Merged master

src/drivers/airspeed/airspeed.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013-2015 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
@@ -32,8 +32,9 @@
  ****************************************************************************/
 
 /**
- * @file ets_airspeed.cpp
- * @author Simon Wilks
+ * @file airspeed.cpp
+ * @author Simon Wilks <simon@px4.io>
+ * @author Lorenz Meier <lorenz@px4.io>
  *
  * Driver for the Eagle Tree Airspeed V3 connected via I2C.
  */
@@ -76,7 +77,7 @@
 
 #include <drivers/airspeed/airspeed.h>
 
-Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char* path) :
+Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char *path) :
 	I2C("Airspeed", path, bus, address, 100000),
 	_reports(nullptr),
 	_buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows")),
@@ -105,12 +106,14 @@ Airspeed::~Airspeed()
 	/* make sure we are truly inactive */
 	stop();
 
-	if (_class_instance != -1)
+	if (_class_instance != -1) {
 		unregister_class_devname(AIRSPEED_BASE_DEVICE_PATH, _class_instance);
+	}
 
 	/* free any existing reports */
-	if (_reports != nullptr)
+	if (_reports != nullptr) {
 		delete _reports;
+	}
 
 	// free perf counters
 	perf_free(_sample_perf);
@@ -124,13 +127,15 @@ Airspeed::init()
 	int ret = ERROR;
 
 	/* do I2C init (and probe) first */
-	if (I2C::init() != OK)
+	if (I2C::init() != OK) {
 		goto out;
+	}
 
 	/* allocate basic report buffers */
 	_reports = new ringbuffer::RingBuffer(2, sizeof(differential_pressure_s));
-	if (_reports == nullptr)
+	if (_reports == nullptr) {
 		goto out;
+	}
 
 	/* register alternate interfaces if we have to */
 	_class_instance = register_class_devname(AIRSPEED_BASE_DEVICE_PATH);
@@ -146,8 +151,9 @@ Airspeed::init()
 		/* measurement will have generated a report, publish */
 		_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
 
-		if (_airspeed_pub == nullptr)
+		if (_airspeed_pub == nullptr) {
 			warnx("uORB started?");
+		}
 	}
 
 	ret = OK;
@@ -166,7 +172,7 @@ Airspeed::probe()
 	_retries = 4;
 	int ret = measure();
 
-        // drop back to 2 retries once initialised
+	// drop back to 2 retries once initialised
 	_retries = 2;
 	return ret;
 }
@@ -179,20 +185,20 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case SENSORIOCSPOLLRATE: {
 			switch (arg) {
 
-				/* switching to manual polling */
+			/* switching to manual polling */
 			case SENSOR_POLLRATE_MANUAL:
 				stop();
 				_measure_ticks = 0;
 				return OK;
 
-				/* external signalling (DRDY) not supported */
+			/* external signalling (DRDY) not supported */
 			case SENSOR_POLLRATE_EXTERNAL:
 
-				/* zero would be bad */
+			/* zero would be bad */
 			case 0:
 				return -EINVAL;
 
-				/* set default/max polling rate */
+			/* set default/max polling rate */
 			case SENSOR_POLLRATE_MAX:
 			case SENSOR_POLLRATE_DEFAULT: {
 					/* do we need to start internal polling? */
@@ -202,13 +208,14 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 					_measure_ticks = USEC2TICK(_conversion_interval);
 
 					/* if we need to start the poll state machine, do it */
-					if (want_start)
+					if (want_start) {
 						start();
+					}
 
 					return OK;
 				}
 
-				/* adjust to a legal polling interval in Hz */
+			/* adjust to a legal polling interval in Hz */
 			default: {
 					/* do we need to start internal polling? */
 					bool want_start = (_measure_ticks == 0);
@@ -217,15 +224,17 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 					unsigned ticks = USEC2TICK(1000000 / arg);
 
 					/* check against maximum rate */
-					if (ticks < USEC2TICK(_conversion_interval))
+					if (ticks < USEC2TICK(_conversion_interval)) {
 						return -EINVAL;
+					}
 
 					/* update interval for next measurement */
 					_measure_ticks = ticks;
 
 					/* if we need to start the poll state machine, do it */
-					if (want_start)
+					if (want_start) {
 						start();
+					}
 
 					return OK;
 				}
@@ -233,21 +242,25 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 		}
 
 	case SENSORIOCGPOLLRATE:
-		if (_measure_ticks == 0)
+		if (_measure_ticks == 0) {
 			return SENSOR_POLLRATE_MANUAL;
+		}
 
 		return (1000 / _measure_ticks);
 
 	case SENSORIOCSQUEUEDEPTH: {
 			/* lower bound is mandatory, upper bound is a sanity check */
-			if ((arg < 1) || (arg > 100))
+			if ((arg < 1) || (arg > 100)) {
 				return -EINVAL;
+			}
 
 			irqstate_t flags = irqsave();
+
 			if (!_reports->resize(arg)) {
 				irqrestore(flags);
 				return -ENOMEM;
 			}
+
 			irqrestore(flags);
 
 			return OK;
@@ -261,16 +274,16 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return -EINVAL;
 
 	case AIRSPEEDIOCSSCALE: {
-		struct airspeed_scale *s = (struct airspeed_scale*)arg;
-		_diff_pres_offset = s->offset_pa;
-		return OK;
+			struct airspeed_scale *s = (struct airspeed_scale *)arg;
+			_diff_pres_offset = s->offset_pa;
+			return OK;
 		}
 
 	case AIRSPEEDIOCGSCALE: {
-		struct airspeed_scale *s = (struct airspeed_scale*)arg;
-		s->offset_pa = _diff_pres_offset;
-		s->scale = 1.0f;
-		return OK;
+			struct airspeed_scale *s = (struct airspeed_scale *)arg;
+			s->offset_pa = _diff_pres_offset;
+			s->scale = 1.0f;
+			return OK;
 		}
 
 	default:
@@ -287,8 +300,9 @@ Airspeed::read(struct file *filp, char *buffer, size_t buflen)
 	int ret = 0;
 
 	/* buffer must be large enough */
-	if (count < 1)
+	if (count < 1) {
 		return -ENOSPC;
+	}
 
 	/* if automatic measurement is enabled */
 	if (_measure_ticks > 0) {
@@ -369,6 +383,7 @@ Airspeed::update_status()
 
 		if (_subsys_pub != nullptr) {
 			orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);
+
 		} else {
 			_subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info);
 		}
@@ -402,6 +417,7 @@ Airspeed::print_info()
 void
 Airspeed::new_report(const differential_pressure_s &report)
 {
-	if (!_reports->force(&report))
+	if (!_reports->force(&report)) {
 		perf_count(_buffer_overflows);
+	}
 }

src/drivers/device/vdev.cpp

@@ -367,6 +367,8 @@ VDev::poll(file_t *filep, px4_pollfd_struct_t *fds, bool setup)
 			/* yes? post the notification */
 			if (fds->revents != 0)
 				sem_post(fds->sem);
+		} else {
+			PX4_WARN("Store Poll Waiter error.");
 		}
 
 	} else {
@@ -524,5 +526,4 @@ const char *VDev::devList(unsigned int *next)
 	return NULL;
 }
 
-} // namespace device
-
+} // namespace device

src/drivers/device/vdev.h

@@ -324,6 +324,13 @@ public:
 	static const char *devList(unsigned int *next);
 	static const char *topicList(unsigned int *next);
 
+	/**
+	 * Get the device name.
+	 *
+	 * @return the file system string of the device handle
+	 */
+	const char*	get_devname() { return _devname; }
+
 protected:
 
 	int register_driver(const char *name, void *data);
@@ -406,13 +413,6 @@ protected:
 	 */
 	virtual int unregister_class_devname(const char *class_devname, unsigned class_instance);
 
-	/**
-	 * Get the device name.
-	 *
-	 * @return the file system string of the device handle
-	 */
-	const char*	get_devname() { return _devname; }
-
 	bool		_pub_blocked;		/**< true if publishing should be blocked */
 
 private:

src/drivers/drv_accel.h

@@ -51,29 +51,8 @@
 #define ACCEL1_DEVICE_PATH	"/dev/accel1"
 #define ACCEL2_DEVICE_PATH	"/dev/accel2"
 
-/**
- * accel report structure.  Reads from the device must be in multiples of this
- * structure.
- */
-struct accel_report {
-	uint64_t timestamp;
-	uint64_t integral_dt;	/**< integration time */
-	uint64_t error_count;
-	float x;		/**< acceleration in the NED X board axis in m/s^2 */
-	float y;		/**< acceleration in the NED Y board axis in m/s^2 */
-	float z;		/**< acceleration in the NED Z board axis in m/s^2 */
-	float x_integral;	/**< velocity in the NED X board axis in m/s over the integration time frame */
-	float y_integral;	/**< velocity in the NED Y board axis in m/s over the integration time frame */
-	float z_integral;	/**< velocity in the NED Z board axis in m/s over the integration time frame */
-	float temperature;	/**< temperature in degrees celsius */
-	float range_m_s2;	/**< range in m/s^2 (+- this value) */
-	float scaling;
-
-	int16_t x_raw;
-	int16_t y_raw;
-	int16_t z_raw;
-	int16_t temperature_raw;
-};
+#include <uORB/topics/sensor_accel.h>
+#define accel_report sensor_accel_s
 
 /** accel scaling factors; Vout = Vscale * (Vin + Voffset) */
 struct accel_scale {
@@ -85,11 +64,6 @@ struct accel_scale {
 	float	z_scale;
 };
 
-/*
- * ObjDev tag for raw accelerometer data.
- */
-ORB_DECLARE(sensor_accel);
-
 /*
  * ioctl() definitions
  *

src/drivers/drv_baro.h

@@ -50,22 +50,8 @@
 #define BARO_BASE_DEVICE_PATH	"/dev/baro"
 #define BARO0_DEVICE_PATH	"/dev/baro0"
 
-/**
- * baro report structure.  Reads from the device must be in multiples of this
- * structure.
- */
-struct baro_report {
-	float pressure;
-	float altitude;
-	float temperature;
-	uint64_t timestamp;
-	uint64_t error_count;
-};
-
-/*
- * ObjDev tag for raw barometer data.
- */
-ORB_DECLARE(sensor_baro);
+#include <uORB/topics/sensor_baro.h>
+#define baro_report sensor_baro_s
 
 /*
  * ioctl() definitions

src/drivers/drv_gyro.h

@@ -51,29 +51,8 @@
 #define GYRO1_DEVICE_PATH	"/dev/gyro1"
 #define GYRO2_DEVICE_PATH	"/dev/gyro2"
 
-/**
- * gyro report structure.  Reads from the device must be in multiples of this
- * structure.
- */
-struct gyro_report {
-	uint64_t timestamp;
-	uint64_t integral_dt;	/**< integration time */
-	uint64_t error_count;
-	float x;		/**< angular velocity in the NED X board axis in rad/s */
-	float y;		/**< angular velocity in the NED Y board axis in rad/s */
-	float z;		/**< angular velocity in the NED Z board axis in rad/s */
-	float x_integral;	/**< delta angle in the NED X board axis in rad/s in the integration time frame */
-	float y_integral;	/**< delta angle in the NED Y board axis in rad/s in the integration time frame */
-	float z_integral;	/**< delta angle in the NED Z board axis in rad/s in the integration time frame */
-	float temperature;	/**< temperature in degrees celcius */
-	float range_rad_s;
-	float scaling;
-
-	int16_t x_raw;
-	int16_t y_raw;
-	int16_t z_raw;
-	int16_t temperature_raw;
-};
+#include <uORB/topics/sensor_gyro.h>
+#define gyro_report sensor_gyro_s
 
 /** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
 struct gyro_scale {
@@ -85,11 +64,6 @@ struct gyro_scale {
 	float	z_scale;
 };
 
-/*
- * ObjDev tag for raw gyro data.
- */
-ORB_DECLARE(sensor_gyro);
-
 /*
  * ioctl() definitions
  */

src/drivers/drv_mag.h

@@ -49,26 +49,8 @@
 #define MAG1_DEVICE_PATH	"/dev/mag1"
 #define MAG2_DEVICE_PATH	"/dev/mag2"
 
-/**
- * mag report structure.  Reads from the device must be in multiples of this
- * structure.
- *
- * Output values are in gauss.
- */
-struct mag_report {
-	uint64_t timestamp;
-	uint64_t error_count;
-	float x;
-	float y;
-	float z;
-	float range_ga;
-	float scaling;
-	float temperature;
-
-	int16_t x_raw;
-	int16_t y_raw;
-	int16_t z_raw;
-};
+#include <uORB/topics/sensor_mag.h>
+#define mag_report sensor_mag_s
 
 /** mag scaling factors; Vout = (Vin * Vscale) + Voffset */
 struct mag_scale {
@@ -80,12 +62,6 @@ struct mag_scale {
 	float	z_scale;
 };
 
-/*
- * ObjDev tag for raw magnetometer data.
- */
-ORB_DECLARE(sensor_mag);
-
-
 /*
  * ioctl() definitions
  */

src/drivers/drv_pwm_output.h

@@ -61,10 +61,17 @@ __BEGIN_DECLS
 #define PWM_OUTPUT_BASE_DEVICE_PATH "/dev/pwm_output"
 #define PWM_OUTPUT0_DEVICE_PATH	"/dev/pwm_output0"
 
+#include <uORB/topics/output_pwm.h>
+#define pwm_output_values output_pwm_s
+
+#ifndef PWM_OUTPUT_MAX_CHANNELS
+ #define PWM_OUTPUT_MAX_CHANNELS output_pwm_s::PWM_OUTPUT_MAX_CHANNELS
+#endif
+
 /**
  * Maximum number of PWM output channels supported by the device.
  */
-#define PWM_OUTPUT_MAX_CHANNELS	16
+//#define PWM_OUTPUT_MAX_CHANNELS	16
 
 /**
  * Lowest minimum PWM in us
@@ -107,19 +114,6 @@ __BEGIN_DECLS
  */
 typedef uint16_t	servo_position_t;
 
-/**
- * Servo output status structure.
- *
- * May be published to output_pwm, or written to a PWM output
- * device.
- */
-struct pwm_output_values {
-	/** desired pulse widths for each of the supported channels */
-	servo_position_t	values[PWM_OUTPUT_MAX_CHANNELS];
-	unsigned			channel_count;
-};
-
-
 /**
  * RC config values for a channel
  *
@@ -136,11 +130,6 @@ struct pwm_output_rc_config {
 	bool     rc_reverse;
 };
 
-/*
- * ORB tag for PWM outputs.
- */
-ORB_DECLARE(output_pwm);
-
 /*
  * ioctl() definitions
  *

src/drivers/drv_px4flow.h

@@ -46,11 +46,6 @@
 
 #define PX4FLOW0_DEVICE_PATH	"/dev/px4flow0"
 
-/*
- * ObjDev tag for px4flow data.
- */
-ORB_DECLARE(optical_flow);
-
 /*
  * ioctl() definitions
  *

src/drivers/drv_range_finder.h

@@ -48,11 +48,6 @@
 #define RANGE_FINDER0_DEVICE_PATH	"/dev/range_finder0"
 #define MB12XX_MAX_RANGEFINDERS	12	// Maximum number of Maxbotix sensors on bus
 
-/*
- * ObjDev tag for distance sensor data.
- */
-ORB_DECLARE(distance_sensor);
-
 /*
  * ioctl() definitions
  *

src/drivers/drv_rc_input.h

@@ -57,11 +57,6 @@
  */
 #define RC_INPUT0_DEVICE_PATH	"/dev/input_rc0"
 
-/**
- * Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
- */
-#define RC_INPUT_MAX_CHANNELS	18
-
 /**
  * Maximum RSSI value
  */
@@ -82,10 +77,9 @@
  */
 #define RC_INPUT_MAX_DEADZONE_US	500
 
-/**
- * @addtogroup topics
- * @{
- */
+#include <uORB/topics/input_rc.h>
+#define pwm_output_values output_pwm_s
+#define rc_input_values input_rc_s
 
 /**
  * Input signal type, value is a control position from zero to 100
@@ -93,85 +87,6 @@
  */
 typedef uint16_t		rc_input_t;
 
-enum RC_INPUT_SOURCE {
-	RC_INPUT_SOURCE_UNKNOWN = 0,
-	RC_INPUT_SOURCE_PX4FMU_PPM,
-	RC_INPUT_SOURCE_PX4IO_PPM,
-	RC_INPUT_SOURCE_PX4IO_SPEKTRUM,
-	RC_INPUT_SOURCE_PX4IO_SBUS,
-	RC_INPUT_SOURCE_PX4IO_ST24,
-	RC_INPUT_SOURCE_MAVLINK
-};
-
-/**
- * R/C input status structure.
- *
- * Published to input_rc, may also be published to other names depending
- * on the board involved.
- */
-struct rc_input_values {
-	/** publication time */
-	uint64_t		timestamp_publication;
-
-	/** last valid reception time */
-	uint64_t		timestamp_last_signal;
-
-	/** number of channels actually being seen */
-	uint32_t		channel_count;
-
-	/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception */
-	int32_t			rssi;
-
-	/**
-	 * explicit failsafe flag: true on TX failure or TX out of range , false otherwise.
-	 * Only the true state is reliable, as there are some (PPM) receivers on the market going
-	 * into failsafe without telling us explicitly.
-	 * */
-	bool			rc_failsafe;
-
-	/**
-	 * RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise.
-	 * True usally means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems.
-	 * Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
-	 * */
-	bool			rc_lost;
-
-	/**
-	 * Number of lost RC frames.
-	 * Note: intended purpose: observe the radio link quality if RSSI is not available
-	 * This value must not be used to trigger any failsafe-alike funtionality.
-	 * */
-	uint16_t		rc_lost_frame_count;
-
-	/**
-	 * Number of total RC frames.
-	 * Note: intended purpose: observe the radio link quality if RSSI is not available
-	 * This value must not be used to trigger any failsafe-alike funtionality.
-	 * */
-	uint16_t		rc_total_frame_count;
-
-	/**
-	 * Length of a single PPM frame.
-	 * Zero for non-PPM systems
-	 */
-	uint16_t		rc_ppm_frame_length;
-
-	/** Input source */
-	enum RC_INPUT_SOURCE 	input_source;
-
-	/** measured pulse widths for each of the supported channels */
-	rc_input_t		values[RC_INPUT_MAX_CHANNELS];
-};
-
-/**
- * @}
- */
-
-/*
- * ObjDev tag for R/C inputs.
- */
-ORB_DECLARE(input_rc);
-
 #define _RC_INPUT_BASE		0x2b00
 
 /** Fetch R/C input values into (rc_input_values *)arg */

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -94,7 +94,7 @@
 class ETSAirspeed : public Airspeed
 {
 public:
-	ETSAirspeed(int bus, int address = I2C_ADDRESS, const char* path = ETS_PATH);
+	ETSAirspeed(int bus, int address = I2C_ADDRESS, const char *path = ETS_PATH);
 
 protected:
 
@@ -113,8 +113,8 @@ protected:
  */
 extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]);
 
-ETSAirspeed::ETSAirspeed(int bus, int address, const char* path) : Airspeed(bus, address,
-	CONVERSION_INTERVAL, path)
+ETSAirspeed::ETSAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
+			CONVERSION_INTERVAL, path)
 {
 
 }
@@ -155,7 +155,8 @@ ETSAirspeed::collect()
 	}
 
 	uint16_t diff_pres_pa_raw = val[1] << 8 | val[0];
-        if (diff_pres_pa_raw == 0) {
+
+	if (diff_pres_pa_raw == 0) {
 		// a zero value means the pressure sensor cannot give us a
 		// value. We need to return, and not report a value or the
 		// caller could end up using this value as part of an
@@ -163,7 +164,7 @@ ETSAirspeed::collect()
 		perf_count(_comms_errors);
 		DEVICE_LOG("zero value from sensor"); 
 		return -1;
-        }
+	}
 
 	// The raw value still should be compensated for the known offset
 	diff_pres_pa_raw -= _diff_pres_offset;
@@ -175,7 +176,7 @@ ETSAirspeed::collect()
 
 	differential_pressure_s report;
 	report.timestamp = hrt_absolute_time();
-        report.error_count = perf_event_count(_comms_errors);
+	report.error_count = perf_event_count(_comms_errors);
 
 	// XXX we may want to smooth out the readings to remove noise.
 	report.differential_pressure_filtered_pa = diff_pres_pa_raw;
@@ -210,6 +211,7 @@ ETSAirspeed::cycle()
 
 		/* perform collection */
 		ret = collect();
+
 		if (OK != ret) {
 			perf_count(_comms_errors);
 			/* restart the measurement state machine */
@@ -239,6 +241,7 @@ ETSAirspeed::cycle()
 
 	/* measurement phase */
 	ret = measure();
+
 	if (OK != ret) {
 		DEVICE_DEBUG("measure error");
 	}
@@ -287,26 +290,31 @@ start(int i2c_bus)
 {
 	int fd;
 
-	if (g_dev != nullptr)
+	if (g_dev != nullptr) {
 		errx(1, "already started");
+	}
 
 	/* create the driver */
 	g_dev = new ETSAirspeed(i2c_bus);
 
-	if (g_dev == nullptr)
+	if (g_dev == nullptr) {
 		goto fail;
+	}
 
-	if (OK != g_dev->Airspeed::init())
+	if (OK != g_dev->Airspeed::init()) {
 		goto fail;
+	}
 
 	/* set the poll rate to default, starts automatic data collection */
 	fd = open(AIRSPEED0_DEVICE_PATH, O_RDONLY);
 
-	if (fd < 0)
+	if (fd < 0) {
 		goto fail;
+	}
 
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		goto fail;
+	}
 
 	exit(0);
 
@@ -351,21 +359,24 @@ test()
 
 	int fd = open(ETS_PATH, O_RDONLY);
 
-	if (fd < 0)
+	if (fd < 0) {
 		err(1, "%s open failed (try 'ets_airspeed start' if the driver is not running", ETS_PATH);
+	}
 
 	/* do a simple demand read */
 	sz = read(fd, &report, sizeof(report));
 
-	if (sz != sizeof(report))
+	if (sz != sizeof(report)) {
 		err(1, "immediate read failed");
+	}
 
 	warnx("single read");
 	warnx("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa);
 
 	/* start the sensor polling at 2Hz */
-	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
 		errx(1, "failed to set 2Hz poll rate");
+	}
 
 	/* read the sensor 5x and report each value */
 	for (unsigned i = 0; i < 5; i++) {
@@ -376,22 +387,25 @@ test()
 		fds.events = POLLIN;
 		ret = poll(&fds, 1, 2000);
 
-		if (ret != 1)
+		if (ret != 1) {
 			errx(1, "timed out waiting for sensor data");
+		}
 
 		/* now go get it */
 		sz = read(fd, &report, sizeof(report));
 
-		if (sz != sizeof(report))
+		if (sz != sizeof(report)) {
 			err(1, "periodic read failed");
+		}
 
 		warnx("periodic read %u", i);
 		warnx("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa);
 	}
 
 	/* reset the sensor polling to its default rate */
-	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT))
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
 		errx(1, "failed to set default rate");
+	}
 
 	errx(0, "PASS");
 }
@@ -404,14 +418,17 @@ reset()
 {
 	int fd = open(ETS_PATH, O_RDONLY);
 
-	if (fd < 0)
+	if (fd < 0) {
 		err(1, "failed ");
+	}
 
-	if (ioctl(fd, SENSORIOCRESET, 0) < 0)
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
 		err(1, "driver reset failed");
+	}
 
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		err(1, "driver poll restart failed");
+	}
 
 	exit(0);
 }
@@ -422,8 +439,9 @@ reset()
 void
 info()
 {
-	if (g_dev == nullptr)
+	if (g_dev == nullptr) {
 		errx(1, "driver not running");
+	}
 
 	printf("state @ %p\n", g_dev);
 	g_dev->print_info();
@@ -462,32 +480,37 @@ ets_airspeed_main(int argc, char *argv[])
 	/*
 	 * Start/load the driver.
 	 */
-	if (!strcmp(argv[1], "start"))
+	if (!strcmp(argv[1], "start")) {
 		ets_airspeed::start(i2c_bus);
+	}
 
 	/*
 	 * Stop the driver
 	 */
-	if (!strcmp(argv[1], "stop"))
+	if (!strcmp(argv[1], "stop")) {
 		ets_airspeed::stop();
+	}
 
 	/*
 	 * Test the driver/device.
 	 */
-	if (!strcmp(argv[1], "test"))
+	if (!strcmp(argv[1], "test")) {
 		ets_airspeed::test();
+	}
 
 	/*
 	 * Reset the driver.
 	 */
-	if (!strcmp(argv[1], "reset"))
+	if (!strcmp(argv[1], "reset")) {
 		ets_airspeed::reset();
+	}
 
 	/*
 	 * Print driver information.
 	 */
-	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
+	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
 		ets_airspeed::info();
+	}
 
 	ets_airspeed_usage();
 	exit(0);

src/drivers/irlock/irlock.cpp

@@ -110,7 +110,7 @@ private:
 	int 		read_device_block(struct irlock_s *block);
 
 	/** internal variables **/
-	RingBuffer *_reports;
+	ringbuffer::RingBuffer *_reports;
 	bool _sensor_ok;
 	work_s _work;
 	uint32_t _read_failures;
@@ -158,7 +158,7 @@ int IRLOCK::init()
 	}
 
 	/** allocate buffer storing values read from sensor **/
-	_reports = new RingBuffer(IRLOCK_OBJECTS_MAX, sizeof(struct irlock_s));
+	_reports = new ringbuffer::RingBuffer(IRLOCK_OBJECTS_MAX, sizeof(struct irlock_s));
 
 	if (_reports == nullptr) {
 		return ENOTTY;

src/drivers/meas_airspeed/meas_airspeed.cpp

@@ -138,7 +138,7 @@ protected:
 extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
 
 MEASAirspeed::MEASAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
-	CONVERSION_INTERVAL, path),
+			CONVERSION_INTERVAL, path),
 	_filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ),
 	_t_system_power(-1),
 	system_power{}
@@ -189,9 +189,11 @@ MEASAirspeed::collect()
 		break;
 
 	case 1:
-		/* fallthrough */
+
+	/* fallthrough */
 	case 2:
-		/* fallthrough */
+
+	/* fallthrough */
 	case 3:
 		perf_count(_comms_errors);
 		perf_end(_sample_perf);
@@ -219,11 +221,11 @@ MEASAirspeed::collect()
 	  are generated when the bottom port is used as the static
 	  port on the pitot and top port is used as the dynamic port
 	 */
-	float diff_press_PSI = -((dp_raw - 0.1f*16383) * (P_max-P_min)/(0.8f*16383) + P_min);
+	float diff_press_PSI = -((dp_raw - 0.1f * 16383) * (P_max - P_min) / (0.8f * 16383) + P_min);
 	float diff_press_pa_raw = diff_press_PSI * PSI_to_Pa;
 
-        // correct for 5V rail voltage if possible
-        voltage_correction(diff_press_pa_raw, temperature);
+	// correct for 5V rail voltage if possible
+	voltage_correction(diff_press_pa_raw, temperature);
 
 	// the raw value still should be compensated for the known offset
 	diff_press_pa_raw -= _diff_pres_offset;
@@ -276,6 +278,7 @@ MEASAirspeed::cycle()
 
 		/* perform collection */
 		ret = collect();
+
 		if (OK != ret) {
 			/* restart the measurement state machine */
 			start();
@@ -304,6 +307,7 @@ MEASAirspeed::cycle()
 
 	/* measurement phase */
 	ret = measure();
+
 	if (OK != ret) {
 		DEVICE_DEBUG("measure error");
 	}
@@ -332,18 +336,23 @@ void
 MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
 {
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+
 	if (_t_system_power == -1) {
 		_t_system_power = orb_subscribe(ORB_ID(system_power));
 	}
+
 	if (_t_system_power == -1) {
 		// not available
 		return;
 	}
+
 	bool updated = false;
 	orb_check(_t_system_power, &updated);
+
 	if (updated) {
 		orb_copy(ORB_ID(system_power), _t_system_power, &system_power);
 	}
+
 	if (system_power.voltage5V_v < 3.0f || system_power.voltage5V_v > 6.0f) {
 		// not valid, skip correction
 		return;
@@ -354,12 +363,15 @@ MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
 	  apply a piecewise linear correction, flattening at 0.5V from 5V
 	 */
 	float voltage_diff = system_power.voltage5V_v - 5.0f;
+
 	if (voltage_diff > 0.5f) {
 		voltage_diff = 0.5f;
 	}
+
 	if (voltage_diff < -0.5f) {
 		voltage_diff = -0.5f;
 	}
+
 	diff_press_pa -= voltage_diff * slope;
 
 	/*
@@ -367,12 +379,15 @@ MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
 	 */
 	const float temp_slope = 0.887f;
 	voltage_diff = system_power.voltage5V_v - 5.0f;
+
 	if (voltage_diff > 0.5f) {
 		voltage_diff = 0.5f;
 	}
+
 	if (voltage_diff < -1.0f) {
 		voltage_diff = -1.0f;
 	}
+
 	temperature -= voltage_diff * temp_slope;
 #endif // CONFIG_ARCH_BOARD_PX4FMU_V2
 }

src/drivers/pwm_out_sim/module.mk

@@ -38,6 +38,7 @@
 MODULE_COMMAND	= pwm_out_sim
 
 SRCS		= pwm_out_sim.cpp
+
 MAXOPTIMIZATION	 = -Os
 
 MODULE_STACKSIZE	= 1200

src/drivers/pwm_out_sim/pwm_out_sim.cpp

@@ -234,7 +234,7 @@ PWMSim::init()
 	_task = px4_task_spawn_cmd("pwm_out_sim",
 			   SCHED_DEFAULT,
 			   SCHED_PRIORITY_DEFAULT,
-			   1200,
+			   1000,
 			   (px4_main_t)&PWMSim::task_main_trampoline,
 			   nullptr);
 
@@ -406,7 +406,7 @@ PWMSim::task_main()
 				     ORB_ID(actuator_controls_1), _t_actuators, &_controls);
 
 			/* can we mix? */
-			if (_mixers != nullptr) {
+			if (_armed && _mixers != nullptr) {
 				/* do mixing */
 				outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs, NULL);
 				outputs.timestamp = hrt_absolute_time();

src/drivers/px4fmu/fmu.cpp

@@ -354,7 +354,7 @@ PX4FMU::init()
 	_task = px4_task_spawn_cmd("fmuservo",
 			       SCHED_DEFAULT,
 			       SCHED_PRIORITY_DEFAULT,
-			       1600,
+			       1200,
 			       (main_t)&PX4FMU::task_main_trampoline,
 			       nullptr);
 
@@ -607,7 +607,7 @@ PX4FMU::task_main()
 	orb_advert_t to_input_rc = 0;
 
 	memset(&rc_in, 0, sizeof(rc_in));
-	rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
+	rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
 #endif
 
 	/* initialize PWM limit lib */
@@ -772,8 +772,8 @@ PX4FMU::task_main()
 			// we have a new PPM frame. Publish it.
 			rc_in.channel_count = ppm_decoded_channels;
 
-			if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
-				rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
+			if (rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
+				rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
 			}
 
 			for (uint8_t i = 0; i < rc_in.channel_count; i++) {

src/drivers/px4io/px4io.cpp

@@ -672,8 +672,8 @@ PX4IO::init()
 		return -1;
 	}
 
-	if (_max_rc_input > RC_INPUT_MAX_CHANNELS)
-		_max_rc_input = RC_INPUT_MAX_CHANNELS;
+	if (_max_rc_input > input_rc_s::RC_INPUT_MAX_CHANNELS)
+		_max_rc_input = input_rc_s::RC_INPUT_MAX_CHANNELS;
 
 	param_get(param_find("RC_RSSI_PWM_CHAN"), &_rssi_pwm_chan);
 	param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
@@ -1675,10 +1675,10 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 	int	ret;
 
 	/* we don't have the status bits, so input_source has to be set elsewhere */
-	input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN;
+	input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
 
 	const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
-	uint16_t regs[RC_INPUT_MAX_CHANNELS + prolog];
+	uint16_t regs[input_rc_s::RC_INPUT_MAX_CHANNELS + prolog];
 
 	/*
 	 * Read the channel count and the first 9 channels.
@@ -1697,8 +1697,8 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 	channel_count = regs[PX4IO_P_RAW_RC_COUNT];
 
 	/* limit the channel count */
-	if (channel_count > RC_INPUT_MAX_CHANNELS) {
-		channel_count = RC_INPUT_MAX_CHANNELS;
+	if (channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
+		channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
 	}
 
 	_rc_chan_count = channel_count;
@@ -1736,7 +1736,7 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 	}
 
 	/* get RSSI from input channel */
-	if (_rssi_pwm_chan > 0 && _rssi_pwm_chan <= RC_INPUT_MAX_CHANNELS && _rssi_pwm_max - _rssi_pwm_min != 0) {
+	if (_rssi_pwm_chan > 0 && _rssi_pwm_chan <= input_rc_s::RC_INPUT_MAX_CHANNELS && _rssi_pwm_max - _rssi_pwm_min != 0) {
 		int rssi = (input_rc.values[_rssi_pwm_chan - 1] - _rssi_pwm_min) /
 			((_rssi_pwm_max - _rssi_pwm_min) / 100);
 		rssi = rssi > 100 ? 100 : rssi;
@@ -1764,19 +1764,19 @@ PX4IO::io_publish_raw_rc()
 
 	/* sort out the source of the values */
 	if (_status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
-		rc_val.input_source = RC_INPUT_SOURCE_PX4IO_PPM;
+		rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
 
 	} else if (_status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
-		rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
+		rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
 
 	} else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
-		rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
+		rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS;
 
 	} else if (_status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
-		rc_val.input_source = RC_INPUT_SOURCE_PX4IO_ST24;
+		rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_ST24;
 
 	} else {
-		rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN;
+		rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
 
 		/* only keep publishing RC input if we ever got a valid input */
 		if (_rc_last_valid == 0) {
@@ -2660,19 +2660,19 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 
 			/* sort out the source of the values */
 			if (status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
-				rc_val->input_source = RC_INPUT_SOURCE_PX4IO_PPM;
+				rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
 
 			} else if (status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
-				rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
+				rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
 
 			} else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
-				rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
+				rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS;
 
 			} else if (status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
-				rc_val->input_source = RC_INPUT_SOURCE_PX4IO_ST24;
+				rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_ST24;
 
 			} else {
-				rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN;
+				rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
 			}
 
 			/* read raw R/C input values */
@@ -2757,7 +2757,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		   on param_get()
 		*/
 		struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg;
-		if (config->channel >= RC_INPUT_MAX_CHANNELS) {
+		if (config->channel >= input_rc_s::RC_INPUT_MAX_CHANNELS) {
 			/* fail with error */
 			return -E2BIG;
 		}