[packet_count_max*packet_data_max] {};
 
-    va_list ap;
-    va_start(ap, fmt);
     // strip off any negative return errors by treating result as 0
     uint32_t char_count = MAX(vsnprintf((char*)buffer_data, sizeof(buffer_data), fmt, ap), 0);
-    va_end(ap);
 
     // send multiple uavcan_protocol_debug_LogMessage packets if the fmt string is too long.
     uint16_t buffer_offset = 0;
     for (uint8_t i=0; i<packet_count_max && char_count > 0; i++) {
         uavcan_protocol_debug_LogMessage pkt {};
+        pkt.level.value = level;
         pkt.text.len = MIN(char_count, sizeof(pkt.text.data));
         char_count -= pkt.text.len;
 
@@ -1888,10 +1907,8 @@ void can_printf(const char *fmt, ...)
 #else
     uavcan_protocol_debug_LogMessage pkt {};
     uint8_t buffer[UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_MAX_SIZE] {};
-    va_list ap;
-    va_start(ap, fmt);
     uint32_t n = vsnprintf((char*)pkt.text.data, sizeof(pkt.text.data), fmt, ap);
-    va_end(ap);
+    pkt.level.value = level;
     pkt.text.len = MIN(n, sizeof(pkt.text.data));
 
     uint32_t len = uavcan_protocol_debug_LogMessage_encode(&pkt, buffer, !periph.canfdout());
@@ -1904,3 +1921,21 @@ void can_printf(const char *fmt, ...)
 
 #endif
 }
+
+// printf to CAN LogMessage for debugging, with severity
+void can_printf_severity(uint8_t severity, const char *fmt, ...)
+{
+    va_list ap;
+    va_start(ap, fmt);
+    can_vprintf(severity, fmt, ap);
+    va_end(ap);
+}
+
+// printf to CAN LogMessage for debugging, with DEBUG level
+void can_printf(const char *fmt, ...)
+{
+    va_list ap;
+    va_start(ap, fmt);
+    can_vprintf(MAV_SEVERITY_DEBUG, fmt, ap);
+    va_end(ap);
+}

From ed27e30f9efa7f06f044f51a1e1bc295ac2a8105 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 10 Feb 2024 15:25:27 +1100
Subject: [PATCH 1224/1335] AP_DroneCAN: map DroneCAN debug levels to
 MAV_SEVERITY levels

---
 libraries/AP_DroneCAN/AP_DroneCAN.cpp | 42 +++++++++++++++++++++++----
 1 file changed, 36 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index 006a3cfed8e0f3..b72899bf72cae9 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -1456,14 +1456,44 @@ bool AP_DroneCAN::is_esc_data_index_valid(const uint8_t index) {
  */
 void AP_DroneCAN::handle_debug(const CanardRxTransfer& transfer, const uavcan_protocol_debug_LogMessage& msg)
 {
-#if HAL_LOGGING_ENABLED
-    if (AP::can().get_log_level() != AP_CANManager::LOG_NONE) {
+#if AP_HAVE_GCS_SEND_TEXT
+    const auto log_level = AP::can().get_log_level();
+    const auto msg_level = msg.level.value;
+    bool send_mavlink = false;
+
+    if (log_level != AP_CANManager::LOG_NONE) {
         // log to onboard log and mavlink
-        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "CAN[%u] %s", transfer.source_node_id, msg.text.data);
-    } else {
-        // only log to onboard log
-        AP::logger().Write_MessageF("CAN[%u] %s", transfer.source_node_id, msg.text.data);
+        enum MAV_SEVERITY mavlink_level = MAV_SEVERITY_INFO;
+        switch (msg_level) {
+        case UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_DEBUG:
+            mavlink_level = MAV_SEVERITY_DEBUG;
+            send_mavlink = uint8_t(log_level) >= uint8_t(AP_CANManager::LogLevel::LOG_DEBUG);
+            break;
+        case UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_INFO:
+            mavlink_level = MAV_SEVERITY_INFO;
+            send_mavlink = uint8_t(log_level) >= uint8_t(AP_CANManager::LogLevel::LOG_INFO);
+            break;
+        case UAVCAN_PROTOCOL_DEBUG_LOGLEVEL_WARNING:
+            mavlink_level = MAV_SEVERITY_WARNING;
+            send_mavlink = uint8_t(log_level) >= uint8_t(AP_CANManager::LogLevel::LOG_WARNING);
+            break;
+        default:
+            send_mavlink = uint8_t(log_level) >= uint8_t(AP_CANManager::LogLevel::LOG_ERROR);
+            mavlink_level = MAV_SEVERITY_ERROR;
+            break;
+        }
+        if (send_mavlink) {
+            // when we send as MAVLink it also gets logged locally, so
+            // we return to avoid a duplicate
+            GCS_SEND_TEXT(mavlink_level, "CAN[%u] %s", transfer.source_node_id, msg.text.data);
+            return;
+        }
     }
+#endif // AP_HAVE_GCS_SEND_TEXT
+
+#if HAL_LOGGING_ENABLED
+    // always log locally if we have logging enabled
+    AP::logger().Write_MessageF("CAN[%u] %s", transfer.source_node_id, msg.text.data);
 #endif
 }
 

From 632bb71c87e84627cef1e681b270f0a90267cea7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 10 Feb 2024 15:25:48 +1100
Subject: [PATCH 1225/1335] GCS_MAVLink: use can_printf_severity() for
 AP_Periph

---
 libraries/GCS_MAVLink/GCS.h | 27 +++++++++++++++++++++++----
 1 file changed, 23 insertions(+), 4 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 1990426423b600..95cc4237fe2eed 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -1346,9 +1346,9 @@ GCS &gcs();
 #define AP_HAVE_GCS_SEND_TEXT 1
 #else
 extern "C" {
-void can_printf(const char *fmt, ...);
+    void can_printf_severity(uint8_t severity, const char *fmt, ...);
 }
-#define GCS_SEND_TEXT(severity, format, args...) (void)severity; can_printf(format, ##args)
+#define GCS_SEND_TEXT(severity, format, args...) can_printf_severity(severity, format, ##args)
 #define AP_HAVE_GCS_SEND_TEXT 1
 #endif
 
@@ -1358,12 +1358,31 @@ void can_printf(const char *fmt, ...);
 
 // map send text to can_printf() on larger AP_Periph boards
 extern "C" {
-void can_printf(const char *fmt, ...);
+    void can_printf_severity(uint8_t severity, const char *fmt, ...);
 }
-#define GCS_SEND_TEXT(severity, format, args...) can_printf(format, ##args)
+#define GCS_SEND_TEXT(severity, format, args...) can_printf_severity(severity, format, ##args)
 #define GCS_SEND_MESSAGE(msg)
 #define AP_HAVE_GCS_SEND_TEXT 1
 
+/*
+  we need a severity enum for the can_printf_severity function with no GCS present
+ */
+#ifndef HAVE_ENUM_MAV_SEVERITY
+enum MAV_SEVERITY
+{
+    MAV_SEVERITY_EMERGENCY=0,
+    MAV_SEVERITY_ALERT=1,
+    MAV_SEVERITY_CRITICAL=2,
+    MAV_SEVERITY_ERROR=3,
+    MAV_SEVERITY_WARNING=4,
+    MAV_SEVERITY_NOTICE=5,
+    MAV_SEVERITY_INFO=6,
+    MAV_SEVERITY_DEBUG=7,
+    MAV_SEVERITY_ENUM_END=8,
+};
+#define HAVE_ENUM_MAV_SEVERITY
+#endif
+
 #else // HAL_GCS_ENABLED
 // empty send text when we have no GCS
 #define GCS_SEND_TEXT(severity, format, args...)

From aa9ea03c7c29627955c58edb89cfb7b208716d0b Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Wed, 14 Feb 2024 20:41:08 +0000
Subject: [PATCH 1226/1335] AP_RCProtocol: add tests for CRSF and fix protocol
 test

fixed RCProtocolTest on SITL and make it pass/fail with an exit code

Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
---
 .../RCProtocolTest/RCProtocolTest.cpp         | 133 +++++++++++++++++-
 1 file changed, 129 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp b/libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp
index 5f9ecea11a159c..851069522560d4 100644
--- a/libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp
+++ b/libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp
@@ -19,48 +19,101 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_RCProtocol/AP_RCProtocol.h>
 #include <AP_SerialManager/AP_SerialManager.h>
+#include <RC_Channel/RC_Channel.h>
 #include <AP_VideoTX/AP_VideoTX.h>
 #include <stdio.h>
 
 void setup();
 void loop();
 
+class RC_Channel_Example : public RC_Channel {};
+
+class RC_Channels_Example : public RC_Channels
+{
+public:
+    RC_Channel_Example obj_channels[NUM_RC_CHANNELS];
+
+    RC_Channel_Example *channel(const uint8_t chan) override {
+        if (chan >= NUM_RC_CHANNELS) {
+            return nullptr;
+        }
+        return &obj_channels[chan];
+    }
+
+protected:
+    int8_t flight_mode_channel_number() const override { return 5; }
+};
+
+#define RC_CHANNELS_SUBCLASS RC_Channels_Example
+#define RC_CHANNEL_SUBCLASS RC_Channel_Example
+
+#include <RC_Channel/RC_Channels_VarInfo.h>
+
+static RC_Channels_Example rchannels;
+static AP_SerialManager serial_manager;
+
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 static AP_VideoTX vtx; // for set_vtx functions
 
 static AP_RCProtocol *rcprot;
 
+static uint32_t test_count;
+static uint32_t test_failures;
+
+static void delay_ms(uint32_t ms)
+{
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    hal.scheduler->stop_clock(AP_HAL::micros64()+ms*1000);
+#else
+    hal.scheduler->delay(ms);
+#endif
+}
+
 // setup routine
 void setup()
 {
     // introduction
     hal.console->printf("ArduPilot RC protocol test\n");
-    hal.scheduler->delay(100);
+    delay_ms(100);
 }
 
 static bool check_result(const char *name, bool bytes, const uint16_t *values, uint8_t nvalues)
 {
     char label[20];
     snprintf(label, 20, "%s(%s)", name, bytes?"bytes":"pulses");
-    if (!rcprot->new_input()) {
+    const bool have_input = rcprot->new_input();
+    if (values == nullptr) {
+        if (have_input) {
+            printf("%s: got input, none expected\n", label);
+            return false;
+        } else {
+            printf("%s: OK (no input)\n", label);
+            return true;
+        }
+    }
+    if (!have_input) {
         printf("%s: No new input\n", label);
+        test_failures++;
         return false;
     }
     const char *pname = rcprot->protocol_name();
     if (strncmp(pname, name, strlen(pname)) != 0) {
         printf("%s: wrong protocol detected %s\n", label, rcprot->protocol_name());
+        test_failures++;
         return false;
     }
     uint8_t n = rcprot->num_channels();
     if (n != nvalues) {
         printf("%s: wrong number of channels %u should be %u\n", label, n, nvalues);
+        test_failures++;
         return false;
     }
     for (uint8_t i=0; i<n; i++) {
         uint16_t v = rcprot->read(i);
         if (values[i] != v) {
             printf("%s: chan %u wrong value %u should be %u\n", label, i+1, v, values[i]);
+            test_failures++;
             return false;
         }
     }
@@ -81,11 +134,11 @@ static bool test_byte_protocol(const char *name, uint32_t baudrate,
     for (uint8_t repeat=0; repeat<repeats+4; repeat++) {
         for (uint8_t i=0; i<nbytes; i++) {
             if (pause_at > 0 && i > 0 && ((i % pause_at) == 0)) {
-                hal.scheduler->delay(10);
+                delay_ms(10);
             }
             rcprot->process_byte(bytes[i], baudrate);
         }
-        hal.scheduler->delay(10);
+        delay_ms(10);
         if (repeat > repeats) {
             ret &= check_result(name, true, values, nvalues);
         }
@@ -202,7 +255,33 @@ static bool test_protocol(const char *name, uint32_t baudrate,
     return ret;
 }
 
+/*
+  test a protocol handler where we only expected byte input to work
+ */
+static bool test_protocol_bytesonly(const char *name, uint32_t baudrate,
+                                    const uint8_t *bytes, uint8_t nbytes,
+                                    const uint16_t *values, uint8_t nvalues,
+                                    uint8_t repeats=1,
+                                    int8_t pause_at=0,
+                                    bool inverted=false)
+{
+    bool ret = true;
+    rcprot = new AP_RCProtocol();
+    rcprot->init();
+
+    ret &= test_byte_protocol(name, baudrate, bytes, nbytes, values, nvalues, repeats, pause_at);
+    delete rcprot;
+
+    rcprot = new AP_RCProtocol();
+    rcprot->init();
+    ret &= test_pulse_protocol(name, baudrate, bytes, nbytes, nullptr, 0, repeats, pause_at, inverted);
+    delete rcprot;
+
+    return ret;
+}
+
 //Main loop where the action takes place
+#pragma GCC diagnostic error "-Wframe-larger-than=2000"
 void loop()
 {
     const uint8_t srxl_bytes[] = { 0xa5, 0x03, 0x0c, 0x04, 0x2f, 0x6c, 0x10, 0xb4, 0x26,
@@ -340,6 +419,35 @@ void loop()
     // we only decode up to 18ch
     const uint16_t fport2_24ch_output[] = {1495, 1495, 986, 1495, 982, 1495, 982, 982, 1495, 2006, 982, 1495, 1495, 1495, 1495, 1495, 1495, 1495};
 
+    const uint8_t crsf_bytes[] = {0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0x00, 0xF6, 0xB7, 0x6E, 0x94, 0xFC,
+                                  0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0x0F, 0x6E };
+    const uint16_t crsf_output[] = {1501, 1500, 989, 1497, 1873, 1136, 2011, 988, 988, 988, 988, 2011, 0, 0, 0, 0, 0, 0};
+    // CRSF partial frame followed by full frame
+    const uint8_t crsf_bad_bytes1[] = {0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0x00, 0xF6, 0xB7, 0x6E, 0x94, 0xFC,
+                                  0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0x0F, 0x6E };
+    const uint16_t crsf_bad_output1[] = {1501, 1500, 989, 1497, 1873, 1136, 2011, 988, 988, 988, 988, 2011, 0, 0, 0, 0, 0, 0};
+    // CRSF full frame with bad CRC followed by full frame
+    const uint8_t crsf_bad_bytes2[] = {0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0x00, 0xF6, 0xB7, 0x6E, 0x94, 0xFC,
+                                  0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0x0F, 0x6F,
+                                  0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0x00, 0xF6, 0xB7, 0x6E, 0x94, 0xFC,
+                                  0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0x0F, 0x6E };
+    const uint16_t crsf_bad_output2[] = {1501, 1500, 989, 1497, 1873, 1136, 2011, 988, 988, 988, 988, 2011, 0, 0, 0, 0, 0, 0};
+
+    // CRSF with lots of start markers followed by full frame
+    const uint8_t crsf_bad_bytes3[] = {0xC8, 0x14, 0xC8, 0x14, 0xC8, 0x0C, 0xA0,
+                                   0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0x00, 0xF6, 0xB7, 0x6E, 0x94, 0xFC,
+                                   0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0x0F, 0x6E, };
+    const uint16_t crsf_bad_output3[] = {1501, 1500, 989, 1497, 1873, 1136, 2011, 988, 988, 988, 988, 2011, 0, 0, 0, 0, 0, 0};
+
+    // CRSF with a partial frame followed by a full frame
+    const uint8_t crsf_bad_bytes4[] = {
+                                   0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0x00, 0xF6, 0xB7, 0x6E, 0x94, 0xFC,
+                                   0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE,
+                                   0xC8, 0x14, 0x17, 0x20, 0x03, 0x0C, 0xA0, 0x00, 0xF6, 0xB7, 0x6E, 0x94, 0xFC,
+                                   0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0x0F, 0x6E };
+    const uint16_t crsf_bad_output4[] = {1501, 1500, 989, 1497, 1873, 1136, 2011, 988, 988, 988, 988, 2011, 0, 0, 0, 0, 0, 0};
+    
+
     test_protocol("SRXL", 115200, srxl_bytes, sizeof(srxl_bytes), srxl_output, ARRAY_SIZE(srxl_output), 1);
     test_protocol("SUMD", 115200, sumd_bytes, sizeof(sumd_bytes), sumd_output, ARRAY_SIZE(sumd_output), 1);
     test_protocol("SUMD2", 115200, sumd_bytes2, sizeof(sumd_bytes2), sumd_output2, ARRAY_SIZE(sumd_output2), 1);
@@ -349,6 +457,13 @@ void loop()
     // SBUS needs 3 repeats to pass the RCProtocol 3 frames test
     test_protocol("SBUS", 100000, sbus_bytes, sizeof(sbus_bytes), sbus_output, ARRAY_SIZE(sbus_output), 3, 0, true);
 
+    // CRSF needs 3 repeats to pass the RCProtocol 3 frames test
+    test_protocol_bytesonly("CRSF", 416666, crsf_bytes, sizeof(crsf_bytes), crsf_output, ARRAY_SIZE(crsf_output), 3, 0, true);
+    test_protocol_bytesonly("CRSF2", 416666, crsf_bad_bytes1, sizeof(crsf_bad_bytes1), crsf_bad_output1, ARRAY_SIZE(crsf_bad_output1), 3, 0, true);
+    test_protocol_bytesonly("CRSF3", 416666, crsf_bad_bytes2, sizeof(crsf_bad_bytes2), crsf_bad_output2, ARRAY_SIZE(crsf_bad_output2), 3, 0, true);
+    test_protocol_bytesonly("CRSF4", 416666, crsf_bad_bytes3, sizeof(crsf_bad_bytes3), crsf_bad_output3, ARRAY_SIZE(crsf_bad_output3), 3, 0, true);
+    test_protocol_bytesonly("CRSF5", 416666, crsf_bad_bytes4, sizeof(crsf_bad_bytes4), crsf_bad_output4, ARRAY_SIZE(crsf_bad_output4), 3, 0, true);
+
     // DSM needs 8 repeats, 5 to guess the format, then 3 to pass the RCProtocol 3 frames test
     test_protocol("DSM1", 115200, dsm_bytes,  sizeof(dsm_bytes),  dsm_output,  ARRAY_SIZE(dsm_output), 9);
     test_protocol("DSM2", 115200, dsm_bytes2, sizeof(dsm_bytes2), dsm_output2, ARRAY_SIZE(dsm_output2), 9, 16);
@@ -363,6 +478,16 @@ void loop()
     test_protocol("FPORT", 115200, fport_bytes, sizeof(fport_bytes), fport_output, ARRAY_SIZE(fport_output), 3, 0, true);
     test_protocol("FPORT2_16CH", 115200, fport2_16ch_bytes, sizeof(fport2_16ch_bytes), fport2_16ch_output, ARRAY_SIZE(fport2_16ch_output), 3, 0, true);
     test_protocol("FPORT2_24CH", 115200, fport2_24ch_bytes, sizeof(fport2_24ch_bytes), fport2_24ch_output, ARRAY_SIZE(fport2_24ch_output), 3, 0, true);
+
+    if (test_count++ == 10) {
+        if (test_failures == 0) {
+            printf("Test PASSED\n");
+            ::exit(0);
+        }
+        printf("Test FAILED - %u failures\n", unsigned(test_failures));
+        ::exit(1);
+    }
+    printf("Test count %u - %u failures\n", unsigned(test_count), unsigned(test_failures));
 }
 
 AP_HAL_MAIN();

From b071d76565128c3a7dc19f8ca0cacdd3d1a6311e Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sat, 10 Feb 2024 14:57:24 +0000
Subject: [PATCH 1227/1335] AP_RCProtocol: decode high duty-cycle CRSF frames
 using frame markers rather than timeouts

Co-authored-by: Andrew Tridgell <andrew@tridgell.net>
---
 .../AP_RCProtocol/AP_RCProtocol_CRSF.cpp      | 144 ++++++++++++------
 libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h  |   8 +-
 2 files changed, 99 insertions(+), 53 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
index eb454752d55416..065795acb331a4 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
@@ -146,7 +146,7 @@ static const char* get_frame_type(uint8_t byte, uint8_t subtype = 0)
 # define debug(fmt, args...)	do {} while(0)
 #endif
 
-#define CRSF_FRAME_TIMEOUT_US      10000U // 10ms to account for scheduling delays
+#define CRSF_FRAME_TIMEOUT_US      50000U // 50ms to account for failure of the frame sync and long scheduling delays
 #define CRSF_INTER_FRAME_TIME_US_250HZ    4000U // At fastest, frames are sent by the transmitter every 4 ms, 250 Hz
 #define CRSF_INTER_FRAME_TIME_US_150HZ    6667U // At medium, frames are sent by the transmitter every 6.667 ms, 150 Hz
 #define CRSF_INTER_FRAME_TIME_US_50HZ    20000U // At slowest, frames are sent by the transmitter every 20ms, 50 Hz
@@ -212,76 +212,132 @@ uint16_t AP_RCProtocol_CRSF::get_link_rate(ProtocolType protocol) const {
     }
 }
 
-void AP_RCProtocol_CRSF::_process_byte(uint32_t timestamp_us, uint8_t byte)
+// process a byte provided by a uart from rc stack
+void AP_RCProtocol_CRSF::process_byte(uint8_t byte, uint32_t baudrate)
+{
+    // reject RC data if we have been configured for standalone mode
+    if ((baudrate != CRSF_BAUDRATE && baudrate != CRSF_BAUDRATE_1MBIT && baudrate != CRSF_BAUDRATE_2MBIT) || _uart) {
+        return;
+    }
+    _process_byte(byte);
+}
+
+// process a byte provided by a uart
+void AP_RCProtocol_CRSF::_process_byte(uint8_t byte)
 {
     //debug("process_byte(0x%x)", byte);
-    // we took too long decoding, start again - the RX will only send complete frames so this is unlikely to fail,
-    // however thread scheduling can introduce longer delays even when the data has been received
-    if (_frame_ofs > 0 && (timestamp_us - _start_frame_time_us) > CRSF_FRAME_TIMEOUT_US) {
+    const uint32_t now = AP_HAL::micros();
+
+    // extra check for overflow, should never happen since it will have been handled in check_frame()
+    if (_frame_ofs >= sizeof(_frame)) {
         _frame_ofs = 0;
     }
 
-    // overflow check
-    if (_frame_ofs >= CRSF_FRAMELEN_MAX) {
+    // check for long frame gaps
+    // we took too long decoding, start again - the RX will only send complete frames so this is unlikely to fail,
+    // however thread scheduling can introduce longer delays even when the data has been received
+    if (_frame_ofs > 0 && (now - _start_frame_time_us) > CRSF_FRAME_TIMEOUT_US) {
         _frame_ofs = 0;
     }
 
     // start of a new frame
     if (_frame_ofs == 0) {
-        _start_frame_time_us = timestamp_us;
+        _start_frame_time_us = now;
     }
+    
+    _frame_bytes[_frame_ofs++] = byte;
+    
+    if (!check_frame(now)) {
+        skip_to_next_frame(now);
+    }
+}
 
-    add_to_buffer(_frame_ofs++, byte);
+// check if a frame is valid. Return false if the frame is definitely
+// invalid. Return true if we need more bytes
+bool AP_RCProtocol_CRSF::check_frame(uint32_t timestamp_us)
+{
+    // overflow check
+    if (_frame_ofs >= sizeof(_frame)) {
+        return false;
+    }
 
     // need a header to get the length
     if (_frame_ofs < CRSF_HEADER_TYPE_LEN) {
-        return;
+        return true;
     }
 
     if (_frame.device_address != DeviceAddress::CRSF_ADDRESS_FLIGHT_CONTROLLER) {
-        return;
-    }
-
-    // parse the length
-    if (_frame_ofs == CRSF_HEADER_TYPE_LEN) {
-        _frame_crc = crc8_dvb_s2(0, _frame.type);
-        // check for garbage frame
-        if (_frame.length > CRSF_FRAME_PAYLOAD_MAX) {
-            _frame_ofs = 0;
-        }
-        return;
-    }
-
-    // update crc
-    if (_frame_ofs < _frame.length + CRSF_HEADER_LEN) {
-        _frame_crc = crc8_dvb_s2(_frame_crc, byte);
+        return false;
     }
 
-    // overflow check
-    if (_frame_ofs > _frame.length + CRSF_HEADER_LEN) {
-        _frame_ofs = 0;
-        return;
+    // check validity of the length byte if we have received it
+    if (_frame_ofs >= CRSF_HEADER_TYPE_LEN &&
+        _frame.length > CRSF_FRAME_PAYLOAD_MAX) {
+        return false;
     }
 
     // decode whatever we got and expect
-    if (_frame_ofs == _frame.length + CRSF_HEADER_LEN) {
-        log_data(AP_RCProtocol::CRSF, timestamp_us, (const uint8_t*)&_frame, _frame_ofs - CRSF_HEADER_LEN);
+    if (_frame_ofs >= _frame.length + CRSF_HEADER_LEN) {
+        const uint8_t crc = crc8_dvb_s2_update(0, &_frame_bytes[CRSF_HEADER_LEN], _frame.length - 1);
 
-        // we consumed the partial frame, reset
-        _frame_ofs = 0;
+        //debug("check_frame(0x%x, 0x%x)", _frame.device_address, _frame.length);
 
-        // bad CRC (payload start is +1 from frame start, so need to subtract that from frame length to get index)
-        if (_frame_crc != _frame.payload[_frame.length - 2]) {
-            return;
+        if (crc != _frame.payload[_frame.length - 2]) {
+            return false;
         }
 
-        _last_frame_time_us = _last_rx_frame_time_us = timestamp_us;
+        log_data(AP_RCProtocol::CRSF, timestamp_us, (const uint8_t*)&_frame, _frame.length + CRSF_HEADER_LEN);
+
         // decode here
         if (decode_crsf_packet()) {
             _last_tx_frame_time_us = timestamp_us;  // we have received a frame from the transmitter
             add_input(MAX_CHANNELS, _channels, false, _link_status.rssi, _link_status.link_quality);
         }
+
+        // we consumed the frame
+        const auto len = _frame.length + CRSF_HEADER_LEN;
+        _frame_ofs -= len;
+        if (_frame_ofs > 0) {
+            memmove(_frame_bytes, _frame_bytes+len, _frame_ofs);
+        }
+
+        _last_frame_time_us = _last_rx_frame_time_us = timestamp_us;
+
+        return true;
+    }
+
+    // more bytes to come
+    return true;
+}
+
+// called when parsing or CRC fails on a frame
+void AP_RCProtocol_CRSF::skip_to_next_frame(uint32_t timestamp_us)
+{
+    if (_frame_ofs <= 1) {
+        return;
     }
+
+    /*
+      look for a frame header in the remaining bytes
+     */
+    const uint8_t *new_header = (const uint8_t *)memchr(&_frame_bytes[1], DeviceAddress::CRSF_ADDRESS_FLIGHT_CONTROLLER, _frame_ofs - 1);
+    if (new_header == nullptr) {
+        _frame_ofs = 0;
+        return;
+    }
+
+    /*
+      setup the current state as the remaining bytes, if any
+     */
+    _frame_ofs -= (new_header - _frame_bytes);
+    if (_frame_ofs > 0) {
+        memmove(_frame_bytes, new_header, _frame_ofs);
+    }
+
+    _start_frame_time_us = timestamp_us;
+
+    // we could now have a good frame
+    check_frame(timestamp_us);
 }
 
 void AP_RCProtocol_CRSF::update(void)
@@ -299,7 +355,7 @@ void AP_RCProtocol_CRSF::update(void)
         for (uint8_t i = 0; i < n; i++) {
             int16_t b = _uart->read();
             if (b >= 0) {
-                _process_byte(AP_HAL::micros(), uint8_t(b));
+                _process_byte(uint8_t(b));
             }
         }
     }
@@ -570,16 +626,6 @@ void AP_RCProtocol_CRSF::process_link_stats_tx_frame(const void* data)
     }
 }
 
-// process a byte provided by a uart
-void AP_RCProtocol_CRSF::process_byte(uint8_t byte, uint32_t baudrate)
-{
-    // reject RC data if we have been configured for standalone mode
-    if ((baudrate != CRSF_BAUDRATE && baudrate != CRSF_BAUDRATE_1MBIT && baudrate != CRSF_BAUDRATE_2MBIT) || _uart) {
-        return;
-    }
-    _process_byte(AP_HAL::micros(), byte);
-}
-
 // start the uart if we have one
 void AP_RCProtocol_CRSF::start_uart()
 {
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
index 3546ed484cc9e6..18d69a8e69889c 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
@@ -289,15 +289,17 @@ class AP_RCProtocol_CRSF : public AP_RCProtocol_Backend {
 
 private:
     struct Frame _frame;
+    uint8_t *_frame_bytes = (uint8_t*)&_frame;
     struct Frame _telemetry_frame;
     uint8_t _frame_ofs;
-    uint8_t _frame_crc;
 
     const uint8_t MAX_CHANNELS = MIN((uint8_t)CRSF_MAX_CHANNELS, (uint8_t)MAX_RCIN_CHANNELS);
 
     static AP_RCProtocol_CRSF* _singleton;
 
-    void _process_byte(uint32_t timestamp_us, uint8_t byte);
+    void _process_byte(uint8_t byte);
+    bool check_frame(uint32_t timestamp_us);
+    void skip_to_next_frame(uint32_t timestamp_us);
     bool decode_crsf_packet();
     bool process_telemetry(bool check_constraint = true);
     void process_link_stats_frame(const void* data);
@@ -312,8 +314,6 @@ class AP_RCProtocol_CRSF : public AP_RCProtocol_Backend {
 
     uint16_t _channels[CRSF_MAX_CHANNELS];    /* buffer for extracted RC channel data as pulsewidth in microseconds */
 
-    void add_to_buffer(uint8_t index, uint8_t b) { ((uint8_t*)&_frame)[index] = b; }
-
     uint32_t _last_frame_time_us;
     uint32_t _last_tx_frame_time_us;
     uint32_t _last_uart_start_time_ms;

From b19f8ed57f65d00424b62fcd3910042476c48a47 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 10:25:49 +1100
Subject: [PATCH 1228/1335] AP_RCProtocol: CRSF: use subtraction with times,
 not time+timedelta

---
 libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
index 18d69a8e69889c..fe065d0071359a 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
@@ -58,13 +58,13 @@ class AP_RCProtocol_CRSF : public AP_RCProtocol_Backend {
     bool is_rx_active() const override {
         // later versions of CRSFv3 will send link rate frames every 200ms
         // but only before an initial failsafe
-        return AP_HAL::micros() < _last_rx_frame_time_us + CRSF_RX_TIMEOUT;
+        return _last_rx_frame_time_us != 0 && AP_HAL::micros() - _last_rx_frame_time_us < CRSF_RX_TIMEOUT;
     }
 
     // is the transmitter active, used to adjust telemetry data
     bool is_tx_active() const {
         // this is the same as the Copter failsafe timeout
-        return AP_HAL::micros() < _last_tx_frame_time_us + CRSF_TX_TIMEOUT;
+        return _last_tx_frame_time_us != 0 && AP_HAL::micros() - _last_tx_frame_time_us < CRSF_TX_TIMEOUT;
     }
 
     // get singleton instance

From 26d4e0d285141130469c306f22a38e32400ec9d8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 23 Feb 2024 10:20:57 +1100
Subject: [PATCH 1229/1335] AP_RCProtocol: correct assignment of new_input in
 rcprotocol detecion

caused RCP protocol detection to break for everything other than DroneCAN
---
 libraries/AP_RCProtocol/AP_RCProtocol.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.cpp b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
index 81f446d53aee06..7e53bda5e79793 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
@@ -425,10 +425,10 @@ bool AP_RCProtocol::new_input()
 #endif
     };
     for (const auto protocol : pollable) {
-        _new_input = detect_async_protocol(protocol);
-        if (!_new_input) {
+        if (!detect_async_protocol(protocol)) {
             continue;
         }
+        _new_input = true;
         _last_input_ms = AP_HAL::millis();
         break;
     }

From e1ba4cb1666d65211e39012e6c9daef8ea552589 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Feb 2024 21:18:57 +1100
Subject: [PATCH 1230/1335] Tracker: move version forward to 4.6.0

---
 AntennaTracker/version.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h
index 2a6f77e1655d62..eae1a8cad548fe 100644
--- a/AntennaTracker/version.h
+++ b/AntennaTracker/version.h
@@ -6,13 +6,13 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.5.0-dev"
+#define THISFIRMWARE "AntennaTracker V4.6.0-dev"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 4,6,0,FIRMWARE_VERSION_TYPE_DEV
 
 #define FW_MAJOR 4
-#define FW_MINOR 5
+#define FW_MINOR 6
 #define FW_PATCH 0
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 

From 378c2fd6c96b31c4fa5256a5d89b79802e8d343d Mon Sep 17 00:00:00 2001
From: Paul Riseborough <gncsolns@gmail.com>
Date: Thu, 28 Sep 2023 14:19:50 +1000
Subject: [PATCH 1231/1335] Plane: Fix tilt rotor surging during high speed
 QLOITER flight

---
 ArduPlane/quadplane.cpp | 33 ++++++++++++++++++---------------
 1 file changed, 18 insertions(+), 15 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 1a4fefe7dc64fe..fd009aadf41d20 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -3016,21 +3016,24 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
     q_fwd_throttle = MIN(q_fwd_thr_gain * tanf(fwd_tilt_rad), 1.0f);
 
     // Relax forward tilt limit if the position controller is saturating in the forward direction because
-    // the forward thrust motor could be failed
-    const float fwd_tilt_range_cd = (float)aparm.angle_max - 100.0f * q_fwd_pitch_lim;
-    if (is_positive(fwd_tilt_range_cd)) {
-        // rate limit the forward tilt change to slew between the motor good and motor failed
-        // value over 10 seconds
-        const bool fwd_limited = plane.quadplane.pos_control->is_active_xy() and plane.quadplane.pos_control->get_fwd_pitch_is_limited();
-        const float fwd_pitch_lim_cd_tgt = fwd_limited ? (float)aparm.angle_max : 100.0f * q_fwd_pitch_lim;
-        const float delta_max = 0.1f * fwd_tilt_range_cd * plane.G_Dt;
-        q_fwd_pitch_lim_cd += constrain_float((fwd_pitch_lim_cd_tgt - q_fwd_pitch_lim_cd), -delta_max, delta_max);
-        // Don't let the forward pitch limit be more than the forward pitch demand before limiting to
-        // avoid opening up the limit more than necessary
-        q_fwd_pitch_lim_cd = MIN(q_fwd_pitch_lim_cd, MAX(-(float)plane.nav_pitch_cd, 100.0f * q_fwd_pitch_lim));
-    } else {
-        // take the lesser of the two limits
-        q_fwd_pitch_lim_cd = (float)aparm.angle_max;
+    // the forward thrust motor could be failed. Do not do this with tilt rotors because they do not rely on
+    // forward throttle during VTOL flight
+    if (!tiltrotor.enabled()) {
+        const float fwd_tilt_range_cd = (float)aparm.angle_max - 100.0f * q_fwd_pitch_lim;
+        if (is_positive(fwd_tilt_range_cd)) {
+            // rate limit the forward tilt change to slew between the motor good and motor failed
+            // value over 10 seconds
+            const bool fwd_limited = plane.quadplane.pos_control->is_active_xy() and plane.quadplane.pos_control->get_fwd_pitch_is_limited();
+            const float fwd_pitch_lim_cd_tgt = fwd_limited ? (float)aparm.angle_max : 100.0f * q_fwd_pitch_lim;
+            const float delta_max = 0.1f * fwd_tilt_range_cd * plane.G_Dt;
+            q_fwd_pitch_lim_cd += constrain_float((fwd_pitch_lim_cd_tgt - q_fwd_pitch_lim_cd), -delta_max, delta_max);
+            // Don't let the forward pitch limit be more than the forward pitch demand before limiting to
+            // avoid opening up the limit more than necessary
+            q_fwd_pitch_lim_cd = MIN(q_fwd_pitch_lim_cd, MAX(-(float)plane.nav_pitch_cd, 100.0f * q_fwd_pitch_lim));
+        } else {
+            // take the lesser of the two limits
+            q_fwd_pitch_lim_cd = (float)aparm.angle_max;
+        }
     }
 
     float fwd_thr_scaler;

From 95fb20dcd5ca255d053cc8e2b6ab0281fb46aa4f Mon Sep 17 00:00:00 2001
From: Paul Riseborough <gncsolns@gmail.com>
Date: Sun, 4 Feb 2024 18:08:50 +1100
Subject: [PATCH 1232/1335] Plane: Prevent overloading quadplane wing during
 VTOL braking

Plane: Fix description for TECS_BCK_PIT_LIM

Plane: Add diagnostics logging for VTOL upper pitch limit calc

Plane: Rework "Prevent overloading quadplane wing during VTOL braking"

Implement an independent speed scaler calculation. During VTOL modes the plane surface speed scaler does not follow a 1/IAS function at low airspeed.
---
 ArduPlane/quadplane.cpp | 47 ++++++++++++++++++++++++++++++++++++++---
 ArduPlane/quadplane.h   |  5 +++++
 2 files changed, 49 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index fd009aadf41d20..bcebeb267a27dc 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -529,6 +529,15 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
     // @User: Standard
     AP_GROUPINFO("FWD_THR_USE", 37, QuadPlane, q_fwd_thr_use, uint8_t(FwdThrUse::OFF)),
 
+    // @Param: BCK_PIT_LIM
+    // @DisplayName: Q mode rearward pitch limit
+    // @Description: This sets the maximum number of degrees of back or pitch up in Q modes when the airspeed is at AIRSPEED_MIN and is used to prevent excessive sutructural loads when pitching up decelerate. If airspeed is above or below AIRSPEED_FBW_MIN the pitch up/back will be adjusted according to the formula pitch_limit = BCK_PIT_LIM * (AIRSPEED_FBW_MIN / IAS)^2. The backwards/up pitch limit controlled by this parameter is in addition to limiting applied by PTCH_LIM_MAX and Q_ANGLE_MAX. The BCK_PIT_LIM limit is only applied when Q_FWD_THR_USE is set to 1 or 2 and the vehicle is flying in a mode that uses forward throttle instead of forward tilt to generate forward speed. Set to a non positive value 0 to deactivate this limit.
+    // @Units: deg
+    // @Range: 0.0 15.0
+    // @Increment: 0.1
+    // @User: Standard
+    AP_GROUPINFO("BCK_PIT_LIM", 38, QuadPlane, q_bck_pitch_lim, 10.0f),
+
     AP_GROUPEND
 };
 
@@ -3036,6 +3045,37 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
         }
     }
 
+    // Prevent the wing from being overloaded when braking from high speed in a VTOL mode
+    float nav_pitch_upper_limit_cd = 100.0f * q_bck_pitch_lim;
+    float aspeed;
+    if (is_positive(q_bck_pitch_lim) && ahrs.airspeed_estimate(aspeed)) {
+        const float reference_speed = MAX(plane.aparm.airspeed_min, MIN_AIRSPEED_MIN);
+        float speed_scaler = sq(reference_speed / MAX(aspeed, 0.1f));
+        nav_pitch_upper_limit_cd *= speed_scaler;
+        nav_pitch_upper_limit_cd = MIN(nav_pitch_upper_limit_cd, (float)aparm.angle_max);
+
+        const float tconst = 0.5f;
+        const float dt = AP_HAL::millis() - q_pitch_limit_update_ms;
+        q_pitch_limit_update_ms = AP_HAL::millis();
+        if (is_positive(dt)) {
+            const float coef = dt / (dt + tconst);
+            q_bck_pitch_lim_cd = (1.0f - coef) * q_bck_pitch_lim_cd + coef * nav_pitch_upper_limit_cd;
+        }
+
+        plane.nav_pitch_cd = MIN(plane.nav_pitch_cd, (int32_t)q_bck_pitch_lim_cd);
+
+#if HAL_LOGGING_ENABLED
+        AP::logger().WriteStreaming("QBRK",
+                                "TimeUS,SpdScaler,NPULCD,QBPLCD,NPCD",  // labels
+                                "Qffii",    // fmt
+                                AP_HAL::micros64(),
+                                (double)speed_scaler,
+                                (double)nav_pitch_upper_limit_cd,
+                                (int32_t)q_bck_pitch_lim_cd,
+                                (int32_t)plane.nav_pitch_cd);
+#endif
+    }
+
     float fwd_thr_scaler;
     if (!in_vtol_land_approach()) {
         // To prevent forward motor prop strike, reduce throttle to zero when close to ground.
@@ -3057,14 +3097,15 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
 #if HAL_LOGGING_ENABLED
     // Diagnostics logging - remove when feature is fully flight tested.
     AP::logger().WriteStreaming("FWDT",
-                                "TimeUS,fts,qfplcd,npllcd,npcd,qft",  // labels
-                                "Qfffff",    // fmt
+                                "TimeUS,fts,qfplcd,npllcd,npcd,qft,npulcd",  // labels
+                                "Qffffff",    // fmt
                                 AP_HAL::micros64(),
                                 (double)fwd_thr_scaler,
                                 (double)q_fwd_pitch_lim_cd,
                                 (double)nav_pitch_lower_limit_cd,
                                 (double)plane.nav_pitch_cd,
-                                (double)q_fwd_throttle);
+                                (double)q_fwd_throttle,
+                                (float)nav_pitch_upper_limit_cd);
 #endif
 
     plane.nav_pitch_cd = MAX(plane.nav_pitch_cd, (int32_t)nav_pitch_lower_limit_cd);
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 63a0cb235a2725..5b2b35fa92dffe 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -403,6 +403,9 @@ class QuadPlane
     // limit applied to forward pitch to prevent wing producing negative lift
     AP_Float q_fwd_pitch_lim;
 
+    // limit applied to back pitch to prevent wing producing excessive lift
+    AP_Float q_bck_pitch_lim;
+
     // which fwd throttle handling method is active
     enum class ActiveFwdThr : uint8_t {
         NONE = 0,
@@ -441,6 +444,8 @@ class QuadPlane
 
     float q_fwd_throttle; // forward throttle used in q modes
     float q_fwd_pitch_lim_cd; // forward pitch limit applied when using q_fwd_throttle
+    float q_bck_pitch_lim_cd; // backward pitch limit applied when using Q_BCK_PIT_LIM
+    uint32_t q_pitch_limit_update_ms; // last time the backward pitch limit was updated
 
     // when did we last run the attitude controller?
     uint32_t last_att_control_ms;

From c8b5de34b5e4c000398e76d559c4af707c5fa236 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <gncsolns@gmail.com>
Date: Wed, 21 Feb 2024 19:19:06 +1100
Subject: [PATCH 1233/1335] Plane: Update description for Q_BCK_PIT_LIM

---
 ArduPlane/quadplane.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index bcebeb267a27dc..c2cff5682e8171 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -531,7 +531,7 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
 
     // @Param: BCK_PIT_LIM
     // @DisplayName: Q mode rearward pitch limit
-    // @Description: This sets the maximum number of degrees of back or pitch up in Q modes when the airspeed is at AIRSPEED_MIN and is used to prevent excessive sutructural loads when pitching up decelerate. If airspeed is above or below AIRSPEED_FBW_MIN the pitch up/back will be adjusted according to the formula pitch_limit = BCK_PIT_LIM * (AIRSPEED_FBW_MIN / IAS)^2. The backwards/up pitch limit controlled by this parameter is in addition to limiting applied by PTCH_LIM_MAX and Q_ANGLE_MAX. The BCK_PIT_LIM limit is only applied when Q_FWD_THR_USE is set to 1 or 2 and the vehicle is flying in a mode that uses forward throttle instead of forward tilt to generate forward speed. Set to a non positive value 0 to deactivate this limit.
+    // @Description: This sets the maximum number of degrees of back or pitch up in Q modes when the airspeed is at AIRSPEED_MIN, and is used to prevent excessive sutructural loads when pitching up decelerate. If airspeed is above or below AIRSPEED_MIN, the pitch up/back will be adjusted according to the formula pitch_limit = Q_BCK_PIT_LIM * (AIRSPEED_MIN / IAS)^2. The backwards/up pitch limit controlled by this parameter is in addition to limiting applied by PTCH_LIM_MAX_DEG and Q_ANGLE_MAX. The BCK_PIT_LIM limit is only applied when Q_FWD_THR_USE is set to 1 or 2 and the vehicle is flying in a mode that uses forward throttle instead of forward tilt to generate forward speed. Set to a non positive value 0 to deactivate this limit.
     // @Units: deg
     // @Range: 0.0 15.0
     // @Increment: 0.1

From d92acaffce878ba7afdcbdd6d80f94b921921ff8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 23 Feb 2024 14:18:13 +1100
Subject: [PATCH 1234/1335] autotest: improve diagnostics around expected
 statustext

---
 Tools/autotest/vehicle_test_suite.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index dbffada9201c83..e886a7f1682ee1 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -7966,7 +7966,7 @@ def statustext_in_collections(self, text, regex=False):
         if "STATUSTEXT" not in c.collections:
             raise NotAchievedException("Asked to check context but it isn't collecting!")
         for x in c.collections["STATUSTEXT"]:
-            self.progress("  statustext=%s vs text=%s" % (x.text, text))
+            self.progress("  statustext want=(%s) got=(%s)" % (x.text, text))
             if regex:
                 if re.match(text, x.text):
                     return x

From f0616b1b84dba7afd9d4e86da3cf51a5eba09e4a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 23 Feb 2024 12:17:44 +1100
Subject: [PATCH 1235/1335] AC_PID: avoid use of uninitialised stack data in
 example

---
 .../AC_PID/examples/AC_PID_test/AC_PID_test.cpp    | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp b/libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp
index 7b7b088e48d24d..ad193a4aa33aaf 100644
--- a/libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp
+++ b/libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp
@@ -70,11 +70,11 @@ void setup()
 void loop()
 {
     // setup (unfortunately must be done here as we cannot create a global AC_PID object)
-    AC_PID pid(TEST_P, TEST_I, TEST_D, 0.0f, TEST_IMAX * 100.0f, 0.0f, 0.0f, TEST_FILTER);
-    AC_HELI_PID heli_pid(TEST_P, TEST_I, TEST_D, TEST_INITIAL_FF, TEST_IMAX * 100, 0.0f, 0.0f, TEST_FILTER);
+    AC_PID *pid = new AC_PID(TEST_P, TEST_I, TEST_D, 0.0f, TEST_IMAX * 100.0f, 0.0f, 0.0f, TEST_FILTER);
+    // AC_HELI_PID *heli_pid= new AC_HELI_PID(TEST_P, TEST_I, TEST_D, TEST_INITIAL_FF, TEST_IMAX * 100, 0.0f, 0.0f, TEST_FILTER);
 
     // display PID gains
-    hal.console->printf("P %f  I %f  D %f  imax %f\n", (double)pid.kP(), (double)pid.kI(), (double)pid.kD(), (double)pid.imax());
+    hal.console->printf("P %f  I %f  D %f  imax %f\n", (double)pid->kP(), (double)pid->kI(), (double)pid->kD(), (double)pid->imax());
 
     RC_Channel *c = rc().channel(0);
     if (c == nullptr) {
@@ -91,10 +91,10 @@ void loop()
         rc().read_input(); // poll the radio for new values
         const uint16_t radio_in = c->get_radio_in();
         const int16_t error = radio_in - radio_trim;
-        pid.update_error(error, TEST_DT);
-        const float control_P = pid.get_p();
-        const float control_I = pid.get_i();
-        const float control_D = pid.get_d();
+        pid->update_error(error, TEST_DT);
+        const float control_P = pid->get_p();
+        const float control_I = pid->get_i();
+        const float control_D = pid->get_d();
 
         // display pid results
         hal.console->printf("radio: %d\t err: %d\t pid:%4.2f (p:%4.2f i:%4.2f d:%4.2f)\n",

From 5b2d760365ab00b8a240c9f1c6915033c4187dd4 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 19 Feb 2024 18:12:53 +0000
Subject: [PATCH 1236/1335] AC_AttitudeControl: ensure yaw gets a FLTD default

---
 libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
index c9966cbefd91a7..caa4766511271d 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
@@ -137,7 +137,7 @@ class AC_AttitudeControl_Multi : public AC_AttitudeControl {
             .imax      = AC_ATC_MULTI_RATE_YAW_IMAX,
             .filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
             .filt_E_hz = AC_ATC_MULTI_RATE_YAW_FILT_HZ,
-            .filt_D_hz = 0.0f,
+            .filt_D_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
             .srmax     = 0,
             .srtau     = 1.0
         }

From 44977938d87d13bd617261bc9eed53f5261cf49d Mon Sep 17 00:00:00 2001
From: lthall <leonardthall@gmail.com>
Date: Fri, 23 Feb 2024 16:37:23 +1030
Subject: [PATCH 1237/1335] AC_CustomControl: RP_FILT_HZ to RPY_FILT_HZ

---
 libraries/AC_CustomControl/AC_CustomControl_PID.cpp | 6 +++---
 libraries/AC_CustomControl/README.md                | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AC_CustomControl/AC_CustomControl_PID.cpp b/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
index cd6d00cd2af04c..10765e8ed04047 100644
--- a/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
+++ b/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
@@ -323,9 +323,9 @@ AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_V
     _p_angle_roll2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_pitch2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_yaw2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
-    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f),
-    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f),
-    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f)
+    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f),
+    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f),
+    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f)
 {
     _dt = dt;
     AP_Param::setup_object_defaults(this, var_info);
diff --git a/libraries/AC_CustomControl/README.md b/libraries/AC_CustomControl/README.md
index f1cf85fa10ce43..2d2d4a892d1350 100644
--- a/libraries/AC_CustomControl/README.md
+++ b/libraries/AC_CustomControl/README.md
@@ -243,9 +243,9 @@ AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl &frontend, AP_AHRS_V
     _p_angle_roll2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_pitch2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_yaw2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
-    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, dt),
-    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, dt),
-    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RP_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f, dt)
+    _pid_atti_rate_roll(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, dt),
+    _pid_atti_rate_pitch(AC_ATC_MULTI_RATE_RP_P * 0.90f, AC_ATC_MULTI_RATE_RP_I * 0.90f, AC_ATC_MULTI_RATE_RP_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RP_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, 0.0f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, dt),
+    _pid_atti_rate_yaw(AC_ATC_MULTI_RATE_YAW_P * 0.90f, AC_ATC_MULTI_RATE_YAW_I * 0.90f, AC_ATC_MULTI_RATE_YAW_D * 0.90f, 0.0f, AC_ATC_MULTI_RATE_YAW_IMAX * 0.90f, AC_ATC_MULTI_RATE_RPY_FILT_HZ * 0.90f, AC_ATC_MULTI_RATE_YAW_FILT_HZ * 0.90f, 0.0f, dt)
 {
     AP_Param::setup_object_defaults(this, var_info);
 }

From 728d9a9f965ca9b644116887f51e964cdf0eef99 Mon Sep 17 00:00:00 2001
From: lthall <leonardthall@gmail.com>
Date: Fri, 23 Feb 2024 16:36:31 +1030
Subject: [PATCH 1238/1335] Copter: AC_AttitudeControl: RP_FILT_HZ to
 RPY_FILT_HZ

---
 .../AC_AttitudeControl_Multi.h                   | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
index caa4766511271d..55359a1edb6fb7 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.h
@@ -19,8 +19,8 @@
 #ifndef AC_ATC_MULTI_RATE_RP_IMAX
  # define AC_ATC_MULTI_RATE_RP_IMAX         0.5f
 #endif
-#ifndef AC_ATC_MULTI_RATE_RP_FILT_HZ
- # define AC_ATC_MULTI_RATE_RP_FILT_HZ      20.0f
+#ifndef AC_ATC_MULTI_RATE_RPY_FILT_HZ
+ # define AC_ATC_MULTI_RATE_RPY_FILT_HZ      20.0f
 #endif
 #ifndef AC_ATC_MULTI_RATE_YAW_P
  # define AC_ATC_MULTI_RATE_YAW_P           0.180f
@@ -106,9 +106,9 @@ class AC_AttitudeControl_Multi : public AC_AttitudeControl {
             .d         = AC_ATC_MULTI_RATE_RP_D,
             .ff        = 0.0f,
             .imax      = AC_ATC_MULTI_RATE_RP_IMAX,
-            .filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_T_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .filt_E_hz = 0.0f,
-            .filt_D_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_D_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .srmax     = 0,
             .srtau     = 1.0
         }
@@ -120,9 +120,9 @@ class AC_AttitudeControl_Multi : public AC_AttitudeControl {
             .d         = AC_ATC_MULTI_RATE_RP_D,
             .ff        = 0.0f,
             .imax      = AC_ATC_MULTI_RATE_RP_IMAX,
-            .filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_T_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .filt_E_hz = 0.0f,
-            .filt_D_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_D_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .srmax     = 0,
             .srtau     = 1.0
         }
@@ -135,9 +135,9 @@ class AC_AttitudeControl_Multi : public AC_AttitudeControl {
             .d         = AC_ATC_MULTI_RATE_YAW_D,
             .ff        = 0.0f,
             .imax      = AC_ATC_MULTI_RATE_YAW_IMAX,
-            .filt_T_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_T_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .filt_E_hz = AC_ATC_MULTI_RATE_YAW_FILT_HZ,
-            .filt_D_hz = AC_ATC_MULTI_RATE_RP_FILT_HZ,
+            .filt_D_hz = AC_ATC_MULTI_RATE_RPY_FILT_HZ,
             .srmax     = 0,
             .srtau     = 1.0
         }

From 4e280795b2a35522e3c55a977c6dff4687dbdf32 Mon Sep 17 00:00:00 2001
From: Maxim Buzdalov <mbuzdalov@gmail.com>
Date: Sun, 18 Feb 2024 12:15:33 +0000
Subject: [PATCH 1239/1335] AP_ESC_Telem: for RPM, log NaN instead of 0 when
 there are no measurements

---
 libraries/AP_ESC_Telem/AP_ESC_Telem.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
index 4af6e8bd72dcb0..837888b94df1e3 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -503,9 +503,9 @@ void AP_ESC_Telem::update()
             if (_telem_data[i].last_update_ms != _last_telem_log_ms[i]
                 || _rpm_data[i].last_update_us != _last_rpm_log_us[i]) {
 
-                float rpm = 0.0f;
+                float rpm = AP::logger().quiet_nanf();
                 get_rpm(i, rpm);
-                float raw_rpm = 0.0f;
+                float raw_rpm = AP::logger().quiet_nanf();
                 get_raw_rpm(i, raw_rpm);
 
                 // Write ESC status messages

From 5329ab8d927e98385f6f585ebcc738b0be04ae1d Mon Sep 17 00:00:00 2001
From: Maxim Buzdalov <mbuzdalov@gmail.com>
Date: Tue, 20 Feb 2024 12:26:24 +0000
Subject: [PATCH 1240/1335] AP_ESC_Telem: cleanup whitespace

---
 libraries/AP_ESC_Telem/AP_ESC_Telem.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
index 837888b94df1e3..1fa0eae3eb0aba 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -312,8 +312,8 @@ void AP_ESC_Telem::send_esc_telemetry_mavlink(uint8_t mav_chan)
     const uint32_t now_us = AP_HAL::micros();
 
     // loop through groups of 4 ESCs
-    const uint8_t esc_offset = constrain_int16(mavlink_offset, 0, ESC_TELEM_MAX_ESCS-1);
-    const uint8_t num_idx = ESC_TELEM_MAX_ESCS/4;
+    const uint8_t esc_offset = constrain_int16(mavlink_offset, 0, ESC_TELEM_MAX_ESCS - 1);
+    const uint8_t num_idx = ESC_TELEM_MAX_ESCS / 4;
     for (uint8_t idx = 0; idx < num_idx; idx++) {
         const uint8_t i = (next_idx + idx) % num_idx;
 
@@ -543,7 +543,7 @@ void AP_ESC_Telem::update()
     }
 }
 
-bool AP_ESC_Telem::rpm_data_within_timeout (const volatile AP_ESC_Telem_Backend::RpmData &instance, const uint32_t now_us, const uint32_t timeout_us)
+bool AP_ESC_Telem::rpm_data_within_timeout(const volatile AP_ESC_Telem_Backend::RpmData &instance, const uint32_t now_us, const uint32_t timeout_us)
 {
     // easy case, has the time window been crossed so it's invalid
     if ((now_us - instance.last_update_us) > timeout_us) {
@@ -557,7 +557,7 @@ bool AP_ESC_Telem::rpm_data_within_timeout (const volatile AP_ESC_Telem_Backend:
     return instance.data_valid;
 }
 
-bool AP_ESC_Telem::was_rpm_data_ever_reported (const volatile AP_ESC_Telem_Backend::RpmData &instance)
+bool AP_ESC_Telem::was_rpm_data_ever_reported(const volatile AP_ESC_Telem_Backend::RpmData &instance)
 {
     return instance.last_update_us > 0;
 }

From 8a576f884ed70b0e572f084a6558b267b05802a8 Mon Sep 17 00:00:00 2001
From: Maxim Buzdalov <mbuzdalov@gmail.com>
Date: Tue, 20 Feb 2024 12:27:09 +0000
Subject: [PATCH 1241/1335] AP_ESC_Telem: remove redundant initialization

---
 libraries/AP_ESC_Telem/AP_ESC_Telem.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
index 1fa0eae3eb0aba..df2210af83ac2e 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -354,7 +354,7 @@ void AP_ESC_Telem::send_esc_telemetry_mavlink(uint8_t mav_chan)
             s.voltage[j] = constrain_float(_telem_data[esc_id].voltage * 100.0f, 0, UINT16_MAX);
             s.current[j] = constrain_float(_telem_data[esc_id].current * 100.0f, 0, UINT16_MAX);
             s.totalcurrent[j] = constrain_float(_telem_data[esc_id].consumption_mah, 0, UINT16_MAX);
-            float rpmf = 0.0f;
+            float rpmf;
             if (get_rpm(esc_id, rpmf)) {
                 s.rpm[j] = constrain_float(rpmf, 0, UINT16_MAX);
             }

From 58d82000db7f68d0288a96308f37b286fb19ad67 Mon Sep 17 00:00:00 2001
From: Maxim Buzdalov <mbuzdalov@gmail.com>
Date: Tue, 20 Feb 2024 12:41:03 +0000
Subject: [PATCH 1242/1335] AP_ESC_Telem: split logging and invalidation,
 deduplicate micros64()

---
 libraries/AP_ESC_Telem/AP_ESC_Telem.cpp | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
index df2210af83ac2e..354849f38119e1 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -492,12 +492,9 @@ void AP_ESC_Telem::update()
 {
 #if HAL_LOGGING_ENABLED
     AP_Logger *logger = AP_Logger::get_singleton();
-#endif
-
-    const uint32_t now_us = AP_HAL::micros();
+    const uint64_t now_us64 = AP_HAL::micros64();
 
     for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
-#if HAL_LOGGING_ENABLED
         // Push received telemetry data into the logging system
         if (logger && logger->logging_enabled()) {
             if (_telem_data[i].last_update_ms != _last_telem_log_ms[i]
@@ -519,7 +516,7 @@ void AP_ESC_Telem::update()
                 //   error_rate is in percentage
                 const struct log_Esc pkt{
                     LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)),
-                    time_us     : AP_HAL::micros64(),
+                    time_us     : now_us64,
                     instance    : i,
                     rpm         : rpm,
                     raw_rpm     : raw_rpm,
@@ -535,8 +532,12 @@ void AP_ESC_Telem::update()
                 _last_rpm_log_us[i] = _rpm_data[i].last_update_us;
             }
         }
+    }
 #endif  // HAL_LOGGING_ENABLED
 
+    const uint32_t now_us = AP_HAL::micros();
+    for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
+        // Invalidate RPM data if not received for too long
         if ((now_us - _rpm_data[i].last_update_us) > ESC_RPM_DATA_TIMEOUT_US) {
             _rpm_data[i].data_valid = false;
         }

From 0ede7f5075de3930dc8ff6fbbb528c8c68d7e1ec Mon Sep 17 00:00:00 2001
From: Maxim Buzdalov <mbuzdalov@gmail.com>
Date: Tue, 20 Feb 2024 12:45:41 +0000
Subject: [PATCH 1243/1335] AP_ESC_Telem: replace selected repeated indexing
 with references

---
 libraries/AP_ESC_Telem/AP_ESC_Telem.cpp | 98 ++++++++++++++-----------
 1 file changed, 54 insertions(+), 44 deletions(-)

diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
index 354849f38119e1..a82a014dedd644 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -214,24 +214,26 @@ bool AP_ESC_Telem::get_raw_rpm(uint8_t esc_index, float& rpm) const
 // get an individual ESC's temperature in centi-degrees if available, returns true on success
 bool AP_ESC_Telem::get_temperature(uint8_t esc_index, int16_t& temp) const
 {
+    const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
     if (esc_index >= ESC_TELEM_MAX_ESCS
-        || _telem_data[esc_index].stale()
-        || !(_telem_data[esc_index].types & (AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL))) {
+        || telemdata.stale()
+        || !(telemdata.types & (AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL))) {
         return false;
     }
-    temp = _telem_data[esc_index].temperature_cdeg;
+    temp = telemdata.temperature_cdeg;
     return true;
 }
 
 // get an individual motor's temperature in centi-degrees if available, returns true on success
 bool AP_ESC_Telem::get_motor_temperature(uint8_t esc_index, int16_t& temp) const
 {
+    const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
     if (esc_index >= ESC_TELEM_MAX_ESCS
-        || _telem_data[esc_index].stale()
-        || !(_telem_data[esc_index].types & (AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL))) {
+        || telemdata.stale()
+        || !(telemdata.types & (AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL))) {
         return false;
     }
-    temp = _telem_data[esc_index].motor_temp_cdeg;
+    temp = telemdata.motor_temp_cdeg;
     return true;
 }
 
@@ -254,48 +256,52 @@ bool AP_ESC_Telem::get_highest_motor_temperature(int16_t& temp) const
 // get an individual ESC's current in Ampere if available, returns true on success
 bool AP_ESC_Telem::get_current(uint8_t esc_index, float& amps) const
 {
+    const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
     if (esc_index >= ESC_TELEM_MAX_ESCS
-        || _telem_data[esc_index].stale()
-        || !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::CURRENT)) {
+        || telemdata.stale()
+        || !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::CURRENT)) {
         return false;
     }
-    amps = _telem_data[esc_index].current;
+    amps = telemdata.current;
     return true;
 }
 
 // get an individual ESC's voltage in Volt if available, returns true on success
 bool AP_ESC_Telem::get_voltage(uint8_t esc_index, float& volts) const
 {
+    const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
     if (esc_index >= ESC_TELEM_MAX_ESCS
-        || _telem_data[esc_index].stale()
-        || !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::VOLTAGE)) {
+        || telemdata.stale()
+        || !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::VOLTAGE)) {
         return false;
     }
-    volts = _telem_data[esc_index].voltage;
+    volts = telemdata.voltage;
     return true;
 }
 
 // get an individual ESC's energy consumption in milli-Ampere.hour if available, returns true on success
 bool AP_ESC_Telem::get_consumption_mah(uint8_t esc_index, float& consumption_mah) const
 {
+    const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
     if (esc_index >= ESC_TELEM_MAX_ESCS
-        || _telem_data[esc_index].stale()
-        || !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION)) {
+        || telemdata.stale()
+        || !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION)) {
         return false;
     }
-    consumption_mah = _telem_data[esc_index].consumption_mah;
+    consumption_mah = telemdata.consumption_mah;
     return true;
 }
 
 // get an individual ESC's usage time in seconds if available, returns true on success
 bool AP_ESC_Telem::get_usage_seconds(uint8_t esc_index, uint32_t& usage_s) const
 {
+    const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
     if (esc_index >= ESC_TELEM_MAX_ESCS
-        || _telem_data[esc_index].stale()
-        || !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::USAGE)) {
+        || telemdata.stale()
+        || !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::USAGE)) {
         return false;
     }
-    usage_s = _telem_data[esc_index].usage_s;
+    usage_s = telemdata.usage_s;
     return true;
 }
 
@@ -349,16 +355,17 @@ void AP_ESC_Telem::send_esc_telemetry_mavlink(uint8_t mav_chan)
             if (esc_id >= ESC_TELEM_MAX_ESCS) {
                 continue;
             }
+            volatile AP_ESC_Telem_Backend::TelemetryData const &telemdata = _telem_data[esc_id];
 
-            s.temperature[j] = _telem_data[esc_id].temperature_cdeg / 100;
-            s.voltage[j] = constrain_float(_telem_data[esc_id].voltage * 100.0f, 0, UINT16_MAX);
-            s.current[j] = constrain_float(_telem_data[esc_id].current * 100.0f, 0, UINT16_MAX);
-            s.totalcurrent[j] = constrain_float(_telem_data[esc_id].consumption_mah, 0, UINT16_MAX);
+            s.temperature[j] = telemdata.temperature_cdeg / 100;
+            s.voltage[j] = constrain_float(telemdata.voltage * 100.0f, 0, UINT16_MAX);
+            s.current[j] = constrain_float(telemdata.current * 100.0f, 0, UINT16_MAX);
+            s.totalcurrent[j] = constrain_float(telemdata.consumption_mah, 0, UINT16_MAX);
             float rpmf;
             if (get_rpm(esc_id, rpmf)) {
                 s.rpm[j] = constrain_float(rpmf, 0, UINT16_MAX);
             }
-            s.count[j] = _telem_data[esc_id].count;
+            s.count[j] = telemdata.count;
         }
 
         // make sure a msg hasn't been extended
@@ -425,41 +432,42 @@ void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem
     }
 
     _have_data = true;
+    volatile AP_ESC_Telem_Backend::TelemetryData &telemdata = _telem_data[esc_index];
 
 #if AP_TEMPERATURE_SENSOR_ENABLED
     // always allow external data. Block "internal" if external has ever its ever been set externally then ignore normal "internal" updates
     const bool has_temperature = (data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL) ||
-        ((data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE) && !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL));
+        ((data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE) && !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL));
 
     const bool has_motor_temperature = (data_mask & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL) ||
-        ((data_mask & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE) && !(_telem_data[esc_index].types & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL));
+        ((data_mask & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE) && !(telemdata.types & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL));
 #else
     const bool has_temperature = (data_mask & AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE);
     const bool has_motor_temperature = (data_mask & AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE);
 #endif
 
     if (has_temperature) {
-        _telem_data[esc_index].temperature_cdeg = new_data.temperature_cdeg;
+        telemdata.temperature_cdeg = new_data.temperature_cdeg;
     }
     if (has_motor_temperature) {
-        _telem_data[esc_index].motor_temp_cdeg = new_data.motor_temp_cdeg;
+        telemdata.motor_temp_cdeg = new_data.motor_temp_cdeg;
     }
     if (data_mask & AP_ESC_Telem_Backend::TelemetryType::VOLTAGE) {
-        _telem_data[esc_index].voltage = new_data.voltage;
+        telemdata.voltage = new_data.voltage;
     }
     if (data_mask & AP_ESC_Telem_Backend::TelemetryType::CURRENT) {
-        _telem_data[esc_index].current = new_data.current;
+        telemdata.current = new_data.current;
     }
     if (data_mask & AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION) {
-        _telem_data[esc_index].consumption_mah = new_data.consumption_mah;
+        telemdata.consumption_mah = new_data.consumption_mah;
     }
     if (data_mask & AP_ESC_Telem_Backend::TelemetryType::USAGE) {
-        _telem_data[esc_index].usage_s = new_data.usage_s;
+        telemdata.usage_s = new_data.usage_s;
     }
 
-    _telem_data[esc_index].count++;
-    _telem_data[esc_index].types |= data_mask;
-    _telem_data[esc_index].last_update_ms = AP_HAL::millis();
+    telemdata.count++;
+    telemdata.types |= data_mask;
+    telemdata.last_update_ms = AP_HAL::millis();
 }
 
 // record an update to the RPM together with timestamp, this allows the notch values to be slewed
@@ -495,10 +503,12 @@ void AP_ESC_Telem::update()
     const uint64_t now_us64 = AP_HAL::micros64();
 
     for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
+        const volatile AP_ESC_Telem_Backend::RpmData &rpmdata = _rpm_data[i];
+        const volatile AP_ESC_Telem_Backend::TelemetryData &telemdata = _telem_data[i];
         // Push received telemetry data into the logging system
         if (logger && logger->logging_enabled()) {
-            if (_telem_data[i].last_update_ms != _last_telem_log_ms[i]
-                || _rpm_data[i].last_update_us != _last_rpm_log_us[i]) {
+            if (telemdata.last_update_ms != _last_telem_log_ms[i]
+                || rpmdata.last_update_us != _last_rpm_log_us[i]) {
 
                 float rpm = AP::logger().quiet_nanf();
                 get_rpm(i, rpm);
@@ -520,16 +530,16 @@ void AP_ESC_Telem::update()
                     instance    : i,
                     rpm         : rpm,
                     raw_rpm     : raw_rpm,
-                    voltage     : _telem_data[i].voltage,
-                    current     : _telem_data[i].current,
-                    esc_temp    : _telem_data[i].temperature_cdeg,
-                    current_tot : _telem_data[i].consumption_mah,
-                    motor_temp  : _telem_data[i].motor_temp_cdeg,
-                    error_rate  : _rpm_data[i].error_rate
+                    voltage     : telemdata.voltage,
+                    current     : telemdata.current,
+                    esc_temp    : telemdata.temperature_cdeg,
+                    current_tot : telemdata.consumption_mah,
+                    motor_temp  : telemdata.motor_temp_cdeg,
+                    error_rate  : rpmdata.error_rate
                 };
                 AP::logger().WriteBlock(&pkt, sizeof(pkt));
-                _last_telem_log_ms[i] = _telem_data[i].last_update_ms;
-                _last_rpm_log_us[i] = _rpm_data[i].last_update_us;
+                _last_telem_log_ms[i] = telemdata.last_update_ms;
+                _last_rpm_log_us[i] = rpmdata.last_update_us;
             }
         }
     }

From 957b05e53efeb58e2f1951990ccc92fe124b7136 Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Tue, 13 Feb 2024 18:44:08 +0100
Subject: [PATCH 1244/1335] AP_PiccoloCAN: Remove duplicated code

Fix doxygen markup for consistency
Fix typos
---
 libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp     | 76 -------------------
 libraries/AP_PiccoloCAN/AP_PiccoloCAN.h       | 15 ++--
 .../AP_PiccoloCAN/AP_PiccoloCAN_Device.h      | 16 ++--
 libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.cpp |  2 +-
 4 files changed, 15 insertions(+), 94 deletions(-)

diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
index bbaec88f3e4d03..428f589b892700 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
@@ -403,82 +403,6 @@ void AP_PiccoloCAN::update()
 #endif  // HAL_LOGGING_ENABLED
 }
 
-#if HAL_GCS_ENABLED
-// send ESC telemetry messages over MAVLink
-void AP_PiccoloCAN::send_esc_telemetry_mavlink(uint8_t mav_chan)
-{
-    // Arrays to store ESC telemetry data
-    uint8_t temperature[4] {};
-    uint16_t voltage[4] {};
-    uint16_t rpm[4] {};
-    uint16_t count[4] {};
-    uint16_t current[4] {};
-    uint16_t totalcurrent[4] {};
-
-    bool dataAvailable = false;
-
-    uint8_t idx = 0;
-
-    WITH_SEMAPHORE(_telem_sem);
-
-    for (uint8_t ii = 0; ii < PICCOLO_CAN_MAX_NUM_ESC; ii++) {
-
-        // Calculate index within storage array
-        idx = (ii % 4);
-
-        AP_PiccoloCAN_ESC &esc = _escs[idx];
-
-        // Has the ESC been heard from recently?
-        if (is_esc_present(ii)) {
-            dataAvailable = true;
-
-            // Provide the maximum ESC temperature in the telemetry stream
-            temperature[idx] = esc.temperature();   // Convert to C
-            voltage[idx] = esc.voltage() * 10;      // Convert to cV
-            current[idx] = esc.current() * 10;      // Convert to cA
-            totalcurrent[idx] = 0;
-            rpm[idx] = esc.rpm();
-            count[idx] = 0;
-        } else {
-            temperature[idx] = 0;
-            voltage[idx] = 0;
-            current[idx] = 0;
-            totalcurrent[idx] = 0;
-            rpm[idx] = 0;
-            count[idx] = 0;
-        }
-
-        // Send ESC telemetry in groups of 4
-        if ((ii % 4) == 3) {
-
-            if (dataAvailable) {
-                if (!HAVE_PAYLOAD_SPACE((mavlink_channel_t) mav_chan, ESC_TELEMETRY_1_TO_4)) {
-                    continue;
-                }
-
-                switch (ii) {
-                case 3:
-                    mavlink_msg_esc_telemetry_1_to_4_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
-                    break;
-                case 7:
-                    mavlink_msg_esc_telemetry_5_to_8_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
-                    break;
-                case 11:
-                    mavlink_msg_esc_telemetry_9_to_12_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
-                    break;
-                case 15:
-                    mavlink_msg_esc_telemetry_13_to_16_send((mavlink_channel_t) mav_chan, temperature, voltage, current, totalcurrent, rpm, count);
-                    break;
-                default:
-                    break;
-                }
-            }
-
-            dataAvailable = false;
-        }
-    }
-}
-#endif
 
 // send servo messages over CAN
 void AP_PiccoloCAN::send_servo_messages(void)
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
index 770f05dcf53bf6..3615f3db4fa29c 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
@@ -56,9 +56,6 @@ class AP_PiccoloCAN : public AP_CANDriver, public AP_ESC_Telem_Backend
     // called from SRV_Channels
     void update();
 
-    // send ESC telemetry messages over MAVLink
-    void send_esc_telemetry_mavlink(uint8_t mav_chan);
-
     // return true if a particular servo is 'active' on the Piccolo interface
     bool is_servo_channel_active(uint8_t chan);
 
@@ -125,14 +122,14 @@ class AP_PiccoloCAN : public AP_CANDriver, public AP_ESC_Telem_Backend
     } _ecu_info;
 
     // Piccolo CAN parameters
-    AP_Int32 _esc_bm;       //! ESC selection bitmask
-    AP_Int16 _esc_hz;       //! ESC update rate (Hz)
+    AP_Int32 _esc_bm;       //!< ESC selection bitmask
+    AP_Int16 _esc_hz;       //!< ESC update rate (Hz)
 
-    AP_Int32 _srv_bm;       //! Servo selection bitmask
-    AP_Int16 _srv_hz;       //! Servo update rate (Hz)
+    AP_Int32 _srv_bm;       //!< Servo selection bitmask
+    AP_Int16 _srv_hz;       //!< Servo update rate (Hz)
 
-    AP_Int16 _ecu_id;        //! ECU Node ID
-    AP_Int16 _ecu_hz;       //! ECU update rate (Hz)
+    AP_Int16 _ecu_id;       //!< ECU Node ID
+    AP_Int16 _ecu_hz;       //!< ECU update rate (Hz)
 
     HAL_Semaphore _telem_sem;
 };
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h
index e0b3cd9f169bf6..fff6e175395688 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h
@@ -27,18 +27,18 @@
 
 #if HAL_PICCOLO_CAN_ENABLE
 
-// Piccolo message groups form part of the CAN ID of each frame
+//! Piccolo message groups form part of the CAN ID of each frame
 enum class PiccoloCAN_MessageGroup : uint8_t {
-    SIMULATOR = 0x00,       // Simulator messages
-    SENSOR = 0x04,          // External sensors
-    ACTUATOR = 0x07,        // Actuators (e.g. ESC / servo)
-    ECU_OUT = 0x08,         // Messages *from* an ECU
-    ECU_IN = 0x09,          // Message *to* an ECU
+    SIMULATOR = 0x00,       //!< Simulator messages
+    SENSOR = 0x04,          //!< External sensors
+    ACTUATOR = 0x07,        //!< Actuators (e.g. ESC / servo)
+    ECU_OUT = 0x08,         //!< Messages *from* an ECU
+    ECU_IN = 0x09,          //!< Message *to* an ECU
 
-    SYSTEM = 0x19,          // System messages (e.g. bootloader)
+    SYSTEM = 0x19,          //!< System messages (e.g. bootloader)
 };
 
-// Piccolo actuator types differentiate between actuator frames
+//! Piccolo actuator types differentiate between actuator frames
 enum class PiccoloCAN_ActuatorType : uint8_t {
     SERVO = 0x00,
     ESC = 0x20,
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.cpp
index 8f45dda7002be7..24c4ed760ca7e7 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.cpp
@@ -20,7 +20,7 @@
 #if HAL_PICCOLO_CAN_ENABLE
 
 /*
- * Decode a recevied CAN frame.
+ * Decode a received CAN frame.
  * It is assumed at this point that the received frame is intended for *this* ESC
  */
 bool AP_PiccoloCAN_ESC::handle_can_frame(AP_HAL::CANFrame &frame)

From fc1c30bc3686fee3e9c6d53f1f6380d0a2f8ca15 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Feb 2024 21:31:03 +1100
Subject: [PATCH 1245/1335] AP_MSP: correct compilation when GPS disabled

../../libraries/AP_MSP/AP_MSP_Telem_Backend.cpp: In member function 'virtual void AP_MSP_Telem_Backend::update_gps_state(AP_MSP_Telem_Backend::gps_state_t&)':
../../libraries/AP_MSP/AP_MSP_Telem_Backend.cpp:206:5: error: 'AP_GPS' was not declared in this scope; did you mean 'RAW_GPS'?
  206 |     AP_GPS& gps = AP::gps();
      |     ^~~~~~
      |     RAW_GPS
compilation terminated due to -Wfatal-errors.
---
 libraries/AP_MSP/AP_MSP_Telem_Backend.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
index e107dffe5f4d64..9a2d09ba188472 100644
--- a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
+++ b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
@@ -201,6 +201,7 @@ void AP_MSP_Telem_Backend::update_home_pos(home_state_t &home_state)
     home_state.home_is_set = _ahrs.home_is_set();
 }
 
+#if AP_GPS_ENABLED
 void AP_MSP_Telem_Backend::update_gps_state(gps_state_t &gps_state)
 {
     AP_GPS& gps = AP::gps();
@@ -220,6 +221,7 @@ void AP_MSP_Telem_Backend::update_gps_state(gps_state_t &gps_state)
         gps_state.ground_course_cd = gps.ground_course_cd();
     }
 }
+#endif
 
 #if AP_BATTERY_ENABLED
 void AP_MSP_Telem_Backend::update_battery_state(battery_state_t &battery_state)
@@ -645,8 +647,10 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_raw_gps(sbuf_t *dst)
         return MSP_RESULT_ERROR;
     }
 #endif
-    gps_state_t gps_state;
+    gps_state_t gps_state {};
+#if AP_GPS_ENABLED
     update_gps_state(gps_state);
+#endif
 
     // handle airspeed override
     bool airspeed_en = false;

From 591d65ec918ebb0928ef14d48f5a1c98a1c213f0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 25 Feb 2024 16:56:08 +1100
Subject: [PATCH 1246/1335] CI: fix ESP32 CI issue

ensure apt db is up to date before first install
---
 .github/workflows/esp32_build.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/esp32_build.yml b/.github/workflows/esp32_build.yml
index 26185663fe7ac5..91926070e12277 100644
--- a/.github/workflows/esp32_build.yml
+++ b/.github/workflows/esp32_build.yml
@@ -175,6 +175,7 @@ jobs:
       - name: Install Prerequisites
         shell: bash
         run: |
+          sudo apt-get update
           sudo apt-get install git wget libncurses-dev flex bison gperf python3 python3-pip python3-venv python3-setuptools python3-serial python3-gevent python3-cryptography python3-future python3-pyparsing python3-pyelftools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0
           sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 10
           update-alternatives --query python

From 2a67cbe6814bfda78cd5127e2e8e5e8dfdc56ec3 Mon Sep 17 00:00:00 2001
From: Simon Hancock <simon@linkingdrones.com>
Date: Fri, 23 Feb 2024 22:58:53 +0000
Subject: [PATCH 1247/1335] AP_Logger: Add metadata for VER and FILE messages

---
 libraries/AP_Logger/LogStructure.h | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index 8845c9ba00fc2f..54dd754e6200db 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -1195,6 +1195,13 @@ struct PACKED log_VER {
 // @Field: Free: free stack
 // @Field: Name: thread name
 
+// @LoggerMessage: FILE
+// @Description: File data
+// @Field: FileName: File name
+// @Field: Offset: Offset into the file of this block
+// @Field: Length: Length of this data block
+// @Field: Data: File data of this block
+
 // @LoggerMessage: SCR
 // @Description: Scripting runtime stats
 // @Field: TimeUS: Time since system startup
@@ -1203,6 +1210,20 @@ struct PACKED log_VER {
 // @Field: Total_mem: total memory usage of all scripts
 // @Field: Run_mem: run memory usage
 
+// @LoggerMessage: VER
+// @Description: Ardupilot version
+// @Field: TimeUS: Time since system startup
+// @Field: BT: Board type
+// @Field: BST: Board subtype
+// @Field: Maj: Major version number
+// @Field: Min: Minor version number
+// @Field: Pat: Patch number
+// @Field: FWT: Firmware type
+// @Field: GH: Github commit
+// @Field: FWS: Firmware version string
+// @Field: APJ: Board ID
+// @Field: BU: Build vehicle type
+
 // @LoggerMessage: MOTB
 // @Description: Motor mixer information
 // @Field: TimeUS: Time since system startup

From edd03b1ac266922e02a9218d3bf0b15fc74e43bb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 26 Feb 2024 07:49:21 +1100
Subject: [PATCH 1248/1335] AP_Periph: release notes for 1.7.0

---
 Tools/AP_Periph/ReleaseNotes.txt | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/Tools/AP_Periph/ReleaseNotes.txt b/Tools/AP_Periph/ReleaseNotes.txt
index 252044e1efceb7..5119d6ee8cc052 100644
--- a/Tools/AP_Periph/ReleaseNotes.txt
+++ b/Tools/AP_Periph/ReleaseNotes.txt
@@ -1,3 +1,18 @@
+Release 1.7.0 26th February 2023
+--------------------------------
+
+This is a major AP_Periph release with the following key changes:
+
+- fixed DroneCAN packet parsing bug when dealing with corrupt packets
+- added BATT_HIDE_MASK parameter
+- support IPv4 networking in AP_Periph and PPP gateway
+- support per-cell battery monitoring
+- rate limit EFI updates
+- support serial tunnelling over DroneCAN
+- support relays over DroneCAN via hardpoint messages
+- support mapping MAVLink SEND_TEXT to DroneCAN debug levels
+- fixed CANFD timings
+
 Release 1.6.0 8th September 2023
 --------------------------------
 

From 0007c7dce0a6afa28dddd7bf26a0a17821be0aa0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 26 Feb 2024 07:53:39 +1100
Subject: [PATCH 1249/1335] AP_Periph: mark master as 1.8.0 dev

---
 Tools/AP_Periph/version.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Tools/AP_Periph/version.h b/Tools/AP_Periph/version.h
index ed2dccddb44c4b..2eb0a235a8ce58 100644
--- a/Tools/AP_Periph/version.h
+++ b/Tools/AP_Periph/version.h
@@ -7,7 +7,7 @@
 #include "ap_version.h"
 #include <AP_HAL/AP_HAL.h>
 
-#define THISFIRMWARE "AP_Periph V1.7.0-dev"
+#define THISFIRMWARE "AP_Periph V1.8.0-dev"
 
 // defines needed due to lack of GCS includes
 #ifndef HAVE_ENUM_FIRMWARE_VERSION_TYPE
@@ -17,10 +17,10 @@
 #endif
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 1,7,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 1,8,0,FIRMWARE_VERSION_TYPE_DEV
 
 #define FW_MAJOR 1
-#define FW_MINOR 7
+#define FW_MINOR 8
 #define FW_PATCH 0
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 

From bf1d36420108026c29c426f3d46965c30e9d786b Mon Sep 17 00:00:00 2001
From: Richard Allen <rsaxvc@rsaxvc.net>
Date: Sun, 11 Feb 2024 12:15:50 -0600
Subject: [PATCH 1250/1335] HAL_Linux: reduce delay(ms) jitter

Fix delay(1) rarely returning immediately.
On my RPi4, this once per 5-20k calls that worked.

Reduce the last call to microsleep according to the
remaining time needed in the last loop iteration.
---
 libraries/AP_HAL_Linux/Scheduler.cpp | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
index 7c2cce5d2bfb3c..98e3914332274a 100644
--- a/libraries/AP_HAL_Linux/Scheduler.cpp
+++ b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -173,15 +173,20 @@ void Scheduler::delay(uint16_t ms)
         return;
     }
 
-    uint64_t start = AP_HAL::millis64();
+    if (ms == 0) {
+        return;
+    }
 
-    while ((AP_HAL::millis64() - start) < ms) {
+    uint64_t now = AP_HAL::micros64();
+    uint64_t end = now + 1000UL * ms + 1U;
+    do {
         // this yields the CPU to other apps
-        microsleep(1000);
+        microsleep(MIN(1000UL, end-now));
         if (in_main_thread() && _min_delay_cb_ms <= ms) {
             call_delay_cb();
         }
-    }
+        now = AP_HAL::micros64();
+    } while (now < end);
 }
 
 void Scheduler::delay_microseconds(uint16_t us)

From 846eaecc0b488a2899f540e6569882b9df3e4038 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <gncsolns@gmail.com>
Date: Mon, 19 Feb 2024 20:17:42 +1100
Subject: [PATCH 1251/1335] AP_TECS: Add option for speed to increase up to FBW
 max during descent

---
 libraries/AP_TECS/AP_TECS.cpp | 14 +++++++++++++-
 libraries/AP_TECS/AP_TECS.h   |  7 ++++++-
 2 files changed, 19 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index dd9c8b428e68d5..7ef42417985646 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -246,7 +246,7 @@ const AP_Param::GroupInfo AP_TECS::var_info[] = {
     // @Param: OPTIONS
     // @DisplayName: Extra TECS options
     // @Description: This allows the enabling of special features in the speed/height controller.
-    // @Bitmask: 0:GliderOnly
+    // @Bitmask: 0:GliderOnly,1:AllowDescentSpeedup
     // @User: Advanced
     AP_GROUPINFO("OPTIONS", 28, AP_TECS, _options, 0),
 
@@ -458,6 +458,11 @@ void AP_TECS::_update_speed(float DT)
 
 void AP_TECS::_update_speed_demand(void)
 {
+    if (_options & OPTION_DESCENT_SPEEDUP) {
+        // Allow demanded speed to  go to maximum when descending at maximum descent rate
+        _TAS_dem = _TAS_dem + (_TASmax - _TAS_dem) * _sink_fraction;
+    }
+
     // Set the airspeed demand to the minimum value if an underspeed condition exists
     // or a bad descent condition exists
     // This will minimise the rate of descent resulting from an engine failure,
@@ -532,9 +537,16 @@ void AP_TECS::_update_height_demand(void)
         // Limit height rate of change
         if ((hgt_dem - _hgt_dem_rate_ltd) > (_climb_rate_limit * _DT)) {
             _hgt_dem_rate_ltd = _hgt_dem_rate_ltd + _climb_rate_limit * _DT;
+            _sink_fraction = 0.0f;
         } else if ((hgt_dem - _hgt_dem_rate_ltd) < (-_sink_rate_limit * _DT)) {
             _hgt_dem_rate_ltd = _hgt_dem_rate_ltd - _sink_rate_limit * _DT;
+            _sink_fraction = 1.0f;
         } else {
+            if (is_negative(hgt_dem - _hgt_dem_rate_ltd)) {
+                _sink_fraction = (hgt_dem - _hgt_dem_rate_ltd) / (-_sink_rate_limit * _DT);
+            } else {
+                _sink_fraction = 0.0f;
+            }
             _hgt_dem_rate_ltd = hgt_dem;
         }
 
diff --git a/libraries/AP_TECS/AP_TECS.h b/libraries/AP_TECS/AP_TECS.h
index b392a0bfc555be..50b91a882c3466 100644
--- a/libraries/AP_TECS/AP_TECS.h
+++ b/libraries/AP_TECS/AP_TECS.h
@@ -197,7 +197,8 @@ class AP_TECS {
     AP_Float _hgt_dem_tconst;
 
     enum {
-        OPTION_GLIDER_ONLY=(1<<0)
+        OPTION_GLIDER_ONLY=(1<<0),
+        OPTION_DESCENT_SPEEDUP=(1<<1)
     };
 
     AP_Float _pitch_ff_v0;
@@ -334,6 +335,9 @@ class AP_TECS {
 
         // true when a reset of airspeed and height states to current is performed on this frame
         bool reset:1;
+
+        // true when we are allowing the plane to speed up on descent to maintain the target descent rate
+        bool speedup:1;
     };
     union {
         struct flags _flags;
@@ -389,6 +393,7 @@ class AP_TECS {
     // used to scale max climb and sink limits to match vehicle ability
     float _max_climb_scaler;
     float _max_sink_scaler;
+    float _sink_fraction;
 
     // Specific energy error quantities
     float _STE_error;

From aecbd116e7f597b1ad993ed33aa28aa50f154cd0 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <gncsolns@gmail.com>
Date: Wed, 21 Feb 2024 18:56:18 +1100
Subject: [PATCH 1252/1335] AP_TECS: Add /0 protection

---
 libraries/AP_TECS/AP_TECS.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index 7ef42417985646..82f1aa06cae23f 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -542,8 +542,10 @@ void AP_TECS::_update_height_demand(void)
             _hgt_dem_rate_ltd = _hgt_dem_rate_ltd - _sink_rate_limit * _DT;
             _sink_fraction = 1.0f;
         } else {
-            if (is_negative(hgt_dem - _hgt_dem_rate_ltd)) {
-                _sink_fraction = (hgt_dem - _hgt_dem_rate_ltd) / (-_sink_rate_limit * _DT);
+            const float numerator = hgt_dem - _hgt_dem_rate_ltd;
+            const float denominator = - _sink_rate_limit * _DT;
+            if (is_negative(numerator) && is_negative(denominator)) {
+                _sink_fraction = numerator / denominator;
             } else {
                 _sink_fraction = 0.0f;
             }

From 870c6c508037b3baeb681d458c2b4b21d714298f Mon Sep 17 00:00:00 2001
From: Paul Riseborough <gncsolns@gmail.com>
Date: Wed, 21 Feb 2024 18:58:41 +1100
Subject: [PATCH 1253/1335] AP_TECS: Remove unused variable

---
 libraries/AP_TECS/AP_TECS.h | 2 --
 1 file changed, 2 deletions(-)

diff --git a/libraries/AP_TECS/AP_TECS.h b/libraries/AP_TECS/AP_TECS.h
index 50b91a882c3466..4470b700f546f9 100644
--- a/libraries/AP_TECS/AP_TECS.h
+++ b/libraries/AP_TECS/AP_TECS.h
@@ -336,8 +336,6 @@ class AP_TECS {
         // true when a reset of airspeed and height states to current is performed on this frame
         bool reset:1;
 
-        // true when we are allowing the plane to speed up on descent to maintain the target descent rate
-        bool speedup:1;
     };
     union {
         struct flags _flags;

From 6d6c790e379004694d8210c41089cf869f55535d Mon Sep 17 00:00:00 2001
From: Andrew Piper <github@andypiper.com>
Date: Sat, 24 Feb 2024 18:32:12 +0000
Subject: [PATCH 1254/1335] AP_GPS: fragments_received is a bitmask not a count

---
 libraries/AP_GPS/AP_GPS.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 94e98f0ac1d83b..9b15335435200b 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -1633,7 +1633,7 @@ void AP_GPS::handle_gps_rtcm_fragment(uint8_t flags, const uint8_t *data, uint8_
         // we have one or more partial fragments already received
         // which conflict with the new fragment, discard previous fragments
         rtcm_buffer->fragment_count = 0;
-        rtcm_stats.fragments_discarded += rtcm_buffer->fragments_received;
+        rtcm_stats.fragments_discarded += __builtin_popcount(rtcm_buffer->fragments_received);
         rtcm_buffer->fragments_received = 0;
     }
 
@@ -1662,7 +1662,7 @@ void AP_GPS::handle_gps_rtcm_fragment(uint8_t flags, const uint8_t *data, uint8_
     if (rtcm_buffer->fragment_count != 0 &&
         rtcm_buffer->fragments_received == (1U << rtcm_buffer->fragment_count) - 1) {
         // we have them all, inject
-        rtcm_stats.fragments_used += rtcm_buffer->fragments_received;
+        rtcm_stats.fragments_used += __builtin_popcount(rtcm_buffer->fragments_received);
         inject_data(rtcm_buffer->buffer, rtcm_buffer->total_length);
         rtcm_buffer->fragment_count = 0;
         rtcm_buffer->fragments_received = 0;

From df3267c9bab79637b426db02469539ca0dea93df Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sun, 25 Feb 2024 20:09:01 +1100
Subject: [PATCH 1255/1335] waf: remove SKETCH and SKETCHNAME from build sysmte

... renaming one of them to AP_BUILD_TARGET
---
 Tools/ardupilotwaf/ap_library.py               | 2 +-
 Tools/ardupilotwaf/ardupilotwaf.py             | 6 ++----
 libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp | 2 +-
 libraries/AP_HAL_ChibiOS/Storage.cpp           | 4 ++--
 libraries/AP_HAL_Linux/Storage.cpp             | 2 +-
 libraries/AP_HAL_SITL/SITL_cmdline.cpp         | 2 +-
 6 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/Tools/ardupilotwaf/ap_library.py b/Tools/ardupilotwaf/ap_library.py
index b49010ae06001c..67cb61428248b8 100644
--- a/Tools/ardupilotwaf/ap_library.py
+++ b/Tools/ardupilotwaf/ap_library.py
@@ -52,7 +52,7 @@ def _vehicle_index(vehicle):
     return _vehicle_indexes[vehicle]
 
 # note that AP_NavEKF3_core.h is needed for AP_NavEKF3_feature.h
-_vehicle_macros = ['SKETCHNAME', 'SKETCH', 'APM_BUILD_DIRECTORY',
+_vehicle_macros = ['APM_BUILD_DIRECTORY', 'AP_BUILD_TARGET_NAME',
                    'APM_BUILD_TYPE', 'APM_BUILD_COPTER_OR_HELI',
                    'AP_NavEKF3_core.h', 'lua_generated_bindings.h']
 _macros_re = re.compile(r'\b(%s)\b' % '|'.join(_vehicle_macros))
diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index 882e2f86ca4084..490fc21d9e287f 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -125,14 +125,12 @@ def get_legacy_defines(sketch_name, bld):
     if bld.cmd == 'heli' or 'heli' in bld.targets:
         return [
         'APM_BUILD_DIRECTORY=APM_BUILD_Heli',
-        'SKETCH="' + sketch_name + '"',
-        'SKETCHNAME="' + sketch_name + '"',
+        'AP_BUILD_TARGET_NAME="' + sketch_name + '"',
         ]
 
     return [
         'APM_BUILD_DIRECTORY=APM_BUILD_' + sketch_name,
-        'SKETCH="' + sketch_name + '"',
-        'SKETCHNAME="' + sketch_name + '"',
+        'AP_BUILD_TARGET_NAME="' + sketch_name + '"',
     ]
 
 IGNORED_AP_LIBRARIES = [
diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index eb741e1ae7c520..ea55e7140f08a9 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -286,7 +286,7 @@ static void main_loop()
     hal.scheduler->set_system_initialized();
 
     thread_running = true;
-    chRegSetThreadName(SKETCHNAME);
+    chRegSetThreadName(AP_BUILD_TARGET_NAME);
 
     /*
       switch to high priority for main loop
diff --git a/libraries/AP_HAL_ChibiOS/Storage.cpp b/libraries/AP_HAL_ChibiOS/Storage.cpp
index e4ee42cc4ddb42..7f8fc2819b9c80 100644
--- a/libraries/AP_HAL_ChibiOS/Storage.cpp
+++ b/libraries/AP_HAL_ChibiOS/Storage.cpp
@@ -31,9 +31,9 @@ using namespace ChibiOS;
 extern const AP_HAL::HAL& hal;
 
 #ifndef HAL_STORAGE_FILE
-// using SKETCHNAME allows the one microSD to be used
+// using AP_BUILD_TARGET_NAME allows the one microSD to be used
 // for multiple vehicle types
-#define HAL_STORAGE_FILE "/APM/" SKETCHNAME ".stg"
+#define HAL_STORAGE_FILE "/APM/" AP_BUILD_TARGET_NAME ".stg"
 #endif
 
 #ifndef HAL_STORAGE_BACKUP_FOLDER
diff --git a/libraries/AP_HAL_Linux/Storage.cpp b/libraries/AP_HAL_Linux/Storage.cpp
index 4f9fc133a274af..4fc401c76405b3 100644
--- a/libraries/AP_HAL_Linux/Storage.cpp
+++ b/libraries/AP_HAL_Linux/Storage.cpp
@@ -20,7 +20,7 @@ using namespace Linux;
 
 // name the storage file after the sketch so you can use the same board
 // card for ArduCopter and ArduPlane
-#define STORAGE_FILE SKETCHNAME ".stg"
+#define STORAGE_FILE AP_BUILD_TARGET_NAME ".stg"
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_HAL_SITL/SITL_cmdline.cpp b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
index 96ec46d879d993..f4c5529197ff49 100644
--- a/libraries/AP_HAL_SITL/SITL_cmdline.cpp
+++ b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
@@ -212,7 +212,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
     // default to CMAC
     const char *home_str = nullptr;
     const char *model_str = nullptr;
-    const char *vehicle_str = SKETCH;
+    const char *vehicle_str = AP_BUILD_TARGET_NAME;
     _use_fg_view = false;
     char *autotest_dir = nullptr;
     _fg_address = "127.0.0.1";

From e9d065c1cc011ab879f31285991aa6c6e57d102c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 26 Feb 2024 14:58:10 +1100
Subject: [PATCH 1256/1335] AP_NavEKF3: tidy population of fusion reports

simply take a refefence and use it
---
 .../AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp    | 22 ++++++++++---------
 1 file changed, 12 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
index c8df1a5c0742f9..9708b60f164eff 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
@@ -268,11 +268,12 @@ void NavEKF3_core::FuseRngBcn()
 
         // Update the fusion report
         if (rngBcn.fusionReport && rngBcn.dataDelayed.beacon_ID < dal.beacon()->count()) {
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].beaconPosNED = rngBcn.dataDelayed.beacon_posNED;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].innov = rngBcn.innov;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].innovVar = rngBcn.varInnov;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].rng = rngBcn.dataDelayed.rng;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].testRatio = rngBcn.testRatio;
+            auto &report = rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID];
+            report.beaconPosNED = rngBcn.dataDelayed.beacon_posNED;
+            report.innov = rngBcn.innov;
+            report.innovVar = rngBcn.varInnov;
+            report.rng = rngBcn.dataDelayed.rng;
+            report.testRatio = rngBcn.testRatio;
         }
     }
 }
@@ -506,11 +507,12 @@ void NavEKF3_core::FuseRngBcnStatic()
         }
         // Update the fusion report
         if (rngBcn.fusionReport && rngBcn.dataDelayed.beacon_ID < dal.beacon()->count()) {
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].beaconPosNED = rngBcn.dataDelayed.beacon_posNED;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].innov = rngBcn.innov;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].innovVar = rngBcn.varInnov;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].rng = rngBcn.dataDelayed.rng;
-            rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID].testRatio = rngBcn.testRatio;
+            auto &report = rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID];
+            report.beaconPosNED = rngBcn.dataDelayed.beacon_posNED;
+            report.innov = rngBcn.innov;
+            report.innovVar = rngBcn.varInnov;
+            report.rng = rngBcn.dataDelayed.rng;
+            report.testRatio = rngBcn.testRatio;
         }
     }
 }

From ac769014c4b100f7afd5ff0b2971787560f31759 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 17 Oct 2022 10:25:30 +1100
Subject: [PATCH 1257/1335] AP_Filesystem: list virtual @SYS, @MISSION etc
 directories in /

Adds virtual directory entries for these virtual filesystems in /

RTL> ftp list
RTL> Listing /
 D @MISSION
 D @PARAM
 D @ROMFS
 D @SYS
 D APM
 D log
   V5_BT.dfu	10541
   bootlog.txt	297
   dataman	350216
   message-intervals-chan0.txt	7
Total size 352.60 kByte
ftp list @MISSION
RTL> Listing @MISSION
LIST: OP seq:7 sess:2 opcode:129 req_opcode:3 size:2 bc:0 ofs:0 plen=2 [2]
ftp list @ROMFS
RTL> Listing @ROMFS
   bootloader.bin	16448
   hwdef.dat	5743
   io_firmware.bin	40880
Total size 61.59 kByte

This PR also makes us *much* more lenient in what we accept for looking at virtual filesystems, so

ftp list @SYS
ftp list /@SYS
ftp list @SYS/
ftp list /@SYS/

should all work
---
 libraries/AP_Filesystem/AP_Filesystem.cpp | 51 ++++++++++++++++++++---
 libraries/AP_Filesystem/AP_Filesystem.h   |  8 ++++
 2 files changed, 53 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_Filesystem/AP_Filesystem.cpp b/libraries/AP_Filesystem/AP_Filesystem.cpp
index cd7e88a88ecf8d..45c58654bf786c 100644
--- a/libraries/AP_Filesystem/AP_Filesystem.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem.cpp
@@ -63,18 +63,16 @@ static AP_Filesystem_Mission fs_mission;
 const AP_Filesystem::Backend AP_Filesystem::backends[] = {
     { nullptr, fs_local },
 #if AP_FILESYSTEM_ROMFS_ENABLED
-    { "@ROMFS/", fs_romfs },
     { "@ROMFS", fs_romfs },
 #endif
 #if AP_FILESYSTEM_PARAM_ENABLED
-    { "@PARAM/", fs_param },
+    { "@PARAM", fs_param },
 #endif
 #if AP_FILESYSTEM_SYS_ENABLED
-    { "@SYS/", fs_sys },
     { "@SYS", fs_sys },
 #endif
 #if AP_FILESYSTEM_MISSION_ENABLED
-    { "@MISSION/", fs_mission },
+    { "@MISSION", fs_mission },
 #endif
 };
 
@@ -90,10 +88,19 @@ extern const AP_HAL::HAL& hal;
  */
 const AP_Filesystem::Backend &AP_Filesystem::backend_by_path(const char *&path) const
 {
+    // ignore leading slashes:
+    const char *path_with_no_leading_slash = path;
+    if (path_with_no_leading_slash[0] == '/') {
+        path_with_no_leading_slash = &path_with_no_leading_slash[1];
+    }
     for (uint8_t i=1; i<NUM_BACKENDS; i++) {
         const uint8_t plen = strlen(backends[i].prefix);
-        if (strncmp(path, backends[i].prefix, plen) == 0) {
+        if (strncmp(path_with_no_leading_slash, backends[i].prefix, plen) == 0) {
+            path = path_with_no_leading_slash;
             path += plen;
+            if (strlen(path) > 0 && path[0] == '/') {
+                path++;
+            }
             return backends[i];
         }
     }
@@ -188,6 +195,18 @@ int AP_Filesystem::rename(const char *oldpath, const char *newpath)
 
 AP_Filesystem::DirHandle *AP_Filesystem::opendir(const char *pathname)
 {
+    // support reading a list of "@" filesystems (e.g. @SYS) in
+    // listing of root directory.  Note that backend_by_path modifies
+    // its parameter.
+    if (strlen(pathname) == 0 ||
+        (strlen(pathname) == 1 && pathname[0] == '/')) {
+        virtual_dirent.backend_ofs = 0;
+        virtual_dirent.d_off = 0;
+        virtual_dirent.de.d_type = DT_DIR;
+    } else {
+        virtual_dirent.backend_ofs = 255;
+    }
+
     const Backend &backend = backend_by_path(pathname);
     DirHandle *h = new DirHandle;
     if (!h) {
@@ -199,6 +218,7 @@ AP_Filesystem::DirHandle *AP_Filesystem::opendir(const char *pathname)
         return nullptr;
     }
     h->fs_index = BACKEND_IDX(backend);
+
     return h;
 }
 
@@ -208,7 +228,26 @@ struct dirent *AP_Filesystem::readdir(DirHandle *dirp)
         return nullptr;
     }
     const Backend &backend = backends[dirp->fs_index];
-    return backend.fs.readdir(dirp->dir);
+    struct dirent * ret = backend.fs.readdir(dirp->dir);
+    if (ret != nullptr) {
+        return ret;
+    }
+
+    // virtual directory entries in the root directory (e.g. @SYS, @MISSION)
+    for (; ret == nullptr && virtual_dirent.backend_ofs < ARRAY_SIZE(AP_Filesystem::backends); virtual_dirent.backend_ofs++) {
+        const char *prefix = backends[virtual_dirent.backend_ofs].prefix;
+        if (prefix == nullptr) {
+            continue;
+        }
+        if (prefix[0] != '@') {
+            continue;
+        }
+        // found a virtual directory we haven't returned yet
+        strncpy_noterm(virtual_dirent.de.d_name, prefix, sizeof(virtual_dirent.de.d_name));
+        virtual_dirent.d_off++;
+        ret = &virtual_dirent.de;
+    }
+    return ret;
 }
 
 int AP_Filesystem::closedir(DirHandle *dirp)
diff --git a/libraries/AP_Filesystem/AP_Filesystem.h b/libraries/AP_Filesystem/AP_Filesystem.h
index 9a5e01e6933c22..a6ebc358dcdf88 100644
--- a/libraries/AP_Filesystem/AP_Filesystem.h
+++ b/libraries/AP_Filesystem/AP_Filesystem.h
@@ -155,6 +155,14 @@ class AP_Filesystem {
       find backend by open fd
      */
     const Backend &backend_by_fd(int &fd) const;
+
+    // support for listing out virtual directory entries (e.g. @SYS
+    // then @MISSION)
+    struct {
+        uint8_t backend_ofs;
+        struct dirent de;
+        uint8_t d_off;
+    } virtual_dirent;
 };
 
 namespace AP {

From b7dd432409d8358057c8d02a45413880fd3ce2d3 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 23 Feb 2024 01:22:03 +0000
Subject: [PATCH 1258/1335] AP_Scripting: allow loading moduels from ROMFS

---
 libraries/AP_Scripting/lua/src/loadlib.c |  4 ++++
 libraries/AP_Scripting/lua/src/luaconf.h |  4 ++++
 libraries/AP_Scripting/lua_bindings.cpp  | 27 ++++++++++++++++++++++++
 libraries/AP_Scripting/lua_common_defs.h |  1 +
 4 files changed, 36 insertions(+)

diff --git a/libraries/AP_Scripting/lua/src/loadlib.c b/libraries/AP_Scripting/lua/src/loadlib.c
index 9ef7edb215d5cd..20af8e47660c02 100644
--- a/libraries/AP_Scripting/lua/src/loadlib.c
+++ b/libraries/AP_Scripting/lua/src/loadlib.c
@@ -798,7 +798,11 @@ LUAMOD_API int luaopen_package (lua_State *L) {
   luaL_newlib(L, pk_funcs);  /* create 'package' table */
   // createsearcherstable(L);
   /* set paths */
+#if defined(ARDUPILOT_BUILD)
+  setpath(L, "path", LUA_PATH_VAR, lua_get_modules_path());
+#else
   setpath(L, "path", LUA_PATH_VAR, LUA_PATH_DEFAULT);
+#endif
   // setpath(L, "cpath", LUA_CPATH_VAR, LUA_CPATH_DEFAULT);
   /* store config information */
   lua_pushliteral(L, LUA_DIRSEP "\n" LUA_PATH_SEP "\n" LUA_PATH_MARK "\n"
diff --git a/libraries/AP_Scripting/lua/src/luaconf.h b/libraries/AP_Scripting/lua/src/luaconf.h
index f148e1d48ff0a7..885a40f14b0beb 100644
--- a/libraries/AP_Scripting/lua/src/luaconf.h
+++ b/libraries/AP_Scripting/lua/src/luaconf.h
@@ -195,11 +195,13 @@
 #define LUA_LDIR	"!\\lua\\"
 #define LUA_CDIR	"!\\"
 #define LUA_SHRDIR	"!\\..\\share\\lua\\" LUA_VDIR "\\"
+#if !defined(ARDUPILOT_BUILD)
 #define LUA_PATH_DEFAULT  \
 		LUA_LDIR"?.lua;"  LUA_LDIR"?\\init.lua;" \
 		LUA_CDIR"?.lua;"  LUA_CDIR"?\\init.lua;" \
 		LUA_SHRDIR"?.lua;" LUA_SHRDIR"?\\init.lua;" \
 		".\\?.lua;" ".\\?\\init.lua"
+#endif
 #define LUA_CPATH_DEFAULT \
 		LUA_CDIR"?.dll;" \
 		LUA_CDIR"..\\lib\\lua\\" LUA_VDIR "\\?.dll;" \
@@ -210,9 +212,11 @@
 #define LUA_ROOT	"/usr/local/"
 #define LUA_LDIR	SCRIPTING_DIRECTORY "/modules/"
 #define LUA_CDIR	LUA_ROOT "lib/lua/" LUA_VDIR "/"
+#if !defined(ARDUPILOT_BUILD)
 #define LUA_PATH_DEFAULT  \
 		LUA_LDIR"?.lua;"  LUA_LDIR"?/init.lua;" \
 		"./?.lua;" "./?/init.lua"
+#endif
 #define LUA_CPATH_DEFAULT \
 		LUA_CDIR"?.so;" LUA_CDIR"loadall.so;" "./?.so"
 #endif			/* } */
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index 6e234130eb0e16..b1f7baea561525 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -920,6 +920,33 @@ int lua_get_current_ref()
     return scripting->get_current_ref();
 }
 
+// This is used when loading modules with require, lua must only look in enabled directory's
+const char* lua_get_modules_path()
+{
+#define LUA_PATH_ROMFS "@ROMFS/scripts/modules/?.lua;" "@ROMFS/scripts/modules/?/init.lua"
+#define LUA_PATH_SCRIPTS LUA_LDIR"?.lua;"  LUA_LDIR"?/init.lua"
+
+    uint16_t dir_disable = AP_Scripting::get_singleton()->get_disabled_dir();
+    dir_disable &= uint16_t(AP_Scripting::SCR_DIR::SCRIPTS) | uint16_t(AP_Scripting::SCR_DIR::ROMFS);
+    if (dir_disable == 0) {
+        // Both directory's are enabled, return both, ROMFS takes priority
+        return LUA_PATH_ROMFS ";" LUA_PATH_SCRIPTS;
+    }
+
+    if ((dir_disable & uint16_t(AP_Scripting::SCR_DIR::SCRIPTS)) == 0) {
+        // Only scripts enabled
+        return LUA_PATH_SCRIPTS;
+    }
+
+    if ((dir_disable & uint16_t(AP_Scripting::SCR_DIR::ROMFS)) == 0) {
+        // Only ROMFS enabled
+        return LUA_PATH_ROMFS;
+    }
+
+    // Nothing enabled?
+    return "";
+}
+
 // Simple print to GCS or over CAN
 int lua_print(lua_State *L) {
     // Only support a single argument
diff --git a/libraries/AP_Scripting/lua_common_defs.h b/libraries/AP_Scripting/lua_common_defs.h
index 664541ddfa0033..9776e687a89001 100644
--- a/libraries/AP_Scripting/lua_common_defs.h
+++ b/libraries/AP_Scripting/lua_common_defs.h
@@ -27,5 +27,6 @@
 #endif // REPL_OUT
 
 int lua_get_current_ref();
+const char* lua_get_modules_path();
 void lua_abort(void) __attribute__((noreturn));
 

From f2e9e8427883c2d1e5fb9997a1b18ae2b231c7a7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 22:23:06 +1100
Subject: [PATCH 1259/1335] AP_Param: simplify g2 object conversion

---
 libraries/AP_Param/AP_Param.cpp | 14 ++++++++++++++
 libraries/AP_Param/AP_Param.h   |  8 ++++++++
 2 files changed, 22 insertions(+)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index 57a82684956d09..4743bd4fbd8e2c 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -2072,6 +2072,20 @@ void AP_Param::convert_class(uint16_t param_key, void *object_pointer,
     flush();
 }
 
+void AP_Param::convert_g2_objects(const void *g2, const G2ObjectConversion g2_conversions[], uint8_t num_conversions)
+{
+    // Find G2's Top Level Key
+    ConversionInfo info;
+    if (!find_top_level_key_by_pointer(g2, info.old_key)) {
+        return;
+    }
+    for (uint8_t i=0; i<num_conversions; i++) {
+        const auto &c { g2_conversions[i] };
+        convert_class(info.old_key, c.object_pointer, c.var_info, c.old_index, c.old_top_element, false);
+    }
+}
+
+
 /*
  convert width of a parameter, allowing update to wider scalar values
  without changing the parameter indexes
diff --git a/libraries/AP_Param/AP_Param.h b/libraries/AP_Param/AP_Param.h
index fa71c74686bad0..294605be957fee 100644
--- a/libraries/AP_Param/AP_Param.h
+++ b/libraries/AP_Param/AP_Param.h
@@ -472,6 +472,14 @@ class AP_Param
     // convert old vehicle parameters to new object parameters with scaling - assumes we use the same scaling factor for all values in the table
     static void         convert_old_parameters_scaled(const ConversionInfo *conversion_table, uint8_t table_size, float scaler, uint8_t flags);
 
+    struct G2ObjectConversion {
+        void *object_pointer;
+        const struct AP_Param::GroupInfo *var_info;
+        uint16_t old_index;  // Old parameter index in g
+        uint16_t old_top_element;  // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+    };
+    static void         convert_g2_objects(const void *g2, const G2ObjectConversion g2_conversions[], uint8_t num_conversions);
+
     /*
       convert width of a parameter, allowing update to wider scalar
       values without changing the parameter indexes. This will return

From e9668736b8893e566da0e95f406842a65820317e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 22:32:35 +1100
Subject: [PATCH 1260/1335] ArduPlane: simplify g2 object conversion

---
 ArduPlane/Parameters.cpp | 47 +++++++++-------------------------------
 1 file changed, 10 insertions(+), 37 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index fe571b2b58293d..6bc16df613c454 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1527,49 +1527,22 @@ void Plane::load_parameters(void)
 
     landing.convert_parameters();
 
-    // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-4.6
+    static const AP_Param::G2ObjectConversion g2_conversions[] {
 #if AP_STATS_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 5;       // Old parameter index in g2
-        const uint16_t old_top_element = 4037; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
-    }
-#endif
     // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-4.6
+        { &stats, stats.var_info, 5, 4037 },
+#endif
 #if AP_SCRIPTING_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 14;       // Old parameter index in g2
-        const uint16_t old_top_element = 78; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &scripting, scripting.var_info, old_index, old_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-4.6
+        { &scripting, scripting.var_info, 14, 78 },
 #endif
-
-    // PARAMETER_CONVERSION - Added: Feb-2024 for Plane-4.6
 #if AP_GRIPPER_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 12;       // Old parameter index in g2
-        const uint16_t old_top_element = 4044; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &gripper, gripper.var_info, old_index, old_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Plane-4.6
+        { &gripper, gripper.var_info, 12, 4044 },
 #endif
+    };
+
+    AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
 
     // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
 #if HAL_LOGGING_ENABLED

From 620723767d17d05191c735d916b2afae54a1443f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 22:32:35 +1100
Subject: [PATCH 1261/1335] ArduSub: simplify g2 object conversion

---
 ArduSub/Parameters.cpp | 65 +++++++++---------------------------------
 1 file changed, 14 insertions(+), 51 deletions(-)

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 1a469c4c1e3daf..a1bf37988862a5 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -745,68 +745,31 @@ void Sub::load_parameters()
     // We should ignore this parameter since ROVs are neutral buoyancy
     AP_Param::set_by_name("MOT_THST_HOVER", 0.5);
 
-// PARAMETER_CONVERSION - Added: JAN-2022
-#if AP_AIRSPEED_ENABLED
-    // Find G2's Top Level Key
-    AP_Param::ConversionInfo info;
-    if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-        return;
-    }
-
-    const uint16_t old_index = 19;          // Old parameter index in the tree
-    const uint16_t old_top_element = 4051;  // Old group element in the tree for the first subgroup element
-    AP_Param::convert_class(info.old_key, &airspeed, airspeed.var_info, old_index, old_top_element, false);
-#endif
-
-
     // PARAMETER_CONVERSION - Added: Mar-2022
 #if AP_FENCE_ENABLED
     AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, 0, true);
 #endif
 
-    // PARAMETER_CONVERSION - Added: Jan-2024
-#if AP_STATS_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo stats_info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, stats_info.old_key)) {
-            return;
-        }
-
-        const uint16_t stats_old_index = 1;       // Old parameter index in g2
-        const uint16_t stats_old_top_element = 4033; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false);
-    }
+    static const AP_Param::G2ObjectConversion g2_conversions[] {
+#if AP_AIRSPEED_ENABLED
+    // PARAMETER_CONVERSION - Added: JAN-2022
+        { &airspeed, airspeed.var_info, 19, 4051 },
 #endif
+#if AP_STATS_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024
+        { &stats, stats.var_info, 1, 4033 },
+#endif
 #if AP_SCRIPTING_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo scripting_info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, scripting_info.old_key)) {
-            return;
-        }
-
-        const uint16_t scripting_old_index = 18;       // Old parameter index in g2
-        const uint16_t scripting_old_top_element = 82; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Jan-2024
+        { &scripting, scripting.var_info, 18, 82 },
 #endif
-
-    // PARAMETER_CONVERSION - Added: Feb-2024
 #if AP_GRIPPER_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo gripper_info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, gripper_info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_gripper_index = 3;       // Old parameter index in g2
-        const uint16_t old_gripper_top_element = 4035; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(gripper_info.old_key, &gripper, gripper.var_info, old_gripper_index, old_gripper_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Feb-2024
+        { &gripper, gripper.var_info, 3, 4035 },
 #endif
+    };
+
+    AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
 
     // PARAMETER_CONVERSION - Added: Feb-2024
 #if HAL_LOGGING_ENABLED

From 1e2fdb0ca19191bc60080fbeab374c5222d90268 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 22:44:25 +1100
Subject: [PATCH 1262/1335] ArduCopter: convert EFI cvonversion to
 g2_conversion entry

---
 ArduCopter/Parameters.cpp | 51 +++++++++------------------------------
 1 file changed, 12 insertions(+), 39 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index fcde858fc4b6d1..cd47458393f37f 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1357,53 +1357,26 @@ void Copter::load_parameters(void)
     AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, 0, true);
 #endif
 
-    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+    static const AP_Param::G2ObjectConversion g2_conversions[] {
 #if AP_STATS_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 12;       // Old parameter index in g2
-        const uint16_t old_top_element = 4044; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
-    }
-#endif
     // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+        { &stats, stats.var_info, 12, 4044 },
+#endif
 #if AP_SCRIPTING_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 30;       // Old parameter index in g2
-        const uint16_t old_top_element = 94; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &scripting, scripting.var_info, old_index, old_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+        { &scripting, scripting.var_info, 30, 94 },
 #endif
-
+#if AP_GRIPPER_ENABLED
     // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
-#if HAL_LOGGING_ENABLED
-    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+        { &gripper, gripper.var_info, 13,  4045},
 #endif
+    };
 
-    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
-#if AP_GRIPPER_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
+    AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
 
-        const uint16_t old_index = 13;       // Old parameter index in g2
-        const uint16_t old_top_element = 4045; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &gripper, gripper.var_info, old_index, old_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
+#if HAL_LOGGING_ENABLED
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
 #endif
 
     // setup AP_Param frame type flags

From 30b8905b09447ba1a937af18512c47c50fbc0599 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 23:02:36 +1100
Subject: [PATCH 1263/1335] ArduPlane: convert EFI cvonversion to g2_conversion
 entry

---
 ArduPlane/Parameters.cpp | 20 ++++----------------
 1 file changed, 4 insertions(+), 16 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 6bc16df613c454..367745b75ad124 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1468,22 +1468,6 @@ void Plane::load_parameters(void)
 
     g.use_reverse_thrust.convert_parameter_width(AP_PARAM_INT16);
 
-
-    // PARAMETER_CONVERSION - Added: Oct-2021
-#if HAL_EFI_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 22;       // Old parameter index in g2
-        const uint16_t old_top_element = 86; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &efi, efi.var_info, old_index, old_top_element, false);
-    }
-#endif
-
 #if AP_AIRSPEED_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2022
     {
@@ -1528,6 +1512,10 @@ void Plane::load_parameters(void)
     landing.convert_parameters();
 
     static const AP_Param::G2ObjectConversion g2_conversions[] {
+    // PARAMETER_CONVERSION - Added: Oct-2021
+#if HAL_EFI_ENABLED
+        { &efi, efi.var_info, 22, 86 },
+#endif
 #if AP_STATS_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-4.6
         { &stats, stats.var_info, 5, 4037 },

From a1cd6df32c0402b4befd15e8316bb6f98fa0cc49 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 23:02:36 +1100
Subject: [PATCH 1264/1335] Blimp: convert EFI cvonversion to g2_conversion
 entry

---
 Blimp/Parameters.cpp | 31 +++++++------------------------
 1 file changed, 7 insertions(+), 24 deletions(-)

diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp
index cbc14fc4101a2f..b13b103af4f596 100644
--- a/Blimp/Parameters.cpp
+++ b/Blimp/Parameters.cpp
@@ -842,34 +842,17 @@ void Blimp::load_parameters(void)
 {
     AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);
 
-    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+    static const AP_Param::G2ObjectConversion g2_conversions[] {
 #if AP_STATS_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 12;       // Old parameter index in g2
-        const uint16_t old_top_element = 4044; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &stats, stats.var_info, old_index, old_top_element, false);
-    }
-#endif
     // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+        { &stats, stats.var_info, 12, 4044 },
+#endif
 #if AP_SCRIPTING_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
-            return;
-        }
-
-        const uint16_t old_index = 30;       // Old parameter index in g2
-        const uint16_t old_top_element = 94; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(info.old_key, &scripting, scripting.var_info, old_index, old_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
+        { &scripting, scripting.var_info, 30, 94 },
 #endif
+    };
+    AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
 
     // PARAMETER_CONVERSION - Added: Feb-2024
 #if HAL_LOGGING_ENABLED

From 9af383f63491da31cc1dd13b7dfba21d94ab4848 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 23:02:36 +1100
Subject: [PATCH 1265/1335] Rover: convert EFI cvonversion to g2_conversion
 entry

---
 Rover/Parameters.cpp | 64 +++++++++++---------------------------------
 1 file changed, 16 insertions(+), 48 deletions(-)

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 7a4d0e312eb50c..a2a4b0f203bf72 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -875,66 +875,34 @@ void Rover::load_parameters(void)
     }
 #endif
 
-// PARAMETER_CONVERSION - Added: JAN-2022
+    static const AP_Param::G2ObjectConversion g2_conversions[] {
 #if AP_AIRSPEED_ENABLED
-    const uint16_t old_index = 37;          // Old parameter index in the tree
-    const uint16_t old_top_element = 4069;  // Old group element in the tree for the first subgroup element
-    AP_Param::convert_class(info.old_key, &airspeed, airspeed.var_info, old_index, old_top_element, false);
+// PARAMETER_CONVERSION - Added: JAN-2022
+        { &airspeed, airspeed.var_info, 37, 4069 },
 #endif
-
-// PARAMETER_CONVERSION - Added: MAR-2022
 #if AP_AIS_ENABLED
-    AP_Param::convert_class(info.old_key, &ais, ais.var_info, 50, 114, false);
+// PARAMETER_CONVERSION - Added: MAR-2022
+        { &ais, ais.var_info, 50, 114 },
 #endif
-
-// PARAMETER_CONVERSION - Added: Mar-2022
 #if AP_FENCE_ENABLED
-    AP_Param::convert_class(info.old_key, &fence, fence.var_info, 17, 4049, false);
+// PARAMETER_CONVERSION - Added: Mar-2022
+        { &fence, fence.var_info, 17, 4049 },
 #endif
-
-    // PARAMETER_CONVERSION - Added: Jan-2024 for Rover-4.6
 #if AP_STATS_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo stats_info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, stats_info.old_key)) {
-            return;
-        }
-
-        const uint16_t stats_old_index = 1;       // Old parameter index in g2
-        const uint16_t stats_old_top_element = 4033; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(stats_info.old_key, &stats, stats.var_info, stats_old_index, stats_old_top_element, false);
-    }
-#endif
     // PARAMETER_CONVERSION - Added: Jan-2024 for Rover-4.6
+        { &stats, stats.var_info, 1, 4033 },
+#endif
 #if AP_SCRIPTING_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo scripting_info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, scripting_info.old_key)) {
-            return;
-        }
-
-        const uint16_t scripting_old_index = 41;       // Old parameter index in g2
-        const uint16_t scripting_old_top_element = 105; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(scripting_info.old_key, &scripting, scripting.var_info, scripting_old_index, scripting_old_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Jan-2024 for Rover-4.6
+        { &scripting, scripting.var_info, 41, 105 },
 #endif
-
-    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
 #if AP_GRIPPER_ENABLED
-    {
-        // Find G2's Top Level Key
-        AP_Param::ConversionInfo gripper_info;
-        if (!AP_Param::find_top_level_key_by_pointer(&g2, gripper_info.old_key)) {
-            return;
-        }
-
-        const uint16_t gripper_old_index = 39;       // Old parameter index in g2
-        const uint16_t gripper_old_top_element = 4071; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(gripper_info.old_key, &gripper, gripper.var_info, gripper_old_index, gripper_old_top_element, false);
-    }
+    // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
+        { &gripper, gripper.var_info, 39, 4071 },
 #endif
+    };
+
+    AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
 
     // PARAMETER_CONVERSION - Added: Feb-2024 for Rover-4.6
 #if HAL_LOGGING_ENABLED

From dd628b025fb4cf72f4e6a39dacc2433bb09d1a8c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Feb 2024 08:31:59 +1100
Subject: [PATCH 1266/1335] AP_Param: remove unused old_top_element param from
 convert_class

---
 libraries/AP_Param/AP_Param.cpp | 4 ++--
 libraries/AP_Param/AP_Param.h   | 3 +--
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index 4743bd4fbd8e2c..826c308a467fbf 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -2031,7 +2031,7 @@ void AP_Param::convert_old_parameters_scaled(const struct ConversionInfo *conver
 // is_top_level: Is true if the class had its own top level key, param_key. It is false if the class was a subgroup
 void AP_Param::convert_class(uint16_t param_key, void *object_pointer,
                                     const struct AP_Param::GroupInfo *group_info,
-                                    uint16_t old_index, uint16_t old_top_element, bool is_top_level)
+                                    uint16_t old_index, bool is_top_level)
 {
     const uint8_t group_shift = is_top_level ? 0 : 6;
 
@@ -2081,7 +2081,7 @@ void AP_Param::convert_g2_objects(const void *g2, const G2ObjectConversion g2_co
     }
     for (uint8_t i=0; i<num_conversions; i++) {
         const auto &c { g2_conversions[i] };
-        convert_class(info.old_key, c.object_pointer, c.var_info, c.old_index, c.old_top_element, false);
+        convert_class(info.old_key, c.object_pointer, c.var_info, c.old_index, false);
     }
 }
 
diff --git a/libraries/AP_Param/AP_Param.h b/libraries/AP_Param/AP_Param.h
index 294605be957fee..2aeb19a8a28e63 100644
--- a/libraries/AP_Param/AP_Param.h
+++ b/libraries/AP_Param/AP_Param.h
@@ -476,7 +476,6 @@ class AP_Param
         void *object_pointer;
         const struct AP_Param::GroupInfo *var_info;
         uint16_t old_index;  // Old parameter index in g
-        uint16_t old_top_element;  // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
     };
     static void         convert_g2_objects(const void *g2, const G2ObjectConversion g2_conversions[], uint8_t num_conversions);
 
@@ -501,7 +500,7 @@ class AP_Param
     // is_top_level: Is true if the class had its own top level key, param_key. It is false if the class was a subgroup
     static void         convert_class(uint16_t param_key, void *object_pointer,
                                         const struct AP_Param::GroupInfo *group_info,
-                                        uint16_t old_index, uint16_t old_top_element, bool is_top_level);
+                                        uint16_t old_index, bool is_top_level);
 
     /*
       fetch a parameter value based on the index within a group. This

From f2e83081b2176d241f134a3bfac85e8933dd4e29 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Feb 2024 08:31:59 +1100
Subject: [PATCH 1267/1335] AntennaTracker: remove unused old_top_element param
 from convert_class

---
 AntennaTracker/Parameters.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index 4eb3db11691f5c..5be95dedf7dde6 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -588,17 +588,17 @@ void Tracker::load_parameters(void)
 
 #if AP_STATS_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024
-    AP_Param::convert_class(g.k_param_stats_old, &stats, stats.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_stats_old, &stats, stats.var_info, 0, true);
 #endif
 
 #if AP_SCRIPTING_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024
-    AP_Param::convert_class(g.k_param_scripting_old, &scripting, scripting.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_scripting_old, &scripting, scripting.var_info, 0, true);
 #endif
 
     // PARAMETER_CONVERSION - Added: Feb-2024 for Tracker-4.6
 #if HAL_LOGGING_ENABLED
-    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
 #endif
 
 #if HAL_HAVE_SAFETY_SWITCH

From 198f26f34824285d6804622a00a71f021c46fa0f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Feb 2024 08:32:00 +1100
Subject: [PATCH 1268/1335] ArduCopter: remove unused old_top_element param
 from convert_class

---
 ArduCopter/Parameters.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index cd47458393f37f..8a1cec0c3ab005 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1354,21 +1354,21 @@ void Copter::load_parameters(void)
 
     // PARAMETER_CONVERSION - Added: Mar-2022
 #if AP_FENCE_ENABLED
-    AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, true);
 #endif
 
     static const AP_Param::G2ObjectConversion g2_conversions[] {
 #if AP_STATS_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
-        { &stats, stats.var_info, 12, 4044 },
+        { &stats, stats.var_info, 12 },
 #endif
 #if AP_SCRIPTING_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
-        { &scripting, scripting.var_info, 30, 94 },
+        { &scripting, scripting.var_info, 30 },
 #endif
 #if AP_GRIPPER_ENABLED
     // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
-        { &gripper, gripper.var_info, 13,  4045},
+        { &gripper, gripper.var_info, 13 },
 #endif
     };
 
@@ -1376,7 +1376,7 @@ void Copter::load_parameters(void)
 
     // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
 #if HAL_LOGGING_ENABLED
-    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
 #endif
 
     // setup AP_Param frame type flags

From 7a1f3579049f2cc86b532625145b41867bd1fa5d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Feb 2024 08:32:00 +1100
Subject: [PATCH 1269/1335] ArduPlane: remove unused old_top_element param from
 convert_class

---
 ArduPlane/Parameters.cpp | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 367745b75ad124..b6db6ba4ae6f94 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1473,8 +1473,7 @@ void Plane::load_parameters(void)
     {
         const uint16_t old_key = g.k_param_airspeed;
         const uint16_t old_index = 0;       // Old parameter index in the tree
-        const uint16_t old_top_element = 0; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
-        AP_Param::convert_class(old_key, &airspeed, airspeed.var_info, old_index, old_top_element, true);
+        AP_Param::convert_class(old_key, &airspeed, airspeed.var_info, old_index, true);
     }
 #endif
 
@@ -1495,7 +1494,7 @@ void Plane::load_parameters(void)
     
     // PARAMETER_CONVERSION - Added: Mar-2022
 #if AP_FENCE_ENABLED
-    AP_Param::convert_class(g.k_param_fence, &fence, fence.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_fence, &fence, fence.var_info, 0, true);
 #endif
   
     // PARAMETER_CONVERSION - Added: Dec 2023
@@ -1514,19 +1513,19 @@ void Plane::load_parameters(void)
     static const AP_Param::G2ObjectConversion g2_conversions[] {
     // PARAMETER_CONVERSION - Added: Oct-2021
 #if HAL_EFI_ENABLED
-        { &efi, efi.var_info, 22, 86 },
+        { &efi, efi.var_info, 22 },
 #endif
 #if AP_STATS_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-4.6
-        { &stats, stats.var_info, 5, 4037 },
+        { &stats, stats.var_info, 5 },
 #endif
 #if AP_SCRIPTING_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024 for Plane-4.6
-        { &scripting, scripting.var_info, 14, 78 },
+        { &scripting, scripting.var_info, 14 },
 #endif
 #if AP_GRIPPER_ENABLED
     // PARAMETER_CONVERSION - Added: Feb-2024 for Plane-4.6
-        { &gripper, gripper.var_info, 12, 4044 },
+        { &gripper, gripper.var_info, 12 },
 #endif
     };
 
@@ -1534,6 +1533,6 @@ void Plane::load_parameters(void)
 
     // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
 #if HAL_LOGGING_ENABLED
-    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
 #endif
 }

From 5e35c8850feb7366ca22b9ed5e526c8747ef87ee Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Feb 2024 08:32:00 +1100
Subject: [PATCH 1270/1335] ArduSub: remove unused old_top_element param from
 convert_class

---
 ArduSub/Parameters.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index a1bf37988862a5..2b400abdf8fb7f 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -747,25 +747,25 @@ void Sub::load_parameters()
 
     // PARAMETER_CONVERSION - Added: Mar-2022
 #if AP_FENCE_ENABLED
-    AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_fence_old, &fence, fence.var_info, 0, true);
 #endif
 
     static const AP_Param::G2ObjectConversion g2_conversions[] {
 #if AP_AIRSPEED_ENABLED
     // PARAMETER_CONVERSION - Added: JAN-2022
-        { &airspeed, airspeed.var_info, 19, 4051 },
+        { &airspeed, airspeed.var_info, 19 },
 #endif
 #if AP_STATS_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024
-        { &stats, stats.var_info, 1, 4033 },
+        { &stats, stats.var_info, 1 },
 #endif
 #if AP_SCRIPTING_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024
-        { &scripting, scripting.var_info, 18, 82 },
+        { &scripting, scripting.var_info, 18 },
 #endif
 #if AP_GRIPPER_ENABLED
     // PARAMETER_CONVERSION - Added: Feb-2024
-        { &gripper, gripper.var_info, 3, 4035 },
+        { &gripper, gripper.var_info, 3 },
 #endif
     };
 
@@ -773,7 +773,7 @@ void Sub::load_parameters()
 
     // PARAMETER_CONVERSION - Added: Feb-2024
 #if HAL_LOGGING_ENABLED
-    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
 #endif
 }
 

From ee69b709d4b02454df85beb630ee7d8d355c224d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Feb 2024 08:32:00 +1100
Subject: [PATCH 1271/1335] Blimp: remove unused old_top_element param from
 convert_class

---
 Blimp/Parameters.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp
index b13b103af4f596..f9f11e44f00669 100644
--- a/Blimp/Parameters.cpp
+++ b/Blimp/Parameters.cpp
@@ -845,18 +845,18 @@ void Blimp::load_parameters(void)
     static const AP_Param::G2ObjectConversion g2_conversions[] {
 #if AP_STATS_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
-        { &stats, stats.var_info, 12, 4044 },
+        { &stats, stats.var_info, 12 },
 #endif
 #if AP_SCRIPTING_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
-        { &scripting, scripting.var_info, 30, 94 },
+        { &scripting, scripting.var_info, 30 },
 #endif
     };
     AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));
 
     // PARAMETER_CONVERSION - Added: Feb-2024
 #if HAL_LOGGING_ENABLED
-    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
 #endif
 
     // setup AP_Param frame type flags

From f673617b54227c07b391400d0a45cba02ab8907d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Feb 2024 08:32:00 +1100
Subject: [PATCH 1272/1335] Rover: remove unused old_top_element param from
 convert_class

---
 Rover/Parameters.cpp | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index a2a4b0f203bf72..5f24887181c8c5 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -878,27 +878,27 @@ void Rover::load_parameters(void)
     static const AP_Param::G2ObjectConversion g2_conversions[] {
 #if AP_AIRSPEED_ENABLED
 // PARAMETER_CONVERSION - Added: JAN-2022
-        { &airspeed, airspeed.var_info, 37, 4069 },
+        { &airspeed, airspeed.var_info, 37 },
 #endif
 #if AP_AIS_ENABLED
 // PARAMETER_CONVERSION - Added: MAR-2022
-        { &ais, ais.var_info, 50, 114 },
+        { &ais, ais.var_info, 50 },
 #endif
 #if AP_FENCE_ENABLED
 // PARAMETER_CONVERSION - Added: Mar-2022
-        { &fence, fence.var_info, 17, 4049 },
+        { &fence, fence.var_info, 17 },
 #endif
 #if AP_STATS_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024 for Rover-4.6
-        { &stats, stats.var_info, 1, 4033 },
+        { &stats, stats.var_info, 1 },
 #endif
 #if AP_SCRIPTING_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2024 for Rover-4.6
-        { &scripting, scripting.var_info, 41, 105 },
+        { &scripting, scripting.var_info, 41 },
 #endif
 #if AP_GRIPPER_ENABLED
     // PARAMETER_CONVERSION - Added: Feb-2024 for Copter-4.6
-        { &gripper, gripper.var_info, 39, 4071 },
+        { &gripper, gripper.var_info, 39 },
 #endif
     };
 
@@ -906,7 +906,7 @@ void Rover::load_parameters(void)
 
     // PARAMETER_CONVERSION - Added: Feb-2024 for Rover-4.6
 #if HAL_LOGGING_ENABLED
-    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
+    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
 #endif
 
 }

From cb2f764700cdb63c0eb95f302a3ad2e6e805895e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Feb 2024 14:41:27 +1100
Subject: [PATCH 1273/1335] AP_GPS: improve reporting of offset vs
 reported-distance inaccuracy

---
 libraries/AP_GPS/GPS_Backend.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
index 8147be24492cb6..0af1b4ea479f91 100644
--- a/libraries/AP_GPS/GPS_Backend.cpp
+++ b/libraries/AP_GPS/GPS_Backend.cpp
@@ -369,8 +369,8 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
 
         if ((offset_dist - reported_distance) > (min_dist * permitted_error_length_pct)) {
             // the magnitude of the vector is much further then we were expecting
-            Debug("Exceeded the permitted error margin %f > %f",
-                  (double)(offset_dist - reported_distance), (double)(min_dist * permitted_error_length_pct));
+            Debug("Offset=%.2f vs reported-distance=%.2f (max-delta=%.2f)",
+                  offset_dist, reported_distance, (double)(min_dist * permitted_error_length_pct));
             goto bad_yaw;
         }
 

From e6a6db9ba0ab6106e72b89f873655d4d11747fba Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Feb 2024 15:54:49 +1100
Subject: [PATCH 1274/1335] AP_GPS: correct check of reported antenna distance
 vs stated offset

---
 libraries/AP_GPS/GPS_Backend.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
index 0af1b4ea479f91..95403f00905faf 100644
--- a/libraries/AP_GPS/GPS_Backend.cpp
+++ b/libraries/AP_GPS/GPS_Backend.cpp
@@ -367,7 +367,7 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
         }
 
 
-        if ((offset_dist - reported_distance) > (min_dist * permitted_error_length_pct)) {
+        if (fabsf(offset_dist - reported_distance) > (min_dist * permitted_error_length_pct)) {
             // the magnitude of the vector is much further then we were expecting
             Debug("Offset=%.2f vs reported-distance=%.2f (max-delta=%.2f)",
                   offset_dist, reported_distance, (double)(min_dist * permitted_error_length_pct));

From a707628b163e51139a581c59c88ed04737b2c2c5 Mon Sep 17 00:00:00 2001
From: rishabsingh3003 <rishabh.singh100358@gmail.com>
Date: Thu, 22 Feb 2024 20:59:50 -0500
Subject: [PATCH 1275/1335] AP_CANManager: Add multiCAN interface

---
 libraries/AP_CANManager/AP_CAN.h         |  3 +-
 libraries/AP_CANManager/AP_CANDriver.cpp |  4 +-
 libraries/AP_CANManager/AP_CANSensor.cpp | 53 ++++++++++++++++++++++++
 libraries/AP_CANManager/AP_CANSensor.h   | 36 ++++++++++++++++
 4 files changed, 92 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_CANManager/AP_CAN.h b/libraries/AP_CANManager/AP_CAN.h
index dff85215c15fa9..c9befd5b0b2191 100644
--- a/libraries/AP_CANManager/AP_CAN.h
+++ b/libraries/AP_CANManager/AP_CAN.h
@@ -28,7 +28,6 @@ class AP_CAN {
         Benewake = 11,
         Scripting2 = 12,
         TOFSenseP = 13,
-        NanoRadar_NRA24 = 14,
-        MR72 = 15,
+        NanoRadar = 14,
     };
 };
diff --git a/libraries/AP_CANManager/AP_CANDriver.cpp b/libraries/AP_CANManager/AP_CANDriver.cpp
index 0ec7ebbceb2a00..782eea0e045688 100644
--- a/libraries/AP_CANManager/AP_CANDriver.cpp
+++ b/libraries/AP_CANManager/AP_CANDriver.cpp
@@ -30,7 +30,7 @@ const AP_Param::GroupInfo AP_CANManager::CANDriver_Params::var_info[] = {
     // @Param: PROTOCOL
     // @DisplayName: Enable use of specific protocol over virtual driver
     // @Description: Enabling this option starts selected protocol that will use this virtual driver
-    // @Values: 0:Disabled,1:DroneCAN,4:PiccoloCAN,6:EFI_NWPMU,7:USD1,8:KDECAN,10:Scripting,11:Benewake,12:Scripting2,13:TOFSenseP,14:NanoRadar_NRA24
+    // @Values: 0:Disabled,1:DroneCAN,4:PiccoloCAN,6:EFI_NWPMU,7:USD1,8:KDECAN,10:Scripting,11:Benewake,12:Scripting2,13:TOFSenseP,14:NanoRadar
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("PROTOCOL", 1, AP_CANManager::CANDriver_Params, _driver_type, float(AP_CAN::Protocol::DroneCAN)),
@@ -54,7 +54,7 @@ const AP_Param::GroupInfo AP_CANManager::CANDriver_Params::var_info[] = {
     // @Param: PROTOCOL2
     // @DisplayName: Secondary protocol with 11 bit CAN addressing
     // @Description: Secondary protocol with 11 bit CAN addressing
-    // @Values: 0:Disabled,7:USD1,10:Scripting,11:Benewake,12:Scripting2,13:TOFSenseP,14:NanoRadar_NRA24
+    // @Values: 0:Disabled,7:USD1,10:Scripting,11:Benewake,12:Scripting2,13:TOFSenseP,14:NanoRadar
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("PROTOCOL2", 6, AP_CANManager::CANDriver_Params, _driver_type_11bit, float(AP_CAN::Protocol::None)),
diff --git a/libraries/AP_CANManager/AP_CANSensor.cpp b/libraries/AP_CANManager/AP_CANSensor.cpp
index 8e300eba0921bb..17b46d1d308709 100644
--- a/libraries/AP_CANManager/AP_CANSensor.cpp
+++ b/libraries/AP_CANManager/AP_CANSensor.cpp
@@ -21,6 +21,7 @@
 
 #include <AP_Scheduler/AP_Scheduler.h>
 #include "AP_CANSensor.h"
+#include <AP_BoardConfig/AP_BoardConfig.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -190,5 +191,57 @@ void CANSensor::loop()
     }
 }
 
+MultiCAN::MultiCANLinkedList* MultiCAN::callbacks;
+
+MultiCAN::MultiCAN(ForwardCanFrame cf, AP_CAN::Protocol can_type, const char *driver_name) :
+        CANSensor(driver_name)
+{
+    if (callbacks == nullptr) {
+        callbacks = new MultiCANLinkedList();
+    }
+    if (callbacks == nullptr) {
+        AP_BoardConfig::allocation_error("Failed to create multican callback");
+    }
+
+    // Register new driver
+    register_driver(can_type);
+    callbacks->register_callback(cf);
+}
+
+// handle a received frame from the CAN bus
+void MultiCAN::handle_frame(AP_HAL::CANFrame &frame)
+{
+    if (callbacks != nullptr) {
+        callbacks->handle_frame(frame);
+    }
+
+}
+
+// register a callback for a CAN frame by adding it to the linked list
+void MultiCAN::MultiCANLinkedList::register_callback(ForwardCanFrame callback)
+{
+    CANSensor_Multi* newNode = new CANSensor_Multi();
+    if (newNode == nullptr) {
+        AP_BoardConfig::allocation_error("Failed to create multican node");
+    }
+    WITH_SEMAPHORE(sem);
+    {
+        newNode->_callback = callback;
+        newNode->next = head;
+        head = newNode;
+    }
+}
+
+// distribute the CAN frame to the registered callbacks
+void MultiCAN::MultiCANLinkedList::handle_frame(AP_HAL::CANFrame &frame)
+{
+    WITH_SEMAPHORE(sem);
+    for (CANSensor_Multi* current = head; current != nullptr; current = current->next) {
+        if (current->_callback(frame)) {
+            return;
+        }
+    }
+}
+
 #endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
 
diff --git a/libraries/AP_CANManager/AP_CANSensor.h b/libraries/AP_CANManager/AP_CANSensor.h
index 2cd775f4c39f78..7ba0021bb13460 100644
--- a/libraries/AP_CANManager/AP_CANSensor.h
+++ b/libraries/AP_CANManager/AP_CANSensor.h
@@ -90,5 +90,41 @@ class CANSensor : public AP_CANDriver {
 #endif
 };
 
+// a class to allow for multiple CAN backends with one
+// CANSensor driver. This can be shared among different libraries like rangefinder and proximity
+class MultiCAN : public CANSensor {
+public:
+    // callback functor def for forwarding frames
+    FUNCTOR_TYPEDEF(ForwardCanFrame, bool, AP_HAL::CANFrame &);
+
+    MultiCAN(ForwardCanFrame cf, AP_CAN::Protocol can_type, const char *driver_name);
+
+    // handle a received frame from the CAN bus
+    void handle_frame(AP_HAL::CANFrame &frame) override;
+
+private:
+    // class to allow for multiple callbacks implemented as a linked list
+    class MultiCANLinkedList {
+    public:
+        struct CANSensor_Multi {
+            ForwardCanFrame _callback;
+            CANSensor_Multi* next = nullptr;
+        };
+
+        // register a callback for a CAN frame by adding it to the linked list
+        void register_callback(ForwardCanFrame callback);
+
+        // distribute the CAN frame to the registered callbacks
+        void handle_frame(AP_HAL::CANFrame &frame);
+        HAL_Semaphore sem;
+
+    private:
+        CANSensor_Multi* head = nullptr;
+    };
+
+    // Pointer to static instance of the linked list for persistence across instances
+    static MultiCANLinkedList* callbacks;
+};
+
 #endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
 

From 94fca60882b7691a16561b343742421f9ac62fca Mon Sep 17 00:00:00 2001
From: rishabsingh3003 <rishabh.singh100358@gmail.com>
Date: Thu, 22 Feb 2024 21:00:36 -0500
Subject: [PATCH 1276/1335] AP_Arming: Remove MR72

---
 libraries/AP_Arming/AP_Arming.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 2a0a3e1fa0ac90..e6aaf5bb830bc0 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -1198,9 +1198,8 @@ bool AP_Arming::can_checks(bool report)
                 }
                 case AP_CAN::Protocol::USD1:
                 case AP_CAN::Protocol::TOFSenseP:
-                case AP_CAN::Protocol::NanoRadar_NRA24:
+                case AP_CAN::Protocol::NanoRadar:
                 case AP_CAN::Protocol::Benewake:
-                case AP_CAN::Protocol::MR72:
                 {
                     for (uint8_t j = i; j; j--) {
                         if (AP::can().get_driver_type(i) == AP::can().get_driver_type(j-1)) {

From 8a24699bfa6b48c0016de20eee43769fbf8ed92c Mon Sep 17 00:00:00 2001
From: rishabsingh3003 <rishabh.singh100358@gmail.com>
Date: Thu, 22 Feb 2024 21:01:03 -0500
Subject: [PATCH 1277/1335] AP_Proximity: move mutlican to AP_CANSensor

---
 .../AP_Proximity/AP_Proximity_MR72_CAN.cpp    | 29 ++-----------------
 .../AP_Proximity/AP_Proximity_MR72_CAN.h      | 19 +-----------
 2 files changed, 4 insertions(+), 44 deletions(-)

diff --git a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp
index 4f0225c65bd6cc..9d9618286c5b5f 100644
--- a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp
@@ -32,26 +32,14 @@ const AP_Param::GroupInfo AP_Proximity_MR72_CAN::var_info[] = {
     AP_GROUPEND
 };
 
-MR72_MultiCAN *AP_Proximity_MR72_CAN::multican;
-
 AP_Proximity_MR72_CAN::AP_Proximity_MR72_CAN(AP_Proximity &_frontend,
                                      AP_Proximity::Proximity_State &_state,
                                      AP_Proximity_Params& _params):
     AP_Proximity_Backend(_frontend, _state, _params)
 {
-    if (multican == nullptr) {
-        multican = new MR72_MultiCAN();
-        if (multican == nullptr) {
-            AP_BoardConfig::allocation_error("MR72_CAN");
-        }
-    }
-
-    {
-        // add to linked list of drivers
-        WITH_SEMAPHORE(multican->sem);
-        auto *prev = multican->drivers;
-        next = prev;
-        multican->drivers = this;
+    multican_MR72 = new MultiCAN{FUNCTOR_BIND_MEMBER(&AP_Proximity_MR72_CAN::handle_frame, bool, AP_HAL::CANFrame &), AP_CAN::Protocol::NanoRadar, "MR72 MultiCAN"};
+    if (multican_MR72 == nullptr) {
+        AP_BoardConfig::allocation_error("Failed to create proximity multican");
     }
 
     AP_Param::setup_object_defaults(this, var_info);
@@ -132,15 +120,4 @@ bool AP_Proximity_MR72_CAN::parse_distance_message(AP_HAL::CANFrame &frame)
     return true;
 }
 
-// handle frames from CANSensor, passing to the drivers
-void MR72_MultiCAN::handle_frame(AP_HAL::CANFrame &frame)
-{
-    WITH_SEMAPHORE(sem);
-    for (auto *d = drivers; d; d=d->next) {
-        if (d->handle_frame(frame)) {
-            break;
-        }
-    }
-}
-
 #endif // HAL_PROXIMITY_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h
index e2a3dcbb9df361..210e8036b0864e 100644
--- a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h
+++ b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h
@@ -45,24 +45,7 @@ class AP_Proximity_MR72_CAN : public AP_Proximity_Backend {
 
     AP_Int32 receive_id;                // ID of the sensor
 
-    static MR72_MultiCAN *multican;     // linked list
-    AP_Proximity_MR72_CAN *next;
-};
-
-// a class to allow for multiple MR_72 backends with one
-// CANSensor driver
-class MR72_MultiCAN : public CANSensor {
-public:
-    MR72_MultiCAN() : CANSensor("MR72") {
-        register_driver(AP_CAN::Protocol::MR72);
-    }
-
-    // handler for incoming frames
-    void handle_frame(AP_HAL::CANFrame &frame) override;
-
-    HAL_Semaphore sem;
-    AP_Proximity_MR72_CAN *drivers;
-
+    MultiCAN* multican_MR72;            // Allows for multiple CAN rangefinders on a single bus
 };
 
 #endif // HAL_PROXIMITY_ENABLED

From 89d8a1351c2b22cfdcc5391fb77423369494ed27 Mon Sep 17 00:00:00 2001
From: rishabsingh3003 <rishabh.singh100358@gmail.com>
Date: Thu, 22 Feb 2024 21:01:25 -0500
Subject: [PATCH 1278/1335] AP_RangeFinder: move multican to AP_CANSensor

---
 .../AP_RangeFinder_Backend_CAN.cpp            | 18 +++++--------
 .../AP_RangeFinder_Backend_CAN.h              | 20 +++------------
 .../AP_RangeFinder_Benewake_CAN.cpp           | 24 ------------------
 .../AP_RangeFinder_Benewake_CAN.h             |  8 +++---
 .../AP_RangeFinder_NRA24_CAN.cpp              | 22 ----------------
 .../AP_RangeFinder/AP_RangeFinder_NRA24_CAN.h |  8 +++---
 .../AP_RangeFinder_TOFSenseP_CAN.cpp          | 25 -------------------
 .../AP_RangeFinder_TOFSenseP_CAN.h            |  9 +++----
 .../AP_RangeFinder_USD1_CAN.cpp               | 24 ------------------
 .../AP_RangeFinder/AP_RangeFinder_USD1_CAN.h  | 11 +++-----
 10 files changed, 25 insertions(+), 144 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.cpp
index 96c45d523870af..659a4af1991067 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.cpp
@@ -39,11 +39,16 @@ const AP_Param::GroupInfo AP_RangeFinder_Backend_CAN::var_info[] = {
 
 // constructor
 AP_RangeFinder_Backend_CAN::AP_RangeFinder_Backend_CAN(
-    RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
+    RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, AP_CAN::Protocol can_type,
+                                    const char *driver_name) :
     AP_RangeFinder_Backend(_state, _params)
 {
     AP_Param::setup_object_defaults(this, var_info);
     state.var_info = var_info;
+    multican_rangefinder = new MultiCAN{FUNCTOR_BIND_MEMBER(&AP_RangeFinder_Backend_CAN::handle_frame, bool, AP_HAL::CANFrame &), can_type, driver_name};
+    if (multican_rangefinder == nullptr) {
+        AP_BoardConfig::allocation_error("Failed to create rangefinder multican");
+    }
 }
 
 // update the state of the sensor
@@ -82,15 +87,4 @@ bool AP_RangeFinder_Backend_CAN::is_correct_id(uint32_t id) const
     return true;
 }
 
-// handle frames from CANSensor, passing to the drivers
-void RangeFinder_MultiCAN::handle_frame(AP_HAL::CANFrame &frame)
-{
-    WITH_SEMAPHORE(sem);
-    for (auto *d = drivers; d != nullptr; d=d->next) {
-        if (d->handle_frame(frame)) {
-            break;
-        }
-    }
-}
-
 #endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h
index cc936130352916..96d62aa94dedf9 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h
@@ -14,7 +14,8 @@ class AP_RangeFinder_Backend_CAN : public AP_RangeFinder_Backend
 public:
     // constructor
     AP_RangeFinder_Backend_CAN(RangeFinder::RangeFinder_State &_state,
-                                  AP_RangeFinder_Params &_params);
+                                AP_RangeFinder_Params &_params, AP_CAN::Protocol can_type,
+                                const char *driver_name);
 
     friend class RangeFinder_MultiCAN;
 
@@ -53,26 +54,11 @@ class AP_RangeFinder_Backend_CAN : public AP_RangeFinder_Backend
     AP_Int32 receive_id; // CAN ID to receive for this backend
     AP_Int32 snr_min; // minimum signal strength to accept packet
 
+    MultiCAN* multican_rangefinder; // Allows for multiple CAN rangefinders on a single bus
 private:
 
     float _distance_sum; // meters
     uint32_t _distance_count;
 };
 
-// a class to allow for multiple CAN backends with one
-// CANSensor driver
-class RangeFinder_MultiCAN : public CANSensor {
-public:
-    RangeFinder_MultiCAN(AP_CAN::Protocol can_type, const char *driver_name) : CANSensor(driver_name) {
-        register_driver(can_type);
-    }
-
-    // handler for incoming frames
-    void handle_frame(AP_HAL::CANFrame &frame) override;
-
-    // Semaphore for access to shared backend data
-    HAL_Semaphore sem;
-    AP_RangeFinder_Backend_CAN *drivers;
-};
-
 #endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp
index 180c114f2a14a8..7f97dab592564f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp
@@ -5,30 +5,6 @@
 
 #if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
 
-RangeFinder_MultiCAN *AP_RangeFinder_Benewake_CAN::multican;
-
-/*
-  constructor
- */
-AP_RangeFinder_Benewake_CAN::AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
-    AP_RangeFinder_Backend_CAN(_state, _params)
-{
-    if (multican == nullptr) {
-        multican = new RangeFinder_MultiCAN(AP_CAN::Protocol::Benewake, "Benewake MultiCAN");
-        if (multican == nullptr) {
-            AP_BoardConfig::allocation_error("Benewake_CAN");
-        }
-    }
-
-    {
-        // add to linked list of drivers
-        WITH_SEMAPHORE(multican->sem);
-        auto *prev = multican->drivers;
-        next = prev;
-        multican->drivers = this;
-    }
-}
-
 // handler for incoming frames for H30 radar
 bool AP_RangeFinder_Benewake_CAN::handle_frame_H30(AP_HAL::CANFrame &frame)
 {
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
index 6bc7057bedcd2b..a5c6441258e587 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
@@ -7,14 +7,14 @@
 
 class AP_RangeFinder_Benewake_CAN : public AP_RangeFinder_Backend_CAN {
 public:
-    AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
+    AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
+        AP_RangeFinder_Backend_CAN(_state, _params, AP_CAN::Protocol::Benewake, "benewake")
+    {
+    }
 
     // handler for incoming frames. Return true if consumed
     bool handle_frame(AP_HAL::CANFrame &frame) override;
     bool handle_frame_H30(AP_HAL::CANFrame &frame);
-
-private:
-    static RangeFinder_MultiCAN *multican;
 };
 
 #endif  // AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.cpp
index 1c922e121bbfc4..30f170adddc9d0 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.cpp
@@ -6,28 +6,6 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_HAL/AP_HAL.h>
 
-RangeFinder_MultiCAN *AP_RangeFinder_NRA24_CAN::multican_NRA24;
-
-// constructor
-AP_RangeFinder_NRA24_CAN::AP_RangeFinder_NRA24_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
-    AP_RangeFinder_Backend_CAN(_state, _params)
-{
-    if (multican_NRA24 == nullptr) {
-        multican_NRA24 = new RangeFinder_MultiCAN(AP_CAN::Protocol::NanoRadar_NRA24, "NRA24 MultiCAN");
-        if (multican_NRA24 == nullptr) {
-            AP_BoardConfig::allocation_error("Rangefinder_MultiCAN");
-        }
-    }
-
-    {
-        // add to linked list of drivers
-        WITH_SEMAPHORE(multican_NRA24->sem);
-        auto *prev = multican_NRA24->drivers;
-        next = prev;
-        multican_NRA24->drivers = this;
-    }
-}
-
 // update the state of the sensor
 void AP_RangeFinder_NRA24_CAN::update(void)
 {
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.h
index 4a114be187d9ab..eb0d472f3135ed 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_NRA24_CAN.h
@@ -6,7 +6,10 @@
 
 class AP_RangeFinder_NRA24_CAN : public AP_RangeFinder_Backend_CAN {
 public:
-    AP_RangeFinder_NRA24_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
+    AP_RangeFinder_NRA24_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
+        AP_RangeFinder_Backend_CAN(_state, _params, AP_CAN::Protocol::NanoRadar, "nra24")
+    {
+    }
 
     void update(void) override;
 
@@ -18,9 +21,6 @@ class AP_RangeFinder_NRA24_CAN : public AP_RangeFinder_Backend_CAN {
 private:
 
     uint32_t get_radar_id(uint32_t id) const { return ((id & 0xF0U) >> 4U); }
-
-    static RangeFinder_MultiCAN *multican_NRA24;
-
     uint32_t last_heartbeat_ms; // last status message received from the sensor
 };
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.cpp
index 5b9465a1dde7d9..16497bb8d89c78 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.cpp
@@ -7,31 +7,6 @@
 #include <AP_HAL/utility/sparse-endian.h>
 #include <AP_HAL/AP_HAL.h>
 
-RangeFinder_MultiCAN *AP_RangeFinder_TOFSenseP_CAN::multican_TOFSenseP;
-
-/*
-  constructor
- */
-AP_RangeFinder_TOFSenseP_CAN::AP_RangeFinder_TOFSenseP_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
-    AP_RangeFinder_Backend_CAN(_state, _params)
-{
-    if (multican_TOFSenseP == nullptr) {
-        multican_TOFSenseP = new RangeFinder_MultiCAN(AP_CAN::Protocol::TOFSenseP, "TOFSenseP MultiCAN");
-        if (multican_TOFSenseP == nullptr) {
-            AP_BoardConfig::allocation_error("Rangefinder_MultiCAN");
-        }
-    }
-
-    {
-        // add to linked list of drivers
-        WITH_SEMAPHORE(multican_TOFSenseP->sem);
-        auto *prev = multican_TOFSenseP->drivers;
-        next = prev;
-        multican_TOFSenseP->drivers = this;
-    }
-}
-
-
 // handler for incoming frames. These come in at 10-30Hz
 bool AP_RangeFinder_TOFSenseP_CAN::handle_frame(AP_HAL::CANFrame &frame)
 {
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.h
index a3100eef09dbe0..ff88245ef54cd0 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_TOFSenseP_CAN.h
@@ -7,16 +7,15 @@
 
 class AP_RangeFinder_TOFSenseP_CAN : public AP_RangeFinder_Backend_CAN {
 public:
-    AP_RangeFinder_TOFSenseP_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
+    AP_RangeFinder_TOFSenseP_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
+        AP_RangeFinder_Backend_CAN(_state, _params, AP_CAN::Protocol::TOFSenseP, "tofsensep")
+    {
+    }
 
     // handler for incoming frames
     bool handle_frame(AP_HAL::CANFrame &frame) override;
 
     static const struct AP_Param::GroupInfo var_info[];
-
-private:
-    static RangeFinder_MultiCAN *multican_TOFSenseP;
-
 };
 
 #endif  // AP_RANGEFINDER_USD1_CAN_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.cpp
index 780308aabde6ca..19964746c7527d 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.cpp
@@ -4,30 +4,6 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-RangeFinder_MultiCAN *AP_RangeFinder_USD1_CAN::multican;
-
-/*
-  constructor
- */
-AP_RangeFinder_USD1_CAN::AP_RangeFinder_USD1_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
-    AP_RangeFinder_Backend_CAN(_state, _params)
-{
-    if (multican == nullptr) {
-        multican = new RangeFinder_MultiCAN(AP_CAN::Protocol::USD1, "USD1 MultiCAN");
-        if (multican == nullptr) {
-            AP_BoardConfig::allocation_error("USD1_CAN");
-        }
-    }
-
-    {
-        // add to linked list of drivers
-        WITH_SEMAPHORE(multican->sem);
-        auto *prev = multican->drivers;
-        next = prev;
-        multican->drivers = this;
-    }
-}
-
 // handler for incoming frames. These come in at 100Hz
 bool AP_RangeFinder_USD1_CAN::handle_frame(AP_HAL::CANFrame &frame)
 {
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h
index 5a3827585ac305..445f7d3f507891 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h
@@ -7,18 +7,15 @@
 
 class AP_RangeFinder_USD1_CAN : public AP_RangeFinder_Backend_CAN {
 public:
-
-    AP_RangeFinder_USD1_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
+    AP_RangeFinder_USD1_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
+        AP_RangeFinder_Backend_CAN(_state, _params, AP_CAN::Protocol::USD1, "usd1")
+    {
+    }
 
     // handler for incoming frames
     bool handle_frame(AP_HAL::CANFrame &frame) override;
 
     static const struct AP_Param::GroupInfo var_info[];
-
-private:
-
-    static RangeFinder_MultiCAN *multican;
-
 };
 
 #endif  // AP_RANGEFINDER_USD1_CAN_ENABLED

From c36b57acba227193fa470a1cf16174484c7d79b2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 23 Feb 2024 19:29:09 +1100
Subject: [PATCH 1279/1335] AP_Compass: exclude cpp files if not
 AP_COMPASS_ENABLED

---
 libraries/AP_Compass/AP_Compass.cpp         | 6 ++++++
 libraries/AP_Compass/AP_Compass_Backend.cpp | 6 ++++++
 2 files changed, 12 insertions(+)

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 45eccb97e73756..ad7397d0617eb0 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -1,3 +1,7 @@
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #include <AP_HAL_Linux/I2CDevice.h>
@@ -2236,3 +2240,5 @@ Compass &compass()
 }
 
 }
+
+#endif  // AP_COMPASS_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_Backend.cpp b/libraries/AP_Compass/AP_Compass_Backend.cpp
index c0a7bf973eeaa1..7d430c3193e194 100644
--- a/libraries/AP_Compass/AP_Compass_Backend.cpp
+++ b/libraries/AP_Compass/AP_Compass_Backend.cpp
@@ -1,3 +1,7 @@
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 
 #include "AP_Compass.h"
@@ -294,3 +298,5 @@ enum Rotation AP_Compass_Backend::get_board_orientation(void) const
 {
     return _compass._board_orientation;
 }
+
+#endif  // AP_COMPASS_ENABLED

From 53fd9056d8e0324412b2b421b3764e5849fe3e22 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 23 Feb 2024 19:29:10 +1100
Subject: [PATCH 1280/1335] AP_Scripting: use AP_ARMING_ENABLED and
 AP_COMPASS_ENABLED

... in place of periph-specific checks
---
 libraries/AP_Scripting/generator/description/bindings.desc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index a5d1729c473787..c9e9867df51798 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -65,7 +65,7 @@ singleton AP_AHRS method get_quaternion boolean Quaternion'Null
 include AP_Arming/AP_Arming.h
 
 singleton AP_Arming rename arming
-singleton AP_Arming depends (!defined(HAL_BUILD_AP_PERIPH))
+singleton AP_Arming depends AP_ARMING_ENABLED
 singleton AP_Arming method disarm boolean AP_Arming::Method::SCRIPTING'literal
 singleton AP_Arming method is_armed boolean
 singleton AP_Arming method pre_arm_checks boolean false'literal
@@ -780,7 +780,7 @@ singleton AP_IOMCU method healthy boolean
 
 include AP_Compass/AP_Compass.h
 singleton Compass rename compass
-singleton Compass depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_MAG))
+singleton Compass depends AP_COMPASS_ENABLED
 singleton Compass method healthy boolean uint8_t'skip_check
 
 -- ----EFI Library----

From df8801955db051cbf33f2b9b23cdc258cc819f78 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 23 Feb 2024 19:35:39 +1100
Subject: [PATCH 1281/1335] AP_Vehicle: don't create compass singleton if
 compass not enabled

---
 libraries/AP_Vehicle/AP_Vehicle.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 24b542d8910877..b2783f3cb50beb 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -317,7 +317,9 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     AP_GPS gps;
 #endif
     AP_Baro barometer;
+#if AP_COMPASS_ENABLED
     Compass compass;
+#endif
 #if AP_INERTIALSENSOR_ENABLED
     AP_InertialSensor ins;
 #endif

From 5cc48a12e26bee6b7af5c82d0225fce9ec1aa5fb Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 23 Feb 2024 19:52:05 +1100
Subject: [PATCH 1282/1335] GCS_MAVLink: remove code based on ENABLE parameters

---
 libraries/GCS_MAVLink/GCS.cpp        | 2 +-
 libraries/GCS_MAVLink/GCS_Common.cpp | 8 ++++++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index 65f799d118a401..a31c35f0115e5f 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -331,7 +331,7 @@ void GCS::update_sensor_status_flags()
 
     // give GCS status of prearm checks. This is enabled if any arming checks are enabled.
     // it is healthy if armed or checks are passing
-#if !defined(HAL_BUILD_AP_PERIPH)
+#if AP_ARMING_ENABLED
     control_sensors_present |= MAV_SYS_STATUS_PREARM_CHECK;
     if (AP::arming().get_enabled_checks()) {
         control_sensors_enabled |= MAV_SYS_STATUS_PREARM_CHECK;
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index ac7dd381335b4b..4889e90b5d4d01 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4530,14 +4530,16 @@ MAV_RESULT GCS_MAVLINK::_handle_command_preflight_calibration(const mavlink_comm
         AP::ins().force_save_calibration();
         ret = MAV_RESULT_ACCEPTED;
     }
-#endif
+#endif  // AP_INERTIALSENSOR_ENABLED
 
+#if AP_COMPASS_ENABLED
     if (is_equal(packet.param2,76.0f)) {
         // force existing compass calibration to be accepted as valid
         AP::compass().force_save_calibration();
         ret = MAV_RESULT_ACCEPTED;
     }
-    
+#endif
+
     return ret;
 }
 
@@ -5747,6 +5749,7 @@ bool GCS_MAVLINK::send_relay_status() const
 
 void GCS_MAVLINK::send_autopilot_state_for_gimbal_device() const
 {
+#if AP_AHRS_ENABLED
     // get attitude
     const AP_AHRS &ahrs = AP::ahrs();
     Quaternion quat;
@@ -5792,6 +5795,7 @@ void GCS_MAVLINK::send_autopilot_state_for_gimbal_device() const
         est_status_flags,   // estimator status
         0,      // landed_state (see MAV_LANDED_STATE)
         AP::ahrs().get_yaw_rate_earth());   // [rad/s] Z component of angular velocity in NED (North, East, Down). NaN if unknown
+#endif  // AP_AHRS_ENABLED
 }
 
 void GCS_MAVLINK::send_received_message_deprecation_warning(const char * message)

From 2e2b1c9fac502165d9a145197b14c2ad0cc454e8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 23 Feb 2024 20:03:08 +1100
Subject: [PATCH 1283/1335] AP_HAL_ChibiOS: allow AP_TERRAIN_ENABLED to be
 turned off in hwdef

adds the ifndef, and changes things to the path defines are undefined if it is false
---
 .../AP_HAL_ChibiOS/hwdef/scripts/defaults_normal.h  | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_normal.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_normal.h
index 718da256e00650..82d108d9024bda 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_normal.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_normal.h
@@ -10,9 +10,18 @@
 #define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
 #endif
 
-#ifndef HAL_BOARD_TERRAIN_DIRECTORY
-#define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+// a similar define is present in AP_HAL_Boards.h:
+#ifndef HAL_OS_FATFS_IO
+#define HAL_OS_FATFS_IO 0
 #endif
 
+#ifndef AP_TERRAIN_AVAILABLE
 // enable terrain only if there's an SD card available:
 #define AP_TERRAIN_AVAILABLE HAL_OS_FATFS_IO
+#endif
+
+#if AP_TERRAIN_AVAILABLE
+#ifndef HAL_BOARD_TERRAIN_DIRECTORY
+#define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+#endif
+#endif  // AP_TERRAIN_AVAILABLE

From d4daa990f88300fc18662393038ced3d455431d3 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 24 Feb 2024 12:34:42 +0000
Subject: [PATCH 1284/1335] AP_HAL_ChibiOS: hwdef.py: define
 `HAL_HAVE_AP_ROMFS_EMBEDDED_LUA` if lua files in ROMFS

---
 .../AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py    | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index a9d8521ef3076a..bb6ca88d7861b4 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -2625,6 +2625,11 @@ def write_hwdef_header(self, outfilename):
         self.embed_bootloader(f)
 
         if len(self.romfs) > 0:
+            # Allow lua to load from ROMFS if any lua files are added
+            for file in self.romfs.keys():
+                if file.startswith("scripts") and file.endswith(".lua"):
+                    f.write('#define HAL_HAVE_AP_ROMFS_EMBEDDED_LUA 1\n')
+                    break
             f.write('#define HAL_HAVE_AP_ROMFS_EMBEDDED_H 1\n')
 
         if self.mcu_series.startswith('STM32F1'):
@@ -3204,15 +3209,16 @@ def run(self):
         # write out hw.dat for ROMFS
         self.write_all_lines(os.path.join(self.outdir, "hw.dat"))
 
+        # Add ROMFS directories
+        self.romfs_add_dir(['scripts'])
+        self.romfs_add_dir(['param'])
+
         # write out hwdef.h
         self.write_hwdef_header(os.path.join(self.outdir, "hwdef.h"))
 
         # write out ldscript.ld
         self.write_ldscript(os.path.join(self.outdir, "ldscript.ld"))
 
-        self.romfs_add_dir(['scripts'])
-        self.romfs_add_dir(['param'])
-
         self.write_ROMFS(self.outdir)
 
         # copy the shared linker script into the build directory; it must

From ec762d5609afee11c8585514323f8e5501868f83 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 24 Feb 2024 12:35:21 +0000
Subject: [PATCH 1285/1335] Tools: ardupilotwaf: boards: define
 `HAL_HAVE_AP_ROMFS_EMBEDDED_LUA` if lua files in ROMFS

---
 Tools/ardupilotwaf/boards.py | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index f699c5a75a5739..1fd4bc7915ac84 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -770,6 +770,11 @@ def configure_env(self, cfg, env):
                     env.ROMFS_FILES += [('scripts/'+f,'ROMFS/scripts/'+f)]
 
         if len(env.ROMFS_FILES) > 0:
+            # Allow lua to load from ROMFS if any lua files are added
+            for file in env.ROMFS_FILES:
+                if file[0].startswith("scripts") and file[0].endswith(".lua"):
+                    env.CXXFLAGS += ['-DHAL_HAVE_AP_ROMFS_EMBEDDED_LUA']
+                    break
             env.CXXFLAGS += ['-DHAL_HAVE_AP_ROMFS_EMBEDDED_H']
 
         if cfg.options.sitl_rgbled:
@@ -1343,6 +1348,11 @@ def configure_env(self, cfg, env):
                 HAL_PARAM_DEFAULTS_PATH='"@ROMFS/defaults.parm"',
             )
         if len(env.ROMFS_FILES) > 0:
+            # Allow lua to load from ROMFS if any lua files are added
+            for file in env.ROMFS_FILES:
+                if file[0].startswith("scripts") and file[0].endswith(".lua"):
+                    env.CXXFLAGS += ['-DHAL_HAVE_AP_ROMFS_EMBEDDED_LUA']
+                    break
             env.CXXFLAGS += ['-DHAL_HAVE_AP_ROMFS_EMBEDDED_H']
 
     def build(self, bld):

From c7d543f9af1dcb9bbcc66e1ecd6a8aa8ce8d8c42 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 24 Feb 2024 12:37:32 +0000
Subject: [PATCH 1286/1335] AP_Scripting: only try to load from ROMFS if
 `HAL_HAVE_AP_ROMFS_EMBEDDED_LUA` is defined

---
 libraries/AP_Scripting/lua_scripts.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_Scripting/lua_scripts.cpp b/libraries/AP_Scripting/lua_scripts.cpp
index b1b60a29c8a711..98960a11ceba6e 100644
--- a/libraries/AP_Scripting/lua_scripts.cpp
+++ b/libraries/AP_Scripting/lua_scripts.cpp
@@ -524,10 +524,12 @@ void lua_scripts::run(void) {
         load_all_scripts_in_dir(L, SCRIPTING_DIRECTORY);
         loaded = true;
     }
+#ifdef HAL_HAVE_AP_ROMFS_EMBEDDED_LUA
     if ((dir_disable & uint16_t(AP_Scripting::SCR_DIR::ROMFS)) == 0) {
         load_all_scripts_in_dir(L, "@ROMFS/scripts");
         loaded = true;
     }
+#endif
     if (!loaded) {
         GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Lua: All directory's disabled see SCR_DIR_DISABLE");
     }

From fee5374cb66cfb80dcfe5ba02ac51ab3c3a01e0a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 25 Feb 2024 08:06:43 +1100
Subject: [PATCH 1287/1335] Tools: only produce _with_bl.hex not *.hex for
 vehicle firmware

if we are producing _with_bl.hex then don't also build *.hex as it can
confuse users who think they should flash *.hex with a DFU flashing
tool
---
 Tools/ardupilotwaf/chibios.py   |  5 ++++-
 Tools/scripts/make_intel_hex.py | 17 +++++++++--------
 2 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index 0248c1c25b5d14..532e75a4b3a331 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -435,7 +435,10 @@ def chibios_firmware(self):
     bootloader_bin = self.bld.srcnode.make_node("Tools/bootloaders/%s_bl.bin" % self.env.BOARD)
     if self.bld.env.HAVE_INTEL_HEX:
         if os.path.exists(bootloader_bin.abspath()):
-            hex_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.hex').name)
+            if int(self.bld.env.FLASH_RESERVE_START_KB) > 0:
+                hex_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('_with_bl.hex').name)
+            else:
+                hex_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.hex').name)
             hex_task = self.create_task('build_intel_hex', src=[bin_target[0], bootloader_bin], tgt=hex_target)
             hex_task.set_run_after(cleanup_task)
         else:
diff --git a/Tools/scripts/make_intel_hex.py b/Tools/scripts/make_intel_hex.py
index 629ebf34b5e220..6d9802b712d7bf 100755
--- a/Tools/scripts/make_intel_hex.py
+++ b/Tools/scripts/make_intel_hex.py
@@ -39,13 +39,14 @@
 
 tmpfile = hexfile + ".tmp"
 
-open(tmpfile, "wb").write(appimage)
-
-intelhex.bin2hex(tmpfile, hexfile, offset=(0x08000000 + reserve_kb*1024))
-
+# we either write a _with_bl.hex or a .hex. We don't write both as users get
+# confused if offered a arducopter.hex and try to flash it with INAV DFU
+# flashing tool, not realising it has to be flashed at the correct flash offset
 if reserve_kb > 0:
-   open(tmpfile, "wb").write(with_bl)
-   intelhex.bin2hex(tmpfile, hex_with_bl, offset=0x08000000)
-   
-os.unlink(tmpfile)
+    open(tmpfile, "wb").write(with_bl)
+    intelhex.bin2hex(tmpfile, hex_with_bl, offset=0x08000000)
+else:
+    open(tmpfile, "wb").write(appimage)
+    intelhex.bin2hex(tmpfile, hexfile, offset=(0x08000000 + reserve_kb*1024))
 
+os.unlink(tmpfile)

From 744df1ceba94cd31160e56b1fa43acb9cafccc67 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 24 Feb 2024 14:28:00 +0000
Subject: [PATCH 1288/1335] AP_Motors: Tricopter: fix actuator indexing

---
 libraries/AP_Motors/AP_MotorsTri.cpp | 28 +++++++++++++---------------
 1 file changed, 13 insertions(+), 15 deletions(-)

diff --git a/libraries/AP_Motors/AP_MotorsTri.cpp b/libraries/AP_Motors/AP_MotorsTri.cpp
index 7b868d3aaf4bf3..43730335fd584b 100644
--- a/libraries/AP_Motors/AP_MotorsTri.cpp
+++ b/libraries/AP_Motors/AP_MotorsTri.cpp
@@ -90,34 +90,32 @@ void AP_MotorsTri::output_to_motors()
     switch (_spool_state) {
         case SpoolState::SHUT_DOWN:
             // sends minimum values out to the motors
-            rc_write(AP_MOTORS_MOT_1, output_to_pwm(0));
-            rc_write(AP_MOTORS_MOT_2, output_to_pwm(0));
-            rc_write(AP_MOTORS_MOT_4, output_to_pwm(0));
+            _actuator[AP_MOTORS_MOT_1] = 0.0;
+            _actuator[AP_MOTORS_MOT_2] = 0.0;
+            _actuator[AP_MOTORS_MOT_4] = 0.0;
             rc_write_angle(AP_MOTORS_CH_TRI_YAW, 0);
             break;
         case SpoolState::GROUND_IDLE:
             // sends output to motors when armed but not flying
-            set_actuator_with_slew(_actuator[1], actuator_spin_up_to_ground_idle());
-            set_actuator_with_slew(_actuator[2], actuator_spin_up_to_ground_idle());
-            set_actuator_with_slew(_actuator[4], actuator_spin_up_to_ground_idle());
-            rc_write(AP_MOTORS_MOT_1, output_to_pwm(_actuator[1]));
-            rc_write(AP_MOTORS_MOT_2, output_to_pwm(_actuator[2]));
-            rc_write(AP_MOTORS_MOT_4, output_to_pwm(_actuator[4]));
+            set_actuator_with_slew(_actuator[AP_MOTORS_MOT_1], actuator_spin_up_to_ground_idle());
+            set_actuator_with_slew(_actuator[AP_MOTORS_MOT_2], actuator_spin_up_to_ground_idle());
+            set_actuator_with_slew(_actuator[AP_MOTORS_MOT_4], actuator_spin_up_to_ground_idle());
             rc_write_angle(AP_MOTORS_CH_TRI_YAW, 0);
             break;
         case SpoolState::SPOOLING_UP:
         case SpoolState::THROTTLE_UNLIMITED:
         case SpoolState::SPOOLING_DOWN:
             // set motor output based on thrust requests
-            set_actuator_with_slew(_actuator[1], thr_lin.thrust_to_actuator(_thrust_right));
-            set_actuator_with_slew(_actuator[2], thr_lin.thrust_to_actuator(_thrust_left));
-            set_actuator_with_slew(_actuator[4], thr_lin.thrust_to_actuator(_thrust_rear));
-            rc_write(AP_MOTORS_MOT_1, output_to_pwm(_actuator[1]));
-            rc_write(AP_MOTORS_MOT_2, output_to_pwm(_actuator[2]));
-            rc_write(AP_MOTORS_MOT_4, output_to_pwm(_actuator[4]));
+            set_actuator_with_slew(_actuator[AP_MOTORS_MOT_1], thr_lin.thrust_to_actuator(_thrust_right));
+            set_actuator_with_slew(_actuator[AP_MOTORS_MOT_2], thr_lin.thrust_to_actuator(_thrust_left));
+            set_actuator_with_slew(_actuator[AP_MOTORS_MOT_4], thr_lin.thrust_to_actuator(_thrust_rear));
             rc_write_angle(AP_MOTORS_CH_TRI_YAW, degrees(_pivot_angle)*100);
             break;
     }
+
+    rc_write(AP_MOTORS_MOT_1, output_to_pwm(_actuator[AP_MOTORS_MOT_1]));
+    rc_write(AP_MOTORS_MOT_2, output_to_pwm(_actuator[AP_MOTORS_MOT_2]));
+    rc_write(AP_MOTORS_MOT_4, output_to_pwm(_actuator[AP_MOTORS_MOT_4]));
 }
 
 // get_motor_mask - returns a bitmask of which outputs are being used for motors or servos (1 means being used)

From 2df3cb98c68e65183c433917dc2e4198ffe7daba Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 26 Feb 2024 14:10:35 +1100
Subject: [PATCH 1289/1335] AP_NavEKF3: move initialisation of rngBcn into
 BeaconFusion method

---
 .../AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp    | 43 +++++++++++++++++++
 libraries/AP_NavEKF3/AP_NavEKF3_core.cpp      | 39 +----------------
 libraries/AP_NavEKF3/AP_NavEKF3_core.h        |  2 +
 3 files changed, 46 insertions(+), 38 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
index 9708b60f164eff..714fc41711e910 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
@@ -3,6 +3,49 @@
 
 #if EK3_FEATURE_BEACON_FUSION
 
+// initialise state:
+void NavEKF3_core::BeaconFusion::InitialiseVariables()
+{
+    memset((void *)&dataDelayed, 0, sizeof(dataDelayed));
+    lastPassTime_ms = 0;
+    testRatio = 0.0f;
+    health = false;
+    varInnov = 0.0f;
+    innov = 0.0f;
+    memset(&lastTime_ms, 0, sizeof(lastTime_ms));
+    dataToFuse = false;
+    vehiclePosNED.zero();
+    vehiclePosErr = 1.0f;
+    last3DmeasTime_ms = 0;
+    goodToAlign = false;
+    lastChecked = 0;
+    receiverPos.zero();
+    memset(&receiverPosCov, 0, sizeof(receiverPosCov));
+    alignmentStarted =  false;
+    alignmentCompleted = false;
+    lastIndex = 0;
+    posSum.zero();
+    numMeas = 0;
+    sum = 0.0f;
+    N = 0;
+    maxPosD = 0.0f;
+    minPosD = 0.0f;
+    posDownOffsetMax = 0.0f;
+    posOffsetMaxVar = 0.0f;
+    maxOffsetStateChangeFilt = 0.0f;
+    posDownOffsetMin = 0.0f;
+    posOffsetMinVar = 0.0f;
+    minOffsetStateChangeFilt = 0.0f;
+    fuseDataReportIndex = 0;
+    if (AP::dal().beacon()) {
+        if (fusionReport == nullptr) {
+            fusionReport = new BeaconFusion::FusionReport[AP::dal().beacon()->count()];
+        }
+    }
+    posOffsetNED.zero();
+    originEstInit = false;
+}
+
 /********************************************************
 *                   FUSE MEASURED_DATA                  *
 ********************************************************/
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index 1d2316f966219d..ae1f4d09a14e78 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -345,44 +345,7 @@ void NavEKF3_core::InitialiseVariables()
 
     // range beacon fusion variables
 #if EK3_FEATURE_BEACON_FUSION
-    memset((void *)&rngBcn.dataDelayed, 0, sizeof(rngBcn.dataDelayed));
-    rngBcn.lastPassTime_ms = 0;
-    rngBcn.testRatio = 0.0f;
-    rngBcn.health = false;
-    rngBcn.varInnov = 0.0f;
-    rngBcn.innov = 0.0f;
-    memset(&rngBcn.lastTime_ms, 0, sizeof(rngBcn.lastTime_ms));
-    rngBcn.dataToFuse = false;
-    rngBcn.vehiclePosNED.zero();
-    rngBcn.vehiclePosErr = 1.0f;
-    rngBcn.last3DmeasTime_ms = 0;
-    rngBcn.goodToAlign = false;
-    rngBcn.lastChecked = 0;
-    rngBcn.receiverPos.zero();
-    memset(&rngBcn.receiverPosCov, 0, sizeof(rngBcn.receiverPosCov));
-    rngBcn.alignmentStarted =  false;
-    rngBcn.alignmentCompleted = false;
-    rngBcn.lastIndex = 0;
-    rngBcn.posSum.zero();
-    rngBcn.numMeas = 0;
-    rngBcn.sum = 0.0f;
-    rngBcn.N = 0;
-    rngBcn.maxPosD = 0.0f;
-    rngBcn.minPosD = 0.0f;
-    rngBcn.posDownOffsetMax = 0.0f;
-    rngBcn.posOffsetMaxVar = 0.0f;
-    rngBcn.maxOffsetStateChangeFilt = 0.0f;
-    rngBcn.posDownOffsetMin = 0.0f;
-    rngBcn.posOffsetMinVar = 0.0f;
-    rngBcn.minOffsetStateChangeFilt = 0.0f;
-    rngBcn.fuseDataReportIndex = 0;
-    if (dal.beacon()) {
-        if (rngBcn.fusionReport == nullptr) {
-            rngBcn.fusionReport = new BeaconFusion::FusionReport[dal.beacon()->count()];
-        }
-    }
-    rngBcn.posOffsetNED.zero();
-    rngBcn.originEstInit = false;
+    rngBcn.InitialiseVariables();
 #endif  // EK3_FEATURE_BEACON_FUSION
 
 #if EK3_FEATURE_BODY_ODOM
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index 8ba964b7e88fda..d9304f12383cf3 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -1323,6 +1323,8 @@ class NavEKF3_core : public NavEKF_core_common
 #if EK3_FEATURE_BEACON_FUSION
     class BeaconFusion {
     public:
+        void InitialiseVariables();
+
         EKF_obs_buffer_t<rng_bcn_elements> storedRange; // Beacon range buffer
         rng_bcn_elements dataDelayed; // Range beacon data at the fusion time horizon
         uint32_t lastPassTime_ms;     // time stamp when the range beacon measurement last passed innovation consistency checks (msec)

From 242f679206b9025225794962cf3c75385ad35498 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 26 Feb 2024 11:26:20 +0000
Subject: [PATCH 1290/1335] AP_HAL_ChibiOS: remove iomcu dshot from Pixhawk1-1M
 and add to Pixhawk1-bdshot

add support for removing ROMFS from hwdef
---
 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-1M/hwdef.dat     | 5 +++++
 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-bdshot/hwdef.dat | 4 ++++
 libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py  | 2 ++
 3 files changed, 11 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-1M/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-1M/hwdef.dat
index 096e1fdfd5ec12..b0c52d2c35225b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-1M/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-1M/hwdef.dat
@@ -13,3 +13,8 @@ undef STORAGE_FLASH_PAGE
 
 # produce this error if we are on a 2M board and using 1M firmware
 define BOARD_CHECK_F427_USE_2M "2M flash - use Pixhawk1 firmware"
+
+# enable support for dshot on iomcu
+undef ROMFS
+ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
+undef HAL_WITH_IO_MCU_DSHOT
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-bdshot/hwdef.dat
index 67ea0aae84d5d3..3aca8a528df99c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-bdshot/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-bdshot/hwdef.dat
@@ -36,3 +36,7 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 # produce this error if we are on a 1M board
 undef BOARD_CHECK_F427_USE_1M
 define BOARD_CHECK_F427_USE_1M "ERROR: 1M flash use Pixhawk1-1M"
+
+# enable support for dshot on iomcu
+ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin
+define HAL_WITH_IO_MCU_DSHOT 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index bb6ca88d7861b4..1a3e5adc224c55 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -3054,6 +3054,8 @@ def process_line(self, line):
                     self.baro_list = []
                 if u == 'AIRSPEED':
                     self.airspeed_list = []
+                if u == 'ROMFS':
+                    self.romfs = {}
         elif a[0] == 'env':
             self.progress("Adding environment %s" % ' '.join(a[1:]))
             if len(a[1:]) < 2:

From 23f262168583fa872cf4252fbbfd7fcfa443b304 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 27 Feb 2024 13:52:51 +1100
Subject: [PATCH 1291/1335] AP_Scripting: improved dual log handling

allow sync of PTHT messages between vehicle logs
---
 .../applets/Aerobatics/FixedWing/dual_log.py  | 46 +++++++++----------
 .../Aerobatics/FixedWing/plane_aerobatics.lua | 22 +++++++--
 2 files changed, 41 insertions(+), 27 deletions(-)

diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_log.py b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_log.py
index 4606b21acb1b88..bf2b52dc518506 100755
--- a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_log.py
+++ b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_log.py
@@ -25,19 +25,22 @@
 mlog2 = mavutil.mavlink_connection(args.log2)
 output = open(args.logout, mode='wb')
 
-types1 = ['ORGN','VEH','PARM','MSG','FMT','FMTU','MULT','MODE','EVT']
-types2 = ['VEH']
+types1 = ['ORGN','VEH','PARM','MSG','FMT','FMTU','MULT','MODE','EVT','PTHT']
+types2 = ['VEH','PTHT']
 
 m1 = None
 m2 = None
 
-veh_fmt = None
+veh1_formats = {}
 
-def write_VEH(m, veh_fmt):
-    buf = bytearray(m.get_msgbuf())
-    if veh_fmt is None:
+def write_message(m):
+    global veh1_formats
+    mtype = m.get_type()
+    if not mtype in veh1_formats:
         return
-    buf[2] = veh_fmt
+    veh1_fmt = veh1_formats[mtype]
+    buf = bytearray(m.get_msgbuf())
+    buf[2] = veh1_fmt
     output.write(buf)
 
 m1_count = 0
@@ -49,44 +52,41 @@ def write_VEH(m, veh_fmt):
     if m2 is None:
         m2 = mlog2.recv_match(type=types2)
 
-    if m1 is not None and m1.get_type() != 'VEH':
+    if m1 is not None:
+        veh1_formats[m1.get_type()] = m1.get_msgbuf()[2]
+
+    if m1 is not None and m1.get_type() not in types2:
+        # passthrough
         output.write(m1.get_msgbuf())
         m1 = None
         continue
 
-    if m2 is not None and m2.get_type() != 'VEH':
+    if m2 is not None and m2.get_type() not in types2:
         continue
-    
-    if veh_fmt is None and m1 is not None:
-        veh_fmt = m1.get_msgbuf()[2]
 
     if m1 is None and m2 is None:
         break
 
     if m1 is None:
-        write_VEH(m2, veh_fmt)
+        write_message(m2)
         m2 = None
         continue
 
     if m2 is None:
-        write_VEH(m1, veh_fmt)
+        write_message(m1)
         m1 = None
         continue
 
-    if hasattr(m1,'TSec'):
-        # old format
-        t1 = m1.TSec + m1.TUSec*1.0e-6
-        t2 = m2.TSec + m2.TUSec*1.0e-6
-    else:
-        t1 = m1.GWk*7*24*60*60 + m1.GMS*0.001
-        t2 = m2.GWk*7*24*60*60 + m2.GMS*0.001
+    t1 = m1.GWk*7*24*60*60 + m1.GMS*0.001
+    t2 = m2.GWk*7*24*60*60 + m2.GMS*0.001
+
     if t1 <= t2:
         m1_count += 1
         if m1_count % args.decimate == 0:
-            write_VEH(m1, veh_fmt)
+            write_message(m1)
         m1 = None
     else:
         m2_count += 1
         if m2_count % args.decimate == 0:
-            write_VEH(m2, veh_fmt)
+            write_message(m2)
         m2 = None
diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
index 72112bf30c5d81..2bb2c7f4e6a865 100644
--- a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
+++ b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
@@ -2130,8 +2130,10 @@ function log_pose(logname, pos, quat)
                 math.deg(quat:get_euler_yaw()))
 end
 
-
-function log_position(logname, loc, quat)
+--[[
+   get GPS week and MS, coping with crossing a week boundary
+--]]
+function get_gps_times()
    local gps_last_fix_ms1 = gps:last_fix_time_ms(0)
    local gps_week = gps:time_week(0)
    local gps_week_ms = gps:time_week_ms(0)
@@ -2144,6 +2146,11 @@ function log_position(logname, loc, quat)
       gps_week_ms = gps:time_week_ms(0)
    end
    gps_week_ms = gps_week_ms + (now_ms - gps_last_fix_ms2)
+   return gps_week, gps_week_ms
+end
+
+function log_position(logname, loc, quat)
+   local gps_week, gps_week_ms = get_gps_times()
 
    logger.write(logname, 'I,GWk,GMS,Lat,Lon,Alt,R,P,Y',
                 'BHILLffff',
@@ -2359,8 +2366,15 @@ function handle_speed_adjustment()
          path_var.speed_adjustment = 0.0
       end
 
-      logger.write("PTHT",'SysID,RemT,LocT,TS,RemTS,PathT,RemPathT,Dt,ARPT,DE,SA','Bffffffffff',
-                   sysid, remote_t, local_t,
+      local gps_week, gps_week_ms = get_gps_times()
+      logger.write("PTHT",
+                   'SysID,GWk,GMS,RemT,LocT,TS,RTS,PT,RPT,Dt,ARPT,DE,SA',
+                   'BHIffffffffff',
+                   '#------------',
+                   '-------------',
+                   sysid,
+                   gps_week, gps_week_ms,
+                   remote_t, local_t,
                    loc_timestamp,
                    remote_timestamp,
                    path_var.path_t, rem_patht,

From 280bc3a285661140f2a2dcdb8b56506d203eb4a5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 13 Feb 2024 15:15:21 +1100
Subject: [PATCH 1292/1335] AP_InertialSensor: fixed accel cal simple to remove
 unused IMUs

when we change EAHRS_SENSORS to remove use of IMU from an external
AHRS we need to be able to zero the accel and gyro offsets to get
prearms to pass
---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 9450d58447e28d..5b3c4f8e7c53e0 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -2532,7 +2532,7 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
     }
     
     // remove existing accel offsets and scaling
-    for (uint8_t k=0; k<num_accels; k++) {
+    for (uint8_t k=0; k<INS_MAX_INSTANCES; k++) {
         _accel_offset(k).set(Vector3f());
         _accel_scale(k).set(Vector3f(1,1,1));
         new_accel_offset[k].zero();
@@ -2620,6 +2620,12 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
             caltemp_accel(k).set_and_save(get_temperature(k));
 #endif
         }
+        for (uint8_t k=num_accels; k<INS_MAX_INSTANCES; k++) {
+            _accel_offset(k).set_and_save(Vector3f());
+            _accel_scale(k).set_and_save(Vector3f());
+            _gyro_offset(k).set_and_save(Vector3f());
+            _accel_id(k).set_and_save(0);
+        }
 
 #if AP_AHRS_ENABLED
         // force trim to zero

From cb53e6429371a83e24ec901375d3f71c90310e30 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 2 Dec 2023 19:32:26 +1100
Subject: [PATCH 1293/1335] AP_ExternalAHRS: added EAHRS_LOG_RATE and common
 logging

common logging for all EAHRS backends
---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp | 41 +++++++++++++++++++
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.h   |  3 ++
 .../AP_ExternalAHRS_InertialLabs.cpp          | 28 ++-----------
 .../AP_ExternalAHRS_VectorNav.cpp             | 32 ---------------
 4 files changed, 47 insertions(+), 57 deletions(-)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index 9b15e6135bfe21..dd208f79da92bf 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -29,6 +29,7 @@
 
 #include <GCS_MAVLink/GCS.h>
 #include <AP_AHRS/AP_AHRS.h>
+#include <AP_Logger/AP_Logger.h>
 
 extern const AP_HAL::HAL &hal;
 
@@ -80,6 +81,13 @@ const AP_Param::GroupInfo AP_ExternalAHRS::var_info[] = {
     // @Bitmask: 0:GPS,1:IMU,2:Baro,3:Compass
     // @User: Advanced
     AP_GROUPINFO("_SENSORS", 4, AP_ExternalAHRS, sensors, 0xF),
+
+    // @Param: _LOG_RATE
+    // @DisplayName: AHRS logging rate
+    // @Description: Logging rate for EARHS devices
+    // @Units: Hz
+    // @User: Standard
+    AP_GROUPINFO("_LOG_RATE", 5, AP_ExternalAHRS, log_rate, 10),
     
     AP_GROUPEND
 };
@@ -281,6 +289,39 @@ void AP_ExternalAHRS::update(void)
             state.have_origin = true;
         }
     }
+    const uint32_t now_ms = AP_HAL::millis();
+    if (log_rate.get() > 0 && now_ms - last_log_ms >= uint32_t(1000U/log_rate.get())) {
+        last_log_ms = now_ms;
+
+        // @LoggerMessage: EAHR
+        // @Description: External AHRS data
+        // @Field: TimeUS: Time since system startup
+        // @Field: Roll: euler roll
+        // @Field: Pitch: euler pitch
+        // @Field: Yaw: euler yaw
+        // @Field: VN: velocity north
+        // @Field: VE: velocity east
+        // @Field: VD: velocity down
+        // @Field: Lat: latitude
+        // @Field: Lon: longitude
+        // @Field: Alt: altitude AMSL
+        // @Field: Flg: nav status flags
+
+        float roll, pitch, yaw;
+        state.quat.to_euler(roll, pitch, yaw);
+        nav_filter_status filterStatus {};
+        get_filter_status(filterStatus);
+
+        AP::logger().WriteStreaming("EAHR", "TimeUS,Roll,Pitch,Yaw,VN,VE,VD,Lat,Lon,Alt,Flg",
+                                    "sdddnnnDUm-",
+                                    "F000000GG0-",
+                                    "QffffffLLfI",
+                                    AP_HAL::micros64(),
+                                    degrees(roll), degrees(pitch), degrees(yaw),
+                                    state.velocity.x, state.velocity.y, state.velocity.z,
+                                    state.location.lat, state.location.lng, state.location.alt*0.01,
+                                    filterStatus.value);
+    }
 }
 
 // Get model/type name
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
index c904c68072d19b..c00d9341fc9910 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -176,6 +176,7 @@ class AP_ExternalAHRS {
 
     AP_Enum<DevType> devtype;
     AP_Int16         rate;
+    AP_Int16         log_rate;
     AP_Int16         options;
     AP_Int16         sensors;
 
@@ -190,6 +191,8 @@ class AP_ExternalAHRS {
     void set_default_sensors(uint16_t _sensors) {
         sensors.set_default(_sensors);
     }
+
+    uint32_t last_log_ms;
 };
 
 namespace AP {
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
index d10ca6997c7cd7..43e858a74007ce 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
@@ -501,28 +501,6 @@ bool AP_ExternalAHRS_InertialLabs::check_uart()
         // @LoggerMessage: ILB1
         // @Description: InertialLabs AHRS data1
         // @Field: TimeUS: Time since system startup
-        // @Field: Roll: euler roll
-        // @Field: Pitch: euler pitch
-        // @Field: Yaw: euler yaw
-        // @Field: VN: velocity north
-        // @Field: VE: velocity east
-        // @Field: VD: velocity down
-        // @Field: Lat: latitude
-        // @Field: Lon: longitude
-        // @Field: Alt: altitude AMSL
-
-        AP::logger().WriteStreaming("ILB1", "TimeUS,Roll,Pitch,Yaw,VN,VE,VD,Lat,Lon,Alt",
-                                    "sdddnnnDUm",
-                                    "F000000GG0",
-                                    "QffffffLLf",
-                                    now_us,
-                                    degrees(roll), degrees(pitch), degrees(yaw),
-                                    state.velocity.x, state.velocity.y, state.velocity.z,
-                                    state.location.lat, state.location.lng, state.location.alt*0.01);
-
-        // @LoggerMessage: ILB2
-        // @Description: InertialLabs AHRS data2
-        // @Field: TimeUS: Time since system startup
         // @Field: PosVarN: position variance north
         // @Field: PosVarE: position variance east
         // @Field: PosVarD: position variance down
@@ -530,7 +508,7 @@ bool AP_ExternalAHRS_InertialLabs::check_uart()
         // @Field: VelVarE: velocity variance east
         // @Field: VelVarD: velocity variance down
 
-        AP::logger().WriteStreaming("ILB2", "TimeUS,PosVarN,PosVarE,PosVarD,VelVarN,VelVarE,VelVarD",
+        AP::logger().WriteStreaming("ILB1", "TimeUS,PosVarN,PosVarE,PosVarD,VelVarN,VelVarE,VelVarD",
                                     "smmmnnn",
                                     "F000000",
                                     "Qffffff",
@@ -538,7 +516,7 @@ bool AP_ExternalAHRS_InertialLabs::check_uart()
                                     state2.kf_pos_covariance.x, state2.kf_pos_covariance.x, state2.kf_pos_covariance.z,
                                     state2.kf_vel_covariance.x, state2.kf_vel_covariance.x, state2.kf_vel_covariance.z);
 
-        // @LoggerMessage: ILB3
+        // @LoggerMessage: ILB2
         // @Description: InertialLabs AHRS data3
         // @Field: TimeUS: Time since system startup
         // @Field: Stat1: unit status1
@@ -553,7 +531,7 @@ bool AP_ExternalAHRS_InertialLabs::check_uart()
         // @Field: WVE: Wind velocity east
         // @Field: WVD: Wind velocity down
 
-        AP::logger().WriteStreaming("ILB3", "TimeUS,Stat1,Stat2,FType,SpStat,GI1,GI2,GJS,TAS,WVN,WVE,WVD",
+        AP::logger().WriteStreaming("ILB2", "TimeUS,Stat1,Stat2,FType,SpStat,GI1,GI2,GJS,TAS,WVN,WVE,WVD",
                                     "s-----------",
                                     "F-----------",
                                     "QHHBBBBBffff",
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
index 26f379868a2dff..179f05fd9f1e2c 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
@@ -511,38 +511,6 @@ void AP_ExternalAHRS_VectorNav::process_packet1(const uint8_t *b)
 
         AP::ins().handle_external(ins);
     }
-
-
-#if HAL_LOGGING_ENABLED
-    // @LoggerMessage: EAH1
-    // @Description: External AHRS data
-    // @Field: TimeUS: Time since system startup
-    // @Field: Roll: euler roll
-    // @Field: Pitch: euler pitch
-    // @Field: Yaw: euler yaw
-    // @Field: VN: velocity north
-    // @Field: VE: velocity east
-    // @Field: VD: velocity down
-    // @Field: Lat: latitude
-    // @Field: Lon: longitude
-    // @Field: Alt: altitude AMSL
-    // @Field: UXY: uncertainty in XY position
-    // @Field: UV: uncertainty in velocity
-    // @Field: UR: uncertainty in roll
-    // @Field: UP: uncertainty in pitch
-    // @Field: UY: uncertainty in yaw
-
-    AP::logger().WriteStreaming("EAH1", "TimeUS,Roll,Pitch,Yaw,VN,VE,VD,Lat,Lon,Alt,UXY,UV,UR,UP,UY",
-                       "sdddnnnDUmmnddd", "F000000GG000000",
-                       "QffffffLLffffff",
-                       AP_HAL::micros64(),
-                       pkt1.ypr[2], pkt1.ypr[1], pkt1.ypr[0],
-                       pkt1.velNED[0], pkt1.velNED[1], pkt1.velNED[2],
-                       int32_t(pkt1.positionLLA[0]*1.0e7), int32_t(pkt1.positionLLA[1]*1.0e7),
-                       float(pkt1.positionLLA[2]),
-                       pkt1.posU, pkt1.velU,
-                       pkt1.yprU[2], pkt1.yprU[1], pkt1.yprU[0]);
-#endif  // HAL_LOGGING_ENABLED
 }
 
 /*

From 98093938510c6362c81a2f8b5de198b9283da3a9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 16 Feb 2024 10:36:51 +1100
Subject: [PATCH 1294/1335] RC_Channel: disable GPS on external AHRS with
 GPS_DISABLE

---
 libraries/RC_Channel/RC_Channel.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 4fb4d153561d75..b0b4787909134d 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -1378,6 +1378,9 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
 
     case AUX_FUNC::GPS_DISABLE:
         AP::gps().force_disable(ch_flag == AuxSwitchPos::HIGH);
+#if HAL_EXTERNAL_AHRS_ENABLED
+        AP::externalAHRS().set_gnss_disable(ch_flag == AuxSwitchPos::HIGH);
+#endif
         break;
 
     case AUX_FUNC::GPS_DISABLE_YAW:

From 9fd3e4169ab6bbbf4d756bdd4a171a40ed97f7aa Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 16 Feb 2024 10:37:34 +1100
Subject: [PATCH 1295/1335] AP_ExternalAHRS: added support for GPS disable and
 fwd flight

allow backends to determine if we are in fixed wing flight and/or the
GPS is disabled by the user
---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.h        | 10 +++++++++-
 .../AP_ExternalAHRS/AP_ExternalAHRS_backend.cpp    |  6 ++++++
 .../AP_ExternalAHRS/AP_ExternalAHRS_backend.h      | 14 +++++++++++++-
 3 files changed, 28 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
index c00d9341fc9910..e62b6608153020 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -163,7 +163,12 @@ class AP_ExternalAHRS {
         float differential_pressure; // Pa
         float temperature; // degC
     } airspeed_data_message_t;
-    
+
+    // set GNSS disable for auxillary function GPS_DISABLE
+    void set_gnss_disable(bool disable) {
+        gnss_is_disabled = disable;
+    }
+
 protected:
 
     enum class OPTIONS {
@@ -193,6 +198,9 @@ class AP_ExternalAHRS {
     }
 
     uint32_t last_log_ms;
+
+    // true when user has disabled the GNSS
+    bool gnss_is_disabled;
 };
 
 namespace AP {
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.cpp
index eaff493f5af3fc..94cf8c41b7d2b8 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.cpp
@@ -17,6 +17,7 @@
  */
 
 #include "AP_ExternalAHRS_backend.h"
+#include <AP_AHRS/AP_AHRS.h>
 
 #if HAL_EXTERNAL_AHRS_ENABLED
 
@@ -37,5 +38,10 @@ bool AP_ExternalAHRS_backend::option_is_set(AP_ExternalAHRS::OPTIONS option) con
     return frontend.option_is_set(option);
 }
 
+bool AP_ExternalAHRS_backend::in_fly_forward(void) const
+{
+    return AP::ahrs().get_fly_forward();
+}
+
 #endif  // HAL_EXTERNAL_AHRS_ENABLED
 
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h
index 02eb1b5319b7d0..ed987a01ced3aa 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h
@@ -57,7 +57,19 @@ class AP_ExternalAHRS_backend {
     void set_default_sensors(uint16_t sensors) {
         frontend.set_default_sensors(sensors);
     }
-    
+
+    /*
+      return true if the GNSS is disabled
+     */
+    bool gnss_is_disabled(void) const {
+        return frontend.gnss_is_disabled;
+    }
+
+    /*
+      return true when we are in fixed wing flight
+     */
+    bool in_fly_forward(void) const;
+
 private:
     AP_ExternalAHRS &frontend;
 };

From 9770855c9d5e600b0514adbcc684948b048f7274 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 27 Feb 2024 09:20:39 +1100
Subject: [PATCH 1296/1335] AP_ExternalAHRS: make get_accel() and get_gyro()
 bool

---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp | 16 ++++++++++++----
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.h   |  4 ++--
 2 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index dd208f79da92bf..6b91943c65c9c0 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -250,16 +250,24 @@ void AP_ExternalAHRS::get_filter_status(nav_filter_status &status) const
     }
 }
 
-Vector3f AP_ExternalAHRS::get_gyro(void)
+bool AP_ExternalAHRS::get_gyro(Vector3f &gyro)
 {
     WITH_SEMAPHORE(state.sem);
-    return state.gyro;
+    if (!has_sensor(AvailableSensor::IMU)) {
+        return false;
+    }
+    gyro = state.gyro;
+    return true;
 }
 
-Vector3f AP_ExternalAHRS::get_accel(void)
+bool AP_ExternalAHRS::get_accel(Vector3f &accel)
 {
     WITH_SEMAPHORE(state.sem);
-    return state.accel;
+    if (!has_sensor(AvailableSensor::IMU)) {
+        return false;
+    }
+    accel = state.accel;
+    return true;
 }
 
 // send an EKF_STATUS message to GCS
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
index e62b6608153020..72e3161f799de2 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -115,8 +115,8 @@ class AP_ExternalAHRS {
     bool get_speed_down(float &speedD);
     bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const;
     void get_filter_status(nav_filter_status &status) const;
-    Vector3f get_gyro(void);
-    Vector3f get_accel(void);
+    bool get_gyro(Vector3f &gyro);
+    bool get_accel(Vector3f &accel);
     void send_status_report(class GCS_MAVLINK &link) const;
 
     // update backend

From 192d9f6dbd4494bfee734468c855dcb41c2f802e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 27 Feb 2024 09:22:42 +1100
Subject: [PATCH 1297/1335] AP_AHRS: don't use accel/gyro from ExternalAHRS
 unless enabled

---
 libraries/AP_AHRS/AP_AHRS_External.cpp | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_External.cpp b/libraries/AP_AHRS/AP_AHRS_External.cpp
index 8cdf8ecb52bb03..435bda69b471a9 100644
--- a/libraries/AP_AHRS/AP_AHRS_External.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_External.cpp
@@ -23,7 +23,9 @@ bool AP_AHRS_External::healthy() const {
 void AP_AHRS_External::get_results(AP_AHRS_Backend::Estimates &results)
 {
     Quaternion quat;
-    if (!AP::externalAHRS().get_quaternion(quat)) {
+    auto &extahrs = AP::externalAHRS();
+    const AP_InertialSensor &_ins = AP::ins();
+    if (!extahrs.get_quaternion(quat)) {
         return;
     }
     quat.rotation_matrix(results.dcm_matrix);
@@ -31,9 +33,15 @@ void AP_AHRS_External::get_results(AP_AHRS_Backend::Estimates &results)
     results.dcm_matrix.to_euler(&results.roll_rad, &results.pitch_rad, &results.yaw_rad);
 
     results.gyro_drift.zero();
-    results.gyro_estimate = AP::externalAHRS().get_gyro();
+    if (!extahrs.get_gyro(results.gyro_estimate)) {
+        results.gyro_estimate = _ins.get_gyro();
+    }
+
+    Vector3f accel;
+    if (!extahrs.get_accel(accel)) {
+        accel = _ins.get_accel();
+    }
 
-    const Vector3f accel = AP::externalAHRS().get_accel();
     const Vector3f accel_ef = results.dcm_matrix * AP::ahrs().get_rotation_autopilot_body_to_vehicle_body() * accel;
     results.accel_ef = accel_ef;
 

From 0aee2a436ce27267d86264a03cb2ebb220ffcb17 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 27 Feb 2024 09:38:55 +1100
Subject: [PATCH 1298/1335] AP_ExternalAHRS: check for origin in pre-arm check

---
 libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index 6b91943c65c9c0..cbcc394fb042ff 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -236,6 +236,10 @@ bool AP_ExternalAHRS::pre_arm_check(char *failure_msg, uint8_t failure_msg_len)
         return false;
     }
 
+    if (!state.have_origin) {
+        hal.util->snprintf(failure_msg, failure_msg_len, "ExternalAHRS: No origin");
+        return false;
+    }
     return backend->pre_arm_check(failure_msg, failure_msg_len);
 }
 

From 0fe9027b236452e1a5dc7d305694edd6fb3449e8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 17 Feb 2024 10:08:03 +1100
Subject: [PATCH 1299/1335] GCS_MAVLink: handle
 MAV_CMD_DO_SET_SAFETY_SWITCH_STATE

---
 libraries/GCS_MAVLink/GCS.h          |  2 ++
 libraries/GCS_MAVLink/GCS_Common.cpp | 22 ++++++++++++++++++++++
 2 files changed, 24 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 95cc4237fe2eed..736cadfa053a93 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -595,6 +595,8 @@ class GCS_MAVLINK
     void deadlock_sem(void);
 #endif
 
+    MAV_RESULT handle_do_set_safety_switch_state(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
+
     // reset a message interval via mavlink:
     MAV_RESULT handle_command_set_message_interval(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_get_message_interval(const mavlink_command_int_t &packet);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 4889e90b5d4d01..a907c003f3d6dd 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -5133,6 +5133,25 @@ MAV_RESULT GCS_MAVLINK::handle_command_storage_format(const mavlink_command_int_
 }
 #endif
 
+MAV_RESULT GCS_MAVLINK::handle_do_set_safety_switch_state(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
+{
+    switch ((SAFETY_SWITCH_STATE)packet.param1) {
+    case SAFETY_SWITCH_STATE_DANGEROUS:
+        // turn safety off (pwm outputs flow to the motors)
+        hal.rcout->force_safety_off();
+        return MAV_RESULT_ACCEPTED;
+    case SAFETY_SWITCH_STATE_SAFE:
+        // turn safety on (no pwm outputs to the motors)
+        if (hal.rcout->force_safety_on()) {
+            return MAV_RESULT_ACCEPTED;
+        }
+        return MAV_RESULT_FAILED;
+    default:
+        return MAV_RESULT_DENIED;
+    }
+}
+
+
 MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
 {
     switch (packet.command) {
@@ -5290,6 +5309,9 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
     case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
         return handle_preflight_reboot(packet, msg);
 
+    case MAV_CMD_DO_SET_SAFETY_SWITCH_STATE:
+        return handle_do_set_safety_switch_state(packet, msg);
+
 #if AP_MAVLINK_SERVO_RELAY_ENABLED
     case MAV_CMD_DO_SET_SERVO:
     case MAV_CMD_DO_REPEAT_SERVO:

From ae504ba564e2acfdf1b47582a0ae3a9bb90626be Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 17 Feb 2024 10:08:27 +1100
Subject: [PATCH 1300/1335] mavlink: reference new
 MAV_CMD_DO_SET_SAFETY_SWITCH_STATE command

---
 modules/mavlink | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/mavlink b/modules/mavlink
index 130a836efbfef0..76a2c501fcbacc 160000
--- a/modules/mavlink
+++ b/modules/mavlink
@@ -1 +1 @@
-Subproject commit 130a836efbfef0eb3287a92cd5e187de7facdce2
+Subproject commit 76a2c501fcbaccd833c8cb7eaa8389e26a9667a0

From 9aa6193568791d7c71b56bb76439fe4c7983e4bd Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Feb 2024 17:19:27 +1100
Subject: [PATCH 1301/1335] autotest: test new safety switch command

---
 Tools/autotest/arducopter.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index d89ffa43f5ea63..043323a1f6d455 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -10281,6 +10281,12 @@ def SafetySwitch(self):
         self.change_mode('LAND')
         self.wait_disarmed()
 
+        # test turning safty on/off using explicit MAVLink command:
+        self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_SAFETY_SWITCH_STATE, mavutil.mavlink.SAFETY_SWITCH_STATE_SAFE)
+        self.assert_prearm_failure("safety switch")
+        self.run_cmd_int(mavutil.mavlink.MAV_CMD_DO_SET_SAFETY_SWITCH_STATE, mavutil.mavlink.SAFETY_SWITCH_STATE_DANGEROUS)
+        self.wait_ready_to_arm()
+
     def GuidedYawRate(self):
         '''ensuer guided yaw rate is not affected by rate of sewt-attitude messages'''
         self.takeoff(30, mode='GUIDED')

From 079ffb4a400714689792e54babca6d45938bde1d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 27 Feb 2024 10:51:19 +1100
Subject: [PATCH 1302/1335] AP_Param: add comments around G2 parameter
 conversion

---
 libraries/AP_Param/AP_Param.cpp | 2 ++
 libraries/AP_Param/AP_Param.h   | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/libraries/AP_Param/AP_Param.cpp b/libraries/AP_Param/AP_Param.cpp
index 826c308a467fbf..0beaeb860a1a24 100644
--- a/libraries/AP_Param/AP_Param.cpp
+++ b/libraries/AP_Param/AP_Param.cpp
@@ -2072,6 +2072,8 @@ void AP_Param::convert_class(uint16_t param_key, void *object_pointer,
     flush();
 }
 
+// convert an object which was stored in a vehicle's G2 into a new
+// object in AP_Vehicle.cpp:
 void AP_Param::convert_g2_objects(const void *g2, const G2ObjectConversion g2_conversions[], uint8_t num_conversions)
 {
     // Find G2's Top Level Key
diff --git a/libraries/AP_Param/AP_Param.h b/libraries/AP_Param/AP_Param.h
index 2aeb19a8a28e63..1a9284a71e74ef 100644
--- a/libraries/AP_Param/AP_Param.h
+++ b/libraries/AP_Param/AP_Param.h
@@ -472,6 +472,8 @@ class AP_Param
     // convert old vehicle parameters to new object parameters with scaling - assumes we use the same scaling factor for all values in the table
     static void         convert_old_parameters_scaled(const ConversionInfo *conversion_table, uint8_t table_size, float scaler, uint8_t flags);
 
+    // convert an object which was stored in a vehicle's G2 into a new
+    // object in AP_Vehicle.cpp:
     struct G2ObjectConversion {
         void *object_pointer;
         const struct AP_Param::GroupInfo *var_info;

From dac1b2e99cce7d7bc370c394db18f57e94fd926c Mon Sep 17 00:00:00 2001
From: jfbblue0922 <jfbblue0922@gmail.com>
Date: Thu, 22 Feb 2024 19:03:27 +0900
Subject: [PATCH 1303/1335] AP_HAL_ChibiOS/hwdef: update JFB110 board
 definition

---
 libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat
index 6b8189410a3017..714b561d303cde 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB110/hwdef.dat
@@ -120,11 +120,8 @@ define HAL_HAVE_BOARD_VOLTAGE 1
 PB3 VBUS_RESERVED INPUT
 
 # JFB110 has SERVORAIL ADC
-# Set SENSOR_3.3V power signal insted.
 PC1  SCALED_V3V3 ADC1 SCALE(2)       # ADC1_11
-PA3  FMU_SERVORAIL_VCC ADC1 SCALE(2) # ADC1_15
-define FMU_SERVORAIL_ADC_PIN 15
-define HAL_HAVE_SERVO_VOLTAGE 1
+PA3  FMU_SERVORAIL_VCC_SENS ADC1 SCALE(2) # ADC1_15
 
 PC0  RSSI_IN ADC1 SCALE(1)       # ADC1_10
 define RSSI_ANA_PIN 10

From 749c7428ddf2b29900791101fcca13b52a53e3a2 Mon Sep 17 00:00:00 2001
From: Gone4Dirt <matthewnkear@gmail.com>
Date: Thu, 22 Feb 2024 17:57:27 +0000
Subject: [PATCH 1304/1335] SITL: FlightAxis: Fix helidemix

---
 libraries/SITL/SIM_FlightAxis.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/SITL/SIM_FlightAxis.cpp b/libraries/SITL/SIM_FlightAxis.cpp
index 36d63e0d67cdc3..d60793c006dc6a 100644
--- a/libraries/SITL/SIM_FlightAxis.cpp
+++ b/libraries/SITL/SIM_FlightAxis.cpp
@@ -316,10 +316,12 @@ void FlightAxis::exchange_data(const struct sitl_input &input)
         float swash3 = scaled_servos[2];
 
         float roll_rate = swash1 - swash2;
-        float pitch_rate = -((swash1+swash2) / 2.0f - swash3);
+        float pitch_rate = ((swash1+swash2) / 2.0f - swash3);
+        float col = (swash1 + swash2 + swash3) / 3.0;
 
         scaled_servos[0] = constrain_float(roll_rate + 0.5, 0, 1);
         scaled_servos[1] = constrain_float(pitch_rate + 0.5, 0, 1);
+        scaled_servos[2] = constrain_float(col, 0, 1);
     }
 
     const uint16_t channels = hal.scheduler->is_system_initialized()?4095:0;

From a517d5fed18900a6de35dc82eec1568ae0a79eed Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 26 Feb 2024 14:17:54 +1100
Subject: [PATCH 1305/1335] AP_NavEKF3: correct initialisation of BeaconFusion
 data structure

the fusionReport object is not being cleared when the filter undergoes a forced reset.

So delete and recreate the object.  Will also make this sensitive to the number of beacons changing.

Also don't attempt to allocate zero bytes.
---
 libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
index 714fc41711e910..bc495582acf3ee 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
@@ -37,10 +37,11 @@ void NavEKF3_core::BeaconFusion::InitialiseVariables()
     posOffsetMinVar = 0.0f;
     minOffsetStateChangeFilt = 0.0f;
     fuseDataReportIndex = 0;
-    if (AP::dal().beacon()) {
-        if (fusionReport == nullptr) {
-            fusionReport = new BeaconFusion::FusionReport[AP::dal().beacon()->count()];
-        }
+    delete[] fusionReport;
+    fusionReport = nullptr;
+    auto *beacon = AP::dal().beacon();
+    if (beacon != nullptr) {
+        fusionReport = new BeaconFusion::FusionReport[beacon->count()];
     }
     posOffsetNED.zero();
     originEstInit = false;

From 21edc6aee158454651fdad15d47d467f2e35faae Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 26 Feb 2024 15:09:46 +1100
Subject: [PATCH 1306/1335] AP_NavEKF3: do not trust number of beacons to not
 change

if the count from the beacon library changes we may end up looking at memory we shouldn't
---
 libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp      |  3 ++-
 libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp | 11 ++++++++---
 libraries/AP_NavEKF3/AP_NavEKF3_core.h           |  1 +
 3 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
index 1f60ae65f932c6..93e3db98d5b905 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
@@ -238,7 +238,8 @@ void NavEKF3_core::Log_Write_Beacon(uint64_t time_us)
     }
 
     // Ensure that beacons are not skipped due to calling this function at a rate lower than the updates
-    if (rngBcn.fuseDataReportIndex >= rngBcn.N) {
+    if (rngBcn.fuseDataReportIndex >= rngBcn.N ||
+        rngBcn.fuseDataReportIndex > rngBcn.numFusionReports) {
         rngBcn.fuseDataReportIndex = 0;
     }
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
index bc495582acf3ee..6fc98f08148297 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
@@ -39,9 +39,14 @@ void NavEKF3_core::BeaconFusion::InitialiseVariables()
     fuseDataReportIndex = 0;
     delete[] fusionReport;
     fusionReport = nullptr;
+    numFusionReports = 0;
     auto *beacon = AP::dal().beacon();
     if (beacon != nullptr) {
-        fusionReport = new BeaconFusion::FusionReport[beacon->count()];
+        const uint8_t count = beacon->count();
+        fusionReport = new BeaconFusion::FusionReport[count];
+        if (fusionReport != nullptr) {
+            numFusionReports = count;
+        }
     }
     posOffsetNED.zero();
     originEstInit = false;
@@ -311,7 +316,7 @@ void NavEKF3_core::FuseRngBcn()
         }
 
         // Update the fusion report
-        if (rngBcn.fusionReport && rngBcn.dataDelayed.beacon_ID < dal.beacon()->count()) {
+        if (rngBcn.dataDelayed.beacon_ID < rngBcn.numFusionReports) {
             auto &report = rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID];
             report.beaconPosNED = rngBcn.dataDelayed.beacon_posNED;
             report.innov = rngBcn.innov;
@@ -550,7 +555,7 @@ void NavEKF3_core::FuseRngBcnStatic()
             rngBcn.alignmentCompleted = true;
         }
         // Update the fusion report
-        if (rngBcn.fusionReport && rngBcn.dataDelayed.beacon_ID < dal.beacon()->count()) {
+        if (rngBcn.dataDelayed.beacon_ID < rngBcn.numFusionReports) {
             auto &report = rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID];
             report.beaconPosNED = rngBcn.dataDelayed.beacon_posNED;
             report.innov = rngBcn.innov;
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index d9304f12383cf3..a59de0a82dcc00 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -1372,6 +1372,7 @@ class NavEKF3_core : public NavEKF_core_common
             ftype testRatio;    // innovation consistency test ratio
             Vector3F beaconPosNED; // beacon NED position
         } *fusionReport;
+        uint8_t numFusionReports;
     } rngBcn;
 #endif  // if EK3_FEATURE_BEACON_FUSION
 

From 2cb5f434fdc787013673968282d303b5a0e2b089 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 27 Feb 2024 14:56:34 +1100
Subject: [PATCH 1307/1335] AP_Filesystem: don't show directory entries for
 empty @ filesystems

---
 libraries/AP_Filesystem/AP_Filesystem.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_Filesystem/AP_Filesystem.cpp b/libraries/AP_Filesystem/AP_Filesystem.cpp
index 45c58654bf786c..b7642da19cfcf4 100644
--- a/libraries/AP_Filesystem/AP_Filesystem.cpp
+++ b/libraries/AP_Filesystem/AP_Filesystem.cpp
@@ -242,6 +242,14 @@ struct dirent *AP_Filesystem::readdir(DirHandle *dirp)
         if (prefix[0] != '@') {
             continue;
         }
+
+        // only return @ entries in root if we can successfully opendir them:
+        auto *d = backends[virtual_dirent.backend_ofs].fs.opendir("");
+        if (d == nullptr) {
+            continue;
+        }
+        backends[virtual_dirent.backend_ofs].fs.closedir(d);
+
         // found a virtual directory we haven't returned yet
         strncpy_noterm(virtual_dirent.de.d_name, prefix, sizeof(virtual_dirent.de.d_name));
         virtual_dirent.d_off++;

From b359ec89a5cc296311b512972ce9db4139a1a11b Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 26 Feb 2024 14:30:07 +0000
Subject: [PATCH 1308/1335] AP_HAL_ChibiOS: use standard FPV config for
 SpeedyBeeF405WING

---
 .../hwdef/SpeedyBeeF405WING/hwdef.dat         | 59 +++++--------------
 1 file changed, 14 insertions(+), 45 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat
index f6842833c8d386..73a85c5dd3456c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SpeedyBeeF405WING/hwdef.dat
@@ -169,50 +169,19 @@ PC13 PINIO1 OUTPUT GPIO(81) LOW
 
 define STM32_PWM_USE_ADVANCED TRUE
 
-define HAL_WITH_DSP FALSE
-
-# disable parachute and sprayer to save flash
-define HAL_PARACHUTE_ENABLED 0
-define HAL_SPRAYER_ENABLED 0
-define AP_GRIPPER_ENABLED 0
-define HAL_GENERATOR_ENABLED 0
-define AP_ICENGINE_ENABLED 0
-#define LANDING_GEAR_ENABLED 0
-define WINCH_ENABLED 0
-define HAL_ADSB_ENABLED  0
-
-define AC_OAPATHPLANNER_ENABLED 0
-define PRECISION_LANDING 0
-#define HAL_BARO_WIND_COMP_ENABLED 0
-define AP_OPTICALFLOW_ENABLED 0
-
-
-# Disable un-needed hardware drivers
-define HAL_WITH_ESC_TELEM 0
-define AP_FETTEC_ONEWIRE_ENABLED 0
-
-define AP_VOLZ_ENABLED 0
-define AP_ROBOTISSERVO_ENABLE 0
-define HAL_PICCOLO_CAN_ENABLE 0
-define HAL_TORQEEDO_ENABLED 0
-define HAL_RUNCAM_ENABLED 0
-define HAL_HOTT_TELEM_ENABLED 0
-define HAL_NMEA_OUTPUT_ENABLED 0
-define HAL_BUTTON_ENABLED 0
-define AP_NOTIFY_OREOLED_ENABLED 0
-
-#only support MS4525 ANALOG ASP5033 driver
-define AP_AIRSPEED_BACKEND_DEFAULT_ENABLED 0
-define AP_AIRSPEED_MS4525_ENABLED 1
-define AP_AIRSPEED_ANALOG_ENABLED 1
-define AP_AIRSPEED_ASP5033_ENABLED 1
-
-#only support UBLOX and NMEA GPS driver
-define AP_GPS_BACKEND_DEFAULT_ENABLED 0 
-define AP_GPS_UBLOX_ENABLED 1
-define AP_GPS_NMEA_ENABLED 1
-define HAL_MSP_GPS_ENABLED 1
-
-define AP_TRAMP_ENABLED 1
+# minimal drivers to reduce flash usage
+include ../include/minimize_fpv_osd.inc
+
+undef AP_CAMERA_MOUNT_ENABLED
+undef AP_LANDINGGEAR_ENABLED
+undef HAL_MOUNT_ENABLED
+undef HAL_MOUNT_SERVO_ENABLED
+undef QAUTOTUNE_ENABLED
+
+define AP_CAMERA_MOUNT_ENABLED 1
+define AP_LANDINGGEAR_ENABLED 1
+define HAL_MOUNT_ENABLED 1
+define HAL_MOUNT_SERVO_ENABLED 1
+define QAUTOTUNE_ENABLED 1
 
 define DEFAULT_NTF_LED_TYPES 257

From de657689ce6678357e5d3838e1c46ceb8c6bf12e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 21 Feb 2024 08:53:30 +0900
Subject: [PATCH 1309/1335] SITL: vicon param descriptions

---
 libraries/SITL/SITL.cpp | 83 +++++++++++++++++++++++++++++++++++++----
 1 file changed, 76 insertions(+), 7 deletions(-)

diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
index 46ff0cba1294f4..f9c0b4b7afc3b9 100644
--- a/libraries/SITL/SITL.cpp
+++ b/libraries/SITL/SITL.cpp
@@ -332,28 +332,97 @@ const AP_Param::GroupInfo SIM::var_info3[] = {
     // Scenario for thermalling simulation, for soaring
     AP_GROUPINFO("THML_SCENARI",  12, SIM,  thermal_scenario, 0),
 
-    // vicon sensor position (position offsets in body frame)
+    // @Param: VICON_POS_X
+    // @DisplayName: SITL vicon position on vehicle in Forward direction
+    // @Description: SITL vicon position on vehicle in Forward direction
+    // @Units: m
+    // @Range: 0 10
+    // @User: Advanced
+
+    // @Param: VICON_POS_Y
+    // @DisplayName: SITL vicon position on vehicle in Right direction
+    // @Description: SITL vicon position on vehicle in Right direction
+    // @Units: m
+    // @Range: 0 10
+    // @User: Advanced
+
+    // @Param: VICON_POS_Z
+    // @DisplayName: SITL vicon position on vehicle in Down direction
+    // @Description: SITL vicon position on vehicle in Down direction
+    // @Units: m
+    // @Range: 0 10
+    // @User: Advanced    
     AP_GROUPINFO("VICON_POS",     14, SIM,  vicon_pos_offset, 0),
 
     // Buyoancy for submarines
     AP_GROUPINFO_FRAME("BUOYANCY", 15, SIM, buoyancy, 1, AP_PARAM_FRAME_SUB),
 
-    // vicon glitch in NED frame
+    // @Param: VICON_GLIT_X
+    // @DisplayName: SITL vicon position glitch North
+    // @Description: SITL vicon position glitch North
+    // @Units: m
+    // @User: Advanced
+
+    // @Param: VICON_GLIT_Y
+    // @DisplayName: SITL vicon position glitch East
+    // @Description: SITL vicon position glitch East
+    // @Units: m
+    // @User: Advanced
+
+    // @Param: VICON_GLIT_Z
+    // @DisplayName: SITL vicon position glitch Down
+    // @Description: SITL vicon position glitch Down
+    // @Units: m
+    // @User: Advanced
     AP_GROUPINFO("VICON_GLIT",    16, SIM,  vicon_glitch, 0),
 
-    // vicon failure
+    // @Param: VICON_FAIL
+    // @DisplayName: SITL vicon failure
+    // @Description: SITL vicon failure
+    // @Values: 0:Vicon Healthy, 1:Vicon Failed
+    // @User: Advanced
     AP_GROUPINFO("VICON_FAIL",    17, SIM,  vicon_fail, 0),
 
-    // vicon yaw (in earth frame)
+    // @Param: VICON_YAW
+    // @DisplayName: SITL vicon yaw angle in earth frame
+    // @Description: SITL vicon yaw angle in earth frame
+    // @Units: deg
+    // @Range: 0 360
+    // @User: Advanced
     AP_GROUPINFO("VICON_YAW",     18, SIM,  vicon_yaw, 0),
 
-    // vicon yaw error in degrees (added to reported yaw sent to vehicle)
+    // @Param: VICON_YAWERR
+    // @DisplayName: SITL vicon yaw error
+    // @Description: SITL vicon yaw added to reported yaw sent to vehicle
+    // @Units: deg
+    // @Range: -180 180
+    // @User: Advanced
     AP_GROUPINFO("VICON_YAWERR",  19, SIM,  vicon_yaw_error, 0),
 
-    // vicon message type mask
+    // @Param: VICON_TMASK
+    // @DisplayName: SITL vicon type mask
+    // @Description: SITL vicon messages sent
+    // @Bitmask: 0:VISION_POSITION_ESTIMATE, 1:VISION_SPEED_ESTIMATE, 2:VICON_POSITION_ESTIMATE, 3:VISION_POSITION_DELTA, 4:ODOMETRY
+    // @User: Advanced
     AP_GROUPINFO("VICON_TMASK",   20, SIM,  vicon_type_mask, 3),
 
-    // vicon velocity glitch in NED frame
+    // @Param: VICON_VGLI_X
+    // @DisplayName: SITL vicon velocity glitch North
+    // @Description: SITL vicon velocity glitch North
+    // @Units: m/s
+    // @User: Advanced
+
+    // @Param: VICON_VGLI_Y
+    // @DisplayName: SITL vicon velocity glitch East
+    // @Description: SITL vicon velocity glitch East
+    // @Units: m/s
+    // @User: Advanced
+
+    // @Param: VICON_VGLI_Z
+    // @DisplayName: SITL vicon velocity glitch Down
+    // @Description: SITL vicon velocity glitch Down
+    // @Units: m/s
+    // @User: Advanced
     AP_GROUPINFO("VICON_VGLI",    21, SIM,  vicon_vel_glitch, 0),
 
     AP_GROUPINFO("RATE_HZ",  22, SIM,  loop_rate_hz, SIM_RATE_HZ_DEFAULT),

From e1e7882b7b3eea90111bcedeed0d82089deb4405 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 21 Feb 2024 14:13:58 +0900
Subject: [PATCH 1310/1335] Tools: remove vicon params from whitelist

---
 Tools/autotest/vehicle_test_suite.py | 13 -------------
 1 file changed, 13 deletions(-)

diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index e886a7f1682ee1..4d51a6a9b9c65a 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -2438,19 +2438,6 @@ def get_sim_parameter_documentation_get_whitelist(self):
             "SIM_VIB_MOT_MASK",
             "SIM_VIB_MOT_MAX",
             "SIM_VIB_MOT_MULT",
-            "SIM_VICON_FAIL",
-            "SIM_VICON_GLIT_X",
-            "SIM_VICON_GLIT_Y",
-            "SIM_VICON_GLIT_Z",
-            "SIM_VICON_POS_X",
-            "SIM_VICON_POS_Y",
-            "SIM_VICON_POS_Z",
-            "SIM_VICON_TMASK",
-            "SIM_VICON_VGLI_X",
-            "SIM_VICON_VGLI_Y",
-            "SIM_VICON_VGLI_Z",
-            "SIM_VICON_YAW",
-            "SIM_VICON_YAWERR",
             "SIM_WAVE_AMP",
             "SIM_WAVE_DIR",
             "SIM_WAVE_ENABLE",

From 81b0d599a8d40edb7c7023baee0b2bc6305e08fa Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 21 Feb 2024 08:55:51 +0900
Subject: [PATCH 1311/1335] SITL: vicon send odometry with quality of 50

---
 libraries/SITL/SIM_Vicon.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/SITL/SIM_Vicon.cpp b/libraries/SITL/SIM_Vicon.cpp
index b54374baf8752b..c2c4d29da3f43b 100644
--- a/libraries/SITL/SIM_Vicon.cpp
+++ b/libraries/SITL/SIM_Vicon.cpp
@@ -233,7 +233,8 @@ void Vicon::update_vicon_position_estimate(const Location &loc,
             MAV_FRAME_LOCAL_FRD,
             MAV_FRAME_BODY_FRD,
             0,
-            MAV_ESTIMATOR_TYPE_VIO
+            MAV_ESTIMATOR_TYPE_VIO,
+            50 // quality hardcoded to 50%
         };
         mavlink_msg_odometry_encode_status(
             system_id,

From d1360c14f8e2b0ccfc545c57f5b771dfbb7f6ec7 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 20 Feb 2024 16:08:30 +0900
Subject: [PATCH 1312/1335] AP_VisualOdom: use Odometry quality

---
 libraries/AP_VisualOdom/AP_VisualOdom.cpp     | 35 +++++++++++++++----
 libraries/AP_VisualOdom/AP_VisualOdom.h       | 16 +++++++--
 .../AP_VisualOdom/AP_VisualOdom_Backend.h     | 17 ++++++---
 .../AP_VisualOdom/AP_VisualOdom_IntelT265.cpp | 20 +++++++----
 .../AP_VisualOdom/AP_VisualOdom_IntelT265.h   |  6 ++--
 .../AP_VisualOdom/AP_VisualOdom_Logging.cpp   | 10 +++---
 libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp | 32 ++++++++++++-----
 libraries/AP_VisualOdom/AP_VisualOdom_MAV.h   |  6 ++--
 libraries/AP_VisualOdom/LogStructure.h        | 14 +++++---
 9 files changed, 116 insertions(+), 40 deletions(-)

diff --git a/libraries/AP_VisualOdom/AP_VisualOdom.cpp b/libraries/AP_VisualOdom/AP_VisualOdom.cpp
index d8cbcb05c48d78..35c97d4875ce9c 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom.cpp
@@ -106,6 +106,14 @@ const AP_Param::GroupInfo AP_VisualOdom::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("_YAW_M_NSE", 7, AP_VisualOdom, _yaw_noise, 0.2f),
 
+    // @Param: _QUAL_MIN
+    // @DisplayName: Visual odometry minimum quality
+    // @Description: Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown
+    // @Units: %
+    // @Range: -1 100
+    // @User: Advanced
+    AP_GROUPINFO("_QUAL_MIN", 8, AP_VisualOdom, _quality_min, 0),
+
     AP_GROUPEND
 };
 
@@ -161,6 +169,16 @@ bool AP_VisualOdom::healthy() const
     return _driver->healthy();
 }
 
+// return quality as a measure from 0 ~ 100
+// -1 means failed, 0 means unknown, 1 is worst, 100 is best
+int8_t AP_VisualOdom::quality() const
+{
+    if (_driver == nullptr) {
+        return 0;
+    }
+    return _driver->quality();
+}
+
 #if HAL_GCS_ENABLED
 // consume vision_position_delta mavlink messages
 void AP_VisualOdom::handle_vision_position_delta_msg(const mavlink_message_t &msg)
@@ -179,7 +197,8 @@ void AP_VisualOdom::handle_vision_position_delta_msg(const mavlink_message_t &ms
 
 // general purpose method to consume position estimate data and send to EKF
 // distances in meters, roll, pitch and yaw are in radians
-void AP_VisualOdom::handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float posErr, float angErr, uint8_t reset_counter)
+// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+void AP_VisualOdom::handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float posErr, float angErr, uint8_t reset_counter, int8_t quality)
 {
     // exit immediately if not enabled
     if (!enabled()) {
@@ -191,12 +210,13 @@ void AP_VisualOdom::handle_pose_estimate(uint64_t remote_time_us, uint32_t time_
         // convert attitude to quaternion and call backend
         Quaternion attitude;
         attitude.from_euler(roll, pitch, yaw);
-        _driver->handle_pose_estimate(remote_time_us, time_ms, x, y, z, attitude, posErr, angErr, reset_counter);
+        _driver->handle_pose_estimate(remote_time_us, time_ms, x, y, z, attitude, posErr, angErr, reset_counter, quality);
     }
 }
 
 // general purpose method to consume position estimate data and send to EKF
-void AP_VisualOdom::handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter)
+// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+void AP_VisualOdom::handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter, int8_t quality)
 {
     // exit immediately if not enabled
     if (!enabled()) {
@@ -205,11 +225,14 @@ void AP_VisualOdom::handle_pose_estimate(uint64_t remote_time_us, uint32_t time_
 
     // call backend
     if (_driver != nullptr) {
-        _driver->handle_pose_estimate(remote_time_us, time_ms, x, y, z, attitude, posErr, angErr, reset_counter);
+        _driver->handle_pose_estimate(remote_time_us, time_ms, x, y, z, attitude, posErr, angErr, reset_counter, quality);
     }
 }
 
-void AP_VisualOdom::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter)
+// general purpose methods to consume velocity estimate data and send to EKF
+// velocity in NED meters per second
+// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+void AP_VisualOdom::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality)
 {
     // exit immediately if not enabled
     if (!enabled()) {
@@ -218,7 +241,7 @@ void AP_VisualOdom::handle_vision_speed_estimate(uint64_t remote_time_us, uint32
 
     // call backend
     if (_driver != nullptr) {
-        _driver->handle_vision_speed_estimate(remote_time_us, time_ms, vel, reset_counter);
+        _driver->handle_vision_speed_estimate(remote_time_us, time_ms, vel, reset_counter, quality);
     }
 }
 
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom.h b/libraries/AP_VisualOdom/AP_VisualOdom.h
index 47606abb97f815..3f7323bf7d2f8e 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom.h
@@ -83,6 +83,13 @@ class AP_VisualOdom
     // return yaw measurement noise in rad
     float get_yaw_noise() const { return _yaw_noise; }
 
+    // return quality threshold
+    int8_t get_quality_min() const { return _quality_min; }
+
+    // return quality as a measure from -1 ~ 100
+    // -1 means failed, 0 means unknown, 1 is worst, 100 is best
+    int8_t quality() const;
+
 #if HAL_GCS_ENABLED
     // consume vision_position_delta mavlink messages
     void handle_vision_position_delta_msg(const mavlink_message_t &msg);
@@ -90,12 +97,14 @@ class AP_VisualOdom
 
     // general purpose methods to consume position estimate data and send to EKF
     // distances in meters, roll, pitch and yaw are in radians
-    void handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float posErr, float angErr, uint8_t reset_counter);
-    void handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter);
+    // quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+    void handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float posErr, float angErr, uint8_t reset_counter, int8_t quality);
+    void handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter, int8_t quality);
     
     // general purpose methods to consume velocity estimate data and send to EKF
     // velocity in NED meters per second
-    void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter);
+    // quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+    void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality);
 
     // request sensor's yaw be aligned with vehicle's AHRS/EKF attitude
     void request_align_yaw_to_ahrs();
@@ -126,6 +135,7 @@ class AP_VisualOdom
     AP_Float _vel_noise;        // velocity measurement noise in m/s
     AP_Float _pos_noise;        // position measurement noise in meters
     AP_Float _yaw_noise;        // yaw measurement noise in radians
+    AP_Int8 _quality_min;       // positions and velocities will only be sent to EKF if over this value.  if 0 all values sent to EKF
 
     // reference to backends
     AP_VisualOdom_Backend *_driver;
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
index 9f5225aa9e9a4d..c669b8babb329e 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
@@ -29,16 +29,22 @@ class AP_VisualOdom_Backend
     // return true if sensor is basically healthy (we are receiving data)
     bool healthy() const;
 
+    // return quality as a measure from -1 ~ 100
+    // -1 means failed, 0 means unknown, 1 is worst, 100 is best
+    int8_t quality() const { return _quality; }
+
 #if HAL_GCS_ENABLED
     // consume vision_position_delta mavlink messages
     void handle_vision_position_delta_msg(const mavlink_message_t &msg);
 #endif
 
     // consume vision pose estimate data and send to EKF. distances in meters
-    virtual void handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter) = 0;
+    // quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+    virtual void handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter, int8_t quality) = 0;
 
     // consume vision velocity estimate data and send to EKF, velocity in NED meters per second
-    virtual void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter) = 0;
+    // quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+    virtual void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality) = 0;
 
     // request sensor's yaw be aligned with vehicle's AHRS/EKF attitude
     virtual void request_align_yaw_to_ahrs() {}
@@ -62,8 +68,8 @@ class AP_VisualOdom_Backend
 #if HAL_LOGGING_ENABLED
     // Logging Functions
     void Write_VisualOdom(float time_delta, const Vector3f &angle_delta, const Vector3f &position_delta, float confidence);
-    void Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter, bool ignored);
-    void Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, bool ignored);
+    void Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter, bool ignored, int8_t quality);
+    void Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, bool ignored, int8_t quality);
 #endif
 
     AP_VisualOdom &_frontend;   // reference to frontend
@@ -72,6 +78,9 @@ class AP_VisualOdom_Backend
     // reset counter handling
     uint8_t _last_reset_counter;    // last sensor reset counter received
     uint32_t _reset_timestamp_ms;   // time reset counter was received
+
+    // quality
+    int8_t _quality;                // last recorded quality
 };
 
 #endif  // HAL_VISUALODOM_ENABLED
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
index cc063d85901049..c26bd38b715f10 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
@@ -28,7 +28,8 @@
 extern const AP_HAL::HAL& hal;
 
 // consume vision pose estimate data and send to EKF. distances in meters
-void AP_VisualOdom_IntelT265::handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter)
+// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+void AP_VisualOdom_IntelT265::handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter, int8_t quality)
 {
     const float scale_factor = _frontend.get_pos_scale();
     Vector3f pos{x * scale_factor, y * scale_factor, z * scale_factor};
@@ -59,8 +60,11 @@ void AP_VisualOdom_IntelT265::handle_pose_estimate(uint64_t remote_time_us, uint
     posErr = constrain_float(posErr, _frontend.get_pos_noise(), 100.0f);
     angErr = constrain_float(angErr, _frontend.get_yaw_noise(), 1.5f);
 
+    // record quality
+    _quality = quality;
+
     // check for recent position reset
-    bool consume = should_consume_sensor_data(true, reset_counter);
+    bool consume = should_consume_sensor_data(true, reset_counter) && (_quality >= _frontend.get_quality_min());
     if (consume) {
         // send attitude and position to EKF
         AP::ahrs().writeExtNavData(pos, att, posErr, angErr, time_ms, _frontend.get_delay_ms(), get_reset_timestamp_ms(reset_counter));
@@ -74,7 +78,7 @@ void AP_VisualOdom_IntelT265::handle_pose_estimate(uint64_t remote_time_us, uint
 
 #if HAL_LOGGING_ENABLED
     // log sensor data
-    Write_VisualPosition(remote_time_us, time_ms, pos.x, pos.y, pos.z, degrees(roll), degrees(pitch), wrap_360(degrees(yaw)), posErr, angErr, reset_counter, !consume);
+    Write_VisualPosition(remote_time_us, time_ms, pos.x, pos.y, pos.z, degrees(roll), degrees(pitch), wrap_360(degrees(yaw)), posErr, angErr, reset_counter, !consume, _quality);
 #endif
 
     // store corrected attitude for use in pre-arm checks
@@ -85,14 +89,18 @@ void AP_VisualOdom_IntelT265::handle_pose_estimate(uint64_t remote_time_us, uint
 }
 
 // consume vision velocity estimate data and send to EKF, velocity in NED meters per second
-void AP_VisualOdom_IntelT265::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter)
+// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+void AP_VisualOdom_IntelT265::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality)
 {
     // rotate velocity to align with vehicle
     Vector3f vel_corrected = vel;
     rotate_velocity(vel_corrected);
 
+    // record quality
+    _quality = quality;
+
     // check for recent position reset
-    bool consume = should_consume_sensor_data(false, reset_counter);
+    bool consume = should_consume_sensor_data(false, reset_counter) && (_quality >= _frontend.get_quality_min());
     if (consume) {
         // send velocity to EKF
         AP::ahrs().writeExtNavVelData(vel_corrected, _frontend.get_vel_noise(), time_ms, _frontend.get_delay_ms());
@@ -102,7 +110,7 @@ void AP_VisualOdom_IntelT265::handle_vision_speed_estimate(uint64_t remote_time_
     _last_update_ms = AP_HAL::millis();
 
 #if HAL_LOGGING_ENABLED
-    Write_VisualVelocity(remote_time_us, time_ms, vel_corrected, reset_counter, !consume);
+    Write_VisualVelocity(remote_time_us, time_ms, vel_corrected, reset_counter, !consume, _quality);
 #endif
 }
 
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.h b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.h
index 8a78bd1b7ae37c..6103ec05dfa1b6 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.h
@@ -14,10 +14,12 @@ class AP_VisualOdom_IntelT265 : public AP_VisualOdom_Backend
     using AP_VisualOdom_Backend::AP_VisualOdom_Backend;
 
     // consume vision pose estimate data and send to EKF. distances in meters
-    void handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter) override;
+    // quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+    void handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter, int8_t quality) override;
 
     // consume vision velocity estimate data and send to EKF, velocity in NED meters per second
-    void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter) override;
+    // quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+    void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality) override;
 
     // request sensor's yaw be aligned with vehicle's AHRS/EKF attitude
     void request_align_yaw_to_ahrs() override { _align_yaw = true; }
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Logging.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_Logging.cpp
index 4a92a983606f8c..80b9e1d70f1824 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Logging.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Logging.cpp
@@ -24,7 +24,7 @@ void AP_VisualOdom_Backend::Write_VisualOdom(float time_delta, const Vector3f &a
 }
 
 // Write visual position sensor data.  x,y,z are in meters, angles are in degrees
-void AP_VisualOdom_Backend::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter, bool ignored)
+void AP_VisualOdom_Backend::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter, bool ignored, int8_t quality)
 {
     const struct log_VisualPosition pkt_visualpos {
         LOG_PACKET_HEADER_INIT(LOG_VISUALPOS_MSG),
@@ -40,13 +40,14 @@ void AP_VisualOdom_Backend::Write_VisualPosition(uint64_t remote_time_us, uint32
         pos_err         : pos_err,
         ang_err         : ang_err,
         reset_counter   : reset_counter,
-        ignored         : (uint8_t)ignored
+        ignored         : (uint8_t)ignored,
+        quality         : quality
     };
     AP::logger().WriteBlock(&pkt_visualpos, sizeof(log_VisualPosition));
 }
 
 // Write visual velocity sensor data, velocity in NED meters per second
-void AP_VisualOdom_Backend::Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, bool ignored)
+void AP_VisualOdom_Backend::Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, bool ignored, int8_t quality)
 {
     const struct log_VisualVelocity pkt_visualvel {
         LOG_PACKET_HEADER_INIT(LOG_VISUALVEL_MSG),
@@ -58,7 +59,8 @@ void AP_VisualOdom_Backend::Write_VisualVelocity(uint64_t remote_time_us, uint32
         vel_z           : vel.z,
         vel_err         : _frontend.get_vel_noise(),
         reset_counter   : reset_counter,
-        ignored         : (uint8_t)ignored
+        ignored         : (uint8_t)ignored,
+        quality         : quality
     };
     AP::logger().WriteBlock(&pkt_visualvel, sizeof(log_VisualVelocity));
 }
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
index 5e4af959fabcda..48b6ec04e0a579 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
@@ -24,15 +24,23 @@
 #include <AP_Logger/AP_Logger.h>
 
 // consume vision pose estimate data and send to EKF. distances in meters
-void AP_VisualOdom_MAV::handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter)
+// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+void AP_VisualOdom_MAV::handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter, int8_t quality)
 {
     const float scale_factor =  _frontend.get_pos_scale();
     Vector3f pos{x * scale_factor, y * scale_factor, z * scale_factor};
 
     posErr = constrain_float(posErr, _frontend.get_pos_noise(), 100.0f);
     angErr = constrain_float(angErr, _frontend.get_yaw_noise(), 1.5f);
-    // send attitude and position to EKF
-    AP::ahrs().writeExtNavData(pos, attitude, posErr, angErr, time_ms, _frontend.get_delay_ms(), get_reset_timestamp_ms(reset_counter));
+
+    // record quality
+    _quality = quality;
+
+    // send attitude and position to EKF if quality OK
+    bool consume = (_quality >= _frontend.get_quality_min());
+    if (consume) {
+        AP::ahrs().writeExtNavData(pos, attitude, posErr, angErr, time_ms, _frontend.get_delay_ms(), get_reset_timestamp_ms(reset_counter));
+    }
 
     // calculate euler orientation for logging
     float roll;
@@ -42,23 +50,31 @@ void AP_VisualOdom_MAV::handle_pose_estimate(uint64_t remote_time_us, uint32_t t
 
 #if HAL_LOGGING_ENABLED
     // log sensor data
-    Write_VisualPosition(remote_time_us, time_ms, pos.x, pos.y, pos.z, degrees(roll), degrees(pitch), degrees(yaw), posErr, angErr, reset_counter, false);
+    Write_VisualPosition(remote_time_us, time_ms, pos.x, pos.y, pos.z, degrees(roll), degrees(pitch), degrees(yaw), posErr, angErr, reset_counter, !consume, _quality);
 #endif
 
     // record time for health monitoring
     _last_update_ms = AP_HAL::millis();
 }
 
-void AP_VisualOdom_MAV::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter)
+// consume vision velocity estimate data and send to EKF, velocity in NED meters per second
+// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+void AP_VisualOdom_MAV::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality)
 {
-    // send velocity to EKF
-    AP::ahrs().writeExtNavVelData(vel, _frontend.get_vel_noise(), time_ms, _frontend.get_delay_ms());
+    // record quality
+    _quality = quality;
+
+    // send velocity to EKF if quality OK
+    bool consume = (_quality >= _frontend.get_quality_min());
+    if (consume) {
+        AP::ahrs().writeExtNavVelData(vel, _frontend.get_vel_noise(), time_ms, _frontend.get_delay_ms());
+    }
 
     // record time for health monitoring
     _last_update_ms = AP_HAL::millis();
 
 #if HAL_LOGGING_ENABLED
-    Write_VisualVelocity(remote_time_us, time_ms, vel, reset_counter, false);
+    Write_VisualVelocity(remote_time_us, time_ms, vel, reset_counter, !consume, _quality);
 #endif
 }
 
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.h b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.h
index 18d5fed7096fd0..c1d1c131dc4ff4 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.h
@@ -14,10 +14,12 @@ class AP_VisualOdom_MAV : public AP_VisualOdom_Backend
     using AP_VisualOdom_Backend::AP_VisualOdom_Backend;
 
     // consume vision pose estimate data and send to EKF. distances in meters
-    void handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter) override;
+    // quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+    void handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter, int8_t quality) override;
 
     // consume vision velocity estimate data and send to EKF, velocity in NED meters per second
-    void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter) override;
+    // quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
+    void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality) override;
 };
 
 #endif  // AP_VISUALODOM_MAV_ENABLED
diff --git a/libraries/AP_VisualOdom/LogStructure.h b/libraries/AP_VisualOdom/LogStructure.h
index cb15e181c4b495..776c3f82b53d26 100644
--- a/libraries/AP_VisualOdom/LogStructure.h
+++ b/libraries/AP_VisualOdom/LogStructure.h
@@ -40,13 +40,14 @@ struct PACKED log_VisualOdom {
 // @Field: PX: Position X-axis (North-South)
 // @Field: PY: Position Y-axis (East-West)
 // @Field: PZ: Position Z-axis (Down-Up)
-// @Field: Roll: Roll lean angle
-// @Field: Pitch: Pitch lean angle
-// @Field: Yaw: Yaw angle
+// @Field: R: Roll lean angle
+// @Field: P: Pitch lean angle
+// @Field: Y: Yaw angle
 // @Field: PErr: Position estimate error
 // @Field: AErr: Attitude estimate error
 // @Field: Rst: Position reset counter
 // @Field: Ign: Ignored
+// @Field: Q: Quality
 struct PACKED log_VisualPosition {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -62,6 +63,7 @@ struct PACKED log_VisualPosition {
     float ang_err;  // radians
     uint8_t reset_counter;
     uint8_t ignored;
+    int8_t quality;
 };
 
 // @LoggerMessage: VISV
@@ -75,6 +77,7 @@ struct PACKED log_VisualPosition {
 // @Field: VErr: Velocity estimate error
 // @Field: Rst: Velocity reset counter
 // @Field: Ign: Ignored
+// @Field: Q: Quality
 struct PACKED log_VisualVelocity {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -86,6 +89,7 @@ struct PACKED log_VisualVelocity {
     float vel_err;
     uint8_t reset_counter;
     uint8_t ignored;
+    int8_t quality;
 };
 
 #if HAL_VISUALODOM_ENABLED
@@ -93,9 +97,9 @@ struct PACKED log_VisualVelocity {
     { LOG_VISUALODOM_MSG, sizeof(log_VisualOdom), \
       "VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf", "ssrrrmmm-", "FF000000-" }, \
     { LOG_VISUALPOS_MSG, sizeof(log_VisualPosition), \
-      "VISP", "QQIffffffffBB", "TimeUS,RTimeUS,CTimeMS,PX,PY,PZ,Roll,Pitch,Yaw,PErr,AErr,Rst,Ign", "sssmmmddhmd--", "FFC00000000--" }, \
+      "VISP", "QQIffffffffBBb", "TimeUS,RTimeUS,CTimeMS,PX,PY,PZ,R,P,Y,PErr,AErr,Rst,Ign,Q", "sssmmmddhmd--%", "FFC00000000--0" }, \
     { LOG_VISUALVEL_MSG, sizeof(log_VisualVelocity), \
-      "VISV", "QQIffffBB", "TimeUS,RTimeUS,CTimeMS,VX,VY,VZ,VErr,Rst,Ign", "sssnnnn--", "FFC0000--" },
+      "VISV", "QQIffffBBb", "TimeUS,RTimeUS,CTimeMS,VX,VY,VZ,VErr,Rst,Ign,Q", "sssnnnn--%", "FFC0000--0" },
 #else
 #define LOG_STRUCTURE_FROM_VISUALODOM
 #endif

From 442c90ff1b4c5fd0c84ba792d25199eb03acd689 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 20 Feb 2024 16:09:08 +0900
Subject: [PATCH 1313/1335] GCS_MAVLink: send Odometry quality to VisualOdom

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index a907c003f3d6dd..a4d700c6d478e1 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3694,12 +3694,12 @@ void GCS_MAVLINK::handle_odometry(const mavlink_message_t &msg)
     }
 
     const uint32_t timestamp_ms = correct_offboard_timestamp_usec_to_ms(m.time_usec, PAYLOAD_SIZE(chan, ODOMETRY));
-    visual_odom->handle_pose_estimate(m.time_usec, timestamp_ms, m.x, m.y, m.z, q, posErr, angErr, m.reset_counter);
+    visual_odom->handle_pose_estimate(m.time_usec, timestamp_ms, m.x, m.y, m.z, q, posErr, angErr, m.reset_counter, m.quality);
 
     // convert velocity vector from FRD to NED frame
     Vector3f vel{m.vx, m.vy, m.vz};
     vel = q * vel;
-    visual_odom->handle_vision_speed_estimate(m.time_usec, timestamp_ms, vel, m.reset_counter);
+    visual_odom->handle_vision_speed_estimate(m.time_usec, timestamp_ms, vel, m.reset_counter, m.quality);
 }
 
 // there are several messages which all have identical fields in them.
@@ -3731,7 +3731,7 @@ void GCS_MAVLINK::handle_common_vision_position_estimate_data(const uint64_t use
         angErr = cbrtf(sq(covariance[15])+sq(covariance[18])+sq(covariance[20]));
     }
 
-    visual_odom->handle_pose_estimate(usec, timestamp_ms, x, y, z, roll, pitch, yaw, posErr, angErr, reset_counter);
+    visual_odom->handle_pose_estimate(usec, timestamp_ms, x, y, z, roll, pitch, yaw, posErr, angErr, reset_counter, 0);
 }
 
 void GCS_MAVLINK::handle_att_pos_mocap(const mavlink_message_t &msg)
@@ -3747,7 +3747,7 @@ void GCS_MAVLINK::handle_att_pos_mocap(const mavlink_message_t &msg)
         return;
     }
     // note: att_pos_mocap does not include reset counter
-    visual_odom->handle_pose_estimate(m.time_usec, timestamp_ms, m.x, m.y, m.z, m.q, 0, 0, 0);
+    visual_odom->handle_pose_estimate(m.time_usec, timestamp_ms, m.x, m.y, m.z, m.q, 0, 0, 0, 0);
 }
 
 void GCS_MAVLINK::handle_vision_speed_estimate(const mavlink_message_t &msg)
@@ -3760,7 +3760,7 @@ void GCS_MAVLINK::handle_vision_speed_estimate(const mavlink_message_t &msg)
     mavlink_msg_vision_speed_estimate_decode(&msg, &m);
     const Vector3f vel = {m.x, m.y, m.z};
     uint32_t timestamp_ms = correct_offboard_timestamp_usec_to_ms(m.usec, PAYLOAD_SIZE(chan, VISION_SPEED_ESTIMATE));
-    visual_odom->handle_vision_speed_estimate(m.usec, timestamp_ms, vel, m.reset_counter);
+    visual_odom->handle_vision_speed_estimate(m.usec, timestamp_ms, vel, m.reset_counter, 0);
 }
 #endif  // HAL_VISUALODOM_ENABLED
 

From 6c5425cd68f8343434eaefef9709a7ac6e9a04d7 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 20 Feb 2024 16:14:21 +0900
Subject: [PATCH 1314/1335] AP_DDS: send quality of zero to AP_VisualOdom

---
 libraries/AP_DDS/AP_DDS_External_Odom.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_DDS/AP_DDS_External_Odom.cpp b/libraries/AP_DDS/AP_DDS_External_Odom.cpp
index 8d8563e5e866c3..7a868e14a51947 100644
--- a/libraries/AP_DDS/AP_DDS_External_Odom.cpp
+++ b/libraries/AP_DDS/AP_DDS_External_Odom.cpp
@@ -40,7 +40,7 @@ void AP_DDS_External_Odom::handle_external_odom(const tf2_msgs_msg_TFMessage& ms
         const uint8_t reset_counter {0};
         // TODO implement jitter correction similar to GCS_MAVLINK::correct_offboard_timestamp_usec_to_ms(remote_time_us, sizeof(msg));
         const uint32_t time_ms {static_cast<uint32_t>(remote_time_us * 1E-3)};
-        visual_odom->handle_pose_estimate(remote_time_us, time_ms, ap_position.x, ap_position.y, ap_position.z, ap_rotation, posErr, angErr, reset_counter);
+        visual_odom->handle_pose_estimate(remote_time_us, time_ms, ap_position.x, ap_position.y, ap_position.z, ap_rotation, posErr, angErr, reset_counter, 0);
 
     }
 }

From f2b66fd179d5ae504631d594c7c5bda79ffbb6ae Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 20 Feb 2024 16:14:47 +0900
Subject: [PATCH 1315/1335] AP_Scripting: add VisualOdom bindings

---
 libraries/AP_Scripting/docs/docs.lua                 | 12 ++++++++++++
 .../AP_Scripting/generator/description/bindings.desc |  6 ++++++
 2 files changed, 18 insertions(+)

diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index f3481947289f9b..7375e0a0d273a5 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -3448,3 +3448,15 @@ function networking:get_netmask_active() end
 -- desc
 ---@return uint32_t_ud
 function networking:get_ip_active() end
+
+-- visual odometry object
+--@class visual_odom
+visual_odom = {}
+
+-- visual odometry health
+---@return boolean
+function visual_odom:healthy() end
+
+-- visual odometry quality as a percentage from 1 to 100 or 0 if unknown
+---@return integer
+function visual_odom:quality() end
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index c9e9867df51798..8e01c48ebbecf5 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -915,3 +915,9 @@ singleton AP_Networking method get_ip_active uint32_t
 singleton AP_Networking method get_netmask_active uint32_t
 singleton AP_Networking method get_gateway_active uint32_t
 singleton AP_Networking method address_to_str string uint32_t'skip_check
+
+include AP_VisualOdom/AP_VisualOdom.h
+singleton AP_VisualOdom depends HAL_VISUALODOM_ENABLED
+singleton AP_VisualOdom rename visual_odom
+singleton AP_VisualOdom method healthy boolean
+singleton AP_VisualOdom method quality int8_t

From 07cd050f63705bfe107c5b92d1271a0be46f90d2 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 20 Feb 2024 16:49:46 +0900
Subject: [PATCH 1316/1335] AP_Scripting: EKF source switching for ExtNav and
 optflow

---
 .../applets/ahrs-source-extnav-optflow.lua    | 263 ++++++++++++++++++
 .../applets/ahrs-source-extnav-optflow.md     |  47 ++++
 2 files changed, 310 insertions(+)
 create mode 100644 libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.lua
 create mode 100644 libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.md

diff --git a/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.lua b/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.lua
new file mode 100644
index 00000000000000..759cb6d0a5b03b
--- /dev/null
+++ b/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.lua
@@ -0,0 +1,263 @@
+-- switches between AHRS/EKF sources based on the pilot's source selection switch or using an automatic source selection algorithm
+-- this script is intended to help vehicles automatically switch between ExternalNav and optical flow
+--
+-- configure a downward facing lidar with a range of at least 5m
+-- setup RCx_OPTION = 90 (EKF Pos Source) to select the source (low=external nav, middle=opticalflow, high=Not Used)
+-- setup RCx_OPTION = 300 (Scripting1).  When this switch is pulled high, the source will be automatically selected
+-- SRC_ENABLE = 1 (enable scripting)
+-- setup EK3_SRCn_ parameters so that ExternalNav is the primary source, opticalflow is secondary
+--     EK3_SRC1_POSXY = 6 (ExternalNav)
+--     EK3_SRC1_VELXY = 6 (ExternalNav)
+--     EK3_SRC1_VELZ  = 6 (ExternalNav)
+--     EK3_SRC1_POSZ  = 6 (ExternalNav) or 1 (Baro)
+--     EK3_SRC1_YAW   = 6 (ExternalNav) or 1 (Compass)
+--     EK3_SRC2_POSXY = 0 (None)
+--     EK3_SRC2_VELXY = 5 (OpticalFlow)
+--     EK3_SRC2_VELZ  = 0 (None)
+--     EK3_SRC2_POSZ  = 1 (Baro)
+--     EK3_SRC2_YAW   = 1 (Compass)
+--     EK3_SRC_OPTIONS = 0 (Do not fuse all velocities)
+--
+-- When the 2nd auxiliary switch (300/Scripting1) is pulled high automatic source selection is used based on the following criteria:
+--     ESRC_EXTN_THRESH holds the threshold for ExternalNav innovation threshold (around 0.3 is a good choice)
+--     ESRC_EXTN_QUAL holds the ExternalNav quality threshold (about 10 is a good choice)
+--     ESRC_FLOW_QUAL holds the optical flow quality threshold (about 50 is a good choice)
+--     ESRC_FLOW_THRESH holds the threshold for optical flow innovations (about 0.15 is a good choice)
+--     ESRC_RNGFND_MAX holds the threshold (in meters) for rangefinder altitude
+--
+--     If ExternalNav's quality is above ESRC_EXTN_QUAL and innovations are below ESRC_EXTN_THRESH, ExternalNav is used
+--     Optical flow is used if the above is not true and:
+--         optical flow's quality is above ESRC_FLOW_QUAL
+--         innovations are below ESRC_FLOW_THRESH
+--         rangefinder distance is below ESRC_RNGFND_MAX
+
+local PARAM_TABLE_KEY = 81
+PARAM_TABLE_PREFIX = "ESRC_"
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+
+-- bind a parameter to a variable
+function bind_param(name)
+  local p = Parameter()
+  assert(p:init(name), string.format('could not find %s parameter', name))
+  return p
+end
+
+-- add a parameter and bind it to a variable
+local function bind_add_param(name, idx, default_value)
+  assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
+  return bind_param(PARAM_TABLE_PREFIX .. name)
+end
+
+-- add param table
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 5), 'ahrs-source-extnav-optflow: could not add param table')
+
+--[[
+  // @Param: ESRC_EXTN_THRESH
+  // @DisplayName: EKF Source ExternalNav Innovation Threshold
+  // @Description: ExternalNav may be used if innovations are below this threshold
+  // @Range: 0 1
+  // @User: Standard
+--]]
+local ESRC_EXTN_THRESH = bind_add_param('EXTN_THRESH', 1, 0.3)
+
+--[[
+  // @Param: ESRC_EXTN_QUAL
+  // @DisplayName: EKF Source ExternalNav Quality Threshold
+  // @Description: ExternalNav may be used if quality is above this threshold
+  // @Range: 0 100
+  // @Units: %
+  // @User: Standard
+--]]
+local ESRC_EXTN_QUAL = bind_add_param('EXTN_QUAL', 2, 10)
+
+--[[
+  // @Param: ESRC_FLOW_THRESH
+  // @DisplayName: EKF Source OpticalFlow Innovation Threshold
+  // @Description: OpticalFlow may be used if innovations are below this threshold
+  // @Range: 0 1
+  // @User: Standard
+--]]
+local ESRC_FLOW_THRESH = bind_add_param('FLOW_THRESH', 3, 0.3)
+
+--[[
+  // @Param: ESRC_FLOW_QUAL
+  // @DisplayName: EKF Source OpticalFlow Quality Threshold
+  // @Description: OpticalFlow may be used if quality is above this threshold
+  // @Range: 0 100
+  // @Units: %
+  // @User: Standard
+--]]
+local ESRC_FLOW_QUAL = bind_add_param('FLOW_QUAL', 4, 50)
+
+--[[
+  // @Param: ESRC_RNGFND_MAX
+  // @DisplayName: EKF Source Rangefinder Max
+  // @Description: OpticalFlow may be used if rangefinder distance is below this threshold
+  // @Range: 0 50
+  // @Units: m
+  // @User: Standard
+--]]
+local ESRC_RNGFND_MAX = bind_add_param('RNGFND_MAX', 5, 7)
+
+local last_rc_ekfsrc_pos = 0        -- last known position of EKF source select switch
+local last_rc_autosrc_pos = 0       -- last known position of automatic source select switch
+local rangefinder_rotation = 25     -- check downward (25) facing lidar
+local auto_switch = false           -- true when auto switching between sources is active
+local source_prev = 0               -- previous source, defaults to primary source (ExternalNav)
+local vote_counter_max = 20         -- when a vote counter reaches this number (i.e. 2sec) source may be switched
+local extnav_vs_opticalflow_vote = 0  -- vote counter for external nav vs optical (-20 = external nav, +20 = optical flow)
+
+assert(visual_odom, 'could not access optical flow')
+assert(optical_flow, 'could not access optical flow')
+
+-- play tune on buzzer to alert user to change in active source set
+function play_source_tune(source)
+  if (source) then
+    if (source == 0) then
+      notify:play_tune("L8C")       -- one long lower tone
+    elseif (source == 1) then
+      notify:play_tune("L12DD")     -- two fast medium tones
+    elseif (source == 2) then
+      notify:play_tune("L16FFF")    -- three very fast, high tones
+    end
+  end
+end
+
+-- convert a boolean to a number
+function bool_to_int(b)
+  if b then
+    return 1
+  end
+  return 0
+end
+
+-- the main update function
+function update()
+
+  -- check for EKF Source Select switch position change
+  local rc_ekfsrc_pos = rc:get_aux_cached(90)  -- RCx_OPTION = 90 (EKF Pos Source)
+  if rc_ekfsrc_pos == nil then
+    rc_ekfsrc_pos = 0
+  end
+  local rc_ekfsrc_pos_changed = (rc_ekfsrc_pos ~= last_rc_ekfsrc_pos)
+  last_rc_ekfsrc_pos = rc_ekfsrc_pos
+
+  -- check for EKF automatic source select switch position change
+  local rc_autosrc_pos = rc:get_aux_cached(300) -- RCx_OPTION = 300 (Scripting1)
+  if rc_autosrc_pos == nil then
+    rc_autosrc_pos = 0
+  end
+  local rc_autosrc_pos_changed = (rc_autosrc_pos ~= last_rc_autosrc_pos)
+  last_rc_autosrc_pos = rc_autosrc_pos
+
+  -- check external nav quality and innovations
+  local extnav_over_threshold = true
+  local extnav_innov
+  extnav_innov, _ = ahrs:get_vel_innovations_and_variances_for_source(6)
+  if (extnav_innov) then
+    local extnav_xyz_innov = extnav_innov:length()
+    extnav_over_threshold = (extnav_xyz_innov == 0.0) or (extnav_xyz_innov > ESRC_EXTN_THRESH:get())
+    gcs:send_named_float("ExtNInnov", extnav_xyz_innov)
+  end
+  local extnav_usable = (not extnav_over_threshold) and visual_odom and visual_odom:healthy() and (visual_odom:quality() >= ESRC_EXTN_QUAL:get())
+  if visual_odom then
+    gcs:send_named_float("ExtNQuality", visual_odom:quality())
+  end
+  gcs:send_named_float("ExtNUsable", bool_to_int(extnav_usable))
+
+  -- check optical flow quality and innovations
+  local opticalflow_quality_good = false
+  if (optical_flow) then
+    opticalflow_quality_good = (optical_flow:enabled() and optical_flow:healthy() and optical_flow:quality() >= ESRC_FLOW_QUAL:get())
+  end
+
+  -- get opticalflow innovations from ahrs (only x and y values are valid)
+  local opticalflow_over_threshold = true
+  local opticalflow_innov
+  opticalflow_innov, _ = ahrs:get_vel_innovations_and_variances_for_source(5)
+  if (opticalflow_innov) then
+    local opticalflow_xy_innov = math.sqrt(opticalflow_innov:x() * opticalflow_innov:x() + opticalflow_innov:y() * opticalflow_innov:y())
+    opticalflow_over_threshold = (opticalflow_xy_innov == 0.0) or (opticalflow_xy_innov > ESRC_FLOW_THRESH:get())
+    gcs:send_named_float("FlowInnov", opticalflow_xy_innov)
+  end
+
+  -- get rangefinder distance
+  local rngfnd_distance_m = 0
+  if rangefinder:has_data_orient(rangefinder_rotation) then
+    rngfnd_distance_m = rangefinder:distance_cm_orient(rangefinder_rotation) * 0.01
+  end
+  local rngfnd_over_threshold = (rngfnd_distance_m == 0) or (rngfnd_distance_m > ESRC_RNGFND_MAX:get())
+
+  -- opticalflow is usable if quality and innovations are good and rangefinder is in range
+  local opticalflow_usable = opticalflow_quality_good and (not opticalflow_over_threshold) and (not rngfnd_over_threshold)
+  gcs:send_named_float("FlowUsable", bool_to_int(opticalflow_usable))
+
+  -- automatic selection logic --
+
+  -- ExtNav vs opticalflow vote. "-1" to move towards EXtNav, "+1" to move to opticalflow
+  if (extnav_usable) then
+    -- vote for external nav if usable and innovations are low
+    extnav_vs_opticalflow_vote = math.max(extnav_vs_opticalflow_vote - 1, -vote_counter_max)
+  elseif opticalflow_usable then
+    -- vote for opticalflow if usable
+    extnav_vs_opticalflow_vote = math.min(extnav_vs_opticalflow_vote + 1, vote_counter_max)
+  end
+
+  -- auto source vote collation
+  local auto_source = -1                         -- auto source undecided if -1
+  if extnav_vs_opticalflow_vote <= -vote_counter_max then
+    auto_source = 0                              -- external nav
+  elseif extnav_vs_opticalflow_vote >= vote_counter_max then
+    auto_source = 1                              -- opticalflow
+  end
+
+  -- read source switch position from user
+  if rc_ekfsrc_pos_changed then                 -- check for changes in source switch position
+    auto_switch = false                         -- disable auto switching of source
+    if source_prev ~= rc_ekfsrc_pos then        -- check if switch position does not match source (there is a one-to-one mapping of switch position to source)
+      source_prev = rc_ekfsrc_pos                -- record what source should now be (changed by ArduPilot vehicle code)
+      gcs:send_text(MAV_SEVERITY.INFO, "Pilot switched to Source " .. string.format("%d", source_prev+1))
+    else
+      gcs:send_text(MAV_SEVERITY.INFO, "Pilot switched but already Source " .. string.format("%d", source_prev+1))
+    end
+    play_source_tune(source_prev)                -- alert user of source whether changed or not
+  end
+
+  -- if auto switch exists then read auto source switch position from RCx_FUNCTION = 300 (Scripting1)
+  if rc_autosrc_pos_changed  then                -- check for changes in source auto switch position
+    if rc_autosrc_pos == 0 then                  -- pilot has pulled switch low
+      auto_switch = false                        -- disable auto switching of source
+      if rc_ekfsrc_pos ~= source_prev then       -- check if source will change
+        source_prev = rc_ekfsrc_pos              -- record pilot's selected source
+        ahrs:set_posvelyaw_source_set(source_prev)   -- switch to pilot's selected source
+        gcs:send_text(MAV_SEVERITY.INFO, "Auto source disabled, switched to Source " .. string.format("%d", source_prev+1))
+      else
+        gcs:send_text(MAV_SEVERITY.INFO, "Auto source disabled, already Source " .. string.format("%d", source_prev+1))
+      end
+    elseif rc_autosrc_pos == 2 then              -- pilot has pulled auto switch high
+      auto_switch = true                         -- enable auto switching of source
+      if auto_source < 0 then
+        gcs:send_text(MAV_SEVERITY.INFO, "Auto source enabled, undecided, Source " .. string.format("%d", source_prev+1))
+      elseif auto_source ~= source_prev then     -- check if source will change
+        source_prev = auto_source                -- record pilot's selected source
+        ahrs:set_posvelyaw_source_set(source_prev)   -- switch to pilot's selected source
+        gcs:send_text(MAV_SEVERITY.INFO, "Auto source enabled, switched to Source " .. string.format("%d", source_prev+1))
+      else
+        gcs:send_text(MAV_SEVERITY.INFO, "Auto source enabled, already Source " .. string.format("%d", source_prev+1))
+      end
+    end
+    play_source_tune(source_prev)
+  end
+
+  -- auto switching
+  if auto_switch and (auto_source >= 0) and (auto_source ~= source_prev) then
+    source_prev = auto_source                  -- record selected source
+    ahrs:set_posvelyaw_source_set(source_prev) -- switch to pilot's selected source
+    gcs:send_text(MAV_SEVERITY.INFO, "Auto switched to Source " .. string.format("%d", source_prev+1))
+    play_source_tune(source_prev)
+  end
+
+  return update, 100
+end
+
+return update()
diff --git a/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.md b/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.md
new file mode 100644
index 00000000000000..37eb93d157d2b9
--- /dev/null
+++ b/libraries/AP_Scripting/applets/ahrs-source-extnav-optflow.md
@@ -0,0 +1,47 @@
+# ExternalNav / Optical flow source switching
+
+Switches between AHRS/EKF sources based on the pilot's source selection switch or using an automatic source selection algorithm
+This script is intended to help vehicles automatically switch between ExternalNav and optical flow
+
+## Parmeter Descriptions
+
+-- ESRC_EXTN_THRESH : ExternalNav innovation threshold
+-- ESRC_EXTN_QUAL : ExternalNav quality threshold
+-- ESRC_FLOW_THRESH : OpticalFlow innovation threshold
+-- ESRC_FLOW_QUAL : OpticalFlow quality threshold
+-- ESRC_RNGFND_MAX : Rangefinder altitude threshold (in meters)
+
+## How to use
+
+Configure a downward facing lidar with a range of at least 5m
+Set RCx_OPTION = 90 (EKF Pos Source) to select the source (low=ExternalNav, middle=opticalflow, high=Not Used)
+Set RCx_OPTION = 300 (Scripting1).  When this switch is pulled high, the source will be automatically selected
+Set SRC_ENABLE = 1 (enable scripting)
+Set EK3_SRCn_ parameters so that ExternalNav is the primary source, opticalflow is secondary
+
+  - EK3_SRC1_POSXY = 6 (ExternalNav)
+  - EK3_SRC1_VELXY = 6 (ExternalNav)
+  - EK3_SRC1_VELZ  = 6 (ExternalNav)
+  - EK3_SRC1_POSZ  = 6 (ExternalNav) or 1 (Baro)
+  - EK3_SRC1_YAW   = 6 (ExternalNav) or 1 (Compass)
+  - EK3_SRC2_POSXY = 0 (None)
+  - EK3_SRC2_VELXY = 5 (OpticalFlow)
+  - EK3_SRC2_VELZ  = 0 (None)
+  - EK3_SRC2_POSZ  = 1 (Baro)
+  - EK3_SRC2_YAW   = 1 (Compass)
+  - EK3_SRC_OPTIONS = 0 (Do not fuse all velocities)
+
+When the 2nd auxiliary switch (300/Scripting1) is pulled high automatic source selection is used based on the following criteria:
+
+  - ESRC_EXTN_THRESH holds the threshold for ExternalNav innovation threshold (around 0.3 is a good choice)
+  - ESRC_EXTN_QUAL holds the ExternalNav quality threshold (about 10 is a good choice)
+  - ESRC_FLOW_QUAL holds the optical flow quality threshold (about 50 is a good choice)
+  - ESRC_FLOW_THRESH holds the threshold for optical flow innovations (about 0.15 is a good choice)
+  - ESRC_RNGFND_MAX holds the threshold (in meters) for rangefinder altitude
+
+  - If ExternalNav's quality is above ESRC_EXTN_QUAL and innovations are below ESRC_EXTN_THRESH, ExternalNav is used
+  - Optical flow is used if the above is not true and:
+
+    - Quality is above ESRC_FLOW_QUAL
+    - Innovations are below ESRC_FLOW_THRESH
+    - Rangefinder distance is below ESRC_RNGFND_MAX

From fb5df809320b77c305621955790193a461ab19d3 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 21 Feb 2024 17:02:51 +0900
Subject: [PATCH 1317/1335] AP_HAL_ChibiOS: AP_Periph does not use
 AP_VisualOdom

---
 libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
index 136987f000d948..47e90a88288992 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
@@ -329,6 +329,7 @@
 #define AP_RPM_ENABLED defined(HAL_PERIPH_ENABLE_RPM)
 #define AP_RCPROTOCOL_ENABLED defined(HAL_PERIPH_ENABLE_RCIN)
 #define AP_RTC_ENABLED defined(HAL_PERIPH_ENABLE_RTC)
+#define HAL_VISUALODOM_ENABLED defined(HAL_PERIPH_ENABLE_VISUALODOM)
 
 #ifndef AP_BOOTLOADER_ALWAYS_ERASE
 #define AP_BOOTLOADER_ALWAYS_ERASE 1

From 9ea8e61cfc2bea76c949968f1930ee80061e5eca Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 28 Feb 2024 07:41:44 +1100
Subject: [PATCH 1318/1335] AP_Scripting: example showing how to use readstring
 method

a fairly common requirement for scripts
---
 .../AP_Scripting/examples/readstring_test.lua | 50 +++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100644 libraries/AP_Scripting/examples/readstring_test.lua

diff --git a/libraries/AP_Scripting/examples/readstring_test.lua b/libraries/AP_Scripting/examples/readstring_test.lua
new file mode 100644
index 00000000000000..d95a0687be8e59
--- /dev/null
+++ b/libraries/AP_Scripting/examples/readstring_test.lua
@@ -0,0 +1,50 @@
+--[[
+   example demonstrating how to read from a serial port into a lua string
+--]]
+
+local baud_rate = 57600
+
+local port = assert(serial:find_serial(0), "Could not find Scripting Serial Port")
+
+port:begin(baud_rate)
+port:set_flow_control(0)
+
+--[[
+  get a string by concatenating bytes from the serial port,
+  suitable for ArduPilot 4.4.x
+--]]
+local function get_string_44(n)
+   local ret = ""
+   for _ = 1, n do
+      local b = port:read()
+      ret = ret .. string.char(b)
+   end
+   return ret
+end
+
+--[[
+  get a string directly uisng readstring
+  suitable for ArduPilot 4.5.x and later
+--]]
+local function get_string_45(n)
+   return port:readstring(n)
+end
+
+function update()
+   -- test using 4.5 method
+   local n = port:available():toint()
+   if n > 0 then
+      local str = get_string_45(n)
+      gcs:send_text(0, string.format("Received: '%s'", str))
+   end
+
+   -- test using 4.4 method (just so we don't have an unused function in lua check)
+   n = port:available():toint()
+   if n > 0 then
+      local str = get_string_44(n)
+      gcs:send_text(0, string.format("Received: '%s'", str))
+    end
+   return update, 100
+end
+
+return update, 100

From c91a6fdba72f25bba673f7cac5f2bb7a9e166351 Mon Sep 17 00:00:00 2001
From: Andrew Piper <github@andypiper.com>
Date: Sat, 24 Feb 2024 18:05:38 +0000
Subject: [PATCH 1319/1335] environment_install: fixup mac xcode install text

---
 Tools/environment_install/install-prereqs-mac.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/environment_install/install-prereqs-mac.sh b/Tools/environment_install/install-prereqs-mac.sh
index de2cd666ef760b..7c0701b38a161c 100755
--- a/Tools/environment_install/install-prereqs-mac.sh
+++ b/Tools/environment_install/install-prereqs-mac.sh
@@ -52,7 +52,7 @@ echo "Checking CLI Tools installed..."
     ERROR=$(xcode-select --install 2>&1 > /dev/null)
 } ||
 {
-if [[ $ERROR != *"command line tools are already installed"* ]]; then
+if [[ $ERROR != *"ommand line tools are already installed"* ]]; then
     echo "$ERROR" 1>&2
     exit 1
 fi

From 07f34a2f74afef6e8bda04253a783138262e1cf7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 23 Feb 2024 11:16:58 +1100
Subject: [PATCH 1320/1335] SITL: added NoVehicle

---
 libraries/SITL/SIM_NoVehicle.h | 40 ++++++++++++++++++++++++++++++++++
 1 file changed, 40 insertions(+)
 create mode 100644 libraries/SITL/SIM_NoVehicle.h

diff --git a/libraries/SITL/SIM_NoVehicle.h b/libraries/SITL/SIM_NoVehicle.h
new file mode 100644
index 00000000000000..0d37392b0f9aed
--- /dev/null
+++ b/libraries/SITL/SIM_NoVehicle.h
@@ -0,0 +1,40 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  empty vehicle for example CI testing
+*/
+
+#pragma once
+
+#include "SIM_Aircraft.h"
+
+namespace SITL {
+
+/*
+  empty vehicle
+ */
+class NoVehicle : public Aircraft {
+public:
+    NoVehicle(const char *frame_str) : Aircraft(frame_str) {}
+
+    void update(const struct sitl_input &input) override {}
+
+    /* static object creator */
+    static Aircraft *create(const char *frame_str) {
+        return new NoVehicle(frame_str);
+    }
+};
+
+} // namespace SITL

From e4c103972c13ffcf57da3b45399b51ea0a1dd0a6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 23 Feb 2024 11:17:28 +1100
Subject: [PATCH 1321/1335] HAL_SITL: use NoVehicle for example tests and
 replay

allows for example runs without -C --model XXX
---
 libraries/AP_HAL_SITL/SITL_cmdline.cpp | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL_SITL/SITL_cmdline.cpp b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
index f4c5529197ff49..8eebf19967b739 100644
--- a/libraries/AP_HAL_SITL/SITL_cmdline.cpp
+++ b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
@@ -37,6 +37,7 @@
 #include <SITL/SIM_Webots_Python.h>
 #include <SITL/SIM_JSON.h>
 #include <SITL/SIM_Blimp.h>
+#include <SITL/SIM_NoVehicle.h>
 #include <AP_Filesystem/AP_Filesystem.h>
 
 #include <AP_Vehicle/AP_Vehicle_Type.h>
@@ -181,6 +182,7 @@ static const struct {
     { "webots",             Webots::create },
     { "JSON",               JSON::create },
     { "blimp",              Blimp::create },
+    { "novehicle",          NoVehicle::create },
 };
 
 void SITL_State::_set_signal_handlers(void) const
@@ -239,7 +241,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
     static struct timeval first_tv;
     gettimeofday(&first_tv, nullptr);
     time_t start_time_UTC = first_tv.tv_sec;
-    const bool is_replay = APM_BUILD_TYPE(APM_BUILD_Replay);
+    const bool is_example = APM_BUILD_TYPE(APM_BUILD_Replay) || APM_BUILD_TYPE(APM_BUILD_UNKNOWN);
 
     enum long_options {
         CMDLINE_GIMBAL = 1,
@@ -348,8 +350,8 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         {0, false, 0, 0}
     };
 
-    if (is_replay) {
-        model_str = "quad";
+    if (is_example) {
+        model_str = "novehicle";
         HALSITL::UARTDriver::_console = true;
     }
 
@@ -371,7 +373,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
 
     GetOptLong gopt(argc, argv, "hwus:r:CI:P:SO:M:F:c:v:",
                     options);
-    while (!is_replay && (opt = gopt.getoption()) != -1) {
+    while (!is_example && (opt = gopt.getoption()) != -1) {
         switch (opt) {
         case 'w':
             erase_all_storage = true;

From 39efe75e79b7eeb97dcccc71bf8735b88e7fd5f4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 23 Feb 2024 11:33:46 +1100
Subject: [PATCH 1322/1335] HAL_SITL: allow delay() and delay_microseconds() to
 work in examples

when we have no sitl object we need to directly call stop_clock()
---
 libraries/AP_HAL_SITL/Scheduler.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_HAL_SITL/Scheduler.cpp b/libraries/AP_HAL_SITL/Scheduler.cpp
index c925a0ca5b4189..12a77a8d0c16be 100644
--- a/libraries/AP_HAL_SITL/Scheduler.cpp
+++ b/libraries/AP_HAL_SITL/Scheduler.cpp
@@ -128,6 +128,11 @@ bool Scheduler::semaphore_wait_hack_required() const
 
 void Scheduler::delay_microseconds(uint16_t usec)
 {
+    if (_sitlState->_sitl == nullptr) {
+        // this allows examples to run
+        hal.scheduler->stop_clock(AP_HAL::micros64()+usec);
+        return;
+    }
     uint64_t start = AP_HAL::micros64();
     do {
         uint64_t dtime = AP_HAL::micros64() - start;

From d0cec297a8cbb08767b2675631692fb4010eafec Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 23 Feb 2024 11:39:33 +1100
Subject: [PATCH 1323/1335] AP_JSON: made test pass/fail

---
 libraries/AP_JSON/examples/XPlane/XPlane.cpp | 21 +++++++++++++++++---
 1 file changed, 18 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_JSON/examples/XPlane/XPlane.cpp b/libraries/AP_JSON/examples/XPlane/XPlane.cpp
index d7af16a4f57221..197876434ac8d8 100644
--- a/libraries/AP_JSON/examples/XPlane/XPlane.cpp
+++ b/libraries/AP_JSON/examples/XPlane/XPlane.cpp
@@ -12,12 +12,16 @@ void loop();
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-static void test_xplane(void)
+static uint32_t test_count;
+static uint32_t label_count;
+
+static bool test_xplane(void)
 {
     const uint32_t m1 = hal.util->available_memory();
     auto *obj = AP_JSON::load_json("@ROMFS/models/xplane_plane.json");
     if (obj == nullptr) {
-        ::printf("Failed to parse json\n");
+        ::printf("Failed to load or parse json\n");
+        return false;
     }
     const uint32_t m2 = hal.util->available_memory();
     ::printf("Used %u bytes\n", unsigned(m1-m2));
@@ -28,8 +32,10 @@ static void test_xplane(void)
          ++i) {
         const char *label = i->first.c_str();
         ::printf("Label: %s\n", label);
+        label_count++;
     }
     delete obj;
+    return label_count > 10;
 }
 
 /*
@@ -43,7 +49,16 @@ void setup(void)
 void loop(void)
 {
     ::printf("Memory: %u\n", (unsigned)hal.util->available_memory());
-    test_xplane();
+    if (test_xplane()) {
+        test_count++;
+    } else {
+        ::printf("Test FAILED\n");
+        exit(1);
+    }
+    if (test_count > 10) {
+        ::printf("Test PASSED\n");
+        exit(0);
+    }
 }
 
 AP_HAL_MAIN();

From a74dab8c0a2ff999767b839b37b4ffee23a14953 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 23 Feb 2024 11:59:06 +1100
Subject: [PATCH 1324/1335] HAL_SITL: don't run IO procs in examples

---
 libraries/AP_HAL_SITL/Scheduler.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_SITL/Scheduler.cpp b/libraries/AP_HAL_SITL/Scheduler.cpp
index 12a77a8d0c16be..32eeebfa7088f4 100644
--- a/libraries/AP_HAL_SITL/Scheduler.cpp
+++ b/libraries/AP_HAL_SITL/Scheduler.cpp
@@ -301,7 +301,7 @@ void Scheduler::_run_io_procs()
 void Scheduler::stop_clock(uint64_t time_usec)
 {
     _stopped_clock_usec = time_usec;
-    if (time_usec - _last_io_run > 10000) {
+    if (_sitlState->_sitl != nullptr && time_usec - _last_io_run > 10000) {
         _last_io_run = time_usec;
         _run_io_procs();
     }

From 66ff84e6fb19310a7aabb744dd81342a91f0b485 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 23 Feb 2024 11:59:22 +1100
Subject: [PATCH 1325/1335] AP_InertialSensor: fixed wait_for_sample() in
 examples

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 5b3c4f8e7c53e0..b8262548e96762 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1973,6 +1973,13 @@ void AP_InertialSensor::update(void)
  */
 void AP_InertialSensor::wait_for_sample(void)
 {
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    auto *sitl = AP::sitl();
+    if (sitl == nullptr) {
+        hal.scheduler->delay_microseconds(1000);
+        return;
+    }
+#endif
     if (_have_sample) {
         // the user has called wait_for_sample() again without
         // consuming the sample with update()

From 7226c5107d396db87785766b80b5de1a7b03eac0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 23 Feb 2024 11:59:42 +1100
Subject: [PATCH 1326/1335] AP_Schedule: fixed loop in example with sitl NULL

---
 libraries/AP_Scheduler/AP_Scheduler.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp
index 5fd91703b114b3..62a702bb86b198 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.cpp
+++ b/libraries/AP_Scheduler/AP_Scheduler.cpp
@@ -360,7 +360,7 @@ void AP_Scheduler::loop()
           for testing low CPU conditions we can add an optional delay in SITL
         */
         auto *sitl = AP::sitl();
-        uint32_t loop_delay_us = sitl->loop_delay.get();
+        uint32_t loop_delay_us = sitl? sitl->loop_delay.get() : 1000U;
         hal.scheduler->delay_microseconds(loop_delay_us);
     }
 #endif

From 09500df4a85c751c4eaadef59128065ce2d475e2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 23 Feb 2024 11:59:56 +1100
Subject: [PATCH 1327/1335] AP_Scheduler: fixed example test to pass/fail

---
 .../Scheduler_test/Scheduler_test.cpp         | 29 ++++++++++++++++---
 1 file changed, 25 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp b/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp
index 5a9eb79d20ee78..b0cc45e2fb7523 100644
--- a/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp
+++ b/libraries/AP_Scheduler/examples/Scheduler_test/Scheduler_test.cpp
@@ -9,6 +9,7 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS_Dummy.h>
+#include <stdio.h>
 
 const struct AP_Param::GroupInfo        GCS_MAVLINK_Parameters::var_info[] = {
     AP_GROUPEND
@@ -26,13 +27,14 @@ class SchedTest {
 
 private:
 
-    AP_InertialSensor ins;
 #if HAL_EXTERNAL_AHRS_ENABLED
     AP_ExternalAHRS eAHRS;
 #endif // HAL_EXTERNAL_AHRS_ENABLED
     AP_Scheduler scheduler;
 
     uint32_t ins_counter;
+    uint32_t count_5s;
+    uint32_t count_1s;
     static const AP_Scheduler::Task scheduler_tasks[];
 
     void ins_update(void);
@@ -81,8 +83,6 @@ void SchedTest::setup(void)
 
     board_config.init();
 
-    ins.init(scheduler.get_loop_rate_hz());
-
     // initialise the scheduler
     scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks), (uint32_t)-1);
 }
@@ -91,6 +91,24 @@ void SchedTest::loop(void)
 {
     // run all tasks
     scheduler.loop();
+    if (ins_counter == 1000) {
+        bool ok = true;
+        if (count_5s != 4) {
+            ::printf("ERROR: count_5s=%u\n", (unsigned)count_5s);
+            ok = false;
+        }
+        if (count_1s != 20) {
+            ::printf("ERROR: count_1s=%u\n", (unsigned)count_1s);
+            ok = false;
+        }
+        if (!ok) {
+            ::printf("Test FAILED\n");
+            exit(1);
+        } else {
+            ::printf("Test PASSED\n");
+            exit(0);
+        }
+    }
 }
 
 /*
@@ -99,7 +117,6 @@ void SchedTest::loop(void)
 void SchedTest::ins_update(void)
 {
     ins_counter++;
-    ins.update();
 }
 
 /*
@@ -108,6 +125,7 @@ void SchedTest::ins_update(void)
 void SchedTest::one_hz_print(void)
 {
     hal.console->printf("one_hz: t=%lu\n", (unsigned long)AP_HAL::millis());
+    count_1s++;
 }
 
 /*
@@ -116,6 +134,7 @@ void SchedTest::one_hz_print(void)
 void SchedTest::five_second_call(void)
 {
     hal.console->printf("five_seconds: t=%lu ins_counter=%u\n", (unsigned long)AP_HAL::millis(), (unsigned)ins_counter);
+    count_5s++;
 }
 
 /*
@@ -128,8 +147,10 @@ void setup(void)
 {
     schedtest.setup();
 }
+
 void loop(void)
 {
     schedtest.loop();
 }
+
 AP_HAL_MAIN();

From 03910b8df4afa08d6594c7dd3ac36d2f7eefbdda Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 23 Feb 2024 12:00:13 +1100
Subject: [PATCH 1328/1335] Tools: run examples with SITL

---
 Tools/autotest/examples.py | 2 +-
 Tools/scripts/build_ci.sh  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Tools/autotest/examples.py b/Tools/autotest/examples.py
index 590205b331cc35..b7c69fc6a2db90 100644
--- a/Tools/autotest/examples.py
+++ b/Tools/autotest/examples.py
@@ -51,7 +51,7 @@ def run_example(filepath, valgrind=False, gdb=False):
 
 
 def run_examples(debug=False, valgrind=False, gdb=False):
-    dirpath = util.reltopdir(os.path.join('build', 'linux', 'examples'))
+    dirpath = util.reltopdir(os.path.join('build', 'sitl', 'examples'))
 
     print("Running Hello")
     # explicitly run helloworld and check for output
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index 75a42b516c6bbe..f45383f6ab822b 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -176,7 +176,7 @@ for t in $CI_BUILD_TARGET; do
     fi
 
     if [ "$t" == "examples" ]; then
-        ./waf configure --board=linux --debug
+        ./waf configure --board=sitl --debug
         ./waf examples
         run_autotest "Examples" "--no-clean" "run.examples"
         continue

From f0b691dd31d3a32ea58314f827c95ae0d0b06bdc Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Tue, 2 Jan 2024 19:53:12 +0000
Subject: [PATCH 1329/1335] Copter: check fence at faster rates when going
 faster to avoid massive fence breaches

---
 ArduCopter/Copter.cpp | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index e765bbca9f5b62..5782538ee22e27 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -149,6 +149,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 
     SCHED_TASK(rc_loop,              250,    130,  3),
     SCHED_TASK(throttle_loop,         50,     75,  6),
+#if AP_FENCE_ENABLED
+    SCHED_TASK(fence_check,           25,    100,  7),
+#endif
     SCHED_TASK_CLASS(AP_GPS,               &copter.gps,                 update,          50, 200,   9),
 #if AP_OPTICALFLOW_ENABLED
     SCHED_TASK_CLASS(AP_OpticalFlow,          &copter.optflow,             update,         200, 160,  12),
@@ -622,12 +625,6 @@ void Copter::three_hz_loop()
     // check for deadreckoning failsafe
     failsafe_deadreckon_check();
 
-#if AP_FENCE_ENABLED
-    // check if we have breached a fence
-    fence_check();
-#endif // AP_FENCE_ENABLED
-
-
     // update ch6 in flight tuning
     tuning();
 

From f094ee66ec8110386e2bf8e1cafaf8419cdfe70f Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 23 Mar 2023 14:56:20 +0000
Subject: [PATCH 1330/1335] AP_HAL: add timeout helper functions

add tests for timeout functions
---
 libraries/AP_HAL/system.h                | 28 +++++++++
 libraries/AP_HAL/tests/test_timeouts.cpp | 72 ++++++++++++++++++++++++
 2 files changed, 100 insertions(+)
 create mode 100644 libraries/AP_HAL/tests/test_timeouts.cpp

diff --git a/libraries/AP_HAL/system.h b/libraries/AP_HAL/system.h
index c3ba107a75cee8..b54bb0e0cc1517 100644
--- a/libraries/AP_HAL/system.h
+++ b/libraries/AP_HAL/system.h
@@ -22,4 +22,32 @@ uint64_t millis64();
 void dump_stack_trace();
 void dump_core_file();
 
+// Function to reliably determine whether a timeout has expired using any unsigned time type and interval
+// The template makes sure that callers do not mix up different types for storing time or assessing the
+// current time.
+// The comparison is guaranteed to work even if the present and the past cross a wrap boundary
+template <typename T, typename S, typename R>
+inline bool timeout_expired(const T past_time, const S now, const R timeout)
+{
+    static_assert(std::is_same<T, S>::value, "timeout_expired() must compare values of the same unsigned type");
+    static_assert(std::is_unsigned<T>::value, "timeout_expired() must use unsigned times");
+    static_assert(std::is_unsigned<R>::value, "timeout_expired() must use unsigned timeouts");
+    const T dt = now - past_time;
+    return (dt >= timeout);
+}
+
+// Function to reliably determine whether how much of a timeout is left using any unsigned time type and interval
+// The template makes sure that callers do not mix up different types for storing time or assessing the
+// current time.
+// The comparison is guaranteed to work even if the present and the past cross a wrap boundary
+template <typename T, typename S, typename R>
+inline T timeout_remaining(const T past_time, const S now, const R timeout)
+{
+    static_assert(std::is_same<T, S>::value, "timeout_remaining() must compare values of the same unsigned type");
+    static_assert(std::is_unsigned<T>::value, "timeout_remaining() must use unsigned times");
+    static_assert(std::is_unsigned<R>::value, "timeout_remaining() must use unsigned timeouts");
+    const T dt = now - past_time;
+    return (dt >= timeout) ? T(0) : (timeout - dt);
+}
+
 } // namespace AP_HAL
diff --git a/libraries/AP_HAL/tests/test_timeouts.cpp b/libraries/AP_HAL/tests/test_timeouts.cpp
new file mode 100644
index 00000000000000..45fd4c0ad243ce
--- /dev/null
+++ b/libraries/AP_HAL/tests/test_timeouts.cpp
@@ -0,0 +1,72 @@
+#include <AP_gtest.h>
+#include <AP_HAL/HAL.h>
+#include <AP_HAL/Util.h>
+#include <AP_Math/AP_Math.h>
+
+const AP_HAL::HAL& hal = AP_HAL::get_HAL();
+
+
+template <typename T>
+static void timeout_test(T timenow, T trigger)
+{
+    T ticks = 2000U;
+    T time_past = timenow;
+    bool timeout_triggered = false;
+
+    while (ticks-- != 0) {
+        timenow++;
+        if (AP_HAL::timeout_expired(time_past, timenow, 1000U)) {
+            if (!timeout_triggered) {
+                ASSERT_EQ(timenow, trigger);
+                timeout_triggered = true;
+            }
+        }
+    }
+
+    ASSERT_TRUE(timeout_triggered);
+}
+
+TEST(timeout_wrap_Test, Basic)
+{
+    timeout_test(0xFFFFFFFFU - 499U, 500U);
+}
+
+TEST(timeout_Test, Basic)
+{
+    timeout_test(500U, 1500U);
+}
+
+template <typename T>
+static void timeout_remaining(T timenow, T incr)
+{
+    T ticks = 2000U;
+    T time_past = timenow;
+    T last_remaining = 1000;
+
+    while (ticks-- != 0) {
+        timenow+=incr;
+        const uint32_t new_remaining = AP_HAL::timeout_remaining(time_past, timenow, 1000U);
+        ASSERT_LT(new_remaining, MAX(last_remaining, 1U));   // time remaining must be going down
+        last_remaining = new_remaining;
+        ASSERT_LT(new_remaining, 1001U);
+    }
+
+    ASSERT_EQ(AP_HAL::timeout_remaining(time_past, timenow, 1000U), 0U);
+}
+
+TEST(timeout_remaining_wrap_Test, Basic)
+{
+    timeout_remaining(0xFFFFFFFFU - 500U, 1U);
+}
+
+TEST(timeout_remaining_Test, Basic)
+{
+    timeout_remaining(500U, 1U);
+}
+
+TEST(timeout_remaining_wrap_Test_5us, Basic)
+{
+    timeout_remaining(0xFFFFFFFF - 500U, 5U);
+}
+
+AP_GTEST_MAIN()

From b248ba5f1b203dca5b0d9f9cdb632bda7e0d6e9d Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 23 Mar 2023 17:13:54 +0000
Subject: [PATCH 1331/1335] AP_HAL_ChibiOS: provide start time and timeout to
 all dshot APIs that require it

correct timeout checking for dshot across timer wrap boundaries
fix trigger_groups timeout checks
use rcout_timer_t instead of uint32_t or uint64_t
---
 libraries/AP_HAL_ChibiOS/RCOutput.cpp         | 92 +++++++++----------
 libraries/AP_HAL_ChibiOS/RCOutput.h           | 36 +++++---
 libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp  |  2 +-
 .../AP_HAL_ChibiOS/RCOutput_iofirmware.cpp    | 19 ++--
 4 files changed, 77 insertions(+), 72 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index 1817c3e6813eb9..d6157f0d96c69e 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -214,7 +214,7 @@ void RCOutput::led_thread()
         // actually sending out data - thus we need to work out how much time we have left to collect the locks
 
         // process any pending LED output requests
-        led_timer_tick(LED_OUTPUT_PERIOD_US + AP_HAL::micros64());
+        led_timer_tick(rcout_micros(), LED_OUTPUT_PERIOD_US);
     }
 }
 #endif // HAL_SERIAL_ENABLED
@@ -225,8 +225,8 @@ void RCOutput::led_thread()
 #if !defined(IOMCU_FW)
 void RCOutput::rcout_thread()
 {
-    uint64_t last_thread_run_us = 0; // last time we did a 1kHz run of rcout
-    uint64_t last_cycle_run_us = 0;
+    rcout_timer_t last_thread_run_us = 0; // last time we did a 1kHz run of rcout
+    rcout_timer_t last_cycle_run_us = 0;
 
     rcout_thread_ctx = chThdGetSelfX();
 
@@ -241,11 +241,11 @@ void RCOutput::rcout_thread()
         const auto mask = chEvtWaitOne(EVT_PWM_SEND | EVT_PWM_SYNTHETIC_SEND);
         const bool have_pwm_event = (mask & (EVT_PWM_SEND | EVT_PWM_SYNTHETIC_SEND)) != 0;
         // start the clock
-        last_thread_run_us = AP_HAL::micros64();
+        last_thread_run_us = rcout_micros();
 
         // this is when the cycle is supposed to start
         if (_dshot_cycle == 0 && have_pwm_event) {
-            last_cycle_run_us = AP_HAL::micros64();
+            last_cycle_run_us = rcout_micros();
             // register a timer for the next tick if push() will not be providing it
             if (_dshot_rate != 1) {
                 chVTSet(&_dshot_rate_timer, chTimeUS2I(_dshot_period_us), dshot_update_tick, this);
@@ -254,18 +254,17 @@ void RCOutput::rcout_thread()
 
         // if DMA sharing is in effect there can be quite a delay between the request to begin the cycle and
         // actually sending out data - thus we need to work out how much time we have left to collect the locks
-        uint64_t time_out_us = (_dshot_cycle + 1) * _dshot_period_us + last_cycle_run_us;
-        if (!_dshot_rate) {
-            time_out_us = last_thread_run_us + _dshot_period_us;
-        }
+        const rcout_timer_t timeout_period_us = _dshot_rate ? (_dshot_cycle + 1) * _dshot_period_us : _dshot_period_us;
+        // timeout is measured from the beginning of the push() that initiated it to preserve periodicity
+        const rcout_timer_t cycle_start_us = _dshot_rate ? last_cycle_run_us : last_thread_run_us;
 
         // main thread requested a new dshot send or we timed out - if we are not running
         // as a multiple of loop rate then ignore EVT_PWM_SEND events to preserve periodicity
         if (!in_soft_serial() && have_pwm_event) {
-            dshot_send_groups(time_out_us);
+            dshot_send_groups(cycle_start_us, timeout_period_us);
 
             // now unlock everything
-            dshot_collect_dma_locks(time_out_us);
+            dshot_collect_dma_locks(cycle_start_us, timeout_period_us);
 
             if (_dshot_rate > 0) {
                 _dshot_cycle = (_dshot_cycle + 1) % _dshot_rate;
@@ -273,7 +272,7 @@ void RCOutput::rcout_thread()
         }
 
         // process any pending RC output requests
-        timer_tick(time_out_us);
+        timer_tick(cycle_start_us, timeout_period_us);
 #if RCOU_DSHOT_TIMING_DEBUG
         static bool output_masks = true;
         if (AP_HAL::millis() > 5000 && output_masks) {
@@ -302,34 +301,32 @@ __RAMFUNC__ void RCOutput::dshot_update_tick(virtual_timer_t* vt, void* p)
 
 #if AP_HAL_SHARED_DMA_ENABLED
 // calculate how much time remains in the current cycle
-sysinterval_t RCOutput::calc_ticks_remaining(pwm_group &group, uint64_t time_out_us, uint32_t output_period_us)
+sysinterval_t RCOutput::calc_ticks_remaining(pwm_group &group, rcout_timer_t cycle_start_us, rcout_timer_t timeout_period_us, rcout_timer_t output_period_us)
 {
     // calculate how long we have left
-    uint64_t now = AP_HAL::micros64();
+    rcout_timer_t now = rcout_micros();
     // if we have time left wait for the event
-    const uint64_t pulse_elapsed_us = now - group.last_dmar_send_us;
-    uint32_t wait_us = 0;
-    if (now < time_out_us) {
-        wait_us = time_out_us - now;
-    }
-    if (pulse_elapsed_us < group.dshot_pulse_send_time_us) {
-        // better to let the burst write in progress complete rather than cancelling mid way through
-        wait_us = MAX(wait_us, group.dshot_pulse_send_time_us - pulse_elapsed_us);
-    }
+
+    const rcout_timer_t pulse_remaining_us
+        = AP_HAL::timeout_remaining(group.last_dmar_send_us, now, group.dshot_pulse_send_time_us);
+    const rcout_timer_t timeout_remaining_us
+        = AP_HAL::timeout_remaining(cycle_start_us, now, timeout_period_us);
+    // better to let the burst write in progress complete rather than cancelling mid way through
+    rcout_timer_t wait_us = MAX(pulse_remaining_us, timeout_remaining_us);
 
     // waiting for a very short period of time can cause a
     // timer wrap with ChibiOS timers. Use CH_CFG_ST_TIMEDELTA
     // as minimum. Don't allow for a very long delay (over _dshot_period_us)
     // to prevent bugs in handling timer wrap
-    const uint32_t max_delay_us = output_period_us;
-    const uint32_t min_delay_us = 10; // matches our CH_CFG_ST_TIMEDELTA
+    const rcout_timer_t max_delay_us = output_period_us;
+    const rcout_timer_t min_delay_us = 10; // matches our CH_CFG_ST_TIMEDELTA
     wait_us = constrain_uint32(wait_us, min_delay_us, max_delay_us);
 
     return MIN(TIME_MAX_INTERVAL, chTimeUS2I(wait_us));
 }
 
 // release locks on the groups that are pending in reverse order
-void RCOutput::dshot_collect_dma_locks(uint64_t time_out_us, bool led_thread)
+void RCOutput::dshot_collect_dma_locks(rcout_timer_t cycle_start_us, rcout_timer_t timeout_period_us, bool led_thread)
 {
     if (NUM_GROUPS == 0) {
         return;
@@ -344,7 +341,7 @@ void RCOutput::dshot_collect_dma_locks(uint64_t time_out_us, bool led_thread)
         // dma handle will only be unlocked if the send was aborted
         if (group.dma_handle != nullptr && group.dma_handle->is_locked()) {
             // if we have time left wait for the event
-            const sysinterval_t wait_ticks = calc_ticks_remaining(group, time_out_us,
+            const sysinterval_t wait_ticks = calc_ticks_remaining(group, cycle_start_us, timeout_period_us,
                                                                   led_thread ? LED_OUTPUT_PERIOD_US : _dshot_period_us);
             const eventmask_t mask = chEvtWaitOneTimeout(group.dshot_event_mask, wait_ticks);
 
@@ -829,7 +826,7 @@ void RCOutput::push_local(void)
     if (widest_pulse > 2300) {
         widest_pulse = 2300;
     }
-    trigger_widest_pulse = widest_pulse;
+    trigger_widest_pulse = widest_pulse + 50;
 
     trigger_groupmask = need_trigger;
 
@@ -931,7 +928,7 @@ void RCOutput::print_group_setup_error(pwm_group &group, const char* error_strin
   This is used for both DShot and serial output
  */
 bool RCOutput::setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_width, bool active_high, const uint16_t buffer_length,
-                               uint32_t pulse_time_us, bool at_least_freq)
+                               rcout_timer_t pulse_time_us, bool at_least_freq)
 {
 #if HAL_DSHOT_ENABLED
     // for dshot we setup for DMAR based output
@@ -1362,15 +1359,17 @@ bool RCOutput::enable_px4io_sbus_out(uint16_t rate_hz)
 /*
   trigger output groups for oneshot or dshot modes
  */
-void RCOutput::trigger_groups(void)
+void RCOutput::trigger_groups()
 {
     if (!chMtxTryLock(&trigger_mutex)) {
         return;
     }
-    uint64_t now = AP_HAL::micros64();
-    if (now < min_pulse_trigger_us) {
+
+    rcout_timer_t now = rcout_micros();
+
+    if (!AP_HAL::timeout_expired(last_pulse_trigger_us, now, trigger_widest_pulse)) {
         // guarantee minimum pulse separation
-        hal.scheduler->delay_microseconds(min_pulse_trigger_us - now);
+        hal.scheduler->delay_microseconds(AP_HAL::timeout_remaining(last_pulse_trigger_us, now, trigger_widest_pulse));
     }
 
     osalSysLock();
@@ -1399,7 +1398,7 @@ void RCOutput::trigger_groups(void)
       calculate time that we are allowed to trigger next pulse
       to guarantee at least a 50us gap between pulses
     */
-    min_pulse_trigger_us = AP_HAL::micros64() + trigger_widest_pulse + 50;
+    last_pulse_trigger_us = rcout_micros();
 
     chMtxUnlock(&trigger_mutex);
 }
@@ -1408,20 +1407,17 @@ void RCOutput::trigger_groups(void)
   periodic timer. This is used for oneshot and dshot modes, plus for
   safety switch update. Runs every 1000us.
  */
-void RCOutput::timer_tick(uint64_t time_out_us)
+void RCOutput::timer_tick(rcout_timer_t cycle_start_us, rcout_timer_t timeout_period_us)
 {
     if (in_soft_serial()) {
         return;
     }
 
-    if (min_pulse_trigger_us == 0) {
+    if (last_pulse_trigger_us == 0) {
         return;
     }
 
-    uint64_t now = AP_HAL::micros64();
-
-    if (now > min_pulse_trigger_us &&
-        now - min_pulse_trigger_us > 4000) {
+    if (AP_HAL::timeout_expired(last_pulse_trigger_us, rcout_micros(), trigger_widest_pulse + 4000U)) {
         // trigger at a minimum of 250Hz
         trigger_groups();
     }
@@ -1430,7 +1426,7 @@ void RCOutput::timer_tick(uint64_t time_out_us)
 /*
   periodic timer called from led thread. This is used for LED output
  */
-void RCOutput::led_timer_tick(uint64_t time_out_us)
+void RCOutput::led_timer_tick(rcout_timer_t cycle_start_us, rcout_timer_t timeout_period_us)
 {
     if (in_soft_serial()) {
         return;
@@ -1444,12 +1440,12 @@ void RCOutput::led_timer_tick(uint64_t time_out_us)
         }
 
         // release locks on the groups that are pending in reverse order
-        dshot_collect_dma_locks(time_out_us, true);
+        dshot_collect_dma_locks(cycle_start_us, timeout_period_us, true);
     }
 }
 
 // send dshot for all groups that support it
-void RCOutput::dshot_send_groups(uint64_t time_out_us)
+void RCOutput::dshot_send_groups(rcout_timer_t cycle_start_us, rcout_timer_t timeout_period_us)
 {
 #if HAL_DSHOT_ENABLED
     if (in_soft_serial()) {
@@ -1472,13 +1468,13 @@ void RCOutput::dshot_send_groups(uint64_t time_out_us)
             pulse_sent = true;
         // actually do a dshot send
         } else if (group.can_send_dshot_pulse()) {
-            dshot_send(group, time_out_us);
+            dshot_send(group, cycle_start_us, timeout_period_us);
             pulse_sent = true;
         }
 #if defined(HAL_WITH_BIDIR_DSHOT) && defined(HAL_TIM_UP_SHARED)
         // prevent the next send going out until the previous send has released its DMA channel
         if (pulse_sent && group.shared_up_dma && group.bdshot.enabled) {
-            chEvtWaitOneTimeout(DSHOT_CASCADE, calc_ticks_remaining(group, time_out_us, _dshot_period_us));
+            chEvtWaitOneTimeout(DSHOT_CASCADE, calc_ticks_remaining(group, cycle_start_us, timeout_period_us, _dshot_period_us));
         }
 #else
         (void)pulse_sent;
@@ -1611,7 +1607,7 @@ void RCOutput::fill_DMA_buffer_dshot(dmar_uint_t *buffer, uint8_t stride, uint16
   This call be called in blocking mode from the timer, in which case it waits for the DMA lock.
   In normal operation it doesn't wait for the DMA lock.
  */
-void RCOutput::dshot_send(pwm_group &group, uint64_t time_out_us)
+void RCOutput::dshot_send(pwm_group &group, rcout_timer_t cycle_start_us, rcout_timer_t timeout_period_us)
 {
 #if HAL_DSHOT_ENABLED
     if (soft_serial_waiting() || !is_dshot_send_allowed(group.dshot_state)) {
@@ -1627,7 +1623,7 @@ void RCOutput::dshot_send(pwm_group &group, uint64_t time_out_us)
     // if we are sharing UP channels then it might have taken a long time to get here,
     // if there's not enough time to actually send a pulse then cancel
 #if AP_HAL_SHARED_DMA_ENABLED
-    if (AP_HAL::micros64() + group.dshot_pulse_time_us > time_out_us) {
+    if (AP_HAL::timeout_remaining(cycle_start_us, rcout_micros(), timeout_period_us) < group.dshot_pulse_time_us) {
         group.dma_handle->unlock();
         return;
     }
@@ -1820,7 +1816,7 @@ void RCOutput::send_pulses_DMAR(pwm_group &group, uint32_t buffer_length)
 
     dmaStreamEnable(group.dma);
     // record when the transaction was started
-    group.last_dmar_send_us = AP_HAL::micros64();
+    group.last_dmar_send_us = rcout_micros();
 #endif // HAL_DSHOT_ENABLED
 }
 
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.h b/libraries/AP_HAL_ChibiOS/RCOutput.h
index 8fbfa6615b81f2..3dc76d6f043266 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.h
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.h
@@ -38,6 +38,14 @@ typedef uint32_t dmar_uint_t;
 typedef int32_t dmar_int_t;
 #endif
 
+#ifdef AP_RCOUT_USE_32BIT_TIME
+typedef uint32_t rcout_timer_t;
+#define rcout_micros() AP_HAL::micros()
+#else
+typedef uint64_t rcout_timer_t;
+#define rcout_micros() AP_HAL::micros64()
+#endif
+
 #define RCOU_DSHOT_TIMING_DEBUG 0
 
 class ChibiOS::RCOutput : public AP_HAL::RCOutput
@@ -104,12 +112,12 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
     /*
       timer push (for oneshot min rate)
      */
-    void timer_tick(uint64_t last_run_us);
+    void timer_tick(rcout_timer_t cycle_start_us, rcout_timer_t timeout_period_us);
 
     /*
       LED push
      */
-    void led_timer_tick(uint64_t last_run_us);
+    void led_timer_tick(rcout_timer_t cycle_start_us, rcout_timer_t timeout_period_us);
 
 #if defined(IOMCU_FW) && HAL_DSHOT_ENABLED
     void timer_tick() override;
@@ -355,9 +363,9 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
         uint32_t bit_width_mul;
         uint32_t rc_frequency;
         bool in_serial_dma;
-        uint64_t last_dmar_send_us;
-        uint64_t dshot_pulse_time_us;
-        uint64_t dshot_pulse_send_time_us;
+        rcout_timer_t last_dmar_send_us;
+        rcout_timer_t dshot_pulse_time_us;
+        rcout_timer_t dshot_pulse_send_time_us;
         virtual_timer_t dma_timeout;
 #if HAL_SERIALLED_ENABLED
         // serial LED support
@@ -406,7 +414,7 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
 #if RCOU_DSHOT_TIMING_DEBUG
             uint16_t telem_rate[4];
             uint16_t telem_err_rate[4];
-            uint64_t last_print;  // debug
+            rcout_timer_t last_print;  // debug
 #endif
         } bdshot;
 
@@ -564,7 +572,7 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
     } _bdshot;
 
     // dshot period
-    uint32_t _dshot_period_us = 400;
+    rcout_timer_t _dshot_period_us = 400;
     // dshot rate as a multiple of loop rate or 0 for 1Khz
     uint8_t _dshot_rate;
     // dshot periods since the last push()
@@ -605,8 +613,8 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
     // mask of active ESCs
     uint32_t _active_escs_mask;
 
-    // min time to trigger next pulse to prevent overlap
-    uint64_t min_pulse_trigger_us;
+    // last time pulse was triggererd used to prevent overlap
+    rcout_timer_t last_pulse_trigger_us;
 
     // mutex for oneshot triggering
     mutex_t trigger_mutex;
@@ -687,20 +695,20 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
     static const eventmask_t EVT_PWM_SEND  = EVENT_MASK(11);
     static const eventmask_t EVT_PWM_SYNTHETIC_SEND  = EVENT_MASK(13);
 
-    void dshot_send_groups(uint64_t time_out_us);
-    void dshot_send(pwm_group &group, uint64_t time_out_us);
+    void dshot_send_groups(rcout_timer_t cycle_start_us, rcout_timer_t timeout_us);
+    void dshot_send(pwm_group &group, rcout_timer_t cycle_start_us, rcout_timer_t timeout_us);
     bool dshot_send_command(pwm_group &group, uint8_t command, uint8_t chan);
     static void dshot_update_tick(virtual_timer_t*, void* p);
     static void dshot_send_next_group(void* p);
     // release locks on the groups that are pending in reverse order
-    sysinterval_t calc_ticks_remaining(pwm_group &group, uint64_t time_out_us, uint32_t output_period_us);
-    void dshot_collect_dma_locks(uint64_t last_run_us, bool led_thread = false);
+    sysinterval_t calc_ticks_remaining(pwm_group &group, rcout_timer_t cycle_start_us, rcout_timer_t timeout_period_us, rcout_timer_t output_period_us);
+    void dshot_collect_dma_locks(rcout_timer_t cycle_start_us, rcout_timer_t timeout_period_us, bool led_thread = false);
     static void dma_up_irq_callback(void *p, uint32_t flags);
     static void dma_unlock(virtual_timer_t*, void *p);
     void dma_cancel(pwm_group& group);
     bool mode_requires_dma(enum output_mode mode) const;
     bool setup_group_DMA(pwm_group &group, uint32_t bitrate, uint32_t bit_width, bool active_high,
-                         const uint16_t buffer_length, uint32_t pulse_time_us,
+                         const uint16_t buffer_length, rcout_timer_t pulse_time_us,
                          bool at_least_freq);
     void send_pulses_DMAR(pwm_group &group, uint32_t buffer_length);
     void set_group_mode(pwm_group &group);
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
index d8fd73fc8f7529..89c25c026f746c 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
@@ -576,7 +576,7 @@ bool RCOutput::bdshot_decode_dshot_telemetry(pwm_group& group, uint8_t chan)
 #endif
     }
 #if !defined(IOMCU_FW)
-    uint64_t now = AP_HAL::micros64();
+    rcout_timer_t now = rcout_micros();
     if (chan == DEBUG_CHANNEL && (now  - group.bdshot.last_print) > 1000000) {
         hal.console->printf("TELEM: %d <%d Hz, %.1f%% err>", group.bdshot.erpm[chan], group.bdshot.telem_rate[chan],
             100.0f * float(group.bdshot.telem_err_rate[chan]) / (group.bdshot.telem_err_rate[chan] + group.bdshot.telem_rate[chan]));
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
index c8d535dc5b4559..70959c03e433b3 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_iofirmware.cpp
@@ -75,15 +75,17 @@ void RCOutput::rcout_thread() {
     rcout_thread_ctx = chThdGetSelfX();
     chRegSetThreadNameX(rcout_thread_ctx, rcout_thread_name);
 
-    uint64_t last_cycle_run_us = 0;
+    rcout_timer_t last_cycle_run_us = 0;
 
     while (true) {
         chEvtWaitOne(EVT_PWM_SEND | EVT_PWM_SYNTHETIC_SEND);
+
         // start the clock
-        const uint64_t last_thread_run_us = AP_HAL::micros64();
+        const rcout_timer_t last_thread_run_us = rcout_micros();
+
         // this is when the cycle is supposed to start
         if (_dshot_cycle == 0) {
-            last_cycle_run_us = AP_HAL::micros64();
+            last_cycle_run_us = rcout_micros();
             // register a timer for the next tick if push() will not be providing it
             if (_dshot_rate != 1) {
                 chVTSet(&_dshot_rate_timer, chTimeUS2I(_dshot_period_us), dshot_update_tick, this);
@@ -92,10 +94,9 @@ void RCOutput::rcout_thread() {
 
         // if DMA sharing is in effect there can be quite a delay between the request to begin the cycle and
         // actually sending out data - thus we need to work out how much time we have left to collect the locks
-        uint64_t time_out_us = (_dshot_cycle + 1) * _dshot_period_us + last_cycle_run_us;
-        if (!_dshot_rate) {
-            time_out_us = last_thread_run_us + _dshot_period_us;
-        }
+        const rcout_timer_t timeout_period_us = _dshot_rate ? (_dshot_cycle + 1) * _dshot_period_us : _dshot_period_us;
+        // timeout is measured from the beginning of the push() that initiated it to preserve periodicity
+        const rcout_timer_t cycle_start_us = _dshot_rate ? last_cycle_run_us : last_thread_run_us;
 
         // DMA channel sharing on F10x is complicated. The allocations are
         // TIM2_UP  - (1,2)
@@ -124,9 +125,9 @@ void RCOutput::rcout_thread() {
         // TIM4_CH3 - unlock
         // TIM4_UP  - unlock
 
-        dshot_send_groups(time_out_us);
+        dshot_send_groups(cycle_start_us, timeout_period_us);
 #if AP_HAL_SHARED_DMA_ENABLED
-        dshot_collect_dma_locks(time_out_us);
+        dshot_collect_dma_locks(cycle_start_us, timeout_period_us);
 #endif
         if (_dshot_rate > 0) {
             _dshot_cycle = (_dshot_cycle + 1) % _dshot_rate;

From deb8d5a92d355ee45e67781585a39a843a6f8439 Mon Sep 17 00:00:00 2001
From: olliw42 <waldmanns@gmx.de>
Date: Wed, 28 Feb 2024 07:10:23 +0100
Subject: [PATCH 1332/1335] modules/mavlink: update to @b1fa2e39

---
 modules/mavlink | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/mavlink b/modules/mavlink
index 76a2c501fcbacc..b1fa2e39de9490 160000
--- a/modules/mavlink
+++ b/modules/mavlink
@@ -1 +1 @@
-Subproject commit 76a2c501fcbaccd833c8cb7eaa8389e26a9667a0
+Subproject commit b1fa2e39de949029f367ce9cc7eed5ef851d2167

From bae88512bf2ec8af8f2d0945e3fe11ae14ce752e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 28 Feb 2024 16:38:40 +1100
Subject: [PATCH 1333/1335] autotest: remove pointless try/except in SMART_RTL
 test

---
 Tools/autotest/arducopter.py | 53 +++++++++++++-----------------------
 1 file changed, 19 insertions(+), 34 deletions(-)

diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 043323a1f6d455..d8dd4b23156834 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -9024,41 +9024,26 @@ def PositionWhenGPSIsZero(self):
 
     def SMART_RTL(self):
         '''Check SMART_RTL'''
-        self.context_push()
-        ex = None
-        try:
-            self.progress("arm the vehicle and takeoff in Guided")
-            self.takeoff(20, mode='GUIDED')
-            self.progress("fly around a bit (or whatever)")
-            locs = [
-                (50, 0, 20),
-                (-50, 50, 20),
-                (-50, 0, 20),
-            ]
-            for (lat, lng, alt) in locs:
-                self.fly_guided_move_local(lat, lng, alt)
-
-            self.change_mode('SMART_RTL')
-            for (lat, lng, alt) in reversed(locs):
-                self.wait_distance_to_local_position(
-                    (lat, lng, -alt),
-                    0,
-                    10,
-                    timeout=60
-                )
-            self.wait_disarmed()
-
-        except Exception as e:
-            self.print_exception_caught(e)
-            ex = e
-            self.disarm_vehicle(force=True)
-
-        self.context_pop()
-
-        self.reboot_sitl()
+        self.progress("arm the vehicle and takeoff in Guided")
+        self.takeoff(20, mode='GUIDED')
+        self.progress("fly around a bit (or whatever)")
+        locs = [
+            (50, 0, 20),
+            (-50, 50, 20),
+            (-50, 0, 20),
+        ]
+        for (lat, lng, alt) in locs:
+            self.fly_guided_move_local(lat, lng, alt)
 
-        if ex is not None:
-            raise ex
+        self.change_mode('SMART_RTL')
+        for (lat, lng, alt) in reversed(locs):
+            self.wait_distance_to_local_position(
+                (lat, lng, -alt),
+                0,
+                10,
+                timeout=60
+            )
+        self.wait_disarmed()
 
     def get_ground_effect_duration_from_current_onboard_log(self, bit, ignore_multi=False):
         '''returns a duration in seconds we were expecting to interact with

From 8555a5ddbec169ebc92e4fb38fea51af04140bd7 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 26 Feb 2024 12:52:56 +1100
Subject: [PATCH 1334/1335] AP_Logger: rename AP_Logger_DataFlash to
 AP_Logger_Flash_JEDEC

---
 .../{AP_Logger_DataFlash.cpp => AP_Logger_Flash_JEDEC.cpp}        | 0
 .../AP_Logger/{AP_Logger_DataFlash.h => AP_Logger_Flash_JEDEC.h}  | 0
 2 files changed, 0 insertions(+), 0 deletions(-)
 rename libraries/AP_Logger/{AP_Logger_DataFlash.cpp => AP_Logger_Flash_JEDEC.cpp} (100%)
 rename libraries/AP_Logger/{AP_Logger_DataFlash.h => AP_Logger_Flash_JEDEC.h} (100%)

diff --git a/libraries/AP_Logger/AP_Logger_DataFlash.cpp b/libraries/AP_Logger/AP_Logger_Flash_JEDEC.cpp
similarity index 100%
rename from libraries/AP_Logger/AP_Logger_DataFlash.cpp
rename to libraries/AP_Logger/AP_Logger_Flash_JEDEC.cpp
diff --git a/libraries/AP_Logger/AP_Logger_DataFlash.h b/libraries/AP_Logger/AP_Logger_Flash_JEDEC.h
similarity index 100%
rename from libraries/AP_Logger/AP_Logger_DataFlash.h
rename to libraries/AP_Logger/AP_Logger_Flash_JEDEC.h

From 6f4ab028ca468dc2f786a05bd6c194109b29e84f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 26 Feb 2024 12:55:44 +1100
Subject: [PATCH 1335/1335] AP_Logger: cope with rename of AP_Logger_JEDEC
 driver

---
 libraries/AP_Logger/AP_Logger.cpp             |  4 +--
 libraries/AP_Logger/AP_Logger_Flash_JEDEC.cpp | 30 +++++++++----------
 libraries/AP_Logger/AP_Logger_Flash_JEDEC.h   |  6 ++--
 3 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/libraries/AP_Logger/AP_Logger.cpp b/libraries/AP_Logger/AP_Logger.cpp
index 5477e5b7516afe..b004284b89a72e 100644
--- a/libraries/AP_Logger/AP_Logger.cpp
+++ b/libraries/AP_Logger/AP_Logger.cpp
@@ -5,7 +5,7 @@
 #include "AP_Logger_Backend.h"
 
 #include "AP_Logger_File.h"
-#include "AP_Logger_DataFlash.h"
+#include "AP_Logger_Flash_JEDEC.h"
 #include "AP_Logger_W25N01GV.h"
 #include "AP_Logger_MAVLink.h"
 
@@ -36,7 +36,7 @@ extern const AP_HAL::HAL& hal;
 #endif
 
 #ifndef HAL_LOGGING_DATAFLASH_DRIVER
-#define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_DataFlash
+#define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_Flash_JEDEC
 #endif
 
 #ifndef HAL_LOGGING_STACK_SIZE
diff --git a/libraries/AP_Logger/AP_Logger_Flash_JEDEC.cpp b/libraries/AP_Logger/AP_Logger_Flash_JEDEC.cpp
index 338ef88c910eeb..e40eab78820796 100644
--- a/libraries/AP_Logger/AP_Logger_Flash_JEDEC.cpp
+++ b/libraries/AP_Logger/AP_Logger_Flash_JEDEC.cpp
@@ -8,7 +8,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#include "AP_Logger_DataFlash.h"
+#include "AP_Logger_Flash_JEDEC.h"
 
 #include <stdio.h>
 
@@ -57,7 +57,7 @@ extern const AP_HAL::HAL& hal;
 #define JEDEC_ID_WINBOND_W25Q128_2     0xEF7018
 #define JEDEC_ID_CYPRESS_S25FL128L     0x016018
 
-void AP_Logger_DataFlash::Init()
+void AP_Logger_Flash_JEDEC::Init()
 {
     dev = hal.spi->get_device("dataflash");
     if (!dev) {
@@ -86,7 +86,7 @@ void AP_Logger_DataFlash::Init()
 /*
   wait for busy flag to be cleared
  */
-void AP_Logger_DataFlash::WaitReady()
+void AP_Logger_Flash_JEDEC::WaitReady()
 {
     if (flash_died) {
         return;
@@ -103,7 +103,7 @@ void AP_Logger_DataFlash::WaitReady()
     }
 }
 
-bool AP_Logger_DataFlash::getSectorCount(void)
+bool AP_Logger_Flash_JEDEC::getSectorCount(void)
 {
     WaitReady();
 
@@ -171,7 +171,7 @@ bool AP_Logger_DataFlash::getSectorCount(void)
 }
 
 // Read the status register
-uint8_t AP_Logger_DataFlash::ReadStatusReg()
+uint8_t AP_Logger_Flash_JEDEC::ReadStatusReg()
 {
     WITH_SEMAPHORE(dev_sem);
     uint8_t cmd = JEDEC_READ_STATUS;
@@ -180,12 +180,12 @@ uint8_t AP_Logger_DataFlash::ReadStatusReg()
     return status;
 }
 
-bool AP_Logger_DataFlash::Busy()
+bool AP_Logger_Flash_JEDEC::Busy()
 {
     return (ReadStatusReg() & (JEDEC_STATUS_BUSY | JEDEC_STATUS_SRP0)) != 0;
 }
 
-void AP_Logger_DataFlash::Enter4ByteAddressMode(void)
+void AP_Logger_Flash_JEDEC::Enter4ByteAddressMode(void)
 {
     WITH_SEMAPHORE(dev_sem);
 
@@ -196,7 +196,7 @@ void AP_Logger_DataFlash::Enter4ByteAddressMode(void)
 /*
   send a command with an address
 */
-void AP_Logger_DataFlash::send_command_addr(uint8_t command, uint32_t PageAdr)
+void AP_Logger_Flash_JEDEC::send_command_addr(uint8_t command, uint32_t PageAdr)
 {
     uint8_t cmd[5];
     cmd[0] = command;
@@ -215,7 +215,7 @@ void AP_Logger_DataFlash::send_command_addr(uint8_t command, uint32_t PageAdr)
 }
 
 
-void AP_Logger_DataFlash::PageToBuffer(uint32_t pageNum)
+void AP_Logger_Flash_JEDEC::PageToBuffer(uint32_t pageNum)
 {
     if (pageNum == 0 || pageNum > df_NumPages+1) {
         printf("Invalid page read %u\n", pageNum);
@@ -244,7 +244,7 @@ void AP_Logger_DataFlash::PageToBuffer(uint32_t pageNum)
     read_cache_valid = true;
 }
 
-void AP_Logger_DataFlash::BufferToPage(uint32_t pageNum)
+void AP_Logger_Flash_JEDEC::BufferToPage(uint32_t pageNum)
 {
     if (pageNum == 0 || pageNum > df_NumPages+1) {
         printf("Invalid page write %u\n", pageNum);
@@ -271,7 +271,7 @@ void AP_Logger_DataFlash::BufferToPage(uint32_t pageNum)
 /*
   erase one sector (sizes varies with hw)
 */
-void AP_Logger_DataFlash::SectorErase(uint32_t blockNum)
+void AP_Logger_Flash_JEDEC::SectorErase(uint32_t blockNum)
 {
     WriteEnable();
 
@@ -284,7 +284,7 @@ void AP_Logger_DataFlash::SectorErase(uint32_t blockNum)
 /*
   erase one 4k sector
 */
-void AP_Logger_DataFlash::Sector4kErase(uint32_t sectorNum)
+void AP_Logger_Flash_JEDEC::Sector4kErase(uint32_t sectorNum)
 {
     WriteEnable();
 
@@ -293,7 +293,7 @@ void AP_Logger_DataFlash::Sector4kErase(uint32_t sectorNum)
     send_command_addr(JEDEC_SECTOR4_ERASE, SectorAddr);
 }
 
-void AP_Logger_DataFlash::StartErase()
+void AP_Logger_Flash_JEDEC::StartErase()
 {
     WriteEnable();
 
@@ -306,7 +306,7 @@ void AP_Logger_DataFlash::StartErase()
     printf("Dataflash: erase started\n");
 }
 
-bool AP_Logger_DataFlash::InErase()
+bool AP_Logger_Flash_JEDEC::InErase()
 {
     if (erase_start_ms && !Busy()) {
         printf("Dataflash: erase done (%u ms)\n", AP_HAL::millis() - erase_start_ms);
@@ -315,7 +315,7 @@ bool AP_Logger_DataFlash::InErase()
     return erase_start_ms != 0;
 }
 
-void AP_Logger_DataFlash::WriteEnable(void)
+void AP_Logger_Flash_JEDEC::WriteEnable(void)
 {
     WaitReady();
     WITH_SEMAPHORE(dev_sem);
diff --git a/libraries/AP_Logger/AP_Logger_Flash_JEDEC.h b/libraries/AP_Logger/AP_Logger_Flash_JEDEC.h
index 6bc933ec93120e..43c0b37665d73d 100644
--- a/libraries/AP_Logger/AP_Logger_Flash_JEDEC.h
+++ b/libraries/AP_Logger/AP_Logger_Flash_JEDEC.h
@@ -9,13 +9,13 @@
 
 #if HAL_LOGGING_DATAFLASH_ENABLED
 
-class AP_Logger_DataFlash : public AP_Logger_Block {
+class AP_Logger_Flash_JEDEC : public AP_Logger_Block {
 public:
-    AP_Logger_DataFlash(AP_Logger &front, LoggerMessageWriter_DFLogStart *writer) :
+    AP_Logger_Flash_JEDEC(AP_Logger &front, LoggerMessageWriter_DFLogStart *writer) :
         AP_Logger_Block(front, writer) {}
     static AP_Logger_Backend  *probe(AP_Logger &front,
                                      LoggerMessageWriter_DFLogStart *ls) {
-        return new AP_Logger_DataFlash(front, ls);
+        return new AP_Logger_Flash_JEDEC(front, ls);
     }
     void              Init(void) override;
     bool              CardInserted() const override { return !flash_died && df_NumPages > 0; }