v4.6.0-0.2.0

A custom ArduPilot v4.6.0 release with DroneCAN-based IMU support for HITL simulation.

Key Changes

• New backend: AP_InertialSensor_DRONECAN, which handles IMU data received via DroneCAN's uavcan.equipment.ahrs.RawIMU
• Build-time control: Enable with ./waf configure --enable-DRONECAN_INS.
• Runtime control: Managed using a new bitmask parameter INS_DRONECAN_HITL
  • 0: Disabled (default)
  • 1: Enabled

Use Cases

• DroneCAN HITL simulation

Limitations

• A limited RawIMU message rate may require lowering SCHED_LOOP_RATE (especially on copters)
• Requires consistent RawImu messages; otherwise, it falls back to mock {0, 0, -9.81} data
• Currently supports only a single DroneCAN IMU instance

Enabling the feature

First, enable the feature at build time. Example for CUAVv5 plane:

$ ./waf configure --board=CUAVv5 --enable-DRONECAN_INS
$ ./waf build --target=bin/arduplane # or bin/arducopter

You can get the full list of boards with ./waf list_boards

Then, enable it at runtime by setting: INS_DRONECAN_HITL=1.

Porting DroneCAN IMU HITL Support to Custom ArduPilot Branch (v4.6.0 or 4.6.1)

Recommended if your branch is not too diverged: cherry-pick the commit

# Step 1: Add Remote
git remote add pda https://github.com/ponomarevda/ardupilot.git

# Step 2. Fetch latest changes
git fetch pda

# Step 3: Cherry-pick the Commit
git cherry-pick ffd8a2e

# Step 4: Resolve any conflicts if they occur
git add <resolved_files>
git cherry-pick --continue

# Step 5: Rebuild with the feature enabled
./waf configure --enable-DRONECAN_INS
./waf build --target=bin/arduplane

Alternatively you may consider manually copying the changes: commit ffd8a2e.

v4.5.7-0.0.1

Full Changelog: Copter-4.5.7...Copter-4.5.7-0.0.1