Merge branch 'master' of github.com:PX4/Firmware

src/modules/commander/accelerometer_calibration.c

@@ -268,8 +268,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
 	float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
 	/* EMA time constant in seconds*/
 	float ema_len = 0.2f;
-	/* set "still" threshold to 0.1 m/s^2 */
-	float still_thr2 = pow(0.1f, 2);
+	/* set "still" threshold to 0.25 m/s^2 */
+	float still_thr2 = pow(0.25f, 2);
 	/* set accel error threshold to 5m/s^2 */
 	float accel_err_thr = 5.0f;
 	/* still time required in us */

src/modules/mavlink/mavlink_log.c

@@ -41,16 +41,20 @@
 
 #include <string.h>
 #include <stdlib.h>
+#include <stdio.h>
 #include <stdarg.h>
 
 #include <mavlink/mavlink_log.h>
 
+static FILE* text_recorder_fd = NULL;
+
 void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
 {
 	lb->size  = size;
 	lb->start = 0;
 	lb->count = 0;
 	lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
+	text_recorder_fd = fopen("/fs/microsd/text_recorder.txt", "w");
 }
 
 int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
@@ -82,6 +86,13 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa
 		memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
 		lb->start = (lb->start + 1) % lb->size;
 		--lb->count;
+
+		if (text_recorder_fd) {
+			fwrite(elem->text, 1, strnlen(elem->text, 50), text_recorder_fd);
+			fputc("\n", text_recorder_fd);
+			fsync(text_recorder_fd);
+		}
+
 		return 0;
 
 	} else {

src/modules/sensors/sensors.cpp

@@ -391,7 +391,7 @@ namespace sensors
 #endif
 static const int ERROR = -1;
 
-Sensors	*g_sensors;
+Sensors	*g_sensors = nullptr;
 }
 
 Sensors::Sensors() :
@@ -1483,7 +1483,7 @@ int sensors_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (sensors::g_sensors != nullptr)
-			errx(1, "sensors task already running");
+			errx(0, "sensors task already running");
 
 		sensors::g_sensors = new Sensors;
 

src/modules/systemlib/module.mk

@@ -47,4 +47,5 @@ SRCS		 = err.c \
 		   pid/pid.c \
 		   geo/geo.c \
 		   systemlib.c \
-		   airspeed.c
+		   airspeed.c \
+		   system_params.c

src/modules/systemlib/system_params.c

@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 system_params.c
+ *
+ * System wide parameters
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
+
+// Auto-start script with index #n
+PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
+
+// Automatically configure default values
+PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);

src/systemcmds/param/param.c

@@ -63,6 +63,7 @@ static void	do_import(const char* param_file_name);
 static void	do_show(const char* search_string);
 static void	do_show_print(void *arg, param_t param);
 static void	do_set(const char* name, const char* val);
+static void	do_compare(const char* name, const char* val);
 
 int
 param_main(int argc, char *argv[])
@@ -117,9 +118,17 @@ param_main(int argc, char *argv[])
 				errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
 			}
 		}
+
+		if (!strcmp(argv[1], "compare")) {
+			if (argc >= 4) {
+				do_compare(argv[2], argv[3]);
+			} else {
+				errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'");
+			}
+		}
 	}
 	
-	errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'select' or 'save'");
+	errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
 }
 
 static void
@@ -295,3 +304,65 @@ do_set(const char* name, const char* val)
 
 	exit(0);
 }
+
+static void
+do_compare(const char* name, const char* val)
+{
+	int32_t i;
+	float f;
+	param_t param = param_find(name);
+
+	/* set nothing if parameter cannot be found */
+	if (param == PARAM_INVALID) {
+		/* param not found */
+		errx(1, "Error: Parameter %s not found.", name);
+	}
+
+	/*
+	 * Set parameter if type is known and conversion from string to value turns out fine
+	 */
+
+	int ret = 1;
+
+	switch (param_type(param)) {
+	case PARAM_TYPE_INT32:
+		if (!param_get(param, &i)) {
+
+			/* convert string */
+			char* end;
+			int j = strtol(val,&end,10);
+			if (i == j) {
+				printf(" %d: ", i);
+				ret = 0;
+			}
+
+		}
+
+		break;
+
+	case PARAM_TYPE_FLOAT:
+		if (!param_get(param, &f)) {
+
+			/* convert string */
+			char* end;
+			float g = strtod(val, &end);
+			if (fabsf(f - g) < 1e-7f) {
+				printf(" %4.4f: ", (double)f);
+				ret = 0;	
+			}
+		}
+
+		break;
+
+	default:
+		errx(1, "<unknown / unsupported type %d>\n", 0 + param_type(param));
+	}
+
+	if (ret == 0) {
+		printf("%c %s: equal\n",
+		param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
+		param_name(param));
+	}
+
+	exit(ret);
+}

src/systemcmds/preflight_check/preflight_check.c

@@ -135,6 +135,7 @@ int preflight_check_main(int argc, char *argv[])
 
 	close(fd);
 	fd = open(BARO_DEVICE_PATH, 0);
+	close(fd);
 
 	/* ---- RC CALIBRATION ---- */
 
@@ -251,6 +252,11 @@ system_eval:
 		int buzzer = open("/dev/tone_alarm", O_WRONLY);
 		int leds = open(LED_DEVICE_PATH, 0);
 
+		if (leds < 0) {
+			close(buzzer);
+			errx(1, "failed to open leds, aborting");
+		}
+
 		/* flip blue led into alternating amber */
 		led_off(leds, LED_BLUE);
 		led_off(leds, LED_AMBER);