cmake remove circular linking and reorganize

- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link

src/modules/attitude_estimator_q/CMakeLists.txt

@@ -40,6 +40,5 @@ px4_add_module(
 	SRCS
 		attitude_estimator_q_main.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp

@@ -48,8 +48,8 @@
 #include <px4_posix.h>
 #include <px4_tasks.h>
 #include <systemlib/err.h>
-#include <systemlib/param/param.h>
-#include <systemlib/perf_counter.h>
+#include <parameters/param.h>
+#include <perf/perf_counter.h>
 #include <uORB/topics/att_pos_mocap.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/sensor_combined.h>

src/modules/attitude_estimator_q/attitude_estimator_q_params.c

@@ -39,7 +39,7 @@
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /**
  * Complimentary filter accelerometer weight

src/modules/camera_feedback/CMakeLists.txt

@@ -37,6 +37,5 @@ px4_add_module(
 	SRCS
 		camera_feedback.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/modules/camera_feedback/camera_feedback.hpp

@@ -47,7 +47,7 @@
 #include <mathlib/mathlib.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 #include <px4_config.h>
 #include <px4_defines.h>

src/modules/commander/CMakeLists.txt

@@ -52,6 +52,5 @@ px4_add_module(
 		PreflightCheck.cpp
 		arm_auth.cpp
 	DEPENDS
-		platforms__common
+		df_driver_framework
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/commander/PreflightCheck.cpp

@@ -52,7 +52,7 @@
 #include <poll.h>
 
 #include <systemlib/err.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <systemlib/rc_check.h>
 #include <systemlib/mavlink_log.h>
 

src/modules/commander/accelerometer_calibration.cpp

@@ -143,7 +143,7 @@
 #include <drivers/drv_accel.h>
 #include <lib/ecl/geo/geo.h>
 #include <conversion/rotation.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <systemlib/err.h>
 #include <systemlib/mavlink_log.h>
 #include <uORB/topics/vehicle_attitude.h>

src/modules/commander/airspeed_calibration.cpp

@@ -53,7 +53,7 @@
 #include <drivers/drv_airspeed.h>
 #include <uORB/topics/differential_pressure.h>
 #include <systemlib/mavlink_log.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <systemlib/err.h>
 #include <systemlib/airspeed.h>
 

src/modules/commander/baro_calibration.cpp

@@ -46,7 +46,7 @@
 #include <uORB/topics/sensor_combined.h>
 #include <drivers/drv_baro.h>
 #include <systemlib/mavlink_log.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 int do_baro_calibration(orb_advert_t *mavlink_log_pub)
 {

src/modules/commander/commander.cpp

@@ -76,7 +76,7 @@
 #include <systemlib/err.h>
 #include <systemlib/hysteresis/hysteresis.h>
 #include <systemlib/mavlink_log.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <systemlib/rc_check.h>
 #include <systemlib/state_table.h>
 

src/modules/commander/commander_helper.cpp

@@ -58,7 +58,7 @@
 #include <uORB/topics/led_control.h>
 #include <uORB/topics/tune_control.h>
 #include <systemlib/err.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_tone_alarm.h>
 

src/modules/commander/commander_params.c

@@ -42,7 +42,7 @@
  */
 
 #include <px4_config.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /**
  * Roll trim

src/modules/commander/commander_tests/CMakeLists.txt

@@ -39,6 +39,4 @@ px4_add_module(
 		../state_machine_helper.cpp
 		../PreflightCheck.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/modules/commander/gyro_calibration.cpp

@@ -57,7 +57,7 @@
 #include <uORB/topics/sensor_correction.h>
 #include <drivers/drv_gyro.h>
 #include <systemlib/mavlink_log.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <systemlib/err.h>
 
 static const char *sensor_name = "gyro";

src/modules/commander/mag_calibration.cpp

@@ -58,7 +58,7 @@
 #include <drivers/drv_mag.h>
 #include <drivers/drv_tone_alarm.h>
 #include <systemlib/mavlink_log.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <systemlib/err.h>
 #include <uORB/topics/sensor_combined.h>
 

src/modules/commander/rc_calibration.cpp

@@ -48,7 +48,7 @@
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <systemlib/mavlink_log.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <systemlib/err.h>
 
 int do_trim_calibration(orb_advert_t *mavlink_log_pub)

src/modules/dataman/CMakeLists.txt

@@ -38,7 +38,4 @@ px4_add_module(
 		-Wno-sign-compare # TODO: fix all sign-compare
 	SRCS
 		dataman.cpp
-	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/dataman/dataman.cpp

@@ -60,7 +60,7 @@
 #include <drivers/drv_hrt.h>
 
 #include "dataman.h"
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 #if defined(FLASH_BASED_DATAMAN)
 #include <nuttx/clock.h>

src/modules/events/CMakeLists.txt

@@ -47,7 +47,6 @@ px4_add_module(
 		status_display.cpp
 		set_leds.cpp
 	DEPENDS
-		platforms__common
 		modules__uORB
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/modules/fw_att_control/CMakeLists.txt

@@ -36,7 +36,6 @@ px4_add_module(
 	SRCS
 		FixedwingAttitudeControl.cpp
 	DEPENDS
-		platforms__common
 		git_ecl
 		ecl
 	)

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -43,8 +43,8 @@
 #include <px4_defines.h>
 #include <px4_posix.h>
 #include <px4_tasks.h>
-#include <systemlib/param/param.h>
-#include <systemlib/perf_counter.h>
+#include <parameters/param.h>
+#include <perf/perf_counter.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/airspeed.h>

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -65,7 +65,7 @@
 #include <px4_module_params.h>
 #include <px4_posix.h>
 #include <px4_tasks.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/fw_pos_ctrl_status.h>

src/modules/gnd_att_control/GroundRoverAttitudeControl.hpp

@@ -48,9 +48,9 @@
 
 #include <drivers/drv_hrt.h>
 #include <mathlib/mathlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <systemlib/pid/pid.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/manual_control_setpoint.h>

src/modules/gnd_pos_control/GroundRoverPositionControl.hpp

@@ -52,7 +52,7 @@
 #include <ecl/l1/ecl_l1_pos_controller.h>
 #include <lib/ecl/geo/geo.h>
 #include <mathlib/mathlib.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/pid/pid.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/fw_pos_ctrl_status.h>

src/modules/gpio_led/CMakeLists.txt

@@ -37,6 +37,5 @@ px4_add_module(
 	SRCS
 		gpio_led.c
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/modules/land_detector/CMakeLists.txt

@@ -43,6 +43,5 @@ px4_add_module(
 		VtolLandDetector.cpp
 		RoverLandDetector.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/modules/land_detector/LandDetector.h

@@ -45,8 +45,8 @@
 #include <px4_workqueue.h>
 #include <px4_module.h>
 #include <systemlib/hysteresis/hysteresis.h>
-#include <systemlib/param/param.h>
-#include <systemlib/perf_counter.h>
+#include <parameters/param.h>
+#include <perf/perf_counter.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/vehicle_land_detected.h>

src/modules/land_detector/MulticopterLandDetector.h

@@ -44,8 +44,7 @@
 
 #include "LandDetector.h"
 
-#include <drivers/drv_hrt.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>

src/modules/landing_target_estimator/CMakeLists.txt

@@ -30,6 +30,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
 px4_add_module(
 	MODULE modules__landing_target_estimator
 	MAIN landing_target_estimator
@@ -40,6 +41,5 @@ px4_add_module(
 		LandingTargetEstimator.cpp
 		KalmanFilter.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/modules/landing_target_estimator/LandingTargetEstimator.h

@@ -44,7 +44,7 @@
 
 #include <px4_workqueue.h>
 #include <drivers/drv_hrt.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_attitude.h>

src/modules/load_mon/CMakeLists.txt

@@ -38,6 +38,5 @@ px4_add_module(
 	SRCS
 		load_mon.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/modules/load_mon/load_mon.cpp

@@ -53,7 +53,7 @@
 
 #include <systemlib/systemlib.h>
 #include <systemlib/cpuload.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/cpuload.h>

src/modules/local_position_estimator/CMakeLists.txt

@@ -50,6 +50,5 @@ px4_add_module(
 		sensors/land.cpp
 		sensors/landing_target.cpp
 	DEPENDS
-		platforms__common
+		controllib
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/local_position_estimator/params.c

@@ -1,4 +1,4 @@
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 // 16 is max name length
 

src/modules/logger/CMakeLists.txt

@@ -44,7 +44,5 @@ px4_add_module(
 		log_writer_file.cpp
 		log_writer_mavlink.cpp
 	DEPENDS
-		platforms__common
-		modules__uORB
+		version
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/logger/log_writer_file.h

@@ -37,7 +37,7 @@
 #include <stdint.h>
 #include <pthread.h>
 #include <drivers/drv_hrt.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 
 namespace px4
 {

src/modules/logger/logger.h

@@ -39,7 +39,7 @@
 #include <drivers/drv_hrt.h>
 #include <uORB/Subscription.hpp>
 #include <version/version.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <systemlib/printload.h>
 #include <px4_module.h>
 

src/modules/mavlink/CMakeLists.txt

@@ -61,6 +61,6 @@ px4_add_module(
 		mavlink_stream.cpp
 		mavlink_ulog.cpp
 	DEPENDS
-		platforms__common
 		git_mavlink_v2
+		conversion
 	)

src/modules/mavlink/mavlink.c

@@ -44,7 +44,7 @@
 #include <stdbool.h>
 #include <string.h>
 #include "mavlink_bridge_header.h"
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 mavlink_system_t mavlink_system = {
 	1,

src/modules/mavlink/mavlink_main.cpp

@@ -64,9 +64,9 @@
 #include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
 
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <systemlib/err.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/mavlink_log.h>
 #include <lib/ecl/geo/geo.h>

src/modules/mavlink/mavlink_main.h

@@ -53,8 +53,8 @@
 #include <arpa/inet.h>
 #include <drivers/device/device.h>
 #endif
-#include <systemlib/param/param.h>
-#include <systemlib/perf_counter.h>
+#include <parameters/param.h>
+#include <perf/perf_counter.h>
 #include <pthread.h>
 #include <systemlib/mavlink_log.h>
 #include <drivers/device/ringbuffer.h>

src/modules/mavlink/mavlink_parameters.h

@@ -42,7 +42,7 @@
 
 #pragma once
 
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 #include "mavlink_bridge_header.h"
 #include <uORB/uORB.h>

src/modules/mavlink/mavlink_receiver.cpp

@@ -75,7 +75,7 @@
 
 #include <conversion/rotation.h>
 
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/mavlink_log.h>
 #include <systemlib/err.h>

src/modules/mavlink/mavlink_receiver.h

@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/rc_channels.h>

src/modules/mavlink/mavlink_tests/CMakeLists.txt

@@ -51,6 +51,5 @@ px4_add_module(
 		../mavlink_ftp.cpp
 		../mavlink.c
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/modules/mc_att_control/CMakeLists.txt

@@ -39,4 +39,6 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		mc_att_control_main.cpp
+	DEPENDS
+		mathlib
 	)

src/modules/mc_att_control/mc_att_control.hpp

@@ -34,7 +34,7 @@
 #include <lib/mixer/mixer.h>
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <matrix/matrix/math.hpp>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_module.h>

src/modules/mc_pos_control/CMakeLists.txt

@@ -40,6 +40,8 @@ px4_add_module(
 		PositionControl.cpp
 		Utility/ControlMath.cpp
 	DEPENDS
-		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+		controllib
+		flight_tasks
+		git_ecl
+		ecl
+	)

src/modules/mc_pos_control/PositionControl.hpp

@@ -43,7 +43,7 @@
 
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 #pragma once
 

src/modules/mc_pos_control/mc_pos_control_tests/CMakeLists.txt

@@ -39,6 +39,4 @@ px4_add_module(
 		test_controlmath.cpp
 		../Utility/ControlMath.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/micrortps_bridge/CMakeLists.txt

@@ -104,7 +104,7 @@ if (GENERATE_RTPS_BRIDGE)
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}/msg/
 		VERBATIM
 		)
-	add_custom_target(uorb_headers_microcdr DEPENDS ${uorb_headers_microcdr})
+	add_custom_target(uorb_headers_microcdr_gen DEPENDS ${uorb_headers_microcdr})
 
 	# Generate uORB serialization sources
 	add_custom_command(OUTPUT ${uorb_sources_microcdr}
@@ -122,7 +122,11 @@ if (GENERATE_RTPS_BRIDGE)
 		VERBATIM
 		)
 	px4_add_library(uorb_msgs_microcdr ${uorb_sources_microcdr})
-	add_dependencies(uorb_msgs_microcdr uorb_headers_microcdr uorb_headers uorb_msgs git_micro_cdr lib__micro-CDR)
+	add_dependencies(uorb_msgs_microcdr
+		uorb_headers_microcdr_gen
+		git_micro_cdr
+		lib__micro-CDR
+	)
 
 	target_link_libraries(uorb_msgs_microcdr PRIVATE lib__micro-CDR)
 

src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt

@@ -85,21 +85,19 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
 	)
 	add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
 
-	include_directories(${CMAKE_CURRENT_SOURCE_DIR})
-	include_directories(${CMAKE_CURRENT_BINARY_DIR}/micrortps_client)
-
 	px4_add_module(
 		MODULE modules__micrortps_bridge__micrortps_client
 		MAIN micrortps_client
 		STACK_MAIN 4096
+		INCLUDES
+			${CMAKE_CURRENT_SOURCE_DIR}
+			${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
 		SRCS
 			microRTPS_client_main.cpp
 			${msg_out_path}/micrortps_client/microRTPS_client.cpp
 			${msg_out_path}/micrortps_client/microRTPS_transport.cpp
 		DEPENDS
-			platforms__common
 			topic_bridge_files
-			uorb_headers_microcdr
 	)
 	target_link_libraries(modules__micrortps_bridge__micrortps_client PRIVATE uorb_msgs_microcdr)
 endif()

src/modules/muorb/adsp/CMakeLists.txt

@@ -31,14 +31,8 @@
 #
 ############################################################################
 
-px4_add_module(
-	MODULE modules__muorb__adsp
-	INCLUDES
-		${PX4_SOURCE_DIR}/src/modules/uORB
-	SRCS
-		px4muorb.cpp
-		uORBFastRpcChannel.cpp
-	DEPENDS
-		generate_px4muorb_stubs
-		platforms__common
-	)
+px4_add_library(modules__muorb__adsp
+	px4muorb.cpp
+	uORBFastRpcChannel.cpp
+)
+target_include_directories(modules__muorb__adsp PRIVATE ${PX4_SOURCE_DIR}/src/modules/uORB)

src/modules/muorb/adsp/px4muorb.cpp

@@ -42,7 +42,7 @@
 #include "px4_log.h"
 #include "uORB/topics/sensor_combined.h"
 #include "uORB.h"
-#include "systemlib/param/param.h"
+#include <parameters/param.h>
 #include <shmem.h>
 
 __BEGIN_DECLS

src/modules/muorb/krait/CMakeLists.txt

@@ -30,7 +30,6 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 include(hexagon_sdk)
 
 px4_add_module(
@@ -43,7 +42,4 @@ px4_add_module(
 		uORBKraitFastRpcChannel.cpp
 		px4muorb_KraitRpcWrapper.cpp
 		muorb_main.cpp
-	DEPENDS
-		platforms__common
-		generate_px4muorb_stubs
 	)

src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp

@@ -36,7 +36,7 @@
 #include <fcntl.h>
 #include "px4muorb_KraitRpcWrapper.hpp"
 #include <rpcmem.h>
-#include "px4muorb.h"
+#include <px4muorb.h>
 #include "px4_log.h"
 #include <shmem.h>
 #include <drivers/drv_hrt.h>

src/modules/navigator/CMakeLists.txt

@@ -54,6 +54,6 @@ px4_add_module(
 		gpsfailure.cpp
 		follow_target.cpp
 	DEPENDS
-		platforms__common
+		git_ecl
+		ecl
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/navigator/navigator.h

@@ -58,7 +58,7 @@
 #include <navigator/navigation.h>
 #include <px4_module_params.h>
 #include <px4_module.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <uORB/topics/fw_pos_ctrl_status.h>
 #include <uORB/topics/geofence_result.h>
 #include <uORB/topics/mission.h>

src/modules/position_estimator_inav/CMakeLists.txt

@@ -41,6 +41,5 @@ px4_add_module(
 		position_estimator_inav_main.cpp
 		inertial_filter.cpp
 	DEPENDS
-		platforms__common
+		terrain_estimation
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/position_estimator_inav/position_estimator_inav_params.h

@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 struct position_estimator_inav_params {
 	float w_z_baro;

src/modules/px4iofirmware/CMakeLists.txt

@@ -31,19 +31,25 @@
 #
 ############################################################################
 
-px4_add_module(
-	MODULE modules__px4iofirmware
-	SRCS
-		../systemlib/hx_stream.c
-		../systemlib/perf_counter.c
-		../systemlib/pwm_limit/pwm_limit.c
-		adc.c
-		controls.c
-		mixer.cpp
-		px4io.c
-		registers.c
-		safety.c
-		serial.c
-	DEPENDS
-		platforms__common
+add_library(px4iofirmware
+	hx_stream.c
+	../systemlib/pwm_limit/pwm_limit.c
+	adc.c
+	controls.c
+	mixer.cpp
+	px4io.c
+	registers.c
+	safety.c
+	serial.c
 	)
+
+set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES px4iofirmware)
+target_link_libraries(px4iofirmware
+	PUBLIC
+		nuttx_apps
+		nuttx_arch
+		nuttx_c
+		mixer
+		rc
+		perf
+)

src/modules/px4iofirmware/adc.c

@@ -44,7 +44,7 @@
 #include <stm32.h>
 
 #include <drivers/drv_hrt.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 
 #define DEBUG
 #include "px4io.h"

src/modules/px4iofirmware/controls.c

@@ -44,7 +44,7 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_rc_input.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/ppm_decode.h>
 #include <rc/st24.h>
 #include <rc/sumd.h>

src/modules/px4iofirmware/hx_stream.c

@@ -47,7 +47,7 @@
 #include <string.h>
 #include <stdio.h>
 
-#include "perf_counter.h"
+#include <perf/perf_counter.h>
 
 #include "hx_stream.h"
 

src/modules/px4iofirmware/hx_stream.h

@@ -43,7 +43,7 @@
 
 #include <sys/types.h>
 
-#include "perf_counter.h"
+#include <perf/perf_counter.h>
 
 struct hx_stream;
 typedef struct hx_stream *hx_stream_t;

src/modules/px4iofirmware/px4io.c

@@ -54,7 +54,7 @@
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
 
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
 #include <systemlib/systemlib.h>
 

src/modules/px4iofirmware/serial.c

@@ -51,7 +51,7 @@
 #include <up_internal.h>
 #include <up_arch.h>
 #include <stm32.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 
 //#define DEBUG
 #include "px4io.h"

src/modules/replay/CMakeLists.txt

@@ -40,6 +40,4 @@ px4_add_module(
 	SRCS
 		replay_main.cpp
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/modules/sdlog2/CMakeLists.txt

@@ -42,6 +42,5 @@ px4_add_module(
 		sdlog2.c
 		logbuffer.c
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/modules/sdlog2/logbuffer.h

@@ -44,7 +44,7 @@
 #define SDLOG2_RINGBUFFER_H_
 
 #include <stdbool.h>
-#include <systemlib/perf_counter.h>
+#include <perf/perf_counter.h>
 
 struct logbuffer_s {
 	// pointers and size are in bytes

src/modules/sdlog2/sdlog2.c

@@ -103,8 +103,8 @@
 #include <uORB/topics/task_stack_info.h>
 
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
-#include <systemlib/perf_counter.h>
+#include <parameters/param.h>
+#include <perf/perf_counter.h>
 #include <systemlib/printload.h>
 #include <systemlib/mavlink_log.h>
 #include <version/version.h>

src/modules/sensors/CMakeLists.txt

@@ -46,6 +46,8 @@ px4_add_module(
 		temperature_compensation.cpp
 
 	DEPENDS
-		platforms__common
+		drivers__device
+		battery
+		git_ecl
+		ecl
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/sensors/parameters.h

@@ -43,7 +43,7 @@
 #include <px4_config.h>
 #include <drivers/drv_rc_input.h>
 
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <mathlib/mathlib.h>
 
 #include <uORB/topics/rc_parameter_map.h>

src/modules/sensors/sensors.cpp

@@ -70,10 +70,10 @@
 
 #include <systemlib/airspeed.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <systemlib/err.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/battery.h>
+#include <perf/perf_counter.h>
+#include <battery/battery.h>
 
 #include <conversion/rotation.h>
 

src/modules/sensors/temperature_compensation.cpp

@@ -40,7 +40,7 @@
  */
 
 #include "temperature_compensation.h"
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <px4_defines.h>
 #include <px4_log.h>
 

src/modules/sensors/temperature_compensation.h

@@ -42,7 +42,7 @@
 
 #pragma once
 
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include <mathlib/mathlib.h>
 
 #include "common.h"

src/modules/simulator/CMakeLists.txt

@@ -53,6 +53,8 @@ if (NOT ${OS} STREQUAL "qurt")
 		simulator_mavlink.cpp)
 endif()
 
+add_subdirectory(ledsim)
+
 px4_add_module(
 	MODULE modules__simulator
 	MAIN simulator
@@ -63,5 +65,14 @@ px4_add_module(
 		${SIMULATOR_SRCS}
 	DEPENDS
 		git_mavlink_v2
-		platforms__common
+		battery
+		conversion
+		drivers__ledsim
 	)
+target_include_directories(modules__simulator INTERFACE ${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+
+add_subdirectory(accelsim)
+add_subdirectory(airspeedsim)
+add_subdirectory(barosim)
+add_subdirectory(gpssim)
+add_subdirectory(gyrosim)

src/modules/simulator/accelsim/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2015 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_add_module(
+	MODULE drivers__accelsim
+	MAIN accelsim
+	SRCS
+		accelsim.cpp
+	DEPENDS
+		modules__simulator
+	)

src/modules/simulator/airspeedsim/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2015 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_add_module(
+	MODULE drivers__airspeedsim
+	MAIN measairspeedsim
+	COMPILE_FLAGS
+	SRCS
+		airspeedsim.cpp
+		meas_airspeed_sim.cpp
+	DEPENDS
+		modules__simulator
+	)

src/modules/simulator/airspeedsim/airspeedsim.cpp

@@ -0,0 +1,432 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ets_airspeed.cpp
+ * @author Simon Wilks
+ * @author Mark Charlebois (simulator)
+ * @author Roman Bapst (simulator)
+ * Driver for the Simulated AirspeedSim Sensor based on Eagle Tree AirspeedSim V3.
+ */
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.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 <systemlib/airspeed.h>
+#include <systemlib/err.h>
+#include <parameters/param.h>
+#include <perf/perf_counter.h>
+
+#include <drivers/drv_airspeed.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/device/ringbuffer.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/differential_pressure.h>
+#include <uORB/topics/subsystem_info.h>
+
+#include <simulator/simulator.h>
+
+#include "airspeedsim.h"
+
+AirspeedSim::AirspeedSim(int bus, int address, unsigned conversion_interval, const char *path) :
+	CDev("AIRSPEEDSIM", path),
+	_reports(nullptr),
+	_retries(0),
+	_sensor_ok(false),
+	_last_published_sensor_ok(true), /* initialize differently to force publication */
+	_measure_ticks(0),
+	_collect_phase(false),
+	_diff_pres_offset(0.0f),
+	_airspeed_pub(nullptr),
+	_subsys_pub(nullptr),
+	_class_instance(-1),
+	_conversion_interval(conversion_interval),
+	_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
+	_comms_errors(perf_alloc(PC_COUNT, "airspeed_comms_errors"))
+{
+	// enable debug() calls
+	_debug_enabled = false;
+
+	// work_cancel in the dtor will explode if we don't do this...
+	memset(&_work, 0, sizeof(_work));
+}
+
+AirspeedSim::~AirspeedSim()
+{
+	/* make sure we are truly inactive */
+	stop();
+
+	if (_class_instance != -1) {
+		unregister_class_devname(AIRSPEED_BASE_DEVICE_PATH, _class_instance);
+	}
+
+	/* free any existing reports */
+	if (_reports != nullptr) {
+		delete _reports;
+	}
+
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+}
+
+int
+AirspeedSim::init()
+{
+	int ret = ERROR;
+
+	/* init base class */
+	if (CDev::init() != OK) {
+		DEVICE_DEBUG("CDev init failed");
+		goto out;
+	}
+
+	/* allocate basic report buffers */
+	_reports = new ringbuffer::RingBuffer(2, sizeof(differential_pressure_s));
+
+	if (_reports == nullptr) {
+		goto out;
+	}
+
+	/* register alternate interfaces if we have to */
+	_class_instance = register_class_devname(AIRSPEED_BASE_DEVICE_PATH);
+
+	/* publication init */
+	if (_class_instance == CLASS_DEVICE_PRIMARY) {
+
+		/* advertise sensor topic, measure manually to initialize valid report */
+		struct differential_pressure_s arp;
+		measure();
+		_reports->get(&arp);
+
+		/* measurement will have generated a report, publish */
+		_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
+
+		if (_airspeed_pub == nullptr) {
+			PX4_WARN("uORB started?");
+		}
+	}
+
+	ret = OK;
+
+out:
+	return ret;
+}
+
+int
+AirspeedSim::probe()
+{
+	/* 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();
+
+	// drop back to 2 retries once initialised
+	_retries = 2;
+	return ret;
+}
+
+int
+AirspeedSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+
+	case SENSORIOCSPOLLRATE: {
+			switch (arg) {
+
+			/* switching to manual polling */
+			case SENSOR_POLLRATE_MANUAL:
+				stop();
+				_measure_ticks = 0;
+				return OK;
+
+			/* external signalling (DRDY) not supported */
+			case SENSOR_POLLRATE_EXTERNAL:
+
+			/* zero would be bad */
+			case 0:
+				return -EINVAL;
+
+			/* set default/max polling rate */
+			case SENSOR_POLLRATE_MAX:
+			case SENSOR_POLLRATE_DEFAULT: {
+					/* do we need to start internal polling? */
+					bool want_start = (_measure_ticks == 0);
+
+					/* set interval for next measurement to minimum legal value */
+					_measure_ticks = USEC2TICK(_conversion_interval);
+
+					/* if we need to start the poll state machine, do it */
+					if (want_start) {
+						start();
+					}
+
+					return OK;
+				}
+
+			/* adjust to a legal polling interval in Hz */
+			default: {
+					/* do we need to start internal polling? */
+					bool want_start = (_measure_ticks == 0);
+
+					/* convert hz to tick interval via microseconds */
+					unsigned long ticks = USEC2TICK(1000000 / arg);
+
+					/* check against maximum rate */
+					if (ticks < USEC2TICK(_conversion_interval)) {
+						return -EINVAL;
+					}
+
+					/* update interval for next measurement */
+					_measure_ticks = ticks;
+
+					/* if we need to start the poll state machine, do it */
+					if (want_start) {
+						start();
+					}
+
+					return OK;
+				}
+			}
+		}
+
+	case SENSORIOCGPOLLRATE:
+		if (_measure_ticks == 0) {
+			return SENSOR_POLLRATE_MANUAL;
+		}
+
+		return (1000 / _measure_ticks);
+
+	case SENSORIOCSQUEUEDEPTH: {
+			/* lower bound is mandatory, upper bound is a sanity check */
+			if ((arg < 1) || (arg > 100)) {
+				return -EINVAL;
+			}
+
+			//irqstate_t flags = px4_enter_critical_section();
+			if (!_reports->resize(arg)) {
+				//px4_leave_critical_section(flags);
+				return -ENOMEM;
+			}
+
+			//px4_leave_critical_section(flags);
+
+			return OK;
+		}
+
+	case SENSORIOCRESET:
+		/* XXX implement this */
+		return -EINVAL;
+
+	case AIRSPEEDIOCSSCALE: {
+			struct airspeed_scale *s = (struct airspeed_scale *)arg;
+			_diff_pres_offset = s->offset_pa;
+			return OK;
+		}
+
+	case AIRSPEEDIOCGSCALE: {
+			struct airspeed_scale *s = (struct airspeed_scale *)arg;
+			s->offset_pa = _diff_pres_offset;
+			s->scale = 1.0f;
+			return OK;
+		}
+
+	default:
+		/* give it to the superclass */
+		//return I2C::ioctl(filp, cmd, arg);	XXX SIM should be super class
+		return 0;
+	}
+}
+
+ssize_t
+AirspeedSim::read(device::file_t *filp, char *buffer, size_t buflen)
+{
+	unsigned count = buflen / sizeof(differential_pressure_s);
+	differential_pressure_s *abuf = reinterpret_cast<differential_pressure_s *>(buffer);
+	int ret = 0;
+
+	/* buffer must be large enough */
+	if (count < 1) {
+		return -ENOSPC;
+	}
+
+	/* if automatic measurement is enabled */
+	if (_measure_ticks > 0) {
+
+		/*
+		 * While there is space in the caller's buffer, and reports, copy them.
+		 * Note that we may be pre-empted by the workq thread while we are doing this;
+		 * we are careful to avoid racing with them.
+		 */
+		while (count--) {
+			if (_reports->get(abuf)) {
+				ret += sizeof(*abuf);
+				abuf++;
+			}
+		}
+
+		/* if there was no data, warn the caller */
+		return ret ? ret : -EAGAIN;
+	}
+
+	/* manual measurement - run one conversion */
+	do {
+		_reports->flush();
+
+		/* trigger a measurement */
+		if (OK != measure()) {
+			ret = -EIO;
+			break;
+		}
+
+		/* wait for it to complete */
+		usleep(_conversion_interval);
+
+		/* run the collection phase */
+		if (OK != collect()) {
+			ret = -EIO;
+			break;
+		}
+
+		/* state machine will have generated a report, copy it out */
+		if (_reports->get(abuf)) {
+			ret = sizeof(*abuf);
+		}
+
+	} while (0);
+
+	return ret;
+}
+
+void
+AirspeedSim::start()
+{
+	/* reset the report ring and state machine */
+	_collect_phase = false;
+	_reports->flush();
+
+	/* schedule a cycle to start things */
+	work_queue(HPWORK, &_work, (worker_t)&AirspeedSim::cycle_trampoline, this, 1);
+}
+
+void
+AirspeedSim::stop()
+{
+	work_cancel(HPWORK, &_work);
+}
+
+void
+AirspeedSim::update_status()
+{
+	if (_sensor_ok != _last_published_sensor_ok) {
+		/* notify about state change */
+		struct subsystem_info_s info = {};
+		info.present = true;
+		info.enabled = true;
+		info.ok = _sensor_ok;
+		info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE;
+
+		if (_subsys_pub != nullptr) {
+			orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);
+
+		} else {
+			_subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info);
+		}
+
+		_last_published_sensor_ok = _sensor_ok;
+	}
+}
+
+void
+AirspeedSim::cycle_trampoline(void *arg)
+{
+	AirspeedSim *dev = (AirspeedSim *)arg;
+
+	dev->cycle();
+	// XXX we do not know if this is
+	// really helping - do not update the
+	// subsys state right now
+	//dev->update_status();
+}
+
+void
+AirspeedSim::print_info()
+{
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+	PX4_INFO("poll interval:  %u ticks", _measure_ticks);
+	_reports->print_info("report queue");
+}
+
+void
+AirspeedSim::new_report(const differential_pressure_s &report)
+{
+	_reports->force(&report);
+}
+
+int
+AirspeedSim::transfer(const uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
+{
+	if (recv_len > 0) {
+		// this is equivalent to the collect phase
+		Simulator *sim = Simulator::getInstance();
+
+		if (sim == nullptr) {
+			PX4_ERR("Error BARO_SIM::transfer no simulator");
+			return -ENODEV;
+		}
+
+		PX4_DEBUG("BARO_SIM::transfer getting sample");
+		sim->getAirspeedSample(recv, recv_len);
+
+	} else {
+		// we don't need measure phase
+	}
+
+	return 0;
+}

src/modules/simulator/airspeedsim/airspeedsim.h

@@ -0,0 +1,181 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file airspeed.h
+ * @author Simon Wilks
+ *
+ * Generic driver for airspeed sensors connected via I2C.
+ */
+
+#include <px4_config.h>
+#include <px4_defines.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.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 <px4_workqueue.h>
+#include <arch/board/board.h>
+
+#include <systemlib/airspeed.h>
+#include <systemlib/err.h>
+#include <parameters/param.h>
+#include <perf/perf_counter.h>
+
+#include <drivers/drv_airspeed.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/device/ringbuffer.h>
+#include <drivers/device/device.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/differential_pressure.h>
+#include <uORB/topics/subsystem_info.h>
+
+/* Default I2C bus */
+#define PX4_I2C_BUS_DEFAULT		PX4_I2C_BUS_EXPANSION
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
+class __EXPORT AirspeedSim : public device::CDev
+{
+public:
+	AirspeedSim(int bus, int address, unsigned conversion_interval, const char *path);
+	virtual ~AirspeedSim();
+
+	virtual int	init();
+
+	virtual ssize_t	read(device::file_t *filp, char *buffer, size_t buflen);
+	virtual int	ioctl(device::file_t *filp, int cmd, unsigned long arg);
+
+	/**
+	 * Diagnostics - print some basic information about the driver.
+	 */
+	virtual void	print_info();
+
+private:
+	ringbuffer::RingBuffer		*_reports;
+
+	unsigned _retries;	// XXX this should come from the SIM class
+
+	/* this class has pointer data members and should not be copied */
+	AirspeedSim(const AirspeedSim &);
+	AirspeedSim &operator=(const AirspeedSim &);
+
+protected:
+	virtual int	probe();
+
+	/**
+	* Perform a poll cycle; collect from the previous measurement
+	* and start a new one.
+	*/
+	virtual void	cycle() = 0;
+	virtual int	measure() = 0;
+	virtual int	collect() = 0;
+
+	virtual int	transfer(const uint8_t *send, unsigned send_len,
+				 uint8_t *recv, unsigned recv_len);
+
+	/**
+	 * Update the subsystem status
+	 */
+	void update_status();
+
+	struct work_s			_work;
+	bool			_sensor_ok;
+	bool			_last_published_sensor_ok;
+	unsigned			_measure_ticks;
+	bool			_collect_phase;
+	float			_diff_pres_offset;
+
+	orb_advert_t		_airspeed_pub;
+	orb_advert_t		_subsys_pub;
+
+	int			_class_instance;
+
+	unsigned		_conversion_interval;
+
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_comms_errors;
+
+
+	/**
+	* Test whether the device supported by the driver is present at a
+	* specific address.
+	*
+	* @param address	The I2C bus address to probe.
+	* @return		True if the device is present.
+	*/
+	int	probe_address(uint8_t address);
+
+	/**
+	* Initialise the automatic measurement state machine and start it.
+	*
+	* @note This function is called at open and error time.  It might make sense
+	*       to make it more aggressive about resetting the bus in case of errors.
+	*/
+	void	start();
+
+	/**
+	* Stop the automatic measurement state machine.
+	*/
+	void	stop();
+
+	/**
+	* Static trampoline from the workq context; because we don't have a
+	* generic workq wrapper yet.
+	*
+	* @param arg		Instance pointer for the driver that is polling.
+	*/
+	static void	cycle_trampoline(void *arg);
+
+	/**
+	* add a new report to the reports queue
+	*
+	* @param report		differential_pressure_s report
+	*/
+	void	new_report(const differential_pressure_s &report);
+};
+
+

src/modules/simulator/airspeedsim/meas_airspeed_sim.cpp

@@ -0,0 +1,553 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014, 2017 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 meas_airspeed_sim.cpp
+ * @author Lorenz Meier <lorenz@px4.io>
+ * @author Sarthak Kaingade
+ * @author Simon Wilks
+ * @author Thomas Gubler
+ * @author Roman Bapst
+ *
+ * Driver for a simulated airspeed sensor.
+ *
+ */
+
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.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 <systemlib/airspeed.h>
+#include <systemlib/err.h>
+#include <parameters/param.h>
+#include <perf/perf_counter.h>
+
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+
+#include <drivers/drv_airspeed.h>
+#include <drivers/drv_hrt.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/differential_pressure.h>
+#include <uORB/topics/subsystem_info.h>
+#include <uORB/topics/system_power.h>
+
+#include "airspeedsim.h"
+
+/* I2C bus address is 1010001x */
+#define I2C_ADDRESS_MS4525DO	0x28	/**< 7-bit address. Depends on the order code (this is for code "I") */
+#define PATH_MS4525		"/dev/ms4525"
+/* The MS5525DSO address is 111011Cx, where C is the complementary value of the pin CSB */
+#define I2C_ADDRESS_MS5525DSO	0x77	//0x77/* 7-bit address, addr. pin pulled low */
+#define PATH_MS5525		"/dev/ms5525"
+
+/* Register address */
+#define ADDR_READ_MR			0x00	/* write to this address to start conversion */
+
+/* Measurement rate is 100Hz */
+#define MEAS_RATE 100
+#define MEAS_DRIVER_FILTER_FREQ 1.2f
+#define CONVERSION_INTERVAL	(1000000 / MEAS_RATE)	/* microseconds */
+
+class MEASAirspeedSim : public AirspeedSim
+{
+public:
+	MEASAirspeedSim(int bus, int address = I2C_ADDRESS_MS4525DO, const char *path = PATH_MS4525);
+
+protected:
+
+	/**
+	* Perform a poll cycle; collect from the previous measurement
+	* and start a new one.
+	*/
+	virtual void	cycle();
+	virtual int	measure();
+	virtual int	collect();
+
+	math::LowPassFilter2p	_filter;
+
+	/**
+	 * Correct for 5V rail voltage variations
+	 */
+	void voltage_correction(float &diff_pres_pa, float &temperature);
+
+	int _t_system_power;
+	struct system_power_s system_power;
+};
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int measairspeedsim_main(int argc, char *argv[]);
+
+MEASAirspeedSim::MEASAirspeedSim(int bus, int address, const char *path) : AirspeedSim(bus, address,
+			CONVERSION_INTERVAL, path),
+	_filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ),
+	_t_system_power(-1),
+	system_power{}
+{}
+
+int
+MEASAirspeedSim::measure()
+{
+	int ret;
+
+	/*
+	 * Send the command to begin a measurement.
+	 */
+	uint8_t cmd = 0;
+	ret = transfer(&cmd, 1, nullptr, 0);
+
+	if (OK != ret) {
+		perf_count(_comms_errors);
+	}
+
+	return ret;
+}
+
+int
+MEASAirspeedSim::collect()
+{
+	int	ret = -EIO;
+
+	/* read from the sensor */
+#pragma pack(push, 1)
+	struct {
+		float		temperature;
+		float		diff_pressure;
+	} airspeed_report;
+#pragma pack(pop)
+
+
+	perf_begin(_sample_perf);
+
+	ret = transfer(nullptr, 0, (uint8_t *)&airspeed_report, sizeof(airspeed_report));
+
+	if (ret < 0) {
+		perf_count(_comms_errors);
+		perf_end(_sample_perf);
+		return ret;
+	}
+
+	uint8_t status = 0;
+
+	switch (status) {
+	case 0:
+		break;
+
+	case 1:
+
+	/* fallthrough */
+	case 2:
+
+	/* fallthrough */
+	case 3:
+		perf_count(_comms_errors);
+		perf_end(_sample_perf);
+		return -EAGAIN;
+	}
+
+	float temperature = airspeed_report.temperature;
+	float diff_press_pa_raw = airspeed_report.diff_pressure * 100.0f; // convert from millibar to bar
+
+	struct differential_pressure_s report;
+
+	report.timestamp = hrt_absolute_time();
+	report.error_count = perf_event_count(_comms_errors);
+	report.temperature = temperature;
+	report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw);
+	report.differential_pressure_raw_pa = diff_press_pa_raw;
+
+	if (_airspeed_pub != nullptr && !(_pub_blocked)) {
+		/* publish it */
+		orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);
+	}
+
+	new_report(report);
+
+	/* notify anyone waiting for data */
+	poll_notify(POLLIN);
+
+	ret = OK;
+
+	perf_end(_sample_perf);
+
+	return ret;
+}
+
+void
+MEASAirspeedSim::cycle()
+{
+	int ret;
+
+	/* collection phase? */
+	if (_collect_phase) {
+
+		/* perform collection */
+		ret = collect();
+
+		if (OK != ret) {
+			/* restart the measurement state machine */
+			start();
+			_sensor_ok = false;
+			return;
+		}
+
+		/* next phase is measurement */
+		_collect_phase = false;
+
+		/*
+		 * Is there a collect->measure gap?
+		 */
+		if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) {
+
+			/* schedule a fresh cycle call when we are ready to measure again */
+			work_queue(HPWORK,
+				   &_work,
+				   (worker_t)&AirspeedSim::cycle_trampoline,
+				   this,
+				   _measure_ticks - USEC2TICK(CONVERSION_INTERVAL));
+
+			return;
+		}
+	}
+
+	/* measurement phase */
+	ret = measure();
+
+	if (OK != ret) {
+		DEVICE_DEBUG("measure error");
+	}
+
+	_sensor_ok = (ret == OK);
+
+	/* next phase is collection */
+	_collect_phase = true;
+
+	/* schedule a fresh cycle call when the measurement is done */
+	work_queue(HPWORK,
+		   &_work,
+		   (worker_t)&AirspeedSim::cycle_trampoline,
+		   this,
+		   USEC2TICK(CONVERSION_INTERVAL));
+}
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace meas_airspeed_sim
+{
+
+MEASAirspeedSim	*g_dev = nullptr;
+
+int	start(int i2c_bus);
+int	stop();
+int test();
+int	reset();
+int	info();
+
+/**
+ * Start the driver.
+ *
+ * This function call only returns once the driver is up and running
+ * or failed to detect the sensor.
+ */
+int
+start(int i2c_bus)
+{
+	int fd;
+
+	if (g_dev != nullptr) {
+		PX4_WARN("already started");
+	}
+
+	/* create the driver, try the MS4525DO first */
+	g_dev = new MEASAirspeedSim(i2c_bus, I2C_ADDRESS_MS4525DO, PATH_MS4525);
+
+	/* check if the MS4525DO was instantiated */
+	if (g_dev == nullptr) {
+		goto fail;
+	}
+
+	/* try the MS5525DSO next if init fails */
+	if (OK != g_dev->AirspeedSim::init()) {
+		delete g_dev;
+		g_dev = new MEASAirspeedSim(i2c_bus, I2C_ADDRESS_MS5525DSO, PATH_MS5525);
+
+		/* check if the MS5525DSO was instantiated */
+		if (g_dev == nullptr) {
+			goto fail;
+		}
+
+		/* both versions failed if the init for the MS5525DSO fails, give up */
+		if (OK != g_dev->AirspeedSim::init()) {
+			goto fail;
+		}
+	}
+
+	/* set the poll rate to default, starts automatic data collection */
+	fd = px4_open(PATH_MS4525, O_RDONLY);
+
+	if (fd < 0) {
+		goto fail;
+	}
+
+	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		goto fail;
+	}
+
+	return 0;
+
+fail:
+
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+
+	PX4_ERR("no MS4525 airspeedSim sensor connected");
+	return 1;
+}
+
+/**
+ * Stop the driver
+ */
+int
+stop()
+{
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+
+	} else {
+		PX4_ERR("driver not running");
+	}
+
+	return 0;
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+int
+test()
+{
+	struct differential_pressure_s report;
+	ssize_t sz;
+	int ret;
+
+	int fd = px4_open(PATH_MS4525, O_RDONLY);
+
+	if (fd < 0) {
+		PX4_ERR("%s open failed (try 'meas_airspeed_sim start' if the driver is not running", PATH_MS4525);
+		return 1;
+	}
+
+	/* do a simple demand read */
+	sz = px4_read(fd, &report, sizeof(report));
+
+	if (sz != sizeof(report)) {
+		PX4_ERR("immediate read failed");
+		return 1;
+	}
+
+	print_message(report);
+
+	/* start the sensor polling at 2Hz */
+	if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
+		PX4_WARN("failed to set 2Hz poll rate");
+	}
+
+	/* read the sensor 5x and report each value */
+	for (unsigned i = 0; i < 5; i++) {
+		struct pollfd fds;
+
+		/* wait for data to be ready */
+		fds.fd = fd;
+		fds.events = POLLIN;
+		ret = poll(&fds, 1, 2000);
+
+		if (ret != 1) {
+			warnx("timed out");
+		}
+
+		/* now go get it */
+		sz = read(fd, &report, sizeof(report));
+
+		if (sz != sizeof(report)) {
+			PX4_WARN("periodic read failed");
+		}
+
+		print_message(report);
+	}
+
+	/* reset the sensor polling to its default rate */
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
+		PX4_ERR("failed to set default rate");
+		return 1;
+	}
+
+	PX4_WARN("PASS");
+
+	return 0;
+}
+
+/**
+ * Reset the driver.
+ */
+int
+reset()
+{
+	int fd = open(PATH_MS4525, O_RDONLY);
+
+	if (fd < 0) {
+		PX4_ERR("failed ");
+		return 1;
+	}
+
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
+		PX4_ERR("driver reset failed");
+		close(fd);
+		return 1;
+	}
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		PX4_ERR("driver poll restart failed");
+		close(fd);
+		return 1;
+	}
+
+	close(fd);
+
+	return 0;
+}
+
+/**
+ * Print a little info about the driver.
+ */
+int
+info()
+{
+	if (g_dev == nullptr) {
+		PX4_WARN("driver not running");
+		return -1;
+	}
+
+	printf("state @ %p\n", g_dev);
+	g_dev->print_info();
+
+	return 0;
+}
+
+} // namespace
+
+
+static void
+meas_airspeed_usage()
+{
+	PX4_WARN("usage: measairspeedsim command [options]");
+	PX4_WARN("options:");
+	PX4_WARN("\t-b --bus i2cbus (%d)", 1);
+	PX4_WARN("command:");
+	PX4_WARN("\tstart|stop|reset|test|info");
+}
+
+int
+measairspeedsim_main(int argc, char *argv[])
+{
+	int i2c_bus = 1;//PX4_I2C_BUS_DEFAULT;
+
+	int i;
+
+	for (i = 1; i < argc; i++) {
+		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
+			if (argc > i + 1) {
+				i2c_bus = atoi(argv[i + 1]);
+			}
+		}
+	}
+
+	int ret = 1;
+
+	/*
+	 * Start/load the driver.
+	 */
+	if (!strcmp(argv[1], "start")) {
+		return meas_airspeed_sim::start(i2c_bus);
+	}
+
+	/*
+	 * Stop the driver
+	 */
+	if (!strcmp(argv[1], "stop")) {
+		return meas_airspeed_sim::stop();
+	}
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(argv[1], "test")) {
+		return meas_airspeed_sim::test();
+	}
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(argv[1], "reset")) {
+		return meas_airspeed_sim::reset();
+	}
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
+		return meas_airspeed_sim::info();
+	}
+
+	meas_airspeed_usage();
+	return ret;
+}

src/modules/simulator/barosim/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2015 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_add_module(
+	MODULE drivers__barosim
+	MAIN barosim
+	COMPILE_FLAGS
+	SRCS
+		baro.cpp
+	DEPENDS
+		modules__simulator
+	)

src/modules/simulator/barosim/baro.cpp

@@ -0,0 +1,355 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 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 baro.cpp
+ * Driver for the simulated barometric pressure sensor
+ */
+
+#include <inttypes.h>
+#include <px4_config.h>
+#include <px4_defines.h>
+#include <px4_time.h>
+#include <px4_getopt.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+#include <board_config.h>
+
+#include <drivers/device/device.h>
+#include <drivers/drv_baro.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/device/ringbuffer.h>
+
+#include <simulator/simulator.h>
+
+#include <perf/perf_counter.h>
+#include <systemlib/err.h>
+
+#include "barosim.h"
+#include "VirtDevObj.hpp"
+
+/* helper macro for arithmetic - returns the square of the argument */
+#define POW2(_x)		((_x) * (_x))
+
+#define BAROSIM_DEV_PATH "/dev/barosim"
+
+#define BAROSIM_MEASURE_INTERVAL_US (10000)
+
+using namespace DriverFramework;
+
+class BAROSIM : public VirtDevObj
+{
+public:
+	BAROSIM(const char *path);
+	virtual ~BAROSIM();
+
+	virtual int init() override;
+
+	virtual int devIOCTL(unsigned long cmd, unsigned long arg) override;
+
+	/**
+	 * Diagnostics - print some basic information about the driver.
+	 */
+	void print_info();
+
+protected:
+
+	ringbuffer::RingBuffer	*_reports;
+
+	/* last report */
+	struct baro_report	report;
+
+	orb_advert_t		_baro_topic;
+	int			_orb_class_instance;
+
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_measure_perf;
+	perf_counter_t		_comms_errors;
+	/**
+	 * Get the internal / external state
+	 *
+	 * @return true if the sensor is not on the main MCU board
+	 */
+	bool			is_external() { return (_orb_class_instance == 0); /* XXX put this into the interface class */ }
+
+	virtual void _measure() override;
+
+	/**
+	 * Collect the result of the most recent measurement.
+	 */
+	virtual int		collect();
+};
+
+static BAROSIM *g_barosim = nullptr;
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int barosim_main(int argc, char *argv[]);
+
+BAROSIM::BAROSIM(const char *path) :
+	VirtDevObj("BAROSIM", path, BARO_BASE_DEVICE_PATH, BAROSIM_MEASURE_INTERVAL_US),
+	_reports(nullptr),
+	report{},
+	_baro_topic(nullptr),
+	_orb_class_instance(-1),
+	_sample_perf(perf_alloc(PC_ELAPSED, "barosim_read")),
+	_measure_perf(perf_alloc(PC_ELAPSED, "barosim_measure")),
+	_comms_errors(perf_alloc(PC_COUNT, "barosim_comms_errors"))
+{
+}
+
+BAROSIM::~BAROSIM()
+{
+	/* make sure we are truly inactive */
+	stop();
+	setSampleInterval(0);
+
+	/* free any existing reports */
+	if (_reports != nullptr) {
+		delete _reports;
+	}
+
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_measure_perf);
+	perf_free(_comms_errors);
+}
+
+int
+BAROSIM::init()
+{
+	int ret;
+	struct baro_report brp = {};
+
+	ret = VirtDevObj::init();
+
+	if (ret != OK) {
+		PX4_ERR("VirtDevObj init failed");
+		goto out;
+	}
+
+	/* allocate basic report buffers */
+	_reports = new ringbuffer::RingBuffer(2, sizeof(baro_report));
+
+	if (_reports == nullptr) {
+		PX4_ERR("can't get memory for reports");
+		ret = -ENOMEM;
+		goto out;
+	}
+
+	_reports->flush();
+
+	_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &brp,
+					  &_orb_class_instance, (is_external()) ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT);
+
+	if (_baro_topic == nullptr) {
+		PX4_ERR("failed to create sensor_baro publication");
+		return -ENODEV;
+	}
+
+	/* fill report structures */
+	start();
+
+out:
+	return ret;
+}
+
+int
+BAROSIM::devIOCTL(unsigned long cmd, unsigned long arg)
+{
+	/* give it to the bus-specific superclass */
+	// return bus_ioctl(filp, cmd, arg);
+	return VirtDevObj::devIOCTL(cmd, arg);
+}
+
+void
+BAROSIM::_measure()
+{
+	collect();
+}
+
+int
+BAROSIM::collect()
+{
+	bool status;
+
+	simulator::RawBaroData raw_baro;
+
+	perf_begin(_sample_perf);
+
+	report.timestamp = hrt_absolute_time();
+	report.error_count = perf_event_count(_comms_errors);
+
+	/* read requested */
+	Simulator *sim = Simulator::getInstance();
+
+	if (sim == nullptr) {
+		PX4_ERR("Error BAROSIM_DEV::transfer no simulator");
+		return -ENODEV;
+	}
+
+	PX4_DEBUG("BAROSIM_DEV::transfer getting sample");
+	status = sim->getBaroSample((uint8_t *)(&raw_baro), sizeof(raw_baro));
+
+	if (!status) {
+		perf_count(_comms_errors);
+		perf_end(_sample_perf);
+		return -1;
+	}
+
+	report.pressure = raw_baro.pressure;
+	report.temperature = raw_baro.temperature;
+
+	/* fake device ID */
+	report.device_id = 478459;
+
+	/* publish it */
+	if (!(m_pub_blocked)) {
+		if (_baro_topic != nullptr) {
+			/* publish it */
+			orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
+
+		} else {
+			PX4_WARN("BAROSIM::collect _baro_topic not initialized");
+		}
+	}
+
+	_reports->force(&report);
+
+	perf_end(_sample_perf);
+
+	return OK;
+}
+
+void
+BAROSIM::print_info()
+{
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+	PX4_INFO("poll interval:  %u usec", m_sample_interval_usecs);
+	_reports->print_info("report queue");
+	PX4_INFO("TEMP:           %f", (double)report.temperature);
+	PX4_INFO("P:              %.3f", (double)report.pressure);
+}
+
+namespace barosim
+{
+
+/**
+ * Start the driver.
+ *
+ * This function call only returns once the driver
+ * is either successfully up and running or failed to start.
+ */
+static int
+start()
+{
+	g_barosim = new BAROSIM(BAROSIM_DEV_PATH);
+
+	if (g_barosim != nullptr && OK != g_barosim->init()) {
+		delete g_barosim;
+		g_barosim = nullptr;
+		PX4_ERR("bus init failed");
+		return false;
+	}
+
+	return 0;
+}
+
+/**
+ * Print a little info about the driver.
+ */
+static int
+info()
+{
+	if (g_barosim != nullptr) {
+		PX4_INFO("%s", BAROSIM_DEV_PATH);
+		g_barosim->print_info();
+	}
+
+	return 0;
+}
+
+static void
+usage()
+{
+	PX4_WARN("missing command: try 'start', 'info'");
+}
+
+}; // namespace barosim
+
+int
+barosim_main(int argc, char *argv[])
+{
+	int ret;
+
+	if (argc < 2) {
+		barosim::usage();
+		return 1;
+	}
+
+	const char *verb = argv[1];
+
+	/*
+	 * Start/load the driver.
+	 */
+	if (!strcmp(verb, "start")) {
+		ret = barosim::start();
+	}
+
+	/*
+	 * Print driver information.
+	 */
+	else if (!strcmp(verb, "info")) {
+		ret = barosim::info();
+
+	} else {
+		barosim::usage();
+		return 1;
+	}
+
+	return ret;
+}

src/modules/simulator/barosim/barosim.h

@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   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 barosim.h
+ *
+ * A simulated Barometer.
+ */
+#pragma once
+
+#include "VirtDevObj.hpp"
+

src/modules/simulator/gpssim/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2015 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_add_module(
+	MODULE drivers__gpssim
+	MAIN gpssim
+	COMPILE_FLAGS
+	SRCS
+		gpssim.cpp
+	DEPENDS
+		modules__simulator
+	)

src/modules/simulator/gpssim/gpssim.cpp

@@ -0,0 +1,633 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 Roman Bapst. 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 gpssim.cpp
+ * Simulated GPS driver
+ */
+
+#include <sys/types.h>
+#include <px4_defines.h>
+#include <px4_getopt.h>
+#include <inttypes.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <random>
+#include <math.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <px4_config.h>
+#include <px4_tasks.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/device/device.h>
+#include <drivers/drv_gps.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/satellite_info.h>
+
+#include <simulator/simulator.h>
+
+#include "DevMgr.hpp"
+#include "VirtDevObj.hpp"
+
+using namespace DriverFramework;
+
+#define GPS_DRIVER_MODE_UBX_SIM
+#define GPSSIM_DEVICE_PATH "/dev/gpssim"
+
+#define TIMEOUT_100MS 100000
+#define RATE_MEASUREMENT_PERIOD 5000000
+
+/* class for dynamic allocation of satellite info data */
+class GPS_Sat_Info
+{
+public:
+	struct satellite_info_s 	_data;
+};
+
+
+class GPSSIM : public VirtDevObj
+{
+public:
+	GPSSIM(const char *uart_path, bool fake_gps, bool enable_sat_info,
+	       int fix_type, int num_sat, int noise_multiplier);
+	virtual ~GPSSIM();
+
+	virtual int			init();
+
+	virtual int			devIOCTL(unsigned long cmd, unsigned long arg);
+
+	void set(int fix_type, int num_sat, int noise_multiplier);
+
+	/**
+	 * Diagnostics - print some basic information about the driver.
+	 */
+	void				print_info();
+
+protected:
+	virtual void			_measure() {}
+
+private:
+
+	bool				_task_should_exit;				///< flag to make the main worker task exit
+	int				_serial_fd;					///< serial interface to GPS
+	unsigned			_baudrate;					///< current baudrate
+	char				_port[20];					///< device / serial port path
+	volatile int			_task;						///< worker task
+	bool				_healthy;					///< flag to signal if the GPS is ok
+	bool				_baudrate_changed;				///< flag to signal that the baudrate with the GPS has changed
+	bool				_mode_changed;					///< flag that the GPS mode has changed
+	//gps_driver_mode_t		_mode;						///< current mode
+	GPS_Sat_Info			*_Sat_Info;					///< instance of GPS sat info data object
+	struct vehicle_gps_position_s	_report_gps_pos;				///< uORB topic for gps position
+	orb_advert_t			_report_gps_pos_pub;				///< uORB pub for gps position
+	struct satellite_info_s		*_p_report_sat_info;				///< pointer to uORB topic for satellite info
+	orb_advert_t			_report_sat_info_pub;				///< uORB pub for satellite info
+	float				_rate;						///< position update rate
+	SyncObj				_sync;
+	int _fix_type;
+	int _num_sat;
+	int _noise_multiplier;
+
+	std::default_random_engine _gen;
+
+	/**
+	 * Try to configure the GPS, handle outgoing communication to the GPS
+	 */
+	void			 	config();
+
+	/**
+	 * Trampoline to the worker task
+	 */
+	static void			task_main_trampoline(void *arg);
+
+
+	/**
+	 * Worker task: main GPS thread that configures the GPS and parses incoming data, always running
+	 */
+	void				task_main();
+
+	/**
+	 * Set the baudrate of the UART to the GPS
+	 */
+	int				set_baudrate(unsigned baud);
+
+	/**
+	 * Send a reset command to the GPS
+	 */
+	void				cmd_reset();
+
+	int 				receive(int timeout);
+};
+
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int gpssim_main(int argc, char *argv[]);
+
+namespace
+{
+
+GPSSIM	*g_dev = nullptr;
+
+}
+
+
+GPSSIM::GPSSIM(const char *uart_path, bool fake_gps, bool enable_sat_info,
+	       int fix_type, int num_sat, int noise_multiplier) :
+	VirtDevObj("gps", GPSSIM_DEVICE_PATH, nullptr, 1e6 / 10),
+	_task_should_exit(false),
+	//_healthy(false),
+	//_mode_changed(false),
+	//_mode(GPS_DRIVER_MODE_UBX),
+	//_Helper(nullptr),
+	_Sat_Info(nullptr),
+	_report_gps_pos_pub(nullptr),
+	_p_report_sat_info(nullptr),
+	_report_sat_info_pub(nullptr),
+	_rate(0.0f),
+	_fix_type(fix_type),
+	_num_sat(num_sat),
+	_noise_multiplier(noise_multiplier)
+{
+	// /* store port name */
+	// strncpy(_port, uart_path, sizeof(_port));
+	// /* enforce null termination */
+	// _port[sizeof(_port) - 1] = '\0';
+
+	/* we need this potentially before it could be set in task_main */
+	g_dev = this;
+	memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
+
+	/* create satellite info data object if requested */
+	if (enable_sat_info) {
+		_Sat_Info = new (GPS_Sat_Info);
+		_p_report_sat_info = &_Sat_Info->_data;
+		memset(_p_report_sat_info, 0, sizeof(*_p_report_sat_info));
+	}
+}
+
+GPSSIM::~GPSSIM()
+{
+	delete _Sat_Info;
+
+	/* tell the task we want it to go away */
+	_task_should_exit = true;
+
+	/* spin waiting for the task to stop */
+	for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
+		/* give it another 100ms */
+		usleep(100000);
+	}
+
+	/* well, kill it anyway, though this will probably crash */
+	if (_task != -1) {
+		px4_task_delete(_task);
+	}
+
+	g_dev = nullptr;
+}
+
+int
+GPSSIM::init()
+{
+	int ret = PX4_ERROR;
+
+	/* do regular cdev init */
+	if (VirtDevObj::init() != OK) {
+		goto out;
+	}
+
+	/* start the GPS driver worker task */
+	_task = px4_task_spawn_cmd("gps", SCHED_DEFAULT,
+				   SCHED_PRIORITY_DEFAULT, 1500, (px4_main_t)&GPSSIM::task_main_trampoline, nullptr);
+
+	if (_task < 0) {
+		PX4_ERR("task start failed: %d", errno);
+		return -errno;
+	}
+
+	ret = OK;
+out:
+	return ret;
+}
+
+int
+GPSSIM::devIOCTL(unsigned long cmd, unsigned long arg)
+{
+	_sync.lock();
+
+	int ret = OK;
+
+	switch (cmd) {
+	case SENSORIOCRESET:
+		cmd_reset();
+		break;
+
+	default:
+		/* give it to parent if no one wants it */
+		ret = VirtDevObj::devIOCTL(cmd, arg);
+		break;
+	}
+
+	_sync.unlock();
+
+	return ret;
+}
+
+void
+GPSSIM::task_main_trampoline(void *arg)
+{
+	g_dev->task_main();
+}
+
+int
+GPSSIM::receive(int timeout)
+{
+	Simulator *sim = Simulator::getInstance();
+	simulator::RawGPSData gps;
+	sim->getGPSSample((uint8_t *)&gps, sizeof(gps));
+
+	static int64_t timestamp_last = 0;
+
+	if (gps.timestamp != timestamp_last) {
+		_report_gps_pos.timestamp = hrt_absolute_time();
+		_report_gps_pos.lat = gps.lat;
+		_report_gps_pos.lon = gps.lon;
+		_report_gps_pos.alt = gps.alt;
+		_report_gps_pos.eph = (float)gps.eph * 1e-2f;
+		_report_gps_pos.epv = (float)gps.epv * 1e-2f;
+		_report_gps_pos.vel_m_s = (float)(gps.vel) / 100.0f;
+		_report_gps_pos.vel_n_m_s = (float)(gps.vn) / 100.0f;
+		_report_gps_pos.vel_e_m_s = (float)(gps.ve) / 100.0f;
+		_report_gps_pos.vel_d_m_s = (float)(gps.vd) / 100.0f;
+		_report_gps_pos.cog_rad = (float)(gps.cog) * 3.1415f / (100.0f * 180.0f);
+		_report_gps_pos.fix_type = gps.fix_type;
+		_report_gps_pos.satellites_used = gps.satellites_visible;
+
+		timestamp_last = gps.timestamp;
+
+		// check for data set by the user
+		_report_gps_pos.fix_type = (_fix_type < 0) ? _report_gps_pos.fix_type : _fix_type;
+		_report_gps_pos.satellites_used = (_num_sat < 0) ? _report_gps_pos.satellites_used : _num_sat;
+		// use normal distribution for noise
+		std::normal_distribution<float> normal_distribution(0.0f, 1.0f);
+		_report_gps_pos.lat += (int32_t)(_noise_multiplier * normal_distribution(_gen));
+		_report_gps_pos.lon += (int32_t)(_noise_multiplier * normal_distribution(_gen));
+
+		return 1;
+
+	} else {
+
+		usleep(timeout);
+		return 0;
+	}
+}
+
+void
+GPSSIM::task_main()
+{
+	/* loop handling received serial bytes and also configuring in between */
+	while (!_task_should_exit) {
+
+		// GPS is obviously detected successfully, reset statistics
+		//_Helper->reset_update_rates();
+
+		int recv_ret = receive(TIMEOUT_100MS);
+
+		if (recv_ret > 0) {
+
+			/* opportunistic publishing - else invalid data would end up on the bus */
+			if (_report_gps_pos_pub != nullptr) {
+				orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
+
+			} else {
+				_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
+			}
+
+			if (_p_report_sat_info) {
+				if (_report_sat_info_pub != nullptr) {
+					orb_publish(ORB_ID(satellite_info), _report_sat_info_pub, _p_report_sat_info);
+
+				} else {
+					_report_sat_info_pub = orb_advertise(ORB_ID(satellite_info), _p_report_sat_info);
+				}
+			}
+		}
+	}
+
+	PX4_INFO("exiting");
+
+	/* tell the dtor that we are exiting */
+	_task = -1;
+}
+
+
+
+void
+GPSSIM::cmd_reset()
+{
+}
+
+void
+GPSSIM::print_info()
+{
+	//GPS Mode
+	PX4_INFO("protocol: SIM");
+
+	PX4_INFO("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
+	PX4_INFO("sat info: %s, noise: %d, jamming detected: %s",
+		 (_p_report_sat_info != nullptr) ? "enabled" : "disabled",
+		 _report_gps_pos.noise_per_ms,
+		 _report_gps_pos.jamming_indicator == 255 ? "YES" : "NO");
+
+	if (_report_gps_pos.timestamp != 0) {
+		print_message(_report_gps_pos);
+	}
+
+	usleep(100000);
+}
+
+void
+GPSSIM::set(int fix_type, int num_sat, int noise_multiplier)
+{
+	_fix_type = fix_type;
+	_num_sat = num_sat;
+	_noise_multiplier = noise_multiplier;
+	PX4_INFO("Parameters set");
+}
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace gpssim
+{
+
+GPSSIM	*g_dev = nullptr;
+
+void	start(const char *uart_path, bool fake_gps, bool enable_sat_info,
+	      int fix_type, int num_sat, int noise_multiplier);
+void	stop();
+void	test();
+void	reset();
+void	info();
+void	usage(const char *reason);
+
+/**
+ * Start the driver.
+ */
+void
+start(const char *uart_path, bool fake_gps, bool enable_sat_info, int fix_type, int num_sat, int noise_multiplier)
+{
+	DevHandle h;
+
+	/* create the driver */
+	g_dev = new GPSSIM(uart_path, fake_gps, enable_sat_info, fix_type, num_sat, noise_multiplier);
+
+	if (g_dev == nullptr) {
+		goto fail;
+	}
+
+	if (OK != g_dev->init()) {
+		goto fail;
+	}
+
+	/* set the poll rate to default, starts automatic data collection */
+	DevMgr::getHandle(GPSSIM_DEVICE_PATH, h);
+
+	if (!h.isValid()) {
+		PX4_ERR("getHandle failed: %s", GPSSIM_DEVICE_PATH);
+		goto fail;
+	}
+
+	return;
+
+fail:
+
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+
+	PX4_ERR("start failed");
+}
+
+/**
+ * Stop the driver.
+ */
+void
+stop()
+{
+	delete g_dev;
+	g_dev = nullptr;
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test()
+{
+	PX4_INFO("PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+	DevHandle h;
+	DevMgr::getHandle(GPSSIM_DEVICE_PATH, h);
+
+	if (!h.isValid()) {
+		PX4_ERR("failed ");
+	}
+
+	if (h.ioctl(SENSORIOCRESET, 0) < 0) {
+		PX4_ERR("reset failed");
+	}
+}
+
+/**
+ * Print the status of the driver.
+ */
+void
+info()
+{
+	if (g_dev == nullptr) {
+		PX4_ERR("gpssim not running");
+		return;
+	}
+
+	g_dev->print_info();
+}
+
+void
+usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s", reason);
+	}
+
+	PX4_INFO("usage:");
+	PX4_INFO("gpssim {start|stop|test|reset|status|set}");
+	PX4_INFO("       [-d /dev/ttyS0-n][-f (for enabling fake)][-s (to enable sat info)]");
+	PX4_INFO("       [-t # (for setting fix_type)][-n # (for setting # satellites)][-m # (for setting noise multiplier [scalar] for normal distribution)]");
+}
+
+} // namespace
+
+
+
+int
+gpssim_main(int argc, char *argv[])
+{
+	// set to default
+	const char *device_name = GPS_DEFAULT_UART_PORT;
+	bool fake_gps = false;
+	bool enable_sat_info = false;
+	int fix_type = -1;
+	int num_sat = -1;
+	int noise_multiplier = 0;
+
+	// check for optional arguments
+	int ch;
+	int myoptind = 1;
+	const char *myoptarg = nullptr;
+
+	while ((ch = px4_getopt(argc, argv, "d:fst:n:m:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'd':
+			device_name = myoptarg;
+			PX4_INFO("Using device %s", device_name);
+			break;
+
+		case 'f':
+			fake_gps = true;
+			PX4_INFO("Using fake GPS");
+			break;
+
+		case 's':
+			enable_sat_info = true;
+			PX4_INFO("Satellite info enabled");
+			break;
+
+		case 't':
+			fix_type = atoi(myoptarg);
+			PX4_INFO("Setting fix_type to %d", fix_type);
+			break;
+
+		case 'n':
+			num_sat = atoi(myoptarg);
+			PX4_INFO("Setting number of satellites to %d", num_sat);
+			break;
+
+		case 'm':
+			noise_multiplier = atoi(myoptarg);
+			PX4_INFO("Setting noise multiplier to %d", noise_multiplier);
+			break;
+
+		default:
+			PX4_WARN("Unknown option!");
+		}
+	}
+
+	if (myoptind >= argc) {
+		gpssim::usage("not enough arguments supplied");
+		return 1;
+	}
+
+	/*
+	 * Start/load the driver.
+	 */
+	if (!strcmp(argv[myoptind], "start")) {
+		if (g_dev != nullptr) {
+			PX4_WARN("already started");
+			return 0;
+		}
+
+		gpssim::start(device_name, fake_gps, enable_sat_info, fix_type, num_sat, noise_multiplier);
+		return 0;
+	}
+
+	/* The following need gpssim running. */
+	if (g_dev == nullptr) {
+		PX4_WARN("not running");
+		return 1;
+	}
+
+	if (!strcmp(argv[myoptind], "stop")) {
+		gpssim::stop();
+	}
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(argv[myoptind], "test")) {
+		gpssim::test();
+	}
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(argv[myoptind], "reset")) {
+		gpssim::reset();
+	}
+
+	/*
+	 * Print driver status.
+	 */
+	if (!strcmp(argv[myoptind], "status")) {
+		gpssim::info();
+	}
+
+	/*
+	 * Set parameters
+	 */
+	if (!strcmp(argv[myoptind], "set")) {
+		g_dev->set(fix_type, num_sat, noise_multiplier);
+	}
+
+	return 0;
+}

src/modules/simulator/gpssim/ubx_sim.cpp

@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 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 ubx.cpp
+ *
+ * U-Blox protocol implementation. Following u-blox 6/7/8 Receiver Description
+ * including Prototol Specification.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ *
+ * @author Hannes Delago
+ *   (rework, add ubx7+ compatibility)
+ *
+ * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
+ * @see http://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf
+ */
+
+#include <assert.h>
+#include <math.h>
+#include <poll.h>
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <unistd.h>
+
+#include <systemlib/err.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/satellite_info.h>
+#include <drivers/drv_hrt.h>
+
+#include "ubx_sim.h"
+#include <simulator/simulator.h>
+
+#define UBX_CONFIG_TIMEOUT	200		// ms, timeout for waiting ACK
+#define UBX_PACKET_TIMEOUT	2		// ms, if now data during this delay assume that full update received
+#define UBX_WAIT_BEFORE_READ	20		// ms, wait before reading to save read() calls
+#define DISABLE_MSG_INTERVAL	1000000		// us, try to disable message with this interval
+
+
+UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info) :
+	_fd(fd),
+	_gps_position(gps_position),
+	_satellite_info(satellite_info),
+{
+}
+
+UBX::~UBX()
+{
+}
+
+int UBX_SIM::configure(unsigned &baudrate)
+{
+	return 0;
+}
+
+int	// -1 = error, 0 = no message handled, 1 = message handled, 2 = sat info message handled
+UBX_SIM::receive(const unsigned timeout)
+{
+	/* copy data from simulator here */
+	usleep(1000000);
+	return 1;
+}

src/modules/simulator/gpssim/ubx_sim.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013, 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
@@ -32,41 +32,26 @@
  ****************************************************************************/
 
 /**
- * @file param.h
- *
- * Global flash based parameter store.
- *
- * This provides the mechanisms to interface to the PX4
- * parameter system but replace the IO with non file based flash
- * i/o routines. So that the code my be implemented on a SMALL memory
- * foot print device.
+ * @file ubx_sim.h
  *
  */
 
-#ifndef _SYSTEMLIB_FLASHPARAMS_FLASHPARAMS_H
-#define _SYSTEMLIB_FLASHPARAMS_FLASHPARAMS_H
+#ifndef UBX_SIM_H_
+#define UBX_SIM_H_
 
-#include <stdint.h>
-#include <stdbool.h>
-#include <sys/types.h>
-#include "systemlib/uthash/utarray.h"
+class UBX_SIM
+{
+public:
+	UBX_SIM(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info);
+	~UBX_SIM();
+	int			receive(const unsigned timeout);
+	int			configure(unsigned &baudrate);
 
-__BEGIN_DECLS
+private:
+	int			_fd;
+	struct vehicle_gps_position_s *_gps_position;
+	struct satellite_info_s *_satellite_info;
+	bool			_enable_sat_info;
+};
 
-/*
- * When using the flash based parameter store we have to force
- * the param_values and 2 functions to be global
- */
-
-#define FLASH_PARAMS_EXPOSE __EXPORT
-
-__EXPORT extern UT_array        *param_values;
-__EXPORT int param_set_external(param_t param, const void *val, bool mark_saved, bool notify_changes);
-__EXPORT const void *param_get_value_ptr_external(param_t param);
-
-/* The interface hooks to the Flash based storage. The caller is responsible for locking */
-__EXPORT int flash_param_save(void);
-__EXPORT int flash_param_load(void);
-__EXPORT int flash_param_import(void);
-__END_DECLS
-#endif /* _SYSTEMLIB_FLASHPARAMS_FLASHPARAMS_H */
+#endif /* UBX_SIM_H_ */

src/modules/simulator/gyrosim/CMakeLists.txt

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 2015 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_add_module(
+	MODULE drivers__gyrosim
+	MAIN gyrosim
+	STACK_MAIN 1200
+	SRCS
+		gyrosim.cpp
+	DEPENDS
+		modules__simulator
+)

src/modules/simulator/ledsim/CMakeLists.txt

@@ -0,0 +1,35 @@
+############################################################################
+#
+#   Copyright (c) 2015 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_add_library(drivers__ledsim led.cpp)
+target_link_libraries(drivers__ledsim PRIVATE drivers__led drivers_board)

src/modules/simulator/ledsim/led.cpp

@@ -0,0 +1,139 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 led.cpp
+ *
+ * LED driver.
+ */
+
+#include <px4_config.h>
+#include <drivers/drv_board_led.h>
+#include <stdio.h>
+
+#include "VirtDevObj.hpp"
+
+using namespace DriverFramework;
+
+/*
+ * 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();
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+class LED : public VirtDevObj
+{
+public:
+	LED();
+	virtual ~LED();
+
+	virtual int		init();
+	virtual int		devIOCTL(unsigned long cmd, unsigned long arg);
+
+protected:
+	virtual void		_measure() {}
+};
+
+LED::LED() :
+	VirtDevObj("led", "/dev/ledsim", LED_BASE_DEVICE_PATH, 0)
+{
+	// force immediate init/device registration
+	init();
+}
+
+LED::~LED()
+{
+}
+
+int
+LED::init()
+{
+	int ret = VirtDevObj::init();
+
+	if (ret == 0) {
+		led_init();
+	}
+
+	return ret;
+}
+
+int
+LED::devIOCTL(unsigned long cmd, unsigned long arg)
+{
+	int result = OK;
+
+	switch (cmd) {
+	case LED_ON:
+		led_on(arg);
+		break;
+
+	case LED_OFF:
+		led_off(arg);
+		break;
+
+	case LED_TOGGLE:
+		led_toggle(arg);
+		break;
+
+
+	default:
+		result = VirtDevObj::devIOCTL(cmd, arg);
+	}
+
+	return result;
+}
+
+namespace
+{
+LED	*gLED;
+}
+
+void
+drv_led_start(void)
+{
+	if (gLED == nullptr) {
+		gLED = new LED;
+
+		if (gLED != nullptr) {
+			gLED->init();
+		}
+	}
+}

src/modules/simulator/simulator.h

@@ -54,8 +54,8 @@
 #include <drivers/drv_mag.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_rc_input.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/battery.h>
+#include <perf/perf_counter.h>
+#include <battery/battery.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/distance_sensor.h>

src/modules/simulator/simulator_params.c

@@ -38,7 +38,7 @@
  *
  * @author Mohamed Abdelkader <mohamedashraf123@gmail.com>
  */
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 /**
  * Simulator UDP port

src/modules/syslink/CMakeLists.txt

@@ -41,6 +41,5 @@ px4_add_module(
 		syslink_params.c
 		syslink.c
 	DEPENDS
-		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+

src/modules/syslink/syslink_main.h

@@ -35,7 +35,7 @@
 
 #include <stdint.h>
 
-#include <systemlib/battery.h>
+#include <battery/battery.h>
 
 #include <drivers/device/device.h>
 #include <drivers/device/ringbuffer.h>

src/modules/syslink/syslink_params.c

@@ -40,7 +40,7 @@
  */
 
 #include <nuttx/config.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 
 
 /**