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

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -566,7 +566,7 @@ CONFIG_CDCACM_NWRREQS=4
 CONFIG_CDCACM_NRDREQS=4
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_RXBUFSIZE=512
-CONFIG_CDCACM_TXBUFSIZE=512
+CONFIG_CDCACM_TXBUFSIZE=2048
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_PRODUCTID=0x0010
 CONFIG_CDCACM_VENDORSTR="3D Robotics"

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -295,7 +295,7 @@ CONFIG_STM32_USART=y
 # U[S]ART Configuration
 #
 # CONFIG_USART1_RS485 is not set
-# CONFIG_USART1_RXDMA is not set
+CONFIG_USART1_RXDMA=y
 # CONFIG_USART2_RS485 is not set
 CONFIG_USART2_RXDMA=y
 # CONFIG_USART3_RS485 is not set
@@ -304,7 +304,7 @@ CONFIG_USART3_RXDMA=y
 CONFIG_UART4_RXDMA=y
 CONFIG_UART5_RXDMA=y
 # CONFIG_USART6_RS485 is not set
-# CONFIG_USART6_RXDMA is not set
+CONFIG_USART6_RXDMA=y
 # CONFIG_UART7_RS485 is not set
 # CONFIG_UART7_RXDMA is not set
 # CONFIG_UART8_RS485 is not set
@@ -582,8 +582,8 @@ CONFIG_USART3_OFLOWCONTROL=y
 #
 # UART4 Configuration
 #
-CONFIG_UART4_RXBUFSIZE=128
-CONFIG_UART4_TXBUFSIZE=128
+CONFIG_UART4_RXBUFSIZE=512
+CONFIG_UART4_TXBUFSIZE=512
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_BITS=8
 CONFIG_UART4_PARITY=0
@@ -594,8 +594,8 @@ CONFIG_UART4_2STOP=0
 #
 # USART6 Configuration
 #
-CONFIG_USART6_RXBUFSIZE=256
-CONFIG_USART6_TXBUFSIZE=256
+CONFIG_USART6_RXBUFSIZE=512
+CONFIG_USART6_TXBUFSIZE=512
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_BITS=8
 CONFIG_USART6_PARITY=0
@@ -662,7 +662,7 @@ CONFIG_CDCACM_NWRREQS=4
 CONFIG_CDCACM_NRDREQS=4
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_RXBUFSIZE=512
-CONFIG_CDCACM_TXBUFSIZE=512
+CONFIG_CDCACM_TXBUFSIZE=2048
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_PRODUCTID=0x0011
 CONFIG_CDCACM_VENDORSTR="3D Robotics"

src/drivers/meas_airspeed/meas_airspeed.cpp

@@ -198,7 +198,9 @@ MEASAirspeed::collect()
 //	uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f));
 	const float P_min = -1.0f;
 	const float P_max = 1.0f;
-	float diff_press_pa = math::max(0.0f, fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f)   - _diff_pres_offset);
+	float diff_press_pa = fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset;
+        if (diff_press_pa < 0.0f)
+            diff_press_pa = 0.0f;
 
 	struct differential_pressure_s report;
 

src/drivers/ms5611/ms5611.cpp

@@ -124,6 +124,8 @@ protected:
 	int32_t			_TEMP;
 	int64_t			_OFF;
 	int64_t			_SENS;
+	float			_P;
+	float			_T;
 
 	/* altitude conversion calibration */
 	unsigned		_msl_pressure;	/* in kPa */
@@ -623,6 +625,8 @@ MS5611::collect()
 
 		/* pressure calculation, result in Pa */
 		int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 15;
+		_P = P * 0.01f;
+		_T = _TEMP * 0.01f;
 
 		/* generate a new report */
 		report.temperature = _TEMP / 100.0f;
@@ -695,6 +699,8 @@ MS5611::print_info()
 	printf("TEMP:           %d\n", _TEMP);
 	printf("SENS:           %lld\n", _SENS);
 	printf("OFF:            %lld\n", _OFF);
+	printf("P:              %.3f\n", _P);
+	printf("T:              %.3f\n", _T);
 	printf("MSL pressure:   %10.4f\n", (double)(_msl_pressure / 100.f));
 
 	printf("factory_setup             %u\n", _prom.factory_setup);

src/modules/px4iofirmware/dsm.c

@@ -203,6 +203,12 @@ dsm_guess_format(bool reset)
 int
 dsm_init(const char *device)
 {
+
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
+	// enable power on DSM connector
+	POWER_SPEKTRUM(true);
+#endif
+
 	if (dsm_fd < 0)
 		dsm_fd = open(device, O_RDONLY | O_NONBLOCK);
 

src/modules/px4iofirmware/px4io.c

@@ -125,6 +125,25 @@ heartbeat_blink(void)
 	LED_BLUE(heartbeat = !heartbeat);
 }
 
+static uint64_t reboot_time;
+
+/**
+   schedule a reboot in time_delta_usec microseconds
+ */
+void schedule_reboot(uint32_t time_delta_usec)
+{
+    reboot_time = hrt_absolute_time() + time_delta_usec;
+}
+
+/**
+   check for a scheduled reboot
+ */
+static void check_reboot(void)
+{
+    if (reboot_time != 0 && hrt_absolute_time() > reboot_time) {
+        up_systemreset();
+    }
+}
 
 static void
 calculate_fw_crc(void)
@@ -249,6 +268,8 @@ user_start(int argc, char *argv[])
                     heartbeat_blink();
                 }
 
+                check_reboot();
+
 #if 0
 		/* check for debug activity */
 		show_debug_messages();

src/modules/px4iofirmware/px4io.h

@@ -220,3 +220,7 @@ extern volatile uint8_t debug_level;
 
 /** send a debug message to the console */
 extern void	isr_debug(uint8_t level, const char *fmt, ...);
+
+/** schedule a reboot */
+extern void schedule_reboot(uint32_t time_delta_usec);
+

src/modules/px4iofirmware/registers.c

@@ -518,16 +518,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			// check the magic value
 			if (value != PX4IO_REBOOT_BL_MAGIC)
 				break;
-                        
-                        // note that we don't set BL_WAIT_MAGIC in
-                        // BKP_DR1 as that is not necessary given the
-                        // timing of the forceupdate command. The
-                        // bootloader on px4io waits for enough time
-                        // anyway, and this method works with older
-                        // bootloader versions (tested with both
-                        // revision 3 and revision 4).
 
-			up_systemreset();
+                        // we schedule a reboot rather than rebooting
+                        // immediately to allow the IO board to ACK
+                        // the reboot command
+                        schedule_reboot(100000);
 			break;
 
 		case PX4IO_P_SETUP_DSM:

src/systemcmds/tests/test_file.c

@@ -38,6 +38,7 @@
  */
 
 #include <sys/stat.h>
+#include <poll.h>
 #include <dirent.h>
 #include <stdio.h>
 #include <stddef.h>
@@ -51,6 +52,38 @@
 
 #include "tests.h"
 
+int check_user_abort();
+
+int check_user_abort() {
+	/* check if user wants to abort */
+	char c;
+
+	struct pollfd fds;
+	int ret;
+	fds.fd = 0; /* stdin */
+	fds.events = POLLIN;
+	ret = poll(&fds, 1, 0);
+
+	if (ret > 0) {
+
+		read(0, &c, 1);
+
+		switch (c) {
+		case 0x03: // ctrl-c
+		case 0x1b: // esc
+		case 'c':
+		case 'q':
+		{
+			warnx("Test aborted.");
+			return OK;
+			/* not reached */
+			}
+		}
+	}
+
+	return 1;
+}
+
 int
 test_file(int argc, char *argv[])
 {
@@ -108,6 +141,9 @@ test_file(int argc, char *argv[])
 				fsync(fd);
 				//perf_end(wperf);
 
+				if (!check_user_abort())
+					return OK;
+
 			}
 			end = hrt_absolute_time();
 
@@ -142,6 +178,9 @@ test_file(int argc, char *argv[])
 					errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR");
 				}
 
+				if (!check_user_abort())
+					return OK;
+
 			}
 
 			/*
@@ -152,7 +191,7 @@ test_file(int argc, char *argv[])
 			int ret = unlink("/fs/microsd/testfile");
 			fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT);
 
-			warnx("testing aligned writes - please wait..");
+			warnx("testing aligned writes - please wait.. (CTRL^C to abort)");
 
 			start = hrt_absolute_time();
 			for (unsigned i = 0; i < iterations; i++) {
@@ -162,6 +201,9 @@ test_file(int argc, char *argv[])
 					err(1, "WRITE ERROR!");
 				}
 
+				if (!check_user_abort())
+					return OK;
+
 			}
 
 			fsync(fd);
@@ -190,6 +232,9 @@ test_file(int argc, char *argv[])
 						align_read_ok = false;
 						break;
 					}
+
+					if (!check_user_abort())
+						return OK;
 				}
 
 				if (!align_read_ok) {
@@ -228,6 +273,9 @@ test_file(int argc, char *argv[])
 						if (unalign_read_err_count > 10)
 							break;
 					}
+
+					if (!check_user_abort())
+						return OK;
 				}
 
 				if (!unalign_read_ok) {