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

apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c

@@ -58,6 +58,7 @@
 #include <uORB/topics/debug_key_value.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/parameter_update.h>
 #include <drivers/drv_hrt.h>
 
@@ -204,6 +205,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 	memset(&raw, 0, sizeof(raw));
 	struct vehicle_attitude_s att;
 	memset(&att, 0, sizeof(att));
+	struct vehicle_status_s state;
+	memset(&state, 0, sizeof(state));
 
 	uint64_t last_data = 0;
 	uint64_t last_measurement = 0;
@@ -216,6 +219,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 	/* subscribe to param changes */
 	int sub_params = orb_subscribe(ORB_ID(parameter_update));
 
+	/* subscribe to system state*/
+	int sub_state = orb_subscribe(ORB_ID(vehicle_status));
+
 	/* advertise attitude */
 	orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
 
@@ -226,13 +232,15 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 	thread_running = true;
 
 	/* advertise debug value */
-	struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
+	// struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
-	orb_advert_t pub_dbg = -1;
+	// orb_advert_t pub_dbg = -1;
+	
+	float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
+	// XXX write this out to perf regs
 
 	/* keep track of sensor updates */
 	uint32_t sensor_last_count[3] = {0, 0, 0};
 	uint64_t sensor_last_timestamp[3] = {0, 0, 0};
-	float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
 
 	struct attitude_estimator_ekf_params ekf_params;
 
@@ -259,8 +267,12 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 		if (ret < 0) {
 			/* XXX this is seriously bad - should be an emergency */
 		} else if (ret == 0) {
-			/* XXX this means no sensor data - should be critical or emergency */
+			/* check if we're in HIL - not getting sensor data is fine then */
-			printf("[attitude estimator ekf] WARNING: Not getting sensor data - sensor app running?\n");
+			orb_copy(ORB_ID(vehicle_status), sub_state, &state);
+			if (!state.flag_hil_enabled) {
+				fprintf(stderr, 
+					"[att ekf] WARNING: Not getting sensors - sensor app running?\n");
+			}
 		} else {
 
 			/* only update parameters if they changed */
@@ -347,9 +359,6 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 						overloadcounter++;
 					}
 
-					int32_t z_k_sizes = 9;
-					// float u[4] = {0.0f, 0.0f, 0.0f, 0.0f};
-
 					static bool const_initialized = false;
 
 					/* initialize with good values once we have a reasonable dt estimate */
@@ -392,7 +401,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 						continue;
 					}
 					
-					uint64_t timing_diff = hrt_absolute_time() - timing_start;
+					// uint64_t timing_diff = hrt_absolute_time() - timing_start;
 
 					// /* print rotation matrix every 200th time */
 					if (printcounter % 200 == 0) {

apps/commander/state_machine_helper.c

@@ -576,6 +576,8 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
 		state_machine_publish(status_pub, current_status, mavlink_fd);
 		publish_armed_status(current_status);
 		printf("[commander] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
+	} else if (current_status->state_machine != SYSTEM_STATE_STANDBY) {
+		mavlink_log_critical(mavlink_fd, "[commander] REJECTING switch to HIL, not in standby.")
 	}
 
 	/* NEVER actually switch off HIL without reboot */

apps/drivers/hil/Makefile

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Interface driver for the PX4FMU board
+#
+
+APPNAME		 = hil
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+include $(APPDIR)/mk/app.mk

apps/drivers/hil/hil.cpp

@@ -0,0 +1,855 @@
+/****************************************************************************
+ *
+ *   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 hil.cpp
+ *
+ * Driver/configurator for the virtual HIL port.
+ *
+ * This virtual driver emulates PWM / servo outputs for setups where
+ * the connected hardware does not provide enough or no PWM outputs.
+ *
+ * Its only function is to take actuator_control uORB messages,
+ * mix them with any loaded mixer and output the result to the
+ * actuator_output uORB topic. HIL can also be performed with normal
+ * PWM outputs, a special flag prevents the outputs to be operated
+ * during HIL mode. If HIL is not performed with a standalone FMU,
+ * but in a real system, it is NOT recommended to use this virtual
+ * driver. Use instead the normal FMU or IO driver.
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+
+#include <nuttx/arch.h>
+
+#include <drivers/device/device.h>
+#include <drivers/drv_pwm_output.h>
+#include <drivers/drv_gpio.h>
+// #include <drivers/boards/HIL/HIL_internal.h>
+
+#include <systemlib/systemlib.h>
+#include <systemlib/mixer/mixer.h>
+#include <drivers/drv_mixer.h>
+
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_outputs.h>
+
+#include <systemlib/err.h>
+
+class HIL : public device::CDev
+{
+public:
+	enum Mode {
+		MODE_2PWM,
+		MODE_4PWM,
+        MODE_8PWM,
+        MODE_12PWM,
+        MODE_16PWM,
+		MODE_NONE
+	};
+	HIL();
+	~HIL();
+
+	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
+
+	virtual int	init();
+
+	int		set_mode(Mode mode);
+	int		set_pwm_rate(unsigned rate);
+
+private:
+	static const unsigned _max_actuators = 4;
+
+	Mode		_mode;
+	int 		_update_rate;
+	int 		_current_update_rate;
+	int		_task;
+	int		_t_actuators;
+	int		_t_armed;
+	orb_advert_t	_t_outputs;
+	unsigned	_num_outputs;
+	bool		_primary_pwm_device;
+
+	volatile bool	_task_should_exit;
+	bool		_armed;
+
+	MixerGroup	*_mixers;
+
+	actuator_controls_s _controls;
+
+	static void	task_main_trampoline(int argc, char *argv[]);
+	void		task_main() __attribute__((noreturn));
+
+	static int	control_callback(uintptr_t handle,
+			uint8_t control_group,
+			uint8_t control_index,
+			float &input);
+
+	int		pwm_ioctl(file *filp, int cmd, unsigned long arg);
+
+	struct GPIOConfig {
+		uint32_t	input;
+		uint32_t	output;
+		uint32_t	alt;
+	};
+
+	static const GPIOConfig	_gpio_tab[];
+	static const unsigned	_ngpio;
+
+	void		gpio_reset(void);
+	void		gpio_set_function(uint32_t gpios, int function);
+	void		gpio_write(uint32_t gpios, int function);
+	uint32_t	gpio_read(void);
+	int		gpio_ioctl(file *filp, int cmd, unsigned long arg);
+
+};
+
+namespace
+{
+
+HIL	*g_hil;
+
+} // namespace
+
+HIL::HIL() :
+	CDev("hilservo", PWM_OUTPUT_DEVICE_PATH/*"/dev/hil" XXXL*/),
+	_mode(MODE_NONE),
+	_update_rate(50),
+	_task(-1),
+	_t_actuators(-1),
+	_t_armed(-1),
+	_t_outputs(0),
+	_num_outputs(0),
+	_primary_pwm_device(false),
+	_task_should_exit(false),
+	_armed(false),
+	_mixers(nullptr)
+{
+	_debug_enabled = true;
+}
+
+HIL::~HIL()
+{
+	if (_task != -1) {
+		/* tell the task we want it to go away */
+		_task_should_exit = true;
+
+		unsigned i = 10;
+		do {
+			/* wait 50ms - it should wake every 100ms or so worst-case */
+			usleep(50000);
+
+			/* if we have given up, kill it */
+			if (--i == 0) {
+				task_delete(_task);
+				break;
+			}
+
+		} while (_task != -1);
+	}
+
+	/* clean up the alternate device node */
+	if (_primary_pwm_device)
+		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
+
+	g_hil = nullptr;
+}
+
+int
+HIL::init()
+{
+	int ret;
+
+	ASSERT(_task == -1);
+
+	/* do regular cdev init */
+	ret = CDev::init();
+
+	if (ret != OK)
+		return ret;
+
+	// XXX already claimed with CDEV
+	///* try to claim the generic PWM output device node as well - it's OK if we fail at this */
+	//ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
+	if (ret == OK) {
+		log("default PWM output device");
+		_primary_pwm_device = true;
+	}
+
+	/* reset GPIOs */
+	// gpio_reset();
+
+	/* start the HIL interface task */
+	_task = task_spawn("fmuhil",
+			   SCHED_DEFAULT,
+			   SCHED_PRIORITY_DEFAULT,
+			   2048,
+			   (main_t)&HIL::task_main_trampoline,
+			   nullptr);
+
+	if (_task < 0) {
+		debug("task start failed: %d", errno);
+		return -errno;
+	}
+
+	return OK;
+}
+
+void
+HIL::task_main_trampoline(int argc, char *argv[])
+{
+	g_hil->task_main();
+}
+
+int
+HIL::set_mode(Mode mode)
+{
+	/* 
+	 * Configure for PWM output.
+	 *
+	 * Note that regardless of the configured mode, the task is always
+	 * listening and mixing; the mode just selects which of the channels
+	 * are presented on the output pins.
+	 */
+	switch (mode) {
+	case MODE_2PWM:
+		debug("MODE_2PWM");
+		/* multi-port with flow control lines as PWM */
+		_update_rate = 50;	/* default output rate */
+		break;
+
+	case MODE_4PWM:
+		debug("MODE_4PWM");
+		/* multi-port as 4 PWM outs */
+		_update_rate = 50;	/* default output rate */
+		break;
+            
+    	case MODE_8PWM:
+            debug("MODE_8PWM");
+            /* multi-port as 8 PWM outs */
+            _update_rate = 50;	/* default output rate */
+            break;
+            
+        case MODE_12PWM:
+            debug("MODE_12PWM");
+            /* multi-port as 12 PWM outs */
+            _update_rate = 50;	/* default output rate */
+            break;
+            
+        case MODE_16PWM:
+            debug("MODE_16PWM");
+            /* multi-port as 16 PWM outs */
+            _update_rate = 50;	/* default output rate */
+            break;
+
+	case MODE_NONE:
+		debug("MODE_NONE");
+		/* disable servo outputs and set a very low update rate */
+		_update_rate = 10;
+		break;
+
+	default:
+		return -EINVAL;
+	}
+	_mode = mode;
+	return OK;
+}
+
+int
+HIL::set_pwm_rate(unsigned rate)
+{
+	if ((rate > 500) || (rate < 10))
+		return -EINVAL;
+
+	_update_rate = rate;
+	return OK;
+}
+
+void
+HIL::task_main()
+{
+	/*
+	 * Subscribe to the appropriate PWM output topic based on whether we are the
+	 * primary PWM output or not.
+	 */
+	_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
+				     ORB_ID(actuator_controls_1));
+	/* force a reset of the update rate */
+	_current_update_rate = 0;
+
+	_t_armed = orb_subscribe(ORB_ID(actuator_armed));
+	orb_set_interval(_t_armed, 200);		/* 5Hz update rate */
+
+	/* advertise the mixed control outputs */
+	actuator_outputs_s outputs;
+	memset(&outputs, 0, sizeof(outputs));
+	/* advertise the mixed control outputs */
+	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
+				   &outputs);
+
+	pollfd fds[2];
+	fds[0].fd = _t_actuators;
+	fds[0].events = POLLIN;
+	fds[1].fd = _t_armed;
+	fds[1].events = POLLIN;
+
+	unsigned num_outputs;
+
+	/* select the number of virtual outputs */
+	switch (_mode) {
+	case MODE_2PWM:
+		num_outputs = 2;
+		break;
+
+	case MODE_4PWM:
+		num_outputs = 4;
+		break;
+
+	case MODE_8PWM:
+	case MODE_12PWM:
+	case MODE_16PWM:
+		// XXX only support the lower 8 - trivial to extend
+		num_outputs = 8;
+		break;
+
+	case MODE_NONE:
+	default:
+		num_outputs = 0;
+		break;
+	}
+
+	log("starting");
+
+	/* loop until killed */
+	while (!_task_should_exit) {
+
+		/* handle update rate changes */
+		if (_current_update_rate != _update_rate) {
+			int update_rate_in_ms = int(1000 / _update_rate);
+			if (update_rate_in_ms < 2)
+				update_rate_in_ms = 2;
+			orb_set_interval(_t_actuators, update_rate_in_ms);
+			// up_pwm_servo_set_rate(_update_rate);
+			_current_update_rate = _update_rate;
+		}
+
+		/* sleep waiting for data, but no more than a second */
+		int ret = ::poll(&fds[0], 2, 1000);
+
+		/* this would be bad... */
+		if (ret < 0) {
+			log("poll error %d", errno);
+			usleep(1000000);
+			continue;
+		}
+
+		/* do we have a control update? */
+		if (fds[0].revents & POLLIN) {
+
+			/* get controls - must always do this to avoid spinning */
+			orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
+
+			/* can we mix? */
+			if (_mixers != nullptr) {
+
+				/* do mixing */
+				_mixers->mix(&outputs.output[0], num_outputs);
+
+				/* iterate actuators */
+				for (unsigned i = 0; i < num_outputs; i++) {
+
+					/* scale for PWM output 900 - 2100us */
+					outputs.output[i] = 1500 + (600 * outputs.output[i]);
+
+					/* output to the servo */
+					// up_pwm_servo_set(i, outputs.output[i]);
+				}
+
+				/* and publish for anyone that cares to see */
+				orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &outputs);
+			}
+		}
+
+		/* how about an arming update? */
+		if (fds[1].revents & POLLIN) {
+			actuator_armed_s aa;
+
+			/* get new value */
+			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
+
+			/* update PWM servo armed status */
+			// up_pwm_servo_arm(aa.armed);
+		}
+	}
+
+	::close(_t_actuators);
+	::close(_t_armed);
+
+	/* make sure servos are off */
+	// up_pwm_servo_deinit();
+
+	log("stopping");
+
+	/* note - someone else is responsible for restoring the GPIO config */
+
+	/* tell the dtor that we are exiting */
+	_task = -1;
+	_exit(0);
+}
+
+int
+HIL::control_callback(uintptr_t handle,
+				      uint8_t control_group,
+				      uint8_t control_index,
+				      float &input)
+{
+	const actuator_controls_s *controls = (actuator_controls_s *)handle;
+
+	input = controls->control[control_index];
+	return 0;
+}
+
+int
+HIL::ioctl(file *filp, int cmd, unsigned long arg)
+{
+	int ret;
+
+	debug("ioctl 0x%04x 0x%08x", cmd, arg);
+
+	// /* try it as a GPIO ioctl first */
+	// ret = HIL::gpio_ioctl(filp, cmd, arg);
+	// if (ret != -ENOTTY)
+	// 	return ret;
+
+	/* if we are in valid PWM mode, try it as a PWM ioctl as well */
+	switch(_mode) {
+	case MODE_2PWM:
+	case MODE_4PWM:
+        case MODE_8PWM:
+        case MODE_12PWM:
+        case MODE_16PWM:
+		ret = HIL::pwm_ioctl(filp, cmd, arg);
+		break;
+	default:
+		ret = -ENOTTY;
+		debug("not in a PWM mode");
+		break;
+	}
+
+	/* if nobody wants it, let CDev have it */
+	if (ret == -ENOTTY)
+		ret = CDev::ioctl(filp, cmd, arg);
+
+	return ret;
+}
+
+int
+HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
+{
+	int ret = OK;
+	// int channel;
+
+	lock();
+
+	switch (cmd) {
+	case PWM_SERVO_ARM:
+		// up_pwm_servo_arm(true);
+		break;
+
+	case PWM_SERVO_DISARM:
+		// up_pwm_servo_arm(false);
+		break;
+
+	case PWM_SERVO_SET(2):
+	case PWM_SERVO_SET(3):
+		if (_mode != MODE_4PWM) {
+			ret = -EINVAL;
+			break;
+		}
+
+		/* FALLTHROUGH */
+	case PWM_SERVO_SET(0):
+	case PWM_SERVO_SET(1):
+		if (arg < 2100) {
+			// channel = cmd - PWM_SERVO_SET(0);
+//			up_pwm_servo_set(channel, arg); XXX
+
+		} else {
+			ret = -EINVAL;
+		}
+
+		break;
+
+	case PWM_SERVO_GET(2):
+	case PWM_SERVO_GET(3):
+		if (_mode != MODE_4PWM) {
+			ret = -EINVAL;
+			break;
+		}
+
+		/* FALLTHROUGH */
+	case PWM_SERVO_GET(0):
+	case PWM_SERVO_GET(1): {
+			// channel = cmd - PWM_SERVO_SET(0);
+			// *(servo_position_t *)arg = up_pwm_servo_get(channel);
+			break;
+		}
+
+	case MIXERIOCGETOUTPUTCOUNT:
+		if (_mode == MODE_4PWM) {
+			*(unsigned *)arg = 4;
+
+		} else {
+			*(unsigned *)arg = 2;
+		}
+
+		break;
+
+	case MIXERIOCRESET:
+		if (_mixers != nullptr) {
+			delete _mixers;
+			_mixers = nullptr;
+		}
+
+		break;
+
+	case MIXERIOCADDSIMPLE: {
+			mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
+
+			SimpleMixer *mixer = new SimpleMixer(control_callback,
+							     (uintptr_t)&_controls, mixinfo);
+
+			if (mixer->check()) {
+				delete mixer;
+				ret = -EINVAL;
+
+			} else {
+				if (_mixers == nullptr)
+					_mixers = new MixerGroup(control_callback,
+								 (uintptr_t)&_controls);
+
+				_mixers->add_mixer(mixer);
+			}
+
+			break;
+		}
+
+	case MIXERIOCADDMULTIROTOR:
+		/* XXX not yet supported */
+		ret = -ENOTTY;
+		break;
+
+	case MIXERIOCLOADFILE: {
+			const char *path = (const char *)arg;
+
+			if (_mixers != nullptr) {
+				delete _mixers;
+				_mixers = nullptr;
+			}
+
+			_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
+			if (_mixers == nullptr) {
+				ret = -ENOMEM;
+			} else {
+
+				debug("loading mixers from %s", path);
+				ret = _mixers->load_from_file(path);
+
+				if (ret != 0) {
+					debug("mixer load failed with %d", ret);
+					delete _mixers;
+					_mixers = nullptr;
+					ret = -EINVAL;
+				}
+			}
+
+			break;
+		}
+
+	default:
+		ret = -ENOTTY;
+		break;
+	}
+
+	unlock();
+
+	return ret;
+}
+
+namespace
+{
+
+enum PortMode {
+	PORT_MODE_UNDEFINED = 0,
+	PORT1_MODE_UNSET,
+	PORT1_FULL_PWM,
+	PORT1_PWM_AND_SERIAL,
+	PORT1_PWM_AND_GPIO,
+	PORT2_MODE_UNSET,
+	PORT2_8PWM,
+	PORT2_12PWM,
+	PORT2_16PWM,
+};
+
+PortMode g_port_mode;
+
+int
+hil_new_mode(PortMode new_mode, int update_rate)
+{
+	// uint32_t gpio_bits;
+	
+
+//	/* reset to all-inputs */
+//	g_hil->ioctl(0, GPIO_RESET, 0);
+
+	// gpio_bits = 0;
+
+	HIL::Mode servo_mode = HIL::MODE_NONE;
+
+	switch (new_mode) {
+	case PORT_MODE_UNDEFINED:
+	case PORT1_MODE_UNSET:
+    	case PORT2_MODE_UNSET:
+            /* nothing more to do here */
+            break;
+
+	case PORT1_FULL_PWM:
+		/* select 4-pin PWM mode */
+		servo_mode = HIL::MODE_4PWM;
+		break;
+
+	case PORT1_PWM_AND_SERIAL:
+		/* select 2-pin PWM mode */
+		servo_mode = HIL::MODE_2PWM;
+//		/* set RX/TX multi-GPIOs to serial mode */
+//		gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
+		break;
+
+	case PORT1_PWM_AND_GPIO:
+		/* select 2-pin PWM mode */
+		servo_mode = HIL::MODE_2PWM;
+		break;
+            
+        case PORT2_8PWM:
+            /* select 8-pin PWM mode */
+            servo_mode = HIL::MODE_8PWM;
+            break;
+            
+        case PORT2_12PWM:
+            /* select 12-pin PWM mode */
+            servo_mode = HIL::MODE_12PWM;
+            break;
+            
+        case PORT2_16PWM:
+            /* select 16-pin PWM mode */
+            servo_mode = HIL::MODE_16PWM;
+            break;
+	}
+
+//	/* adjust GPIO config for serial mode(s) */
+//	if (gpio_bits != 0)
+//		g_hil->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
+
+	/* (re)set the PWM output mode */
+	g_hil->set_mode(servo_mode);
+	if ((servo_mode != HIL::MODE_NONE) && (update_rate != 0))
+		g_hil->set_pwm_rate(update_rate);
+
+	return OK;
+}
+
+int
+hil_start(void)
+{
+	int ret = OK;
+
+	if (g_hil == nullptr) {
+
+		g_hil = new HIL;
+
+		if (g_hil == nullptr) {
+			ret = -ENOMEM;
+
+		} else {
+			ret = g_hil->init();
+
+			if (ret != OK) {
+				delete g_hil;
+				g_hil = nullptr;
+			}
+		}
+	}
+
+	return ret;
+}
+
+void
+test(void)
+{
+	int	fd;
+
+	fd = open(PWM_OUTPUT_DEVICE_PATH, 0);
+
+	if (fd < 0) {
+		puts("open fail");
+		exit(1);
+	}
+
+	ioctl(fd, PWM_SERVO_ARM, 0);
+	ioctl(fd, PWM_SERVO_SET(0), 1000);
+
+	close(fd);
+
+	exit(0);
+}
+
+void
+fake(int argc, char *argv[])
+{
+	if (argc < 5) {
+		puts("hil fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
+		exit(1);
+	}
+
+	actuator_controls_s ac;
+
+	ac.control[0] = strtol(argv[1], 0, 0) / 100.0f;
+
+	ac.control[1] = strtol(argv[2], 0, 0) / 100.0f;
+
+	ac.control[2] = strtol(argv[3], 0, 0) / 100.0f;
+
+	ac.control[3] = strtol(argv[4], 0, 0) / 100.0f;
+
+	orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
+
+	if (handle < 0) {
+		puts("advertise failed");
+		exit(1);
+	}
+
+	exit(0);
+}
+
+} // namespace
+
+extern "C" __EXPORT int hil_main(int argc, char *argv[]);
+
+int
+hil_main(int argc, char *argv[])
+{
+	PortMode new_mode = PORT_MODE_UNDEFINED;
+	int pwm_update_rate_in_hz = 0;
+
+	if (!strcmp(argv[1], "test"))
+		test();
+
+	if (!strcmp(argv[1], "fake"))
+		fake(argc - 1, argv + 1);
+
+	if (hil_start() != OK)
+		errx(1, "failed to start the FMU driver");
+
+	/*
+	 * Mode switches.
+	 *
+	 * XXX use getopt?
+	 */
+	for (int i = 1; i < argc; i++) {   /* argv[0] is "fmu" */
+
+		if (!strcmp(argv[i], "mode_pwm")) {
+			new_mode = PORT1_FULL_PWM;
+
+		} else if (!strcmp(argv[i], "mode_pwm_serial")) {
+			new_mode = PORT1_PWM_AND_SERIAL;
+
+		} else if (!strcmp(argv[i], "mode_pwm_gpio")) {
+			new_mode = PORT1_PWM_AND_GPIO;
+    
+		} else if (!strcmp(argv[i], "mode_port2_pwm8")) {
+			new_mode = PORT2_8PWM;
+
+		} else if (!strcmp(argv[i], "mode_port2_pwm12")) {
+			new_mode = PORT2_8PWM;
+
+		} else if (!strcmp(argv[i], "mode_port2_pwm16")) {
+			new_mode = PORT2_8PWM;
+		}
+
+		/* look for the optional pwm update rate for the supported modes */
+		if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) {
+			// if (new_mode == PORT1_FULL_PWM || new_mode == PORT1_PWM_AND_GPIO) {
+			// XXX all modes have PWM settings
+			if (argc > i + 1) {
+				pwm_update_rate_in_hz = atoi(argv[i + 1]);
+				printf("pwm update rate: %d Hz\n", pwm_update_rate_in_hz);
+			} else {
+				fprintf(stderr, "missing argument for pwm update rate (-u)\n");
+				return 1;
+			}
+			// } else {
+			// 	fprintf(stderr, "pwm update rate currently only supported for mode_pwm, mode_pwm_gpio\n");
+			// }
+		}
+        }
+
+	/* was a new mode set? */
+	if (new_mode != PORT_MODE_UNDEFINED) {
+
+		/* yes but it's the same mode */
+		if (new_mode == g_port_mode)
+			return OK;
+
+		/* switch modes */
+		return hil_new_mode(new_mode, pwm_update_rate_in_hz);
+	}
+
+	/* test, etc. here */
+
+	fprintf(stderr, "HIL: unrecognized command, try:\n");
+	fprintf(stderr, "  mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n");
+	return -EINVAL;
+}

apps/drivers/px4fmu/fmu.cpp

@@ -224,7 +224,7 @@ PX4FMU::init()
 	_task = task_spawn("fmuservo",
 			   SCHED_DEFAULT,
 			   SCHED_PRIORITY_DEFAULT,
-			   1024,
+			   2048,
 			   (main_t)&PX4FMU::task_main_trampoline,
 			   nullptr);
 
@@ -419,7 +419,8 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
 {
 	int ret;
 
-	debug("ioctl 0x%04x 0x%08x", cmd, arg);
+	// XXX disabled, confusing users
+	//debug("ioctl 0x%04x 0x%08x", cmd, arg);
 
 	/* try it as a GPIO ioctl first */
 	ret = gpio_ioctl(filp, cmd, arg);

apps/gps/mtk.c

@@ -418,10 +418,11 @@ void *mtk_watchdog_loop(void *args)
 				mtk_gps->satellite_info_available = 0;
 				// global_data_send_subsystem_info(&mtk_present_enabled_healthy);
 				mavlink_log_info(mavlink_fd, "[gps] MTK custom binary module found, status ok\n");
-				mtk_healthy = true;
-				mtk_fail_count = 0;
-				once_ok = true;
 			}
+
+			mtk_healthy = true;
+			mtk_fail_count = 0;
+			once_ok = true;
 		}
 
 		usleep(MTK_WATCHDOG_WAIT_TIME_MICROSECONDS);

apps/gps/ubx.c

@@ -272,7 +272,8 @@ int ubx_parse(uint8_t b,  char *gps_rx_buffer)
 
 						ubx_gps->timestamp = hrt_absolute_time();
 						ubx_gps->counter++;
-
+						ubx_gps->s_variance = packet->sAcc;
+						ubx_gps->p_variance = packet->pAcc;
 
 						//pthread_mutex_lock(ubx_mutex);
 						ubx_state->last_message_timestamps[NAV_SOL - 1] = hrt_absolute_time();
@@ -785,10 +786,6 @@ void *ubx_watchdog_loop(void *args)
 			sleep(1);
 
 		} else {
-			/* gps healthy */
-			ubx_success_count++;
-			ubx_healthy = true;
-			ubx_fail_count = 0;
 
 			if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) {
 				//printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed);
@@ -799,6 +796,10 @@ void *ubx_watchdog_loop(void *args)
 				once_ok = true;
 			}
 
+			/* gps healthy */
+			ubx_success_count++;
+			ubx_healthy = true;
+			ubx_fail_count = 0;
 		}
 
 		usleep(UBX_WATCHDOG_WAIT_TIME_MICROSECONDS);

apps/mavlink/mavlink.c

@@ -132,6 +132,7 @@ static struct mavlink_logbuffer lb;
 static void mavlink_update_system(void);
 static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
 static void usage(void);
+int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval);
 
 
 
@@ -143,15 +144,10 @@ set_hil_on_off(bool hil_enabled)
 	/* Enable HIL */
 	if (hil_enabled && !mavlink_hil_enabled) {
 
-		//printf("\n HIL ON \n");
-
 		/* Advertise topics */
 		pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
 		pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
 
-		printf("\n pub_hil_attitude :%i\n", pub_hil_attitude);
-		printf("\n pub_hil_global_pos :%i\n", pub_hil_global_pos);
-
 		mavlink_hil_enabled = true;
 
 		/* ramp up some HIL-related subscriptions */
@@ -166,15 +162,13 @@ set_hil_on_off(bool hil_enabled)
 		} else if (baudrate < 115200) {
 			/* 20 Hz */
 			hil_rate_interval = 50;
-		} else if (baudrate < 460800) {
-			/* 50 Hz */
-			hil_rate_interval = 20;
 		} else {
-			/* 100 Hz */
+			/* 200 Hz */
-			hil_rate_interval = 10;
+			hil_rate_interval = 5;
 		}
 
 		orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval);
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, hil_rate_interval);
 	}
 
 	if (!hil_enabled && mavlink_hil_enabled) {
@@ -268,7 +262,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
 }
 
 
-static int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval)
+int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval)
 {
 	int ret = OK;
 
@@ -458,19 +452,19 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
 /*
  * Internal function to give access to the channel status for each channel
  */
-mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
+mavlink_status_t* mavlink_get_channel_status(uint8_t channel)
 {
 	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
-	return &m_mavlink_status[chan];
+	return &m_mavlink_status[channel];
 }
 
 /*
  * Internal function to give access to the channel buffer for each channel
  */
-mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
+mavlink_message_t* mavlink_get_channel_buffer(uint8_t channel)
 {
 	static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
-	return &m_mavlink_buffer[chan];
+	return &m_mavlink_buffer[channel];
 }
 
 void mavlink_update_system(void)

apps/mavlink/mavlink_receiver.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +35,8 @@
 /**
  * @file mavlink_receiver.c
  * MAVLink protocol message receive and dispatch
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 /* XXX trim includes */
@@ -216,8 +218,6 @@ handle_message(mavlink_message_t *msg)
 	if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
 		mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
 		mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
-		//printf("got message\n");
-		//printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", mavlink_system.sysid, quad_motors_setpoint.mode);
 
 		if (mavlink_system.sysid < 4) {
 
@@ -274,61 +274,6 @@ handle_message(mavlink_message_t *msg)
 				/* Publish */
 				orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
 			}
-
-			// /* change armed status if required */
-			// bool cmd_armed = (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED);
-
-			// bool cmd_generated = false;
-
-			// if (v_status.flag_control_offboard_enabled != cmd_armed) {
-			// 	vcmd.param1 = cmd_armed;
-			// 	vcmd.param2 = 0;
-			// 	vcmd.param3 = 0;
-			// 	vcmd.param4 = 0;
-			// 	vcmd.param5 = 0;
-			// 	vcmd.param6 = 0;
-			// 	vcmd.param7 = 0;
-			// 	vcmd.command = MAV_CMD_COMPONENT_ARM_DISARM;
-			// 	vcmd.target_system = mavlink_system.sysid;
-			// 	vcmd.target_component = MAV_COMP_ID_ALL;
-			// 	vcmd.source_system = msg->sysid;
-			// 	vcmd.source_component = msg->compid;
-			// 	vcmd.confirmation = 1;
-
-			// 	cmd_generated = true;
-			// }
-
-			// /* check if input has to be enabled */
-			// if ((v_status.flag_control_rates_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES)) ||
-			// 	(v_status.flag_control_attitude_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE)) ||
-			// 	(v_status.flag_control_velocity_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY)) ||
-			// 	(v_status.flag_control_position_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION))) {
-			// 	vcmd.param1 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES);
-			// 	vcmd.param2 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE);
-			// 	vcmd.param3 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY);
-			// 	vcmd.param4 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION);
-			// 	vcmd.param5 = 0;
-			// 	vcmd.param6 = 0;
-			// 	vcmd.param7 = 0;
-			// 	vcmd.command = PX4_CMD_CONTROLLER_SELECTION;
-			// 	vcmd.target_system = mavlink_system.sysid;
-			// 	vcmd.target_component = MAV_COMP_ID_ALL;
-			// 	vcmd.source_system = msg->sysid;
-			// 	vcmd.source_component = msg->compid;
-			// 	vcmd.confirmation = 1;
-
-			// 	cmd_generated = true;
-			// }
-
-			// if (cmd_generated) {
-			// 	/* check if topic is advertised */
-			// 	if (cmd_pub <= 0) {
-			// 		cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
-			// 	} else {
-			// 		/* create command */
-			// 		orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
-			// 	}
-			// }
 		}
 	}
 
@@ -340,8 +285,6 @@ handle_message(mavlink_message_t *msg)
 	 * COMMAND_LONG message or a SET_MODE message
 	 */
 
-	// printf("\n HIL ENABLED?: %s \n",(mavlink_hil_enabled)?"true":"false");
-
 	if (mavlink_hil_enabled) {
 
 		if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
@@ -349,20 +292,6 @@ handle_message(mavlink_message_t *msg)
 			mavlink_hil_state_t hil_state;
 			mavlink_msg_hil_state_decode(msg, &hil_state);
 
-			//	printf("\n HILSTATE : \n LAT: %i \n LON: %i \n ALT: %i \n "
-			//		"ROLL %i \n PITCH %i \n YAW %i \n"
-			//		"ROLLSPEED: %i \n PITCHSPEED: %i \n, YAWSPEED: %i \n",
-			//			hil_state.lat/1000000,	// 1e7
-			//			hil_state.lon/1000000,	// 1e7
-			//			hil_state.alt/1000,  // mm
-			//			hil_state.roll, // float rad
-			//			hil_state.pitch, // float rad
-			//			hil_state.yaw, // float rad
-			//			hil_state.rollspeed, // float rad/s
-			//			hil_state.pitchspeed, // float rad/s
-			//			hil_state.yawspeed); // float rad/s
-
-
 			hil_global_pos.lat = hil_state.lat;
 			hil_global_pos.lon = hil_state.lon;
 			hil_global_pos.alt = hil_state.alt / 1000.0f;

apps/mavlink/orb_listener.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +35,8 @@
 /**
  * @file orb_listener.c
  * Monitors ORB topics and sends update messages as appropriate.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 // XXX trim includes
@@ -419,7 +421,7 @@ l_actuator_outputs(struct listener *l)
 	/* copy actuator data into local buffer */
 	orb_copy(ids[l->arg], *l->subp, &act_outputs);
 
-	if (gcs_link)
+	if (gcs_link) {
 		mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
 					  l->arg /* port number */,
 					  act_outputs.output[0],
@@ -430,6 +432,90 @@ l_actuator_outputs(struct listener *l)
 					  act_outputs.output[5],
 					  act_outputs.output[6],
 					  act_outputs.output[7]);
+
+		/* only send in HIL mode */
+		if (mavlink_hil_enabled) {
+
+			/* translate the current syste state to mavlink state and mode */
+			uint8_t mavlink_state = 0;
+			uint8_t mavlink_mode = 0;
+			get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
+
+			/* HIL message as per MAVLink spec */
+
+			/* scale / assign outputs depending on system type */
+
+			if (mavlink_system.type == MAV_TYPE_QUADROTOR) {
+				mavlink_msg_hil_controls_send(chan,
+					hrt_absolute_time(),
+					((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
+					-1,
+					-1,
+					-1,
+					-1,
+					mavlink_mode,
+					0);
+			} else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) {
+				mavlink_msg_hil_controls_send(chan,
+					hrt_absolute_time(),
+					((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
+					-1,
+					-1,
+					mavlink_mode,
+					0);
+			} else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) {
+				mavlink_msg_hil_controls_send(chan,
+					hrt_absolute_time(),
+					((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f,
+					((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f,
+					mavlink_mode,
+					0);
+			} else {
+				float rudder, throttle;
+
+				/* SCALING: PWM min: 900, PWM max: 2100, center: 1500 */
+
+				// XXX very ugly, needs rework
+				if (isfinite(act_outputs.output[3])
+					&& act_outputs.output[3] > 800 && act_outputs.output[3] < 2200) {
+					/* throttle is fourth output */
+					rudder = (act_outputs.output[2] - 1500.0f) / 600.0f;
+					throttle = (((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f);
+				} else {
+					/* only three outputs, put throttle on position 4 / index 3 */
+					rudder = 0;
+					throttle = (((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f);
+				}
+
+				mavlink_msg_hil_controls_send(chan,
+					hrt_absolute_time(),
+					(act_outputs.output[0] - 1500.0f) / 600.0f,
+					(act_outputs.output[1] - 1500.0f) / 600.0f,
+					rudder,
+					throttle,
+					(act_outputs.output[4] - 1500.0f) / 600.0f,
+					(act_outputs.output[5] - 1500.0f) / 600.0f,
+					(act_outputs.output[6] - 1500.0f) / 600.0f,
+					(act_outputs.output[7] - 1500.0f) / 600.0f,
+					mavlink_mode,
+					0);
+			}
+		}
+	}
 }
 
 void
@@ -482,29 +568,6 @@ l_vehicle_attitude_controls(struct listener *l)
 						   "ctrl3       ",
 						   actuators.control[3]);
 	}
-
-	/* Only send in HIL mode */
-	if (mavlink_hil_enabled) {
-
-		/* translate the current syste state to mavlink state and mode */
-		uint8_t mavlink_state = 0;
-		uint8_t mavlink_mode = 0;
-		get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
-
-		/* HIL message as per MAVLink spec */
-		mavlink_msg_hil_controls_send(chan,
-			hrt_absolute_time(),
-			actuators.control[0],
-			actuators.control[1],
-			actuators.control[2],
-			actuators.control[3],
-			0,
-			0,
-			0,
-			0,
-			mavlink_mode,
-			0);
-	}
 }
 
 void

apps/multirotor_pos_control/multirotor_pos_control.c

@@ -32,8 +32,10 @@
  *
  ****************************************************************************/
 
-/*
+/**
- * @file Implementation of AR.Drone 1.0 / 2.0 control interface
+ * @file multirotor_pos_control.c
+ *
+ * Skeleton for multirotor position controller
  */
 
 #include <nuttx/config.h>

apps/px4/tests/test_adc.c

@@ -1,7 +1,6 @@
 /****************************************************************************
- * px4/sensors/test_gpio.c
  *
- *  Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   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
@@ -13,7 +12,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
+ * 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.
  *
@@ -32,9 +31,10 @@
  *
  ****************************************************************************/
 
-/****************************************************************************
+/**
- * Included Files
+ * @file test_adc.c
- ****************************************************************************/
+ * Test for the analog to digital converter.
+ */
 
 #include <nuttx/config.h>
 #include <nuttx/arch.h>
@@ -54,91 +54,46 @@
 
 #include <nuttx/analog/adc.h>
 
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_gpio
- ****************************************************************************/
-
 int test_adc(int argc, char *argv[])
 {
-	int		fd0;
+	int		fd0 = 0;
 	int		ret = 0;
-	//struct adc_msg_s sample[4],sample2[4],sample3[4],sample4[4],sample5[4],sample6[4],sample7[4],sample8[4],sample9[4];
 
+	#pragma pack(push,1)
 	struct adc_msg4_s {
-		uint8_t      am_channel1;               /* The 8-bit ADC Channel */
+		uint8_t      am_channel1;	/**< The 8-bit ADC Channel 1 */
-		int32_t      am_data1;                  /* ADC convert result (4 bytes) */
+		int32_t      am_data1;		/**< ADC convert result 1 (4 bytes) */
-		uint8_t      am_channel2;               /* The 8-bit ADC Channel */
+		uint8_t      am_channel2;	/**< The 8-bit ADC Channel 2 */
-		int32_t      am_data2;                  /* ADC convert result (4 bytes) */
+		int32_t      am_data2;		/**< ADC convert result 2 (4 bytes) */
-		uint8_t      am_channel3;               /* The 8-bit ADC Channel */
+		uint8_t      am_channel3;	/**< The 8-bit ADC Channel 3 */
-		int32_t      am_data3;                  /* ADC convert result (4 bytes) */
+		int32_t      am_data3;		/**< ADC convert result 3 (4 bytes) */
-		uint8_t      am_channel4;               /* The 8-bit ADC Channel */
+		uint8_t      am_channel4;	/**< The 8-bit ADC Channel 4 */
-		int32_t      am_data4;                  /* ADC convert result (4 bytes) */
+		int32_t      am_data4;		/**< ADC convert result 4 (4 bytes) */
-	} __attribute__((__packed__));;
+	};
+	#pragma pack(pop)
 
-	struct adc_msg4_s sample1[4], sample2[4];
+	struct adc_msg4_s sample1;
 
-	size_t readsize;
+	ssize_t nbytes;
-	ssize_t nbytes, nbytes2;
-	int i;
 	int j;
 	int errval;
 
-	for (j = 0; j < 1; j++) {
+	fd0 = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
-		char name[11];
-		sprintf(name, "/dev/adc%d", j);
-		fd0 = open(name, O_RDONLY | O_NONBLOCK);
 
-		if (fd0 < 0) {
+	if (fd0 <= 0) {
-			printf("ADC: %s open fail\n", name);
+		message("/dev/adc0 open fail: %d\n", errno);
-			return ERROR;
+		return ERROR;
 
-		} else {
+	} else {
-			printf("Opened %s successfully\n", name);
+		message("opened /dev/adc0 successfully\n");
-		}
+	}
+	usleep(10000);
 
-		/* first adc read round */
+	for (j = 0; j < 10; j++) {
-		readsize = 4 * sizeof(struct adc_msg_s);
+
-		up_udelay(10000);//microseconds
+		/* sleep 20 milliseconds */
-		nbytes = read(fd0, sample1, readsize);
+		usleep(20000);
-		up_udelay(10000);//microseconds
+		nbytes = read(fd0, &sample1, sizeof(sample1));
-		nbytes2 = read(fd0, sample2, readsize);
-//	nbytes2 = read(fd0, sample3, readsize);
-//	nbytes2 = read(fd0, sample4, readsize);
-//	nbytes2 = read(fd0, sample5, readsize);
-//	nbytes2 = read(fd0, sample6, readsize);
-//	nbytes2 = read(fd0, sample7, readsize);
-//	nbytes2 = read(fd0, sample8, readsize);
-		//nbytes2 = read(fd0, sample9, readsize);
 
 		/* Handle unexpected return values */
 
@@ -146,62 +101,44 @@ int test_adc(int argc, char *argv[])
 			errval = errno;
 
 			if (errval != EINTR) {
-				message("read %s failed: %d\n",
+				message("reading /dev/adc0 failed: %d\n", errval);
-					name, errval);
 				errval = 3;
 				goto errout_with_dev;
 			}
 
-			message("\tInterrupted read...\n");
+			message("\tinterrupted read..\n");
 
 		} else if (nbytes == 0) {
-			message("\tNo data read, Ignoring\n");
+			message("\tno data read, ignoring.\n");
+			ret = ERROR;
 		}
 
 		/* Print the sample data on successful return */
 
 		else {
-			int nsamples = nbytes / sizeof(struct adc_msg_s);
+			if (nbytes != sizeof(sample1)) {
-
+				message("\tsample 1 size %d is not matching struct size %d, ignoring\n",
-			if (nsamples * sizeof(struct adc_msg_s) != nbytes) {
+					nbytes, sizeof(sample1));
-				message("\tread size=%d is not a multiple of sample size=%d, Ignoring\n",
+				ret = ERROR;
-					nbytes, sizeof(struct adc_msg_s));
 
 			} else {
-				message("Sample:");
 
-				for (i = 0; i < 1 ; i++) {
+				message("CYCLE %d:\n", j);
-					message("%d: channel: %d value: %d\n",
+
-						i, sample1[i].am_channel1, sample1[i].am_data1);
+				message("channel: %d value: %d\n",
-					message("Sample:");
+					(int)sample1.am_channel1, sample1.am_data1);
-					message("%d: channel: %d value: %d\n",
+				message("channel: %d value: %d",
-						i, sample1[i].am_channel2, sample1[i].am_data2);
+					(int)sample1.am_channel2, sample1.am_data2);
-					message("Sample:");
+				message("channel: %d value: %d",
-					message("%d: channel: %d value: %d\n",
+					(int)sample1.am_channel3, sample1.am_data3);
-						i, sample1[i].am_channel3, sample1[i].am_data3);
+				message("channel: %d value: %d",
-					message("Sample:");
+					(int)sample1.am_channel4, sample1.am_data4);
-					message("%d: channel: %d value: %d\n",
-						i, sample1[i].am_channel4, sample1[i].am_data4);
-					message("Sample:");
-					message("%d: channel: %d value: %d\n",
-						i + 1, sample2[i].am_channel1, sample2[i].am_data1);
-					message("Sample:");
-					message("%d: channel: %d value: %d\n",
-						i + 1, sample2[i].am_channel2, sample2[i].am_data2);
-					message("Sample:");
-					message("%d: channel: %d value: %d\n",
-						i + 1, sample2[i].am_channel3, sample2[i].am_data3);
-					message("Sample:");
-					message("%d: channel: %d value: %d\n",
-						i + 1, sample2[i].am_channel4, sample2[i].am_data4);
-//    			message("%d: channel: %d value: %d\n",
-//						i, sample9[i].am_channel, sample9[i].am_data);
-				}
 			}
 		}
+		fflush(stdout);
 	}
 
-	printf("\t ADC test successful.\n");
+	message("\t ADC test successful.");
 
 errout_with_dev:
 

apps/px4/tests/test_sensors.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,7 +36,7 @@
  * @file test_sensors.c
  * Tests the onboard sensors.
  * 
- * The sensors app must not be running when performing this test.
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include <nuttx/config.h>
@@ -56,7 +56,10 @@
 
 #include "tests.h"
 
+#include <drivers/drv_gyro.h>
 #include <drivers/drv_accel.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_baro.h>
 
 /****************************************************************************
  * Pre-processor Definitions
@@ -70,8 +73,10 @@
  * Private Function Prototypes
  ****************************************************************************/
 
-//static int	lis331(int argc, char *argv[]);
+static int accel(int argc, char *argv[]);
-static int mpu6000(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[]);
 
 /****************************************************************************
  * Private Data
@@ -82,7 +87,10 @@ struct {
 	const char	*path;
 	int	(* test)(int argc, char *argv[]);
 } sensors[] = {
-	{"mpu6000",	"/dev/accel",	mpu6000},
+	{"accel",	"/dev/accel",	accel},
+	{"gyro",	"/dev/gyro",	gyro},
+	{"mag",		"/dev/mag",	mag},
+	{"baro",	"/dev/baro",	baro},
 	{NULL, NULL, NULL}
 };
 
@@ -95,9 +103,9 @@ struct {
  ****************************************************************************/
 
 static int
-mpu6000(int argc, char *argv[])
+accel(int argc, char *argv[])
 {
-	printf("\tMPU-6000: test start\n");
+	printf("\tACCEL: test start\n");
 	fflush(stdout);
 
 	int		fd;
@@ -107,7 +115,7 @@ mpu6000(int argc, char *argv[])
 	fd = open("/dev/accel", O_RDONLY);
 
 	if (fd < 0) {
-		printf("\tMPU-6000: open fail, run <mpu6000 start> first.\n");
+		printf("\tACCEL: open fail, run <mpu6000 start> or <lsm303 start> or <bma180 start> first.\n");
 		return ERROR;
 	}
 
@@ -118,11 +126,11 @@ mpu6000(int argc, char *argv[])
 	ret = read(fd, &buf, sizeof(buf));
 
 	if (ret < 3) {
-		printf("\tMPU-6000: read1 fail (%d)\n", ret);
+		printf("\tACCEL: read1 fail (%d)\n", ret);
 		return ERROR;
 
 	} else {
-		printf("\tMPU-6000 values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);//\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
+		printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
 	// /* wait at least 10ms, sensor should have data after no more than 2ms */
@@ -141,7 +149,118 @@ mpu6000(int argc, char *argv[])
 	/* XXX more tests here */
 
 	/* Let user know everything is ok */
-	printf("\tOK: MPU-6000 passed all tests successfully\n");
+	printf("\tOK: ACCEL passed all tests successfully\n");
+
+	return OK;
+}
+
+static int
+gyro(int argc, char *argv[])
+{
+	printf("\tGYRO: test start\n");
+	fflush(stdout);
+
+	int		fd;
+	struct gyro_report buf;
+	int		ret;
+
+	fd = open("/dev/gyro", O_RDONLY);
+
+	if (fd < 0) {
+		printf("\tGYRO: 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 < 3) {
+		printf("\tGYRO: read fail (%d)\n", ret);
+		return ERROR;
+
+	} else {
+		printf("\tGYRO 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: GYRO passed all tests successfully\n");
+
+	return OK;
+}
+
+static int
+mag(int argc, char *argv[])
+{
+	printf("\tMAG: test start\n");
+	fflush(stdout);
+
+	int		fd;
+	struct mag_report buf;
+	int		ret;
+
+	fd = open("/dev/mag", O_RDONLY);
+
+	if (fd < 0) {
+		printf("\tMAG: open fail, run <hmc5883 start> or <lsm303 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 < 3) {
+		printf("\tMAG: read fail (%d)\n", ret);
+		return ERROR;
+
+	} else {
+		printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
+	}
+
+	/* Let user know everything is ok */
+	printf("\tOK: MAG passed all tests successfully\n");
+
+	return OK;
+}
+
+static int
+baro(int argc, char *argv[])
+{
+	printf("\tBARO: test start\n");
+	fflush(stdout);
+
+	int		fd;
+	struct baro_report buf;
+	int		ret;
+
+	fd = open("/dev/baro", O_RDONLY);
+
+	if (fd < 0) {
+		printf("\tBARO: open fail, run <ms5611 start> or <lps331 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 < 3) {
+		printf("\tBARO: read fail (%d)\n", ret);
+		return ERROR;
+
+	} else {
+		printf("\tBARO pressure: %8.4f mbar\talt: %8.4f m\ttemp: %8.4f deg C\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
+	}
+
+	/* Let user know everything is ok */
+	printf("\tOK: BARO passed all tests successfully\n");
 
 	return OK;
 }

apps/sensors/sensors.cpp

@@ -34,9 +34,9 @@
 
 /**
  * @file sensors.cpp
- * @author Lorenz Meier <lm@inf.ethz.ch>
- *
  * Sensor readout process.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include <nuttx/config.h>

apps/systemlib/mixer/mixer_group.cpp

@@ -168,6 +168,7 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd
 
 	/* let's assume we're going to read a simple mixer */
 	mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs));
+	mixinfo->control_count = inputs;
 
 	/* first, get the output scaler */
 	ret = mixer_getline(fd, buf, sizeof(buf));

apps/systemlib/perf_counter.c

@@ -73,6 +73,20 @@ struct perf_ctr_elapsed {
 	uint64_t		time_most;
 };
 
+/**
+ * PC_INTERVAL counter.
+ */
+struct perf_ctr_interval {
+	struct perf_ctr_header	hdr;
+	uint64_t		event_count;
+	uint64_t		time_event;
+	uint64_t		time_first;
+	uint64_t		time_last;
+	uint64_t		time_least;
+	uint64_t		time_most;
+
+};
+
 /**
  * List of all known counters.
  */
@@ -93,6 +107,10 @@ perf_alloc(enum perf_counter_type type, const char *name)
 		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_elapsed), 1);
 		break;
 
+	case PC_INTERVAL:
+		ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_interval), 1);
+		break;
+
 	default:
 		break;
 	}
@@ -127,6 +145,32 @@ perf_count(perf_counter_t handle)
 		((struct perf_ctr_count *)handle)->event_count++;
 		break;
 
+	case PC_INTERVAL: {
+		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
+		hrt_abstime now = hrt_absolute_time();
+
+		switch (pci->event_count) {
+		case 0:
+			pci->time_first = now;
+			break;
+		case 1:
+			pci->time_least = now - pci->time_last;
+			pci->time_most = now - pci->time_last;
+			break;
+		default: {
+			hrt_abstime interval = now - pci->time_last;
+			if (interval < pci->time_least)
+				pci->time_least = interval;
+			if (interval > pci->time_most)
+				pci->time_most = interval;
+			break;
+		}
+		}
+		pci->time_last = now;
+		pci->event_count++;
+		break;
+	}
+
 	default:
 		break;
 	}
@@ -187,13 +231,29 @@ perf_print_counter(perf_counter_t handle)
 		       ((struct perf_ctr_count *)handle)->event_count);
 		break;
 
-	case PC_ELAPSED:
+	case PC_ELAPSED: {
+		struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
+
 		printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n",
 		       handle->name,
-		       ((struct perf_ctr_elapsed *)handle)->event_count,
+		       pce->event_count,
-		       ((struct perf_ctr_elapsed *)handle)->time_total,
+		       pce->time_total,
-		       ((struct perf_ctr_elapsed *)handle)->time_least,
+		       pce->time_least,
-		       ((struct perf_ctr_elapsed *)handle)->time_most);
+		       pce->time_most);
+		break;
+	}
+
+	case PC_INTERVAL: {
+		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
+
+		printf("%s: %llu events, %llu avg, min %lluus max %lluus\n",
+		       handle->name,
+		       pci->event_count,
+		       (pci->time_last - pci->time_first) / pci->event_count,
+		       pci->time_least,
+		       pci->time_most);
+		break;
+	}
 
 	default:
 		break;

apps/systemlib/perf_counter.h

@@ -44,7 +44,8 @@
  */
 enum perf_counter_type {
 	PC_COUNT,		/**< count the number of times an event occurs */
-	PC_ELAPSED		/**< measure the time elapsed performing an event */
+	PC_ELAPSED,		/**< measure the time elapsed performing an event */
+	PC_INTERVAL		/**< measure the interval between instances of an event */
 };
 
 struct perf_ctr_header;

apps/uORB/topics/subsystem_info.h

@@ -1,9 +1,9 @@
 /****************************************************************************
  *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
+ *           Julian Oes <joes@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +37,10 @@
 /**
  * @file subsystem_info.h
  * Definition of the subsystem info topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
  */
 
 #ifndef TOPIC_SUBSYSTEM_INFO_H_

nuttx/configs/px4fmu/nsh/appconfig

@@ -96,6 +96,7 @@ CONFIGURED_APPS += drivers/stm32
 CONFIGURED_APPS += drivers/led
 CONFIGURED_APPS += drivers/stm32/tone_alarm
 CONFIGURED_APPS += drivers/px4fmu
+CONFIGURED_APPS += drivers/hil
 
 # Testing stuff
 CONFIGURED_APPS += px4/sensors_bringup