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

src/modules/mavlink/mavlink_messages.cpp

@@ -45,7 +45,6 @@
 
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/rc_channels.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_global_position.h>

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -651,25 +651,22 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 						} else if (t > ref_init_start + ref_init_delay) {
 							ref_inited = true;
-							/* update baro offset */
-							baro_offset -= z_est[0];
 
 							/* set position estimate to (0, 0, 0), use GPS velocity for XY */
 							x_est[0] = 0.0f;
 							x_est[1] = gps.vel_n_m_s;
 							y_est[0] = 0.0f;
 							y_est[1] = gps.vel_e_m_s;
-							z_est[0] = 0.0f;
 
 							local_pos.ref_lat = lat;
 							local_pos.ref_lon = lon;
-							local_pos.ref_alt = alt;
+							local_pos.ref_alt = alt + z_est[0];
 							local_pos.ref_timestamp = t;
 
 							/* initialize projection */
 							map_projection_init(&ref, lat, lon);
 							warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", (double)lat, (double)lon, (double)alt);
-							mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f, alt=%.2f", (double)lat, (double)lon, (double)alt);
+							mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %.2f", (double)lat, (double)lon, (double)alt);
 						}
 					}
 

src/modules/sdlog2/sdlog2.c

@@ -1394,8 +1394,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 		if (copy_if_updated(ORB_ID(rc_channels), subs.rc_sub, &buf.rc)) {
 			log_msg.msg_type = LOG_RC_MSG;
 			/* Copy only the first 8 channels of 14 */
-			memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel));
+			memcpy(log_msg.body.log_RC.channel, buf.rc.channels, sizeof(log_msg.body.log_RC.channel));
-			log_msg.body.log_RC.channel_count = buf.rc.chan_count;
+			log_msg.body.log_RC.channel_count = buf.rc.channel_count;
 			log_msg.body.log_RC.signal_lost = buf.rc.signal_lost;
 			LOGBUFFER_WRITE_AND_COUNT(RC);
 		}

src/modules/sensors/sensors.cpp

@@ -1223,9 +1223,9 @@ Sensors::parameter_update_poll(bool forced)
 		}
 
 #if 0
-		printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
+		printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.channels[0].scaling_factor * 10000), (int)(_rc.channels[0].mid), (int)_rc.function[0]);
-		printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);
+		printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.channels[1].scaling_factor * 10000), (int)(_rc.channels[1].mid), (int)_rc.function[1]);
-		printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled * 100), (int)(_rc.chan[1].scaled * 100));
+		printf("MAN: %d %d\n", (int)(_rc.channels[0] * 100), (int)(_rc.channels[1] * 100));
 		fflush(stdout);
 		usleep(5000);
 #endif
@@ -1355,7 +1355,7 @@ float
 Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value)
 {
 	if (_rc.function[func] >= 0) {
-		float value = _rc.chan[_rc.function[func]].scaled;
+		float value = _rc.channels[_rc.function[func]];
 
 		if (value < min_value) {
 			return min_value;
@@ -1376,7 +1376,7 @@ switch_pos_t
 Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv)
 {
 	if (_rc.function[func] >= 0) {
-		float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f;
+		float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
 
 		if (on_inv ? value < on_th : value > on_th) {
 			return SWITCH_POS_ON;
@@ -1397,7 +1397,7 @@ switch_pos_t
 Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv)
 {
 	if (_rc.function[func] >= 0) {
-		float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f;
+		float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
 
 		if (on_inv ? value < on_th : value > on_th) {
 			return SWITCH_POS_ON;
@@ -1489,25 +1489,25 @@ Sensors::rc_poll()
 			 * DO NOT REMOVE OR ALTER STEP 1!
 			 */
 			if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
-				_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
+				_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
 
 			} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
-				_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
+				_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
 
 			} else {
 				/* in the configured dead zone, output zero */
-				_rc.chan[i].scaled = 0.0f;
+				_rc.channels[i] = 0.0f;
 			}
 
-			_rc.chan[i].scaled *= _parameters.rev[i];
+			_rc.channels[i] *= _parameters.rev[i];
 
 			/* handle any parameter-induced blowups */
-			if (!isfinite(_rc.chan[i].scaled)) {
+			if (!isfinite(_rc.channels[i])) {
-				_rc.chan[i].scaled = 0.0f;
+				_rc.channels[i] = 0.0f;
 			}
 		}
 
-		_rc.chan_count = rc_input.channel_count;
+		_rc.channel_count = rc_input.channel_count;
 		_rc.rssi = rc_input.rssi;
 		_rc.signal_lost = signal_lost;
 		_rc.timestamp = rc_input.timestamp_last_signal;

src/modules/uORB/topics/rc_channels.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 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
@@ -42,60 +42,44 @@
 #include <stdint.h>
 #include "../uORB.h"
 
-/**
- * The number of RC channel inputs supported.
- * Current (Q4/2013) radios support up to 18 channels,
- * leaving at a sane value of 16.
- * This number can be greater then number of RC channels,
- * because single RC channel can be mapped to multiple
- * functions, e.g. for various mode switches.
- */
-#define RC_CHANNELS_MAPPED_MAX   16
-
 /**
  * This defines the mapping of the RC functions.
  * The value assigned to the specific function corresponds to the entry of
- * the channel array chan[].
+ * the channel array channels[].
  */
 enum RC_CHANNELS_FUNCTION {
 	THROTTLE = 0,
-	ROLL     = 1,
+	ROLL,
-	PITCH    = 2,
+	PITCH,
-	YAW      = 3,
+	YAW,
-	MODE = 4,
+	MODE,
-	RETURN = 5,
+	RETURN,
-	POSCTL = 6,
+	POSCTL,
-	LOITER = 7,
+	LOITER,
-	OFFBOARD_MODE = 8,
+	OFFBOARD_MODE,
-	ACRO    = 9,
+	ACRO,
-	FLAPS   = 10,
+	FLAPS,
-	AUX_1   = 11,
+	AUX_1,
-	AUX_2   = 12,
+	AUX_2,
-	AUX_3   = 13,
+	AUX_3,
-	AUX_4   = 14,
+	AUX_4,
-	AUX_5   = 15,
+	AUX_5,
-	RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
+	RC_CHANNELS_FUNCTION_MAX /**< Indicates the number of functions. There can be more functions than RC channels. */
 };
 
 /**
  * @addtogroup topics
  * @{
  */
-
 struct rc_channels_s {
-
+	uint64_t timestamp;									/**< Timestamp in microseconds since boot time */
-	uint64_t timestamp;                 /**< In microseconds since boot time. */
+	uint64_t timestamp_last_valid;						/**< Timestamp of last valid RC signal */
-	uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
+	float channels[RC_CHANNELS_FUNCTION_MAX];			/**< Scaled to -1..1 (throttle: 0..1) */
-	struct {
+	uint8_t channel_count;								/**< Number of valid channels */
-		float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
+	char function_name[RC_CHANNELS_FUNCTION_MAX][20];	/**< String array to store the names of the functions */
-	} chan[RC_CHANNELS_MAPPED_MAX];
+	int8_t function[RC_CHANNELS_FUNCTION_MAX];			/**< Functions mapping */
-	uint8_t chan_count;                 /**< number of valid channels */
+	uint8_t rssi;										/**< Receive signal strength index */
-
+	bool signal_lost;									/**< Control signal lost, should be checked together with topic timeout */
-	/*String array to store the names of the functions*/
-	char function_name[RC_CHANNELS_FUNCTION_MAX][20];
-	int8_t function[RC_CHANNELS_FUNCTION_MAX];
-	uint8_t rssi;                       /**< Overall receive signal strength */
-	bool signal_lost;		/**< control signal lost, should be checked together with topic timeout */
 }; /**< radio control channels. */
 
 /**