Merged master into power_enforce

src/drivers/blinkm/blinkm.cpp

@@ -655,13 +655,14 @@ BlinkM::led()
 							/* indicate main control state */
 							if (vehicle_status_raw.main_state == MAIN_STATE_POSCTL)
 								led_color_4 = LED_GREEN;
-							else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO)
+							/* TODO: add other Auto modes */
+							else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO_MISSION)
 								led_color_4 = LED_BLUE;
 							else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTL)
 								led_color_4 = LED_YELLOW;
 							else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL)
 								led_color_4 = LED_WHITE;
-							else 
+							else
 								led_color_4 = LED_OFF;
 							led_color_5 = led_color_4;
 						}

src/drivers/gps/gps.cpp

@@ -280,8 +280,8 @@ GPS::task_main()
 			_report.p_variance_m = 10.0f;
 			_report.c_variance_rad = 0.1f;
 			_report.fix_type = 3;
-			_report.eph_m = 0.9f;
-			_report.epv_m = 1.8f;
+			_report.eph = 0.9f;
+			_report.epv = 1.8f;
 			_report.timestamp_velocity = hrt_absolute_time();
 			_report.vel_n_m_s = 0.0f;
 			_report.vel_e_m_s = 0.0f;
@@ -451,7 +451,7 @@ GPS::print_info()
 		warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report.fix_type,
 				_report.satellites_visible, (double)(hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
 		warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
-		warnx("eph: %.2fm, epv: %.2fm", (double)_report.eph_m, (double)_report.epv_m);
+		warnx("eph: %.2fm, epv: %.2fm", (double)_report.eph, (double)_report.epv);
 		warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
 		warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
 		warnx("rate publication:\t%6.2f Hz", (double)_rate);

src/drivers/gps/mtk.cpp

@@ -251,16 +251,16 @@ MTK::handle_message(gps_mtk_packet_t &packet)
 		_gps_position->lon = 0;
 
 		// Indicate this data is not usable and bail out
-		_gps_position->eph_m = 1000.0f;
-		_gps_position->epv_m = 1000.0f;
+		_gps_position->eph = 1000.0f;
+		_gps_position->epv = 1000.0f;
 		_gps_position->fix_type = 0;
 		return;
 	}
 
 	_gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm
 	_gps_position->fix_type = packet.fix_type;
-	_gps_position->eph_m = packet.hdop / 100.0f; // from cm to m
-	_gps_position->epv_m = _gps_position->eph_m; // unknown in mtk custom mode, so we cheat with eph
+	_gps_position->eph = packet.hdop / 100.0f; // from cm to m
+	_gps_position->epv = _gps_position->eph; // unknown in mtk custom mode, so we cheat with eph
 	_gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s
 	_gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
 	_gps_position->satellites_visible = packet.satellites;

src/drivers/gps/ubx.cpp

@@ -439,8 +439,8 @@ UBX::handle_message()
 					_gps_position->lat = packet->lat;
 					_gps_position->lon = packet->lon;
 					_gps_position->alt = packet->height_msl;
-					_gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m
-					_gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m
+					_gps_position->eph = (float)packet->hAcc * 1e-3f; // from mm to m
+					_gps_position->epv = (float)packet->vAcc * 1e-3f; // from mm to m
 					_gps_position->timestamp_position = hrt_absolute_time();
 
 					_rate_count_lat_lon++;

src/drivers/mkblctrl/mkblctrl.cpp

@@ -131,8 +131,8 @@ public:
 	int		set_motor_count(unsigned count);
 	int		set_motor_test(bool motortest);
 	int		set_overrideSecurityChecks(bool overrideSecurityChecks);
-	int		set_px4mode(int px4mode);
-	int		set_frametype(int frametype);
+	void		set_px4mode(int px4mode);
+	void		set_frametype(int frametype);
 	unsigned int		mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C);
 
 private:
@@ -330,13 +330,13 @@ MK::set_update_rate(unsigned rate)
 	return OK;
 }
 
-int
+void
 MK::set_px4mode(int px4mode)
 {
 	_px4mode = px4mode;
 }
 
-int
+void
 MK::set_frametype(int frametype)
 {
 	_frametype = frametype;

src/drivers/mpu6000/mpu6000.cpp

@@ -544,7 +544,7 @@ void MPU6000::reset()
 	write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
         irqrestore(state);
 
-	up_udelay(1000);
+	usleep(1000);
 
 	// SAMPLE RATE
 	_set_sample_rate(_sample_rate);

src/drivers/px4fmu/fmu.cpp

@@ -741,7 +741,7 @@ PX4FMU::task_main()
 	}
 
 	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
-		if (_control_subs > 0) {
+		if (_control_subs[i] > 0) {
 			::close(_control_subs[i]);
 			_control_subs[i] = -1;
 		}

src/drivers/roboclaw/RoboClaw.cpp

@@ -182,7 +182,10 @@ float RoboClaw::getMotorPosition(e_motor motor)
 		return _motor1Position;
 	} else if (motor == MOTOR_2) {
 		return _motor2Position;
-	}
+	} else {
+		warnx("Unknown motor value passed to RoboClaw::getMotorPosition");
+		return NAN;
+    }
 }
 
 float RoboClaw::getMotorSpeed(e_motor motor)
@@ -191,7 +194,10 @@ float RoboClaw::getMotorSpeed(e_motor motor)
 		return _motor1Speed;
 	} else if (motor == MOTOR_2) {
 		return _motor2Speed;
-	}
+	} else {
+		warnx("Unknown motor value passed to RoboClaw::getMotorPosition");
+		return NAN;
+    }
 }
 
 int RoboClaw::setMotorSpeed(e_motor motor, float value)