Merge pull request #307 from Auterion/upstream-merge-2025-05-20

Upstream merge 2025-05-20

Author: sfuhrer

.github/workflows/test_and_deploy.yml

@@ -18,7 +18,7 @@ permissions:
 jobs:
   format:
     name: Formatting check
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2
         with:
@@ -32,7 +32,7 @@ jobs:
 
   python-tests:
     name: Python ${{ matrix.python-version }} tests
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
@@ -75,7 +75,7 @@ jobs:
 
   node-tests:
     name: Node ${{ matrix.node-version }} test
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
@@ -101,7 +101,7 @@ jobs:
   deploy:
     name: Generate and push C headers
     needs: [format, python-tests, node-tests]
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     if: github.ref == 'refs/heads/master'
     env:
       GH_TOKEN: ${{ secrets.GH_TOKEN }}

doc/mavlink_xml_to_markdown.py

@@ -696,15 +696,15 @@ class MAVEnumEntry(object):
     def __init__(self, soup, basename):
         # name, value, description='', end_marker=False, autovalue=False, origin_file='', origin_line=0, has_location=False
         self.name = soup['name']
-        self.value = int(soup.get('value')) if soup.get('value') else print(
+        self.value = int(soup.get('value'), base = 0) if soup.get('value') else print(
             f"TODO MISSING VALUE in MAVEnumEntry: {self.name}")
         self.basename = basename
-        self.description = soup.findChild('description', recursive=False)
+        self.description = soup.find('description', recursive=False)
         self.description = self.description.text if self.description else None
-        self.deprecated = soup.findChild('deprecated', recursive=False)
+        self.deprecated = soup.find('deprecated', recursive=False)
         self.deprecated = MAVDeprecated(
             self.deprecated) if self.deprecated else None
-        self.wip = soup.findChild('wip', recursive=False)
+        self.wip = soup.find('wip', recursive=False)
         self.wip = MAVWip(self.wip) if self.wip else None
         # self.autovalue = autovalue  # True if value was *not* specified in XML
 
@@ -741,16 +741,16 @@ def __init__(self, soup, basename):
                 print(
                     f"Debug: MAVEnum: Unexpected attribute: {attr}, Value: {value}")
 
-        self.description = soup.findChild('description', recursive=False)
+        self.description = soup.find('description', recursive=False)
         self.description = tidyDescription(
             self.description.text) if self.description else None
-        self.deprecated = soup.findChild('deprecated', recursive=False)
+        self.deprecated = soup.find('deprecated', recursive=False)
         self.deprecated = MAVDeprecated(
             self.deprecated) if self.deprecated else None
         if self.basename == 'development':
             self.wip = MAVWip()
         else:
-            self.wip = soup.findChild('wip', recursive=False)
+            self.wip = soup.find('wip', recursive=False)
             self.wip = MAVWip(self.wip) if self.wip else None
         self.bitmask = soup.get('bitmask')
         enumEntries = soup.find_all('entry')
@@ -890,13 +890,13 @@ def __init__(self, soup, basename):
         self.description = soup.description.text if soup.description else None
         if self.description:
             self.description = tidyDescription(self.description)
-        self.deprecated = soup.findChild('deprecated', recursive=False)
+        self.deprecated = soup.find('deprecated', recursive=False)
         self.deprecated = MAVDeprecated(
             self.deprecated) if self.deprecated else None
         if self.basename == 'development':
             self.wip = MAVWip()
         else:
-            self.wip = soup.findChild('wip', recursive=False)
+            self.wip = soup.find('wip', recursive=False)
             self.wip = MAVWip(self.wip) if self.wip else None
         # self.autovalue = autovalue  # True if value was *not* specified in XML
         self.param_fieldnames = set()

message_definitions/v1.0/all.xml

@@ -71,5 +71,19 @@
     messages: 52500 - 52599 (< 60000)
     commands: 52500 - 52599 (< 60000)
   -->
+  <enums>
+    <!-- The MAV_CMD enum entries describe either: -->
+    <!--  * the data payload of mission items (as used in the MISSION_ITEM_INT message) -->
+    <!--  * the data payload of mavlink commands (as used in the COMMAND_INT and COMMAND_LONG messages) -->
+    <!-- ALL the entries in the MAV_CMD enum have a maximum of 7 parameters -->
+    <enum name="MAV_CMD">
+      <description>Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. NaN and INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current yaw or latitude rather than a specific value). See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries</description>
+      <entry value="393" name="MAV_CMD_DUMMY_ALL" hasLocation="false" isDestination="false">
+        <wip/>
+        <description>Dummy/temporary MAV_CMD that causes all.xml to correctly import all commands from both ardupilotmega.xml and development.xml (otherwise only one is imported, for the reasons given in https://github.com/ArduPilot/pymavlink/pull/544#discussion_r2069976980).
+          It not be used, and will be removed when the toolchain is fixed.</description>
+      </entry>
+    </enum>
+  </enums>
   <messages/>
 </mavlink>

message_definitions/v1.0/ardupilotmega.xml

@@ -417,7 +417,7 @@
       </entry>
     </enum>
     <!-- RALLY flags - power of 2 (1,2,4,8,16,32,64,128) so we can send as a bitfield -->
-    <enum name="RALLY_FLAGS" bitmask="true">
+    <enum name="RALLY_FLAGS">
       <description>Flags in RALLY_POINT message.</description>
       <entry value="1" name="FAVORABLE_WIND">
         <description>Flag set when requiring favorable winds for landing.</description>

message_definitions/v1.0/common.xml

@@ -1063,6 +1063,15 @@
         <description>Erase all mission data stored on the vehicle (both persistent and volatile storage)</description>
       </entry>
     </enum>
+    <enum name="REBOOT_SHUTDOWN_CONDITIONS">
+      <description>Specifies the conditions under which the MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN command should be accepted.</description>
+      <entry value="0" name="REBOOT_SHUTDOWN_CONDITIONS_SAFETY_INTERLOCKED">
+        <description>Reboot/Shutdown only if allowed by safety checks, such as being landed.</description>
+      </entry>
+      <entry value="20190226" name="REBOOT_SHUTDOWN_CONDITIONS_FORCE">
+        <description>Force reboot/shutdown of the autopilot/component regardless of system state.</description>
+      </entry>
+    </enum>
     <!-- The MAV_CMD enum entries describe either: -->
     <!--  * the data payload of mission items (as used in the MISSION_ITEM_INT message) -->
     <!--  * the data payload of mavlink commands (as used in the COMMAND_INT and COMMAND_LONG messages) -->
@@ -1564,7 +1573,7 @@
         <param index="1" label="Speed" units="m/s" minValue="-1">Ground speed, less than 0 (-1) for default</param>
         <param index="2" label="Bitmask" enum="MAV_DO_REPOSITION_FLAGS">Bitmask of option flags.</param>
         <param index="3" label="Radius" units="m">Loiter radius for planes. Positive values only, direction is controlled by Yaw value. A value of zero or NaN is ignored. </param>
-        <param index="4" label="Yaw" units="deg">Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)</param>
+        <param index="4" label="Yaw" units="rad">Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)</param>
         <param index="5" label="Latitude">Latitude</param>
         <param index="6" label="Longitude">Longitude</param>
         <param index="7" label="Altitude" units="m">Altitude</param>
@@ -1908,7 +1917,7 @@
         <param index="3" label="Component action" minValue="0" maxValue="3" increment="1">0: Do nothing for component, 1: Reboot component, 2: Shutdown component, 3: Reboot component and keep it in the bootloader until upgraded</param>
         <param index="4" label="Component ID" minValue="0" maxValue="255" increment="1">MAVLink Component ID targeted in param3 (0 for all components).</param>
         <param index="5">Reserved (set to 0)</param>
-        <param index="6">Reserved (set to 0)</param>
+        <param index="6" label="Conditions" enum="REBOOT_SHUTDOWN_CONDITIONS">Conditions under which reboot/shutdown is allowed.</param>
         <param index="7">WIP: ID (e.g. camera ID -1 for all IDs)</param>
       </entry>
       <!-- id "247" reserved for MAV_CMD_DO_UPGRADE in development.xml -->
@@ -3908,7 +3917,7 @@
         <description>Zoom one step increment (-1 for wide, 1 for tele)</description>
       </entry>
       <entry value="1" name="ZOOM_TYPE_CONTINUOUS">
-        <description>Continuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)</description>
+        <description>Continuous normalized zoom in/out rate until stopped. Range -1..1, negative: wide, positive: narrow/tele, 0 to stop zooming. Other values should be clipped to the range.</description>
       </entry>
       <entry value="2" name="ZOOM_TYPE_RANGE">
         <description>Zoom value as proportion of full camera range (a percentage value between 0.0 and 100.0)</description>
@@ -3926,7 +3935,7 @@
         <description>Focus one step increment (-1 for focusing in, 1 for focusing out towards infinity).</description>
       </entry>
       <entry value="1" name="FOCUS_TYPE_CONTINUOUS">
-        <description>Continuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing)</description>
+        <description>Continuous normalized focus in/out rate until stopped. Range -1..1, negative: in, positive: out towards infinity, 0 to stop focusing. Other values should be clipped to the range.</description>
       </entry>
       <entry value="2" name="FOCUS_TYPE_RANGE">
         <description>Focus value as proportion of full camera focus range (a value between 0.0 and 100.0)</description>
@@ -5275,7 +5284,11 @@
       <field type="uint32_t" name="onboard_control_sensors_health_extended" enum="MAV_SYS_STATUS_SENSOR_EXTENDED" print_format="0x%04x">Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.</field>
     </message>
     <message id="2" name="SYSTEM_TIME">
-      <description>The system time is the time of the master clock, typically the computer clock of the main onboard computer.</description>
+      <description>The system time is the time of the master clock.
+        This can be emitted by flight controllers, onboard computers, or other components in the MAVLink network.
+        Components that are using a less reliable time source, such as a battery-backed real time clock, can choose to match their system clock to that of a SYSTEM_TYPE that indicates a more recent time.
+        This allows more broadly accurate date stamping of logs, and so on.
+        If precise time synchronization is needed then use TIMESYNC instead.</description>
       <field type="uint64_t" name="time_unix_usec" units="us">Timestamp (UNIX epoch time).</field>
       <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
     </message>
@@ -5599,7 +5612,7 @@
       <description>
         Message that announces the sequence number of the current target mission item (that the system will fly towards/execute when the mission is running).
         This message should be streamed all the time (nominally at 1Hz).
-        This message should be emitted following a call to MAV_CMD_DO_SET_MISSION_CURRENT or SET_MISSION_CURRENT.
+        This message should be emitted following a call to MAV_CMD_DO_SET_MISSION_CURRENT or MISSION_SET_CURRENT.
       </description>
       <field type="uint16_t" name="seq">Sequence</field>
       <extensions/>

message_definitions/v1.0/minimal.xml

@@ -206,6 +206,9 @@
       <entry value="44" name="MAV_TYPE_ILLUMINATOR">
         <description>Illuminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).</description>
       </entry>
+      <entry value="45" name="MAV_TYPE_SPACECRAFT_ORBITER">
+        <description>Orbiter spacecraft. Includes satellites orbiting terrestrial and extra-terrestrial bodies. Follows NASA Spacecraft Classification.</description>
+      </entry>
     </enum>
     <enum name="MAV_MODE_FLAG" bitmask="true">
       <description>These flags encode the MAV mode.</description>