Merge master into attitude EKF update

Debug/NuttX

@@ -78,7 +78,7 @@ end
 ################################################################################
 
 define showfiles
-	set $task = (struct _TCB *)$arg0
+	set $task = (struct tcb_s *)$arg0
 	set $nfiles = sizeof((*(struct filelist*)0).fl_files) / sizeof(struct file)
 	printf "%d files\n", $nfiles
 	set $index = 0
@@ -102,7 +102,7 @@ end
 ################################################################################
 
 define _showtask_oneline
-	set $task = (struct _TCB *)$arg0
+	set $task = (struct tcb_s *)$arg0
 	printf "    %p  %.2d %.3d %s\n", $task, $task->pid, $task->sched_priority, $task->name
 end
 
@@ -139,7 +139,7 @@ end
 # Print task registers for a NuttX v7em target with FPU enabled.
 #
 define _showtaskregs_v7em
-	set $task = (struct _TCB *)$arg0
+	set $task = (struct tcb_s *)$arg0
 	set $regs = (uint32_t *)&($task->xcp.regs[0])
 
 	printf "    r0: 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x 0x%08x\n", $regs[27], $regs[28], $regs[29], $regs[30], $regs[2], $regs[3], $regs[4], $regs[5]
@@ -162,7 +162,7 @@ end
 define _showsemaphore
 	printf "count %d ", $arg0->semcount
 	if $arg0->holder.htcb != 0
-		set $_task = (struct _TCB *)$arg0->holder.htcb
+		set $_task = (struct tcb_s *)$arg0->holder.htcb
 		printf "held by %s", $_task->name
 	end
 	printf "\n"
@@ -172,7 +172,7 @@ end
 # Print information about a task's stack usage
 #
 define showtaskstack
-	set $task = (struct _TCB *)$arg0
+	set $task = (struct tcb_s *)$arg0
 
 	if $task == &g_idletcb
 		printf "can't measure idle stack\n"
@@ -189,7 +189,7 @@ end
 # Print details of a task
 #
 define showtask
-	set $task = (struct _TCB *)$arg0
+	set $task = (struct tcb_s *)$arg0
 
 	printf "%p %.2d ", $task, $task->pid
 	_showtaskstate $task
@@ -204,7 +204,7 @@ define showtask
 	if $task->task_state != TSTATE_TASK_RUNNING
 		_showtaskregs_v7em $task
 	else
-		_showcurrentregs_v7em
+		_showtaskregs_v7em $task
 	end
 
 	# XXX print registers here
@@ -247,8 +247,10 @@ define showtasks
 	_showtasklist &g_pendingtasks
 	printf "RUNNABLE\n"
 	_showtasklist &g_readytorun
-	printf "WAITING\n"
+	printf "WAITING for Semaphore\n"
 	_showtasklist &g_waitingforsemaphore
+	printf "WAITING for Signal\n"
+	_showtasklist &g_waitingforsignal
 	printf "INACTIVE\n"
 	_showtasklist &g_inactivetasks
 end
@@ -257,3 +259,23 @@ document showtasks
 .    showtasks
 .        Print a list of all tasks in the system, separated into their respective queues.
 end
+
+define my_mem
+
+    set $start = $arg0
+    set $end = $arg1
+    set $cursor = $start
+    
+    if $start < $end
+      while $cursor != $end
+        set *$cursor = 0x0000
+        set $cursor = $cursor + 4
+        printf "0x%x of 0x%x\n",$cursor,$end 
+      end
+    else
+      while $cursor != $end
+        set *$cursor = 0x0000
+        set $cursor = $cursor - 4
+      end
+    end
+end

Debug/Nuttx.py

@@ -59,30 +59,42 @@ class NX_register_set(object):
 
 	def __init__(self, xcpt_regs):
 		if xcpt_regs is None:
-			self.regs['R0']         = long(gdb.parse_and_eval('$r0'))
-			self.regs['R1']         = long(gdb.parse_and_eval('$r1'))
-			self.regs['R2']         = long(gdb.parse_and_eval('$r2'))
-			self.regs['R3']         = long(gdb.parse_and_eval('$r3'))
-			self.regs['R4']         = long(gdb.parse_and_eval('$r4'))
-			self.regs['R5']         = long(gdb.parse_and_eval('$r5'))
-			self.regs['R6']         = long(gdb.parse_and_eval('$r6'))
-			self.regs['R7']         = long(gdb.parse_and_eval('$r7'))
-			self.regs['R8']         = long(gdb.parse_and_eval('$r8'))
-			self.regs['R9']         = long(gdb.parse_and_eval('$r9'))
-			self.regs['R10']        = long(gdb.parse_and_eval('$r10'))
-			self.regs['R11']        = long(gdb.parse_and_eval('$r11'))
-			self.regs['R12']        = long(gdb.parse_and_eval('$r12'))
-			self.regs['R13']        = long(gdb.parse_and_eval('$r13'))
-			self.regs['SP']         = long(gdb.parse_and_eval('$sp'))
-			self.regs['R14']        = long(gdb.parse_and_eval('$r14'))
-			self.regs['LR']         = long(gdb.parse_and_eval('$lr'))
-			self.regs['R15']        = long(gdb.parse_and_eval('$r15'))
-			self.regs['PC']         = long(gdb.parse_and_eval('$pc'))
-			self.regs['XPSR']       = long(gdb.parse_and_eval('$xpsr'))
+			self.regs['R0']         = self.mon_reg_call('r0')
+			self.regs['R1']         = self.mon_reg_call('r1')
+			self.regs['R2']         = self.mon_reg_call('r2')
+			self.regs['R3']         = self.mon_reg_call('r3')
+			self.regs['R4']         = self.mon_reg_call('r4')
+			self.regs['R5']         = self.mon_reg_call('r5')
+			self.regs['R6']         = self.mon_reg_call('r6')
+			self.regs['R7']         = self.mon_reg_call('r7')
+			self.regs['R8']         = self.mon_reg_call('r8')
+			self.regs['R9']         = self.mon_reg_call('r9')
+			self.regs['R10']        = self.mon_reg_call('r10')
+			self.regs['R11']        = self.mon_reg_call('r11')
+			self.regs['R12']        = self.mon_reg_call('r12')
+			self.regs['R13']        = self.mon_reg_call('r13')
+			self.regs['SP']         = self.mon_reg_call('sp')
+			self.regs['R14']        = self.mon_reg_call('r14')
+			self.regs['LR']         = self.mon_reg_call('lr')
+			self.regs['R15']        = self.mon_reg_call('r15')
+			self.regs['PC']         = self.mon_reg_call('pc')
+			self.regs['XPSR']       = self.mon_reg_call('xPSR')
 		else:
 			for key in self.v7em_regmap.keys():
 				self.regs[key] = int(xcpt_regs[self.v7em_regmap[key]])
 
+	def mon_reg_call(self,register):
+		"""
+		register is the register as a string e.g. 'pc'
+		return integer containing the value of the register
+		"""
+		str_to_eval = "mon reg "+register
+		resp = gdb.execute(str_to_eval,to_string = True)
+		content = resp.split()[-1];
+		try:
+			return int(content,16)
+		except:
+			return 0
 
 	@classmethod
 	def with_xcpt_regs(cls, xcpt_regs):
@@ -172,7 +184,7 @@ class NX_task(object):
 				self.__dict__['stack_used'] = 0
 			else:
 				stack_limit = self._tcb['adj_stack_size']
-				for offset in range(0, stack_limit):
+				for offset in range(0, int(stack_limit)):
 					if stack_base[offset] != 0xff:
 						break
 				self.__dict__['stack_used'] = stack_limit - offset
@@ -187,7 +199,7 @@ class NX_task(object):
 	def state(self):
 		"""return the name of the task's current state"""
 		statenames = gdb.types.make_enum_dict(gdb.lookup_type('enum tstate_e'))
-		for name,value in statenames.iteritems():
+		for name,value in statenames.items():
 			if value == self._tcb['task_state']:
 				return name
 		return 'UNKNOWN'
@@ -196,16 +208,19 @@ class NX_task(object):
 	def waiting_for(self):
 		"""return a description of what the task is waiting for, if it is waiting"""
 		if self._state_is('TSTATE_WAIT_SEM'):
-			waitsem = self._tcb['waitsem'].dereference()
-			waitsem_holder = waitsem['holder']
-			holder = NX_task.for_tcb(waitsem_holder['htcb'])
-			if holder is not None:
-				return '{}({})'.format(waitsem.address, holder.name)
-			else:
-				return '{}(<bad holder>)'.format(waitsem.address)
+			try: 
+				waitsem = self._tcb['waitsem'].dereference()
+				waitsem_holder = waitsem['holder']
+				holder = NX_task.for_tcb(waitsem_holder['htcb'])
+				if holder is not None:
+					return '{}({})'.format(waitsem.address, holder.name)
+				else:
+					return '{}(<bad holder>)'.format(waitsem.address)
+			except:
+				return 'EXCEPTION'
 		if self._state_is('TSTATE_WAIT_SIG'):
 			return 'signal'
-		return None
+		return ""
 
 	@property
 	def is_waiting(self):
@@ -229,7 +244,7 @@ class NX_task(object):
 		filearray = filelist['fl_files']
 		result = dict()
 		for i in range(filearray.type.range()[0],filearray.type.range()[1]):
-			inode = long(filearray[i]['f_inode'])
+			inode = int(filearray[i]['f_inode'])
 			if inode != 0:
 				result[i] = inode
 		return result
@@ -253,7 +268,18 @@ class NX_task(object):
 
 	def __str__(self):
 		return "{}:{}".format(self.pid, self.name)
-
+	
+	def showoff(self):
+		print("-------")
+		print(self.pid,end = ", ")
+		print(self.name,end = ", ")
+		print(self.state,end = ", ")
+		print(self.waiting_for,end = ", ")
+		print(self.stack_used,end = ", ")
+		print(self._tcb['adj_stack_size'],end = ", ")
+		print(self.file_descriptors)
+		print(self.registers)
+		
 	def __format__(self, format_spec):
 		return format_spec.format(
 			pid              = self.pid,
@@ -265,7 +291,7 @@ class NX_task(object):
 			file_descriptors = self.file_descriptors,
 			registers	 = self.registers
 			)
-
+	
 class NX_show_task (gdb.Command):
 	"""(NuttX) prints information about a task"""
 
@@ -285,7 +311,7 @@ class NX_show_task (gdb.Command):
 			my_fmt += '  R8  {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
 			my_fmt += '  R12 {registers[PC]:#010x}\n'
 			my_fmt += '  SP  {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
-			print format(t, my_fmt)
+			print(format(t, my_fmt))
 
 class NX_show_tasks (gdb.Command):
 	"""(NuttX) prints a list of tasks"""
@@ -295,8 +321,10 @@ class NX_show_tasks (gdb.Command):
 
 	def invoke(self, args, from_tty):
 		tasks = NX_task.tasks()
+		print ('Number of tasks: ' + str(len(tasks)))
 		for t in tasks:
-			print format(t, '{pid:<2} {name:<16} {state:<20} {stack_used:>4}/{stack_limit:<4}')
+			#t.showoff()
+			print(format(t, 'Task: {pid} {name} {state} {stack_used}/{stack_limit}'))
 
 NX_show_task()
 NX_show_tasks()
@@ -306,15 +334,15 @@ class NX_show_heap (gdb.Command):
 
 	def __init__(self):
 		super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER)
-                struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s')
-                preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof
-                if preceding_size == 2:
+		struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s')
+		preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof
+		if preceding_size == 2:
 			self._allocflag = 0x8000
-                elif preceding_size == 4:
+		elif preceding_size == 4:
 			self._allocflag = 0x80000000
-                else:
-                        raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size)
-                self._allocnodesize = struct_mm_allocnode_s.sizeof
+		else:
+			raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size)
+			self._allocnodesize = struct_mm_allocnode_s.sizeof
 
 	def _node_allocated(self, allocnode):
 		if allocnode['preceding'] & self._allocflag:
@@ -328,7 +356,7 @@ class NX_show_heap (gdb.Command):
 		if region_start >= region_end:
 			raise gdb.GdbError('heap region {} corrupt'.format(hex(region_start)))
 		nodecount = region_end - region_start
-		print 'heap {} - {}'.format(region_start, region_end)
+		print ('heap {} - {}'.format(region_start, region_end))
 		cursor = 1
 		while cursor < nodecount:
 			allocnode = region_start[cursor]
@@ -336,8 +364,8 @@ class NX_show_heap (gdb.Command):
 				state = ''
 			else:
 				state = '(free)'
-			print '  {} {} {}'.format(allocnode.address + self._allocnodesize,
-                                                  self._node_size(allocnode), state)
+			print( '  {} {} {}'.format(allocnode.address + self._allocnodesize,
+                                                  self._node_size(allocnode), state))
 			cursor += self._node_size(allocnode) / self._allocnodesize
 
 	def invoke(self, args, from_tty):
@@ -345,7 +373,7 @@ class NX_show_heap (gdb.Command):
 		nregions = heap['mm_nregions']
 		region_starts = heap['mm_heapstart']
 		region_ends = heap['mm_heapend']
-		print '{} heap(s)'.format(nregions)
+		print( '{} heap(s)'.format(nregions))
 		# walk the heaps
 		for i in range(0, nregions):
 			self._print_allocations(region_starts[i], region_ends[i])
@@ -370,6 +398,317 @@ class NX_show_interrupted_thread (gdb.Command):
 			my_fmt += '  R8  {registers[R8]:#010x} {registers[R9]:#010x} {registers[R10]:#010x} {registers[R11]:#010x}\n'
 			my_fmt += '  R12 {registers[PC]:#010x}\n'
 			my_fmt += '  SP  {registers[SP]:#010x} LR {registers[LR]:#010x} PC {registers[PC]:#010x} XPSR {registers[XPSR]:#010x}\n'
-			print format(registers, my_fmt)
+			print (format(registers, my_fmt))
 
 NX_show_interrupted_thread()
+
+class NX_check_tcb(gdb.Command):
+	""" check the tcb of a task from a address """
+	def __init__(self):
+		super(NX_check_tcb,self).__init__('show tcb', gdb.COMMAND_USER)
+		
+	def invoke(self,args,sth):
+		tasks = NX_task.tasks()
+		print("tcb int: ",int(args))
+		print(tasks[int(args)]._tcb)
+		a =tasks[int(args)]._tcb['xcp']['regs']
+		print("relevant registers:")
+		for reg in regmap:
+			hex_addr= hex(int(a[regmap[reg]]))
+			eval_string = 'info line *'+str(hex_addr)
+			print(reg,": ",hex_addr,)
+NX_check_tcb()
+
+class NX_tcb(object):
+	def __init__(self):
+		pass
+	
+	def is_in(self,arg,list):
+		for i in list:
+			if arg == i:
+				return True;
+		return False
+	
+	def find_tcb_list(self,dq_entry_t):
+		tcb_list = []
+		tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
+		first_tcb = tcb_ptr.dereference()
+		tcb_list.append(first_tcb);
+		next_tcb = first_tcb['flink'].dereference()
+		while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
+			tcb_list.append(next_tcb); 
+			old_tcb = next_tcb;
+			next_tcb = old_tcb['flink'].dereference()
+		
+		return [t for t in tcb_list if int(t['pid'])<2000]
+	
+	def getTCB(self):
+		list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
+		tcb_list = [];
+		for l in list_of_listsnames:
+			li = gdb.lookup_global_symbol(l)
+			print(li)
+			cursor = li.value()['head']
+			tcb_list = tcb_list + self.find_tcb_list(cursor)
+
+class NX_check_stack_order(gdb.Command):
+	""" Check the Stack order corresponding to the tasks """
+	
+	def __init__(self):
+		super(NX_check_stack_order,self).__init__('show check_stack', gdb.COMMAND_USER)
+		
+	def is_in(self,arg,list):
+		for i in list:
+			if arg == i:
+				return True;
+		return False
+	
+	def find_tcb_list(self,dq_entry_t):
+		tcb_list = []
+		tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
+		first_tcb = tcb_ptr.dereference()
+		tcb_list.append(first_tcb);
+		next_tcb = first_tcb['flink'].dereference()
+		while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
+			tcb_list.append(next_tcb); 
+			old_tcb = next_tcb;
+			next_tcb = old_tcb['flink'].dereference()
+		
+		return [t for t in tcb_list if int(t['pid'])<2000]
+	
+	def getTCB(self):
+		list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
+		tcb_list = [];
+		for l in list_of_listsnames:
+			li = gdb.lookup_global_symbol(l)
+			cursor = li.value()['head']
+			tcb_list = tcb_list + self.find_tcb_list(cursor)
+		return tcb_list
+		
+	def getSPfromTask(self,tcb):
+		regmap = NX_register_set.v7em_regmap
+		a =tcb['xcp']['regs']
+		return 	int(a[regmap['SP']])
+	
+	def find_closest(self,list,val):
+		tmp_list = [abs(i-val) for i in list]
+		tmp_min = min(tmp_list)
+		idx = tmp_list.index(tmp_min)
+		return idx,list[idx]
+	
+	def find_next_stack(self,address,_dict_in):
+		add_list = []
+		name_list = []
+		for key in _dict_in.keys():
+			for i in range(3):
+				if _dict_in[key][i] < address:
+					add_list.append(_dict_in[key][i])
+					if i == 2: # the last one is the processes stack pointer
+						name_list.append(self.check_name(key)+"_SP")
+					else:
+						name_list.append(self.check_name(key))
+					
+		idx,new_address = self.find_closest(add_list,address)
+		return new_address,name_list[idx]
+	
+	def check_name(self,name):
+		if isinstance(name,(list)):
+			name = name[0];
+		idx = name.find("\\")
+		newname = name[:idx]
+		
+		return newname
+	 
+	def invoke(self,args,sth):
+		tcb = self.getTCB();
+		stackadresses={};
+		for t in tcb:
+			p = [];
+			#print(t.name,t._tcb['stack_alloc_ptr'])
+			p.append(int(t['stack_alloc_ptr']))
+			p.append(int(t['adj_stack_ptr']))
+			p.append(self.getSPfromTask(t))
+			stackadresses[str(t['name'])] = p;
+		address = int("0x30000000",0)
+		print("stack address  :  process")
+		for i in range(len(stackadresses)*3):
+			  address,name = self.find_next_stack(address,stackadresses)
+			  print(hex(address),": ",name)
+
+NX_check_stack_order()
+					 
+class NX_run_debug_util(gdb.Command):
+	""" show the registers of a task corresponding to a tcb address"""
+	def __init__(self):
+		super(NX_run_debug_util,self).__init__('show regs', gdb.COMMAND_USER)
+	
+	def printRegisters(self,task):
+		regmap = NX_register_set.v7em_regmap
+		a =task._tcb['xcp']['regs']
+		print("relevant registers in ",task.name,":")
+		for reg in regmap:
+			hex_addr= hex(int(a[regmap[reg]]))
+			eval_string = 'info line *'+str(hex_addr)
+			print(reg,": ",hex_addr,)
+			
+	def getPCfromTask(self,task):
+		regmap = NX_register_set.v7em_regmap
+		a =task._tcb['xcp']['regs']
+		return 	hex(int(a[regmap['PC']]))
+	
+	def invoke(self,args,sth):
+		tasks = NX_task.tasks() 
+		if args == '':
+			for t in tasks:
+				self.printRegisters(t)
+				eval_str = "list *"+str(self.getPCfromTask(t))
+				print("this is the location in code where the current threads $pc is:")
+				gdb.execute(eval_str)
+		else:
+			tcb_nr = int(args);
+			print("tcb_nr = ",tcb_nr)
+			t = tasks[tcb_nr]
+			self.printRegisters(t)
+			eval_str = "list *"+str(self.getPCfromTask(t))
+			print("this is the location in code where the current threads $pc is:")
+			gdb.execute(eval_str)
+			
+NX_run_debug_util()
+
+		
+class NX_search_tcb(gdb.Command):
+	""" shot PID's of all running tasks """
+	
+	def __init__(self):
+		super(NX_search_tcb,self).__init__('show alltcb', gdb.COMMAND_USER)
+	
+	def is_in(self,arg,list):
+		for i in list:
+			if arg == i:
+				return True;
+		return False
+	
+	def find_tcb_list(self,dq_entry_t):
+		tcb_list = []
+		tcb_ptr = dq_entry_t.cast(gdb.lookup_type('struct tcb_s').pointer())
+		first_tcb = tcb_ptr.dereference()
+		tcb_list.append(first_tcb);
+		next_tcb = first_tcb['flink'].dereference()
+		while not self.is_in(int(next_tcb['pid']),[int(t['pid']) for t in tcb_list]):
+			tcb_list.append(next_tcb); 
+			old_tcb = next_tcb;
+			next_tcb = old_tcb['flink'].dereference()
+		
+		return [t for t in tcb_list if int(t['pid'])<2000]
+	
+	def invoke(self,args,sth):
+		list_of_listsnames = ['g_pendingtasks','g_readytorun','g_waitingforsemaphore','g_waitingforsignal','g_inactivetasks']
+		tasks = [];
+		for l in list_of_listsnames:
+			li = gdb.lookup_global_symbol(l)
+			cursor = li.value()['head']
+			tasks = tasks + self.find_tcb_list(cursor)
+		
+		# filter for tasks that are listed twice
+		tasks_filt = {}
+		for t in tasks:
+			pid = int(t['pid']);
+			if not pid in tasks_filt.keys():
+				tasks_filt[pid] = t['name']; 
+		print('{num_t} Tasks found:'.format(num_t = len(tasks_filt)))
+		for pid in tasks_filt.keys():
+			print("PID: ",pid," ",tasks_filt[pid])
+
+NX_search_tcb()
+
+
+class NX_my_bt(gdb.Command):
+	""" 'fake' backtrace: backtrace the stack of a process and check every suspicious address for the list 
+	arg: tcb_address$
+	(can easily be found by typing 'showtask').
+	"""
+	
+	def __init__(self):
+		super(NX_my_bt,self).__init__('show mybt', gdb.COMMAND_USER)
+		
+	def readmem(self,addr):
+		'''
+		read memory at addr and return nr
+		'''	
+		str_to_eval = "x/x "+hex(addr)
+		resp = gdb.execute(str_to_eval,to_string = True)
+		idx = resp.find('\t')
+		return int(resp[idx:],16)
+	
+	def is_in_bounds(self,val):
+		lower_bound = int("08004000",16)
+		upper_bound = int("080ae0c0",16);
+		#print(lower_bound," ",val," ",upper_bound)
+		if val>lower_bound and val<upper_bound:
+			return True;
+		else:
+			return False;
+	def get_tcb_from_address(self,addr):
+		addr_value = gdb.Value(addr)
+		tcb_ptr = addr_value.cast(gdb.lookup_type('struct tcb_s').pointer())
+		return tcb_ptr.dereference()
+	
+	def print_instruction_at(self,addr,stack_percentage):
+		gdb.write(str(round(stack_percentage,2))+":")
+		str_to_eval = "info line *"+hex(addr)
+		#gdb.execute(str_to_eval)
+		res = gdb.execute(str_to_eval,to_string = True)
+		# get information from results string:
+		words = res.split()
+		valid = False
+		if words[0] == 'No':
+			#no line info...
+			pass
+		else:
+			valid = True
+			line = int(words[1])
+			idx = words[3].rfind("/"); #find first backslash
+			if idx>0:
+				name = words[3][idx+1:];
+				path = words[3][:idx];
+			else:
+				name = words[3];
+				path = "";
+			block = gdb.block_for_pc(addr)
+			func = block.function
+			if str(func) == "None":
+				func = block.superblock.function
+			
+		if valid:
+			print("Line: ",line," in ",path,"/",name,"in ",func)
+			return name,path,line,func
+			
+			
+			
+		
+	def invoke(self,args,sth):
+		addr_dec = int(args[2:],16)
+		_tcb = self.get_tcb_from_address(addr_dec)
+		print("found task with PID: ",_tcb["pid"])
+		up_stack = int(_tcb['adj_stack_ptr'])
+		curr_sp = int(_tcb['xcp']['regs'][0]) #curr stack pointer
+		other_sp = int(_tcb['xcp']['regs'][8]) # other stack pointer
+		stacksize = int(_tcb['adj_stack_size']) # other stack pointer
+		
+		print("tasks current SP = ",hex(curr_sp),"stack max ptr is at ",hex(up_stack))
+		
+		if curr_sp == up_stack:
+			sp = other_sp
+		else: 
+			sp = curr_sp;
+			
+		while(sp < up_stack):
+			mem = self.readmem(sp)
+			#print(hex(sp)," : ",hex(mem))
+			if self.is_in_bounds(mem):
+				# this is a potential instruction ptr
+				stack_percentage = (up_stack-sp)/stacksize
+				name,path,line,func = self.print_instruction_at(mem,stack_percentage)
+			sp = sp + 4; # jump up one word
+		
+NX_my_bt()

LICENSE.md

@@ -0,0 +1,41 @@
+The PX4 firmware is licensed generally under a permissive 3-clause BSD license. Contributions are required
+to be made under the same license. Any exception to this general rule is listed below.
+
+	/****************************************************************************
+	 *
+	 *   Copyright (c) 2012-2014 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.
+	 *
+	 ****************************************************************************/
+
+
+  - PX4 middleware: BSD 3-clause
+  - PX4 flight control stack: BSD 3-clause
+  - NuttX operating system: BSD 3-clause
+  - Exceptions: Currently only this [400 LOC file](https://github.com/PX4/Firmware/blob/master/src/lib/external_lgpl/tecs/tecs.cpp) remains LGPL, but will be replaced with a BSD implementation.

README.md

@@ -0,0 +1,10 @@
+## PX4 Aerial Middleware and Flight Control Stack ##
+
+*   Official Website: http://px4.io
+*   License: BSD 3-clause (see LICENSE.md)
+*   Supported airframes:
+  * Multicopters
+  * Fixed wing
+*   Binaries (always up-to-date from master):
+  * [Downloads](https://pixhawk.org/downloads)
+*   Mailing list: [Google Groups](http://groups.google.com/group/px4users)

ROMFS/px4fmu_common/init.d/1000_rc_fw_easystar.hil

@@ -1,14 +1,10 @@
 #!nsh
 #
-# HILStar / X-Plane
-#
-# Lorenz Meier <lm@inf.ethz.ch>
+# HILStar
+# <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
 
-echo "X Plane HIL starting.."
-
 set HIL yes
-
 set MIXER FMU_AERT

ROMFS/px4fmu_common/init.d/10015_tbs_discovery

@@ -2,7 +2,7 @@
 #
 # Team Blacksheep Discovery Quadcopter
 #
-# Anton Babushkin <anton.babushkin@me.com>, Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
+# Anton Babushkin <anton@px4.io>, Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
@@ -27,3 +27,4 @@ fi
 set MIXER FMU_quad_w
 
 set PWM_OUTPUTS 1234
+set PWM_MIN 1200

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -2,7 +2,7 @@
 #
 # 3DR Iris Quadcopter
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d

@@ -2,8 +2,7 @@
 #
 # Steadidrone QU4D
 #
-# Thomas Gubler <thomasgubler@gmail.com>
-# Lorenz Meier <lm@inf.ethz.ch>
+# Thomas Gubler <thomas@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/1001_rc_quad_x.hil

@@ -2,7 +2,7 @@
 #
 # HIL Quadcopter X
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/1003_rc_quad_+.hil

@@ -2,7 +2,7 @@
 #
 # HIL Quadcopter +
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/1004_rc_fw_Rascal110.hil

@@ -2,13 +2,11 @@
 #
 # HIL Rascal 110 (Flightgear)
 #
-# Thomas Gubler <thomasgubler@gmail.com>
+# Thomas Gubler <thomas@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
 
-echo "HIL Rascal 110 starting.."
-
 set HIL yes
 
 set MIXER FMU_AERT

ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil

@@ -2,7 +2,7 @@
 #
 # HIL Malolo 1 (Flightgear)
 #
-# Thomas Gubler <thomasgubler@gmail.com>
+# Thomas Gubler <thomas@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults

ROMFS/px4fmu_common/init.d/11001_hexa_cox

@@ -2,12 +2,12 @@
 #
 # Generic 10" Hexa coaxial geometry
 #
-# Lorenz Meier <lm@inf.ethz.ch>
+# Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_hexa_cox
 
-# We only can run one channel group with one rate, so set all 8 channels
+# Need to set all 8 channels
 set PWM_OUTPUTS 12345678

ROMFS/px4fmu_common/init.d/12001_octo_cox

@@ -2,7 +2,7 @@
 #
 # Generic 10" Octo coaxial geometry
 #
-# Lorenz Meier <lm@inf.ethz.ch>
+# Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/3030_io_camflyer

@@ -3,3 +3,6 @@
 sh /etc/init.d/rc.fw_defaults
 
 set MIXER FMU_Q
+# Provide ESC a constant 1000 us pulse while disarmed
+set PWM_OUTPUTS 4
+set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3031_phantom

@@ -2,7 +2,7 @@
 #
 # Phantom FPV Flying Wing
 #
-# Simon Wilks <sjwilks@gmail.com>, Thomas Gubler <thomasgubler@gmail.com>
+# Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
@@ -21,8 +21,6 @@ then
 	param set FW_PR_P 0.03
 	param set FW_P_LIM_MAX 50
 	param set FW_P_LIM_MIN -50
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
 	param set FW_P_ROLLFF 1
 	param set FW_RR_FF 0.5
 	param set FW_RR_I 0.02
@@ -30,6 +28,9 @@ then
 	param set FW_RR_P 0.08
 	param set FW_R_LIM 50
 	param set FW_R_RMAX 0
+	# Bottom of bay and nominal zero-pitch attitude differ
+	# the payload bay is pitched up about 7 degrees
+	param set SENS_BOARD_Y_OFF 7.0
 fi
 
 set MIXER phantom

ROMFS/px4fmu_common/init.d/3032_skywalker_x5

@@ -2,7 +2,7 @@
 #
 # Skywalker X5 Flying Wing
 #
-# Thomas Gubler <thomasgubler@gmail.com>, Julian Oes <joes@student.ethz.ch>
+# Thomas Gubler <thomas@px4.io>, Julian Oes <julian@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
@@ -19,10 +19,6 @@ then
 	param set FW_PR_I 0
 	param set FW_PR_IMAX 0.2
 	param set FW_PR_P 0.03
-	param set FW_P_LIM_MAX 45
-	param set FW_P_LIM_MIN -45
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
 	param set FW_P_ROLLFF 1
 	param set FW_RR_FF 0.3
 	param set FW_RR_I 0

ROMFS/px4fmu_common/init.d/3033_wingwing

@@ -2,7 +2,7 @@
 #
 # Wing Wing (aka Z-84) Flying Wing
 #
-# Simon Wilks <sjwilks@gmail.com>
+# Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults

ROMFS/px4fmu_common/init.d/3034_fx79

@@ -2,7 +2,7 @@
 #
 # FX-79 Buffalo Flying Wing
 #
-# Simon Wilks <sjwilks@gmail.com>
+# Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults

ROMFS/px4fmu_common/init.d/3035_viper

@@ -2,9 +2,10 @@
 #
 # Viper
 #
-# Simon Wilks <sjwilks@gmail.com>
+# Simon Wilks <simon@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
 
 set MIXER Viper
+

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -1,8 +1,8 @@
 #!nsh
 #
-# TBS Caipirinha Flying Wing
+# TBS Caipirinha
 #
-# Thomas Gubler <thomasgubler@gmail.com>
+# Thomas Gubler <thomas@px4.io>
 #
 
 sh /etc/init.d/rc.fw_defaults
@@ -22,10 +22,6 @@ then
 	param set FW_PR_I 0
 	param set FW_PR_IMAX 0.2
 	param set FW_PR_P 0.03
-	param set FW_P_LIM_MAX 45
-	param set FW_P_LIM_MIN -45
-	param set FW_P_RMAX_NEG 0
-	param set FW_P_RMAX_POS 0
 	param set FW_P_ROLLFF 0
 	param set FW_RR_FF 0.3
 	param set FW_RR_I 0

ROMFS/px4fmu_common/init.d/4001_quad_x

@@ -2,7 +2,7 @@
 #
 # Generic 10" Quad X geometry
 #
-# Lorenz Meier <lm@inf.ethz.ch>
+# Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/4008_ardrone

@@ -3,9 +3,6 @@
 # ARDrone
 #
 
-echo "[init] 4008_ardrone: PX4FMU on PX4IOAR carrier board"
-
-# Just use the default multicopter settings.
 sh /etc/init.d/rc.mc_defaults
 
 #

ROMFS/px4fmu_common/init.d/4010_dji_f330

@@ -1,8 +1,8 @@
 #!nsh
 #
-# DJI Flame Wheel F330 Quadcopter
+# DJI Flame Wheel F330
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/4001_quad_x

ROMFS/px4fmu_common/init.d/4011_dji_f450

@@ -1,8 +1,8 @@
 #!nsh
 #
-# DJI Flame Wheel F450 Quadcopter
+# DJI Flame Wheel F450
 #
-# Lorenz Meier <lm@inf.ethz.ch>
+# Lorenz Meier <lorenz@px4.io>
 #
 
 sh /etc/init.d/4001_quad_x

ROMFS/px4fmu_common/init.d/4012_quad_x_can

@@ -2,7 +2,7 @@
 #
 # F450-sized quadrotor with CAN
 #
-# Lorenz Meier <lm@inf.ethz.ch>
+# Pavel Kirienko <pavel@px4.io>
 #
 
 sh /etc/init.d/4001_quad_x

ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb

@@ -3,7 +3,7 @@
 # Hobbyking Micro Integrated PCB Quadcopter
 # with SimonK ESC firmware and Mystery A1510 motors
 #
-# Thomas Gubler <thomasgubler@gmail.com>
+# Thomas Gubler <thomas@px4.io>
 #
 echo "HK Micro PCB Quad"
 

ROMFS/px4fmu_common/init.d/5001_quad_+

@@ -2,7 +2,7 @@
 #
 # Generic 10" Quad + geometry
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/6001_hexa_x

@@ -2,12 +2,12 @@
 #
 # Generic 10" Hexa X geometry
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_hexa_x
 
-# We only can run one channel group with one rate, so set all 8 channels
+# Need to set all 8 channels
 set PWM_OUTPUTS 12345678

ROMFS/px4fmu_common/init.d/7001_hexa_+

@@ -2,12 +2,12 @@
 #
 # Generic 10" Hexa + geometry
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults
 
 set MIXER FMU_hexa_+
 
-# We only can run one channel group with one rate, so set all 8 channels
+# Need to set all 8 channels
 set PWM_OUTPUTS 12345678

ROMFS/px4fmu_common/init.d/8001_octo_x

@@ -2,7 +2,7 @@
 #
 # Generic 10" Octo X geometry
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/9001_octo_+

@@ -2,7 +2,7 @@
 #
 # Generic 10" Octo + geometry
 #
-# Anton Babushkin <anton.babushkin@me.com>
+# Anton Babushkin <anton@px4.io>
 #
 
 sh /etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -1,5 +1,4 @@
 #
-# Check if auto-setup from one of the standard scripts is wanted
 # SYS_AUTOSTART = 0 means no autostart (default)
 #
 # AUTOSTART PARTITION:
@@ -18,9 +17,15 @@
 # 12000	..	12999		Octo Cox
 
 #
-# Simulation setups
+# Simulation
 #
 
+if param compare SYS_AUTOSTART 901
+then
+	sh /etc/init.d/901_bottle_drop_test.hil
+	set MODE custom
+fi
+
 if param compare SYS_AUTOSTART 1000
 then
 	sh /etc/init.d/1000_rc_fw_easystar.hil
@@ -47,7 +52,7 @@ then
 fi
 
 #
-# Standard plane
+# Plane
 #
 
 if param compare SYS_AUTOSTART 2100 100

ROMFS/px4fmu_common/init.d/rc.fw_apps

@@ -13,3 +13,5 @@ ekf_att_pos_estimator start
 #
 fw_att_control start
 fw_pos_control_l1 start
+
+bottle_drop start

ROMFS/px4fmu_common/init.d/rc.interface

@@ -10,7 +10,7 @@ then
 	#
 	set MIXERSD /fs/microsd/etc/mixers/$MIXER.mix
 	
-	#Use the mixer file from the SD-card if it exists
+	# Use the mixer file from the SD-card if it exists
 	if [ -f $MIXERSD ]
 	then
 		set MIXER_FILE $MIXERSD
@@ -54,7 +54,6 @@ then
 		#
 		if [ $PWM_RATE != none ]
 		then
-			echo "[init] Set PWM rate: $PWM_RATE"
 			pwm rate -c $PWM_OUTPUTS -r $PWM_RATE
 		fi
 		
@@ -63,18 +62,20 @@ then
 		#
 		if [ $PWM_DISARMED != none ]
 		then
-			echo "[init] Set PWM disarmed: $PWM_DISARMED"
 			pwm disarmed -c $PWM_OUTPUTS -p $PWM_DISARMED
 		fi
 		if [ $PWM_MIN != none ]
 		then
-			echo "[init] Set PWM min: $PWM_MIN"
 			pwm min -c $PWM_OUTPUTS -p $PWM_MIN
 		fi
 		if [ $PWM_MAX != none ]
 		then
-			echo "[init] Set PWM max: $PWM_MAX"
 			pwm max -c $PWM_OUTPUTS -p $PWM_MAX
 		fi
 	fi
+
+	if [ $FAILSAFE != none ]
+	then
+		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
+	fi
 fi

ROMFS/px4fmu_common/init.d/rc.jig

@@ -1,10 +0,0 @@
-#!nsh
-#
-# Test jig startup script
-#
-
-echo "[testing] doing production test.."
-
-tests jig
-
-echo "[testing] testing done"

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -54,7 +54,6 @@ then
 	fi
 fi
 
-# Start airspeed sensors
 if meas_airspeed start
 then
 	echo "[init] Using MEAS airspeed sensor"
@@ -68,11 +67,12 @@ else
 	fi
 fi
 
+if px4flow start
+then
+fi
+
 #
-# Start the sensor collection task.
-# IMPORTANT: this also loads param offsets
-# ALWAYS start this task before the
-# preflight_check.
+# Start sensors -> preflight_check
 #
 if sensors start
 then

ROMFS/px4fmu_common/init.d/rc.uavcan

@@ -0,0 +1,18 @@
+#!nsh
+#
+# UAVCAN initialization script.
+#
+
+if param compare UAVCAN_ENABLE 1
+then
+	if uavcan start
+	then
+		# First sensor publisher to initialize takes lowest instance ID
+		# This delay ensures that UAVCAN-interfaced sensors would be allocated on lowest instance IDs
+		sleep 1
+		echo "[init] UAVCAN started"
+	else
+		echo "[init] ERROR: Could not start UAVCAN"
+		tone_alarm $TUNE_OUT_ERROR
+	fi
+fi

ROMFS/px4fmu_common/init.d/rcS

@@ -66,6 +66,9 @@ then
 	#
 	sercon
 
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+
 	#
 	# Start the ORB (first app to start)
 	#
@@ -96,11 +99,9 @@ then
 	#
 	if rgbled start
 	then
-		echo "[init] RGB Led"
 	else
 		if blinkm start
 		then
-			echo "[init] BlinkM"
 			blinkm systemstate
 		fi
 	fi
@@ -129,15 +130,14 @@ then
 	set LOAD_DEFAULT_APPS yes
 	set GPS yes
 	set GPS_FAKE no
+	set FAILSAFE none
 
 	#
 	# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
 	#
 	if param compare SYS_AUTOCONFIG 1
 	then
-		# We can't be sure the defaults haven't changed, so
-		# if someone requests a re-configuration, we do it
-		# cleanly from scratch (except autostart / autoconfig)
+		# Wipe out params
 		param reset_nostart
 		set DO_AUTOCONFIG yes
 	else
@@ -200,12 +200,10 @@ then
 
 		if px4io checkcrc $IO_FILE
 		then
-			echo "[init] PX4IO CRC OK"
 			echo "PX4IO CRC OK" >> $LOG_FILE
 
 			set IO_PRESENT yes
 		else
-			echo "[init] Trying to update"
 			echo "PX4IO Trying to update" >> $LOG_FILE
 
 			tone_alarm MLL32CP8MB
@@ -215,18 +213,15 @@ then
 				usleep 500000
 				if px4io checkcrc $IO_FILE
 				then
-					echo "[init] PX4IO CRC OK, update successful"
 					echo "PX4IO CRC OK after updating" >> $LOG_FILE
 					tone_alarm MLL8CDE
 
 					set IO_PRESENT yes
 				else
-					echo "[init] ERROR: PX4IO update failed"
 					echo "PX4IO update failed" >> $LOG_FILE
 					tone_alarm $TUNE_OUT_ERROR
 				fi
 			else
-				echo "[init] ERROR: PX4IO update failed"
 				echo "PX4IO update failed" >> $LOG_FILE
 				tone_alarm $TUNE_OUT_ERROR
 			fi
@@ -279,19 +274,12 @@ then
 		fi
 	fi
 
-	# Try to get an USB console
-	nshterm /dev/ttyACM0 &
-
-	#
-	# Start the datamanager (and do not abort boot if it fails)
-	#
+	# waypoint storage
 	if dataman start
 	then
 	fi
 
-	#
-	# Start the Commander (needs to be this early for in-air-restarts)
-	#
+	# Needs to be this early for in-air-restarts
 	commander start
 
 	#
@@ -304,17 +292,15 @@ then
 	then
 		if [ $OUTPUT_MODE == uavcan_esc ]
 		then
-			if uavcan start 1
+			if param compare UAVCAN_ENABLE 0
 			then
-				echo "CAN UP"
-			else
-				echo "CAN ERR"
+				echo "[init] OVERRIDING UAVCAN_ENABLE = 1"
+				param set UAVCAN_ENABLE 1
 			fi
 		fi
 
 		if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
 		then
-			echo "[init] Use PX4IO PWM as primary output"
 			if px4io start
 			then
 				echo "[init] PX4IO started"
@@ -327,7 +313,6 @@ then
 
 		if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
 		then
-			echo "[init] Use FMU as primary output"
 			if fmu mode_$FMU_MODE
 			then
 				echo "[init] FMU mode_$FMU_MODE started"
@@ -351,7 +336,6 @@ then
 
 		if [ $OUTPUT_MODE == mkblctrl ]
 		then
-			echo "[init] Use MKBLCTRL as primary output"
 			set MKBLCTRL_ARG ""
 			if [ $MKBLCTRL_MODE == x ]
 			then
@@ -374,7 +358,6 @@ then
 
 		if [ $OUTPUT_MODE == hil ]
 		then
-			echo "[init] Use HIL as primary output"
 			if hil mode_port2_pwm8
 			then
 				echo "[init] HIL output started"
@@ -393,7 +376,6 @@ then
 			then
 				if px4io start
 				then
-					echo "[init] PX4IO started"
 					sh /etc/init.d/rc.io
 				else
 					echo "[init] ERROR: PX4IO start failed"
@@ -426,9 +408,6 @@ then
 		fi
 	fi
 
-	#
-	# MAVLink
-	#
 	if [ $MAVLINK_FLAGS == default ]
 	then
 		# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
@@ -447,19 +426,19 @@ then
 
 	mavlink start $MAVLINK_FLAGS
 
+	#
+	# UAVCAN
+	#
+	sh /etc/init.d/rc.uavcan
+
 	#
 	# Sensors, Logging, GPS
 	#
 	sh /etc/init.d/rc.sensors
-
-	#
-	# Start logging in all modes, including HIL
-	#
 	sh /etc/init.d/rc.logging
 
 	if [ $GPS == yes ]
 	then
-		echo "[init] Start GPS"
 		if [ $GPS_FAKE == yes ]
 		then
 			echo "[init] Faking GPS"

ROMFS/px4fmu_common/mixers/FMU_AERT.mix

@@ -64,21 +64,22 @@ O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
 
-Gimbal / flaps / payload mixer for last four channels
+Gimbal / flaps / payload mixer for last four channels,
+using the payload control group
 -----------------------------------------------------
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
+S: 2 3  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/FMU_FX79.mix

@@ -52,21 +52,18 @@ M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
-Gimbal / flaps / payload mixer for last four channels
+Inputs to the mixer come from channel group 2 (payload), channels 0
+(bay servo 1), 1 (bay servo 2) and 3 (drop release).
 -----------------------------------------------------
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
+S: 2 2 -10000 -10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/Viper.mix

@@ -52,21 +52,20 @@ M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
-Gimbal / flaps / payload mixer for last four channels
+Inputs to the mixer come from channel group 2 (payload), channels 0
+(bay servo 1), 1 (bay servo 2) and 3 (drop release).
 -----------------------------------------------------
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 2 2  -8000  -8000      0 -10000  10000
+
 
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000

ROMFS/px4fmu_test/init.d/rcS

@@ -75,3 +75,33 @@ if [ -f /fs/microsd/mount_test_cmds.txt ]
 then
 	tests mount
 fi
+
+#
+# Run unit tests at board boot, reporting failure as needed.
+# Add new unit tests using the same pattern as below.
+#
+
+set unit_test_failure 0
+
+if mavlink_tests
+then
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} mavlink_tests"
+fi
+
+if commander_tests
+then
+else
+	set unit_test_failure 1
+	set unit_test_failure_list "${unit_test_failure_list} commander_tests"
+fi
+
+if [ $unit_test_failure == 0 ]
+then
+	echo
+	echo "All Unit Tests PASSED"
+else
+	echo
+	echo "Some Unit Tests FAILED:${unit_test_failure_list}"
+fi

Tools/px_mkfw.py

@@ -73,6 +73,7 @@ parser.add_argument("--version",	action="store", help="set a version string")
 parser.add_argument("--summary",	action="store", help="set a brief description")
 parser.add_argument("--description",	action="store", help="set a longer description")
 parser.add_argument("--git_identity",	action="store", help="the working directory to check for git identity")
+parser.add_argument("--parameter_xml",	action="store", help="the parameters.xml file")
 parser.add_argument("--image",		action="store", help="the firmware image")
 args = parser.parse_args()
 
@@ -101,6 +102,10 @@ if args.git_identity != None:
 	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
 	desc['git_identity']	= str(p.read().strip())
 	p.close()
+if args.parameter_xml != None:
+	f = open(args.parameter_xml, "rb")
+	bytes = f.read()
+	desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8')
 if args.image != None:
 	f = open(args.image, "rb")
 	bytes = f.read()

Tools/px_romfs_pruner.py

@@ -57,7 +57,7 @@ def main():
         for (root, dirs, files) in os.walk(args.folder):
                 for file in files:
                         # only prune text files
-                        if ".zip" in file or ".bin" in file or ".swp" in file:
+                        if ".zip" in file or ".bin" in file or ".swp" in file or ".data" in file:
                                 continue
 
                         file_path = os.path.join(root, file)

Tools/px_uploader.py

@@ -180,7 +180,7 @@ class uploader(object):
 
         def __init__(self, portname, baudrate):
                 # open the port, keep the default timeout short so we can poll quickly
-                self.port = serial.Serial(portname, baudrate, timeout=2.0)
+                self.port = serial.Serial(portname, baudrate, timeout=0.5)
                 self.otp = b''
                 self.sn = b''
 
@@ -195,7 +195,7 @@ class uploader(object):
         def __recv(self, count=1):
                 c = self.port.read(count)
                 if len(c) < 1:
-                        raise RuntimeError("timeout waiting for data")
+                        raise RuntimeError("timeout waiting for data (%u bytes)" % count)
 #               print("recv " + binascii.hexlify(c))
                 return c
 
@@ -458,7 +458,8 @@ if os.path.exists("/usr/sbin/ModemManager"):
 
 # Load the firmware file
 fw = firmware(args.firmware)
-print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))
+print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size')))
+print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.")
 
 # Spin waiting for a device to show up
 while True:
@@ -508,9 +509,12 @@ while True:
                 except Exception:
                         # most probably a timeout talking to the port, no bootloader, try to reboot the board
                         print("attempting reboot on %s..." % port)
+                        print("if the board does not respond, unplug and re-plug the USB connector.")
                         up.send_reboot()
                         # wait for the reboot, without we might run into Serial I/O Error 5 
                         time.sleep(0.5)
+                        # always close the port
+                        up.close()
                         continue
 
                 try:

Tools/sdlog2/sdlog2_dump.py

@@ -154,8 +154,8 @@ class SDLog2Parser:
                         first_data_msg = False
                     self.__parseMsg(msg_descr)
             bytes_read += self.__ptr
-        if not self.__debug_out and self.__time_msg != None and self.__csv_updated:
-            self.__printCSVRow()
+            if not self.__debug_out and self.__time_msg != None and self.__csv_updated:
+                self.__printCSVRow()
         f.close()
     
     def __bytesLeft(self):

Tools/tests-host/.gitignore

@@ -1,4 +1,6 @@
 ./obj/*
 mixer_test
+sf0x_test
 sbus2_test
 autodeclination_test
+st24_test

Tools/tests-host/Makefile

@@ -3,7 +3,7 @@ CC=g++
 CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \
 	-I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm
 
-all: mixer_test sbus2_test autodeclination_test
+all: mixer_test sbus2_test autodeclination_test st24_test sf0x_test
 
 MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \
 		../../src/systemcmds/tests/test_conv.cpp \
@@ -20,7 +20,16 @@ SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \
 		hrt.cpp \
 		sbus2_test.cpp
 
-AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \
+ST24_FILES=../../src/lib/rc/st24.c \
+		hrt.cpp \
+		st24_test.cpp
+
+SF0X_FILES= \
+		hrt.cpp \
+		sf0x_test.cpp \
+		../../src/drivers/sf0x/sf0x_parser.cpp
+
+AUTODECLINATION_FILES= ../../src/lib/geo_lookup/geo_mag_declination.c \
 		hrt.cpp \
 		autodeclination_test.cpp
 
@@ -30,10 +39,16 @@ mixer_test: $(MIXER_FILES)
 sbus2_test: $(SBUS2_FILES)
 	$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
 
+sf0x_test: $(SF0X_FILES)
+	$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
+
 autodeclination_test: $(SBUS2_FILES)
 	$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
 
+st24_test: $(ST24_FILES)
+	$(CC) -o st24_test $(ST24_FILES) $(CFLAGS)
+
 .PHONY: clean
 
 clean:
-	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test
+	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test st24_test sf0x_test

Tools/tests-host/sbus2_test.cpp

@@ -29,7 +29,8 @@ int main(int argc, char *argv[]) {
 
 	// Trash the first 20 lines
 	for (unsigned i = 0; i < 20; i++) {
-		(void)fscanf(fp, "%f,%x,,", &f, &x);
+		char buf[200];
+		(void)fgets(buf, sizeof(buf), fp);
 	}
 
 	// Init the parser

Tools/tests-host/sf0x_test.cpp

@@ -0,0 +1,65 @@
+
+#include <unistd.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+
+#include <drivers/sf0x/sf0x_parser.h>
+
+int main(int argc, char *argv[])
+{
+	warnx("SF0X test started");
+
+	int ret = 0;
+
+	const char LINE_MAX = 20;
+	char _linebuf[LINE_MAX];
+	_linebuf[0] = '\0';
+
+	const char *lines[] = {"0.01\r\n",
+			       "0.02\r\n",
+			       "0.03\r\n",
+			       "0.04\r\n",
+			       "0",
+			       ".",
+			       "0",
+			       "5",
+			       "\r",
+			       "\n",
+			       "0",
+			       "3\r",
+			       "\n"
+			       "\r\n",
+			       "0.06",
+			       "\r\n"
+			      };
+
+	enum SF0X_PARSE_STATE state = SF0X_PARSE_STATE0_UNSYNC;
+	float dist_m;
+	char _parserbuf[LINE_MAX];
+	unsigned _parsebuf_index = 0;
+
+	for (unsigned l = 0; l < sizeof(lines) / sizeof(lines[0]); l++) {
+
+		printf("\n%s", _linebuf);
+
+		int parse_ret;
+
+		for (int i = 0; i < strlen(lines[l]); i++) {
+			parse_ret = sf0x_parser(lines[l][i], _parserbuf, &_parsebuf_index, &state, &dist_m);
+
+			if (parse_ret == 0) {
+				printf("\nparsed: %f %s\n", dist_m, (parse_ret == 0) ? "OK" : "");
+			}
+		}
+
+		printf("%s", lines[l]);
+
+	}
+
+	warnx("test finished");
+
+	return ret;
+}

Tools/tests-host/st24_test.cpp

@@ -0,0 +1,76 @@
+
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+#include <rc/st24.h>
+#include "../../src/systemcmds/tests/tests.h"
+
+int main(int argc, char *argv[])
+{
+	warnx("ST24 test started");
+
+	if (argc < 2) {
+		errx(1, "Need a filename for the input file");
+	}
+
+	warnx("loading data from: %s", argv[1]);
+
+	FILE *fp;
+
+	fp = fopen(argv[1], "rt");
+
+	if (!fp) {
+		errx(1, "failed opening file");
+	}
+
+	float f;
+	unsigned x;
+	int ret;
+
+	// Trash the first 20 lines
+	for (unsigned i = 0; i < 20; i++) {
+		char buf[200];
+		(void)fgets(buf, sizeof(buf), fp);
+	}
+
+	float last_time = 0;
+
+	while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
+		if (((f - last_time) * 1000 * 1000) > 3000) {
+			// warnx("FRAME RESET\n\n");
+		}
+
+		uint8_t b = static_cast<uint8_t>(x);
+
+		last_time = f;
+
+		// Pipe the data into the parser
+		hrt_abstime now = hrt_absolute_time();
+
+		uint8_t rssi;
+		uint8_t rx_count;
+		uint16_t channel_count;
+		uint16_t channels[20];
+
+
+		if (!st24_decode(b, &rssi, &rx_count, &channel_count, channels, sizeof(channels) / sizeof(channels[0]))) {
+			warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);
+
+			for (unsigned i = 0; i < channel_count; i++) {
+
+				int16_t val = channels[i];
+				warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
+			}
+		}
+	}
+
+	if (ret == EOF) {
+		warnx("Test finished, reached end of file");
+
+	} else {
+		warnx("Test aborted, errno: %d", ret);
+	}
+
+}

Tools/upload.sh

@@ -0,0 +1,28 @@
+#!/bin/bash
+
+EXEDIR=`pwd`
+BASEDIR=$(dirname $0)
+
+SYSTYPE=`uname -s`
+
+#
+# Serial port defaults.
+#
+# XXX The uploader should be smarter than this.
+#
+if [ $SYSTYPE = "Darwin" ];
+then
+SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
+fi
+
+if [ $SYSTYPE = "Linux" ];
+then
+SERIAL_PORTS="/dev/serial/by-id/usb-3D_Robotics*"
+fi
+
+if [ $SYSTYPE = "" ];
+then
+SERIAL_PORTS="COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
+fi
+
+python $BASEDIR/px_uploader.py --port $SERIAL_PORTS $1

Tools/usb_serialload.py

@@ -0,0 +1,55 @@
+import serial, time
+
+
+port = serial.Serial('/dev/ttyACM0', baudrate=57600, timeout=2)
+
+data = '01234567890123456789012345678901234567890123456789'
+#data = 'hellohello'
+outLine = 'echo %s\n' % data
+
+port.write('\n\n\n')
+port.write('free\n')
+line = port.readline(80)
+while line != '':
+    print(line)
+    line = port.readline(80)
+    
+
+i = 0
+bytesOut = 0
+bytesIn = 0
+
+startTime = time.time()
+lastPrint = startTime
+while True:
+    bytesOut += port.write(outLine)
+    line = port.readline(80)
+    bytesIn += len(line)
+    # check command line echo
+    if (data not in line):
+        print('command error %d: %s' % (i,line))
+        #break
+    # read echo output
+    line = port.readline(80)
+    if (data not in line):
+        print('echo output error %d: %s' % (i,line))
+        #break
+    bytesIn += len(line)
+    #print('%d: %s' % (i,line))
+    #print('%d: bytesOut: %d, bytesIn: %d' % (i, bytesOut, bytesIn))
+    
+    elapsedT = time.time() - lastPrint
+    if (time.time() - lastPrint >= 5):
+        outRate = bytesOut / elapsedT
+        inRate = bytesIn / elapsedT
+        usbRate = (bytesOut + bytesIn) / elapsedT
+        lastPrint = time.time()
+        print('elapsed time: %f' % (time.time() - startTime))
+        print('data rates (bytes/sec): out: %f, in: %f, total: %f' % (outRate, inRate, usbRate))
+        
+        bytesOut = 0
+        bytesIn = 0
+        
+    i += 1    
+    #if (i > 2): break
+    

makefiles/config_px4fmu-v1_default.mk

@@ -24,25 +24,24 @@ MODULES		+= drivers/l3gd20
 MODULES		+= drivers/mpu6000
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
-MODULES		+= drivers/mb12xx
+#MODULES		+= drivers/ll40ls
+MODULES		+= drivers/trone
+#MODULES		+= drivers/mb12xx
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
-MODULES		+= drivers/hott/hott_telemetry
-MODULES		+= drivers/hott/hott_sensors
-MODULES		+= drivers/blinkm
+#MODULES		+= drivers/blinkm
 MODULES		+= drivers/rgbled
 MODULES		+= drivers/mkblctrl
 MODULES		+= drivers/airspeed
-MODULES		+= drivers/ets_airspeed
+#MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
-MODULES		+= drivers/frsky_telemetry
+#MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
 
 #
 # System commands
 #
 MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/bl_update
 MODULES		+= systemcmds/mixer
 MODULES		+= systemcmds/param
 MODULES		+= systemcmds/perf
@@ -135,6 +134,9 @@ MODULES		+= lib/launchdetection
 # Hardware test
 #MODULES			+= examples/hwtest
 
+# Generate parameter XML file
+GEN_PARAM_XML = 1
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #

makefiles/config_px4fmu-v2_default.mk

@@ -27,25 +27,21 @@ MODULES		+= drivers/l3gd20
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
 MODULES		+= drivers/mb12xx
-MODULES		+= drivers/sf0x
+# MODULES		+= drivers/sf0x
 MODULES		+= drivers/ll40ls
+# MODULES		+= drivers/trone
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
 MODULES		+= drivers/hott/hott_telemetry
 MODULES		+= drivers/hott/hott_sensors
-MODULES		+= drivers/blinkm
+# MODULES		+= drivers/blinkm
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
 MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
 MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/pca8574
-
-
-# Needs to be burned to the ground and re-written; for now,
-# just don't build it.
-#MODULES		+= drivers/mkblctrl
+MODULES		+= drivers/px4flow
 
 #
 # System commands
@@ -60,7 +56,6 @@ MODULES		+= systemcmds/pwm
 MODULES		+= systemcmds/esc_calib
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/top
-MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
 MODULES		+= systemcmds/mtd
@@ -80,10 +75,8 @@ MODULES		+= modules/uavcan
 # Estimation modules (EKF/ SO3 / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/attitude_estimator_so3
 MODULES		+= modules/ekf_att_pos_estimator
 MODULES		+= modules/position_estimator_inav
-MODULES		+= examples/flow_position_estimator
 
 #
 # Vehicle Control
@@ -99,12 +92,6 @@ MODULES		+= modules/mc_pos_control
 #
 MODULES		+= modules/sdlog2
 
-#
-# Unit tests
-#
-#MODULES 	+= modules/unit_test
-#MODULES 	+= modules/commander/commander_tests
-
 #
 # Library modules
 #
@@ -127,13 +114,18 @@ MODULES		+= lib/geo_lookup
 MODULES		+= lib/conversion
 MODULES		+= lib/launchdetection
 
+#
+# OBC challenge
+#
+MODULES		+= modules/bottle_drop
+
 #
 # Demo apps
 #
 #MODULES		+= examples/math_demo
 # Tutorial code from
 # https://pixhawk.ethz.ch/px4/dev/hello_sky
-MODULES		+= examples/px4_simple_app
+#MODULES		+= examples/px4_simple_app
 
 # Tutorial code from
 # https://pixhawk.ethz.ch/px4/dev/daemon
@@ -150,6 +142,9 @@ MODULES		+= examples/px4_simple_app
 # Hardware test
 #MODULES			+= examples/hwtest
 
+# Generate parameter XML file
+GEN_PARAM_XML = 1
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #

makefiles/config_px4fmu-v2_test.mk

@@ -49,11 +49,22 @@ MODULES		+= lib/mathlib
 MODULES		+= lib/mathlib/math/filter
 MODULES		+= lib/conversion
 
+#
+# Modules to test-build, but not useful for test environment
+#
+MODULES		+= modules/attitude_estimator_so3
+MODULES		+= drivers/pca8574
+MODULES		+= examples/flow_position_estimator
+
 #
 # Libraries
 #
 LIBRARIES	+= lib/mathlib/CMSIS
 
+MODULES 	+= modules/unit_test
+MODULES		+= modules/mavlink/mavlink_tests
+MODULES 	+= modules/commander/commander_tests
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #

makefiles/firmware.mk

@@ -467,6 +467,7 @@ endif
 PRODUCT_BUNDLE		 = $(WORK_DIR)firmware.px4
 PRODUCT_BIN		 = $(WORK_DIR)firmware.bin
 PRODUCT_ELF		 = $(WORK_DIR)firmware.elf
+PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
 
 .PHONY:			firmware
 firmware:		$(PRODUCT_BUNDLE)
@@ -497,9 +498,17 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
 
 $(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
 	@$(ECHO) %% Generating $@
+ifdef GEN_PARAM_XML
+	python $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --xml
+	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
+		--git_identity $(PX4_BASE) \
+		--parameter_xml $(PRODUCT_PARAMXML) \
+		--image $< > $@
+else
 	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
 		--git_identity $(PX4_BASE) \
 		--image $< > $@
+endif
 
 $(PRODUCT_BIN):		$(PRODUCT_ELF)
 	$(call SYM_TO_BIN,$<,$@)

makefiles/toolchain_gnu-arm-eabi.mk

@@ -50,11 +50,11 @@ OBJDUMP			 = $(CROSSDEV)objdump
 
 # Check if the right version of the toolchain is available
 #
-CROSSDEV_VER_SUPPORTED	 = 4.7
+CROSSDEV_VER_SUPPORTED	 = 4.7.4 4.7.5 4.7.6 4.8.4
 CROSSDEV_VER_FOUND	 = $(shell $(CC) -dumpversion)
 
-ifeq (,$(findstring $(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND)))
-$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED).x)
+ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
+$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
 endif
 
 

nuttx-configs/aerocore/nsh/defconfig

@@ -314,7 +314,7 @@ CONFIG_STM32_I2CTIMEOTICKS=500
 # CONFIG_ARCH_NOINTC is not set
 # CONFIG_ARCH_VECNOTIRQ is not set
 CONFIG_ARCH_DMA=y
-CONFIG_ARCH_IRQPRIO=y
+# CONFIG_ARCH_IRQPRIO is not set
 # CONFIG_CUSTOM_STACK is not set
 # CONFIG_ADDRENV is not set
 CONFIG_ARCH_HAVE_VFORK=y

nuttx-configs/px4fmu-v1/nsh/Make.defs

@@ -53,7 +53,7 @@ NM			 = $(CROSSDEV)nm
 OBJCOPY			 = $(CROSSDEV)objcopy
 OBJDUMP			 = $(CROSSDEV)objdump
 
-MAXOPTIMIZATION		 = -O3
+MAXOPTIMIZATION		 = -Os
 ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
 			   -mthumb \
 			   -march=armv7e-m \

nuttx-configs/px4fmu-v1/nsh/defconfig

@@ -288,7 +288,6 @@ CONFIG_STM32_USART_SINGLEWIRE=y
 # CONFIG_STM32_I2C_DYNTIMEO is not set
 CONFIG_STM32_I2CTIMEOSEC=0
 CONFIG_STM32_I2CTIMEOMS=10
-CONFIG_STM32_I2CTIMEOTICKS=500
 # CONFIG_STM32_I2C_DUTY16_9 is not set
 
 #
@@ -309,7 +308,7 @@ CONFIG_STM32_I2CTIMEOTICKS=500
 # CONFIG_ARCH_NOINTC is not set
 # CONFIG_ARCH_VECNOTIRQ is not set
 CONFIG_ARCH_DMA=y
-CONFIG_ARCH_IRQPRIO=y
+# CONFIG_ARCH_IRQPRIO is not set
 # CONFIG_CUSTOM_STACK is not set
 # CONFIG_ADDRENV is not set
 CONFIG_ARCH_HAVE_VFORK=y

nuttx-configs/px4fmu-v2/nsh/Make.defs

@@ -53,7 +53,7 @@ NM			 = $(CROSSDEV)nm
 OBJCOPY			 = $(CROSSDEV)objcopy
 OBJDUMP			 = $(CROSSDEV)objdump
 
-MAXOPTIMIZATION		 = -O3
+MAXOPTIMIZATION		 = -Os
 ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
 			   -mthumb \
 			   -march=armv7e-m \

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -323,8 +323,7 @@ CONFIG_STM32_USART_SINGLEWIRE=y
 #
 # CONFIG_STM32_I2C_DYNTIMEO is not set
 CONFIG_STM32_I2CTIMEOSEC=0
-CONFIG_STM32_I2CTIMEOMS=10
-CONFIG_STM32_I2CTIMEOTICKS=500
+CONFIG_STM32_I2CTIMEOMS=1
 # CONFIG_STM32_I2C_DUTY16_9 is not set
 
 #
@@ -350,7 +349,7 @@ CONFIG_SDIO_PRI=128
 # CONFIG_ARCH_NOINTC is not set
 # CONFIG_ARCH_VECNOTIRQ is not set
 CONFIG_ARCH_DMA=y
-CONFIG_ARCH_IRQPRIO=y
+# CONFIG_ARCH_IRQPRIO is not set
 # CONFIG_CUSTOM_STACK is not set
 # CONFIG_ADDRENV is not set
 CONFIG_ARCH_HAVE_VFORK=y

nuttx-configs/px4fmu-v2/scripts/ld.script

@@ -50,7 +50,8 @@
 
 MEMORY
 {
-    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 2032K
+    /* disabled due to silicon errata flash (rx)   : ORIGIN = 0x08004000, LENGTH = 2032K */
+    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 1008K
     sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
     ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
 }

nuttx-configs/px4io-v1/nsh/Make.defs

@@ -53,7 +53,7 @@ NM			 = $(CROSSDEV)nm
 OBJCOPY			 = $(CROSSDEV)objcopy
 OBJDUMP			 = $(CROSSDEV)objdump
 
-MAXOPTIMIZATION		 = -O3
+MAXOPTIMIZATION		 = -Os
 ARCHCPUFLAGS		 = -mcpu=cortex-m3 \
 			   -mthumb \
 			   -march=armv7-m

nuttx-configs/px4io-v1/nsh/defconfig

@@ -83,7 +83,6 @@ CONFIG_ARCH_BOARD="px4io-v1"
 CONFIG_BOARD_LOOPSPERMSEC=2000
 CONFIG_DRAM_SIZE=0x00002000
 CONFIG_DRAM_START=0x20000000
-CONFIG_ARCH_IRQPRIO=y
 CONFIG_ARCH_INTERRUPTSTACK=n
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARCH_BOOTLOADER=n
@@ -134,6 +133,8 @@ CONFIG_STM32_USART2=y
 CONFIG_STM32_USART3=y
 CONFIG_STM32_I2C1=y
 CONFIG_STM32_I2C2=n
+CONFIG_STM32_I2CTIMEOSEC=0
+CONFIG_STM32_I2CTIMEOMS=1
 CONFIG_STM32_BKP=n
 CONFIG_STM32_PWR=n
 CONFIG_STM32_DAC=n

nuttx-configs/px4io-v2/nsh/Make.defs

@@ -53,15 +53,11 @@ NM			 = $(CROSSDEV)nm
 OBJCOPY			 = $(CROSSDEV)objcopy
 OBJDUMP			 = $(CROSSDEV)objdump
 
-MAXOPTIMIZATION		 = -O3
+MAXOPTIMIZATION		 = -Os
 ARCHCPUFLAGS		 = -mcpu=cortex-m3 \
 			   -mthumb \
 			   -march=armv7-m
 
-# enable precise stack overflow tracking
-#INSTRUMENTATIONDEFINES	 = -finstrument-functions \
-#			   -ffixed-r10
-
 # use our linker script
 LDSCRIPT		 = ld.script
 

nuttx-configs/px4io-v2/nsh/defconfig

@@ -79,7 +79,6 @@ CONFIG_ARCH_BOARD_PX4IO_V2=y
 CONFIG_BOARD_LOOPSPERMSEC=2000
 CONFIG_DRAM_SIZE=0x00002000
 CONFIG_DRAM_START=0x20000000
-CONFIG_ARCH_IRQPRIO=y
 CONFIG_ARCH_INTERRUPTSTACK=n
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARCH_BOOTLOADER=n

src/drivers/airspeed/airspeed.cpp

@@ -147,7 +147,7 @@ Airspeed::init()
 		_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
 
 		if (_airspeed_pub < 0)
-			warnx("failed to create airspeed sensor object. uORB started?");
+			warnx("uORB started?");
 	}
 
 	ret = OK;
@@ -159,13 +159,15 @@ out:
 int
 Airspeed::probe()
 {
-	/* on initial power up the device needs more than one retry
-	   for detection. Once it is running then retries aren't
-	   needed 
+	/* on initial power up the device may need more than one retry
+	   for detection. Once it is running the number of retries can
+	   be reduced
 	*/
 	_retries = 4;
 	int ret = measure();
-	_retries = 0;
+
+        // drop back to 2 retries once initialised
+	_retries = 2;
 	return ret;
 }
 

src/drivers/ardrone_interface/ardrone_interface.c

@@ -89,8 +89,8 @@ static void
 usage(const char *reason)
 {
 	if (reason)
-		fprintf(stderr, "%s\n", reason);
-	fprintf(stderr, "usage: ardrone_interface {start|stop|status} [-d <UART>]\n\n");
+		warnx("%s\n", reason);
+	warnx("usage: {start|stop|status} [-d <UART>]\n\n");
 	exit(1);
 }
 
@@ -110,7 +110,7 @@ int ardrone_interface_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (thread_running) {
-			printf("ardrone_interface already running\n");
+			warnx("already running\n");
 			/* this is not an error */
 			exit(0);
 		}
@@ -132,9 +132,9 @@ int ardrone_interface_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			printf("\tardrone_interface is running\n");
+			warnx("running");
 		} else {
-			printf("\tardrone_interface not started\n");
+			warnx("not started");
 		}
 		exit(0);
 	}
@@ -158,7 +158,7 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
 
 	/* Back up the original uart configuration to restore it after exit */
 	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
-		fprintf(stderr, "[ardrone_interface] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
+		warnx("ERR: TCGETATTR %s: %d", uart_name, termios_state);
 		close(uart);
 		return -1;
 	}
@@ -171,14 +171,14 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
 
 	/* Set baud rate */
 	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-		fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+		warnx("ERR: cfsetispeed %s: %d", uart_name, termios_state);
 		close(uart);
 		return -1;
 	}
 
 
 	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
-		fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
+		warnx("ERR: tcsetattr: %s", uart_name);
 		close(uart);
 		return -1;
 	}
@@ -192,9 +192,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 
 	char *device = "/dev/ttyS1";
 
-	/* welcome user */
-	printf("[ardrone_interface] Control started, taking over motors\n");
-
 	/* File descriptors */
 	int gpios;
 
@@ -237,7 +234,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 	struct termios uart_config_original;
 
 	if (motor_test_mode) {
-		printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n");
+		warnx("setting 10 %% thrust.\n");
 	}
 
 	/* Led animation */
@@ -255,9 +252,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 	int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
 	int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
 
-	printf("[ardrone_interface] Motors initialized - ready.\n");
-	fflush(stdout);
-
 	/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
 	ardrone_write = ardrone_open_uart(device, &uart_config_original);
 
@@ -265,7 +259,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 	gpios = ar_multiplexing_init();
 
 	if (ardrone_write < 0) {
-		fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
+		warnx("No UART, exiting.");
 		thread_running = false;
 		exit(ERROR);
 	}
@@ -273,7 +267,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 	/* initialize motors */
 	if (OK != ar_init_motors(ardrone_write, gpios)) {
 		close(ardrone_write);
-		fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
+		warnx("motor init fail");
 		thread_running = false;
 		exit(ERROR);
 	}
@@ -294,7 +288,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 	gpios = ar_multiplexing_init();
 
 	if (ardrone_write < 0) {
-		fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
+		warnx("write fail");
 		thread_running = false;
 		exit(ERROR);
 	}
@@ -302,7 +296,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 	/* initialize motors */
 	if (OK != ar_init_motors(ardrone_write, gpios)) {
 		close(ardrone_write);
-		fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
+		warnx("motor init fail");
 		thread_running = false;
 		exit(ERROR);
 	}
@@ -378,11 +372,9 @@ int ardrone_interface_thread_main(int argc, char *argv[])
 	int termios_state;
 
 	if ((termios_state = tcsetattr(ardrone_write, TCSANOW, &uart_config_original)) < 0) {
-		fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for (tcsetattr)\n");
+		warnx("ERR: tcsetattr");
 	}
 
-	printf("[ardrone_interface] Restored original UART config, exiting..\n");
-
 	/* close uarts */
 	close(ardrone_write);
 	ar_multiplexing_deinit(gpios);

src/drivers/ardrone_interface/ardrone_motor_control.c

@@ -301,7 +301,7 @@ int ar_init_motors(int ardrone_uart, int gpios)
 	ardrone_write_motor_commands(ardrone_uart, 0, 0, 0, 0);
 
 	if (errcounter != 0) {
-		fprintf(stderr, "[ardrone_interface] init sequence incomplete, failed %d times", -errcounter);
+		warnx("Failed %d times", -errcounter);
 		fflush(stdout);
 	}
 	return errcounter;

src/drivers/boards/aerocore/aerocore_init.c

@@ -93,6 +93,19 @@
 #  endif
 #endif
 
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
 /****************************************************************************
  * Protected Functions
  ****************************************************************************/

src/drivers/boards/aerocore/board_config.h

@@ -171,6 +171,25 @@ __BEGIN_DECLS
 
 extern void stm32_spiinitialize(void);
 
+/****************************************************************************
+ * Name: nsh_archinitialize
+ *
+ * Description:
+ *   Perform architecture specific initialization for NSH.
+ *
+ *   CONFIG_NSH_ARCHINIT=y :
+ *     Called from the NSH library
+ *
+ *   CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
+ *   CONFIG_NSH_ARCHINIT=n :
+ *     Called from board_initialize().
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_LIBRARY
+int nsh_archinitialize(void);
+#endif
+
 #endif /* __ASSEMBLY__ */
 
 __END_DECLS

src/drivers/boards/aerocore/module.mk

@@ -6,3 +6,5 @@ SRCS		 = aerocore_init.c \
 		   aerocore_pwm_servo.c \
 		   aerocore_spi.c \
 		   aerocore_led.c
+
+MAXOPTIMIZATION	 = -Os

src/drivers/boards/px4fmu-v1/board_config.h

@@ -209,6 +209,27 @@ __BEGIN_DECLS
 
 extern void stm32_spiinitialize(void);
 
+extern void stm32_usbinitialize(void);
+
+/****************************************************************************
+ * Name: nsh_archinitialize
+ *
+ * Description:
+ *   Perform architecture specific initialization for NSH.
+ *
+ *   CONFIG_NSH_ARCHINIT=y :
+ *     Called from the NSH library
+ *
+ *   CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
+ *   CONFIG_NSH_ARCHINIT=n :
+ *     Called from board_initialize().
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_LIBRARY
+int nsh_archinitialize(void);
+#endif
+
 #endif /* __ASSEMBLY__ */
 
 __END_DECLS

src/drivers/boards/px4fmu-v1/module.mk

@@ -8,3 +8,5 @@ SRCS		 = px4fmu_can.c \
 		   px4fmu_spi.c \
 		   px4fmu_usb.c \
 		   px4fmu_led.c
+
+MAXOPTIMIZATION	 = -Os

src/drivers/boards/px4fmu-v2/board_config.h

@@ -229,6 +229,27 @@ __BEGIN_DECLS
 
 extern void stm32_spiinitialize(void);
 
+extern void stm32_usbinitialize(void);
+
+/****************************************************************************
+ * Name: nsh_archinitialize
+ *
+ * Description:
+ *   Perform architecture specific initialization for NSH.
+ *
+ *   CONFIG_NSH_ARCHINIT=y :
+ *     Called from the NSH library
+ *
+ *   CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
+ *   CONFIG_NSH_ARCHINIT=n :
+ *     Called from board_initialize().
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_NSH_LIBRARY
+int nsh_archinitialize(void);
+#endif
+
 #endif /* __ASSEMBLY__ */
 
 __END_DECLS

src/drivers/boards/px4fmu-v2/module.mk

@@ -8,3 +8,5 @@ SRCS		 = px4fmu_can.c \
 		   px4fmu_spi.c \
 		   px4fmu_usb.c \
 		   px4fmu2_led.c
+
+MAXOPTIMIZATION	 = -Os

src/drivers/boards/px4fmu-v2/px4fmu2_init.c

@@ -94,6 +94,19 @@
 #  endif
 #endif
 
+/*
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
 /****************************************************************************
  * Protected Functions
  ****************************************************************************/

src/drivers/boards/px4io-v1/module.mk

@@ -4,3 +4,5 @@
 
 SRCS	= px4io_init.c \
 	  px4io_pwm_servo.c
+
+MAXOPTIMIZATION	 = -Os

src/drivers/boards/px4io-v2/board_config.h

@@ -77,6 +77,7 @@
 #define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
 #define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
 #define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
+#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
 
 /* Safety switch button *******************************************************/
 

src/drivers/boards/px4io-v2/module.mk

@@ -4,3 +4,5 @@
 
 SRCS		= px4iov2_init.c \
 		  px4iov2_pwm_servo.c
+
+MAXOPTIMIZATION	 = -Os

src/drivers/boards/px4io-v2/px4iov2_init.c

@@ -108,6 +108,7 @@ __EXPORT void stm32_boardinitialize(void)
 	stm32_configgpio(GPIO_LED1);
 	stm32_configgpio(GPIO_LED2);
 	stm32_configgpio(GPIO_LED3);
+	stm32_configgpio(GPIO_LED4);
 
 	stm32_configgpio(GPIO_BTN_SAFETY);
 

src/drivers/device/device.cpp

@@ -97,6 +97,7 @@ Device::Device(const char *name,
         
 	/* setup a default device ID. When bus_type is UNKNOWN the
 	   other fields are invalid */
+	_device_id.devid = 0;
 	_device_id.devid_s.bus_type = DeviceBusType_UNKNOWN;
 	_device_id.devid_s.bus = 0;
 	_device_id.devid_s.address = 0;

src/drivers/device/device.h

@@ -130,7 +130,8 @@ public:
 	enum DeviceBusType {
 		DeviceBusType_UNKNOWN = 0,
 		DeviceBusType_I2C     = 1,
-		DeviceBusType_SPI     = 2
+		DeviceBusType_SPI     = 2,
+		DeviceBusType_UAVCAN  = 3,
 	};
 
 	/*

src/drivers/drv_gps.h

@@ -57,7 +57,8 @@
 typedef enum {
 	GPS_DRIVER_MODE_NONE = 0,
 	GPS_DRIVER_MODE_UBX,
-	GPS_DRIVER_MODE_MTK
+	GPS_DRIVER_MODE_MTK,
+	GPS_DRIVER_MODE_ASHTECH
 } gps_driver_mode_t;
 
 

src/drivers/drv_pwm_output.h

@@ -94,6 +94,11 @@ __BEGIN_DECLS
  */
 #define PWM_LOWEST_MAX 1700
 
+/**
+ * Do not output a channel with this value
+ */
+#define PWM_IGNORE_THIS_CHANNEL UINT16_MAX
+
 /**
  * Servo output signal type, value is actual servo output pulse
  * width in microseconds.
@@ -112,6 +117,23 @@ struct pwm_output_values {
 	unsigned			channel_count;
 };
 
+
+/**
+ * RC config values for a channel
+ *
+ * This allows for PX4IO_PAGE_RC_CONFIG values to be set without a
+ * param_get() dependency
+ */
+struct pwm_output_rc_config {
+	uint8_t channel;
+	uint16_t rc_min;
+	uint16_t rc_trim;
+	uint16_t rc_max;
+	uint16_t rc_dz;
+	uint16_t rc_assignment;
+	bool     rc_reverse;
+};
+
 /*
  * ORB tag for PWM outputs.
  */
@@ -160,7 +182,7 @@ ORB_DECLARE(output_pwm);
 
 #define DSM2_BIND_PULSES 3	/* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */
 #define DSMX_BIND_PULSES 7	/* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */
-#define DSMX8_BIND_PULSES 10 	/* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */
+#define DSMX8_BIND_PULSES 9 	/* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */
 
 /** power up DSM receiver */
 #define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 11)
@@ -200,10 +222,28 @@ ORB_DECLARE(output_pwm);
 #define PWM_SERVO_GET_DISABLE_LOCKDOWN		_IOC(_PWM_SERVO_BASE, 22)
 
 /** force safety switch off (to disable use of safety switch) */
-#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23)
+#define PWM_SERVO_SET_FORCE_SAFETY_OFF		_IOC(_PWM_SERVO_BASE, 23)
 
 /** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */
-#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24)
+#define PWM_SERVO_SET_FORCE_FAILSAFE		_IOC(_PWM_SERVO_BASE, 24)
+
+/** make failsafe non-recoverable (termination) if it occurs */
+#define PWM_SERVO_SET_TERMINATION_FAILSAFE	_IOC(_PWM_SERVO_BASE, 25)
+
+/** force safety switch on (to enable use of safety switch) */
+#define PWM_SERVO_SET_FORCE_SAFETY_ON		_IOC(_PWM_SERVO_BASE, 26)
+
+/** set RC config for a channel. This takes a pointer to pwm_output_rc_config */
+#define PWM_SERVO_SET_RC_CONFIG			_IOC(_PWM_SERVO_BASE, 27)
+
+/** set the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
+#define PWM_SERVO_SET_OVERRIDE_OK		_IOC(_PWM_SERVO_BASE, 28)
+
+/** clear the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
+#define PWM_SERVO_CLEAR_OVERRIDE_OK		_IOC(_PWM_SERVO_BASE, 29)
+
+/** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */
+#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE	_IOC(_PWM_SERVO_BASE, 30)
 
 /*
  *

src/drivers/drv_px4flow.h

@@ -46,37 +46,6 @@
 
 #define PX4FLOW_DEVICE_PATH	"/dev/px4flow"
 
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Optical flow in NED body frame in SI units.
- *
- * @see http://en.wikipedia.org/wiki/International_System_of_Units
- *
- * @warning If possible the usage of the raw flow and performing rotation-compensation
- *		using the autopilot angular rate estimate is recommended.
- */
-struct px4flow_report {
-
-	uint64_t timestamp;		/**< in microseconds since system start          */
-
-	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
-	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
-	float flow_comp_x_m;		/**< speed over ground in meters per second, rotation-compensated */
-	float flow_comp_y_m;		/**< speed over ground in meters per second, rotation-compensated */
-	float ground_distance_m;	/**< Altitude / distance to ground in meters */
-	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
-	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
-
-};
-
-/**
- * @}
- */
-
 /*
  * ObjDev tag for px4flow data.
  */

src/drivers/drv_rc_input.h

@@ -83,7 +83,8 @@ enum RC_INPUT_SOURCE {
 	RC_INPUT_SOURCE_PX4FMU_PPM,
 	RC_INPUT_SOURCE_PX4IO_PPM,
 	RC_INPUT_SOURCE_PX4IO_SPEKTRUM,
-	RC_INPUT_SOURCE_PX4IO_SBUS
+	RC_INPUT_SOURCE_PX4IO_SBUS,
+	RC_INPUT_SOURCE_PX4IO_ST24
 };
 
 /**

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -155,7 +155,6 @@ ETSAirspeed::collect()
 	}
 
 	uint16_t diff_pres_pa_raw = val[1] << 8 | val[0];
-	uint16_t diff_pres_pa;
         if (diff_pres_pa_raw == 0) {
 		// a zero value means the pressure sensor cannot give us a
 		// value. We need to return, and not report a value or the
@@ -166,28 +165,21 @@ ETSAirspeed::collect()
 		return -1;
         }
 
-	if (diff_pres_pa_raw < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
-		diff_pres_pa = 0;
-	} else {
-		diff_pres_pa = diff_pres_pa_raw - _diff_pres_offset;
-	}
-
 	// The raw value still should be compensated for the known offset
 	diff_pres_pa_raw -= _diff_pres_offset;
 
 	// Track maximum differential pressure measured (so we can work out top speed).
-	if (diff_pres_pa > _max_differential_pressure_pa) {
-		_max_differential_pressure_pa = diff_pres_pa;
+	if (diff_pres_pa_raw > _max_differential_pressure_pa) {
+		_max_differential_pressure_pa = diff_pres_pa_raw;
 	}
 
 	differential_pressure_s report;
 	report.timestamp = hrt_absolute_time();
         report.error_count = perf_event_count(_comms_errors);
-	report.differential_pressure_pa = (float)diff_pres_pa;
 
 	// XXX we may want to smooth out the readings to remove noise.
-	report.differential_pressure_filtered_pa = (float)diff_pres_pa;
-	report.differential_pressure_raw_pa = (float)diff_pres_pa_raw;
+	report.differential_pressure_filtered_pa = diff_pres_pa_raw;
+	report.differential_pressure_raw_pa = diff_pres_pa_raw;
 	report.temperature = -1000.0f;
 	report.max_differential_pressure_pa = _max_differential_pressure_pa;
 
@@ -369,7 +361,7 @@ test()
 		err(1, "immediate read failed");
 
 	warnx("single read");
-	warnx("diff pressure: %f pa", (double)report.differential_pressure_pa);
+	warnx("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
@@ -394,7 +386,7 @@ test()
 			err(1, "periodic read failed");
 
 		warnx("periodic read %u", i);
-		warnx("diff pressure: %f pa", (double)report.differential_pressure_pa);
+		warnx("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa);
 	}
 
 	/* reset the sensor polling to its default rate */