Merged release_v1.0.0 into master

src/drivers/airspeed/airspeed.cpp

@@ -364,7 +364,7 @@ Airspeed::update_status()
 			true,
 			true,
 			_sensor_ok,
-			SUBSYSTEM_TYPE_DIFFPRESSURE
+			subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE
 		};
 
 		if (_subsys_pub != nullptr) {

src/drivers/drv_rc_input.h

@@ -67,6 +67,21 @@
  */
 #define RC_INPUT_RSSI_MAX	100
 
+/**
+ * Minimum value
+ */
+#define RC_INPUT_LOWEST_MIN_US	500
+
+/**
+ * Maximum value
+ */
+#define RC_INPUT_HIGHEST_MAX_US	2500
+
+/**
+ * Maximum deadzone value
+ */
+#define RC_INPUT_MAX_DEADZONE_US	500
+
 /**
  * @addtogroup topics
  * @{
@@ -84,7 +99,8 @@ enum RC_INPUT_SOURCE {
 	RC_INPUT_SOURCE_PX4IO_PPM,
 	RC_INPUT_SOURCE_PX4IO_SPEKTRUM,
 	RC_INPUT_SOURCE_PX4IO_SBUS,
-	RC_INPUT_SOURCE_PX4IO_ST24
+	RC_INPUT_SOURCE_PX4IO_ST24,
+	RC_INPUT_SOURCE_MAVLINK
 };
 
 /**
@@ -103,7 +119,7 @@ struct rc_input_values {
 	/** number of channels actually being seen */
 	uint32_t		channel_count;
 
-	/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 255: full reception */
+	/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception */
 	int32_t			rssi;
 
 	/**

src/drivers/gimbal/gimbal.cpp

@@ -330,13 +330,13 @@ Gimbal::cycle()
 
 		orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
 
-		if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL
-				|| cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT) {
+		if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL
+				|| cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT) {
 
 			_control_cmd = cmd;
 			_control_cmd_set = true;
 
-		} else if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONFIGURE) {
+		} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE) {
 
 			_config_cmd = cmd;
 			_config_cmd_set = true;
@@ -357,10 +357,11 @@ Gimbal::cycle()
 
 	if (_control_cmd_set) {
 
-		VEHICLE_MOUNT_MODE mountMode = (VEHICLE_MOUNT_MODE)_control_cmd.param7;
+		unsigned mountMode = _control_cmd.param7;
 		debug("control_cmd: %d, mountMode %d | param1: %8.4f param2: %8.4f", _control_cmd.command, mountMode, (double)_control_cmd.param1, (double)_control_cmd.param2);
 
-		if (_control_cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && mountMode == VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) {
+		if (_control_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL &&
+			mountMode == vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) {
 			/* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */
 			roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * _control_cmd.param1;
 			pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * _control_cmd.param2;
@@ -369,7 +370,8 @@ Gimbal::cycle()
 			updated = true;
 		}
 
-		if (_control_cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && mountMode == VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) {
+		if (_control_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT &&
+			mountMode == vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) {
 			float gimbalDirectionQuat[] = {_control_cmd.param1, _control_cmd.param2, _control_cmd.param3, _control_cmd.param4};
 			math::Vector<3> gimablDirectionEuler = math::Quaternion(gimbalDirectionQuat).to_dcm().to_euler();
 

src/drivers/hott/messages.cpp

@@ -111,9 +111,9 @@ publish_gam_message(const uint8_t *buffer)
 	// Publish it.
 	esc.timestamp = hrt_absolute_time();
 	esc.esc_count = 1;
-	esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
+	esc.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_PPM;
 
-	esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
+	esc.esc[0].esc_vendor = esc_status_s::ESC_VENDOR_GRAUPNER_HOTT;
 	esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
 	esc.esc[0].esc_temperature = static_cast<float>(msg.temperature1) - 20.0F;
 	esc.esc[0].esc_voltage = static_cast<float>((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff)) * 0.1F;

src/drivers/mb12xx/mb12xx.cpp

@@ -621,7 +621,7 @@ MB12XX::start()
 		true,
 		true,
 		true,
-		SUBSYSTEM_TYPE_RANGEFINDER
+		subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER
 	};
 	static orb_advert_t pub = nullptr;
 

src/drivers/mkblctrl/mkblctrl.cpp

@@ -601,11 +601,11 @@ MK::task_main()
 			esc.counter++;
 			esc.timestamp = hrt_absolute_time();
 			esc.esc_count = (uint8_t) _num_outputs;
-			esc.esc_connectiontype = ESC_CONNECTION_TYPE_I2C;
+			esc.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_I2C;
 
 			for (unsigned int i = 0; i < _num_outputs; i++) {
 				esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i;
-				esc.esc[i].esc_vendor = ESC_VENDOR_MIKROKOPTER;
+				esc.esc[i].esc_vendor = esc_status_s::ESC_VENDOR_MIKROKOPTER;
 				esc.esc[i].esc_version = (uint16_t) Motor[i].Version;
 				esc.esc[i].esc_voltage = 0.0F;
 				esc.esc[i].esc_current = static_cast<float>(Motor[i].Current) * 0.1F;

src/drivers/px4flow/px4flow.cpp

@@ -568,7 +568,7 @@ PX4FLOW::start()
 		true,
 		true,
 		true,
-		SUBSYSTEM_TYPE_OPTICALFLOW
+		subsystem_info_s::SUBSYSTEM_TYPE_OPTICALFLOW
 	};
 	static orb_advert_t pub = nullptr;
 

src/drivers/px4fmu/fmu.cpp

@@ -67,6 +67,7 @@
 #include <systemlib/mixer/mixer.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
 #include <systemlib/board_serial.h>
+#include <systemlib/param/param.h>
 #include <drivers/drv_mixer.h>
 #include <drivers/drv_rc_input.h>
 
@@ -77,6 +78,7 @@
 #include <uORB/topics/actuator_controls_3.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/parameter_update.h>
 
 
 #ifdef HRT_PPM_CHANNEL
@@ -132,6 +134,7 @@ private:
 	unsigned	_current_update_rate;
 	int		_task;
 	int		_armed_sub;
+	int		_param_sub;
 	orb_advert_t	_outputs_pub;
 	actuator_armed_s	_armed;
 	unsigned	_num_outputs;
@@ -157,6 +160,7 @@ private:
 	uint16_t	_disarmed_pwm[_max_actuators];
 	uint16_t	_min_pwm[_max_actuators];
 	uint16_t	_max_pwm[_max_actuators];
+	uint16_t	_reverse_pwm_mask;
 	unsigned	_num_failsafe_set;
 	unsigned	_num_disarmed_set;
 
@@ -167,9 +171,10 @@ private:
 					 uint8_t control_group,
 					 uint8_t control_index,
 					 float &input);
-	void	subscribe();
+	void		subscribe();
 	int		set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
 	int		pwm_ioctl(file *filp, int cmd, unsigned long arg);
+	void		update_pwm_rev_mask();
 
 	struct GPIOConfig {
 		uint32_t	input;
@@ -253,6 +258,7 @@ PX4FMU::PX4FMU() :
 	_current_update_rate(0),
 	_task(-1),
 	_armed_sub(-1),
+	_param_sub(-1),
 	_outputs_pub(nullptr),
 	_armed{},
 	_num_outputs(0),
@@ -269,6 +275,7 @@ PX4FMU::PX4FMU() :
 	_pwm_limit{},
 	_failsafe_pwm{0},
 	_disarmed_pwm{0},
+	_reverse_pwm_mask(0),
 	_num_failsafe_set(0),
 	_num_disarmed_set(0)
 {
@@ -543,6 +550,26 @@ PX4FMU::subscribe()
 	}
 }
 
+void
+PX4FMU::update_pwm_rev_mask()
+{
+	_reverse_pwm_mask = 0;
+
+	for (unsigned i = 0; i < _max_actuators; i++) {
+		char pname[16];
+		int32_t ival;
+
+		/* fill the channel reverse mask from parameters */
+		sprintf(pname, "PWM_AUX_REV%d", i + 1);
+		param_t param_h = param_find(pname);
+
+		if (param_h != PARAM_INVALID) {
+			param_get(param_h, &ival);
+			_reverse_pwm_mask |= ((int16_t)(ival != 0)) << i;
+		}
+	}
+}
+
 void
 PX4FMU::task_main()
 {
@@ -550,6 +577,7 @@ PX4FMU::task_main()
 	_current_update_rate = 0;
 
 	_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
+	_param_sub = orb_subscribe(ORB_ID(parameter_update));
 
 	/* advertise the mixed control outputs */
 	actuator_outputs_s outputs;
@@ -567,7 +595,7 @@ PX4FMU::task_main()
 	/* initialize PWM limit lib */
 	pwm_limit_init(&_pwm_limit);
 
-	log("starting");
+	update_pwm_rev_mask();
 
 	/* loop until killed */
 	while (!_task_should_exit) {
@@ -684,7 +712,7 @@ PX4FMU::task_main()
 				uint16_t pwm_limited[num_outputs];
 
 				/* the PWM limit call takes care of out of band errors and constrains */
-				pwm_limit_calc(_servo_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
+				pwm_limit_calc(_servo_armed, num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
 
 				/* output to the servos */
 				for (unsigned i = 0; i < num_outputs; i++) {
@@ -723,6 +751,14 @@ PX4FMU::task_main()
 			}
 		}
 
+		orb_check(_param_sub, &updated);
+		if (updated) {
+			parameter_update_s pupdate;
+			orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
+
+			update_pwm_rev_mask();
+		}
+
 #ifdef HRT_PPM_CHANNEL
 
 		// see if we have new PPM input data
@@ -768,6 +804,7 @@ PX4FMU::task_main()
 		}
 	}
 	::close(_armed_sub);
+	::close(_param_sub);
 
 	/* make sure servos are off */
 	up_pwm_servo_deinit();

src/drivers/px4fmu/module.mk

@@ -3,7 +3,8 @@
 #
 
 MODULE_COMMAND	 = fmu
-SRCS		 = fmu.cpp
+SRCS		 = fmu.cpp \
+		   px4fmu_params.c
 
 MODULE_STACKSIZE = 1200
 

src/drivers/px4fmu/px4fmu_params.c

@@ -0,0 +1,109 @@
+/****************************************************************************
+ *
+ *   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
+ * 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 px4fmu_params.c
+ *
+ * Parameters defined by the PX4FMU driver
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
+
+/**
+ * Invert direction of aux output channel 1
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);
+
+/**
+ * Invert direction of aux output channel 2
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);
+
+/**
+ * Invert direction of aux output channel 3
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);
+
+/**
+ * Invert direction of aux output channel 4
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);
+
+/**
+ * Invert direction of aux output channel 5
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);
+
+/**
+ * Invert direction of aux output channel 6
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV6, 0);

src/drivers/px4io/module.mk

@@ -40,7 +40,8 @@ MODULE_COMMAND		= px4io
 SRCS			= px4io.cpp \
 			  px4io_uploader.cpp \
 			  px4io_serial.cpp \
-			  px4io_i2c.cpp
+			  px4io_i2c.cpp \
+			  px4io_params.c
 
 # XXX prune to just get UART registers
 INCLUDE_DIRS    += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common

src/drivers/px4io/px4io.cpp

@@ -281,6 +281,7 @@ private:
 	int			_t_actuator_armed;	///< system armed control topic
 	int 			_t_vehicle_control_mode;///< vehicle control mode topic
 	int			_t_param;		///< parameter update topic
+	bool			_param_update_force;	///< force a parameter update
 	int			_t_vehicle_command;	///< vehicle command topic
 
 	/* advertised topics */
@@ -514,6 +515,7 @@ PX4IO::PX4IO(device::Device *interface) :
 	_t_actuator_armed(-1),
 	_t_vehicle_control_mode(-1),
 	_t_param(-1),
+	_param_update_force(false),
 	_t_vehicle_command(-1),
 	_to_input_rc(nullptr),
 	_to_outputs(nullptr),
@@ -766,7 +768,7 @@ PX4IO::init()
 		cmd.param5 = 0;
 		cmd.param6 = 0;
 		cmd.param7 = 0;
-		cmd.command = VEHICLE_CMD_COMPONENT_ARM_DISARM;
+		cmd.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
 
 		/* ask to confirm command */
 		cmd.confirmation =  1;
@@ -917,6 +919,8 @@ PX4IO::task_main()
 	fds[0].fd = _t_actuator_controls_0;
 	fds[0].events = POLLIN;
 
+	_param_update_force = true;
+
 	/* lock against the ioctl handler */
 	lock();
 
@@ -1005,7 +1009,7 @@ PX4IO::task_main()
 				orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd);
 
 				// Check for a DSM pairing command
-				if (((int)cmd.command == VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
+				if (((int)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
 					dsm_bind_ioctl((int)cmd.param2);
 				}
 			}
@@ -1017,7 +1021,8 @@ PX4IO::task_main()
 			 */
 			orb_check(_t_param, &updated);
 
-			if (updated) {
+			if (updated || _param_update_force) {
+				_param_update_force = false;
 				parameter_update_s pupdate;
 				orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
 
@@ -1089,6 +1094,26 @@ PX4IO::task_main()
 				param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
 				param_get(param_find("RC_RSSI_PWM_MIN"), &_rssi_pwm_min);
 
+				/*
+				 * Set invert mask for PWM outputs (does not apply to S.Bus)
+				 */
+				int16_t pwm_invert_mask = 0;
+
+				for (unsigned i = 0; i < _max_actuators; i++) {
+					char pname[16];
+					int32_t ival;
+
+					/* fill the channel reverse mask from parameters */
+					sprintf(pname, "PWM_MAIN_REV%d", i + 1);
+					param_t param_h = param_find(pname);
+
+					if (param_h != PARAM_INVALID) {
+						param_get(param_h, &ival);
+						pwm_invert_mask |= ((int16_t)(ival != 0)) << i;
+					}
+				}
+
+				(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, pwm_invert_mask);
 			}
 
 		}
@@ -2095,7 +2120,15 @@ PX4IO::print_status(bool extended_status)
 	for (unsigned i = 0; i < _max_actuators; i++)
 		printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i));
 
+	uint16_t pwm_invert_mask = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE);
+
 	printf("\n");
+	printf("reversed outputs: [");
+	for (unsigned i = 0; i < _max_actuators; i++) {
+		printf("%s", (pwm_invert_mask & (1 << i)) ? "x" : "_");
+	}
+	printf("]\n");
+
 	uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
 	printf("%d raw R/C inputs", raw_inputs);
 

src/drivers/px4io/px4io_params.c

@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   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
+ * 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 px4io_params.c
+ *
+ * Parameters defined by the PX4IO driver
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
+
+/**
+ * Invert direction of main output channel 1
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV1, 0);
+
+/**
+ * Invert direction of main output channel 2
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV2, 0);
+
+/**
+ * Invert direction of main output channel 3
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV3, 0);
+
+/**
+ * Invert direction of main output channel 4
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV4, 0);
+
+/**
+ * Invert direction of main output channel 5
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV5, 0);
+
+/**
+ * Invert direction of main output channel 6
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV6, 0);
+
+/**
+ * Invert direction of main output channel 7
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
+
+/**
+ * Invert direction of main output channel 8
+ *
+ * Set to 1 to invert the channel, 0 for default direction.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0);

src/drivers/trone/trone.cpp

@@ -619,7 +619,7 @@ TRONE::start()
 		true,
 		true,
 		true,
-		SUBSYSTEM_TYPE_RANGEFINDER
+		subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER
 	};
 	static orb_advert_t pub = nullptr;