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

apps/Makefile

@@ -112,6 +112,9 @@ endef
 
 $(foreach BUILTIN, $(CONFIGURED_APPS), $(eval $(call ADD_BUILTIN,$(BUILTIN))))
 
+# EXTERNAL_APPS is used to add out of tree apps to the build
+INSTALLED_APPS += $(EXTERNAL_APPS)
+
 # The external/ directory may also be added to the INSTALLED_APPS.  But there
 # is no external/ directory in the repository.  Rather, this directory may be
 # provided by the user (possibly as a symbolic link) to add libraries and

apps/drivers/drv_pwm_output.h

@@ -103,6 +103,9 @@ ORB_DECLARE(output_pwm);
 /** disarm all servo outputs (stop generating pulses) */
 #define PWM_SERVO_DISARM	_IOC(_PWM_SERVO_BASE, 1)
 
+/** set update rate in Hz */
+#define PWM_SERVO_SET_UPDATE_RATE	_IOC(_PWM_SERVO_BASE, 2)
+
 /** set a single servo to a specific value */
 #define PWM_SERVO_SET(_servo)	_IOC(_PWM_SERVO_BASE, 0x20 + _servo)
 

apps/drivers/hil/hil.cpp

@@ -510,6 +510,10 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 		// up_pwm_servo_arm(false);
 		break;
 
+	case PWM_SERVO_SET_UPDATE_RATE:
+		g_hil->set_pwm_rate(arg);
+		break;
+
 	case PWM_SERVO_SET(2):
 	case PWM_SERVO_SET(3):
 		if (_mode != MODE_4PWM) {

apps/drivers/px4fmu/fmu.cpp

@@ -509,6 +509,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 		up_pwm_servo_arm(false);
 		break;
 
+	case PWM_SERVO_SET_UPDATE_RATE:
+		set_pwm_rate(arg);
+		break;
+
 	case PWM_SERVO_SET(2):
 	case PWM_SERVO_SET(3):
 		if (_mode != MODE_4PWM) {

apps/drivers/px4io/px4io.cpp

@@ -709,6 +709,11 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		_send_needed = true;
 		break;
 
+	case PWM_SERVO_SET_UPDATE_RATE:
+		// not supported yet
+		ret = -EINVAL;
+		break;
+
 	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
 
 		/* fake an update to the selected 'servo' channel */

apps/mavlink/mavlink_log.c

@@ -40,6 +40,7 @@
  */
 
 #include <string.h>
+#include <stdlib.h>
 
 #include "mavlink_log.h"
  
@@ -51,7 +52,7 @@ void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size) {
 }
  
 int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb) {
-    return lb->count == lb->size;
+	return lb->count == (int)lb->size;
 }
  
 int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb) {
@@ -77,4 +78,4 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa
     } else {
         return 1;
     }
-}
+}

apps/uORB/topics/vehicle_gps_position.h

@@ -65,8 +65,8 @@ struct vehicle_gps_position_s
 	uint16_t counter_pos_valid;		/**< is only increased when new lat/lon/alt information was added   */
 	uint16_t eph;				/**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME   */
 	uint16_t epv;				/**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535   */
-	float s_variance;			// XXX testing
-	float p_variance;			// XXX testing
+	float s_variance;			/**< speed accuracy estimate cm/s */
+	float p_variance;			/**< position accuracy estimate cm */
 	uint16_t vel;				/**< GPS ground speed (m/s * 100). If unknown, set to: 65535   */
 	float vel_n;				/**< GPS ground speed in m/s */
 	float vel_e;				/**< GPS ground speed in m/s */
@@ -84,7 +84,6 @@ struct vehicle_gps_position_s
 
 	/* flags */
 	float vel_ned_valid;			/**< Flag to indicate if NED speed is valid */
-
 };
 
 /**