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

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Conflicts:
	src/modules/commander/gyro_calibration.cpp
	src/modules/mavlink/mavlink_ftp.cpp

src/modules/mavlink/mavlink_ftp.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2014, 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
@@ -301,23 +301,32 @@ MavlinkFTP::_reply(mavlink_file_transfer_protocol_t* ftp_req)
 MavlinkFTP::ErrorCode
 MavlinkFTP::_workList(PayloadHeader* payload)
 {
-    char dirPath[kMaxDataLength];
-    strncpy(dirPath, _data_as_cstring(payload), kMaxDataLength);
-    
+	char dirPath[kMaxDataLength];
+	strncpy(dirPath, _data_as_cstring(payload), kMaxDataLength);
+
+	ErrorCode errorCode = kErrNone;
+	unsigned offset = 0;
+
 	DIR *dp = opendir(dirPath);
 
 	if (dp == nullptr) {
-		warnx("FTP: can't open path '%s'", dirPath);
-		return kErrFailErrno;
+		_mavlink->send_statustext_critical("FTP: can't open path (file system corrupted?)");
+		_mavlink->send_statustext_critical(dirPath);
+		// this is not an FTP error, abort directory read and continue
+
+		payload->data[offset++] = kDirentSkip;
+		*((char *)&payload->data[offset]) = '\0';
+		offset++;
+		payload->size = offset;
+
+		return errorCode;
 	}
-    
+
 #ifdef MAVLINK_FTP_DEBUG
 	warnx("FTP: list %s offset %d", dirPath, payload->offset);
 #endif
 
-	ErrorCode errorCode = kErrNone;
 	struct dirent entry, *result = nullptr;
-	unsigned offset = 0;
 
 	// move to the requested offset
 	seekdir(dp, payload->offset);
@@ -325,9 +334,16 @@ MavlinkFTP::_workList(PayloadHeader* payload)
 	for (;;) {
 		// read the directory entry
 		if (readdir_r(dp, &entry, &result)) {
-			warnx("FTP: list %s readdir_r failure\n", dirPath);
-			errorCode = kErrFailErrno;
-			break;
+			_mavlink->send_statustext_critical("FTP: list readdir_r failure");
+			_mavlink->send_statustext_critical(dirPath);
+
+			payload->data[offset++] = kDirentSkip;
+			*((char *)&payload->data[offset]) = '\0';
+			offset++;
+			payload->size = offset;
+			closedir(dp);
+
+			return errorCode;
 		}
 
 		// no more entries?
@@ -365,7 +381,8 @@ MavlinkFTP::_workList(PayloadHeader* payload)
 #else
 		case DT_DIR:
 #endif
-			if (strcmp(entry.d_name, ".") == 0 || strcmp(entry.d_name, "..") == 0) {
+			// XXX @DonLakeFlyer: Remove the first condition for the test setup
+			if ((entry.d_name[0] == '.') || strcmp(entry.d_name, ".") == 0 || strcmp(entry.d_name, "..") == 0) {
 				// Don't bother sending these back
 				direntType = kDirentSkip;
 			} else {
@@ -499,6 +516,7 @@ MavlinkFTP::_workBurst(PayloadHeader* payload, uint8_t target_system_id)
 	// Setup for streaming sends
 	_session_info.stream_download = true;
 	_session_info.stream_offset = payload->offset;
+	_session_info.stream_chunk_transmitted = 0;
 	_session_info.stream_seq_number = payload->seq_number + 1;
 	_session_info.stream_target_system_id = target_system_id;
 
@@ -885,6 +903,7 @@ void MavlinkFTP::send(const hrt_abstime t)
 			} else {
 				payload->size = bytes_read;
 				_session_info.stream_offset += bytes_read;
+				_session_info.stream_chunk_transmitted += bytes_read;
 			}
 		}
 		
@@ -903,8 +922,12 @@ void MavlinkFTP::send(const hrt_abstime t)
 #ifndef MAVLINK_FTP_UNIT_TEST
 			if (max_bytes_to_send < (get_size()*2)) {
 				more_data = false;
-				payload->burst_complete = true;
-				_session_info.stream_download = false;
+				/* perform transfers in 35K chunks - this is determined empirical */
+				if (_session_info.stream_chunk_transmitted > 35000) {
+					payload->burst_complete = true;
+					_session_info.stream_download = false;
+					_session_info.stream_chunk_transmitted = 0;
+				}
 			} else {
 #endif
 				more_data = true;