Merge branch 'master' of https://github.com/PX4/Firmware into px4flow_integral_i2c

src/modules/commander/commander.cpp

@@ -263,7 +263,7 @@ int commander_main(int argc, char *argv[])
 		daemon_task = task_spawn_cmd("commander",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 40,
-					     2950,
+					     3200,
 					     commander_thread_main,
 					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
 

src/modules/mavlink/mavlink_main.cpp

@@ -763,7 +763,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg)
 	_last_write_try_time = hrt_absolute_time();
 
 	/* check if there is space in the buffer, let it overflow else */
-	if (buf_free < TX_BUFFER_GAP) {
+	if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) {
 		/* no enough space in buffer to send */
 		count_txerr();
 		count_txerrbytes(packet_len);

src/modules/px4iofirmware/protocol.h

@@ -221,6 +221,7 @@ enum {							/* DSM bind states */
                                                            hence index 12 can safely be used. */
 #define PX4IO_P_SETUP_RC_THR_FAILSAFE_US	13	/**< the throttle failsafe pulse length in microseconds */
 
+#define PX4IO_P_SETUP_FORCE_SAFETY_ON		14	/* force safety switch into 'disarmed' (PWM disabled state) */
 #define PX4IO_FORCE_SAFETY_MAGIC		22027	/* required argument for force safety (random) */
 
 /* autopilot control values, -10000..10000 */

src/modules/px4iofirmware/registers.c

@@ -603,6 +603,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			dsm_bind(value & 0x0f, (value >> 4) & 0xF);
 			break;
 
+		case PX4IO_P_SETUP_FORCE_SAFETY_ON:
+			if (value == PX4IO_FORCE_SAFETY_MAGIC) {
+				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
+			}
+			break;
+
 		case PX4IO_P_SETUP_FORCE_SAFETY_OFF:
 			if (value == PX4IO_FORCE_SAFETY_MAGIC) {
 				r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;