Merge remote-tracking branch 'upstream/master' into linux

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Conflicts:
	src/drivers/rgbled/rgbled.cpp
	src/modules/commander/PreflightCheck.cpp
	src/modules/commander/airspeed_calibration.cpp
	src/modules/commander/calibration_routines.cpp
	src/modules/commander/gyro_calibration.cpp
	src/modules/commander/mag_calibration.cpp
	src/modules/mc_att_control/mc_att_control_main.cpp

src/modules/systemlib/param/param.c

@@ -93,7 +93,7 @@ struct param_wbuf_s {
 };
 
 // XXX this should be param_info_count, but need to work out linking
-uint8_t param_changed_storage[(600 / sizeof(uint8_t)) + 1] = {};
+uint8_t param_changed_storage[(700 / sizeof(uint8_t)) + 1] = {};
 
 /** flexible array holding modified parameter values */
 UT_array	*param_values;
@@ -266,8 +266,37 @@ param_count_used(void)
 param_t
 param_for_index(unsigned index)
 {
-	if (index < param_info_count)
+	if (index < param_info_count) {
 		return (param_t)index;
+	}
+
+	return PARAM_INVALID;
+}
+
+param_t
+param_for_used_index(unsigned index)
+{
+	if (index < param_info_count) {
+
+		/* walk all params and count */
+		int count = 0;
+
+		for (unsigned i = 0; i < (unsigned)param_info_count + 1; i++) {
+			for (unsigned j = 0; j < 8; j++) {
+				if (param_changed_storage[i] & (1 << j)) {
+
+					/* we found the right used count,
+					 * return the param value
+					 */
+					if (index == count) {
+						return (param_t)i;
+					}
+
+					count++;
+				}
+			}
+		}
+	}
 
 	return PARAM_INVALID;
 }
@@ -275,8 +304,9 @@ param_for_index(unsigned index)
 int
 param_get_index(param_t param)
 {
-	if (handle_in_range(param))
+	if (handle_in_range(param)) {
 		return (unsigned)param;
+	}
 
 	return -1;
 }
@@ -284,7 +314,9 @@ param_get_index(param_t param)
 int
 param_get_used_index(param_t param)
 {
-	if (!handle_in_range(param)) {
+	int param_storage_index = param_get_index(param);
+
+	if (param_storage_index < 0) {
 		return -1;
 	}
 
@@ -294,12 +326,17 @@ param_get_used_index(param_t param)
 	for (unsigned i = 0; i < (unsigned)param + 1; i++) {
 		for (unsigned j = 0; j < 8; j++) {
 			if (param_changed_storage[i] & (1 << j)) {
+
+				if (param_storage_index == i) {
+					return count;
+				}
+
 				count++;
 			}
 		}
 	}
 
-	return count;
+	return -1;
 }
 
 const char *

src/modules/systemlib/param/param.h

@@ -129,6 +129,14 @@ __EXPORT bool		param_used(param_t param);
  */
 __EXPORT param_t	param_for_index(unsigned index);
 
+/**
+ * Look up an used parameter by index.
+ *
+ * @param param		The parameter to obtain the index for.
+ * @return		The index of the parameter in use, or -1 if the parameter does not exist.
+ */
+__EXPORT param_t	param_for_used_index(unsigned index);
+
 /**
  * Look up the index of a parameter.
  *