ArduPilot: 4.7.0-beta3 release - #32733
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Please add in #32598 too, I somehow forgot to tag it for backport but it links up with the EKF changes. |
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Done. |
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All EAHRS plane tests (VectorNav, MicroStrain5, MicroStrain7, InertialLabs) used identical per-test ap1.txt mission files (SHA256 0289f48fb154...). Replace them with a single Generic_Missions/externalahrs.txt and add a fly_generic_mission() helper to arduplane.py that loads from that directory. fly_external_AHRS() no longer takes a mission argument. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
It works in two modes: IMU (external sensor for EKF3) or INS (performs sensor fusion instead of EKF3). The parser for incoming binary serial data is a separate class, for testability. Includes unittest for the parser. # Conflicts: # libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp # libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
So we can reuse it from AP_External/AP_ExternalAHRS_SensAItion_Parser.
- One test in IMU mode and one in INS mode. - Also add build option to enable SensAItion as External AHRS - Also adapt to updated AHRS_OPTIONS definition
this allows for fence altitudes to be above ground level, absolute, origin or above home (the default and current behaviour)
add accessors for max alt frame pre-arm check for terrain frames only enable terrain checks if terrain is available introduce get_relative_safe_alt_max_m and get_relative_safe_alt_min_m methods dummy implementation of terrain_database_required
make home and origin different heights in MaxAltFence add tests for fence alt _TP parameters Co-authored-by: <pbarker@barker.dropbear.id.au>
Add get_safe_alt_max_m_and_frame() and get_safe_alt_min_m_and_frame() which return both the safe altitude and its reference frame via output parameters, for use by scripting bindings.
Update get_safe_alt_min and get_safe_alt_max bindings to also return the altitude frame as a second return value. Existing callers are not broken as Lua silently discards extra return values.
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Could you update the mavlink reference to the latest ardupilot master (or something close)?
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I brought in the 2nd most recent commit, which is what is referenced by ArduPilot/mavlink#497. |
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Summary
PR for the 4.7.0-beta3 PR.
Classification & Testing (check all that apply and add your own)
Description
This is the ArduPilot 4.7.0-beta2 release and includes all the PRs in the 4.7 Backport project's "4.7.0-beta3" column.
It would be great if the devs involved could check that they are happy with the ReleaseNotes.txt