From 6dce57170e3ceaa3316446086f8a0cd12cc5e90c Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 19 Dec 2013 17:12:46 +0100
Subject: [PATCH 01/15] Hotfix: Fixed mapping of override channel

---
 src/drivers/px4io/px4io.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index db882e6232..e898b3e605 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1024,7 +1024,12 @@ PX4IO::io_set_rc_config()
 	if ((ichan >= 0) && (ichan < (int)_max_rc_input))
 		input_map[ichan - 1] = 3;
 
-	ichan = 4;
+	param_get(param_find("RC_MAP_MODE_SW"), &ichan);
+
+	if ((ichan >= 0) && (ichan < (int)_max_rc_input))
+		input_map[ichan - 1] = 4;
+
+	ichan = 5;
 
 	for (unsigned i = 0; i < _max_rc_input; i++)
 		if (input_map[i] == -1)

From 9476ba522f0b174a64ff91061647bca30cf7b6ea Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 20 Dec 2013 08:48:45 +0100
Subject: [PATCH 02/15] PPM channel count detection is now using a more
 paranoid approach.

---
 src/drivers/drv_rc_input.h  |  2 +-
 src/drivers/stm32/drv_hrt.c | 45 ++++++++++++++++++++++++++++++-------
 2 files changed, 38 insertions(+), 9 deletions(-)

diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index 86e5a149a0..7b18b5b15b 100644
--- a/src/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
@@ -60,7 +60,7 @@
 /**
  * Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
  */
-#define RC_INPUT_MAX_CHANNELS	18
+#define RC_INPUT_MAX_CHANNELS	20
 
 /**
  * Input signal type, value is a control position from zero to 100
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index 1bd251bc2a..36226c941f 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -338,7 +338,12 @@ static void		hrt_call_invoke(void);
 # define PPM_MIN_START		2500		/* shortest valid start gap */
 
 /* decoded PPM buffer */
-#define PPM_MAX_CHANNELS	12
+#define PPM_MIN_CHANNELS	5
+#define PPM_MAX_CHANNELS	20
+
+/* Number of same-sized frames required to 'lock' */
+#define PPM_CHANNEL_LOCK	2		/* should be less than the input timeout */
+
 __EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
 __EXPORT unsigned ppm_decoded_channels = 0;
 __EXPORT uint64_t ppm_last_valid_decode = 0;
@@ -440,7 +445,7 @@ hrt_ppm_decode(uint32_t status)
 	if (status & SR_OVF_PPM)
 		goto error;
 
-	/* how long since the last edge? */
+	/* how long since the last edge? - this handles counter wrapping implicitely. */
 	width = count - ppm.last_edge;
 	ppm.last_edge = count;
 
@@ -455,14 +460,38 @@ hrt_ppm_decode(uint32_t status)
 	 */
 	if (width >= PPM_MIN_START) {
 
-		/* export the last set of samples if we got something sensible */
-		if (ppm.next_channel > 4) {
-			for (i = 0; i < ppm.next_channel && i < PPM_MAX_CHANNELS; i++)
-				ppm_buffer[i] = ppm_temp_buffer[i];
+		/*
+		 * If the number of channels changes unexpectedly, we don't want
+		 * to just immediately jump on the new count as it may be a result
+		 * of noise or dropped edges.  Instead, take a few frames to settle.
+		 */
+		if (ppm.next_channel != ppm_decoded_channels) {
+			static unsigned new_channel_count;
+			static unsigned new_channel_holdoff;
 
-			ppm_decoded_channels = i;
-			ppm_last_valid_decode = hrt_absolute_time();
+			if (new_channel_count != ppm.next_channel) {
+				/* start the lock counter for the new channel count */
+				new_channel_count = ppm.next_channel;
+				new_channel_holdoff = PPM_CHANNEL_LOCK;
 
+			} else if (new_channel_holdoff > 0) {
+				/* this frame matched the last one, decrement the lock counter */
+				new_channel_holdoff--;
+
+			} else {
+				/* we have seen PPM_CHANNEL_LOCK frames with the new count, accept it */
+				ppm_decoded_channels = new_channel_count;
+				new_channel_count = 0;
+			}
+
+		} else {
+			/* frame channel count matches expected, let's use it */
+			if (ppm.next_channel > PPM_MIN_CHANNELS) {
+				for (i = 0; i < ppm.next_channel; i++)
+					ppm_buffer[i] = ppm_temp_buffer[i];
+
+				ppm_last_valid_decode = hrt_absolute_time();
+			}
 		}
 
 		/* reset for the next frame */

From 8c518aa23710ba0b9ad0c7ad2c03428ce8ddb290 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 20 Dec 2013 14:25:35 +0100
Subject: [PATCH 03/15] Useful bits for high-rate logging

---
 ROMFS/px4fmu_common/init.d/rcS        |   0
 ROMFS/px4fmu_logging/init.d/rcS       |  88 +++++++++++++++
 ROMFS/px4fmu_test/init.d/rcS          |   8 ++
 makefiles/config_px4fmu-v2_logging.mk | 157 ++++++++++++++++++++++++++
 src/systemcmds/tests/test_sensors.c   |  87 ++++++++------
 5 files changed, 304 insertions(+), 36 deletions(-)
 mode change 100755 => 100644 ROMFS/px4fmu_common/init.d/rcS
 create mode 100644 ROMFS/px4fmu_logging/init.d/rcS
 mode change 100755 => 100644 ROMFS/px4fmu_test/init.d/rcS
 create mode 100644 makefiles/config_px4fmu-v2_logging.mk

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
old mode 100755
new mode 100644
diff --git a/ROMFS/px4fmu_logging/init.d/rcS b/ROMFS/px4fmu_logging/init.d/rcS
new file mode 100644
index 0000000000..7b88567197
--- /dev/null
+++ b/ROMFS/px4fmu_logging/init.d/rcS
@@ -0,0 +1,88 @@
+#!nsh
+#
+# PX4FMU startup script for logging purposes
+#
+
+#
+# Try to mount the microSD card.
+#
+echo "[init] looking for microSD..."
+if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	echo "[init] card mounted at /fs/microsd"
+	# Start playing the startup tune
+	tone_alarm start
+else
+	echo "[init] no microSD card found"
+	# Play SOS
+	tone_alarm error
+fi
+
+uorb start
+
+#
+# Start sensor drivers here.
+#
+
+ms5611 start
+adc start
+
+# mag might be external
+if hmc5883 start
+then
+	echo "using HMC5883"
+fi
+
+if mpu6000 start
+then
+	echo "using MPU6000"
+fi
+
+if l3gd20 start
+then
+	echo "using L3GD20(H)"
+fi
+
+if lsm303d start
+then
+	set BOARD fmuv2
+else
+	set BOARD fmuv1
+fi
+
+# Start airspeed sensors
+if meas_airspeed start
+then
+	echo "using MEAS airspeed sensor"
+else
+	if ets_airspeed start
+	then
+		echo "using ETS airspeed sensor (bus 3)"
+	else
+		if ets_airspeed start -b 1
+		then
+			echo "Using ETS airspeed sensor (bus 1)"
+		fi
+	fi
+fi
+
+#
+# Start the sensor collection task.
+# IMPORTANT: this also loads param offsets
+# ALWAYS start this task before the
+# preflight_check.
+#
+if sensors start
+then
+	echo "SENSORS STARTED"
+fi
+
+sdlog2 start -r 250 -e -b 16
+
+if sercon
+then
+	echo "[init] USB interface connected"
+
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_test/init.d/rcS b/ROMFS/px4fmu_test/init.d/rcS
old mode 100755
new mode 100644
index 7f161b053a..6aa1d3d46b
--- a/ROMFS/px4fmu_test/init.d/rcS
+++ b/ROMFS/px4fmu_test/init.d/rcS
@@ -2,3 +2,11 @@
 #
 # PX4FMU startup script for test hackery.
 #
+
+if sercon
+then
+	echo "[init] USB interface connected"
+
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+fi
\ No newline at end of file
diff --git a/makefiles/config_px4fmu-v2_logging.mk b/makefiles/config_px4fmu-v2_logging.mk
new file mode 100644
index 0000000000..ed90f6464c
--- /dev/null
+++ b/makefiles/config_px4fmu-v2_logging.mk
@@ -0,0 +1,157 @@
+#
+# Makefile for the px4fmu_default configuration
+#
+
+#
+# Use the configuration's ROMFS, copy the px4iov2 firmware into
+# the ROMFS if it's available
+#
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_logging
+ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/stm32/adc
+MODULES		+= drivers/stm32/tone_alarm
+MODULES		+= drivers/led
+MODULES		+= drivers/px4fmu
+MODULES		+= drivers/px4io
+MODULES		+= drivers/boards/px4fmu-v2
+MODULES		+= drivers/rgbled
+MODULES		+= drivers/mpu6000
+MODULES		+= drivers/lsm303d
+MODULES		+= drivers/l3gd20
+MODULES		+= drivers/hmc5883
+MODULES		+= drivers/ms5611
+MODULES		+= drivers/mb12xx
+MODULES		+= drivers/gps
+MODULES		+= drivers/hil
+MODULES		+= drivers/hott/hott_telemetry
+MODULES		+= drivers/hott/hott_sensors
+MODULES		+= drivers/blinkm
+MODULES		+= drivers/roboclaw
+MODULES		+= drivers/airspeed
+MODULES		+= drivers/ets_airspeed
+MODULES		+= drivers/meas_airspeed
+MODULES		+= modules/sensors
+
+# Needs to be burned to the ground and re-written; for now,
+# just don't build it.
+#MODULES		+= drivers/mkblctrl
+
+#
+# System commands
+#
+MODULES		+= systemcmds/ramtron
+MODULES		+= systemcmds/bl_update
+MODULES		+= systemcmds/boardinfo
+MODULES		+= systemcmds/mixer
+MODULES		+= systemcmds/param
+MODULES		+= systemcmds/perf
+MODULES		+= systemcmds/preflight_check
+MODULES		+= systemcmds/pwm
+MODULES		+= systemcmds/esc_calib
+MODULES		+= systemcmds/reboot
+MODULES		+= systemcmds/top
+MODULES		+= systemcmds/tests
+MODULES		+= systemcmds/config
+MODULES		+= systemcmds/nshterm
+
+#
+# General system control
+#
+MODULES		+= modules/commander
+MODULES		+= modules/navigator
+MODULES		+= modules/mavlink
+MODULES		+= modules/mavlink_onboard
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_so3
+MODULES		+= modules/att_pos_estimator_ekf
+MODULES		+= modules/position_estimator_inav
+MODULES		+= examples/flow_position_estimator
+
+#
+# Vehicle Control
+#
+#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
+MODULES		+= modules/fw_pos_control_l1
+MODULES		+= modules/fw_att_control
+MODULES		+= modules/multirotor_att_control
+MODULES		+= modules/multirotor_pos_control
+
+#
+# Logging
+#
+MODULES		+= modules/sdlog2
+
+#
+# Unit tests
+#
+#MODULES 	+= modules/unit_test
+#MODULES 	+= modules/commander/commander_tests
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/controllib
+MODULES		+= modules/uORB
+
+#
+# Libraries
+#
+LIBRARIES	+= lib/mathlib/CMSIS
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
+MODULES		+= lib/ecl
+MODULES		+= lib/external_lgpl
+MODULES		+= lib/geo
+MODULES		+= lib/conversion
+
+#
+# Demo apps
+#
+#MODULES		+= examples/math_demo
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/hello_sky
+MODULES		+= examples/px4_simple_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/daemon
+#MODULES		+= examples/px4_daemon_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/debug_values
+#MODULES		+= examples/px4_mavlink_debug
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
+#MODULES			+= examples/fixedwing_control
+
+# Hardware test
+#MODULES			+= examples/hwtest
+
+#
+# Transitional support - add commands from the NuttX export archive.
+#
+# In general, these should move to modules over time.
+#
+# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
+# to make the table a bit more readable.
+#
+define _B
+	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
+endef
+
+#                  command                 priority                   stack  entrypoint
+BUILTIN_COMMANDS := \
+	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
+	$(call _B, serdis,                 ,                          2048,  serdis_main                )
diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c
index f6415b72f2..096106ff33 100644
--- a/src/systemcmds/tests/test_sensors.c
+++ b/src/systemcmds/tests/test_sensors.c
@@ -78,7 +78,8 @@ static int accel(int argc, char *argv[]);
 static int gyro(int argc, char *argv[]);
 static int mag(int argc, char *argv[]);
 static int baro(int argc, char *argv[]);
-static int mpu6k(int argc, char *argv[]);
+static int accel1(int argc, char *argv[]);
+static int gyro1(int argc, char *argv[]);
 
 /****************************************************************************
  * Private Data
@@ -93,7 +94,8 @@ struct {
 	{"gyro",	"/dev/gyro",	gyro},
 	{"mag",		"/dev/mag",	mag},
 	{"baro",	"/dev/baro",	baro},
-	{"mpu6k",	"/dev/mpu6k",	mpu6k},
+	{"accel1",	"/dev/accel1",	accel1},
+	{"gyro1",	"/dev/gyro1",	gyro1},
 	{NULL, NULL, NULL}
 };
 
@@ -137,7 +139,7 @@ accel(int argc, char *argv[])
 	}
 
 	if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
-		warnx("MPU6K acceleration values out of range!");
+		warnx("ACCEL1 acceleration values out of range!");
 		return ERROR;
 	}
 
@@ -149,20 +151,19 @@ accel(int argc, char *argv[])
 }
 
 static int
-mpu6k(int argc, char *argv[])
+accel1(int argc, char *argv[])
 {
-	printf("\tMPU6K: test start\n");
+	printf("\tACCEL1: test start\n");
 	fflush(stdout);
 
 	int		fd;
 	struct accel_report buf;
-	struct gyro_report gyro_buf;
 	int		ret;
 
-	fd = open("/dev/accel_mpu6k", O_RDONLY);
+	fd = open("/dev/accel1", O_RDONLY);
 
 	if (fd < 0) {
-		printf("\tMPU6K: open fail, run <mpu6000 start> first.\n");
+		printf("\tACCEL1: open fail, run <mpu6000 start> or <lsm303d start> first.\n");
 		return ERROR;
 	}
 
@@ -173,45 +174,21 @@ mpu6k(int argc, char *argv[])
 	ret = read(fd, &buf, sizeof(buf));
 
 	if (ret != sizeof(buf)) {
-		printf("\tMPU6K: read1 fail (%d)\n", ret);
+		printf("\tACCEL1: read1 fail (%d)\n", ret);
 		return ERROR;
 
 	} else {
-		printf("\tMPU6K accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
+		printf("\tACCEL1 accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
 	if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
-		warnx("MPU6K acceleration values out of range!");
+		warnx("ACCEL1 acceleration values out of range!");
 		return ERROR;
 	}
 
 	/* Let user know everything is ok */
-	printf("\tOK: MPU6K ACCEL passed all tests successfully\n");
+	printf("\tOK: ACCEL1 passed all tests successfully\n");
 
-	close(fd);
-	fd = open("/dev/gyro_mpu6k", O_RDONLY);
-
-	if (fd < 0) {
-		printf("\tMPU6K GYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
-		return ERROR;
-	}
-
-	/* wait at least 5 ms, sensor should have data after that */
-	usleep(5000);
-
-	/* read data - expect samples */
-	ret = read(fd, &gyro_buf, sizeof(gyro_buf));
-
-	if (ret != sizeof(gyro_buf)) {
-		printf("\tMPU6K GYRO: read fail (%d)\n", ret);
-		return ERROR;
-
-	} else {
-		printf("\tMPU6K GYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)gyro_buf.x, (double)gyro_buf.y, (double)gyro_buf.z);
-	}
-
-	/* Let user know everything is ok */
-	printf("\tOK: MPU6K GYRO passed all tests successfully\n");
 	close(fd);
 
 	return OK;
@@ -255,6 +232,44 @@ gyro(int argc, char *argv[])
 	return OK;
 }
 
+static int
+gyro1(int argc, char *argv[])
+{
+	printf("\tGYRO1: test start\n");
+	fflush(stdout);
+
+	int		fd;
+	struct gyro_report buf;
+	int		ret;
+
+	fd = open("/dev/gyro1", O_RDONLY);
+
+	if (fd < 0) {
+		printf("\tGYRO1: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
+		return ERROR;
+	}
+
+	/* wait at least 5 ms, sensor should have data after that */
+	usleep(5000);
+
+	/* read data - expect samples */
+	ret = read(fd, &buf, sizeof(buf));
+
+	if (ret != sizeof(buf)) {
+		printf("\tGYRO1: read fail (%d)\n", ret);
+		return ERROR;
+
+	} else {
+		printf("\tGYRO1 rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
+	}
+
+	/* Let user know everything is ok */
+	printf("\tOK: GYRO1 passed all tests successfully\n");
+	close(fd);
+
+	return OK;
+}
+
 static int
 mag(int argc, char *argv[])
 {

From 3ad9dd030c01e233a78aebfd2e20e67168962255 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 20 Dec 2013 21:10:33 +0100
Subject: [PATCH 04/15] Added performance counter for write IOCTL

---
 src/drivers/px4io/px4io.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index e898b3e605..9e84bf9291 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -244,7 +244,8 @@ private:
 	int			_mavlink_fd;		///<mavlink file descriptor. This is opened by class instantiation and Doesn't appear to be usable in main thread.
 	int			_thread_mavlink_fd;	///<mavlink file descriptor for thread.
 
-	perf_counter_t		_perf_update;		///<local performance counter
+	perf_counter_t		_perf_update;		///<local performance counter for status updates
+	perf_counter_t		_perf_write;		///<local performance counter for PWM control writes
 
 	/* cached IO state */
 	uint16_t		_status;		///<Various IO status flags
@@ -459,6 +460,7 @@ PX4IO::PX4IO(device::Device *interface) :
 	_mavlink_fd(-1),
 	_thread_mavlink_fd(-1),
 	_perf_update(perf_alloc(PC_ELAPSED, "px4io update")),
+	_perf_write(perf_alloc(PC_ELAPSED, "px4io write")),
 	_status(0),
 	_alarms(0),
 	_t_actuators(-1),
@@ -2155,7 +2157,10 @@ PX4IO::write(file * /*filp*/, const char *buffer, size_t len)
 		count = _max_actuators;
 
 	if (count > 0) {
+
+		perf_begin(_perf_write);
 		int ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count);
+		perf_end(_perf_write);
 
 		if (ret != OK)
 			return ret;

From f174ca3ce5dfe338b79f52de46f127abf1c3aca1 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 20 Dec 2013 21:52:10 +0100
Subject: [PATCH 05/15] Added average as direct output

---
 src/modules/systemlib/perf_counter.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c
index bf84b79450..b4ca0ed3ec 100644
--- a/src/modules/systemlib/perf_counter.c
+++ b/src/modules/systemlib/perf_counter.c
@@ -295,10 +295,11 @@ perf_print_counter(perf_counter_t handle)
 	case PC_ELAPSED: {
 		struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
 
-		printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n",
+		printf("%s: %llu events, %lluus elapsed, %llu avg, min %lluus max %lluus\n",
 		       handle->name,
 		       pce->event_count,
 		       pce->time_total,
+		       pce->time_total / pce->event_count,
 		       pce->time_least,
 		       pce->time_most);
 		break;

From 0f0dc5ba068d24fb8b339acc8ef850f5f6ea9e47 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 21 Dec 2013 12:45:04 +0100
Subject: [PATCH 06/15] Allowed custom battery scaling on IO

---
 src/drivers/px4io/px4io.cpp         | 17 +++++++++++++++--
 src/modules/sensors/sensor_params.c |  1 +
 2 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 9e84bf9291..df96fa0bbd 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -896,8 +896,21 @@ PX4IO::task_main()
 
 				/* re-upload RC input config as it may have changed */
 				io_set_rc_config();
-			}
-		}
+
+				/* re-set the battery scaling */
+				int32_t voltage_scaling_val;
+				param_t voltage_scaling_param;
+
+				/* see if bind parameter has been set, and reset it to -1 */
+				param_get(voltage_scaling_param = param_find("BAT_V_SCALE_IO"), &voltage_scaling_val);
+
+				/* send channel config to IO */
+				uint16_t scaling = voltage_scaling_val;
+				int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1);
+
+				if (pret != OK) {
+					log("voltage scaling upload failed");
+				}
 
 		perf_end(_perf_update);
 	}
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 2aa15420af..78d4b410a8 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -195,6 +195,7 @@ PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
 #endif
 PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */
 
+PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
 PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
 #else

From 3e037d40de2a68b99aa4600f060eab3555f75832 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 21 Dec 2013 12:46:06 +0100
Subject: [PATCH 07/15] Fixed bracketing error

---
 src/drivers/px4io/px4io.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index df96fa0bbd..a7f7fce453 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -901,16 +901,19 @@ PX4IO::task_main()
 				int32_t voltage_scaling_val;
 				param_t voltage_scaling_param;
 
-				/* see if bind parameter has been set, and reset it to -1 */
+				/* set battery voltage scaling */
 				param_get(voltage_scaling_param = param_find("BAT_V_SCALE_IO"), &voltage_scaling_val);
 
-				/* send channel config to IO */
+				/* send scaling voltage to IO */
 				uint16_t scaling = voltage_scaling_val;
 				int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1);
 
 				if (pret != OK) {
 					log("voltage scaling upload failed");
 				}
+			}
+
+		}
 
 		perf_end(_perf_update);
 	}

From b2e527ffa6f24a67903048ea157ee572f59f98a1 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 21 Dec 2013 16:13:04 +0100
Subject: [PATCH 08/15] Counting channel count changes

---
 src/drivers/px4io/px4io.cpp | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index a7f7fce453..b80844c5b4 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -237,6 +237,7 @@ private:
 
 	unsigned 		_update_interval;	///< Subscription interval limiting send rate
 	bool			_rc_handling_disabled;	///< If set, IO does not evaluate, but only forward the RC values
+	unsigned		_rc_chan_count;		///< Internal copy of the last seen number of RC channels
 
 	volatile int		_task;			///<worker task id
 	volatile bool		_task_should_exit;	///<worker terminate flag
@@ -246,6 +247,7 @@ private:
 
 	perf_counter_t		_perf_update;		///<local performance counter for status updates
 	perf_counter_t		_perf_write;		///<local performance counter for PWM control writes
+	perf_counter_t		_perf_chan_count;	///<local performance counter for channel number changes
 
 	/* cached IO state */
 	uint16_t		_status;		///<Various IO status flags
@@ -455,12 +457,14 @@ PX4IO::PX4IO(device::Device *interface) :
 	_max_transfer(16),	/* sensible default */
 	_update_interval(0),
 	_rc_handling_disabled(false),
+	_rc_chan_count(0),
 	_task(-1),
 	_task_should_exit(false),
 	_mavlink_fd(-1),
 	_thread_mavlink_fd(-1),
-	_perf_update(perf_alloc(PC_ELAPSED, "px4io update")),
-	_perf_write(perf_alloc(PC_ELAPSED, "px4io write")),
+	_perf_update(perf_alloc(PC_ELAPSED, "io update")),
+	_perf_write(perf_alloc(PC_ELAPSED, "io write")),
+	_perf_chan_count(perf_alloc(PC_COUNT, "io rc #")),
 	_status(0),
 	_alarms(0),
 	_t_actuators(-1),
@@ -1325,6 +1329,11 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 	 */
 	channel_count = regs[0];
 
+	if (channel_count != _rc_chan_count)
+		perf_count(_perf_chan_count);
+
+	_rc_chan_count = channel_count;
+
 	if (channel_count > 9) {
 		ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, &regs[prolog + 9], channel_count - 9);
 

From 831f153b7385fecb180c977727eb6b2f8bef1317 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 21 Dec 2013 16:37:45 +0100
Subject: [PATCH 09/15] Add tight RC test

---
 src/systemcmds/tests/module.mk    |   3 +-
 src/systemcmds/tests/test_rc.c    | 146 ++++++++++++++++++++++++++++++
 src/systemcmds/tests/tests.h      |   1 +
 src/systemcmds/tests/tests_main.c |   1 +
 4 files changed, 150 insertions(+), 1 deletion(-)
 create mode 100644 src/systemcmds/tests/test_rc.c

diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk
index 5d5fe50d33..68a080c77c 100644
--- a/src/systemcmds/tests/module.mk
+++ b/src/systemcmds/tests/module.mk
@@ -27,4 +27,5 @@ SRCS			 = test_adc.c \
 			   test_file.c \
 			   tests_main.c \
 			   test_param.c \
-			   test_ppm_loopback.c
+			   test_ppm_loopback.c \
+			   test_rc.c
diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c
new file mode 100644
index 0000000000..72619fc8ba
--- /dev/null
+++ b/src/systemcmds/tests/test_rc.c
@@ -0,0 +1,146 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file test_ppm_loopback.c
+ * Tests the PWM outputs and PPM input
+ *
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <stdio.h>
+#include <poll.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_pwm_output.h>
+#include <drivers/drv_rc_input.h>
+#include <systemlib/err.h>
+
+#include "tests.h"
+
+#include <math.h>
+#include <float.h>
+
+int test_rc(int argc, char *argv[])
+{
+
+	int _rc_sub = orb_subscribe(ORB_ID(input_rc));
+
+	/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
+	struct rc_input_values	rc_input;
+	struct rc_input_values	rc_last;
+	orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
+	usleep(100000);
+
+	/* open PPM input and expect values close to the output values */
+
+	bool rc_updated;
+	orb_check(_rc_sub, &rc_updated);
+
+	warnx("Reading PPM values - press any key to abort");
+	warnx("This test guarantees: 10 Hz update rates, no glitches (channel values), no channel count changes.");
+
+	if (rc_updated) {
+
+		/* copy initial set */
+		for (unsigned i = 0; i < rc_input.channel_count; i++) {
+			rc_last.values[i] = rc_input.values[i];
+		}
+
+		rc_last.channel_count = rc_input.channel_count;
+
+		/* poll descriptor */
+		struct pollfd fds[2];
+		fds[0].fd = _rc_sub;
+		fds[0].events = POLLIN;
+		fds[1].fd = 0;
+		fds[1].events = POLLIN;
+
+		while (true) {
+
+			int ret = poll(fds, 2, 200);
+
+			if (ret > 0) {
+
+				if (fds[0].revents & POLLIN) {
+
+					orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
+
+					/* go and check values */
+					for (unsigned i = 0; i < rc_input.channel_count; i++) {
+						if (fabsf(rc_input.values[i] - rc_last.values[i]) > 20) {
+							warnx("comparison fail: RC: %d, expected: %d", rc_input.values[i], rc_last.values[i]);
+							(void)close(_rc_sub);
+							return ERROR;
+						}
+
+						rc_last.values[i] = rc_input.values[i];
+					}
+
+					if (rc_last.channel_count != rc_input.channel_count) {
+						warnx("channel count mismatch: last: %d, now: %d", rc_last.channel_count, rc_input.channel_count);
+						(void)close(_rc_sub);
+						return ERROR;
+					}
+
+					if (hrt_absolute_time() - rc_input.timestamp > 100000) {
+						warnx("TIMEOUT, less than 10 Hz updates");
+						(void)close(_rc_sub);
+						return ERROR;
+					} 
+
+				} else {
+					/* key pressed, bye bye */
+					return 0;
+				}
+
+			}
+		}
+
+	} else {
+		warnx("failed reading RC input data");
+		return ERROR;
+	}
+
+	warnx("PPM CONTINUITY TEST PASSED SUCCESSFULLY!");
+
+	return 0;
+}
diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h
index 5cbc5ad88f..a57d04be37 100644
--- a/src/systemcmds/tests/tests.h
+++ b/src/systemcmds/tests/tests.h
@@ -108,6 +108,7 @@ extern int	test_param(int argc, char *argv[]);
 extern int	test_bson(int argc, char *argv[]);
 extern int	test_file(int argc, char *argv[]);
 extern int	test_mixer(int argc, char *argv[]);
+extern int	test_rc(int argc, char *argv[]);
 
 __END_DECLS
 
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index cd998dd18d..1088a44076 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -105,6 +105,7 @@ const struct {
 	{"bson",		test_bson,	0},
 	{"file",		test_file,	0},
 	{"mixer",		test_mixer,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"rc",			test_rc,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"help",		test_help,	OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
 	{NULL,			NULL, 		0}
 };

From a707e8cdb32b4b1b9c66b3e4010b56a2b0188a99 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 21 Dec 2013 18:58:28 +0100
Subject: [PATCH 10/15] Added missing folder

---
 ROMFS/px4fmu_logging/logging/conv.zip | Bin 0 -> 10087 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 ROMFS/px4fmu_logging/logging/conv.zip

diff --git a/ROMFS/px4fmu_logging/logging/conv.zip b/ROMFS/px4fmu_logging/logging/conv.zip
new file mode 100644
index 0000000000000000000000000000000000000000..7cb837e5666f51eca7ed803dfef4581f01bec1f3
GIT binary patch
literal 10087
zcmaKyV{j$hx~*5-u{!S9){1T0PC9lvwryj@w#|-hvt!%n;MBKo)vbNczUR!USvCL6
zr|PX5f5tn8q6`G&cK`tJ4S+6!D1z1=V&H-R05G!v07!rz04Eb0dvg{86Bk<t1_uu{
zRagK7#T=}%;0mm=i#t334Dt~S0QlGcZfzg?4R-Xe&d={vfq73A?hza2tAVD1>qR>C
zB~ze>zMP@ZywT)pwGv=ACtIk`^KopEWMsjj2|fj6?9~2;J1@a?$ljm*+Vh5&H+CZf
zl@{{X8f|kMU}ThyNFY&7Wk;TnV4_?O2F6%au-fc+0ZpG>&T;lqW){Fp^Fk6-JsQcP
z9gLxuxPjmP{`i`dm@GpyDXAX6FaeL2dT_YpCjpr=7sjGHXUtV`fkg-Q3v@mDd}9qa
zDiEI;bP3K+<x4k~STaUYZV@1WW8?zbYej5td%HEmr3C5`yuNQw=E|2wg<!)AAhiU0
zQ&EpCFc|@yb!sKmH9YhZf>SUM)5xNfy2^JvoCOKHOO;xRp>}EV#S$<M7X@|UL=~hC
z!M=wPnFEo|zvs#9z2=M!lA(`Z<%<jEh1WDXM?eG=oKV!dn&6eN(d)Tq*^xX==Oo?k
z!l%?bORzVIcBgT!u#_r+Z>1HjA1+c7>qN?fdixHtZrcGkiM+*}7O92A$z-w%7qJYb
zhA4$fD8X!W7GSO-^5JgdG@6@OyS92Y0u+-F+$W8Y{3n2i!c&CwqL36dC5aS;aXnaD
z=Fi-kQ_3+xUryq%T%=t5{`<3=^eENEXmT5uG20UyfIb!*{#;WL--8D6tau?6;zXiu
zb~jjNCqh&rX2Dk!$F=_F58dw1%O7vPUJqN*t%0sVxzh?W)7voi)7#*OT9vQid4{Ez
z!#MWuR{|BcOP$YHr7L}hrxUp|wdB*S+iM4v=g)-t`h{ltUGDk>J}SQVT@R|I=U;j`
z6FEOVH$>zUyH>7&e{-#dx^%A7qjwi5?ODYsdrG=?lChA+K`P5g;|f`KNkNGY(tCMb
zN69Nl(v#HnLH(Ri6x-z8hh(!cK~H$4KKlnzi$zGKVG<OF#h_%ld@E)4LtVM?k}hVC
zmjx1ohnf+>th=zFJNVM~`I7e`fgmE9R<LJ53-%uKrh=%x;SyVwnm|seJ|&^^Dd86N
zu}~7&brii8M;ILcAk|LsJu@+(LK>7mvn1f0h?;Hrwsbb^Ixi!M!-CS9%20i6MV7o=
z>gWtqg9OW0I<txDt`hHD80b3lEPLP|uW5OgY}2t0$|PG$)sBIimkDy|ojdb4nD61}
z@`(sU{D%ZYMJc-5gV1PX4!297L^S3G@InA2RQm*;n=Qol@~=saTUVHbN~-=Xcktc@
zoI=TdriQVdE`-Y2&{5h00kUdy<VA!4rWvAT7085mc2;eT<l@Ir9F>g$MX{Hk96&%k
zG-)X`BGDE_l_9C_2j^kMgYF4cL%xq_oR#2DHFVrxsVH8cdR-!yo`chH%i`s`@DG&U
zy|KBc@J$kB)#zlw$1y$S>anC+USWYl6dGn5GqPd&R0`9OEzu^MOnPj3i^Hlhls2%x
zqL*tm^qCu4K5j-mA^C`$n-_M#Q)o~vepQs?W2Aysfn{@>8_1FPO#<c~Hw$h@dT@Bi
z`4-`L!TZuMJD=85Ljz6Lql5u;+O+trBxB!?JJbGb)wJShiG;t-P`fqT4<k0;T9-uL
z<QR_jm=FxaFMeb2B&)Y0jtf~yo}}PlGUGBeURt44xXR(r2+!e$YRG6qx2xo2Z20yr
zOUly7M#Ot9%J$RB>{Q1oygJe@dlj#03C7KSpMdyK$J{MomA~zpdw6;HdaIuUaSz<g
z%8=%YlX^VzFQ%n4uaT;1vFZ_eZQJ8R*4#`gm|N@)Q0;yTw>gr?7Pio3ihpliJ|V=~
zwIXRks*<scHH4XKA~*}+?bgx?xUXNbf(cx{#=G2)!#XHO85v>-5{x1{THM*~+MdN;
zCPa7mvpyZx*<WKcE&)M8pY@{=EVfiak3exlGx}jQ@%-C_9GGR2SyD|K+GP9MRyREq
zKOeC~_eVjr8Z2w{r1t~63!hlJV7~h&bpfwSfK8IniA<`uT{?xTi2(8bfWqJ3^08x|
zyB8XtU`Sn|?#?nUNfJ+Et4zD4p)dTW<PMLKeyrQ`_4c%`^BFL9;yFJN=`JSQ>p%;d
z0)=nC&TZljG$*v$7tEJ8fH&8VhS`qQei<EJjUFJ60#y`*874%0x5q_$sHtdo79fx?
z1z@drp7m0qWUjHIj0N3^<DjcBLM2caN7rc_-iK~gHwbxIjnl-lEpB+@Nh?_{|8T<*
z)=k2lCR6yHeYl&j91Zh9l&(#Ann>9uXBRa>&O05kRKJ(`D!EqA3gD#6^Wfes&u-yn
z!rQ>5#c!FL>h}3*W5=4_San9B$jQSak+c>r#oBOTZ0_HuB9i{__hLHTjW=e#s;FUz
z3g+>Sn^u^BN~gy}80kU_$AN@(*25x+ARQ+*!9%e8J;mH=7`rChLXfFxz!`6Jj7?97
zpxC7D*zA~AJtaETn7UX&SOe4ONJl+#XkymOM00^D?7)JH;Jgd*!IblpaqQF~Diim>
zdKaZaVWNP_-f}gp-+7N^9EKuhYSEoFH}YyR1%+0aIOf4dcV8g_%l&4o{Y}+Ybt$HX
zO?$;!bLlSTs*_1U2lo=!w0EDMai;Zr6>|8@>CG#(?w7`B1eJq4f(3msPX(WY|Jdj%
zR0(7KOu$1xsy2N$()t_1MT?D&tsH~TdP&D6ax!LOMO)Zoe|yExu4aUm`k?B?L4lU^
zuZMLlnI&nD4!cSprfmZ0ocHinum#Ye(ZeqrO0&J9jcYkNqe?!~k!m_0qIMkwxeuc|
z)uET%L@9Vvlle`S7~t4sD&aPzj-9FgkIORSKOz$ghNBDcSxgcc^xk)5bcJLdEE&Sq
ziE-Vp`Ns_K2RM0spBKazXAbK10@p^lsU9Fz<C)g@P0XvDmF>*w?aZO>;B8Vy)|O&1
zQzU&;TXfrLE!4PbZVIBevsMTSTb0t3L#11xTHJirr9xLVO$;74Tzn4SIbS^&^!6lQ
z5ot-i{hoC}*eYQP?54ueJq-BQjH{P5!kqeNRjydL(kdr!kqAc75amJ_O~L#D^vok5
zp>ND{5^QZV>9%CBDmf5GGvu0?hY9o|<g6~5><_C-&F5cEPJAw7ej$xaG~!vhF(0n=
z5{mIQyxOyDY5zvnrd^(7cV)a6Vb&<S#fzOglSALaa|&tD_c$WrEs8MUhJ2U4lP)>Z
zk^3V0D)vr{-^YI<erf-n-$MVX2p=v0@@X`1Bt4<OmxV{E{Uh*O^@Ox3l+x$CxOt5~
z?<|hhwK|_hT8|~7<E{-Owr93(vf?YsTIsSyf%~JUO`VM!p-0&fg97OuNXf&VaS%+A
z-EiX6r+GyAf@ZZTuPi(DoYUJL>x|f-e?D};PyCQGk5D9qoM<s0p$PkSKw?76J-ml~
zn87LUBUIn^D7q<!iQc6Jq1@gbda+0*JNA>aMP~mf6e&BKGHbxDf|cks(uUxQ3Sa0w
zz^Z?Q&a8ObO|}BHLS=B@va4nwRN9=}6`d3kZ*iIu8($5Syjl_-x4ZT{u|EuhCxLNO
zYL)U=^Ns-3E1U4`S7XbckT1M5@4US#xE81PJb9QR0<VN74@9rc5&XCf#%%KZr=sdK
z2M9C-0(oTaTUVw<0u$h#kUe^!*65)X(vquT$dFak$RsOYK~sa@@f`^Yt>eer9<QMN
z%hSW2H?w)@KtlgyWzc0;$M)7RfiHKht{c9WC*zQXlh5t1tFBkh=lAv%n0{Q8#esKt
zJK?9D=L#1j(wR!eZZv8|=xdRVBJdnqq~?A2jUFLL^396Tv#!UUFauyeJ&|&T$&g?y
zl?jHV+N>!eMt?&nH?yz?IcB#4`7OEc;fngr&L~q%gEn|&pUGx#Bn}18kp~zCb#-n8
zkv5>~Hq+s@sOz>CO-n*>Cfmea3+h8l7kEX?|2ec}PWpA>KF1v)jA>4l3XC?A84+rt
zrUvNT4jP*AO*-xcb)^KYD2@=>+uZWAu(6M}zh1O=zJiK8guynlv>;;#B|DZ;wsU?w
zy5BByy0b62eG81+--0BFZT`cjS^tLxmDz*mJt)tDqbxe8S_H4;(Jc^brTAxQ&0%Zn
zm^qW~6Xg+D30Lni3*XpC=!-5i(JQ-%H-l4(_Yz93Z3VQ!MGUCS=7N)G^7zPt{x@@4
z(5*D)R*c7-4h2*od$axVsh7u={(Db$ho$-4BR=;&Th>x(J9??zfR?k1o9s4jqi0#B
z!y8f-z4^Isrc2}0#fI)%<XW&n3-XJ<J1rp)`zD&|TT!T~FYrx3@&B3^aS=ojP8&IX
zYAgW2+zbGK1^fWm*qa;M+qp8>{>!%n|Nni<C7-qZhGgP4O#0VsBTR_0@R;YSJV{ue
zl?m5e4Lwd`maMupHc(7zQ?V!(S-{cj>(rt5^LOPL%vzCTg#5t|Bu*oexr?i_inEF{
zPaqdLi<UNj`z(acZ*t>-#$_;O=deu>*~1hLtnSb1<r=JbL(4>+iMeixpPf-qO<Sj~
z7H@;u#v8T2lSdB;!_2WX1|1C-Ws#lRY9)4-Tks&6q}^_E?F4*T&6^GU0)CO-IVupw
z4!+(DOdY;Duw2Eyr6sY)n{$~EaElwZBR#EcdxO(tFY9gUf~WACl9I<b+p0W=dzgF1
z_02nC{{H;A3hldVyVY_#|0w6$Zm=kAvY9FS7KFV2(O(=dM}cC^r&$oq+mSEvF7Y)D
z1YfD#BKb|fK_;^RG1faFb5V{8Wm2kdZ-{(I25W7~wM?U{1g3S0{J>qOPGrOcCXE~-
zUIN(QKwQaqUHSb99#j{nE<pUQ0+Ot&yYvT#eOST;o1*ixJ&&WA^8uj8Z%A-+ee0Ac
zaba=e>)pJE__=;G?hNiIXjp}{qx&Xuq>EOgkTbE2u97i*0dhQCM36-;V;cLIXGzt~
z#wN5f0ZcM&F0F^^KapBd1p&?;Euiz%T1#!tkkgFmZ-kTTanqp#PYT<nU394km!a+d
z&@K1a!D#OXCzn(%u}uT@^kk~pHNUNB)e+o0$CPewSLtmF@BW6xr!@>RJ0iiwycM>7
zs2E{FG1Lw{j$A5)*el*_eRwwRgc^?!pV+?sZUbKOQd-A<2xojhxPWhhjUhrjEgMMc
z(UO&6n(mL1QkH@DXWfiTJx}VZz>QVBJyXytWKq9F(-SS?6A`6kSFBx$x(L#V12P%F
zdVqis3&|4-`IE}f7X4OEa%)y3m<_g-OkVuNgX(Nm+R({xKBfa4Tx|Cw)!hA!mq@rH
zzEmYjM3p}FqS+Oix2rA-{sXM^f;BXfZS^`8+zZx2h+p?{u1H_+3hT3%rx7#X{B3;>
z_H)U@e?lC;Casyvnwn!>sWwu*HXn*6AtC}i9FK+0+3>XGQLfYr^<vb9NGtFm0B4y`
z!H-PsfboiLb|<(}r>=yRi4>{K5L?sDP|892BVZ=XJ$&p1&Mq4b#&;&TEv!mUQ{Ny{
zU&6^$!9vHAmw3y2b<~0qc11PZp<J-cu%_3^wnc4s8bKP~u;YT=xnPe3xkw-GVnHof
z@#sQ>+7{y{RFCD1HNv;62k`zLs4M5iS6R<o&qBtexVnIAtaoaQb;;jxbeNx8rdDga
z9WbesOi-qO$q@q*{_G?p%#4ba3J^_7krsH&;wgBR9$Z+>W<P{MIIi=YBi~rbPKyt~
z-_>)RCF~0NucPbF2w8mXIdX!S+#Z@(PvaXPT+xAoFVQJ{=wQ9vJ3o28b;_liBY)*<
zIuZVH61wg!-O-;uBVcp7YNvIWw=Vj_ZLy43jT=Jd7YY!@?e+Oa$euog<`4QJ(01@L
zn>waoyYg;9<n;FZ;@bTDGJke;l?WIwSqYq)T)&FrLikh0f%DiGn{bOYdj@}3zLJd~
z@i&JabhVRbykTN`#;<An5a#174{a!al+(ka#WB||lf4UQjktP2|6S=71s$hcaUZrX
zj-gTZ*#V11V$$c^l^JgRvXx<}L;IsT(svOCq*KB-uyL{&f%$N3ZxIfO_#!cNb1h1$
z`-hV_9^7`1;BU*(;IE*DSHo8!uE2aWD8FRskjMTw<e<J>gh{oG7i(npF%K;*5fnI*
zof-e0qbWMwYU^`}yVArjO6BbPZU2wS)wm#mNNH;I2%xbnX#AT7X%lTxe*(0C@;5BQ
zoUrB-VGVz1ZruJmSs%=2Od@LAeudE3KAW72GLo;gWsFYL&w0~?-pvx};MI}K<kWa4
zx&??*0_GRi_De(@0XXEoklv^L0hX|@1|#)2j<;&%kN2Q`PYNbqC5!?6#Qly%#-9GV
zM&20AkLUyh8F{n(QdTE5P_qoHGIT9Bg6!|9!n(+QEY~5wzEkGZ4h_3S+7+ps1}R0Q
zvhNf5<nC6V^I1#D2bwe}E%tW3f&kkBNp7$e2F@g+Gg*rUqI`>Auj_x+Sxyu>2Kr2Z
zyrp(KPWEJzAHZHij}CmUYECxj*BTM}jDu;4z%nloM!pq9C-S$qZc?4U$(<9In>~u=
z>mliH%N)J^St=a(u9fEL7Ed?dh|#F4d$G0V5Yjq~*KGr@+ECruudU8oiLA8?sZ~vm
zHkJ{{RIQf_b&e2tJuhQkyv8~#rsSHnYksAMx_;|ZjL@4vl&gjf(iBm#v#_jA`*Be@
zkS5q$iRpV^)Al^#w5ii*SpI9$0M^@pneO$30v}QJ{v|ec7ade~ggf$pArbx6vg(ei
z7qM$23tHuqk-)le5)^4L2QY?=V#MgBrqIR<5xNF6KLV--;d7)F7pdt4`uvievcOg<
zSO8xDZdc<imEdBnWlZ8#qP&0xWqA5G9d!zI!v!H-{Bm4FfwtCwe$!}hI>>Prk$mYi
z)o<8_4a=zM1>?y>W#Jc+sNMy#(n>|a7fi|QbJka)_EXJFFs!P|{T}a--obROjyG19
zy-^c-QrcTIGwpD+EG6s96nbM#a0Th&%c6F)O>OuLjM42CFMXuN^h|_-7cNIM^cV0%
zJV=K2`jRqY^d3x)wHuML(t+6(cXN+b_DrpIZiWhO>P=}sGw%h_)a^K2^Cvp`#IPBK
zrB%v?P)AjSIWN)^wW~38kfFL@#V{hcO^YD}bE;J^wCNJH5w}|GUG^&rK5<%D&uqeV
z+JB&k2C8%}W11=c$x~NjFkF^qt3^fmF8F@IAd51br`sDSUhV6jltAkH3;#X?bf~90
zEH72lVp1cno>QL|IEj+<!wOr5wp{E5pR?_TiFL!p7E9yB*HY>6OFy+#HJDOYWxenE
zYBttInI}E`S77TYtYGbsG|7_sQz;|QH}{I3B1x~nBg1*#a=we$S)zQUdB=Xqx#l`F
zSlB;8Zbq>3sJgPLuLlBT6Wb!*+C}t~GDT}!r4i0ie=Ws=*Bx1cwf)GvzMox^@v4<^
zgl`mTn%f`<kS%XeGtw>NkzsweVgFFTxEP(<m4_M*hFN@;apx`aMqSsG{xwO1rqb;~
zNF#Mbeg@#tq{`wPc~sX#W-*uQSw52s{5orH9eFqhT@F|U*)CfZGMqwA75qe*Kr0uI
zrOn(qYMEhoNyunF)u5CUGx_eHq|@GC-QR*jcKSugBEi1RVL~gZum-SaVxboIRhmbi
zlaqa9JyNgBd1FPRji8fMt(7SW(7Fmqp|?zgdh9P%^U{^Bf1};{Yvt(<6O~+#7umgL
zs7+13yM1VxEl38lEwR!Rtxw_y>x1%>J5Y_)BRe?<vJPCGQEpm{c*te-zyyJYJ`GQ(
zY~zQ1%90)!P4%dXG@P1It8BE1t;sjejb0kmG!0sd*&%s1BVuf8f`W7!=z8I|<If%E
zmki+g!N6g<F4Bk(-F5N6tJ#m~FfB~8y$(avImZUONNINzh3{}0Cz;=Q1nPibA9A5!
zU9kPFF-#3w2{zV=!Dg8cj5Vs@?rptMy>R^*85Bhr=p;8mLI?iuv4z~;s<?7Q+sO6_
z0f!=W$uX)<v}>EPY=jh<I^{=&Cih0rjG)UxS-YlrA(uqbYW7oEijT1+%eaT(q)##P
zc@?Qrp7t}@(861=nTpt5eLrB&#iRU4J#&;f*XDs1rC~G)AEB#gQ#edfP($2E`px>?
zd$Z;AJCHK2)#>ihRla9!daSjR%VX0wb8KwjGK<$H>3$c6CC8a!ALtcJ)AW*TGTYus
z)W#aX+!~F@06b$ZLCipGcwgC=rH5ZB9B;gacRv98{L7W1!+Y2J1A*5?)akg1F3PO{
z4f(_cdobjiPw26FpL%L~Mit9FoY}NnaW%!S4ifG4kKLY)#D*kkrI`=;sbU6Of;C-{
z5nq$zO%y`)#B}rz`PN>KhN&_X&8Go1kNru!=ytA^pa#yfB}|EKnw0Uso*`ZCLgVx8
z;^oUyD@oH>+af^iL{q<UXU2sQ0=0&v{qfLC?ipx2*O<#XBUWXMT1+jlcgXbMlxJ>_
zOfpr&!=(x`XaU7%4Fbe2W9W>WS6OG@%?pI!qsPydIUSow(cdoDvX0FBBMW5_Lhv&n
zR9-wPJIQ$_mfJe|9Hc0Fir5U;FmW0MfyPL?+wVCBV*7lVps&#Z#Z#>rIWFbW`X;bt
z4y?DmxGFo7!i}__Tc4?O^y5_&gWuzWiGJ;-2XywM&+%vY&Wdcuh4isw)kQn{O&ap{
z|F)OLT&wOkaYHElwl-V+&*faBR|OyN58sM9(Z_%J%9e1ord$gP8T-6BX%{;g_7(d!
z;yXkwAleB@>OG)0aK-)juqJe6MR-N_mn!!Hd*YWpQ;(26??zQcWS<kT6`0~g@>HL-
zWpTQ00g_MjQUZ(4`FUndt;47oyvkriiNkX5;T_hfC=@8v!aETjh+<{B))U{B;^S$I
zl{Y9A6BEL}Zg=b#srH#~VY=OBn|{eDNM#EtkeTS4#i$`V?~wOwcCh}0G&E$Frfx_F
z|M0h9+q|5kyxXR$d<99ndDv+G#I~dbVm^`xw(Fc|p-}RS7wOg?0MdbgRQh=IA~(Z`
zgB8nI+csG`@2@(;JWy+;YV6?JTt8vg^32aIeqA%WXWL@pJlsp4Z32ymuKTbMZ;hQ~
z5k<_lDpht{<-JKDCYMZN5|P~V4}fIPs}8B7?n+h*5NatNGmWqp-I$aftiNBZ(5=?0
z)omN~`AR_j#mBmM?x-8>N)S7`yN99{K~bx2Gpa*^SoQcy>Ac(<y&8coDHC8nb&K*P
zoWCZ0^O5~+uyD;GE#3g;k8(KC-mJWMipQI@P_<HP9Dur(B`4(3DW*t94j$yQ;AUnV
zoY))?`S5L{%FhB6fdv{mLjCIin*`f71#OqNp}Cc}csD}MkqU<{8A!T_I;n$mAxRiq
z@C3wFzH%GJn9Kk#nBRi!lxg+yWmVS_X^n~J9~7re-fL>_bLzUVY$<Nvn~sN&Kg+h;
z=UTGgX?i>Kd?>;!N9)4^!%rG8$ggbsszCik_ryq&eprj)`;Jjt@m{gM>cDjHI3SBT
zrq}na#k&VAP~5<PInXCB7k_i)2Zx`lWS*U+Tn<58eTwKtpxR526nicxJZza=G4+u|
z%_vb?XyAAMiujbnI&T#rFfLZ|EN%KO+Op$n$zl;tR`98_aC!|=CAm9SeSFMMJA!e4
z6Z{rfghs`0ZOI?*vUgWu#NoN~)=h!52&_xpc@4Pmzk>HWVm8a2Bz4}EYReJJ+0s8=
zLgb$E11>)KS>3kZBr1Foyz?m*h$`xU^<@W6TSuM+SC$aE>ohpyl+$5<8o0mvS_{hr
z<nU1TZmzj0_$#nnr~8Yml?USh!gfTyKSM5nJY+j(u|A#ql2ChFVJxSs-ld9_%WNvk
z4u0VkF)9Q+*y0uaR+1d27^~(@w3P10$_TFpHXe-eTbRA3_{>f!Gpzv$kItYeNDF|2
z>L8CJ6GGAZgK_?{qt`T>hB(JGP}mWW0H$J}=(k*hne>sOLqkd=LG0#V7`9tZ2#t{8
zxMnKnq6E@LW9(%U7ILHj+H#a;szyu0WcbXmz-{;+KPz=-f$p1ttooYT1Pv*5IgGLG
zYiNQOD-@y@<2Yo#Oh1d5CnM;x@^=k(M-uhnW{pNv8c4CaYnVPJ^$#Kx)DX(uWRh!J
z_`zr~k49sqP?Cp0i;Eot-{tkLF@MgKukk!lxQxcvTQaJcZb8c{C~0d(MWko&LkmX5
z*k|y=N4tnA|1{!y`$oB%a7;_8@hW=J^ff#Y8kAD^gt6s6%DmZ|%?F0m`*}ZqF#UR0
zfuVakRY}tv!!O*aJignI`R=`Q>Q;i7kAcaghU?w9V2RSO=!$umH1y3{|EO>JFV$U5
zJQ{(Q`%>=+j9%5w`JjQ(q8A>+(XvQKXygb%({)*mK=%W^A6)Wku2G=Lt!ZJeFMNjs
z(#1<O3>OA3k7&USKhL#@hAL#~ExcXb6!W#Ehju1E_0jn5WRj=(tKmxhs6S}_&0ANf
zwrfF~h~vl#pVyAMX<w?)wXy(qzK8{ldY7k)3J`z#h|3xJ!?4zgm}}<-X91GHs_+i3
zV0{XQ#3}3!CxY6m6jdQ>mwE*9fn88V#SMh#R<{^w&3|<4gTKOT2@E$6+$q5Pn9HP>
z)dm)ow!cm>#{&|T6+je5DrkE`=n|$Sk#r(E>BtX0Pz5kms$`;jRj33?*%>|g0Y+?s
zaNpa=Uz6xaL(P`bXfsm%N;j6Hvq|VDM)VHd;1v0oZ;Oq`7$}Pd?a-5-URLQCXfz;R
z0rb9n^!4$^296Do8+@1jxOs5u6pbqp$31)WVcYT6wKENux_5)L0$WiMhen@+MjkYr
z@720fXR_1!R~Q*xsunf8O4$(X8uQ9zxbi=zhGq(FtGz$-43f2q*@8qPcwj}1CF)*1
zQ9ixo7G*hKMr*0A3Ues*S%qN8{3!`=4C6m%N}U<sf}*AgU-;qYFSByL{+xb39%oO^
zxDOY1{rK}K!glRHRX6gU`S(%J&w-8KkI*)WW3M=lD{j+!{?G~68Q|w+JUw833s8ca
zJ*K#@8J-9ByxF?mw;X${>xOm9a4yBLN8J6@eClEw<4L44_NPcD58jRfhkQL2kkS&q
z$S#Xhou5x*6!edsAkZts#_k9zRkgn*uZ{{i-R;!C516t)K=;x(=j)*b|BEx*(d*`H
z@@;pR7)_enFNO@`agZxsnbp&u;V4M5g0d=b63&P*Db$lu)M@s21pM2T+$#Ir@0|s#
zLOcQCWwK2bKILm(+2#_DG$xE>pX!r@^>CkSr}mM<!;!X;b4TXqvLvN&ADa{O)e$xY
zVg5LujB1^=H1}@B3|CWJnp;yI@YhP(Tts|Ba$GGy6)50$SY~B@5V{woWr~DC_I#4;
z9a6k;_M)oT;<j1FAVgAP$WI~4-I-q+YrS-e35ESa#qY^k(^&Jypw15I8TYGGFrNmO
z{%nPldu@iNJo{oJ`{`Q<eDA`8jUX;ot;3i+bBPn$>UVG?10*PK#<4pbQq<Mk(GzwQ
zVJ25zdHR4IV2&2j2`8k^^Nac{&p3vnro!*qTZGUXyi+gLHJSK!ypN{V+P&}t9*VKy
zQplJl_9)mecgbmMsx_3i4uy$~&I2eT`3%BW(ZA1;9U6sS<Y`nNcA=M_iVc6V9rzrw
zN^D2VOn!u1ZZS;E*Tf;)f2)J-j`vqS4AX3cWj6Py7Ym`eGXs0s>vh|k9gV{J9zUw0
z*1&;yL2``%I}+RwcIC0%Ea&@61iW=s=BC`%P4L}9H)-eD{$QT<nvUaP&DWm?Y%oPE
zyV9LQ##4=Y5S}C(Gl!n)+o(=|8l^1>m#eY~!C<<ova3l0hd`qWi)!UikVY(8kt_zH
z<#k#OzCc^^f;+Fyrt>mkR>LYR!`s%Mm*b4^ayBo(km9X`UmFGP81sl@-XDvFcdb9P
z2utE(%i_MS6?go1*07nXjq;<_=4S>9%CW0%Gi16z?|S}1$qhDN^bo|V_F76Jy8&(Y
z02`)a7Dr)7N2Scqn`o9LLcg=DX9WRQ=+fivTuKFAy&%fF#0b2%0d;r;pjW_g_7&F~
zja5}wZDD<joH;7pL~8C2>D*13;?P9CJdt_c{b{kxKP%R!?CaBtvJy~x`x!zfT;-v`
z>EQx{wE(KXzvkK-zjb3MO?V-5e|m$-L%pu@{Jw}O;L!ULz26P=SPIvacrn#AYo#~G
zhi=LzhVOXyG@d+f_&SF#gZU5`nQe6?xZ#QTT7$#?`nO&CS~r470WI9-Ef@fx3;_VZ
z0e%3K#e_uV#2B32o&U9LAJc$UejEOel8~CRj{Q2*ci)-Xmt@L#BIm7~c=x=jv-rF`
zp-xN21*tt0nOOWad7>|0O8LkRDy;2kHy*9(H~5k5?K++=Lnn71zfX^K0)13=btUIn
zl;jk}BXG*BByr=!j0zTQ7l)iGEH24oUUrwM{U(St=`$J4sbW0yp6?c7)U4zsL>9lq
zh*M4y>|1pbr4di#wS=P64J(xruHsP_o`%$SXi|h}P}*XUn!!X=h9-Hv++Wb*DV|9~
z64T}tlBl?05cWn45LpU!jDiT$w6wfnYVOIcUmE$KEhngcj(!>{)Bn0^eWAEmIo^7+
zq#H<~PYD8Ab(N1!M1OBYM))KR)mFk1#{N!Bsi1o#Bkt|7(XbERGUquO83FySRrV`z
z?hbi8+L<t@%fgtelFE?_-se4&LoIu8%e;DII?XLA--!)gHU+zEV}z*ogB#x`x?pRx
zBGQB5ZLcY9h_ONM1q;r2jk?PycIuSxAZ5pf$gcTRZd*f1Qw55BI&DX~PfE^LDm$}s
z!0Zcuc+b-3t?#m5{_H3e>M42G0W|$4+J^XevL}$4`<IUq1$k2HXdT-r?xkx>;GRl?
zcRx=2hr}HA2sRPz?6~6empqD=rvW2YQ~*8m6N||D3yO)1vJxR4*Fiy^_^bYP9;*p<
z5#<*^Q3ed05aNI8mth0`IbZ+)peW#<*MD!DLH(b$*?()A{X6qNW1oL#b|V1(Jp_UR
u{3`_dUvU4a?0?5mlL7u8okIcsrSt#bK|%jB3<LlIa1Q_g^eO(C^1lFC+)dvA

literal 0
HcmV?d00001


From 64ad3d7e0a60e994f6f26c18d52f4b2fd8b8beb0 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 23 Dec 2013 18:44:07 +0100
Subject: [PATCH 11/15] Added channel count to log format

---
 src/modules/sdlog2/sdlog2.c          | 1 +
 src/modules/sdlog2/sdlog2_messages.h | 3 ++-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 2adb13f5c2..e94b1e13cb 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1193,6 +1193,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.msg_type = LOG_RC_MSG;
 				/* Copy only the first 8 channels of 14 */
 				memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel));
+				log_msg.body.log_RC.channel_count = buf.rc.chan_count;
 				LOGBUFFER_WRITE_AND_COUNT(RC);
 			}
 
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 90093a407c..ab4dc9b00d 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -159,6 +159,7 @@ struct log_STAT_s {
 #define LOG_RC_MSG 11
 struct log_RC_s {
 	float channel[8];
+	uint8_t channel_count;
 };
 
 /* --- OUT0 - ACTUATOR_0 OUTPUT --- */
@@ -281,7 +282,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
 	LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
 	LOG_FORMAT(STAT, "BBBfffBB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn,Landed"),
-	LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
+	LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"),
 	LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
 	LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
 	LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),

From 107bb54b33dd4360fd5fee538f7a87b79279b8ab Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 23 Dec 2013 20:38:09 +0100
Subject: [PATCH 12/15] Robustifiying PPM parsing

---
 src/drivers/stm32/drv_hrt.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index 36226c941f..f105251f0a 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -342,7 +342,7 @@ static void		hrt_call_invoke(void);
 #define PPM_MAX_CHANNELS	20
 
 /* Number of same-sized frames required to 'lock' */
-#define PPM_CHANNEL_LOCK	2		/* should be less than the input timeout */
+#define PPM_CHANNEL_LOCK	4		/* should be less than the input timeout */
 
 __EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
 __EXPORT unsigned ppm_decoded_channels = 0;

From a5023329920d5ce45c5bf48ae61d621947cdb349 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 25 Dec 2013 15:10:24 +0100
Subject: [PATCH 13/15] Greatly robustified PPM parsing, needs cross-checking
 with receiver models

---
 src/drivers/stm32/drv_hrt.c        | 39 ++++++++++++++++++++++--------
 src/modules/systemlib/ppm_decode.h |  1 +
 2 files changed, 30 insertions(+), 10 deletions(-)

diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index f105251f0a..5bfbe04b8a 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -282,6 +282,10 @@ static void		hrt_call_invoke(void);
  * Note that we assume that M3 means STM32F1 (since we don't really care about the F2).
  */
 # ifdef CONFIG_ARCH_CORTEXM3
+#  undef GTIM_CCER_CC1NP
+#  undef GTIM_CCER_CC2NP
+#  undef GTIM_CCER_CC3NP
+#  undef GTIM_CCER_CC4NP
 #  define GTIM_CCER_CC1NP 0
 #  define GTIM_CCER_CC2NP 0
 #  define GTIM_CCER_CC3NP 0
@@ -332,10 +336,10 @@ static void		hrt_call_invoke(void);
 /*
  * PPM decoder tuning parameters
  */
-# define PPM_MAX_PULSE_WIDTH	550		/* maximum width of a valid pulse */
+# define PPM_MAX_PULSE_WIDTH	700		/* maximum width of a valid pulse */
 # define PPM_MIN_CHANNEL_VALUE	800		/* shortest valid channel signal */
 # define PPM_MAX_CHANNEL_VALUE	2200		/* longest valid channel signal */
-# define PPM_MIN_START		2500		/* shortest valid start gap */
+# define PPM_MIN_START		2400		/* shortest valid start gap (only 2nd part of pulse) */
 
 /* decoded PPM buffer */
 #define PPM_MIN_CHANNELS	5
@@ -345,6 +349,7 @@ static void		hrt_call_invoke(void);
 #define PPM_CHANNEL_LOCK	4		/* should be less than the input timeout */
 
 __EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
+__EXPORT uint16_t ppm_frame_length = 0;
 __EXPORT unsigned ppm_decoded_channels = 0;
 __EXPORT uint64_t ppm_last_valid_decode = 0;
 
@@ -362,7 +367,8 @@ static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
 struct {
 	uint16_t	last_edge;	/* last capture time */
 	uint16_t	last_mark;	/* last significant edge */
-	unsigned	next_channel;
+	uint16_t	frame_start;	/* the frame width */
+	unsigned	next_channel;	/* next channel index */
 	enum {
 		UNSYNCH = 0,
 		ARM,
@@ -447,7 +453,6 @@ hrt_ppm_decode(uint32_t status)
 
 	/* how long since the last edge? - this handles counter wrapping implicitely. */
 	width = count - ppm.last_edge;
-	ppm.last_edge = count;
 
 	ppm_edge_history[ppm_edge_next++] = width;
 
@@ -491,6 +496,7 @@ hrt_ppm_decode(uint32_t status)
 					ppm_buffer[i] = ppm_temp_buffer[i];
 
 				ppm_last_valid_decode = hrt_absolute_time();
+
 			}
 		}
 
@@ -500,13 +506,14 @@ hrt_ppm_decode(uint32_t status)
 		/* next edge is the reference for the first channel */
 		ppm.phase = ARM;
 
+		ppm.last_edge = count;
 		return;
 	}
 
 	switch (ppm.phase) {
 	case UNSYNCH:
 		/* we are waiting for a start pulse - nothing useful to do here */
-		return;
+		break;
 
 	case ARM:
 
@@ -515,14 +522,23 @@ hrt_ppm_decode(uint32_t status)
 			goto error;		/* pulse was too long */
 
 		/* record the mark timing, expect an inactive edge */
-		ppm.last_mark = count;
-		ppm.phase = INACTIVE;
-		return;
+		ppm.last_mark = ppm.last_edge;
+
+		/* frame length is everything including the start gap */
+		ppm_frame_length = (uint16_t)(ppm.last_edge - ppm.frame_start);
+		ppm.frame_start = ppm.last_edge;
+		ppm.phase = ACTIVE;
+		break;
 
 	case INACTIVE:
+
+		/* we expect a short pulse */
+		if (width > PPM_MAX_PULSE_WIDTH)
+			goto error;		/* pulse was too long */
+
 		/* this edge is not interesting, but now we are ready for the next mark */
 		ppm.phase = ACTIVE;
-		return;
+		break;
 
 	case ACTIVE:
 		/* determine the interval from the last mark */
@@ -543,10 +559,13 @@ hrt_ppm_decode(uint32_t status)
 			ppm_temp_buffer[ppm.next_channel++] = interval;
 
 		ppm.phase = INACTIVE;
-		return;
+		break;
 
 	}
 
+	ppm.last_edge = count;
+	return;
+
 	/* the state machine is corrupted; reset it */
 
 error:
diff --git a/src/modules/systemlib/ppm_decode.h b/src/modules/systemlib/ppm_decode.h
index 6c5e15345e..5a1ad84da9 100644
--- a/src/modules/systemlib/ppm_decode.h
+++ b/src/modules/systemlib/ppm_decode.h
@@ -57,6 +57,7 @@ __BEGIN_DECLS
  * PPM decoder state
  */
 __EXPORT extern uint16_t	ppm_buffer[PPM_MAX_CHANNELS];	/**< decoded PPM channel values */
+__EXPORT extern uint16_t	ppm_frame_length;				/**< length of the decoded PPM frame (includes gap) */
 __EXPORT extern unsigned	ppm_decoded_channels;	/**< count of decoded channels */
 __EXPORT extern hrt_abstime	ppm_last_valid_decode;	/**< timestamp of the last valid decode */
 

From edffade8cec2ea779040e97fb5478e0e9db12031 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 25 Dec 2013 15:11:48 +0100
Subject: [PATCH 14/15] Added PPM frame length feedback in IO comms and status
 command - allows to warn users about badly formatted PPM frames

---
 src/drivers/px4io/px4io.cpp           | 10 ++++++++++
 src/modules/px4iofirmware/controls.c  | 10 +++++++---
 src/modules/px4iofirmware/protocol.h  |  3 ++-
 src/modules/px4iofirmware/registers.c |  6 ++++--
 4 files changed, 23 insertions(+), 6 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index b80844c5b4..010272c6f4 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1724,6 +1724,16 @@ PX4IO::print_status()
 		printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i));
 
 	printf("\n");
+
+	if (raw_inputs > 0) {
+		int frame_len = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_RC_DATA);
+		printf("RC data (PPM frame len) %u us\n", frame_len);
+
+		if ((frame_len - raw_inputs * 2000 - 3000) < 0) {
+			printf("WARNING  WARNING  WARNING! This RC receiver does not allow safe frame detection.\n");
+		}
+	}
+
 	uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID);
 	printf("mapped R/C inputs 0x%04x", mapped_inputs);
 
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 194d8aab98..58af77997a 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -50,7 +50,7 @@
 #define RC_CHANNEL_HIGH_THRESH		5000
 #define RC_CHANNEL_LOW_THRESH		-5000
 
-static bool	ppm_input(uint16_t *values, uint16_t *num_values);
+static bool	ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
 
 static perf_counter_t c_gather_dsm;
 static perf_counter_t c_gather_sbus;
@@ -125,7 +125,7 @@ controls_tick() {
 	 * disable the PPM decoder completely if we have S.bus signal.
 	 */
 	perf_begin(c_gather_ppm);
-	bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
+	bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_status[PX4IO_P_STATUS_RC_DATA]);
 	if (ppm_updated) {
 
 		/* XXX sample RSSI properly here */
@@ -319,7 +319,7 @@ controls_tick() {
 }
 
 static bool
-ppm_input(uint16_t *values, uint16_t *num_values)
+ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
 {
 	bool result = false;
 
@@ -343,6 +343,10 @@ ppm_input(uint16_t *values, uint16_t *num_values)
 		/* clear validity */
 		ppm_last_valid_decode = 0;
 
+		/* store PPM frame length */
+		if (num_values)
+			*frame_len = ppm_frame_length;
+
 		/* good if we got any channels */
 		result = (*num_values > 0);
 	}
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 11e3803976..500e0ed4b3 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -124,7 +124,8 @@
 #define PX4IO_P_STATUS_VSERVO			6	/* [2] servo rail voltage in mV */
 #define PX4IO_P_STATUS_VRSSI			7	/* [2] RSSI voltage */
 #define PX4IO_P_STATUS_PRSSI			8	/* [2] RSSI PWM value */
-#define PX4IO_P_STATUS_NRSSI			9	/* [2] Normalized RSSI value, 0: no reception, 1000: perfect reception */
+#define PX4IO_P_STATUS_NRSSI			9	/* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
+#define PX4IO_P_STATUS_RC_DATA			10	/* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
 
 /* array of post-mix actuator outputs, -10000..10000 */
 #define PX4IO_PAGE_ACTUATORS		2		/* 0..CONFIG_ACTUATOR_COUNT-1 */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 3f9e111baa..6aa3a5cd26 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -89,7 +89,9 @@ uint16_t		r_page_status[] = {
 	[PX4IO_P_STATUS_IBATT]			= 0,
 	[PX4IO_P_STATUS_VSERVO]			= 0,
 	[PX4IO_P_STATUS_VRSSI]			= 0,
-	[PX4IO_P_STATUS_PRSSI]			= 0
+	[PX4IO_P_STATUS_PRSSI]			= 0,
+	[PX4IO_P_STATUS_NRSSI]			= 0,
+	[PX4IO_P_STATUS_RC_DATA]		= 0
 };
 
 /**
@@ -114,7 +116,7 @@ uint16_t		r_page_servos[PX4IO_SERVO_COUNT];
 uint16_t		r_page_raw_rc_input[] =
 {
 	[PX4IO_P_RAW_RC_COUNT]			= 0,
-	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + 24)] = 0 // XXX ensure we have enough space to decode beefy RX, will be replaced by patch soon
+	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_CONTROL_CHANNELS)] = 0 // XXX ensure we have enough space to decode beefy RX, will be replaced by patch soon
 };
 
 /**

From 8d2950561d1889ab1d4c2fc5d832a2984048487d Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 25 Dec 2013 15:15:15 +0100
Subject: [PATCH 15/15] Changed RSSI range to 0..255

---
 src/drivers/drv_rc_input.h           | 2 +-
 src/modules/px4iofirmware/controls.c | 6 +++---
 src/modules/px4iofirmware/sbus.c     | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index 7b18b5b15b..66771faaa4 100644
--- a/src/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
@@ -89,7 +89,7 @@ struct rc_input_values {
 	/** number of channels actually being seen */
 	uint32_t		channel_count;
 
-	/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 1000: full reception */
+	/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 255: full reception */
 	int32_t			rssi;
 
 	/** Input source */
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 58af77997a..ed29c83394 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -94,7 +94,7 @@ controls_tick() {
 	 * other.  Don't do that.
 	 */
 
-	/* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */
+	/* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */
 	uint16_t rssi = 0;
 
 	perf_begin(c_gather_dsm);
@@ -108,7 +108,7 @@ controls_tick() {
 		else
 			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
 
-		rssi = 1000;
+		rssi = 255;
 	}
 	perf_end(c_gather_dsm);
 
@@ -129,7 +129,7 @@ controls_tick() {
 	if (ppm_updated) {
 
 		/* XXX sample RSSI properly here */
-		rssi = 1000;
+		rssi = 255;
 
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
 	}
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index 388502b403..3dcfe7f5b2 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -280,7 +280,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
 		*rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet)
 	}
 
-	*rssi = 1000;
+	*rssi = 255;
 
 	return true;
 }