Merge branch 'release_v1.0.0' into beta

Makefile

@@ -48,7 +48,12 @@ GIT_DESC := $(shell git log -1 --pretty=format:%H)
 ifneq ($(words $(GIT_DESC)),1)
     GIT_DESC := "unknown_git_version"
 endif
-export GIT_DESC
+
+GIT_DESC_SHORT := $(shell echo $(GIT_DESC) | cut -c1-16)
+
+$(shell echo "#include <systemlib/git_version.h>" > $(BUILD_DIR)git_version.c)
+$(shell echo "const char* px4_git_version = \"$(GIT_DESC)\";" >> $(BUILD_DIR)git_version.c)
+$(shell echo "const uint64_t px4_git_version_binary = 0x$(GIT_DESC_SHORT);" >> $(BUILD_DIR)git_version.c)
 
 #
 # Canned firmware configurations that we (know how to) build.

ROMFS/px4fmu_common/init.d/rcS

@@ -302,6 +302,18 @@ then
 	# Sensors System (start before Commander so Preflight checks are properly run)
 	#
 	sh /etc/init.d/rc.sensors
+	
+	if [ $GPS == yes ]
+	then
+		if [ $GPS_FAKE == yes ]
+		then
+			echo "[i] Faking GPS"
+			gps start -f
+		else
+			gps start
+		fi
+	fi
+	unset GPS_FAKE
 
 	# Needs to be this early for in-air-restarts
 	commander start
@@ -479,22 +491,10 @@ then
 	sh /etc/init.d/rc.uavcan
 
 	#
-	# Logging, GPS
+	# Logging
 	#
 	sh /etc/init.d/rc.logging
 
-	if [ $GPS == yes ]
-	then
-		if [ $GPS_FAKE == yes ]
-		then
-			echo "[i] Faking GPS"
-			gps start -f
-		else
-			gps start
-		fi
-	fi
-	unset GPS_FAKE
-
 	#
 	# Start up ARDrone Motor interface
 	#

msg/filtered_bottom_flow.msg

@@ -0,0 +1,8 @@
+# Filtered bottom flow in bodyframe.
+uint64 timestamp		# time of this estimate, in microseconds since system start
+
+float32 sumx				# Integrated bodyframe x flow in meters
+float32 sumy				# Integrated bodyframe y flow in meters
+
+float32 vx 				# Flow bodyframe x speed, m/s
+float32 vy				# Flow bodyframe y Speed, m/s

msg/home_position.msg

@@ -0,0 +1,10 @@
+# GPS home position in WGS84 coordinates.
+uint64 timestamp			# Timestamp (microseconds since system boot)
+
+float64 lat				# Latitude in degrees
+float64 lon				# Longitude in degrees
+float32 alt				# Altitude in meters (AMSL)
+
+float32 x				# X coordinate in meters
+float32 y				# Y coordinate in meters
+float32 z				# Z coordinate in meters

msg/optical_flow.msg

@@ -0,0 +1,17 @@
+# Optical flow in NED body frame in SI units.
+# @see http://en.wikipedia.org/wiki/International_System_of_Units
+ 
+uint64 timestamp		# in microseconds since system start
+uint8 sensor_id			# id of the sensor emitting the flow value
+float32 pixel_flow_x_integral	# accumulated optical flow in radians around x axis
+float32 pixel_flow_y_integral	# accumulated optical flow in radians around y axis
+float32 gyro_x_rate_integral	# accumulated gyro value in radians around x axis
+float32 gyro_y_rate_integral	# accumulated gyro value in radians around y axis
+float32 gyro_z_rate_integral	# accumulated gyro value in radians around z axis
+float32 ground_distance_m	# Altitude / distance to ground in meters
+uint32 integration_timespan	# accumulation timespan in microseconds
+uint32 time_since_last_sonar_update	# time since last sonar update in microseconds
+uint16 frame_count_since_last_readout	# number of accumulated frames in timespan
+int16 gyro_temperature	# Temperature * 100 in centi-degrees Celsius
+uint8 quality	# Average of quality of accumulated frames, 0: bad quality, 255: maximum quality
+

msg/range_finder.msg

@@ -0,0 +1,13 @@
+int16 RANGE_FINDER_TYPE_LASER = 0
+
+# range finder report structure.  Reads from the device must be in multiples of this
+# structure.
+uint64 timestamp
+uint64 error_count
+uint16 type				# type, following RANGE_FINDER_TYPE enum 
+float32 distance			# in meters
+float32 minimum_distance			# minimum distance the sensor can measure
+float32 maximum_distance			# maximum distance the sensor can measure
+uint8 valid				# 1 == within sensor range, 0 = outside sensor range
+float32[12] distance_vector # in meters length should match MB12XX_MAX_RANGEFINDERS
+uint8 just_updated # number of the most recent measurement sensor

msg/sensor_combined.msg

@@ -0,0 +1,100 @@
+# Definition of the sensor_combined uORB topic.
+
+int32 MAGNETOMETER_MODE_NORMAL = 0
+int32 MAGNETOMETER_MODE_POSITIVE_BIAS = 1
+int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2
+
+# Sensor readings in raw and SI-unit form.
+#
+# These values are read from the sensors. Raw values are in sensor-specific units,
+# the scaled values are in SI-units, as visible from the ending of the variable
+# or the comments. The use of the SI fields is in general advised, as these fields
+# are scaled and offset-compensated where possible and do not change with board
+# revisions and sensor updates.
+#
+# Actual data, this is specific to the type of data which is stored in this struct
+# A line containing L0GME will be added by the Python logging code generator to the logged dataset.
+#
+# NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only
+
+uint64 timestamp			# Timestamp in microseconds since boot, from gyro
+#
+int16[3] gyro_raw			# Raw sensor values of angular velocity
+float32[3] gyro_rad_s			# Angular velocity in radian per seconds
+uint32 gyro_errcount			# Error counter for gyro 0
+float32 gyro_temp			# Temperature of gyro 0
+
+int16[3] accelerometer_raw		# Raw acceleration in NED body frame
+float32[3] accelerometer_m_s2		# Acceleration in NED body frame, in m/s^2
+int16 accelerometer_mode			# Accelerometer measurement mode
+float32 accelerometer_range_m_s2		# Accelerometer measurement range in m/s^2
+uint64 accelerometer_timestamp	# Accelerometer timestamp
+uint32 accelerometer_errcount	# Error counter for accel 0
+float32 accelerometer_temp		# Temperature of accel 0
+
+int16[3] magnetometer_raw		# Raw magnetic field in NED body frame
+float32[3] magnetometer_ga		# Magnetic field in NED body frame, in Gauss
+int16 magnetometer_mode			# Magnetometer measurement mode
+float32 magnetometer_range_ga		# measurement range in Gauss
+float32 magnetometer_cuttoff_freq_hz	# Internal analog low pass frequency of sensor
+uint64 magnetometer_timestamp	# Magnetometer timestamp
+uint32 magnetometer_errcount		# Error counter for mag 0
+float32 magnetometer_temp		# Temperature of mag 0
+
+int16[3] gyro1_raw			# Raw sensor values of angular velocity
+float32[3] gyro1_rad_s			# Angular velocity in radian per seconds
+uint64 gyro1_timestamp		# Gyro timestamp
+uint32 gyro1_errcount		# Error counter for gyro 1
+float32 gyro1_temp			# Temperature of gyro 1
+
+int16[3] accelerometer1_raw		# Raw acceleration in NED body frame
+float32[3] accelerometer1_m_s2		# Acceleration in NED body frame, in m/s^2
+uint64 accelerometer1_timestamp	# Accelerometer timestamp
+uint32 accelerometer1_errcount	# Error counter for accel 1
+float32 accelerometer1_temp		# Temperature of accel 1
+
+int16[3] magnetometer1_raw		# Raw magnetic field in NED body frame
+float32[3] magnetometer1_ga		# Magnetic field in NED body frame, in Gauss
+uint64 magnetometer1_timestamp	# Magnetometer timestamp
+uint32 magnetometer1_errcount	# Error counter for mag 1
+float32 magnetometer1_temp		# Temperature of mag 1
+
+int16[3] gyro2_raw			# Raw sensor values of angular velocity
+float32[3] gyro2_rad_s			# Angular velocity in radian per seconds
+uint64 gyro2_timestamp		# Gyro timestamp
+uint32 gyro2_errcount		# Error counter for gyro 1
+float32 gyro2_temp			# Temperature of gyro 1
+
+int16[3] accelerometer2_raw		# Raw acceleration in NED body frame
+float32[3] accelerometer2_m_s2		# Acceleration in NED body frame, in m/s^2
+uint64 accelerometer2_timestamp	# Accelerometer timestamp
+uint32 accelerometer2_errcount	# Error counter for accel 2
+float32 accelerometer2_temp		# Temperature of accel 2
+
+int16[3] magnetometer2_raw		# Raw magnetic field in NED body frame
+float32[3] magnetometer2_ga		# Magnetic field in NED body frame, in Gauss
+uint64 magnetometer2_timestamp	# Magnetometer timestamp
+uint32 magnetometer2_errcount	# Error counter for mag 2
+float32 magnetometer2_temp		# Temperature of mag 2
+
+float32 baro_pres_mbar			# Barometric pressure, already temp. comp.
+float32 baro_alt_meter			# Altitude, already temp. comp.
+float32 baro_temp_celcius		# Temperature in degrees celsius
+uint64 baro_timestamp		# Barometer timestamp
+
+float32 baro1_pres_mbar			# Barometric pressure, already temp. comp.
+float32 baro1_alt_meter			# Altitude, already temp. comp.
+float32 baro1_temp_celcius		# Temperature in degrees celsius
+uint64 baro1_timestamp		# Barometer timestamp
+
+float32[10] adc_voltage_v		# ADC voltages of ADC Chan 10/11/12/13 or -1
+uint16[10] adc_mapping		# Channel indices of each of these values
+float32 mcu_temp_celcius			# Internal temperature measurement of MCU
+
+float32 differential_pressure_pa			# Airspeed sensor differential pressure
+uint64 differential_pressure_timestamp	# Last measurement timestamp
+float32 differential_pressure_filtered_pa	# Low pass filtered airspeed sensor differential pressure reading
+
+float32 differential_pressure1_pa			# Airspeed sensor differential pressure
+uint64 differential_pressure1_timestamp	# Last measurement timestamp
+float32 differential_pressure1_filtered_pa	# Low pass filtered airspeed sensor differential pressure reading

msg/vehicle_global_position.msg

@@ -0,0 +1,20 @@
+# Fused global position in WGS84.
+# This struct contains global position estimation. It is not the raw GPS
+# measurement (@see vehicle_gps_position). This topic is usually published by the position
+# estimator, which will take more sources of information into account than just GPS,
+# e.g. control inputs of the vehicle in a Kalman-filter implementation.
+#
+uint64 timestamp		# Time of this estimate, in microseconds since system start
+uint64 time_utc_usec		# GPS UTC timestamp in microseconds
+float64 lat			# Latitude in degrees
+float64 lon			# Longitude in degrees
+float32 alt			# Altitude AMSL in meters
+float32 vel_n			# Ground north velocity, m/s
+float32 vel_e			# Ground east velocity, m/s
+float32 vel_d			# Ground downside velocity, m/s
+float32 yaw 			# Yaw in radians -PI..+PI.
+float32 eph			# Standard deviation of position estimate horizontally
+float32 epv			# Standard deviation of position vertically
+float32 terrain_alt		# Terrain altitude in m, WGS84
+bool terrain_alt_valid		# Terrain altitude estimate is valid
+bool dead_reckoning		# True if this position is estimated through dead-reckoning

msg/vehicle_gps_position.msg

@@ -0,0 +1,29 @@
+# GPS position in WGS84 coordinates.
+uint64 timestamp_position	# Timestamp for position information 
+int32 lat			# Latitude in 1E-7 degrees 
+int32 lon			# Longitude in 1E-7 degrees 
+int32 alt			# Altitude in 1E-3 meters (millimeters) above MSL  
+
+uint64 timestamp_variance
+float32 s_variance_m_s		# speed accuracy estimate m/s 
+float32 c_variance_rad		# course accuracy estimate rad 
+uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   
+
+float32 eph			# GPS HDOP horizontal dilution of position in m 
+float32 epv			# GPS VDOP horizontal dilution of position in m 
+
+int32 noise_per_ms		# GPS noise per millisecond
+int32 jamming_indicator		# indicates jamming is occurring
+
+uint64 timestamp_velocity	# Timestamp for velocity informations 
+float32 vel_m_s			# GPS ground speed (m/s) 
+float32 vel_n_m_s		# GPS ground speed in m/s 
+float32 vel_e_m_s		# GPS ground speed in m/s 
+float32 vel_d_m_s		# GPS ground speed in m/s 
+float32 cog_rad			# Course over ground (NOT heading, but direction of movement) in rad, -PI..PI 
+bool vel_ned_valid		# Flag to indicate if NED speed is valid 
+
+uint64 timestamp_time		# Timestamp for time information 
+uint64 time_utc_usec		# Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 
+
+uint8 satellites_used		# Number of satellites used 

msg/vehicle_status.msg

@@ -91,6 +91,7 @@ uint8 nav_state				# set navigation state machine to specified value
 uint8 arming_state			# current arming state
 uint8 hil_state				# current hil state
 bool failsafe				# true if system is in failsafe state
+bool calibration_enabled		# true if current calibrating parts of the system. Also sets the system to ARMING_STATE_INIT.
 
 int32 system_type			# system type, inspired by MAVLink's VEHICLE_TYPE enum
 int32 system_id				# system id, inspired by MAVLink's system ID field

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -560,8 +560,8 @@ CONFIG_USART1_2STOP=0
 #
 # USART2 Configuration
 #
-CONFIG_USART2_RXBUFSIZE=512
-CONFIG_USART2_TXBUFSIZE=512
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=2200
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_BITS=8
 CONFIG_USART2_PARITY=0

src/drivers/drv_range_finder.h

@@ -48,39 +48,14 @@
 #define RANGE_FINDER0_DEVICE_PATH	"/dev/range_finder0"
 #define MB12XX_MAX_RANGEFINDERS	12	//Maximum number of RangeFinders that can be connected
 
-enum RANGE_FINDER_TYPE {
-	RANGE_FINDER_TYPE_LASER = 0,
-};
+#define range_finder_report range_finder_s
+#define __orb_sensor_range_finder __orb_range_finder
 
-/**
- * @addtogroup topics
- * @{
- */
+#include <uORB/topics/range_finder.h>
 
-/**
- * range finder report structure.  Reads from the device must be in multiples of this
- * structure.
- */
-struct range_finder_report {
-	uint64_t timestamp;
-	uint64_t error_count;
-	unsigned type;				/**< type, following RANGE_FINDER_TYPE enum */
-	float distance; 			/**< in meters */
-	float minimum_distance;			/**< minimum distance the sensor can measure */
-	float maximum_distance;			/**< maximum distance the sensor can measure */
-	uint8_t valid;				/**< 1 == within sensor range, 0 = outside sensor range */
-	float distance_vector[MB12XX_MAX_RANGEFINDERS]; /** in meters */
-	uint8_t just_updated;			/** number of the most recent measurement sensor */
-};
-
-/**
- * @}
- */
-
-/*
- * ObjDev tag for raw range finder data.
- */
-ORB_DECLARE(sensor_range_finder);
+#ifndef RANGE_FINDER_TYPE_LASER
+#define RANGE_FINDER_TYPE_LASER 0
+#endif
 
 /*
  * ioctl() definitions

src/drivers/gps/gps.cpp

@@ -354,6 +354,20 @@ GPS::task_main()
 			if (_Helper->configure(_baudrate) == 0) {
 				unlock();
 
+				//Publish initial report that we have access to a GPS
+				//Make sure to clear any stale data in case driver is reset
+				memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
+				_report_gps_pos.timestamp_position = hrt_absolute_time();
+				_report_gps_pos.timestamp_variance = hrt_absolute_time();
+				_report_gps_pos.timestamp_velocity = hrt_absolute_time();
+				_report_gps_pos.timestamp_time = hrt_absolute_time();
+				if (_report_gps_pos_pub > 0) {
+					orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
+
+				} else {
+					_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
+				}
+
 				// GPS is obviously detected successfully, reset statistics
 				_Helper->reset_update_rates();
 
@@ -364,13 +378,7 @@ GPS::task_main()
 
 					if (!(_pub_blocked)) {
 						if (helper_ret & 1) {
-
-							if (_report_gps_pos_pub > 0) {
-								orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
-
-							} else {
-								_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
-							}
+							orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
 						}
 						if (_p_report_sat_info && (helper_ret & 2)) {
 							if (_report_sat_info_pub > 0) {

src/drivers/l3gd20/l3gd20.cpp

@@ -195,7 +195,7 @@ static const int ERROR = -1;
   This time reduction is enough to cope with worst case timing jitter
   due to other timers
  */
-#define L3GD20_TIMER_REDUCTION				200
+#define L3GD20_TIMER_REDUCTION				600
 
 extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); }
 

src/drivers/sf0x/sf0x.cpp

@@ -260,32 +260,37 @@ SF0X::~SF0X()
 int
 SF0X::init()
 {
-	/* do regular cdev init */
-	if (CDev::init() != OK) {
-		goto out;
-	}
+	/* status */
+	int ret = 0;
 
-	/* allocate basic report buffers */
-	_reports = new RingBuffer(2, sizeof(range_finder_report));
+	do { /* create a scope to handle exit conditions using break */
 
-	if (_reports == nullptr) {
-		warnx("mem err");
-		goto out;
-	}
+		/* do regular cdev init */
+		ret = CDev::init();
+		if (ret != OK) break;
 
-	/* get a publish handle on the range finder topic */
-	struct range_finder_report zero_report;
-	memset(&zero_report, 0, sizeof(zero_report));
-	_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
+		/* allocate basic report buffers */
+		_reports = new RingBuffer(2, sizeof(range_finder_report));
+		if (_reports == nullptr) {
+			warnx("mem err");
+			ret = -1;
+			break;
+		}
 
-	if (_range_finder_topic < 0) {
-		warnx("advert err");
-	}
+		/* get a publish handle on the range finder topic */
+		struct range_finder_report zero_report;
+		memset(&zero_report, 0, sizeof(zero_report));
+		_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
+
+		if (_range_finder_topic < 0) {
+			warnx("advert err");
+		}
+	} while(0);
 
 	/* close the fd */
 	::close(_fd);
 	_fd = -1;
-out:
+
 	return OK;
 }
 

src/include/containers/List.hpp

@@ -45,6 +45,7 @@ class __EXPORT ListNode
 public:
 	ListNode() : _sibling(nullptr) {
 	}
+	virtual ~ListNode() {};
 	void setSibling(T sibling) { _sibling = sibling; }
 	T getSibling() { return _sibling; }
 	T get() {
@@ -52,6 +53,11 @@ public:
 	}
 protected:
 	T _sibling;
+private:
+	// forbid copy
+	ListNode(const ListNode& other);
+	// forbid assignment
+	ListNode & operator = (const ListNode &);
 };
 
 template<class T>
@@ -60,12 +66,18 @@ class __EXPORT List
 public:
 	List() : _head() {
 	}
+	virtual ~List() {};
 	void add(T newNode) {
 		newNode->setSibling(getHead());
 		setHead(newNode);
 	}
 	T getHead() { return _head; }
-private:
+protected:
 	void setHead(T &head) { _head = head; }
 	T _head;
+private:
+	// forbid copy
+	List(const List& other);
+	// forbid assignment
+	List& operator = (const List &);
 };

src/modules/commander/PreflightCheck.cpp

@@ -48,6 +48,7 @@
 #include <fcntl.h>
 #include <errno.h>
 #include <math.h>
+#include <poll.h>
 
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>
@@ -61,6 +62,7 @@
 #include <drivers/drv_airspeed.h>
 
 #include <uORB/topics/airspeed.h>
+#include <uORB/topics/vehicle_gps_position.h>
 
 #include <mavlink/mavlink_log.h>
 
@@ -269,8 +271,38 @@ out:
 	return success;
 }
 
+static bool gnssCheck(int mavlink_fd)
+{
+	bool success = true;
+
+	int gpsSub = orb_subscribe(ORB_ID(vehicle_gps_position));
+
+	//Wait up to 2000ms to allow the driver to detect a GNSS receiver module
+	struct pollfd fds[1];
+	fds[0].fd = gpsSub;
+	fds[0].events = POLLIN;
+	if(poll(fds, 1, 2000) <= 0) {
+		success = false;
+	}
+	else {
+		struct vehicle_gps_position_s gps;
+		if ( (OK != orb_copy(ORB_ID(vehicle_gps_position), gpsSub, &gps)) ||
+		    (hrt_elapsed_time(&gps.timestamp_position) > 1000000)) {
+			success = false;
+		}
+	}
+
+	//Report failure to detect module
+	if(!success) {
+		mavlink_and_console_log_critical(mavlink_fd, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
+	}
+
+	close(gpsSub);
+	return success;
+}
+
 bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro,
-		    bool checkBaro, bool checkAirspeed, bool checkRC, bool checkDynamic)
+		    bool checkBaro, bool checkAirspeed, bool checkRC, bool checkGNSS, bool checkDynamic)
 {
 	bool failed = false;
 
@@ -336,6 +368,13 @@ bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc, bool checkGyro
 		}
 	}
 
+	/* ---- Global Navigation Satellite System receiver ---- */
+	if(checkGNSS) {
+		if(!gnssCheck(mavlink_fd)) {
+			failed = true;
+		}
+	}
+
 	/* Report status */
 	return !failed;
 }

src/modules/commander/PreflightCheck.h

@@ -59,11 +59,15 @@ namespace Commander
 *   true if the gyroscopes should be checked
 * @param checkBaro
 *   true if the barometer should be checked
+* @param checkAirspeed
+*   true if the airspeed sensor should be checked
 * @param checkRC
 *   true if the Remote Controller should be checked
+* @param checkGNSS
+*   true if the GNSS receiver should be checked
 **/
 bool preflightCheck(int mavlink_fd, bool checkMag, bool checkAcc,
-	bool checkGyro, bool checkBaro, bool checkAirspeed, bool checkRC, bool checkDynamic = false);
+    bool checkGyro, bool checkBaro, bool checkAirspeed, bool checkRC, bool checkGNSS, bool checkDynamic = false);
 
 const unsigned max_mandatory_gyro_count = 1;
 const unsigned max_optional_gyro_count = 3;

src/modules/commander/accelerometer_calibration.cpp

@@ -133,6 +133,7 @@
 #include <fcntl.h>
 #include <sys/prctl.h>
 #include <math.h>
+#include <poll.h>
 #include <float.h>
 #include <mathlib/mathlib.h>
 #include <string.h>
@@ -143,6 +144,7 @@
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <mavlink/mavlink_log.h>
+#include <uORB/topics/vehicle_attitude.h>
 
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
@@ -552,3 +554,89 @@ calibrate_return calculate_calibration_values(unsigned sensor, float (&accel_ref
 
 	return calibrate_return_ok;
 }
+
+int do_level_calibration(int mavlink_fd) {
+	const unsigned cal_time = 5;
+	const unsigned cal_hz = 100;
+	const unsigned settle_time = 30;
+	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	struct vehicle_attitude_s att;
+	memset(&att, 0, sizeof(att));
+
+	mavlink_and_console_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, "level");
+
+	param_t roll_offset_handler = param_find("SENS_BOARD_X_OFF");
+	param_t pitch_offset_handler = param_find("SENS_BOARD_Y_OFF");
+
+	// save old values if calibration fails
+	float roll_offset_current;
+	float pitch_offset_current;
+	param_get(roll_offset_handler, &roll_offset_current);
+	param_get(pitch_offset_handler, &pitch_offset_current);
+
+	float zero = 0.0f;
+	param_set(roll_offset_handler, &zero);
+	param_set(pitch_offset_handler, &zero);
+
+	struct pollfd fds[1];
+
+	fds[0].fd = att_sub;
+	fds[0].events = POLLIN;
+
+	float roll_mean = 0.0f;
+	float pitch_mean = 0.0f;
+	unsigned counter = 0;
+
+	// sleep for some time
+	hrt_abstime start = hrt_absolute_time();
+	while(hrt_elapsed_time(&start) < settle_time * 1000000) {
+		mavlink_and_console_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, (int)(90*hrt_elapsed_time(&start)/1e6f/(float)settle_time));
+		sleep(settle_time / 10);
+	}
+
+	start = hrt_absolute_time();
+	// average attitude for 5 seconds
+	while(hrt_elapsed_time(&start) < cal_time * 1000000) {
+		poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+		orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
+		roll_mean += att.roll;
+		pitch_mean += att.pitch;
+		counter++;
+	}
+
+	mavlink_and_console_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, 100);
+
+	bool success = false;
+	if (counter > (cal_time * cal_hz / 2 )) {
+		roll_mean /= counter;
+		pitch_mean /= counter;
+	} else {
+		mavlink_and_console_log_info(mavlink_fd, "not enough measurements taken");
+		success = false;
+		goto out;
+	}
+
+	if (fabsf(roll_mean) > 0.8f ) {
+		mavlink_and_console_log_critical(mavlink_fd, "excess roll angle");
+	} else if (fabsf(pitch_mean) > 0.8f ) {
+		mavlink_and_console_log_critical(mavlink_fd, "excess pitch angle");
+	} else {
+		roll_mean *= (float)M_RAD_TO_DEG;
+		pitch_mean *= (float)M_RAD_TO_DEG;
+		param_set(roll_offset_handler, &roll_mean);
+		param_set(pitch_offset_handler, &pitch_mean);
+		success = true;
+	}
+
+out:
+	if (success) {
+		mavlink_and_console_log_info(mavlink_fd, CAL_QGC_DONE_MSG, "level");
+		return 0;
+	} else {
+		// set old parameters
+		param_set(roll_offset_handler, &roll_offset_current);
+		param_set(pitch_offset_handler, &pitch_offset_current);
+		mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "level");
+		return 1;
+	}
+}

src/modules/commander/accelerometer_calibration.h

@@ -45,5 +45,6 @@
 #include <stdint.h>
 
 int do_accel_calibration(int mavlink_fd);
+int do_level_calibration(int mavlink_fd);
 
 #endif /* ACCELEROMETER_CALIBRATION_H_ */

src/modules/commander/calibration_messages.h

@@ -52,6 +52,7 @@
 #define CAL_QGC_STARTED_MSG			"[cal] calibration started: 1 %s"
 #define CAL_QGC_DONE_MSG			"[cal] calibration done: %s"
 #define CAL_QGC_FAILED_MSG			"[cal] calibration failed: %s"
+#define CAL_QGC_WARNING_MSG			"[cal] calibration warning: %s"
 #define CAL_QGC_CANCELLED_MSG			"[cal] calibration cancelled"
 #define CAL_QGC_PROGRESS_MSG			"[cal] progress <%u>"
 #define CAL_QGC_ORIENTATION_DETECTED_MSG	"[cal] %s orientation detected"

src/modules/commander/commander.cpp

@@ -125,6 +125,8 @@ static const int ERROR = -1;
 
 extern struct system_load_s system_load;
 
+static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60;		/**< Maximum percentage signal to noise ratio allowed for GPS reception */
+
 /* Decouple update interval and hysteris counters, all depends on intervals */
 #define COMMANDER_MONITORING_INTERVAL 50000
 #define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f))
@@ -315,6 +317,10 @@ int commander_main(int argc, char *argv[])
 				calib_ret = do_accel_calibration(mavlink_fd);
 			} else if (!strcmp(argv[2], "gyro")) {
 				calib_ret = do_gyro_calibration(mavlink_fd);
+			} else if (!strcmp(argv[2], "level")) {
+				calib_ret = do_level_calibration(mavlink_fd);
+			} else if (!strcmp(argv[2], "esc")) {
+				calib_ret = do_esc_calibration(mavlink_fd, &armed);
 			} else {
 				warnx("argument %s unsupported.", argv[2]);
 			}
@@ -916,6 +922,7 @@ int commander_thread_main(int argc, char *argv[])
 	status.circuit_breaker_engaged_airspd_check = false;
 	status.circuit_breaker_engaged_enginefailure_check = false;
 	status.circuit_breaker_engaged_gpsfailure_check = false;
+	get_circuit_breaker_params();
 
 	/* publish initial state */
 	status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
@@ -1117,8 +1124,6 @@ int commander_thread_main(int argc, char *argv[])
 	param_get(_param_sys_type, &(status.system_type)); // get system type
 	status.is_rotary_wing = is_rotary_wing(&status) || is_vtol(&status);
 
-	get_circuit_breaker_params();
-
 	bool checkAirspeed = false;
 	/* Perform airspeed check only if circuit breaker is not
 	 * engaged and it's not a rotary wing */
@@ -1127,7 +1132,7 @@ int commander_thread_main(int argc, char *argv[])
 	}
 
 	// Run preflight check
-	status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true);
+	status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
 	if (!status.condition_system_sensors_initialized) {
 		set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
 	}
@@ -1300,7 +1305,7 @@ int commander_thread_main(int argc, char *argv[])
 					}
 
 					/* provide RC and sensor status feedback to the user */
-					(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, true);
+					(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
 				}
 
 				telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
@@ -1601,7 +1606,7 @@ int commander_thread_main(int argc, char *argv[])
 		/* End battery voltage check */
 
 		/* If in INIT state, try to proceed to STANDBY state */
-		if (status.arming_state == vehicle_status_s::ARMING_STATE_INIT) {
+		if (!status.calibration_enabled && status.arming_state == vehicle_status_s::ARMING_STATE_INIT) {
 			arming_ret = arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */,
 							     mavlink_fd);
 
@@ -1637,19 +1642,31 @@ int commander_thread_main(int argc, char *argv[])
 						  (float)gps_position.alt * 1.0e-3f, hrt_absolute_time());
 		}
 
-		/* check if GPS fix is ok */
-		if (status.circuit_breaker_engaged_gpsfailure_check ||
-		    (gps_position.fix_type >= 3 &&
-		     hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT)) {
-			/* handle the case where gps was regained */
-			if (status.gps_failure) {
-				status.gps_failure = false;
-				status_changed = true;
-				mavlink_log_critical(mavlink_fd, "gps regained");
+		/* check if GPS is ok */
+		if (!status.circuit_breaker_engaged_gpsfailure_check) {
+			bool gpsIsNoisy = gps_position.noise_per_ms > 0 && gps_position.noise_per_ms < COMMANDER_MAX_GPS_NOISE;
+
+			//Check if GPS receiver is too noisy while we are disarmed
+			if (!armed.armed && gpsIsNoisy) {
+				if (!status.gps_failure) {
+					mavlink_log_critical(mavlink_fd, "GPS signal noisy");
+					set_tune_override(TONE_GPS_WARNING_TUNE);
+
+					//GPS suffers from signal jamming or excessive noise, disable GPS-aided flight
+					status.gps_failure = true;
+					status_changed = true;
+				}
 			}
 
-		} else {
-			if (!status.gps_failure) {
+			if (gps_position.fix_type >= 3 && hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT) {
+				/* handle the case where gps was regained */
+				if (status.gps_failure && !gpsIsNoisy) {
+					status.gps_failure = false;
+					status_changed = true;
+					mavlink_log_critical(mavlink_fd, "gps regained");
+				}
+
+			} else if (!status.gps_failure) {
 				status.gps_failure = true;
 				status_changed = true;
 				mavlink_log_critical(mavlink_fd, "gps fix lost");
@@ -2674,6 +2691,8 @@ void *commander_low_prio_loop(void *arg)
 							false /* fRunPreArmChecks */, mavlink_fd)) {
 						answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
 						break;
+					} else {
+						status.calibration_enabled = true;
 					}
 
 					if ((int)(cmd.param1) == 1) {
@@ -2707,7 +2726,10 @@ void *commander_low_prio_loop(void *arg)
 						/* accelerometer calibration */
 						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
 						calib_ret = do_accel_calibration(mavlink_fd);
-
+					} else if ((int)(cmd.param5) == 2) {
+						// board offset calibration
+						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
+						calib_ret = do_level_calibration(mavlink_fd);
 					} else if ((int)(cmd.param6) == 1) {
 						/* airspeed calibration */
 						answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
@@ -2715,14 +2737,9 @@ void *commander_low_prio_loop(void *arg)
 
 					} else if ((int)(cmd.param7) == 1) {
 						/* do esc calibration */
-						calib_ret = check_if_batt_disconnected(mavlink_fd);
-						if(calib_ret == OK) {
-							answer_command(cmd,VEHICLE_CMD_RESULT_ACCEPTED);
-							armed.in_esc_calibration_mode = true;
-							calib_ret = do_esc_calibration(mavlink_fd);
-							armed.in_esc_calibration_mode = false;
-						}
-
+						answer_command(cmd,VEHICLE_CMD_RESULT_ACCEPTED);
+						calib_ret = do_esc_calibration(mavlink_fd, &armed);
+						
 					} else if ((int)(cmd.param4) == 0) {
 						/* RC calibration ended - have we been in one worth confirming? */
 						if (status.rc_input_blocked) {
@@ -2730,12 +2747,14 @@ void *commander_low_prio_loop(void *arg)
 							/* enable RC control input */
 							status.rc_input_blocked = false;
 							mavlink_log_info(mavlink_fd, "CAL: Re-enabling RC IN");
-                            calib_ret = OK;
+							calib_ret = OK;
 						}
 						/* this always succeeds */
 						calib_ret = OK;
 					}
 
+					status.calibration_enabled = false;
+
 					if (calib_ret == OK) {
 						tune_positive(true);
 
@@ -2751,9 +2770,9 @@ void *commander_low_prio_loop(void *arg)
 							checkAirspeed = true;
 						}
 
-						status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true);
+						status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status.circuit_breaker_engaged_gpsfailure_check);
 
-						arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
+						arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */, mavlink_fd);
 
 					} else {
 						tune_negative(true);

src/modules/commander/esc_calibration.cpp

@@ -40,6 +40,8 @@
  */
 
 #include "esc_calibration.h"
+#include "calibration_messages.h"
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -62,91 +64,122 @@
 #endif
 static const int ERROR = -1;
 
-int check_if_batt_disconnected(int mavlink_fd) {
-	struct battery_status_s battery;
-	memset(&battery,0,sizeof(battery));
-	int batt_sub = orb_subscribe(ORB_ID(battery_status));
-	orb_copy(ORB_ID(battery_status), batt_sub, &battery);
-
-	if (battery.voltage_filtered_v > 3.0f && !(hrt_absolute_time() - battery.timestamp > 500000)) {
-		mavlink_log_info(mavlink_fd, "Please disconnect battery and try again!");
-		return ERROR;
+int do_esc_calibration(int mavlink_fd, struct actuator_armed_s* armed)
+{
+	int	return_code = OK;
+	
+	int	fd = -1;
+	
+	struct	battery_status_s battery;
+	int	batt_sub = -1;
+	bool	batt_updated = false;
+	bool	batt_connected = false;
+	
+	hrt_abstime battery_connect_wait_timeout = 20000000;
+	hrt_abstime pwm_high_timeout = 5000000;
+	hrt_abstime timeout_start;
+	
+	mavlink_and_console_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, "esc");
+	
+	batt_sub = orb_subscribe(ORB_ID(battery_status));
+	if (batt_sub < 0) {
+		mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "Subscribe to battery");
+		goto Error;
 	}
-	return OK;
-}
 
+	// Make sure battery is disconnected
+	orb_copy(ORB_ID(battery_status), batt_sub, &battery);
+	if (battery.voltage_filtered_v > 3.0f) {
+		mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "Disconnect battery and try again");
+		goto Error;
+	}
+	
+	armed->in_esc_calibration_mode = true;
+	
+	fd = open(PWM_OUTPUT0_DEVICE_PATH, 0);
 
-int do_esc_calibration(int mavlink_fd) {
-
-	int fd = open(PWM_OUTPUT0_DEVICE_PATH, 0);
-	int ret;
-
-	if(fd < 0) {
-		err(1,"Can't open %s", PWM_OUTPUT0_DEVICE_PATH);
+	if (fd < 0) {
+		mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "Can't open PWM device");
+		goto Error;
 	}
 
 	/* tell IO/FMU that its ok to disable its safety with the switch */
-	ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
-	if (ret != OK)
-		err(1, "PWM_SERVO_SET_ARM_OK");
+	if (ioctl(fd, PWM_SERVO_SET_ARM_OK, 0) != OK) {
+		mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "Unable to disable safety switch");
+		goto Error;
+	}
+	
 	/* tell IO/FMU that the system is armed (it will output values if safety is off) */
-	ret = ioctl(fd, PWM_SERVO_ARM, 0);
-	if (ret != OK)
-		err(1, "PWM_SERVO_ARM");
+	if (ioctl(fd, PWM_SERVO_ARM, 0) != OK) {
+		mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "Unable to arm system");
+		goto Error;
+	}
+	
 	/* tell IO to switch off safety without using the safety switch */
-	ret = ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
-	if(ret!=0) {
-		err(1,"PWM_SERVO_SET_FORCE_SAFETY_OFF");
+	if (ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0) != OK) {
+		mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "Unable to force safety off");
+		goto Error;
 	}
 
-	mavlink_log_info(mavlink_fd,"Please connect battery now");
+	mavlink_and_console_log_info(mavlink_fd, "[cal] Connect battery now");
+	
+	timeout_start = hrt_absolute_time();
 
-	struct battery_status_s battery;
-	memset(&battery,0,sizeof(battery));
-	int batt_sub = orb_subscribe(ORB_ID(battery_status));
-	orb_copy(ORB_ID(vehicle_command),batt_sub, &battery);
-	bool updated = false;
-
-	struct vehicle_command_s cmd;
-	memset(&cmd, 0, sizeof(cmd));
-	int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
-	orb_copy(ORB_ID(vehicle_command),cmd_sub, &cmd);
-
-	/* wait for one of the following events:
-		1) user has pressed the button in QGroundControl
-		2) timeout of 5 seconds is reached
-	*/
-	hrt_abstime start_time = hrt_absolute_time();
-
-	while(true) {
-		orb_check(batt_sub,&updated);
-		if(updated) {
-			orb_copy(ORB_ID(battery_status), batt_sub, &battery);
-		}
-		// user has connected battery
-		if(battery.voltage_filtered_v > 3.0f) {
-			orb_check(cmd_sub,&updated);
-			if(updated) {
-				orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
-			}
-			if((int)(cmd.param7) == 2 && cmd.command == VEHICLE_CMD_PREFLIGHT_CALIBRATION) {
-				break;
-			} else if (hrt_absolute_time() - start_time > 5000000) {
-				// waited for 5 seconds, switch to low pwm
-				break;
+	while (true) {
+		// We are either waiting for the user to connect the battery. Or we are waiting to let the PWM
+		// sit high.
+		hrt_abstime timeout_wait = batt_connected ? pwm_high_timeout : battery_connect_wait_timeout;
+        
+		if (hrt_absolute_time() - timeout_start > timeout_wait) {
+			if (!batt_connected) {
+				mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "Timeout waiting for battery");
+				goto Error;
 			}
+			
+			// PWM was high long enough
+			break;
 		}
-		else {
-			start_time = hrt_absolute_time();
+		
+		if (!batt_connected) {
+			orb_check(batt_sub, &batt_updated);
+			if (batt_updated) {
+				orb_copy(ORB_ID(battery_status), batt_sub, &battery);
+				if (battery.voltage_filtered_v > 3.0f) {
+					// Battery is connected, signal to user and start waiting again
+					batt_connected = true;
+					timeout_start = hrt_absolute_time();
+					mavlink_and_console_log_info(mavlink_fd, "[cal] Battery connected");
+				}
+			}
 		}
 		usleep(50000);
 	}
 
-	/* disarm */
-	ret = ioctl(fd, PWM_SERVO_DISARM, 0);
-	if (ret != OK)
-		err(1, "PWM_SERVO_DISARM");
-
-	mavlink_log_info(mavlink_fd,"ESC calibration finished");
-	return OK;
- }
+Out:
+	if (batt_sub != -1) {
+		orb_unsubscribe(batt_sub);
+	}
+	if (fd != -1) {
+		if (ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_ON, 0) != OK) {
+			mavlink_and_console_log_info(mavlink_fd, CAL_QGC_WARNING_MSG, "Safety switch still off");
+		}
+		if (ioctl(fd, PWM_SERVO_DISARM, 0) != OK) {
+			mavlink_and_console_log_info(mavlink_fd, CAL_QGC_WARNING_MSG, "Servos still armed");
+		}
+		if (ioctl(fd, PWM_SERVO_CLEAR_ARM_OK, 0) != OK) {
+			mavlink_and_console_log_info(mavlink_fd, CAL_QGC_WARNING_MSG, "Safety switch still deactivated");
+		}
+		close(fd);
+	}
+	armed->in_esc_calibration_mode = false;
+	
+	if (return_code == OK) {
+		mavlink_and_console_log_info(mavlink_fd, CAL_QGC_DONE_MSG, "esc");
+	}
+	
+	return return_code;
+	
+Error:
+	return_code = ERROR;
+	goto Out;
+}

src/modules/commander/esc_calibration.h

@@ -41,7 +41,9 @@
 
 #ifndef ESC_CALIBRATION_H_
 #define ESC_CALIBRATION_H_
-int check_if_batt_disconnected(int mavlink_fd);
-int do_esc_calibration(int mavlink_fd);
+
+#include <uORB/topics/actuator_armed.h>
+
+int do_esc_calibration(int mavlink_fd, struct actuator_armed_s* armed);
 
 #endif

src/modules/commander/state_machine_helper.cpp

@@ -216,23 +216,13 @@ arming_state_transition(struct vehicle_status_s *status,		///< current vehicle s
 			valid_transition = true;
 		}
 
-		// Sensors need to be initialized for STANDBY state, except for HIL
-		if ((status->hil_state != vehicle_status_s::HIL_STATE_ON) &&
-			(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
-			(!status->condition_system_sensors_initialized)) {
-			mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
-			feedback_provided = true;
-			valid_transition = false;
-			status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
-		}
-
 		// Check if we are trying to arm, checks look good but we are in STANDBY_ERROR
 		if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {
 
 			if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
 
 				if (status->condition_system_sensors_initialized) {
-					mavlink_and_console_log_critical(mavlink_fd, "Preflight check now OK, power cycle before arming");
+					mavlink_and_console_log_critical(mavlink_fd, "Preflight check resolved, reboot before arming");
 				} else {
 					mavlink_and_console_log_critical(mavlink_fd, "Preflight check failed, refusing to arm");
 				}
@@ -240,11 +230,24 @@ arming_state_transition(struct vehicle_status_s *status,		///< current vehicle s
 
 			} else if ((new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
 					status->condition_system_sensors_initialized) {
-				mavlink_and_console_log_critical(mavlink_fd, "Preflight check resolved, power cycle to complete");
+				mavlink_and_console_log_critical(mavlink_fd, "Preflight check resolved, reboot to complete");
 				feedback_provided = true;
 			} else {
-
+				// Silent ignore
+				feedback_provided = true;
 			}
+
+		// Sensors need to be initialized for STANDBY state, except for HIL
+		} else if ((status->hil_state != vehicle_status_s::HIL_STATE_ON) &&
+			(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
+			(status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) &&
+			(!status->condition_system_sensors_initialized)) {
+			if (!fRunPreArmChecks) {
+				mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
+			}
+			feedback_provided = true;
+			valid_transition = false;
+			status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
 		}
 
 		// Finish up the state transition
@@ -689,5 +692,5 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 		checkAirspeed = true;
 	}
 
-	return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, true);
+	return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, true, !status->circuit_breaker_engaged_gpsfailure_check, true);
 }

src/modules/controllib/block/Block.cpp

@@ -208,4 +208,9 @@ void SuperBlock::updateChildPublications()
 	}
 }
 
+
 } // namespace control
+
+template class List<uORB::SubscriptionNode *>;
+template class List<uORB::PublicationNode *>;
+template class List<control::BlockParamBase *>;

src/modules/controllib/block/Block.hpp

@@ -43,12 +43,9 @@
 #include <inttypes.h>
 
 #include <containers/List.hpp>
-
-// forward declaration
-namespace uORB {
-	class SubscriptionNode;
-	class PublicationNode;
-}
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <controllib/block/BlockParam.hpp>
 
 namespace control
 {
@@ -60,8 +57,8 @@ static const uint16_t maxPublicationsPerBlock = 100;
 static const uint8_t blockNameLengthMax = 80;
 
 // forward declaration
-class BlockParamBase;
 class SuperBlock;
+class BlockParamBase;
 
 /**
  */
@@ -137,4 +134,5 @@ protected:
 	List<Block *> _children;
 };
 
+
 } // namespace control

src/modules/controllib/block/BlockParam.cpp

@@ -43,6 +43,8 @@
 
 #include "BlockParam.hpp"
 
+#include <containers/List.hpp>
+
 namespace control
 {
 

src/modules/controllib/block/BlockParam.hpp

@@ -47,6 +47,8 @@
 namespace control
 {
 
+class Block;
+
 /**
  * A base class for block params that enables traversing linked list.
  */

src/modules/controllib/uorb/blocks.cpp

@@ -38,6 +38,7 @@
  */
 
 #include "blocks.hpp"
+#include <geo/geo.h>
 
 namespace control
 {

src/modules/controllib/uorb/blocks.hpp

@@ -61,10 +61,6 @@
 #include <drivers/drv_hrt.h>
 #include <poll.h>
 
-extern "C" {
-#include <geo/geo.h>
-}
-
 #include "../blocks.hpp"
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>

src/modules/fw_att_control/fw_att_control_params.c

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
-f *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   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
@@ -37,8 +36,8 @@ f *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Parameters defined by the fixed-wing attitude control task
  *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Lorenz Meier <lorenz@px4.io>
+ * @author Thomas Gubler <thomas@px4.io>
  */
 
 #include <nuttx/config.h>
@@ -73,6 +72,8 @@ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
  * This defines how much the elevator input will be commanded depending on the
  * current body angular rate error.
  *
+ * @min 0.005
+ * @max 1.0
  * @group FW Attitude Control
  */
 PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
@@ -144,6 +145,8 @@ PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f);
  * This defines how much the aileron input will be commanded depending on the
  * current body angular rate error.
  *
+ * @min 0.005
+ * @max 1.0
  * @group FW Attitude Control
  */
 PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
@@ -190,6 +193,8 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 0.0f);
  * This defines how much the rudder input will be commanded depending on the
  * current body angular rate error.
  *
+ * @min 0.005
+ * @max 1.0
  * @group FW Attitude Control
  */
 PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
@@ -234,7 +239,9 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
 /**
  * Roll rate feed forward
  *
- * Direct feed forward from rate setpoint to control surface output
+ * Direct feed forward from rate setpoint to control surface output. Use this
+ * to obtain a tigher response of the controller without introducing
+ * noise amplification.
  *
  * @min 0.0
  * @max 10.0

src/modules/mavlink/mavlink_ftp.cpp

@@ -381,8 +381,7 @@ MavlinkFTP::_workList(PayloadHeader* payload)
 			}
 			break;
 		case DTYPE_DIRECTORY:
-			// 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) {
+			if (strcmp(entry.d_name, ".") == 0 || strcmp(entry.d_name, "..") == 0) {
 				// Don't bother sending these back
 				direntType = kDirentSkip;
 			} else {

src/modules/mavlink/mavlink_main.cpp

@@ -66,6 +66,8 @@
 #include <systemlib/err.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/systemlib.h>
+#include <systemlib/mcu_version.h>
+#include <systemlib/git_version.h>
 #include <geo/geo.h>
 #include <dataman/dataman.h>
 #include <mathlib/mathlib.h>
@@ -912,6 +914,47 @@ Mavlink::send_statustext(unsigned char severity, const char *string)
 	mavlink_logbuffer_write(&_logbuffer, &logmsg);
 }
 
+void Mavlink::send_autopilot_capabilites() {
+	struct vehicle_status_s status;
+
+	MavlinkOrbSubscription *status_sub = this->add_orb_subscription(ORB_ID(vehicle_status));
+
+	if (status_sub->update(&status)) {
+		mavlink_autopilot_version_t msg = {};
+
+		msg.capabilities = MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_COMMAND_INT;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_FTP;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_FTP;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET;
+		msg.flight_sw_version = 0;
+		msg.middleware_sw_version = 0;
+		msg.os_sw_version = 0;
+		msg.board_version = 0;
+		memcpy(&msg.flight_custom_version, &px4_git_version_binary, sizeof(msg.flight_custom_version));
+		memcpy(&msg.middleware_custom_version, &px4_git_version_binary, sizeof(msg.middleware_custom_version));
+		memset(&msg.os_custom_version, 0, sizeof(msg.os_custom_version));
+		#ifdef CONFIG_CDCACM_VENDORID
+		msg.vendor_id = CONFIG_CDCACM_VENDORID;
+		#else
+		msg.vendor_id = 0;
+		#endif
+		#ifdef CONFIG_CDCACM_PRODUCTID
+		msg.product_id = CONFIG_CDCACM_PRODUCTID;
+		#else
+		msg.product_id = 0;
+		#endif
+		uint32_t uid[3];
+		mcu_unique_id(uid);
+		msg.uid = (((uint64_t)uid[1]) << 32) | uid[2];
+
+		this->send_message(MAVLINK_MSG_ID_AUTOPILOT_VERSION, &msg);
+	}
+}
+
 MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic, int instance)
 {
 	/* check if already subscribed to this topic */
@@ -1406,6 +1449,9 @@ Mavlink::task_main(int argc, char *argv[])
 	case MAVLINK_MODE_ONBOARD:
 		configure_stream("SYS_STATUS", 1.0f);
 		configure_stream("ATTITUDE", 50.0f);
+		configure_stream("HIGHRES_IMU", 50.0f);
+		configure_stream("VFR_HUD", 5.0f);
+		configure_stream("GPS_RAW_INT", 5.0f);
 		configure_stream("GLOBAL_POSITION_INT", 50.0f);
 		configure_stream("LOCAL_POSITION_NED", 30.0f);
 		configure_stream("CAMERA_CAPTURE", 2.0f);
@@ -1414,6 +1460,7 @@ Mavlink::task_main(int argc, char *argv[])
 		configure_stream("POSITION_TARGET_LOCAL_NED", 10.0f);
 		configure_stream("DISTANCE_SENSOR", 10.0f);
 		configure_stream("OPTICAL_FLOW_RAD", 10.0f);
+		configure_stream("RC_CHANNELS_RAW", 20.0f);
 		configure_stream("VFR_HUD", 10.0f);
 		configure_stream("SYSTEM_TIME", 1.0f);
 		configure_stream("TIMESYNC", 10.0f);
@@ -1430,6 +1477,8 @@ Mavlink::task_main(int argc, char *argv[])
 	/* now the instance is fully initialized and we can bump the instance count */
 	LL_APPEND(_mavlink_instances, this);
 
+	send_autopilot_capabilites();
+
 	while (!_task_should_exit) {
 		/* main loop */
 		usleep(_main_loop_delay);

src/modules/mavlink/mavlink_main.h

@@ -229,6 +229,7 @@ public:
 	 * @param severity the log level
 	 */
 	void			send_statustext(unsigned char severity, const char *string);
+	void 			send_autopilot_capabilites();
 
 	MavlinkStream *		get_streams() const { return _streams; }
 

src/modules/mavlink/mavlink_messages.cpp

@@ -59,7 +59,6 @@
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/actuator_controls_effective.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/manual_control_setpoint.h>

src/modules/mavlink/mavlink_receiver.cpp

@@ -278,7 +278,9 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 
 			/* terminate other threads and this thread */
 			_mavlink->_task_should_exit = true;
-
+		} else if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
+			/* send autopilot version message */
+			_mavlink->send_autopilot_capabilites();
 		} else {
 
 			if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {

src/modules/mavlink/mavlink_receiver.h

@@ -64,7 +64,6 @@
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/actuator_controls_effective.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/manual_control_setpoint.h>

src/modules/mc_att_control/mc_att_control_main.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
@@ -40,7 +40,7 @@
  * Int. Conf. on Robotics and Automation, Shanghai, China, May 2011.
  *
  * @author Tobias Naegeli <naegelit@student.ethz.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Lorenz Meier <lorenz@px4.io>
  * @author Anton Babushkin <anton.babushkin@me.com>
  *
  * The controller has two loops: P loop for angular error and PD loop for angular rate error.

src/modules/mc_att_control/mc_att_control_params.c

@@ -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

src/modules/navigator/mission.cpp

@@ -207,6 +207,8 @@ Mission::update_onboard_mission()
 void
 Mission::update_offboard_mission()
 {
+	bool failed = true;
+
 	if (orb_copy(ORB_ID(offboard_mission), _navigator->get_offboard_mission_sub(), &_offboard_mission) == OK) {
 		warnx("offboard mission updated: dataman_id=%d, count=%d, current_seq=%d", _offboard_mission.dataman_id, _offboard_mission.count, _offboard_mission.current_seq);
 		/* determine current index */
@@ -228,12 +230,15 @@ Mission::update_offboard_mission()
 		 * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
 		dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
 
-		_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
+		failed = !_missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
 				dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
 				_navigator->get_home_position()->alt);
 
 	} else {
 		warnx("offboard mission update failed");
+	}
+
+	if (failed) {
 		_offboard_mission.count = 0;
 		_offboard_mission.current_seq = 0;
 		_current_offboard_mission_index = 0;

src/modules/navigator/mission_feasibility_checker.cpp

@@ -65,6 +65,7 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab
 
 bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {
+	bool failed = false;
 	/* Init if not done yet */
 	init();
 
@@ -74,11 +75,16 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_
 		_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 	}
 
+	// check if all mission item commands are supported
+	failed |= !checkMissionItemValidity(dm_current, nMissionItems);
+
 
 	if (isRotarywing)
-		return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt);
+		failed |= !checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt);
 	else
-		return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt);
+		failed |= !checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt);
+
+	return !failed;
 }
 
 bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
@@ -163,6 +169,38 @@ bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current,
 	return true;
 }
 
+bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, size_t nMissionItems) {
+	// do not allow mission if we find unsupported item
+	for (size_t i = 0; i < nMissionItems; i++) {
+		struct mission_item_s missionitem;
+		const ssize_t len = sizeof(struct mission_item_s);
+
+		if (dm_read(dm_current, i, &missionitem, len) != len) {
+			// not supposed to happen unless the datamanager can't access the SD card, etc.
+			mavlink_log_critical(_mavlink_fd, "Rejecting Mission: Cannot access mission from SD card");
+			return false;
+		}
+
+		// check if we find unsupported item and reject mission if so
+		if (missionitem.nav_cmd != NAV_CMD_IDLE &&
+			missionitem.nav_cmd != NAV_CMD_WAYPOINT &&
+			missionitem.nav_cmd != NAV_CMD_LOITER_UNLIMITED &&
+			missionitem.nav_cmd != NAV_CMD_LOITER_TURN_COUNT &&
+			missionitem.nav_cmd != NAV_CMD_LOITER_TIME_LIMIT &&
+			missionitem.nav_cmd != NAV_CMD_LAND &&
+			missionitem.nav_cmd != NAV_CMD_TAKEOFF &&
+			missionitem.nav_cmd != NAV_CMD_ROI &&
+			missionitem.nav_cmd != NAV_CMD_PATHPLANNING &&
+			missionitem.nav_cmd != NAV_CMD_DO_JUMP) {
+
+			mavlink_log_critical(_mavlink_fd, "Rejecting mission item %i: unsupported action.", (int)(i+1));
+			return false;
+		}
+	}
+	mavlink_log_critical(_mavlink_fd, "Mission is valid!");
+	return true;
+}
+
 bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems)
 {
 	/* Go through all mission items and search for a landing waypoint

src/modules/navigator/mission_feasibility_checker.h

@@ -62,6 +62,7 @@ private:
 	/* Checks for all airframes */
 	bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
 	bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error = false);
+	bool checkMissionItemValidity(dm_item_t dm_current, size_t nMissionItems);
 
 	/* Checks specific to fixedwing airframes */
 	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);

src/modules/navigator/mission_params.c

@@ -110,4 +110,4 @@ PARAM_DEFINE_INT32(MIS_ALTMODE, 0);
  * @max 3
  * @group Mission
  */
-PARAM_DEFINE_INT32(MIS_YAWMODE, 0);
+PARAM_DEFINE_INT32(MIS_YAWMODE, 1);

src/modules/sdlog2/module.mk

@@ -47,5 +47,3 @@ MODULE_STACKSIZE = 1200
 MAXOPTIMIZATION	 = -Os
 
 EXTRACFLAGS = -Wframe-larger-than=1400
-
-EXTRADEFINES = -DGIT_VERSION='"$(GIT_DESC)"'

src/modules/sdlog2/sdlog2.c

@@ -104,6 +104,7 @@
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
 #include <systemlib/perf_counter.h>
+#include <systemlib/git_version.h>
 #include <version/version.h>
 
 #include <mavlink/mavlink_log.h>
@@ -795,7 +796,7 @@ int write_version(int fd)
 	};
 
 	/* fill version message and write it */
-	strncpy(log_msg_VER.body.fw_git, GIT_VERSION, sizeof(log_msg_VER.body.fw_git));
+	strncpy(log_msg_VER.body.fw_git, px4_git_version, sizeof(log_msg_VER.body.fw_git));
 	strncpy(log_msg_VER.body.arch, HW_ARCH, sizeof(log_msg_VER.body.arch));
 	return write(fd, &log_msg_VER, sizeof(log_msg_VER));
 }

src/modules/sensors/sensors.cpp

@@ -129,7 +129,7 @@
 #endif
 
 #define BATT_V_LOWPASS			0.001f
-#define BATT_V_IGNORE_THRESHOLD		4.8f
+#define BATT_V_IGNORE_THRESHOLD		2.5f
 
 /**
  * HACK - true temperature is much less than indicated temperature in baro,
@@ -856,7 +856,7 @@ Sensors::parameters_update()
 					 M_DEG_TO_RAD_F * _parameters.board_offset[1],
 					 M_DEG_TO_RAD_F * _parameters.board_offset[2]);
 
-	_board_rotation = _board_rotation * board_rotation_offset;
+	_board_rotation = board_rotation_offset * _board_rotation;
 
 	/* update barometer qnh setting */
 	param_get(_parameter_handles.baro_qnh, &(_parameters.baro_qnh));
@@ -2066,35 +2066,25 @@ Sensors::task_main()
 {
 
 	/* start individual sensors */
-	int ret;
-	ret = accel_init();
+	int ret = 0;
+	do { /* create a scope to handle exit with break */
+		ret = accel_init();
+		if (ret) break;
+		ret = gyro_init();
+		if (ret) break;
+		ret = mag_init();
+		if (ret) break;
+		ret = baro_init();
+		if (ret) break;
+		ret = adc_init();
+		if (ret) break;
+		break;
+	} while (0);
 
 	if (ret) {
-		goto exit_immediate;
-	}
-
-	ret = gyro_init();
-
-	if (ret) {
-		goto exit_immediate;
-	}
-
-	ret = mag_init();
-
-	if (ret) {
-		goto exit_immediate;
-	}
-
-	ret = baro_init();
-
-	if (ret) {
-		goto exit_immediate;
-	}
-
-	ret = adc_init();
-
-	if (ret) {
-		goto exit_immediate;
+		_sensors_task = -1;
+		_exit(ret);
+		return;
 	}
 
 	/*
@@ -2237,8 +2227,6 @@ Sensors::task_main()
 	}
 
 	warnx("exiting.");
-
-exit_immediate:
 	_sensors_task = -1;
 	_exit(ret);
 }

src/modules/systemlib/circuit_breaker_params.c

@@ -120,3 +120,19 @@ PARAM_DEFINE_INT32(CBRK_FLIGHTTERM, 121212);
  * @group Circuit Breaker
  */
 PARAM_DEFINE_INT32(CBRK_ENGINEFAIL, 284953);
+
+/**
+ * Circuit breaker for GPS failure detection
+ *
+ * Setting this parameter to 240024 will disable the GPS failure detection.
+ * If this check is enabled, then the sensor check will fail if the GPS module
+ * is missing. It will also check for excessive signal noise on the GPS receiver
+ * and warn the user if detected.
+ * 
+ * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ *
+ * @min 0
+ * @max 240024
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_GPSFAIL, 240024);

src/modules/systemlib/git_version.h

@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
- *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
- *   		 Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 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
@@ -34,40 +32,18 @@
  ****************************************************************************/
 
 /**
- * @file filtered_bottom_flow.h
- * Definition of the filtered bottom flow uORB topic.
+ * @file git_version.h
+ *
+ * GIT repository version
  */
 
-#ifndef TOPIC_FILTERED_BOTTOM_FLOW_H_
-#define TOPIC_FILTERED_BOTTOM_FLOW_H_
+#pragma once
 
 #include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
 
-/**
- * @addtogroup topics
- * @{
- */
+__BEGIN_DECLS
 
-/**
- * Filtered bottom flow in bodyframe.
- */
-struct filtered_bottom_flow_s {
-	uint64_t timestamp;		/**< time of this estimate, in microseconds since system start */
+__EXPORT extern const char* px4_git_version;
+__EXPORT extern const uint64_t px4_git_version_binary;
 
-	float sumx;				/**< Integrated bodyframe x flow in meters					   */
-	float sumy;				/**< Integrated bodyframe y flow in meters			   		   */
-
-	float vx; 				/**< Flow bodyframe x speed, m/s							   */
-	float vy;				/**< Flow bodyframe y Speed, m/s 							   */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(filtered_bottom_flow);
-
-#endif
+__END_DECLS

src/modules/systemlib/module.mk

@@ -55,7 +55,8 @@ SRCS		 = err.c \
 		   pwm_limit/pwm_limit.c \
 		   circuit_breaker.cpp \
 		   circuit_breaker_params.c \
-		   mcu_version.c
+		   mcu_version.c \
+		   $(BUILD_DIR)git_version.c
 
 MAXOPTIMIZATION	 = -Os
 

src/modules/uORB/Publication.cpp

@@ -69,6 +69,14 @@ void * Publication<T>::getDataVoidPtr() {
 	return (void *)(T *)(this);
 }
 
+
+PublicationNode::PublicationNode(const struct orb_metadata *meta,
+	List<PublicationNode *> * list) :
+		PublicationBase(meta) {
+		if (list != nullptr) list->add(this);
+}
+	
+
 template class __EXPORT Publication<vehicle_attitude_s>;
 template class __EXPORT Publication<vehicle_local_position_s>;
 template class __EXPORT Publication<vehicle_global_position_s>;

src/modules/uORB/Publication.hpp

@@ -94,6 +94,11 @@ protected:
 // attributes
 	const struct orb_metadata *_meta;
 	orb_advert_t _handle;
+private:
+	// forbid copy
+	PublicationBase(const PublicationBase&) : _meta(), _handle() {};
+	// forbid assignment
+	PublicationBase& operator = (const PublicationBase &);
 };
 
 /**
@@ -120,10 +125,7 @@ public:
 	 * 	that this should be appended to.
 	 */
 	PublicationNode(const struct orb_metadata *meta,
-		List<PublicationNode *> * list=nullptr) :
-		PublicationBase(meta) {
-		if (list != nullptr) list->add(this);
-	}
+		List<PublicationNode *> * list=nullptr);
 
 	/**
 	 * This function is the callback for list traversal
@@ -136,7 +138,7 @@ public:
  * Publication wrapper class
  */
 template<class T>
-class Publication :
+class __EXPORT Publication :
 	public T, // this must be first!
 	public PublicationNode
 {

src/modules/uORB/Subscription.cpp

@@ -53,6 +53,8 @@
 #include "topics/vehicle_attitude_setpoint.h"
 #include "topics/vehicle_rates_setpoint.h"
 #include "topics/rc_channels.h"
+#include "topics/vehicle_control_mode.h"
+#include "topics/actuator_armed.h"
 
 namespace uORB
 {

src/modules/uORB/Subscription.hpp

@@ -106,6 +106,11 @@ protected:
 // attributes
 	const struct orb_metadata *_meta;
 	int _handle;
+private:
+	// forbid copy
+	SubscriptionBase(const SubscriptionBase& other);
+	// forbid assignment
+	SubscriptionBase& operator = (const SubscriptionBase &);
 };
 
 /**

src/modules/uORB/topics/actuator_controls_effective.h

@@ -1,79 +0,0 @@
-/****************************************************************************
- *
- *   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 actuator_controls_effective.h
- *
- * Actuator control topics - mixer inputs.
- *
- * Values published to these topics are the outputs of the vehicle control
- * system and mixing process; they are the control-scale values that are
- * then fed to the actual actuator driver.
- *
- * Each topic can be published by a single controller
- */
-
-#ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
-#define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
-
-//#include <stdint.h>
-//#include "../uORB.h"
-//#include "actuator_controls.h"
-//
-//#define NUM_ACTUATOR_CONTROLS_EFFECTIVE		NUM_ACTUATOR_CONTROLS
-//#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE	NUM_ACTUATOR_CONTROL_GROUPS	/**< for sanity checking */
-//
-///**
-// * @addtogroup topics
-// * @{
-// */
-//
-//struct actuator_controls_effective_s {
-//	uint64_t timestamp;
-//	float	control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
-//};
-//
-///**
-// * @}
-// */
-//
-///* actuator control sets; this list can be expanded as more controllers emerge */
-//ORB_DECLARE(actuator_controls_effective_0);
-//ORB_DECLARE(actuator_controls_effective_1);
-//ORB_DECLARE(actuator_controls_effective_2);
-//ORB_DECLARE(actuator_controls_effective_3);
-//
-///* control sets with pre-defined applications */
-//#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE	ORB_ID(actuator_controls_effective_0)
-
-#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */

src/modules/uORB/topics/home_position.h

@@ -1,77 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.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
- * 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 home_position.h
- * Definition of the home position uORB topic.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- */
-
-#ifndef TOPIC_HOME_POSITION_H_
-#define TOPIC_HOME_POSITION_H_
-
-#include <stdint.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * GPS home position in WGS84 coordinates.
- */
-struct home_position_s {
-	uint64_t timestamp;			/**< Timestamp (microseconds since system boot)	*/
-
-	double lat;				/**< Latitude in degrees 			*/
-	double lon;				/**< Longitude in degrees			*/
-	float alt;				/**< Altitude in meters	(AMSL)		*/
-
-	float x;				/**< X coordinate in meters			*/
-	float y;				/**< Y coordinate in meters			*/
-	float z;				/**< Z coordinate in meters			*/
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(home_position);
-
-#endif

src/modules/uORB/topics/optical_flow.h

@@ -1,84 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @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
- * 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 optical_flow.h
- * Definition of the optical flow uORB topic.
- */
-
-#ifndef TOPIC_OPTICAL_FLOW_H_
-#define TOPIC_OPTICAL_FLOW_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- */
-
-/**
- * Optical flow in NED body frame in SI units.
- *
- * @see http://en.wikipedia.org/wiki/International_System_of_Units
- */
-struct optical_flow_s {
-
-	uint64_t timestamp;		/**< in microseconds since system start  */
-	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
-	float pixel_flow_x_integral; /**< accumulated optical flow in radians around x axis */
-	float pixel_flow_y_integral; /**< accumulated optical flow in radians around y axis */
-	float gyro_x_rate_integral;	 /**< accumulated gyro value in radians around x axis */
-	float gyro_y_rate_integral;  /**< accumulated gyro value in radians around y axis */
-	float gyro_z_rate_integral;   /**< accumulated gyro value in radians around z axis */
-	float ground_distance_m;	 /**< Altitude / distance to ground in meters */
-	uint32_t integration_timespan; /**<accumulation timespan in microseconds     */
-	uint32_t time_since_last_sonar_update;/**< time since last sonar update in microseconds */
-	uint16_t frame_count_since_last_readout;/**< number of accumulated frames in timespan */
-	int16_t gyro_temperature;/**< 	Temperature * 100 in centi-degrees Celsius */
-	uint8_t	quality;		/**< Average of quality of accumulated frames, 0: bad quality, 255: maximum quality */
-
-
-
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(optical_flow);
-
-#endif

src/modules/uORB/topics/sensor_combined.h

@@ -1,172 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2015 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
- * 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 sensor_combined.h
- * Definition of the sensor_combined uORB topic.
- *
- * @author Thomas Gubler <thomas@px4.io>
- * @author Julian Oes <julian@px4.io>
- * @author Lorenz Meier <lorenz@px4.io>
- */
-
-#ifndef SENSOR_COMBINED_H_
-#define SENSOR_COMBINED_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-
-enum MAGNETOMETER_MODE {
-	MAGNETOMETER_MODE_NORMAL = 0,
-	MAGNETOMETER_MODE_POSITIVE_BIAS,
-	MAGNETOMETER_MODE_NEGATIVE_BIAS
-};
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Sensor readings in raw and SI-unit form.
- *
- * These values are read from the sensors. Raw values are in sensor-specific units,
- * the scaled values are in SI-units, as visible from the ending of the variable
- * or the comments. The use of the SI fields is in general advised, as these fields
- * are scaled and offset-compensated where possible and do not change with board
- * revisions and sensor updates.
- *
- */
-struct sensor_combined_s {
-
-	/*
-	 * Actual data, this is specific to the type of data which is stored in this struct
-	 * A line containing L0GME will be added by the Python logging code generator to the
-	 * logged dataset.
-	 */
-
-	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only   */
-
-	uint64_t timestamp;			/**< Timestamp in microseconds since boot, from gyro         */
-
-	int16_t	gyro_raw[3];			/**< Raw sensor values of angular velocity        */
-	float gyro_rad_s[3];			/**< Angular velocity in radian per seconds       */
-	unsigned gyro_errcount;			/**< Error counter for gyro 0 */
-	float gyro_temp;			/**< Temperature of gyro 0 */
-
-	int16_t accelerometer_raw[3];		/**< Raw acceleration in NED body frame           */
-	float accelerometer_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
-	int accelerometer_mode;			/**< Accelerometer measurement mode */
-	float accelerometer_range_m_s2;		/**< Accelerometer measurement range in m/s^2 */
-	uint64_t accelerometer_timestamp;	/**< Accelerometer timestamp        */
-	unsigned accelerometer_errcount;	/**< Error counter for accel 0 */
-	float accelerometer_temp;		/**< Temperature of accel 0 */
-
-	int16_t	magnetometer_raw[3];		/**< Raw magnetic field in NED body frame         */
-	float magnetometer_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
-	int magnetometer_mode;			/**< Magnetometer measurement mode */
-	float magnetometer_range_ga;		/**< ± measurement range in Gauss */
-	float magnetometer_cuttoff_freq_hz;	/**< Internal analog low pass frequency of sensor */
-	uint64_t magnetometer_timestamp;	/**< Magnetometer timestamp         */
-	unsigned magnetometer_errcount;		/**< Error counter for mag 0 */
-	float magnetometer_temp;		/**< Temperature of mag 0 */
-
-	int16_t	gyro1_raw[3];			/**< Raw sensor values of angular velocity        */
-	float gyro1_rad_s[3];			/**< Angular velocity in radian per seconds       */
-	uint64_t gyro1_timestamp;		/**< Gyro timestamp */
-	unsigned gyro1_errcount;		/**< Error counter for gyro 1 */
-	float gyro1_temp;			/**< Temperature of gyro 1 */
-
-	int16_t accelerometer1_raw[3];		/**< Raw acceleration in NED body frame           */
-	float accelerometer1_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
-	uint64_t accelerometer1_timestamp;	/**< Accelerometer timestamp        */
-	unsigned accelerometer1_errcount;	/**< Error counter for accel 1 */
-	float accelerometer1_temp;		/**< Temperature of accel 1 */
-
-	int16_t	magnetometer1_raw[3];		/**< Raw magnetic field in NED body frame         */
-	float magnetometer1_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
-	uint64_t magnetometer1_timestamp;	/**< Magnetometer timestamp         */
-	unsigned magnetometer1_errcount;	/**< Error counter for mag 1 */
-	float magnetometer1_temp;		/**< Temperature of mag 1 */
-
-	int16_t	gyro2_raw[3];			/**< Raw sensor values of angular velocity        */
-	float gyro2_rad_s[3];			/**< Angular velocity in radian per seconds       */
-	uint64_t gyro2_timestamp;		/**< Gyro timestamp */
-	unsigned gyro2_errcount;		/**< Error counter for gyro 1 */
-	float gyro2_temp;			/**< Temperature of gyro 1 */
-
-	int16_t accelerometer2_raw[3];		/**< Raw acceleration in NED body frame           */
-	float accelerometer2_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
-	uint64_t accelerometer2_timestamp;	/**< Accelerometer timestamp        */
-	unsigned accelerometer2_errcount;	/**< Error counter for accel 2 */
-	float accelerometer2_temp;		/**< Temperature of accel 2 */
-
-	int16_t	magnetometer2_raw[3];		/**< Raw magnetic field in NED body frame         */
-	float magnetometer2_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
-	uint64_t magnetometer2_timestamp;	/**< Magnetometer timestamp         */
-	unsigned magnetometer2_errcount;	/**< Error counter for mag 2 */
-	float magnetometer2_temp;		/**< Temperature of mag 2 */
-
-	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
-	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
-	float baro_temp_celcius;		/**< Temperature in degrees celsius               */
-	uint64_t baro_timestamp;		/**< Barometer timestamp        */
-
-	float baro1_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
-	float baro1_alt_meter;			/**< Altitude, already temp. comp.                */
-	float baro1_temp_celcius;		/**< Temperature in degrees celsius               */
-	uint64_t baro1_timestamp;		/**< Barometer timestamp        */
-
-	float adc_voltage_v[10];		/**< ADC voltages of ADC Chan 10/11/12/13 or -1   */
-	unsigned adc_mapping[10];		/**< Channel indices of each of these values */
-	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
-
-	float differential_pressure_pa;			/**< Airspeed sensor differential pressure */
-	uint64_t differential_pressure_timestamp;	/**< Last measurement timestamp */
-	float differential_pressure_filtered_pa;	/**< Low pass filtered airspeed sensor differential pressure reading */
-
-	float differential_pressure1_pa;			/**< Airspeed sensor differential pressure */
-	uint64_t differential_pressure1_timestamp;	/**< Last measurement timestamp */
-	float differential_pressure1_filtered_pa;	/**< Low pass filtered airspeed sensor differential pressure reading */
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(sensor_combined);
-
-#endif

src/modules/uORB/topics/vehicle_global_position.h

@@ -1,87 +0,0 @@
-/****************************************************************************
- *
- *   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
- * 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 vehicle_global_position.h
- * Definition of the global fused WGS84 position uORB topic.
- *
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <julian@oes.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#ifndef VEHICLE_GLOBAL_POSITION_T_H_
-#define VEHICLE_GLOBAL_POSITION_T_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <platforms/px4_defines.h>
-
-/**
- * @addtogroup topics
- * @{
- */
-
- /**
- * Fused global position in WGS84.
- *
- * This struct contains global position estimation. It is not the raw GPS
- * measurement (@see vehicle_gps_position). This topic is usually published by the position
- * estimator, which will take more sources of information into account than just GPS,
- * e.g. control inputs of the vehicle in a Kalman-filter implementation.
- */
-struct vehicle_global_position_s {
-	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start		*/
-	uint64_t time_utc_usec;		/**< GPS UTC timestamp in microseconds					   */
-	double lat;			/**< Latitude in degrees							 	   */
-	double lon;			/**< Longitude in degrees							 	   */
-	float alt;			/**< Altitude AMSL in meters						 	   */
-	float vel_n; 			/**< Ground north velocity, m/s				 			   */
-	float vel_e;			/**< Ground east velocity, m/s							   */
-	float vel_d;			/**< Ground downside velocity, m/s						   */
-	float yaw; 			/**< Yaw in radians -PI..+PI.							   */
-	float eph;			/**< Standard deviation of position estimate horizontally */
-	float epv;			/**< Standard deviation of position vertically */
-	float terrain_alt;		/**< Terrain altitude in m, WGS84 */
-	bool terrain_alt_valid;		/**< Terrain altitude estimate is valid */
-	bool dead_reckoning;		/**< True if this position is estimated through dead-reckoning*/
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_global_position);
-
-#endif

src/modules/uORB/topics/vehicle_gps_position.h

@@ -1,94 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.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
- * 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 vehicle_gps_position.h
- * Definition of the GPS WGS84 uORB topic.
- */
-
-#ifndef TOPIC_VEHICLE_GPS_H_
-#define TOPIC_VEHICLE_GPS_H_
-
-#include <stdint.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * GPS position in WGS84 coordinates.
- */
-struct vehicle_gps_position_s {
-	uint64_t timestamp_position;			/**< Timestamp for position information */
-	int32_t lat;					/**< Latitude in 1E-7 degrees */
-	int32_t lon;					/**< Longitude in 1E-7 degrees */
-	int32_t alt;					/**< Altitude in 1E-3 meters (millimeters) above MSL  */
-
-	uint64_t timestamp_variance;
-	float s_variance_m_s;				/**< speed accuracy estimate m/s */
-	float c_variance_rad;				/**< course accuracy estimate rad */
-	uint8_t fix_type; 				/**< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
-
-	float eph;					/**< GPS HDOP horizontal dilution of position in m */
-	float epv;					/**< GPS VDOP horizontal dilution of position in m */
-
-	unsigned noise_per_ms;				/**< */
-	unsigned jamming_indicator;			/**< */
-
-	uint64_t timestamp_velocity;			/**< Timestamp for velocity informations */
-	float vel_m_s;					/**< GPS ground speed (m/s) */
-	float vel_n_m_s;				/**< GPS ground speed in m/s */
-	float vel_e_m_s;				/**< GPS ground speed in m/s */
-	float vel_d_m_s;				/**< GPS ground speed in m/s */
-	float cog_rad;					/**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
-	bool vel_ned_valid;				/**< Flag to indicate if NED speed is valid */
-
-	uint64_t timestamp_time;			/**< Timestamp for time information */
-	uint64_t time_utc_usec;				/**< Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 */
-
-	uint8_t satellites_used;			/**< Number of satellites used */
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(vehicle_gps_position);
-
-#endif

src/modules/uavcan/module.mk

@@ -63,7 +63,7 @@ SRCS += $(subst  $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_SRC))
 INCLUDE_DIRS += $(LIBUAVCAN_INC)
 # Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
 # because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
-override EXTRADEFINES := $(EXTRADEFINES) -DGIT_VERSION='"$(GIT_DESC)"' -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS
+override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS
 
 
 #

src/modules/uavcan/uavcan_main.cpp

@@ -42,6 +42,7 @@
 #include <systemlib/mixer/mixer.h>
 #include <systemlib/board_serial.h>
 #include <systemlib/scheduling_priorities.h>
+#include <systemlib/git_version.h>
 #include <version/version.h>
 #include <arch/board/board.h>
 #include <arch/chip/chip.h>
@@ -212,7 +213,7 @@ void UavcanNode::fill_node_info()
 
 	// Extracting the first 8 hex digits of GIT_VERSION and converting them to int
 	char fw_git_short[9] = {};
-	std::memmove(fw_git_short, GIT_VERSION, 8);
+	std::memmove(fw_git_short, px4_git_version, 8);
 	assert(fw_git_short[8] == '\0');
 	char *end = nullptr;
 	swver.vcs_commit = std::strtol(fw_git_short, &end, 16);

src/systemcmds/ver/module.mk

@@ -42,5 +42,3 @@ SRCS		 		= ver.c
 MODULE_STACKSIZE 	= 1024
 
 MAXOPTIMIZATION	 	= -Os
-
-EXTRADEFINES = -DGIT_VERSION='"$(GIT_DESC)"'

src/systemcmds/ver/ver.c

@@ -45,6 +45,7 @@
 #include <version/version.h>
 #include <systemlib/err.h>
 #include <systemlib/mcu_version.h>
+#include <systemlib/git_version.h>
 
 /* string constants for version commands */
 static const char sz_ver_hw_str[] 	= "hw";
@@ -101,7 +102,7 @@ int ver_main(int argc, char *argv[])
 			}
 
 			if (show_all || !strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) {
-				printf("FW git-hash: %s\n", GIT_VERSION);
+				printf("FW git-hash: %s\n", px4_git_version);
 				ret = 0;
 
 			}