Changelog and Fork Update

[tilaktilak]

Ardupilot Roadmap : https://ardupilot.org/dev/docs/roadmap.html

This issue tracks :

1. Changes from Aeronavics fork and the one present on the mainline
2. ETA for v4.0.0

RC to be done on 16th of December, Frozen on the 23 of December : https://github.com/ArduPilot/ardupilot/issues/12760#issuecomment-565647342

4. Changes and Risk estimation to pass to v4.0.0
5. Options to fix I2C storm interrupt

1. Changes from Aeronavics forks ( Branch Prod navi 1.3)

Through the following table we compare commits after commits if this changes are present in v3.6.11 (latest stable release) and v4.0.0 (next release).

Description	Hash	Merged in mainline ?
Copter: stop at waypoint depending upon next command	7d5e46b3f8b5730018ea137a938b6529cd5d0dfa	Not present in v3.6.11 - Present in v4.0.0 see here
GCS_MAVLink: disable reboot when armed	4e9293c292501317df6fe523bad63fbc6ebde34d	Not present in v3.6.11 -Present in v4.0.0 see here
AP_BoardConfig: change CAN delay to 10s	bd75b8b53c58427ec778c07f7fee1782d4a0c9a9	Not applied in 3.6.11 See here - Not applicable on v4.0.0 See here
AP_UAVCAN: added ArmingStatus UAVCAN message	cacca40a00f3e7502599186b2e4f14d140a1b201	Not present in 3.6.11 See Here - Not present in 4.0.0 see here
Copter: fail reboot when armed	834777a1ac7273f6622f2c891bd898e7efa5b2f2	Not present in 3.6.11 see here - Present in v4.0.0 see here and here
AP_Math: added new rotation for PITCH_7	86b226913aab7c5da3b9c5464c040521fb578bdf	Not present in v3.6.11 see here - Present in v4.0.0 e2eda63d2c0c87da032dce069034709e2f4b97a1 - see here
Fixed fatal build warning from unused variable.	d117c71f8fc8819ad171eaa33745fcd339045801	Not present in v3.6.11 - Not applicable in v4.0.0 see here

2. ETA for v4.0.0

3. Changes and Risk estimation to pass to v4.0.0

• Copter: 4.0 issues list : https://github.com/ArduPilot/ardupilot/issues/12547

• Release Note : https://github.com/ArduPilot/ardupilot/blob/Copter-4.0/ArduCopter/ReleaseNotes.txt

• Discussion : https://discuss.ardupilot.org/t/copter-4-0-0-rc2-available-for-beta-testing/48851/6

• As discussed with Edwin, it will also be time to implement a build system + binary archive on nexus for this new version, to keep track on firmware version used in prod

4. Options to fix I2C storm interrupt

Explanation

I2C storm : Bug identified here https://github.com/ArduPilot/ardupilot/issues/11642 If the I2C bus is noisy or one of the device is faulty, this can generate a huge amount of I2C interrupt. The main loop is not executed often enough and the watchdog timer reboot the system.

Watchdog : Timer peripheral used to detect a mainloop malfunction. If the timer is not reloaded periodically it will reboot the system.

Status

• Fixed since 3.6.11 (See Commit fix here : https://github.com/ArduPilot/ardupilot/commit/a64984eac8d6c914bf0de2a131456bc39fc8971a see ChibisOS fork fix : https://github.com/ArduPilot/ardupilot/commit/a64984eac8d6c914bf0de2a131456bc39fc8971a)
• Since v4.0.0 : ChibiOS: fixed I2C BTF interrupt storm #12134 is added and looks more complete

[tilaktilak]

How 3.6.12 was made

Starting point: https://github.com/ArduPilot/ardupilot/compare/Copter-3.6...Aeronavics:prod-navi-v1.3

• Compare latest Copter-3.6 (which is Copter-3.6.12 at the moment with our prod-navi-1.3)
• Create a new branch based on prod-navi-1.3
• Merge Copter-3.6.12 into it
• Sort conflicts: Remove magic message to test wdg, change a if lon=0 && lat=0 into if lon=0 || lat=0 according to Copter-3.6.12
• Commit after commit from https://github.com/ArduPilot/ardupilot/compare/Copter-3.6...Aeronavics:prod-navi-v1.3 insure everything is alright :

Checklist :

• [x] Copter: stop at waypoint depending upon next command 7d5e46b
• [x] GCS_MAVLink: disable reboot when armed 4e9293c
• [x] AP_BoardConfig: change CAN delay to 10s bd75b8b
• [x] AP_UAVCAN: added ArmingStatus UAVCAN message cacca40
• [x] Copter: fail reboot when armed 834777a
• [x] AP_Math: added new rotation for PITCH_7 86b2269
• [x] Fixed fatal build warning from unused variable. d117c71