merging 4.0 from upstream

.dockerignore

@@ -0,0 +1,31 @@
+# Docker context ignore list
+.azure
+.github
+.git
+.idea
+.vagrant
+AntennaTracker
+Rover
+ArduCopter
+ArduPlane
+ArduSub
+benchmarks
+build
+docs
+libraries
+mk
+modules
+tests
+Tools
+# autotest directories
+test.*
+terrain
+logs
+# mavproxy stuff
+mav.*
+
+# include the setup script and completion
+!Tools/environment_install/install-prereqs-ubuntu.sh
+!Tools/environment_install/install-prereqs-arch.sh
+!Tools/completion
+autotest_result_*_junit.xml

.editorconfig

@@ -13,8 +13,9 @@ indent_style = space
 indent_size = 4
 end_of_line = lf
 charset = utf-8
-trim_trailing_whitespace = false # These are the correct rules for APM coding standards, but fixing up old files causes git spam
-insert_final_newline = false
+# These are the correct rules for APM coding standards, but fixing up old files causes git spam
+trim_trailing_whitespace = false
+insert_final_newline = true
 
 [*.mk]
 indent_style = tab

.flake8

@@ -1,12 +1,23 @@
 [flake8]
-ignore =
+extend-ignore =
     # H301: one import per line
     H301,
     # H306: imports not in alphabetical order (time, os)
     H306,
     # E226: missing whitespace around arithmetic operator
     E226,
     # E261 at least two spaces before inline comment
-    E261
+    E261,
+    # W504 line break after binary operator
+    W504,
+    # E203 whitespace before ':'
+    E203,
+    # E221 multiple spaces before operator
+    E221
+
+extend-exclude =
+    build,
+    modules,
+    .git
 
 max-line-length = 127

.git-blame-ignore-revs

@@ -0,0 +1,9 @@
+# This file allows ignoring commits in git blame view on Github.
+# For more info, see here:
+# https://docs.github.com/en/repositories/working-with-files/using-files/viewing-a-file#ignore-commits-in-the-blame-view
+
+# Tools: ros2: Run ament_black on all files
+85172b56467668bee9fa0e68081027b13bc18c4a
+
+# Tools: ros2: Reformat
+4d9822131354dc7dc3351f24660969f58720a1de

.gitattributes

@@ -3,4 +3,10 @@
 # This breaks Vagrant for some users.
 *.sh text eol=lf
 
+*.bin -diff
+*.elf -diff
+*.hex -diff
 
+*.bin binary linguist-generated
+*.elf binary linguist-generated
+*.hex binary linguist-generated

.github/CONTRIBUTING.md

@@ -19,14 +19,26 @@ If you are reading this page, you are possibly interested in contributing to our
 
 # Submitting patches
 
-Please see our [wiki article](http://dev.ardupilot.org/wiki/submitting-patches-back-to-master/).
+Please see our [wiki article](https://ardupilot.org/dev/docs/submitting-patches-back-to-master.html).
+
+# Addressing ArduPilot github Issues
+
+We use github's Issue tracking feature to keep a list of outstanding Bugs and Feature Requests.  We specifically label some issues as [good first issues](https://github.com/ArduPilot/ardupilot/issues?q=is%3Aissue%20state%3Aopen%20label%3A%22good%20first%20issue%22) because they are straight forward tasks that someone new to the codebase may be able to deal with.
+
+We typically do not assign issues - *particularly* "Good First Issue"s to specific contributors - if you feel you can contribute towards resolving an issue, simply work on it and create a PR which addresses it.
 
 # Development Team
 
 The ArduPilot project is open source and [maintained](https://github.com/ArduPilot/ardupilot#maintainers) by a team of volunteers.
 
-To contribute, you can send a pull request on Github. You can also
-join the [development discussion on Google
-Groups](https://groups.google.com/forum/?fromgroups#!forum/drones-discuss). Note
-that the Google Groups mailing lists are NOT for user tech support,
-and are moderated for new users to prevent off-topic discussion.
+To contribute, you can send a pull request on GitHub.
+
+New developers are recommended to join the `#general` channel on
+[Discord](https://ardupilot.org/discord).
+
+You can also join the
+[development discussion on Discourse](https://discuss.ardupilot.org/c/development-team),
+or [Gitter](https://gitter.im/ArduPilot/ardupilot).
+
+Note that these are NOT for user tech support, and are moderated
+for new users to prevent off-topic discussion.

.github/ISSUE_TEMPLATE/bug_report.md

@@ -9,7 +9,7 @@ Questions and user problems should be directed at the forum (http://discuss.ardu
 _**Please be very sure you have found a bug when opening this issue**_
 If there was a previous discussion in the forum, link to it
 
-### Bug report
+## Bug report
 
 **Issue details**
 

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,5 @@
+blank_issues_enabled: false
+contact_links:
+  - name: User Support and General Questions
+    url: https://discuss.ardupilot.org/
+    about: Please ask on https://discuss.ardupilot.org/

.github/ISSUE_TEMPLATE/feature_request.md

@@ -9,7 +9,7 @@ Questions and user problems should be directed at the forum (http://discuss.ardu
 _**Please do a careful search before opening this, there are already a lot of feature requests**_
 If there was a previous discussion in the forum, link to it
 
-### Feature request
+## Feature request
 
 **Is your feature request related to a problem? Please describe.**
 _A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]_

.github/SUPPORT.md

@@ -0,0 +1,13 @@
+# Support
+
+Our GitHub isn't the appropriate place for getting support on ArduPilot usage. Please look below for the two options you have available for getting help solving any issue you have using ArduPilot.
+
+If you are having trouble with **code development** please ask in our Gitter: http://gitter.im/ArduPilot/ardupilot
+
+## Free support
+
+If you want free, community-based support, please post in our forum: http://discuss.ardupilot.org
+
+## Commercial support
+
+If you need fast, paid support, please consult our wiki page and choose a company: http://ardupilot.org/ardupilot/docs/common-commercial-support.html

.github/dependabot.yml

@@ -0,0 +1,15 @@
+# Keep GitHub Actions up to date with GitHub's Dependabot...
+# https://docs.github.com/en/code-security/dependabot/working-with-dependabot/keeping-your-actions-up-to-date-with-dependabot
+# https://docs.github.com/en/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file#package-ecosystem
+version: 2
+updates:
+  - package-ecosystem: github-actions
+    commit-message:
+      prefix: .github
+    directory: /
+    groups:
+      github-actions:
+        patterns:
+          - "*"  # Group all Actions updates into a single larger pull request
+    schedule:
+      interval: weekly

.github/problem-matchers/Lua.json

@@ -0,0 +1,30 @@
+{
+    "problemMatcher": [
+        {
+            "owner": "Luacheck-problem-matcher",
+            "fileLocation": [ "relative", "${GITHUB_WORKSPACE}" ],
+            "pattern": [
+                {
+                    "regexp": "^( *)(.+.lua):(\\d+):(\\d+): (.*)$",
+                    "file": 2,
+                    "line": 3,
+                    "column": 4,
+                    "message": 5
+                }
+            ]
+        },
+        {
+            "owner": "Lua-language-server-problem-matcher",
+            "fileLocation": [ "relative", "${GITHUB_WORKSPACE}" ],
+            "pattern": [
+                {
+                    "regexp": "^(.+\\.lua):(\\d+):(\\d+)(.*)$",
+                    "file": 1,
+                    "line": 2,
+                    "column": 3,
+                    "message": 4
+                }
+            ]
+        }
+    ]
+}

.github/problem-matchers/autotestfail.json

@@ -0,0 +1,17 @@
+{
+    "__comment": "by buzz try to match autotest test failures",
+    "problemMatcher": [
+        {
+            "owner": "autotest-fail-matcher",
+            "severity": "error",
+            "pattern": [
+                {
+                    "regexp": "^(.*)(TIMEOUT|Build failed|FAILED STEP|FAILED):(.*)$",
+                    "column": 1,
+                    "code": 2,
+                    "message": 3
+                }
+            ]
+        }
+    ]
+}

.github/problem-matchers/autotestwarn.json

@@ -0,0 +1,17 @@
+{
+    "__comment": "by buzz try to match common autotest warnings and errors that arent caught by gcc.json or python.json",
+    "problemMatcher": [
+        {
+            "owner": "autotest-warn-matcher",
+            "severity": "warning",
+            "pattern": [
+                {
+                    "regexp": "^(.*)(WARN|WARNING):(.*)$",
+                    "column": 1,
+                    "code": 2,
+                    "message": 3
+                }
+            ]
+        }
+    ]
+}

.github/problem-matchers/gcc.json

@@ -0,0 +1,18 @@
+{
+    "__comment": "Taken from vscode-cpptools's Extension/package.json gcc rule",
+    "problemMatcher": [
+        {
+            "owner": "gcc-problem-matcher",
+            "pattern": [
+                {
+                    "regexp": "^(.*):(\\d+):(\\d+):\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+                    "file": 1,
+                    "line": 2,
+                    "column": 3,
+                    "severity": 4,
+                    "message": 5
+                }
+            ]
+        }
+    ]
+}

.github/problem-matchers/python.json

@@ -0,0 +1,22 @@
+{
+    "__comment": "inspired by https://github.com/microsoft/vscode-python/issues/3828#issuecomment-575439587",
+    "problemMatcher": [
+        {
+            "owner": "python-problem-matcher",
+            "pattern": [
+                {
+                    "regexp": "^.*File \\\"([^\\\"]|.*)\\\", line (\\d+).*",
+                    "file": 1,
+                    "line": 2
+                },
+                {
+                    "regexp": "^.*raise.*$"
+                },
+                {
+                    "regexp": "^\\s*(.*)\\s*$",
+                    "message": 1
+                }
+            ]
+        }
+    ]
+}

.github/workflows/cache_cleanup.yml

@@ -0,0 +1,39 @@
+name: cleanup caches by a branch
+on:
+  pull_request:
+    types:
+      - closed
+  workflow_dispatch:
+
+jobs:
+  cleanup:
+    runs-on: ubuntu-22.04
+    permissions:
+      # `actions:write` permission is required to delete caches
+      #   See also: https://docs.github.com/en/rest/actions/cache?apiVersion=2022-11-28#delete-a-github-actions-cache-for-a-repository-using-a-cache-id
+      actions: write
+      contents: read
+    steps:
+      - name: Check out code
+        uses: actions/checkout@v6
+
+      - name: Cleanup
+        run: |
+          gh extension install actions/gh-actions-cache
+
+          REPO=${{ github.repository }}
+          BRANCH=refs/pull/${{ github.event.pull_request.number }}/merge
+
+          echo "Fetching list of cache key"
+          cacheKeysForPR=$(gh actions-cache list -R $REPO -B $BRANCH | cut -f 1 )
+
+          ## Setting this to not fail the workflow while deleting cache keys.
+          set +e
+          echo "Deleting caches..."
+          for cacheKey in $cacheKeysForPR
+          do
+              gh actions-cache delete $cacheKey -R $REPO -B $BRANCH --confirm
+          done
+          echo "Done"
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/ccache.env

@@ -0,0 +1,10 @@
+# common ccache env vars for CI
+export CCACHE_SLOPPINESS=file_stat_matches
+
+mkdir -p ~/.ccache
+echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+echo "compression = true" >> ~/.ccache/ccache.conf
+echo "compression_level = 6" >> ~/.ccache/ccache.conf
+echo "max_size = 400M" >> ~/.ccache/ccache.conf
+ccache -s
+ccache -z