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

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -306,7 +306,7 @@ CONFIG_UART5_RXDMA=y
 # CONFIG_USART6_RS485 is not set
 CONFIG_USART6_RXDMA=y
 # CONFIG_UART7_RS485 is not set
-# CONFIG_UART7_RXDMA is not set
+CONFIG_UART7_RXDMA=y
 # CONFIG_UART8_RS485 is not set
 CONFIG_UART8_RXDMA=y
 CONFIG_SERIAL_DISABLE_REORDERING=y
@@ -539,8 +539,8 @@ CONFIG_SERIAL_NPOLLWAITERS=2
 # CONFIG_USART3_SERIAL_CONSOLE is not set
 # CONFIG_UART4_SERIAL_CONSOLE is not set
 # CONFIG_USART6_SERIAL_CONSOLE is not set
-# CONFIG_UART7_SERIAL_CONSOLE is not set
-CONFIG_UART8_SERIAL_CONSOLE=y
+CONFIG_UART7_SERIAL_CONSOLE=y
+# CONFIG_UART8_SERIAL_CONSOLE is not set
 # CONFIG_NO_SERIAL_CONSOLE is not set
 
 #

src/modules/commander/commander.cpp

@@ -902,7 +902,7 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(safety), safety_sub, &safety);
 
 			/* disarm if safety is now on and still armed */
-			if (safety.safety_switch_available && !safety.safety_off && armed.armed) {
+			if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) {
 				arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
 				if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) {
 					mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch");
@@ -962,7 +962,7 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(battery_status), battery_sub, &battery);
 
 			/* only consider battery voltage if system has been running 2s and battery voltage is valid */
-			if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
+			if (status.hil_state == HIL_STATE_OFF && hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
 				status.battery_voltage = battery.voltage_filtered_v;
 				status.battery_current = battery.current_a;
 				status.condition_battery_voltage_valid = true;

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -262,8 +262,10 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 {
 	memset(&_v_att, 0, sizeof(_v_att));
 	memset(&_v_att_sp, 0, sizeof(_v_att_sp));
+	memset(&_v_rates_sp, 0, sizeof(_v_rates_sp));
 	memset(&_manual_control_sp, 0, sizeof(_manual_control_sp));
 	memset(&_v_control_mode, 0, sizeof(_v_control_mode));
+	memset(&_actuators, 0, sizeof(_actuators));
 	memset(&_armed, 0, sizeof(_armed));
 
 	_params.att_p.zero();

src/systemcmds/tests/module.mk

@@ -26,6 +26,7 @@ SRCS			 = test_adc.c \
 			   test_mixer.cpp \
 			   test_mathlib.cpp \
 			   test_file.c \
+			   test_file2.c \
 			   tests_main.c \
 			   test_param.c \
 			   test_ppm_loopback.c \

src/systemcmds/tests/test_file2.c

@@ -0,0 +1,196 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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_file2.c
+ *
+ * File write test.
+ */
+
+#include <sys/stat.h>
+#include <dirent.h>
+#include <stdio.h>
+#include <stddef.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <systemlib/err.h>
+#include <systemlib/perf_counter.h>
+#include <string.h>
+#include <stdlib.h>
+#include <getopt.h>
+
+#define FLAG_FSYNC 1
+#define FLAG_LSEEK 2
+
+/*
+  return a predictable value for any file offset to allow detection of corruption
+ */
+static uint8_t get_value(uint32_t ofs)
+{
+	union {
+		uint32_t ofs;
+		uint8_t buf[4];
+	} u;
+	u.ofs = ofs;
+	return u.buf[ofs % 4];
+}
+
+static void test_corruption(const char *filename, uint32_t write_chunk, uint32_t write_size, uint16_t flags)
+{
+	printf("Testing on %s with write_chunk=%u write_size=%u\n", 
+	       filename, (unsigned)write_chunk, (unsigned)write_size);
+	
+	uint32_t ofs = 0;
+	int fd = open(filename, O_CREAT | O_RDWR | O_TRUNC);
+	if (fd == -1) {
+		perror(filename);
+		exit(1);
+	}
+	
+	// create a file of size write_size, in write_chunk blocks
+	uint8_t counter = 0;
+	while (ofs < write_size) {
+        uint8_t buffer[write_chunk];
+        for (uint16_t j=0; j<write_chunk; j++) {
+		buffer[j] = get_value(ofs);
+		ofs++;
+        }
+        if (write(fd, buffer, sizeof(buffer)) != sizeof(buffer)) {
+		printf("write failed at offset %u\n", ofs);
+		exit(1);
+        }
+	if (flags & FLAG_FSYNC) {
+		fsync(fd);
+	}
+        if (counter % 100 == 0) {
+		printf("write ofs=%u\r", ofs);
+        }
+        counter++;
+	}
+	close(fd);
+	
+	printf("write ofs=%u\n", ofs);
+	
+	// read and check
+	fd = open(filename, O_RDONLY);
+	if (fd == -1) {
+		perror(filename);
+		exit(1);
+	}
+
+	counter = 0;
+	ofs = 0;
+	while (ofs < write_size) {
+		uint8_t buffer[write_chunk];
+		if (counter % 100 == 0) {
+			printf("read ofs=%u\r", ofs);
+		}
+		counter++;
+		if (read(fd, buffer, sizeof(buffer)) != sizeof(buffer)) {
+			printf("read failed at offset %u\n", ofs);
+			exit(1);
+		}
+		for (uint16_t j=0; j<write_chunk; j++) {
+			if (buffer[j] != get_value(ofs)) {
+				printf("corruption at ofs=%u got %u\n", ofs, buffer[j]);
+				exit(1);
+			}
+			ofs++;
+		}
+		if (flags & FLAG_LSEEK) {
+			lseek(fd, 0, SEEK_CUR);
+		}
+	}
+	printf("read ofs=%u\n", ofs);
+	close(fd);
+	unlink(filename);
+	printf("All OK\n");    
+}
+
+static void usage(void)
+{
+	printf("test file2 [options] [filename]\n");
+	printf("\toptions:\n");
+	printf("\t-s SIZE     set file size\n");
+	printf("\t-c CHUNK    set IO chunk size\n");
+	printf("\t-F          fsync on every write\n");
+	printf("\t-L          lseek on every read\n");
+}
+
+int test_file2(int argc, char *argv[])
+{
+	int opt;
+	uint16_t flags = 0;
+	const char *filename = "/fs/microsd/testfile2.dat";
+	uint32_t write_chunk = 64;
+	uint32_t write_size = 5*1024;
+
+	while ((opt = getopt(argc, argv, "c:s:FLh")) != EOF) {
+		switch (opt) {
+		case 'F':
+			flags |= FLAG_FSYNC;
+			break;
+		case 'L':
+			flags |= FLAG_LSEEK;
+			break;
+		case 's':
+			write_size = strtoul(optarg, NULL, 0);
+			break;
+		case 'c':
+			write_chunk = strtoul(optarg, NULL, 0);
+			break;
+		case 'h':
+		default:
+			usage();
+			exit(1);
+		}
+	}
+
+	argc -= optind;
+	argv += optind;
+
+	if (argc > 0) {
+		filename = argv[0];
+	}
+
+	/* check if microSD card is mounted */
+	struct stat buffer;
+	if (stat("/fs/microsd/", &buffer)) {
+		warnx("no microSD card mounted, aborting file test");
+		return 1;
+	}
+
+        test_corruption(filename, write_chunk, write_size, flags);
+        return 0;
+}
+

src/systemcmds/tests/tests.h

@@ -107,6 +107,7 @@ extern int	test_jig_voltages(int argc, char *argv[]);
 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_file2(int argc, char *argv[]);
 extern int	test_mixer(int argc, char *argv[]);
 extern int	test_rc(int argc, char *argv[]);
 extern int	test_conv(int argc, char *argv[]);

src/systemcmds/tests/tests_main.c

@@ -104,6 +104,7 @@ const struct {
 	{"param",		test_param,	0},
 	{"bson",		test_bson,	0},
 	{"file",		test_file,	0},
+	{"file2",		test_file2,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"mixer",		test_mixer,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"rc",			test_rc,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"conv",		test_conv,	OPT_NOJIGTEST | OPT_NOALLTEST},