rover版本号调整：4.3.1

parameter增加zr_app参数
GCS_MAVLink:增加发送设备ID
AC_ZR_App:增加获取版本号、ID号

.gitignore

@@ -144,3 +144,5 @@ dumpstack_*out
 build.tmp.binaries/
 tasklist.json
 modules/esp_idf
+.vscode/
+bd*.sh

.pydevproject

@@ -1,5 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<?eclipse-pydev version="1.0"?><pydev_project>
-<pydev_property name="org.python.pydev.PYTHON_PROJECT_INTERPRETER">Default</pydev_property>
-<pydev_property name="org.python.pydev.PYTHON_PROJECT_VERSION">python 2.7</pydev_property>
-</pydev_project>

.vscode/extensions.json

@@ -1,11 +0,0 @@
-{
-    "recommendations": [
-        "ms-vscode.cpptools",
-        "sumneko.lua",
-        "ms-python.python",
-        "ms-python.vscode-pylance",
-        "streetsidesoftware.code-spell-checker",
-        "chiehyu.vscode-astyle",
-        "ardupilot-org.ardupilot-devenv"
-    ]
-}

.vscode/settings.json

@@ -1,4 +0,0 @@
-{
-    "cSpell.language": "en-GB",
-    "astyle.astylerc": "${workspaceFolder}/Tools/CodeStyle/astylerc"
-}

ArduCopter/APM_Config.h

@@ -13,18 +13,18 @@
 //#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
 //#define PRECISION_LANDING     DISABLED            // disable precision landing using companion computer or IRLock sensor
-//#define BEACON_ENABLED        DISABLED            // disable beacon support
-//#define SPRAYER_ENABLED       DISABLED            // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
+#define BEACON_ENABLED        DISABLED            // disable beacon support
+#define SPRAYER_ENABLED       DISABLED            // disable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
 //#define WINCH_ENABLED         DISABLED            // disable winch support
-//#define GRIPPER_ENABLED       DISABLED            // disable gripper support
+#define GRIPPER_ENABLED       DISABLED            // disable gripper support
 //#define RPM_ENABLED           DISABLED            // disable rotations per minute sensor support
 //#define STATS_ENABLED         DISABLED            // disable statistics support
 //#define MODE_ACRO_ENABLED     DISABLED            // disable acrobatic mode support
 //#define MODE_AUTO_ENABLED     DISABLED            // disable auto mode support
 //#define MODE_BRAKE_ENABLED    DISABLED            // disable brake mode support
 //#define MODE_CIRCLE_ENABLED   DISABLED            // disable circle mode support
-//#define MODE_DRIFT_ENABLED    DISABLED            // disable drift mode support
-//#define MODE_FLIP_ENABLED     DISABLED            // disable flip mode support
+#define MODE_DRIFT_ENABLED    DISABLED            // disable drift mode support
+#define MODE_FLIP_ENABLED     DISABLED            // disable flip mode support
 //#define MODE_FOLLOW_ENABLED   DISABLED            // disable follow mode support
 //#define MODE_GUIDED_ENABLED   DISABLED            // disable guided mode support
 //#define MODE_GUIDED_NOGPS_ENABLED   DISABLED      // disable guided/nogps mode support
@@ -34,8 +34,8 @@
 //#define MODE_SMARTRTL_ENABLED DISABLED            // disable smartrtl mode support
 //#define MODE_SPORT_ENABLED    DISABLED            // disable sport mode support
 //#define MODE_SYSTEMID_ENABLED DISABLED            // disable system ID mode support
-//#define MODE_THROW_ENABLED    DISABLED            // disable throw mode support
-//#define MODE_ZIGZAG_ENABLED   DISABLED            // disable zigzag mode support
+#define MODE_THROW_ENABLED    DISABLED            // disable throw mode support
+#define MODE_ZIGZAG_ENABLED   DISABLED            // disable zigzag mode support
 //#define OSD_ENABLED           DISABLED            // disable on-screen-display support
 //#define LANDING_GEAR_ENABLED  DISABLED            // disable landing gear support
 
@@ -51,11 +51,11 @@
 // Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below).
 //#define USERHOOK_VARIABLES "UserVariables.h"
 // Put your custom code into the UserCode.cpp with function names matching those listed below and ensure the appropriate #define below is uncommented below
-//#define USERHOOK_INIT userhook_init();                      // for code to be run once at startup
-//#define USERHOOK_FASTLOOP userhook_FastLoop();            // for code to be run at 100hz
-//#define USERHOOK_50HZLOOP userhook_50Hz();                  // for code to be run at 50hz
-//#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();        // for code to be run at 10hz
-//#define USERHOOK_SLOWLOOP userhook_SlowLoop();            // for code to be run at 3.3hz
-//#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();  // for code to be run at 1hz
-//#define USERHOOK_AUXSWITCH ENABLED                        // for code to handle user aux switches
+#define USERHOOK_INIT userhook_init();                      // for code to be run once at startup
+#define USERHOOK_FASTLOOP userhook_FastLoop();            // for code to be run at 100hz
+#define USERHOOK_50HZLOOP userhook_50Hz();                  // for code to be run at 50hz
+#define USERHOOK_MEDIUMLOOP userhook_MediumLoop();        // for code to be run at 10hz
+#define USERHOOK_SLOWLOOP userhook_SlowLoop();            // for code to be run at 3.3hz
+#define USERHOOK_SUPERSLOWLOOP userhook_SuperSlowLoop();  // for code to be run at 1hz
+// #define USERHOOK_AUXSWITCH ENABLED                        // for code to handle user aux switches
 //#define USER_PARAMS_ENABLED ENABLED                       // to enable user parameters

ArduCopter/AP_Arming.cpp

@@ -550,7 +550,11 @@ bool AP_Arming_Copter::alt_checks(bool display_failure)
 //  has side-effect that logging is started
 bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
 {
+
     const auto &ahrs = AP::ahrs();
+    if(!mandatory_deadline_checks(false)){  // 检查注册是否到期
+        return false;
+    }
 
     // always check if inertial nav has started and is ready
     if (!ahrs.healthy()) {
@@ -840,3 +844,22 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
 
     return true;
 }
+
+bool AP_Arming_Copter::mandatory_deadline_checks(bool display_failure)
+{
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    return true;
+#else
+    uint32_t date;
+    if (!copter.zr_app.check_deadline(date))
+    {
+        // check_failed(true, "无法解锁，授权于 %u-%u-%u 到期!", date / 10000, (date % 10000) / 100, date % 100);
+        check_failed(true, "Trial time has expired at %lu-%lu-%lu", date / 10000, (date % 10000) / 100, date % 100);
+       // check_failed(display_failure, "Trial time has expired at %d-%d-%d !", date / 10000, (date % 10000) / 100, date % 100);
+        return false;
+    }else{
+        return true;
+    }
+    
+#endif
+}

ArduCopter/AP_Arming.h

@@ -48,9 +48,10 @@ protected:
     bool gcs_failsafe_check(bool display_failure);
     bool winch_checks(bool display_failure) const;
     bool alt_checks(bool display_failure);
-
     void set_pre_arm_check(bool b);
 
+    bool mandatory_deadline_checks(bool display_failure);   // 飞机到期时间检查
+
 private:
 
     // actually contains the pre-arm checks.  This is wrapped so that

ArduCopter/Copter.h

@@ -70,6 +70,8 @@
 #include <AP_ADSB/AP_ADSB.h>                // ADS-B RF based collision avoidance module library
 #include <AP_Proximity/AP_Proximity.h>      // ArduPilot proximity sensor library
 
+#include <AC_ZR_APP/AC_ZR_App.h>
+
 // Configuration
 #include "defines.h"
 #include "config.h"
@@ -1000,8 +1002,14 @@ private:
     Mode *mode_from_mode_num(const Mode::Number mode);
     void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode);
 
+    AC_ZR_App zr_app;
 public:
     void failsafe_check();      // failsafe.cpp
+    
+    void zr_app_50hz();
+    void zr_app_10hz();
+    void zr_app_1hz();
+
 };
 
 extern Copter copter;

ArduCopter/GCS_Mavlink.cpp

@@ -607,6 +607,15 @@ void GCS_MAVLINK_Copter::send_banner()
     char frame_and_type_string[30];
     copter.motors->get_frame_and_type_string(frame_and_type_string, ARRAY_SIZE(frame_and_type_string));
     send_text(MAV_SEVERITY_INFO, "%s", frame_and_type_string);
+
+#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
+    uint32_t deadline = 0;
+    copter.zr_app.get_deadline_params(deadline);
+    send_text(MAV_SEVERITY_INFO, "Date:%lu",deadline);
+    send_text(MAV_SEVERITY_INFO, "ID:%lu",copter.zr_app.get_zr_sysid());
+    
+#endif
+    
 }
 
 void GCS_MAVLINK_Copter::handle_command_ack(const mavlink_message_t &msg)

ArduCopter/Parameters.cpp

@@ -722,6 +722,8 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: Parameters.cpp
     GOBJECT(g2, "",  ParametersG2),
 
+    GOBJECT(zr_app, "ZR",  AC_ZR_App),
+
     // @Group:
     // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
     { AP_PARAM_GROUP, "", Parameters::k_param_vehicle, (const void *)&copter, {group_info : AP_Vehicle::var_info} },

ArduCopter/Parameters.h

@@ -376,6 +376,7 @@ public:
         // 254,255: reserved
 
         k_param_vehicle = 257, // vehicle common block of parameters
+        k_param_zr_app = 258, // 253 - Logging Group
 
         // the k_param_* space is 9-bits in size
         // 511: reserved

ArduCopter/UserCode.cpp

@@ -19,6 +19,7 @@ void Copter::userhook_FastLoop()
 void Copter::userhook_50Hz()
 {
     // put your 50Hz code here
+    zr_app_50hz();
 }
 #endif
 
@@ -26,6 +27,7 @@ void Copter::userhook_50Hz()
 void Copter::userhook_MediumLoop()
 {
     // put your 10Hz code here
+    zr_app_10hz();
 }
 #endif
 
@@ -40,6 +42,7 @@ void Copter::userhook_SlowLoop()
 void Copter::userhook_SuperSlowLoop()
 {
     // put your 1Hz code here
+    zr_app_1hz();
 }
 #endif
 

ArduCopter/mode.cpp

@@ -575,8 +575,11 @@ void Mode::land_run_vertical_control(bool pause_descent)
     bool ignore_descent_limit = false;
     if (!pause_descent) {
 
+        // @Brown, loiter land auto deceleration
+        int16_t  land_speed_now = get_land_deceleration();
+
         // do not ignore limits until we have slowed down for landing
-        ignore_descent_limit = (MAX(g2.land_alt_low,100) > get_alt_above_ground_cm()) || copter.ap.land_complete_maybe;
+        ignore_descent_limit = (MAX(g2.land_alt_low,2000) > get_alt_above_ground_cm()) || copter.ap.land_complete_maybe; // 最低高度100改2000,最低20m开始降速
 
         float max_land_descent_velocity;
         if (g.land_speed_high > 0) {
@@ -592,7 +595,8 @@ void Mode::land_run_vertical_control(bool pause_descent)
         cmb_rate = sqrt_controller(MAX(g2.land_alt_low,100)-get_alt_above_ground_cm(), pos_control->get_pos_z_p().kP(), pos_control->get_max_accel_z_cmss(), G_Dt);
 
         // Constrain the demanded vertical velocity so that it is between the configured maximum descent speed and the configured minimum descent speed.
-        cmb_rate = constrain_float(cmb_rate, max_land_descent_velocity, -abs(g.land_speed));
+        // cmb_rate = constrain_float(cmb_rate, max_land_descent_velocity, -abs(g.land_speed));
+        cmb_rate = constrain_float(cmb_rate, max_land_descent_velocity, -abs(land_speed_now));  // 替换速度
 
 #if PRECISION_LANDING == ENABLED
         const bool navigating = pos_control->is_active_xy();
@@ -1024,3 +1028,12 @@ uint16_t Mode::get_pilot_speed_dn()
 {
     return copter.get_pilot_speed_dn();
 }
+/**
+ * @brief 根据高度，获取降落减速速度
+ * @author ZRZK
+ * @return uint16_t 降落速度
+ */
+uint16_t Mode::get_land_deceleration()
+{
+    return copter.zr_app.get_land_deceleration(get_alt_above_ground_cm(),get_pilot_speed_dn());
+}

ArduCopter/mode.h

@@ -295,6 +295,8 @@ public:
     GCS_Copter &gcs();
     void set_throttle_takeoff(void);
     uint16_t get_pilot_speed_dn(void);
+
+    uint16_t get_land_deceleration();
     // end pass-through functions
 };
 

ArduCopter/mode_loiter.cpp

@@ -87,8 +87,11 @@ void ModeLoiter::run()
     float target_yaw_rate = 0.0f;
     float target_climb_rate = 0.0f;
 
+    // @Brown, loiter land auto deceleration
+    int16_t  land_speed_now = get_land_deceleration();
     // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
+    // pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
+    pos_control->set_max_speed_accel_z(-land_speed_now, g.pilot_speed_up, g.pilot_accel_z);  // 替换速度
 
     // process pilot inputs unless we are in radio failsafe
     if (!copter.failsafe.radio) {
@@ -106,7 +109,8 @@ void ModeLoiter::run()
 
         // get pilot desired climb rate
         target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
-        target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
+        // target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), g.pilot_speed_up);
+        target_climb_rate = constrain_float(target_climb_rate, -land_speed_now, g.pilot_speed_up);  // 替换速度
     } else {
         // clear out pilot desired acceleration in case radio failsafe event occurs and we do not switch to RTL for some reason
         loiter_nav->clear_pilot_desired_acceleration();

ArduCopter/wscript

@@ -31,6 +31,7 @@ def build(bld):
             'AP_OSD',
             'AC_AutoTune',
             'AP_KDECAN',
+            'AC_ZR_APP',
         ],
     )
 

ArduCopter/zr_app.cpp

@@ -0,0 +1,31 @@
+#include "Copter.h"
+
+
+void Copter::zr_app_1hz()
+{
+    static bool before_fly = true;
+    if(motors->armed()){
+         if(before_fly){
+            before_fly = false;
+        }
+        relay.on(3);    // 电子开关，保持通路
+        // camera.set_in_arm_mode(true);
+    }else{
+        relay.off(3);
+        if(before_fly){
+            uint8_t bat_cnt = zr_app.get_battery_capacity(1,battery.voltage());
+            battery.reset_remaining(0,(float)bat_cnt );
+            // gcs().send_text(MAV_SEVERITY_INFO, "bat:%.2f,pst%d,%.2f",battery.voltage(),bat_cnt,(float)bat_cnt);
+        }
+    }
+
+}
+
+void Copter::zr_app_10hz()
+{
+
+
+}
+void Copter::zr_app_50hz(){
+
+}

Rover/GCS_Mavlink.cpp

@@ -1133,3 +1133,15 @@ uint8_t GCS_MAVLINK_Rover::high_latency_wind_direction() const
     return 0;
 }
 #endif // HAL_HIGH_LATENCY2_ENABLED
+
+/**
+ * @brief send device id
+ * @
+ * @return char* 
+ */
+char* GCS_MAVLINK_Rover::gcs_get_sysid_id()
+{
+    static char  buf[50];
+    memcpy(buf,rover.zr_app.get_sysid_board_id(),50);
+    return buf;
+}

Rover/GCS_Mavlink.h

@@ -31,6 +31,8 @@ protected:
     void send_nav_controller_output() const override;
     void send_pid_tuning() override;
     
+    char* gcs_get_sysid_id() override ;
+
 private:
 
     void handleMessage(const mavlink_message_t &msg) override;

Rover/Log.cpp

@@ -77,6 +77,26 @@ void Rover::Log_Write_Depth()
                             loc.lng,
                             (double)(s->distance()),
                             temp_C);
+
+        // @LoggerMessage: UDSR
+        // @Description: Depth messages on boats with downwards facing range finder
+        // @Field: TimeUS: Time since system startup
+        // @Field: Inst: Instance
+        // @Field: Lat: Latitude 
+        // @Field: Lng: Longitude   
+        // @Field: Deep: Depth as detected by the sensor
+        // @Field: Temp: Temperature
+        logger.Write("UDSR", "TimeUS,Lat,Lng,Alt,Temp,Deep,GLat,GLng,GAlt",
+                            "sDUm--DUm", "FGGB--GGB", "QLLeffLLe",
+                            AP_HAL::micros64(),
+                            loc.lat,
+                            loc.lat,
+                            loc.alt,
+                            temp_C,
+                            (s->distance()),
+                            gps.location().lat,
+                            gps.location().lng,
+                            gps.location().alt);
     }
     // send water depth and temp to ground station
     gcs().send_message(MSG_WATER_DEPTH);

Rover/Parameters.cpp

@@ -382,6 +382,7 @@ const AP_Param::Info Rover::var_info[] = {
     // @Path: ../libraries/AP_OSD/AP_OSD.cpp
     GOBJECT(osd, "OSD", AP_OSD),
 #endif
+    GOBJECT(zr_app, "ZR",  AC_ZR_App),
 
     // @Group:
     // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp

Rover/Parameters.h

@@ -226,6 +226,8 @@ public:
         // 254,255: reserved
 
         k_param_vehicle = 257, // vehicle common block of parameters
+        
+        k_param_zr_app = 258, // 253 - Logging Group
         };
 
     AP_Int16    format_version;

Rover/Rover.cpp

@@ -129,6 +129,11 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #if ADVANCED_FAILSAFE == ENABLED
     SCHED_TASK(afs_fs_check,           10,    200, 129),
 #endif
+
+
+    SCHED_TASK(zr_app_50hz, 50,     200, 132),
+    SCHED_TASK(zr_app_10hz, 10,     200, 135),
+    SCHED_TASK(zr_app_1hz, 1,     200, 138),
 };
 
 

Rover/Rover.h

@@ -37,6 +37,7 @@
 #include <AP_Logger/AP_Logger.h>
 #include <AP_OSD/AP_OSD.h>
 #include <AR_Motors/AP_MotorsUGV.h>
+#include <AC_ZR_APP/AC_ZR_App.h>
 
 #if AP_SCRIPTING_ENABLED
 #include <AP_Scripting/AP_Scripting.h>
@@ -374,6 +375,7 @@ private:
                   "_failsafe_priorities is missing the sentinel");
 
 
+    AC_ZR_App zr_app;
 public:
     void failsafe_check();
     // Motor test
@@ -388,6 +390,10 @@ public:
 
     // Simple mode
     float simple_sin_yaw;
+
+    void zr_app_50hz();
+    void zr_app_10hz();
+    void zr_app_1hz();
 };
 
 extern Rover rover;

Rover/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.3.0-dev"
+#define THISFIRMWARE "AUSV V4.3.1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,3,0,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 4,3,1,FIRMWARE_VERSION_TYPE_DEV
 
 #define FW_MAJOR 4
 #define FW_MINOR 3
-#define FW_PATCH 0
+#define FW_PATCH 1
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
 
 #include <AP_Common/AP_FWVersionDefine.h>

Rover/wscript

@@ -25,6 +25,7 @@ def build(bld):
             'AP_WindVane',
             'AR_Motors',
             'AP_Torqeedo',
+            'AC_ZR_APP',
         ],
     )
 

Rover/zr_app.cpp

@@ -0,0 +1,27 @@
+#include "Rover.h"
+
+
+void Rover::zr_app_1hz()
+{
+    static bool before_fly = true;
+    if(arming.is_armed()){
+         if(before_fly){
+            before_fly = false;
+            gcs().send_text(MAV_SEVERITY_INFO,"%s",zr_app.get_sysid_board_id());
+        }
+        relay.on(3);    // 电子开关，保持通路
+        // camera.set_in_arm_mode(true);
+    }else{
+        relay.off(3);
+    }
+
+}
+
+void Rover::zr_app_10hz()
+{
+
+
+}
+void Rover::zr_app_50hz(){
+
+}

Tools/ardupilotwaf/boards.py

@@ -278,7 +278,7 @@ class Board:
             '-Werror=unused-value',
             '-Werror=unused-variable',
             '-Werror=delete-non-virtual-dtor',
-            '-Wfatal-errors',
+            # '-Wfatal-errors',
             '-Wno-trigraphs',
             '-Werror=parentheses',
             '-DARDUPILOT_BUILD',
@@ -834,7 +834,7 @@ class chibios(Board):
             '-Wmissing-declarations',
             '-Wno-unused-parameter',
             '-Werror=array-bounds',
-            '-Wfatal-errors',
+            # '-Wfatal-errors',
             '-Werror=uninitialized',
             '-Werror=init-self',
             '-Werror=unused-but-set-variable',

Tools/autotest/locations.txt

@@ -1,4 +1,5 @@
 #NAME=latitude,longitude,absolute-altitude,heading
+CYDS=24.6187612,118.0383748,0,0
 OSRF0=37.4003371,-122.0800351,0,353
 OSRF0_PILOTSBOX=37.4003371,-122.0800351,2,270
 CMAC=-35.363261,149.165230,584,353

Tools/autotest/web-firmware/Tools/FilterTool/index.html

@@ -1,357 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-<head>
-<meta charset="utf-8" />
-<title>ArduPilot Filter Analysis</title>
-<script type="text/javascript" src="filters.js"></script>
-<script type="text/javascript" src="FileSaver.js"></script>
-<script type="text/javascript" src={{url_for('static', filename='filters.js')}}></script>
-<script type="text/javascript" src={{url_for('static', filename='FileSaver.js')}}></script>
-<script src="https://cdnjs.cloudflare.com/ajax/libs/Chart.js/2.9.4/Chart.js"></script>
-<script src="https://www.lactame.com/lib/ml/6.0.0/ml.min.js"></script>
-</head>
-<a href="https://ardupilot.org"><img src="logo.png"></a>
-<h1>ArduPilot Filter Analysis</h1>
-
-The following form will display the attenuation and phase lag for an
-ArduPilot 4.2 filter setup.
-<body onload="load_cookies(); fill_docs(); update_all_hidden(); calculate_filter(); calculate_pid(); ">
-  <canvas id="Attenuation" style="width:100%;max-width:1200px"></canvas>
-<p>
-  <input type="button" id="calculate" value="Calculate">
-  <input type="button" id="SaveParams" value="Save Parameters" onclick="save_parameters();">
-  <button class="styleClass" onclick="document.getElementById('param_file').click()">Load Parameters</button>
-  <input type='file' id="param_file" style="display:none" onchange="load_parameters(this.files[0]);">
-
-  <form id="params" action="">
-<fieldset style="max-width:1200px">
-  <legend>Graph Settings</legend>
-        <table>
-                <tr>
-                        <td>
-                                <fieldset style="width:150px">
-                                        <legend>Magnitude scale</legend>
-                                        <input type="radio" id="ScaleLog" name="Scale" value="Log" checked>
-                                        <label for="LogScale">dB</label><br>
-                                        <input type="radio" id="ScaleLinear" name="Scale" value="Linear">
-                                        <label for="LinearScale">Linear</label><br>
-                                </fieldset>
-                        </td>
-                        <td>
-                                <fieldset style="width:150px">
-                                        <legend>Frequency scale</legend>
-                                        <table>
-                                                <tr>
-                                                        <td>
-                                                                <input type="radio" id="freq_ScaleLog" name="feq_scale" value="Log" checked>
-                                                                <label for="LogScale">Log</label><br>
-                                                                <input type="radio" id="freq_ScaleLinear" name="feq_scale" value="Linear">
-                                                                <label for="LinearScale">Linear</label><br>
-                                                        </td>
-                                                        <td>
-                                                                <input type="radio" id="freq_Scale_Hz" name="feq_unit" value="Hz" checked>
-                                                                <label for="Scale_unit_Hz">Hz</label><br>
-                                                                <input type="radio" id="freq_Scale_RPM" name="feq_unit" value="RPM">
-                                                                <label for="Scale_unit_RPM">RPM</label><br>
-                                                        </td>
-                                                </tr>
-                                        </table>
-                                </fieldset>
-                        </td>
-                </tr>
-        </table>
-        <p>
-                <label for="MaxFreq">Maximum Displayed Frequency</label>
-                <input id="MaxFreq" name="MaxFreq" type="number" step="1" value="150" onchange="check_nyquist();"/>
-                <label id="MaxFreq_warning"></label>
-	</p>
-        <p>
-                <label for="MaxPhaseLag">Maximum Displayed Phase Lag</label>
-                <input id="MaxPhaseLag" name="MaxPhaseLag" type="number" step="1" value="360"/>
-	</p>
-</fieldset>
-<fieldset style="max-width:1200px">
-  <legend>INS Settings</legend>
-        <p>
-                <label for="GyroSampleRate">Gyro Sample Rate</label>
-                <input id="GyroSampleRate" name="GYRO_SAMPLE_RATE" type="number" step="1" value="2000"/>
-	</p>
-        <p>
-                <label for="INS_GYRO_FILTER">INS_GYRO_FILTER</label>
-                <input id="INS_GYRO_FILTER" name="INS_GYRO_FILTER" type="number" step="0.1" value="20.0"/>
-	</p>
-</fieldset>
-<fieldset style="max-width:1200px">
-  <legend>First Notch Filter</legend>
-        <p>
-                <label for="INS_HNTCH_ENABLE">INS_HNTCH_ENABLE</label>
-                <input id="INS_HNTCH_ENABLE" name="INS_HNTCH_ENABLE" type="number" step="1" value="0" onchange="update_hidden(this.id); fill_docs();"/>
-                <label id="INS_HNTCH_ENABLE.doc"></label>
-        </p>
-        <p>
-                <label for="INS_HNTCH_MODE">INS_HNTCH_MODE</label>
-                <input id="INS_HNTCH_MODE" name="INS_HNTCH_MODE" type="number" step="1" value="0" onchange="update_hidden_mode(); fill_docs();"/>
-                <label id="INS_HNTCH_MODE.doc"></label>
-        </p>
-        <p>
-                <label for="INS_HNTCH_FREQ">INS_HNTCH_FREQ</label>
-                <input id="INS_HNTCH_FREQ" name="INS_HNTCH_FREQ" type="number" step="0.1" value="0"/>
-        </p>
-        <p>
-                <label for="INS_HNTCH_BW">INS_HNTCH_BW</label>
-                <input id="INS_HNTCH_BW" name="INS_HNTCH_BW" type="number" step="0.1" value="0"/>
-        </p>
-        <p>
-                <label for="INS_HNTCH_ATT">INS_HNTCH_ATT</label>
-                <input id="INS_HNTCH_ATT" name="INS_HNTCH_ATT" type="number" step="0.1" value="0"/>
-	</p>
-        <p>
-                <label for="INS_HNTCH_REF">INS_HNTCH_REF</label>
-                <input id="INS_HNTCH_REF" name="INS_HNTCH_REF" type="number" step="0.01" value="0"/>
-	</p>
-        <p>
-                <label for="INS_HNTCH_FM_RAT">INS_HNTCH_FM_RAT</label>
-                <input id="INS_HNTCH_FM_RAT" name="INS_HNTCH_FM_RAT" type="number" step="0.01" value="1.0"/>
-	</p>
-        <p>
-                <label for="INS_HNTCH_HMNCS">INS_HNTCH_HMNCS</label>
-                <input id="INS_HNTCH_HMNCS" name="INS_HNTCH_HMNCS" type="number" step="1" value="1"/>
-                <label id="INS_HNTCH_HMNCS.doc"></label>
-        </p>
-        <p>
-                <label for="INS_HNTCH_OPTS">INS_HNTCH_OPTS</label>
-                <input id="INS_HNTCH_OPTS" name="INS_HNTCH_OPTS" type="number" step="1" value="0"/>
-                <label id="INS_HNTCH_OPTS.doc"></label>
-        </p>
-</fieldset>
-<fieldset style="max-width:1200px">
-  <legend>Second Notch Filter</legend>
-        <p>
-                <label for="INS_HNTC2_ENABLE">INS_HNTC2_ENABLE</label>
-                <input id="INS_HNTC2_ENABLE" name="INS_HNTC2_ENABLE" type="number" step="1" value="0" onchange="update_hidden(this.id); fill_docs();"/>
-                <label id="INS_HNTC2_ENABLE.doc"></label>
-        </p>
-        <p>
-                <label for="INS_HNTC2_MODE">INS_HNTC2_MODE</label>
-                <input id="INS_HNTC2_MODE" name="INS_HNTC2_MODE" type="number" step="1" value="0" onchange="update_hidden_mode(); fill_docs();"/>
-                <label id="INS_HNTC2_MODE.doc"></label>
-        </p>
-        <p>
-                <label for="INS_HNTC2_FREQ">INS_HNTC2_FREQ</label>
-                <input id="INS_HNTC2_FREQ" name="INS_HNTC2_FREQ" type="number" step="0.1" value="0"/>
-	</p>
-        <p>
-                <label for="INS_HNTC2_BW">INS_HNTC2_BW</label>
-                <input id="INS_HNTC2_BW" name="INS_HNTC2_BW" type="number" step="0.1" value="0"/>
-	</p>
-        <p>
-                <label for="INS_HNTC2_ATT">INS_HNTC2_ATT</label>
-                <input id="INS_HNTC2_ATT" name="INS_HNTC2_ATT" type="number" step="0.1" value="0"/>
-	</p>
-        <p>
-                <label for="INS_HNTC2_REF">INS_HNTC2_REF</label>
-                <input id="INS_HNTC2_REF" name="INS_HNTC2_REF" type="number" step="0.01" value="0"/>
-	</p>
-        <p>
-                <label for="INS_HNTC2_FM_RAT">INS_HNTC2_FM_RAT</label>
-                <input id="INS_HNTC2_FM_RAT" name="INS_HNTC2_FM_RAT" type="number" step="0.01" value="1.0"/>
-	</p>
-        <p>
-                <label for="INS_HNTC2_HMNCS">INS_HNTC2_HMNCS</label>
-                <input id="INS_HNTC2_HMNCS" name="INS_HNTC2_HMNCS" type="number" step="1" value="1"/>
-                <label id="INS_HNTC2_HMNCS.doc"></label>
-        </p>
-        <p>
-                <label for="INS_HNTC2_OPTS">INS_HNTC2_OPTS</label>
-                <input id="INS_HNTC2_OPTS" name="INS_HNTC2_OPTS" type="number" step="1" value="0"/>
-                <label id="INS_HNTC2_OPTS.doc"></label>
-        </p>
-</fieldset>
-<fieldset style="max-width:1200px" id="Throttle_input">
-        <legend>Throttle Based</legend>
-              <p>
-                      <label for="Throttle">Throttle</label>
-                      <input id="Throttle" name="Throttle" type="number" step="0.01" value="0.3"/>
-              </p>
-</fieldset>
-<fieldset style="max-width:1200px" id="ESC_input">
-        <legend>ESC Telemetry</legend>
-              <p>
-                      <label for="NUM_MOTORS">Number of Motors</label>
-                      <input id="NUM_MOTORS" name="NUM_MOTORS" type="number" step="1" value="1"/>
-              </p>
-              <p>
-                      <label for="ESC_RPM">ESC RPM</label>
-                      <input id="ESC_RPM" name="ESC_RPM" type="number" step="1" value="2500"/>
-              </p>
-</fieldset>
-<fieldset style="max-width:1200px" id="RPM_input">
-        <legend>RPM/EFI Based</legend>
-              <p>
-                      <label for="RPM1">RPM1</label>
-                      <input id="RPM1" name="RPM1" type="number" step="1" value="2500"/>
-              </p>
-              <p>
-                      <label for="RPM2">RPM2</label>
-                      <input id="RPM2" name="RPM2" type="number" step="1" value="2500"/>
-              </p>
-</fieldset>
-</form>
-
-<h2>PIDs</h2>
-<h3><label id="PID_title">Title</label></h3>
-<canvas id="PID_Attenuation" style="width:100%;max-width:1200px"></canvas>
-<p>
-<input type="button" id="CalculateRoll" value="Caculate Roll" onclick="calculate_pid(this.id);">
-<input type="button" id="CalculatePitch" value="Caculate Pitch" onclick="calculate_pid(this.id);">
-<input type="button" id="CalculateYaw" value="Caculate Yaw" onclick="calculate_pid(this.id);">
-</p>
-<form id="PID_params" action="">
-        <fieldset style="max-width:1200px">
-          <legend>Graph Settings</legend>
-                <p>
-                        <table>
-                                <tr>
-                                        <td>
-                                                <fieldset style="width:150px">
-                                                        <legend>Gain scale</legend>
-                                                        <input type="radio" id="PID_ScaleLog" name="PID_Scale" value="Log" checked>
-                                                        <label for="LogScale">dB</label><br>
-                                                        <input type="radio" id="PID_ScaleLinear" name="PID_Scale" value="Linear">
-                                                        <label for="LinearScale">Linear</label><br>
-                                                </fieldset>
-                                        </td>
-                                        <td>
-                                                <fieldset style="width:150px">
-                                                        <legend>Frequency scale</legend>
-                                                        <table>
-                                                                <tr>
-                                                                        <td>
-                                                                                <input type="radio" id="PID_freq_ScaleLog" name="PID_feq_scale" value="Log" checked>
-                                                                                <label for="LogScale">Log</label><br>
-                                                                                <input type="radio" id="PID_freq_ScaleLinear" name="PID_feq_scale" value="Linear">
-                                                                                <label for="LinearScale">Linear</label><br>
-                                                                        </td>
-                                                                        <td>
-                                                                                <input type="radio" id="PID_freq_Scale_Hz" name="PID_feq_unit" value="Hz" checked>
-                                                                                <label for="Scale_unit_Hz">Hz</label><br>
-                                                                                <input type="radio" id="PID_freq_Scale_RPM" name="PID_feq_unit" value="RPM">
-                                                                                <label for="Scale_unit_RPM">RPM</label><br>
-                                                                        </td>
-                                                                </tr>
-                                                        </table>
-                                                </fieldset>
-                                        </td>
-                                        <td>
-                                                <fieldset style="width:150px">
-                                                        <legend>Filtering</legend>
-                                                        <input type="radio" id="PID_filtering_Pre" name="filtering" value="Pre" checked>
-                                                        <label for="LogScale">Pre</label><br>
-                                                        <input type="radio" id="PID_filtering_Post" name="filtering" value="Post">
-                                                        <label for="LinearScale">Post</label><br>
-                                                </fieldset>
-                                        </td>
-                                </tr>
-                        </table> 
-                </p>
-                <p>
-                        <label for="PID_MaxFreq">Maximum Displayed Frequency</label>
-                        <input id="PID_MaxFreq" name="PID_MaxFreq" type="number" step="1" value="150" onchange="check_nyquist();"/>
-                        <label id="PID_MaxFreq_warning"></label>
-                </p>
-                <p>
-                        <label for="PID_MaxPhaseLag">Maximum Displayed Phase Lag</label>
-                        <input id="PID_MaxPhaseLag" name="PID_MaxPhaseLag" type="number" step="1" value="360"/>
-                </p>
-        </fieldset>
-        <fieldset style="max-width:1200px">
-        <legend>Loop Rate</legend>
-               <p>
-                        <label for="SCHED_LOOP_RATE">SCHED_LOOP_RATE</label>
-                        <input id="SCHED_LOOP_RATE" name="SCHED_LOOP_RATE" type="number" step="1" value="400"/>
-                </p>
-        </fieldset>
-        <fieldset style="max-width:1200px">
-        <legend>Roll</legend>
-                <p>
-                        <label for="ATC_RAT_RLL_P">ATC_RAT_RLL_P</label>
-                        <input id="ATC_RAT_RLL_P" name="ATC_RAT_RLL_P" type="number" step="0.01" value="0.135"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_RLL_I">ATC_RAT_RLL_I</label>
-                        <input id="ATC_RAT_RLL_I" name="ATC_RAT_RLL_I" type="number" step="0.01" value="0.135"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_RLL_D">ATC_RAT_RLL_D</label>
-                        <input id="ATC_RAT_RLL_D" name="ATC_RAT_RLL_D" type="number" step="0.0001" value="0.0036"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_RLL_FLTE">ATC_RAT_RLL_FLTE</label>
-                        <input id="ATC_RAT_RLL_FLTE" name="ATC_RAT_RLL_FLTE" type="number" step="0.01" value="0"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_RLL_FLTD">ATC_RAT_RLL_FLTD</label>
-                        <input id="ATC_RAT_RLL_FLTD" name="ATC_RAT_RLL_FLTD" type="number" step="0.01" value="20"/>
-                </p>
-        </fieldset>
-        <fieldset style="max-width:1200px">
-        <legend>Pitch</legend>
-                <p>
-                        <label for="ATC_RAT_PIT_P">ATC_RAT_PIT_P</label>
-                        <input id="ATC_RAT_PIT_P" name="ATC_RAT_PIT_P" type="number" step="0.01" value="0.135"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_PIT_I">ATC_RAT_PIT_I</label>
-                        <input id="ATC_RAT_PIT_I" name="ATC_RAT_PIT_I" type="number" step="0.01" value="0.135"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_PIT_D">ATC_RAT_PIT_D</label>
-                        <input id="ATC_RAT_PIT_D" name="ATC_RAT_PIT_D" type="number" step="0.0001" value="0.0036"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_PIT_FLTE">ATC_RAT_PIT_FLTE</label>
-                        <input id="ATC_RAT_PIT_FLTE" name="ATC_RAT_PIT_FLTE" type="number" step="0.01" value="0"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_PIT_FLTD">ATC_RAT_PIT_FLTD</label>
-                        <input id="ATC_RAT_PIT_FLTD" name="ATC_RAT_PIT_FLTD" type="number" step="0.01" value="20"/>
-                </p>
-        </fieldset>
-        <fieldset style="max-width:1200px">
-        <legend>Yaw</legend>
-                <p>
-                        <label for="ATC_RAT_YAW_P">ATC_RAT_YAW_P</label>
-                        <input id="ATC_RAT_YAW_P" name="ATC_RAT_YAW_P" type="number" step="0.01" value="0.09"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_YAW_I">ATC_RAT_YAW_I</label>
-                        <input id="ATC_RAT_YAW_I" name="ATC_RAT_YAW_I" type="number" step="0.01" value="0.009"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_YAW_D">ATC_RAT_YAW_D</label>
-                        <input id="ATC_RAT_YAW_D" name="ATC_RAT_YAW_D" type="number" step="0.0001" value="0"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_YAW_FLTE">ATC_RAT_YAW_FLTE</label>
-                        <input id="ATC_RAT_YAW_FLTE" name="ATC_RAT_YAW_FLTE" type="number" step="0.01" value="2.5"/>
-                </p>
-                <p>
-                        <label for="ATC_RAT_YAW_FLTD">ATC_RAT_YAW_FLTD</label>
-                        <input id="ATC_RAT_YAW_FLTD" name="ATC_RAT_YAW_FLTD" type="number" step="0.01" value="0"/>
-                </p>
-        </fieldset>
-</form>
-
-<script>
-  var calc_btn = document.getElementById('calculate');
-  calc_btn.onclick = function() {
-      calculate_filter();
-  }
-  //var clear_btn = document.getElementById('clear_cookies');
-  //clear_btn.onclick = function() {
-  //    clear_cookies();
-  //}
-</script>
-
-</body>
-</html>

Tools/autotest/web-firmware/index.html

@@ -1,160 +0,0 @@
-<!DOCTYPE HTML>
-<html lang="en">
-<head>
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
-<title>ArduPilot Firmware Download</title>
-
-<!--CSS -->
-<link href="css/main.css" rel="stylesheet" type="text/css" />
-</head>
-
-<body>
-<div id="main">
-<a href="https://firmware.ardupilot.org/">
-<div id="logo">
-</div>
-</a>
-    
-<h2>ArduPilot Firmware builds</h2>
-
-These firmware builds are automatically generated by the
-<a href="https://autotest.ardupilot.org">ArduPilot autotest system</a>.<p>
-
-<h2>License</h2>
-
-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.<p>
-
-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.<p>
-
-For details see <a href="http://www.gnu.org/licenses/gpl.html">http://www.gnu.org/licenses/gpl.html</a>
-
-<h2>Safety</h2>
-
-Operating a powered vehicle of any kind can be a lot of fun.  However,
-nothing will ruin your day at the park more quickly than an accident
-or running afoul of the law.  Since we want you to have a great
-experience, please make sure that you do all of the following:
-<ul>
-<li><b>Operate within all local laws and regulations</b>.  For
-example, in the United States, current regulations require you to
-operate most UAVs under 400 foot above ground level, within line of
-sight, and away from obstructions and populated areas.  Since these
-regulations vary from place to place, even within the same country,
-ensure that you understand what you need to do to stay compliant.</li>
-
-<li><b>Never operate the vehicle or software in a way that could be
-dangerous to you, other people, or property</b>. Propellers, while
-rotating, could easily cut you; if a UAV fell on a person or object,
-it could cause a lot of pain and damage; a UAV caught in power lines
-could cause an outage for many people.  As Ben Franklin said, "An
-ounce of prevention is worth a pound of cure."</li>
-
-<li><b>Always keep in mind that software and hardware failures
-happen</b>.  Although we design our products to minimize such issues,
-you should always operate with the understanding that a failure could
-occur at any point of time and without warning.  As such, you should
-take the appropriate precautions to minimize danger in case of
-failure.</li>
-
-<li><b>Never use the software or hardware for manned vehicles</b>.
-The software and hardware we provide is only for use in unmanned
- vehicles.</li>
-</ul>
-
-
-<h2>Firmwares</h2>
-
-<a href="Plane"><img src="images/plane.png" width="80"
-		     alt="Plane">Plane</a> - for fixed wing aircraft<p>
-<a href="Copter"><img src="images/copter.png" width="80"
-		      alt="Copter">Copter</a> - for multicopters and
-		      traditional helicopters<p>
-<a href="Rover"><img src="images/rover.png" width="80"
-		     alt="Rover">Rover</a> - for land vehicles and boats<p>
-<a href="Sub"><img src="images/sub.png" width="80"
-		     alt="Sub">Sub</a> - for ROVs and underwater vehicles<p>
-<a href="Blimp"><img src="images/blimp.png" width="80"
-					alt="Blimp">Blimp</a> - for lighter-than-air vehicles<p>
-<a href="AntennaTracker"><img src="images/antenna-tracker.png" width="80"
-		     alt="AntennaTracker">Antenna Tracker</a> -
-		     for antenna tracking of ArduPilot vehicles<p>
-<a href="Tools/MissionPlanner"><img src="images/planner.png" width="80"
-		     alt="MissionPlanner">MissionPlanner</a> - Mission Planner tool<p>
-<a href="Tools/APMPlanner"><img src="images/ap_rc.png" width="80"
-		     alt="APM Planner 2.0">APM Planner 2.0</a> - APM Planner 2.0 tool<p>
-<a href="SiK"><img src="images/3DR_Radio.jpg" width="80"
-                     alt="Radio">SiK</a> - SiK Radio Firmware<p>
-<a href="Tools"><img src="images/tools.png" width="80"
-		     alt="Tools">Tools</a> - Build and development tools<p>
-<a href="devbuild"><img src="images/tools.png" width="80"
-		     alt="Tools">DevBuild</a> - Developer builds<p> 
-<a href="http://github.com/ArduPilot/companion"><img src="images/companion.png" width="78" 
-             alt="Companion">Companion</a> - Companion Computer example code <a href="Companion">and Images</a></p><p>
-<a href="AP_Periph"><img src="images/tools.png" width="80"
-                     alt="AP_Periph">AP_Periph</a> - UAVCAN Peripheral Firmware<p>
-<a href="Tools/FilterTool"><img src="images/filter.png" width="80"
-                     alt="FilterTool">FilterTool</a> - Filter Analysis Tool<p>
-
-<h2>Types of firmware available</h2>
-
-To choose a firmware to download you need to choose:
-
-<ul>
-<li>The type of board that you have</li>
-<li>Whether you want the stable, beta or latest version of the
-  firmware</li>
-</ul>
-
-The meanings of the versions are
-
-<ul>
-<li><b>stable</b> - this is the version recommended for new users. It
-  has had the most testing.</li>
-<li><b>beta</b> - this is the firmware to choose if you want to be
-  part of beta testing of new versions prior to release as a stable
-  version. Note that during some development times the beta release
-  will be the same as the stable release.</li>
-<li><b>latest</b> - this is the latest version from our <a href="http://github.com/ArduPilot">git source
-  code repository</a>. This version is only for developers. The code
-  may have unknown bugs and extreme care should be taken by anyone
-  using it.</li>
-</ul>
-
-For each vehicle type a firmware image is available for each type of
-autopilot board supported by that vehicle type.
-
-<h2>Load your firmware using Mission Planner</h2>
-
-<ul>
-<li>You can load the <b>stable</b> version of the firmware by selecting the appropriate icon for your airframe from the Firmware Tab.</li>
-<li>You can load the <b>beta</b>  version of the firmware by selecting the "BETA firmware" button in the bottom right corner of the screen and then the appropriate icon.</li>
-<li>You can load the <b>latest</b> version of the firmware by downloading a firmware image from one of the links and selecting the "Load custom firmware" button in
-the bottom right corner of the screen.</li>
-</ul>
-
-<h2>Loading firmware on Linux or MacOS</h2>
-
-To load a firmware on a Linux or MacOS machine you will need to
-use
-the <a href="https://raw.github.com/ArduPilot/ardupilot/master/Tools/scripts/uploader.py">uploader.py</a>
-python script. You can run it like this:
-
-<pre>
-python Tools/scripts/uploader.py --port /dev/ttyACM0 build/Pixracer/bin/arducopter.apj
-</pre>
-
-After starting the script, press the reset button on your device to
-make it enter bootloader mode.
-
-<h2>Building the firmware yourself</h2>
-To build the firmware yourself please see the <a href="https://ardupilot.org/dev/index.html">ArduPilot development site</a>.
-
-</div>
-</body>
-</html>

Tools/autotest/web/index.html

@@ -1,64 +0,0 @@
-<!DOCTYPE HTML>
-<html lang="en">
-<head>
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
-<title>ArduPilot Automatic Testing</title>
-
-<!--CSS -->
-<link rel="stylesheet" href="css/main.css" type="text/css" />
-</head>
-
-<body>
-<div class="main">
-<a href="https://autotest.ardupilot.org/">
-<div class="logo">
-</div>
-</a>
-
-<h2>Automatic test run at ${date}</h2>
-
-<div class="git">Test run on git commit <a href="https://github.com/ArduPilot/ardupilot/commit/${githash}">${githash}</a>
-</div>
-
-<h2>Test Results</h2>
-<img src="autotest-badge.svg" alt="missing autotest badge"/>
-
-<ul class="testresults">
-${{tests:<li>${name} - ${result} (${elapsed} seconds)</li>
-}}
-</ul>
-
-<h2>Test logs</h2>
-
-<ul class=testlogs>
-${{files:<li>${name} - <a href="${fname}">${fname}</a>
-}}
-</ul>
-
-<h2>Flight Tracks</h2>
-
-<ul class=testlogs>
-${{images:${fname}<br><img src="${fname}" alt="${name}" />
-}}
-</ul>
-
-<h2>Older results</h2>
-<div class="git">
-Older test results are <a href="history">available here</a>
-</div>
-</div>
-
-<!-- Global site tag (gtag.js) - Autotest statistics -->
-<script async src="https://www.googletagmanager.com/gtag/js?id=UA-75650032-5"></script>
-<script>
-  window.dataLayer = window.dataLayer || [];
-  function gtag(){dataLayer.push(arguments);}
-  gtag('js', new Date());
-
-  gtag('config', 'UA-75650032-5', { 'anonymize_ip': true });
-
-</script>
-
-
-</body>
-</html>