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Port upstream safety and reliability fixes #13

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Merged
Rouniy merged 17 commits into from
Aug 24, 2026
Merged

Port upstream safety and reliability fixes #13

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95e4061
fix: preserve relative altitude for guided targets
Rouniy Aug 24, 2026
2e20891
fix: bound serial port enumeration
Rouniy Aug 24, 2026
8ca81b7
fix: decode MAVFTP directory entries safely
Rouniy Aug 24, 2026
099cfad
fix: reuse HTTP clients and dispose responses
Rouniy Aug 24, 2026
a781f59
fix: use modern guided movement commands
Rouniy Aug 24, 2026
4a1c8df
fix: manage camera and gimbal message rates
Rouniy Aug 24, 2026
8ee709e
fix: stop acknowledging mission upload acknowledgements
Rouniy Aug 24, 2026
cccfa41
fix: make proximity snapshots thread-safe
Rouniy Aug 24, 2026
a2708f3
fix: harden MJPEG multipart parsing
Rouniy Aug 24, 2026
e1e2193
fix: detect active Septentrio output ports
Rouniy Aug 24, 2026
c4485eb
fix: surface compass calibration failure reasons
Rouniy Aug 24, 2026
3e71e7a
fix: ignore stale prearm failure messages
Rouniy Aug 24, 2026
73c25e2
fix: report Windows-blocked plugins before load
Rouniy Aug 24, 2026
e72582f
fix: make MAVLink log downloads recover reliably
Rouniy Aug 24, 2026
f88d92f
fix: preserve MAVLink signing keys across adapters
Rouniy Aug 24, 2026
4eea5e7
cleanup: remove obsolete EXIF source project
Rouniy Aug 24, 2026
f37bf8b
docs: record upstream safety and issue audit
Rouniy Aug 24, 2026
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35 changes: 21 additions & 14 deletions ExtLibs/ArduPilot/CurrentState.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -181,6 +181,8 @@ public bool prearmstatus
get => connected && (sensors_health.prearm || !sensors_enabled.prearm);
}

private readonly PrearmFailureTracker _prearmFailureTracker = new PrearmFailureTracker();

private bool useLocation;

/// <summary>
Expand Down Expand Up @@ -1274,10 +1276,10 @@ public string messageHigh
if (value == null || value == "")
return;
// check against get
_messageHighTime = DateTime.Now;
if (messageHigh == value)
return;
log.Info("messageHigh " + value);
_messageHighTime = DateTime.Now;
_messagehigh = value;
messageHighSeverity = MAVLink.MAV_SEVERITY.EMERGENCY;
}
Expand Down Expand Up @@ -2967,16 +2969,17 @@ private void Parent_OnPacketReceived(object sender, MAVLink.MAVLinkMessage mavLi

safetyactive = !sensors_enabled.motor_control;

string latestPrearmFailure = _prearmFailureTracker.Update(
sensors_health.prearm,
sensors_enabled.prearm,
sensors_present.prearm,
messages,
DateTime.Now);

if (errors_count1 > 0 || errors_count2 > 0)
{
messageHigh = "InternalError 0x" + (errors_count1 + (errors_count2 << 16)).ToString("X");
}

if (!sensors_health.prearm && sensors_enabled.prearm && sensors_present.prearm)
{
messageHigh = messages.LastOrDefault(a => a.message.ToLower().Contains("prearm")).message
?.ToString();
}
else if (!sensors_health.gps && sensors_enabled.gps && sensors_present.gps)
{
messageHigh = Strings.BadGPSHealth;
Expand Down Expand Up @@ -3053,6 +3056,10 @@ private void Parent_OnPacketReceived(object sender, MAVLink.MAVLinkMessage mavLi
{
messageHigh = Strings.BadAirspeed;
}
else if (!string.IsNullOrEmpty(latestPrearmFailure))
{
messageHigh = latestPrearmFailure;
}
}

break;
Expand Down Expand Up @@ -4056,11 +4063,11 @@ private void Parent_OnPacketReceived(object sender, MAVLink.MAVLinkMessage mavLi
case (uint)MAVLink.MAVLINK_MSG_ID.HIGHRES_IMU:
{
const ushort HIGHRES_IMU_UPDATED_XACC = 0x01;
const ushort HIGHRES_IMU_UPDATED_XGYRO = 0x08;
const ushort HIGHRES_IMU_UPDATED_XMAG = 0x40;
const ushort HIGHRES_IMU_UPDATED_ABS_PRESSURE = 0x200;
const ushort HIGHRES_IMU_UPDATED_PRESSURE_ALT = 0x800;
const ushort HIGHRES_IMU_UPDATED_TEMPERATURE = 0x1000;
const ushort HIGHRES_IMU_UPDATED_XGYRO = 0x08;
const ushort HIGHRES_IMU_UPDATED_XMAG = 0x40;
const ushort HIGHRES_IMU_UPDATED_ABS_PRESSURE = 0x200;
const ushort HIGHRES_IMU_UPDATED_PRESSURE_ALT = 0x800;
const ushort HIGHRES_IMU_UPDATED_TEMPERATURE = 0x1000;

var imu = mavLinkMessage.ToStructure<MAVLink.mavlink_highres_imu_t>();
if (imu.id == 0)
Expand Down Expand Up @@ -4643,8 +4650,8 @@ public void UpdateCurrentSettings(Action<CurrentState> bs, bool updatenow,
mavinterface.requestDatastream(MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MAV.cs.raterc,
MAV.sysid,
MAV.compid); // request rc info
MAV.Camera?.RequestMessageIntervals(MAV.cs.ratestatus); // use ratestatus until we create a new setting for this
MAV.GimbalManager?.Discover();
// Use ratestatus until camera-specific configuration is available.
MAV.Camera?.UpdateRateIfChanged(MAV.cs.ratestatus);
}
catch
{
Expand Down
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