Autotest for new auto mode "wait for yaw" option#1
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this was not rotating the delta-velocity into NED except when EKF2 or EKF3 was involved. That's definitely not a good thing!
we may not be able to get the base measurement for this from AP_InertialSensor
includes a fix for precision_loiter_to_pos for recent EKF changes
Cover arming and Loiter when the compass is enabled but not an EK3 yaw source (EK3_SRC1_YAW=0): - LoiterNoCompassYaw: optical flow, no GPS. The EKF runs in relative aiding with a free-running yaw, so arming directly in Loiter works. - LoiterNoCompassYawGPS: GPS, no optical flow. The GSF yaw estimator only aligns once moving, so Loiter cannot be entered on the ground; the test arms in AltHold, flies forward to align yaw, then Loiters.
recent fix to deconflict caused an issue
register_read() returns false without writing *value when the SPI response fails its CRC check. Several callers ignored that return and then used the output: - validate_register_configuration() compared an uninitialised value against the expected register contents, so a corrupted read produced an undefined comparison (could wrongly pass or fail validation); - read_product_id() relied on its values being zero-initialised; - configure_registers() read-modify-wrote a control register from an uninitialised value, potentially writing garbage to the hardware. Honour the return value at each of these sites (a failed read now fails the relevant init step), use UNUSED_RESULT() for the intentional dummy reads, and mark the bool status methods WARN_IF_UNUSED so future callers cannot silently ignore a failed read. Clears one clang-scan-build "garbage value" finding, so the expected count drops from 30 to 29. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Replace the Copter callers of the watch_altitude_maintained helper with direct wait_altitude calls and remove the now-unused base-class method. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Classification & Testing (check all that apply and add your own)
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Hi @ja51d, I finally gotten around to update the branch and point it towards your change. I rebased my branch to the latest master so maybe it makes sense for you to do that as well