Septentrio: Add GNSS resilience reporting

.github/workflows/colcon.yml

@@ -191,7 +191,7 @@ jobs:
       - name: install Micro-XRCE-DDS-Gen from source
         run: |
           cd /tmp
-          git clone --depth 1 --recurse-submodules --branch v4.7.0 https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git
+          git clone --depth 1 --recurse-submodules --branch v4.7.1 https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git
           cd Micro-XRCE-DDS-Gen
           ./gradlew assemble
       - name: Build with colcon

.github/workflows/pre-commit.yml

@@ -9,4 +9,9 @@ jobs:
     steps:
     - uses: actions/checkout@v5
     - uses: actions/setup-python@v5
+      with:
+        python-version: 3.x
     - uses: pre-commit/action@v3.0.1
+    - run: python3 -m pip install --upgrade pip
+    - run: python3 -m pip install pytest
+    - run: PYTHONPATH="." pytest tests/test_pre_commit_copyright.py

.github/workflows/test_dds.yml

@@ -173,7 +173,7 @@ jobs:
       - name: install Micro-XRCE-DDS-Gen from source
         run: |
           cd /tmp
-          git clone --recurse-submodules https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git
+          git clone --depth 1 --recurse-submodules --branch v4.7.1 https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git
           cd Micro-XRCE-DDS-Gen
           ./gradlew assemble
       - name: test ${{matrix.config}}

.github/workflows/test_sitl_rover.yml

@@ -195,6 +195,7 @@ jobs:
         run: |
           sudo apt-get update || true
           sudo apt-get -y install ppp || true
+          pppd --help # fail with `command not found` if ppp install failed
           git config --global --add safe.directory ${GITHUB_WORKSPACE}
           if [[ ${{ matrix.toolchain }} == "clang" ]]; then
             export CC=clang

.pre-commit-config.yaml

@@ -16,7 +16,7 @@ exclude: |
 
 repos:
   -   repo: https://github.com/pre-commit/pre-commit-hooks
-      rev: v5.0.0
+      rev: v6.0.0
       hooks:
         #-   id: trailing-whitespace
         #-   id: end-of-file-fixer
@@ -55,6 +55,44 @@ repos:
       rev: 7.3.0
       hooks:
       -   id: flake8
+
+  -   repo: local
+      hooks:
+      -   id: ament-pep257
+          name: Run ament_pep257 on Tools/ros2
+          entry: bash -c 'ament_pep257 Tools/ros2 > /dev/null'
+          language: python
+          additional_dependencies:
+          -   ament-lint-pep257
+          -   tomli;python_version<'3.11'
+          pass_filenames: false
+          files: ^Tools/ros2/
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.4.1
+    hooks:
+      - id: codespell # See pyproject.toml for args
+        types_or: [python]
+        args:
+          - --ignore-words-list=afile,bodgy,chek,commitish,edn,empy,finis,fram,mot,ned,parm,releas,parms,rin,ser,sitl,siz
+        additional_dependencies:
+          - tomli
+
+  - repo: local
+    hooks:
+    -   id: check-copyright
+        name: check copyright notice in files
+        entry: Tools/gittools/pre_commit_copyright.py
+        language: python
+        files: |
+            (?x)^(
+              Tools/ros2/.*\.py
+            )$
+        args: [
+            --ignore=Tools/ros2/ardupilot_dds_tests/setup.py,
+            --ignore=Tools/ros2/ardupilot_dds_tests/test/test_pep257.py,
+            --ignore=Tools/ros2/ardupilot_dds_tests/test/test_copyright.py,
+        ]
 
 # # Use to sort python imports by name and put system import first.
 #   -   repo: https://github.com/pycqa/isort

Dockerfile

@@ -48,7 +48,7 @@ RUN git config --global --add safe.directory $PWD
 RUN echo "if [ -d \"\$HOME/.local/bin\" ] ; then\nPATH=\"\$HOME/.local/bin:\$PATH\"\nfi" >> ~/.ardupilot_env
 
 # Clone & install Micro-XRCE-DDS-Gen dependency
-RUN git clone --recurse-submodules https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git /home/${USER_NAME}/Micro-XRCE-DDS-Gen \
+RUN git clone --recurse-submodules --depth 1 --branch v4.7.1 https://github.com/ardupilot/Micro-XRCE-DDS-Gen.git /home/${USER_NAME}/Micro-XRCE-DDS-Gen \
     && cd /home/${USER_NAME}/Micro-XRCE-DDS-Gen \
     && ./gradlew assemble \
     && export AP_ENV_LOC="/home/${USER_NAME}/.ardupilot_env" \

Tools/ardupilotwaf/boards.py

@@ -98,7 +98,7 @@ def srcpath(path):
             # need to check the hwdef.h file for the board to see if dds is enabled
             # the issue here is that we need to configure the env properly to include
             # the DDS library, but the definition is the the hwdef file
-            # and can be overriden by the commandline options
+            # and can be overridden by the commandline options
             with open(env.BUILDROOT + "/hwdef.h", 'r', encoding="utf8") as file:
                 if "#define AP_DDS_ENABLED 1" in file.read():
                     # Enable DDS if the hwdef file has it enabled
@@ -833,8 +833,7 @@ def configure_env(self, cfg, env):
 
         # wrap malloc to ensure memory is zeroed
         if cfg.env.DEST_OS == 'cygwin':
-            # on cygwin we need to wrap _malloc_r instead
-            env.LINKFLAGS += ['-Wl,--wrap,_malloc_r']
+            pass # handled at runtime in libraries/AP_Common/c++.cpp
         elif platform.system() != 'Darwin':
             env.LINKFLAGS += ['-Wl,--wrap,malloc']
 

Tools/autotest/arducopter.py

@@ -9537,11 +9537,12 @@ def TestTetherStuck(self):
 
         # Simulate vehicle getting stuck by increasing RC throttle
         self.set_rc(3, 1900)
-        self.delay_sim_time(5, reason='let tether get stuck')
+        self.delay_sim_time(10, reason='let tether get stuck')
 
         # Monitor behavior for 10 seconds
         tstart = self.get_sim_time()
         initial_alt = self.get_altitude()
+        self.progress(f"initial_alt={initial_alt}")
         stuck = True  # Assume it's stuck unless proven otherwise
 
         while self.get_sim_time() - tstart < 10:
@@ -9556,7 +9557,7 @@ def TestTetherStuck(self):
 
             # Check if the vehicle is stuck.
             # We assume the vehicle is stuck if the current is high and the altitude is not changing
-            if battery_status and (battery_status.current_battery < 6500 or abs(current_alt - initial_alt) > 2):
+            if battery_status and (battery_status.current_battery < 6500 or abs(current_alt - initial_alt) > 3):
                 stuck = False  # Vehicle moved or current is abnormal
                 break
 
@@ -13999,7 +14000,7 @@ def RudderDisarmMidair(self):
         self.wait_ready_to_arm()
         self.change_mode('STABILIZE')
 
-        # Set home current location, this gives a large home vs orgin difference
+        # Set home current location, this gives a large home vs origin difference
         self.set_home(self.mav.location())
 
         self.set_rc(4, 2000)

Tools/autotest/quadplane.py

@@ -2835,8 +2835,8 @@ def TerrainAvoidApplet(self):
             "SIM_SONAR_SCALE": 10,
         })
 
-        # This mission triggers an intersting selection of "Pitching", "Quading" and "CMTC" events
-        # it's not always consistent, perhaps due to wind, so the tests try to accomodate variances.
+        # This mission triggers an interesting selection of "Pitching", "Quading" and "CMTC" events
+        # it's not always consistent, perhaps due to wind, so the tests try to accommodate variances.
         filename = "TopOfTheWorldShort.waypoints"
         self.progress("Flying mission %s" % filename)
         num_wp = self.load_mission(filename)

Tools/environment_install/install-prereqs-ubuntu.sh

@@ -415,6 +415,9 @@ if $IS_DOCKER; then
     echo "# ArduPilot env file. Need to be loaded by your Shell." > ~/$SHELL_LOGIN
 fi
 
+SCRIPT_DIR="$(dirname "$(realpath "${BASH_SOURCE[0]}")")"
+ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../")
+
 PIP_USER_ARGUMENT="--user"
 
 # create a Python venv on more recent releases:
@@ -433,14 +436,31 @@ fi
 
 if [ -n "$PYTHON_VENV_PACKAGE" ]; then
     $APT_GET install $PYTHON_VENV_PACKAGE
-    python3 -m venv --system-site-packages $HOME/venv-ardupilot
+
+    # Check if venv already exists in ARDUPILOT_ROOT (check both venv-ardupilot and venv)
+    VENV_PATH=""
+    if [ -d "$ARDUPILOT_ROOT/venv-ardupilot" ]; then
+        VENV_PATH="$ARDUPILOT_ROOT/venv-ardupilot"
+        echo "Found existing venv at $VENV_PATH"
+    elif [ -d "$ARDUPILOT_ROOT/venv" ]; then
+        VENV_PATH="$ARDUPILOT_ROOT/venv"
+        echo "Found existing venv at $VENV_PATH"
+    elif [ -d "$ARDUPILOT_ROOT/.venv" ]; then
+        VENV_PATH="$ARDUPILOT_ROOT/.venv"
+        echo "Found existing venv at $VENV_PATH"
+    else
+        VENV_PATH="$HOME/venv-ardupilot"
+        echo "Creating new venv at $VENV_PATH"
+        python3 -m venv --system-site-packages "$VENV_PATH"
+    fi
+
+    SOURCE_LINE="source $VENV_PATH/bin/activate"
 
     # activate it:
-    SOURCE_LINE="source $HOME/venv-ardupilot/bin/activate"
     $SOURCE_LINE
     PIP_USER_ARGUMENT=""
 
-    if [[ -z "${DO_PYTHON_VENV_ENV}" ]] && maybe_prompt_user "Make ArduPilot venv default for python [N/y]?" ; then
+    if [[ -z "${DO_PYTHON_VENV_ENV}" ]] && maybe_prompt_user "Make ArduPilot venv default for python [N/y]?\nThis means that any terminal will open and load ArduPilot venv" ; then
         DO_PYTHON_VENV_ENV=1
     fi
 
@@ -478,8 +498,32 @@ fi
 for PACKAGE in $PYTHON_PKGS; do
     if [ "$PACKAGE" == "wxpython" ]; then
         echo "##### $PACKAGE takes a *VERY* long time to install (~30 minutes).  Be patient."
+
+        # Use wheel repository for specific supported Ubuntu releases only
+        case ${RELEASE_CODENAME} in
+            focal)
+                echo "##### Adding wxpython wheel repository for faster installation"
+                WXPYTHON_WHEEL_REPO="https://extras.wxpython.org/wxPython4/extras/linux/gtk3/ubuntu-20.04"
+                time $PIP install $PIP_USER_ARGUMENT -U -f $WXPYTHON_WHEEL_REPO $PACKAGE
+                ;;
+            jammy)
+                echo "##### Adding wxpython wheel repository for faster installation"
+                WXPYTHON_WHEEL_REPO="https://extras.wxpython.org/wxPython4/extras/linux/gtk3/ubuntu-22.04"
+                time $PIP install $PIP_USER_ARGUMENT -U -f $WXPYTHON_WHEEL_REPO $PACKAGE
+                ;;
+            noble)
+                echo "##### Adding wxpython wheel repository for faster installation"
+                WXPYTHON_WHEEL_REPO="https://extras.wxpython.org/wxPython4/extras/linux/gtk3/ubuntu-24.04"
+                time $PIP install $PIP_USER_ARGUMENT -U -f $WXPYTHON_WHEEL_REPO $PACKAGE
+                ;;
+            *)
+                echo "##### Installing wxpython from PyPI (no specific wheel repository for this release)"
+                time $PIP install $PIP_USER_ARGUMENT -U $PACKAGE
+                ;;
+        esac
+    else
+        time $PIP install $PIP_USER_ARGUMENT -U $PACKAGE
     fi
-    time $PIP install $PIP_USER_ARGUMENT -U $PACKAGE
 done
 
 # somehow Plucky really wants Pillow reinstalled or MAVProxy's map
@@ -509,9 +553,6 @@ fi
 
 heading "Adding ArduPilot Tools to environment"
 
-SCRIPT_DIR="$(dirname "$(realpath "${BASH_SOURCE[0]}")")"
-ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../")
-
 if [[ $DO_AP_STM_ENV -eq 1 ]]; then
 exportline="export PATH=$OPT/$ARM_ROOT/bin:\$PATH";
 grep -Fxq "$exportline" ~/$SHELL_LOGIN 2>/dev/null || {

Tools/gittools/pre_commit_copyright.py

@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+
+# CAUTION: The first docstring in this file will be the copyright notice that will be
+# looked for in all file paths that the pre-commit hook passes in.  If all files
+# contain the __doc__ text below, the commit will be allowed to proceed.
+
+"""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/>.
+"""
+
+# --- Do not merges these two docstrings.  See CAUTION above. ---
+
+from argparse import ArgumentParser
+from pathlib import Path
+
+r"""
+A pre-commit hook that will use the content of __doc__ and then ensure all files
+processed contain that same copyright information.  This is useful to ensure that all
+those files consistent copyright notices, which is important for legal and compliance
+reasons.  If any files does not contain the expected copyright information, the commit
+will be aborted and an error message will be displayed with the file paths of all files
+that do not match.
+
+Place an entry into the local `.pre-commit-config.yaml` file to run this job.
+```yaml
+  - repo: local
+    hooks:
+    -   id: check-copyright
+        name: check copyright notice in files
+        entry: Tools/gittools/pre_commit_copyright.py
+        language: python
+        files: |
+            (?x)^(
+              Tools/ros2/.*\.py
+            )$
+        args: [
+            --ignore=excluded_file.py,
+            --ignore=another_excluded.py,
+        ]
+```
+
+Usage:
+1. Place this script in the `Tools/gittools/pre_commit_copyright.py` file.
+2. Ensure the docstring of this file is set to the expected copyright notice.
+3. Add the entry to your `.pre-commit-config.yaml` file as shown above.
+4. Run `pre-commit install` to set up the pre-commit hooks.
+5. Now, when you try to commit changes, this hook will check for the copyright notice.
+6. If any files do not contain the expected copyright notice, the commit will be aborted.
+7. The error message will list all files that do not match the expected copyright notice.
+8. Use --ignore=file_path to exclude specific files from copyright checking.
+
+Command line usage:
+python pre_commit_copyright.py file1.py file2.py --ignore=excluded_file.py \
+    --ignore=another_excluded.py
+"""
+
+
+def get_file_paths() -> list[str]:
+    """Parse command line arguments and return a sorted list of file paths excluding
+    ignored files."""
+    parser = ArgumentParser(description="Check copyright notice in files")
+    parser.add_argument("files", nargs="+", help="File paths to check")
+    parser.add_argument(
+        "--ignore",
+        action="append",
+        default=[],
+        help="File paths to ignore (can be used multiple times)",
+    )
+    args = parser.parse_args()
+    return sorted(set(args.files) - set(args.ignore))
+
+
+def check_copyright(file_path: Path) -> bool:
+    """Check if the file contains the expected copyright notice."""
+    try:
+        return __doc__ in file_path.read_text()
+    except Exception as e:  # noqa: BLE001 Path.read_text() can raise many exceptions
+        print(f"Error reading {file_path}: {e}")
+        return False
+
+
+def main():
+    """Main function to check all file paths from command line arguments.
+
+    pre-commit will repeatedly call this function and each time it will pass ~four file
+    paths to be checked.
+
+    Supports --ignore flags to exclude specific files from copyright checking.
+    """
+    if failed_files := [
+        path for path in get_file_paths() if not check_copyright(Path(path))
+    ]:
+        raise SystemExit(f"Copyright not found in: {', '.join(failed_files)}")
+
+
+if __name__ == "__main__":
+    main()

Tools/scripts/build_ci.sh

@@ -188,6 +188,7 @@ for t in $CI_BUILD_TARGET; do
     if [ "$t" == "sitltest-rover" ]; then
         sudo apt-get update || /bin/true
         sudo apt-get install -y ppp || /bin/true
+        pppd --help # fail with `command not found` if ppp install failed
         run_autotest "Rover" "build.Rover" "test.Rover"
         continue
     fi

Tools/scripts/build_options.py

@@ -140,7 +140,7 @@ def config_option(self):
     Feature('AP_Periph', 'LONG_TEXT', 'HAL_PERIPH_SUPPORT_LONG_CAN_PRINTF', 'Enable extended length text strings', 0, None),
     Feature('AP_Periph', 'PERIPH_DEVICE_TEMPERATURE', 'AP_PERIPH_DEVICE_TEMPERATURE_ENABLED', 'Emit DroneCAN Temperature Messages for AP_Temperature sensors', 0, 'TEMP'), # noqa
     Feature('AP_Periph', 'PERIPH_MSP', 'AP_PERIPH_MSP_ENABLED', 'Emit MSP protocol messages from AP_Periph', 0, 'MSP'),
-    Feature('AP_Periph', 'PERIPH_NOTIFY', 'AP_PERIPH_NOTIFY_ENABLED', 'Handle DroneCAN messages for notification equipments (e.g. buzzers, lights etc.)', 0, None), # noqa
+    Feature('AP_Periph', 'PERIPH_NOTIFY', 'AP_PERIPH_NOTIFY_ENABLED', 'Handle DroneCAN messages for notification equipment (e.g. buzzers, lights etc.)', 0, None), # noqa
     Feature('AP_Periph', 'PERIPH_SERIAL_OPTIONS', 'AP_PERIPH_SERIAL_OPTIONS_ENABLED', 'Enable Serial Options on AP_Periph', 0, None), # noqa
     Feature('AP_Periph', 'PERIPH_BATTERY', 'AP_PERIPH_BATTERY_ENABLED', 'Emit DroneCAN battery info messages using AP_BattMonitor', 0, None), # noqa
     Feature('AP_Periph', 'PERIPH_RELAY', 'AP_PERIPH_RELAY_ENABLED', 'Handle DroneCAN hardpoint command', 0, 'RELAY'),