Pr lthall/free up some space 20250702 callisto 4.5.7 9

Tools/autotest/arducopter.py

@@ -10729,6 +10729,50 @@ def MAV_CMD_NAV_TAKEOFF_command_int(self):
 
         self.reboot_sitl()  # unlock home position
 
+    def LuaParamSet(self):
+        '''test param-set.lua applet'''
+        self.install_applet_script_context("param-set.lua")
+        self.set_parameters({
+            'SCR_ENABLE': 1,
+        })
+        self.reboot_sitl()
+
+        self.wait_ready_to_arm()  # scripts will be ready by now!
+        self.start_subtest("set RTL_ALT freely")
+        self.set_parameter("RTL_ALT", 23)
+        self.set_parameter("RTL_ALT", 28)
+
+        self.start_subtest("Unable to set DISARM_DELAY freely")
+        self.context_push()
+        self.context_collect('STATUSTEXT')
+        old_disarm_delay_value = self.get_parameter('DISARM_DELAY')
+        self.send_set_parameter_direct('DISARM_DELAY', 78)
+        self.wait_statustext('param-set: param set denied (DISARM_DELAY)', check_context=True)
+        self.assert_parameter_value('DISARM_DELAY', old_disarm_delay_value)
+        self.context_pop()
+
+        self.start_subtest("Disabling applet via parameter should allow freely setting DISARM_DELAY")
+        self.set_parameter("PARAM_SET_ENABLE", 0)
+        self.set_parameter("DISARM_DELAY", 56)
+
+        self.start_subtest("Re-enabling applet via parameter should stop freely setting DISARM_DELAY")
+        self.context_push()
+        self.context_collect('STATUSTEXT')
+        self.set_parameter("PARAM_SET_ENABLE", 1)
+        old_disarm_delay_value = self.get_parameter('DISARM_DELAY')
+        self.send_set_parameter_direct('DISARM_DELAY', 78)
+        self.wait_statustext('param-set: param set denied (DISARM_DELAY)', check_context=True)
+        self.assert_parameter_value('DISARM_DELAY', old_disarm_delay_value)
+        self.context_pop()
+
+        self.start_subtest("Ensure that parameter values are persistent")
+        self.set_parameter('DISARM_DELAY', 111)
+        self.reboot_sitl()
+        self.assert_parameter_value('DISARM_DELAY', 111)
+
+        # very bad things happen if we don't turn things off at the end..
+        self.set_parameter("PARAM_SET_ENABLE", 0)
+
     def tests2b(self):  # this block currently around 9.5mins here
         '''return list of all tests'''
         ret = ([
@@ -10737,6 +10781,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.PositionWhenGPSIsZero,
             Test(self.DynamicRpmNotches, attempts=4),
             self.PIDNotches,
+            self.LuaParamSet,
             self.RefindGPS,
             Test(self.GyroFFT, attempts=1, speedup=8),
             Test(self.GyroFFTHarmonic, attempts=4, speedup=8),

libraries/AP_HAL_ChibiOS/hwdef/Callisto-2.4/hwdef.dat

@@ -1,3 +1,3 @@
 include ../Callisto/hwdef.inc
 
-define AP_CUSTOM_FIRMWARE_STRING "ArduCopter V4.5.7-C2.4r7"
+define AP_CUSTOM_FIRMWARE_STRING "ArduCopter V4.5.7-C2.4r8"

libraries/AP_HAL_ChibiOS/hwdef/Callisto-2.5/hwdef.dat

@@ -1,3 +1,3 @@
 include ../Callisto/hwdef.inc
 
-define AP_CUSTOM_FIRMWARE_STRING "ArduCopter V4.5.7-C2.5r7"
+define AP_CUSTOM_FIRMWARE_STRING "ArduCopter V4.5.7-C2.5r8"

libraries/AP_HAL_ChibiOS/hwdef/Callisto/defaults.parm

@@ -230,7 +230,7 @@ PSC_VELZ_P,2.5
 RALLY_INCL_HOME,1
 RALLY_LIMIT_KM,0.3
 RC_OVERRIDE_TIME,3
-RC_PROTOCOLS,3
+RC_PROTOCOLS,8
 RC_SPEED,490
 RC1_DZ,50
 RC2_DZ,50

libraries/AP_HAL_ChibiOS/hwdef/Callisto/hwdef.inc

@@ -358,6 +358,47 @@ define MODE_THROW_ENABLED 0
 define MODE_TURTLE_ENABLED 0
 define MODE_ZIGZAG_ENABLED 0
 
+define AP_AIRSPEED_ENABLED 0
+
+define AP_BARO_BACKEND_DEFAULT_ENABLED 0
+define AP_BARO_MS56XX_ENABLED 1
+
+define HAL_DISPLAY_ENABLED 0
+
+define HAL_EXTERNAL_AHRS_ENABLED 0
+
+define AP_GPS_BACKEND_DEFAULT_ENABLED 0
+define AP_GPS_UBLOX_ENABLED 1
+
+define HAL_HOTT_TELEM_ENABLED 0
+
+define AP_MAVLINK_FAILURE_CREATION_ENABLED 0
+
+define AP_INERTIALSENSOR_KILL_IMU_ENABLED 0
+
+define AP_LTM_TELEM_ENABLED 0
+
+define AP_MOTORS_FRAME_DEFAULT_ENABLED 0
+define AP_MOTORS_FRAME_OCTAQUAD_ENABLED 1
+
+define HAL_MSP_ENABLED 0
+
+define AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED 0
+define AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED 0
+
+define AP_NOTIFY_NCP5623_ENABLED 0
+define AP_NOTIFY_PROFILED_ENABLED 0
+
+define HAL_RUNCAM_ENABLED 0
+
+define EK3_FEATURE_EXTERNAL_NAV 0
+
+define MODE_FLIP_ENABLED 0
+define MODE_FLOWHOLD_ENABLED 0
+
+define HAL_PERIPH_ENABLE_SERIAL_OPTIONS
+define AP_NETWORKING_BACKEND_PPP 1
+
 USE_BOOTLOADER_FROM_BOARD Durandal
 
 ROMFS scripts/LedFlash.lua libraries/AP_HAL_ChibiOS/hwdef/Callisto/scripts/LedFlash.lua

libraries/AP_Param/AP_Param.cpp

@@ -1443,6 +1443,32 @@ bool AP_Param::is_read_only(void) const
     return false;
 }
 
+// returns true if this parameter should be settable via the
+// MAVLink interface:
+bool AP_Param::allow_set_via_mavlink(uint16_t flags) const
+{
+    if (is_read_only()) {
+        return false;
+    }
+
+    if (flags & AP_PARAM_FLAG_INTERNAL_USE_ONLY) {
+        // the user can set BRD_OPTIONS to enable set of internal
+        // parameters, for developer testing or unusual use cases
+        if (!AP_BoardConfig::allow_set_internal_parameters()) {
+            return false;
+        }
+    }
+
+#if HAL_GCS_ENABLED
+    // check the MAVLink library is OK with the concept:
+    if (!gcs().get_allow_param_set()) {
+        return false;
+    }
+#endif  // HAL_GCS_ENABLED
+
+    return true;
+}
+
 // set a AP_Param variable to a specified value
 void AP_Param::set_value(enum ap_var_type type, void *ptr, float value)
 {

libraries/AP_Param/AP_Param.h

@@ -548,7 +548,11 @@ class AP_Param
 
     // return the persistent top level key for the ParamToken key
     static uint16_t get_persistent_key(uint16_t key) { return var_info(key).key; }
-
+
+    // returns true if this parameter should be settable via the
+    // MAVLink interface:
+    bool allow_set_via_mavlink(uint16_t flags) const;
+
     // count of parameters in tree
     static uint16_t count_parameters(void);
 

libraries/AP_Scripting/applets/param-set.lua

@@ -0,0 +1,167 @@
+-- Inspect parameter sets received via MAVLink, determine action based
+-- on whitelist.
+
+-- When this script runs and ENABLE is true ArduPilot will stop
+--   processing parameter-sets via the GCS library.  Instead, this
+--   script becomes responsible for setting parameters, and it will
+--   only set parameters which are whitelisted.  Setting ENABLE to
+--   false will allow ArduPilot to set parameters normally.
+
+-- Setting SCR_ENABLE to false while this script is running in the
+--   ENABLE state is... not advised.
+
+-- How To Use
+-- 1. copy this script to the autopilot's "scripts" directory
+-- 2. set SCR_ENABLE to 1
+
+-- global definitions
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+local UPDATE_INTERVAL_MS = 10           -- update at about 100hz
+
+-- prefix for all text messages:
+local TEXT_PREFIX_STR = "param-set"
+
+--
+-- parameter setup
+--
+local PARAM_TABLE_KEY = 92
+local PARAM_TABLE_PREFIX = "PARAM_SET_"
+assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 7), 'could not add param table')
+
+-- 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', PARAM_TABLE_PREFIX .. name))
+    return Parameter(PARAM_TABLE_PREFIX .. name)
+end
+
+--[[
+  // @Param: PARAM_SET_ENABLE
+  // @DisplayName: Param Set enable
+  // @Description: Param Set enable
+  // @Values: 0:Disabled,1:Enabled
+  // @User: Standard
+--]]
+local PARAM_SET_ENABLE = bind_add_param("ENABLE", 1, 1)
+
+-- initialize MAVLink rx with buffer depth and number of rx message IDs to register
+mavlink:init(5, 1)
+
+-- register message id to receive
+local PARAM_SET_ID = 23
+mavlink:register_rx_msgid(PARAM_SET_ID)
+
+-- handle PARAM_SET message
+local parameters_which_can_be_set = {}
+parameters_which_can_be_set["MAV_OPTIONS"] = true
+parameters_which_can_be_set["PARAM_SET_ENABLE"] = true
+parameters_which_can_be_set["BATT_ARM_MAH"] = true
+parameters_which_can_be_set["BATT_ARM_VOLT"] = true
+parameters_which_can_be_set["BATT_CAPACITY"] = true
+parameters_which_can_be_set["BATT_CRT_MAH"] = true
+parameters_which_can_be_set["BATT_CRT_VOLT"] = true
+parameters_which_can_be_set["BATT_FS_CRT_ACT"] = true
+parameters_which_can_be_set["BATT_FS_LOW_ACT"] = true
+parameters_which_can_be_set["BATT_LOW_MAH"] = true
+parameters_which_can_be_set["BATT_LOW_VOLT"] = true
+parameters_which_can_be_set["BRD_OPTIONS"] = true
+parameters_which_can_be_set["COMPASS_USE3"] = true
+parameters_which_can_be_set["FENCE_ACTION"] = true
+parameters_which_can_be_set["FENCE_ALT_MAX"] = true
+parameters_which_can_be_set["FENCE_ENABLE"] = true
+parameters_which_can_be_set["FENCE_RADIUS"] = true
+parameters_which_can_be_set["FENCE_TYPE"] = true
+parameters_which_can_be_set["LIGHTS_ON"] = true
+parameters_which_can_be_set["LOG_BITMASK"] = true
+parameters_which_can_be_set["LOG_DISARMED"] = true
+parameters_which_can_be_set["LOG_FILE_DSRMROT"] = true
+parameters_which_can_be_set["RTL_ALT"] = true
+parameters_which_can_be_set["RTL_LOIT_TIME"] = true
+parameters_which_can_be_set["RTL_SPEED"] = true
+
+local function should_set_parameter_id(param_id)
+    if parameters_which_can_be_set[param_id] == nil then
+        return false
+    end
+    return parameters_which_can_be_set[param_id]
+end
+
+local function handle_param_set(name, value)
+    -- we will not receive packets in here for the wrong system ID /
+    --   component ID; this is handled by ArduPilot's MAVLink routing
+    --   code
+
+    -- check for this specific ID:
+    if not should_set_parameter_id(name) then
+        gcs:send_text(MAV_SEVERITY.WARNING, string.format("%s: param set denied (%s)", TEXT_PREFIX_STR, name))
+        return
+    end
+
+    param:set_and_save(name, value)
+    gcs:send_text(MAV_SEVERITY.WARNING, string.format("%s: param set applied", TEXT_PREFIX_STR))
+end
+
+-- display welcome message
+gcs:send_text(MAV_SEVERITY.INFO, "param-set script loaded")
+
+-- initialise our knowledge of the GCS's allow-set-parameters state.
+--   We do not want to fight over setting this GCS state via other
+--   mechanisms (eg. an auxiliary function), so we keep this state
+--   around to track what we last set:
+local gcs_allow_set = gcs:get_allow_param_set()
+
+-- update function to receive param_set messages and perhaps act on them
+local function update()
+    -- return immediately if not enabled
+    if (PARAM_SET_ENABLE:get() <= 0) then
+        -- this script is disabled, set allow-via-GCS (once):
+        if not gcs_allow_set then
+          gcs:set_allow_param_set(true)
+          gcs_allow_set = true
+        end
+        -- drain all mavlink messages to avoid processing them when enabled
+        while true do
+          local msg, _ = mavlink:receive_chan()
+          if msg == nil then
+            break
+          end
+        end
+        return
+    end
+
+    -- this script is enabled, disallow setting via normal means (once):
+    if gcs_allow_set then
+        gcs:set_allow_param_set(false)
+        gcs_allow_set = false
+    end
+
+    -- consume all available mavlink messages
+    while true do
+        local msg, _ = mavlink:receive_chan()
+        if msg == nil then
+            break
+        end
+
+        local param_value, _, _, param_id, _ = string.unpack("<fBBc16B", string.sub(msg, 13, 36))
+        param_id = string.gsub(param_id, string.char(0), "")
+
+        handle_param_set(param_id, param_value)
+    end
+end
+
+-- wrapper around update(). This calls update() with an interval of
+-- UPDATE_INTERVAL_MS, and if update faults then an error is
+-- displayed, but the script is not stopped
+
+function protected_wrapper()
+  local success, err = pcall(update)
+  if not success then
+     gcs:send_text(MAV_SEVERITY.EMERGENCY, "Internal Error: " .. err)
+     -- when we fault we run the update function again after 1s, slowing it
+     -- down a bit so we don't flood the console with errors
+     return protected_wrapper, 1000
+  end
+  return protected_wrapper, UPDATE_INTERVAL_MS
+end
+
+-- start running update loop
+return protected_wrapper()