From afdf8bbaaac5f07d3df5ad45b1ca04ca50d0f406 Mon Sep 17 00:00:00 2001
From: Felix Hu <eflyinghi@gmail.com>
Date: Tue, 5 Apr 2016 14:41:49 +0800
Subject: [PATCH] Fix the build of mindpx-v2 default

---
 cmake/configs/nuttx_mindpx-v2_default.cmake |  6 ++----
 src/drivers/mpu6500/mpu6500.cpp             | 12 ++++++------
 2 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index 0120f416fb..5e55d7c7a3 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -52,6 +52,7 @@ set(config_module_list
 	drivers/pwm_input
 	drivers/camera_trigger
 	drivers/bst
+	drivers/snapdragon_rc_pwm
 
 	#
 	# System commands
@@ -118,7 +119,6 @@ set(config_module_list
 	#
 	# Libraries
 	#
-	#lib/mathlib/CMSIS
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/ecl
@@ -152,7 +152,7 @@ set(config_module_list
 	#examples/math_demo
 	# Tutorial code from
 	# https://px4.io/dev/px4_simple_app
-	#examples/px4_simple_app
+	examples/px4_simple_app
 
 	# Tutorial code from
 	# https://px4.io/dev/daemon
@@ -180,13 +180,11 @@ set(config_io_board
 	)
 
 set(config_extra_libs
-	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
 	uavcan
 	uavcan_stm32_driver
 	)
 
 set(config_io_extra_libs
-	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
 	)
 
 add_custom_target(sercon)
diff --git a/src/drivers/mpu6500/mpu6500.cpp b/src/drivers/mpu6500/mpu6500.cpp
index f66f7ffd7a..c3457c5b8b 100644
--- a/src/drivers/mpu6500/mpu6500.cpp
+++ b/src/drivers/mpu6500/mpu6500.cpp
@@ -243,7 +243,7 @@ private:
 
 	ringbuffer::RingBuffer *_accel_reports;
 
-	struct accel_scale	_accel_scale;
+	struct accel_calibration_s	_accel_scale;
 	float			_accel_range_scale;
 	float			_accel_range_m_s2;
 	orb_advert_t		_accel_topic;
@@ -252,7 +252,7 @@ private:
 
 	ringbuffer::RingBuffer *_gyro_reports;
 
-	struct gyro_scale	_gyro_scale;
+	struct gyro_calibration_s	_gyro_scale;
 	float			_gyro_range_scale;
 	float			_gyro_range_rad_s;
 
@@ -1328,7 +1328,7 @@ MPU6500::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
-			struct accel_scale *s = (struct accel_scale *) arg;
+			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
 			float sum = s->x_scale + s->y_scale + s->z_scale;
 
 			if (sum > 2.0f && sum < 4.0f) {
@@ -1342,7 +1342,7 @@ MPU6500::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
+		memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
 		return OK;
 
 	case ACCELIOCSRANGE:
@@ -1412,12 +1412,12 @@ MPU6500::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case GYROIOCSSCALE:
 		/* copy scale in */
-		memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
+		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
+		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCSRANGE: