Rebase changes on upstream master

This brings in many of the changes from the PX4 fork on ATLFLight.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/modules/systemlib/CMakeLists.txt

@@ -36,7 +36,6 @@ include_directories(${CMAKE_BINARY_DIR}/src/modules/param)
 
 set(SRCS
 	perf_counter.c
-	param/param.c
 	conversions.c
 	cpuload.c
 	pid/pid.c
@@ -57,8 +56,14 @@ if(${OS} STREQUAL "nuttx")
 		printload.c
 		up_cxxinitialize.c 
 		)
+elseif ("${CONFIG_SHMEM}" STREQUAL "1")
+	list(APPEND SRCS
+		param/param_shmem.c
+		print_load_posix.c
+		)
 else()
 	list(APPEND SRCS
+		param/param.c
 		print_load_posix.c
 		)	
 endif()

src/modules/systemlib/bson/tinybson.c

@@ -54,15 +54,9 @@
 #define CODER_CHECK(_c)		do { if (_c->dead) { debug("coder dead"); return -1; }} while(0)
 #define CODER_KILL(_c, _reason)	do { debug("killed: %s", _reason); _c->dead = true; return -1; } while(0)
 
-#ifdef __PX4_QURT
-#define BSON_READ  px4_read
-#define BSON_WRITE px4_write
-#define BSON_FSYNC px4_fsync
-#else
 #define BSON_READ  read
 #define BSON_WRITE write
-#define BSON_FSYNC fsync
-#endif
+#define BSON_FSYNC px4_fsync
 
 static int
 read_x(bson_decoder_t decoder, void *p, size_t s)

src/modules/systemlib/circuit_breaker_params.c

@@ -42,6 +42,8 @@
  * parameter needs to set to the key (magic).
  */
 
+#ifdef __PX4_QURT
+
 /**
  * Circuit breaker for power supply check
  *

src/modules/systemlib/system_params.c

@@ -37,6 +37,8 @@
  * System wide parameters
  */
 
+#ifdef __PX4_QURT
+
 /**
  * Auto-start script index.
  *
@@ -111,3 +113,5 @@ PARAM_DEFINE_INT32(SYS_COMPANION, 157600);
 * @group System
 */
 PARAM_DEFINE_INT32(SYS_PARAM_VER, 1);
+
+#endif