Merge remote-tracking branch 'upstream/master' into flow_orient

Conflicts:
	src/drivers/px4flow/px4flow.cpp

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -10,7 +10,7 @@ then
 	param set NAV_LAND_ALT 90
 	param set NAV_RTL_ALT 100
 	param set NAV_RTL_LAND_T -1
-	param set NAV_ACCEPT_RAD 50
+	param set NAV_ACC_RAD 50
 	param set FW_T_HRATE_P 0.01
 	param set FW_T_RLL2THR 15
 	param set FW_T_SRATE_P 0.01

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -41,7 +41,9 @@ then
 	param set PE_POSNE_NOISE 0.5
 	param set PE_POSD_NOISE 1.0
 
-	param set NAV_ACCEPT_RAD 2.0
+	param set NAV_ACC_RAD 2.0
+	param set RTL_RETURN_ALT 30.0
+	param set RTL_DESCEND_ALT 10.0
 fi
 
 set PWM_RATE 400

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -404,7 +404,7 @@ CONFIG_SIG_SIGWORK=4
 CONFIG_MAX_TASKS=32
 CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=38
+CONFIG_NFILE_DESCRIPTORS=42
 CONFIG_NFILE_STREAMS=8
 CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -323,7 +323,7 @@ CONFIG_STM32_USART_SINGLEWIRE=y
 #
 # CONFIG_STM32_I2C_DYNTIMEO is not set
 CONFIG_STM32_I2CTIMEOSEC=0
-CONFIG_STM32_I2CTIMEOMS=1
+CONFIG_STM32_I2CTIMEOMS=10
 # CONFIG_STM32_I2C_DUTY16_9 is not set
 
 #
@@ -438,7 +438,7 @@ CONFIG_SIG_SIGWORK=4
 CONFIG_MAX_TASKS=32
 CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=38
+CONFIG_NFILE_DESCRIPTORS=42
 CONFIG_NFILE_STREAMS=8
 CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4

src/drivers/batt_smbus/batt_smbus.cpp

@@ -0,0 +1,540 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: Randy Mackay <rmackay9@yahoo.com>
+ *
+ * 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 batt_smbus.cpp
+ *
+ * Driver for a battery monitor connected via SMBus (I2C).
+ *
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <sched.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+#include <ctype.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+
+#include <board_config.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/subsystem_info.h>
+#include <uORB/topics/battery_status.h>
+
+#include <float.h>
+
+#include <drivers/device/i2c.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_batt_smbus.h>
+#include <drivers/device/ringbuffer.h>
+
+#define BATT_SMBUS_ADDR_MIN				0x08	/* lowest possible address */
+#define BATT_SMBUS_ADDR_MAX				0x7F	/* highest possible address */
+
+#define BATT_SMBUS_I2C_BUS				PX4_I2C_BUS_EXPANSION
+#define BATT_SMBUS_ADDR					0x0B	/* I2C address */
+#define BATT_SMBUS_TEMP					0x08	/* temperature register */
+#define BATT_SMBUS_VOLTAGE				0x09	/* voltage register */
+#define BATT_SMBUS_DESIGN_CAPACITY		0x18	/* design capacity register */
+#define BATT_SMBUS_DESIGN_VOLTAGE		0x19	/* design voltage register */
+#define BATT_SMBUS_SERIALNUM			0x1c	/* serial number register */
+#define BATT_SMBUS_MANUFACTURE_NAME     0x20    /* manufacturer name */
+#define BATT_SMBUS_MANUFACTURE_INFO		0x25	/* cell voltage register */
+#define BATT_SMBUS_CURRENT				0x2a	/* current register */
+#define BATT_SMBUS_MEASUREMENT_INTERVAL_MS	(1000000 / 10)	/* time in microseconds, measure at 10hz */
+
+#define BATT_SMBUS_PEC_POLYNOMIAL		0x07	/* Polynomial for calculating PEC */
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
+class BATT_SMBUS : public device::I2C
+{
+public:
+	BATT_SMBUS(int bus = PX4_I2C_BUS_EXPANSION, uint16_t batt_smbus_addr = BATT_SMBUS_ADDR);
+	virtual ~BATT_SMBUS();
+
+	virtual int		init();
+	virtual int		test();
+	int				search();		/* search all possible slave addresses for a smart battery */
+
+protected:
+	virtual int		probe();		// check if the device can be contacted
+
+private:
+
+	// start periodic reads from the battery
+	void			start();
+
+	// stop periodic reads from the battery
+	void			stop();
+
+	// static function that is called by worker queue
+	static void		cycle_trampoline(void *arg);
+
+	// perform a read from the battery
+	void			cycle();
+
+	// read_reg - read a word from specified register
+	int				read_reg(uint8_t reg, uint16_t &val);
+
+	// read_block - returns number of characters read if successful, zero if unsuccessful
+	uint8_t			read_block(uint8_t reg, uint8_t* data, uint8_t max_len, bool append_zero);
+
+	// get_PEC - calculate PEC for a read or write from the battery
+	//	buff is the data that was read or will be written
+	uint8_t			get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const;
+
+	// internal variables
+	work_s			_work;			// work queue for scheduling reads
+	RingBuffer		*_reports;		// buffer of recorded voltages, currents
+	struct battery_status_s _last_report;	// last published report, used for test()
+	orb_advert_t	_batt_topic;
+	orb_id_t		_batt_orb_id;
+};
+
+/* for now, we only support one BATT_SMBUS */
+namespace
+{
+BATT_SMBUS *g_batt_smbus;
+}
+
+void batt_smbus_usage();
+
+extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[]);
+
+// constructor
+BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) :
+	I2C("batt_smbus", BATT_SMBUS_DEVICE_PATH, bus, batt_smbus_addr, 400000),
+	_work{},
+	_reports(nullptr),
+	_batt_topic(-1),
+	_batt_orb_id(nullptr)
+{
+	// work_cancel in the dtor will explode if we don't do this...
+	memset(&_work, 0, sizeof(_work));
+}
+
+// destructor
+BATT_SMBUS::~BATT_SMBUS()
+{
+	/* make sure we are truly inactive */
+	stop();
+
+	if (_reports != nullptr) {
+		delete _reports;
+	}
+}
+
+int
+BATT_SMBUS::init()
+{
+	int ret = ENOTTY;
+
+	// attempt to initialise I2C bus
+	ret = I2C::init();
+
+	if (ret != OK) {
+		errx(1,"failed to init I2C");
+		return ret;
+	} else {
+		/* allocate basic report buffers */
+		_reports = new RingBuffer(2, sizeof(struct battery_status_s));
+		if (_reports == nullptr) {
+			ret = ENOTTY;
+		} else {
+			// start work queue
+			start();
+		}
+	}
+
+	// init orb id
+	_batt_orb_id = ORB_ID(battery_status);
+
+	return ret;
+}
+
+int
+BATT_SMBUS::test()
+{
+	int sub = orb_subscribe(ORB_ID(battery_status));
+	bool updated = false;
+	struct battery_status_s status;
+	uint64_t start_time = hrt_absolute_time();
+
+	// loop for 5 seconds
+	while ((hrt_absolute_time() - start_time) < 5000000) {
+
+		// display new info that has arrived from the orb
+		orb_check(sub, &updated);
+		if (updated) {
+			if (orb_copy(ORB_ID(battery_status), sub, &status) == OK) {
+				warnx("V=%4.2f C=%4.2f", status.voltage_v, status.current_a);
+			}
+		}
+
+		// sleep for 0.05 seconds
+		usleep(50000);
+	}
+
+	return OK;
+}
+
+/* search all possible slave addresses for a smart battery */
+int
+BATT_SMBUS::search()
+{
+	bool found_slave = false;
+	uint16_t tmp;
+
+	// search through all valid SMBus addresses
+	for (uint8_t i=BATT_SMBUS_ADDR_MIN; i<=BATT_SMBUS_ADDR_MAX; i++) {
+		set_address(i);
+		if (read_reg(BATT_SMBUS_VOLTAGE, tmp) == OK) {
+			warnx("battery found at 0x%x",(int)i);
+			found_slave = true;
+		}
+		// short sleep
+		usleep(1);
+	}
+
+	// display completion message
+	if (found_slave) {
+		warnx("Done.");
+	} else {
+		warnx("No smart batteries found.");
+	}
+
+	return OK;
+}
+
+int
+BATT_SMBUS::probe()
+{
+	// always return OK to ensure device starts
+	return OK;
+}
+
+// start periodic reads from the battery
+void
+BATT_SMBUS::start()
+{
+	/* reset the report ring and state machine */
+	_reports->flush();
+
+	/* schedule a cycle to start things */
+	work_queue(HPWORK, &_work, (worker_t)&BATT_SMBUS::cycle_trampoline, this, 1);
+}
+
+// stop periodic reads from the battery
+void
+BATT_SMBUS::stop()
+{
+	work_cancel(HPWORK, &_work);
+}
+
+// static function that is called by worker queue
+void
+BATT_SMBUS::cycle_trampoline(void *arg)
+{
+	BATT_SMBUS *dev = (BATT_SMBUS *)arg;
+
+	dev->cycle();
+}
+
+// perform a read from the battery
+void
+BATT_SMBUS::cycle()
+{
+	// read data from sensor
+	struct battery_status_s new_report;
+
+	// set time of reading
+	new_report.timestamp = hrt_absolute_time();
+
+	// read voltage
+	uint16_t tmp;
+	if (read_reg(BATT_SMBUS_VOLTAGE, tmp) == OK) {
+		// initialise new_report
+		memset(&new_report, 0, sizeof(new_report));
+
+		// convert millivolts to volts
+		new_report.voltage_v = ((float)tmp) / 1000.0f;
+
+		// read current
+		usleep(1);
+		uint8_t buff[4];
+		if (read_block(BATT_SMBUS_CURRENT, buff, 4, false) == 4) {
+			new_report.current_a = (float)((int32_t)((uint32_t)buff[3]<<24 | (uint32_t)buff[2]<<16 | (uint32_t)buff[1]<<8 | (uint32_t)buff[0])) / 1000.0f;
+		}
+
+		// publish to orb
+		if (_batt_topic != -1) {
+			orb_publish(_batt_orb_id, _batt_topic, &new_report);
+		} else {
+			_batt_topic = orb_advertise(_batt_orb_id, &new_report);
+			if (_batt_topic < 0) {
+				errx(1, "ADVERT FAIL");
+			}
+		}
+
+		// copy report for test()
+		_last_report = new_report;
+
+		/* post a report to the ring */
+		_reports->force(&new_report);
+
+		/* notify anyone waiting for data */
+		poll_notify(POLLIN);
+	}
+
+	/* schedule a fresh cycle call when the measurement is done */
+	work_queue(HPWORK, &_work, (worker_t)&BATT_SMBUS::cycle_trampoline, this, USEC2TICK(BATT_SMBUS_MEASUREMENT_INTERVAL_MS));
+}
+
+int
+BATT_SMBUS::read_reg(uint8_t reg, uint16_t &val)
+{
+	uint8_t buff[3];	// 2 bytes of data + PEC
+
+	// read from register
+	int ret = transfer(&reg, 1, buff, 3);
+	if (ret == OK) {
+		// check PEC
+		uint8_t pec = get_PEC(reg, true, buff, 2);
+		if (pec == buff[2]) {
+			val = (uint16_t)buff[1] << 8 | (uint16_t)buff[0];
+		} else {
+			ret = ENOTTY;
+		}
+	}
+
+	// return success or failure
+	return ret;
+}
+
+// read_block - returns number of characters read if successful, zero if unsuccessful
+uint8_t BATT_SMBUS::read_block(uint8_t reg, uint8_t* data, uint8_t max_len, bool append_zero)
+{
+	uint8_t buff[max_len+2];    // buffer to hold results
+
+	usleep(1);
+
+	// read bytes including PEC
+	int ret = transfer(&reg, 1, buff, max_len+2);
+
+	// return zero on failure
+	if (ret != OK) {
+		return 0;
+	}
+
+	// get length
+	uint8_t bufflen = buff[0];
+
+	// sanity check length returned by smbus
+	if (bufflen == 0 || bufflen > max_len) {
+		return 0;
+	}
+
+	// check PEC
+	uint8_t pec = get_PEC(reg, true, buff, bufflen+1);
+	if (pec != buff[bufflen+1]) {
+		// debug
+		warnx("CurrPEC:%x vs MyPec:%x",(int)buff[bufflen+1],(int)pec);
+		return 0;
+	} else {
+		warnx("CurPEC ok: %x",(int)pec);
+	}
+
+	// copy data
+	memcpy(data, &buff[1], bufflen);
+
+	// optionally add zero to end
+	if (append_zero) {
+		data[bufflen] = '\0';
+	}
+
+	// return success
+	return bufflen;
+}
+
+// get_PEC - calculate PEC for a read or write from the battery
+//	buff is the data that was read or will be written
+uint8_t BATT_SMBUS::get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const
+{
+	// exit immediately if no data
+	if (len <= 0) {
+		return 0;
+	}
+
+	// prepare temp buffer for calcing crc
+	uint8_t tmp_buff[len+3];
+	tmp_buff[0] = (uint8_t)get_address() << 1;
+	tmp_buff[1] = cmd;
+	tmp_buff[2] = tmp_buff[0] | (uint8_t)reading;
+	memcpy(&tmp_buff[3],buff,len);
+
+	// initialise crc to zero
+	uint8_t crc = 0;
+	uint8_t shift_reg = 0;
+	bool do_invert;
+
+	// for each byte in the stream
+	for (uint8_t i=0; i<sizeof(tmp_buff); i++) {
+		// load next data byte into the shift register
+		shift_reg = tmp_buff[i];
+		// for each bit in the current byte
+		for (uint8_t j=0; j<8; j++) {
+			do_invert = (crc ^ shift_reg) & 0x80;
+			crc <<= 1;
+			shift_reg <<= 1;
+			if (do_invert) {
+				crc ^= BATT_SMBUS_PEC_POLYNOMIAL;
+			}
+		}
+	}
+
+	// return result
+	return crc;
+}
+
+///////////////////////// shell functions ///////////////////////
+
+void
+batt_smbus_usage()
+{
+	warnx("missing command: try 'start', 'test', 'stop', 'search'");
+	warnx("options:");
+		warnx("    -b i2cbus (%d)", BATT_SMBUS_I2C_BUS);
+		warnx("    -a addr (0x%x)", BATT_SMBUS_ADDR);
+}
+
+int
+batt_smbus_main(int argc, char *argv[])
+{
+	int i2cdevice = BATT_SMBUS_I2C_BUS;
+	int batt_smbusadr = BATT_SMBUS_ADDR; /* 7bit */
+
+	int ch;
+
+	/* jump over start/off/etc and look at options first */
+	while ((ch = getopt(argc, argv, "a:b:")) != EOF) {
+		switch (ch) {
+		case 'a':
+			batt_smbusadr = strtol(optarg, NULL, 0);
+			break;
+
+		case 'b':
+			i2cdevice = strtol(optarg, NULL, 0);
+			break;
+
+		default:
+			batt_smbus_usage();
+			exit(0);
+		}
+	}
+
+	if (optind >= argc) {
+		batt_smbus_usage();
+		exit(1);
+	}
+
+	const char *verb = argv[optind];
+
+	if (!strcmp(verb, "start")) {
+		if (g_batt_smbus != nullptr) {
+			errx(1, "already started");
+		} else {
+			// create new global object
+			g_batt_smbus = new BATT_SMBUS(i2cdevice, batt_smbusadr);
+
+			if (g_batt_smbus == nullptr) {
+				errx(1, "new failed");
+			}
+
+			if (OK != g_batt_smbus->init()) {
+				delete g_batt_smbus;
+				g_batt_smbus = nullptr;
+				errx(1, "init failed");
+			}
+		}
+
+		exit(0);
+	}
+
+	/* need the driver past this point */
+	if (g_batt_smbus == nullptr) {
+		warnx("not started");
+		batt_smbus_usage();
+		exit(1);
+	}
+
+	if (!strcmp(verb, "test")) {
+		g_batt_smbus->test();
+		exit(0);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		delete g_batt_smbus;
+		g_batt_smbus = nullptr;
+		exit(0);
+	}
+
+	if (!strcmp(verb, "search")) {
+		g_batt_smbus->search();
+		exit(0);
+	}
+
+	batt_smbus_usage();
+	exit(0);
+}

src/drivers/batt_smbus/module.mk

@@ -0,0 +1,8 @@
+#
+# driver for SMBus smart batteries
+#
+
+MODULE_COMMAND	 = batt_smbus
+SRCS		 = batt_smbus.cpp
+
+MAXOPTIMIZATION	 = -Os

src/drivers/device/i2c.h

@@ -58,7 +58,7 @@ public:
 	/**
 	 * Get the address
 	 */
-	int16_t		get_address() { return _address; }
+	int16_t		get_address() const { return _address; }
 	
 protected:
 	/**

src/drivers/drv_batt_smbus.h

@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 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 drv_batt_smbus.h
+ *
+ * SMBus battery monitor device API
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+#include "drv_orb_dev.h"
+
+/* device path */
+#define BATT_SMBUS_DEVICE_PATH "/dev/batt_smbus"

src/drivers/px4flow/px4flow.cpp

@@ -75,13 +75,14 @@
 #include <board_config.h>
 
 /* Configuration Constants */
-#define I2C_FLOW_ADDRESS 		0x42 //* 7-bit address. 8-bit address is 0x84
-//range 0x42 - 0x49
+#define I2C_FLOW_ADDRESS 		0x42	///< 7-bit address. 8-bit address is 0x84, range 0x42 - 0x49
 
 /* PX4FLOW Registers addresses */
-#define PX4FLOW_REG		0x16	/* Measure Register 22*/
+#define PX4FLOW_REG			0x16	///< Measure Register 22
+
+#define PX4FLOW_CONVERSION_INTERVAL	20000	///< in microseconds! 20000 = 50 Hz 100000 = 10Hz
+#define PX4FLOW_I2C_MAX_BUS_SPEED	400000	///< 400 KHz maximum speed
 
-#define PX4FLOW_CONVERSION_INTERVAL 20000 //in microseconds! 20000 = 50 Hz 100000 = 10Hz
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
 # undef ERROR
@@ -204,7 +205,7 @@ private:
 extern "C" __EXPORT int px4flow_main(int argc, char *argv[]);
 
 PX4FLOW::PX4FLOW(int bus, int address, enum Rotation rotation) :
-	I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000), //400khz
+	I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, PX4FLOW_I2C_MAX_BUS_SPEED), /* 100-400 KHz */
 	_reports(nullptr),
 	_sensor_ok(false),
 	_measure_ticks(0),

src/modules/commander/module.mk

@@ -52,5 +52,5 @@ MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
 
-EXTRACXXFLAGS = -Wframe-larger-than=1900
+EXTRACXXFLAGS = -Wframe-larger-than=2000
 

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -400,7 +400,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 
 	/* fetch initial parameter values */
 	parameters_update();
-	// set correct uORB ID, depending on if vehicle is VTOL or not
+
+	/* set correct uORB ID, depending on if vehicle is VTOL or not */
 	if (_parameters.autostart_id >= 13000 && _parameters.autostart_id <= 13999) { /* VTOL airframe?*/
 		_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
 		_actuators_id = ORB_ID(actuator_controls_virtual_fw);
@@ -724,22 +725,24 @@ FixedwingAttitudeControl::task_main()
 				R.set(_att.R);
 				R_adapted.set(_att.R);
 
-				//move z to x
+				/* move z to x */
 				R_adapted(0, 0) = R(0, 2);
 				R_adapted(1, 0) = R(1, 2);
 				R_adapted(2, 0) = R(2, 2);
-				//move x to z
+
+				/* move x to z */
 				R_adapted(0, 2) = R(0, 0);
 				R_adapted(1, 2) = R(1, 0);
 				R_adapted(2, 2) = R(2, 0);
 
-				//change direction of pitch (convert to right handed system)
+				/* change direction of pitch (convert to right handed system) */
 				R_adapted(0, 0) = -R_adapted(0, 0);
 				R_adapted(1, 0) = -R_adapted(1, 0);
 				R_adapted(2, 0) = -R_adapted(2, 0);
 				math::Vector<3> euler_angles;		//adapted euler angles for fixed wing operation
 				euler_angles = R_adapted.to_euler();
-				//fill in new attitude data
+
+				/* fill in new attitude data */
 				_att.roll    = euler_angles(0);
 				_att.pitch   = euler_angles(1);
 				_att.yaw     = euler_angles(2);
@@ -753,7 +756,7 @@ FixedwingAttitudeControl::task_main()
 				_att.R[2][1] = R_adapted(2, 1);
 				_att.R[2][2] = R_adapted(2, 2);
 
-				// lastly, roll- and yawspeed have to be swaped
+				/* lastly, roll- and yawspeed have to be swaped */
 				float helper = _att.rollspeed;
 				_att.rollspeed = -_att.yawspeed;
 				_att.yawspeed = helper;
@@ -824,6 +827,7 @@ FixedwingAttitudeControl::task_main()
 
 				float roll_sp = _parameters.rollsp_offset_rad;
 				float pitch_sp = _parameters.pitchsp_offset_rad;
+				float yaw_manual = 0.0f;
 				float throttle_sp = 0.0f;
 
 				/* Read attitude setpoint from uorb if
@@ -849,7 +853,7 @@ FixedwingAttitudeControl::task_main()
 						_yaw_ctrl.reset_integrator();
 					}
 				} else if (_vcontrol_mode.flag_control_velocity_enabled) {
- 					/* 
+ 					/*
 					 * Velocity should be controlled and manual is enabled.
 					*/
 					roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
@@ -884,6 +888,8 @@ FixedwingAttitudeControl::task_main()
 						+ _parameters.rollsp_offset_rad;
 					pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch)
 						+ _parameters.pitchsp_offset_rad;
+					/* allow manual control of rudder deflection */
+					yaw_manual = _manual.r;
 					throttle_sp = _manual.z;
 					_actuators.control[4] = _manual.flaps;
 
@@ -983,6 +989,9 @@ FixedwingAttitudeControl::task_main()
 							_pitch_ctrl.get_desired_rate(),
 							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
 					_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
+
+					/* add in manual rudder control */
+					_actuators.control[2] += yaw_manual;
 					if (!isfinite(yaw_u)) {
 						_yaw_ctrl.reset_integrator();
 						perf_count(_nonfinite_output_perf);

src/modules/mavlink/module.mk

@@ -53,4 +53,6 @@ MAXOPTIMIZATION	 = -Os
 
 MODULE_STACKSIZE = 1024
 
-EXTRACXXFLAGS	= -Weffc++
+EXTRACXXFLAGS	= -Weffc++ -Wno-attributes -Wno-packed
+
+EXTRACFLAGS	= -Wno-packed

src/modules/navigator/navigator_params.c

@@ -50,7 +50,8 @@
  * Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only).
  *
  * @unit meters
- * @min 0.0
+ * @min 20
+ * @max 200
  * @group Mission
  */
 PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
@@ -61,10 +62,11 @@ PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
  * Default acceptance radius, overridden by acceptance radius of waypoint if set.
  *
  * @unit meters
- * @min 1.0
+ * @min 0.05
+ * @max 200
  * @group Mission
  */
-PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 25.0f);
+PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f);
 
 /**
  * Set OBC mode for data link loss

src/modules/navigator/rtl_params.c

@@ -53,7 +53,8 @@
  * Default value of loiter radius after RTL (fixedwing only).
  *
  * @unit meters
- * @min 0.0
+ * @min 20
+ * @max 200
  * @group RTL
  */
 PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);
@@ -65,10 +66,10 @@ PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);
  *
  * @unit meters
  * @min 0
- * @max 1
+ * @max 150
  * @group RTL
  */
-PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 100);
+PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
 
 
 /**
@@ -78,7 +79,7 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 100);
  * Land (i.e. slowly descend) from this altitude if autolanding allowed.
  *
  * @unit meters
- * @min 0
+ * @min 2
  * @max 100
  * @group RTL
  */
@@ -92,7 +93,7 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 20);
  *
  * @unit seconds
  * @min -1
- * @max
+ * @max 300
  * @group RTL
  */
 PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);

src/modules/sdlog2/sdlog2_messages.h

@@ -468,7 +468,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(OUT0, "ffffffff",		"Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
 	LOG_FORMAT(AIRS, "fff",			"IndSpeed,TrueSpeed,AirTemp"),
 	LOG_FORMAT(ARSP, "fff",			"RollRateSP,PitchRateSP,YawRateSP"),
-	LOG_FORMAT(FLOW, "hhfffBB",		"RawX,RawY,CompX,CompY,Dist,Q,SensID"),
+	LOG_FORMAT(FLOW, "QBffffffLLHhB",	"IntT,ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"),
 	LOG_FORMAT(GPOS, "LLfffffff",		"Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
 	LOG_FORMAT(GPSP, "BLLffBfbf",		"NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
 	LOG_FORMAT(ESC, "HBBBHHffiffH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),