Merged

src/modules/att_pos_estimator_ekf/kalman_main.cpp

@@ -44,6 +44,7 @@
 #include <string.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
+#include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
 #include <math.h>
 #include "KalmanNav.hpp"
@@ -73,7 +74,7 @@ usage(const char *reason)
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
 
-	fprintf(stderr, "usage: kalman_demo {start|stop|status} [-p <additional params>]\n\n");
+	warnx("usage: att_pos_estimator_ekf {start|stop|status} [-p <additional params>]");
 	exit(1);
 }
 
@@ -94,13 +95,14 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (thread_running) {
-			printf("kalman_demo already running\n");
+			warnx("already running");
 			/* this is not an error */
 			exit(0);
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("kalman_demo",
+
+		deamon_task = task_spawn_cmd("att_pos_estimator_ekf",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 5,
 					 4096,
@@ -116,10 +118,10 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			printf("\tkalman_demo app is running\n");
+			warnx("is running\n");
 
 		} else {
-			printf("\tkalman_demo app not started\n");
+			warnx("not started\n");
 		}
 
 		exit(0);
@@ -132,7 +134,7 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
 int kalman_demo_thread_main(int argc, char *argv[])
 {
 
-	printf("[kalman_demo] starting\n");
+	warnx("starting\n");
 
 	using namespace math;
 
@@ -144,7 +146,7 @@ int kalman_demo_thread_main(int argc, char *argv[])
 		nav.update();
 	}
 
-	printf("[kalman_demo] exiting.\n");
+	printf("exiting.\n");
 
 	thread_running = false;
 

src/modules/fixedwing_backside/fixedwing_backside_main.cpp

@@ -47,6 +47,7 @@
 #include <systemlib/systemlib.h>
 #include <controllib/fixedwing.hpp>
 #include <systemlib/param/param.h>
+#include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
 #include <math.h>
 
@@ -80,7 +81,7 @@ usage(const char *reason)
 	if (reason)
 		fprintf(stderr, "%s\n", reason);
 
-	fprintf(stderr, "usage: control_demo {start|stop|status} [-p <additional params>]\n\n");
+	fprintf(stderr, "usage: fixedwing_backside {start|stop|status} [-p <additional params>]\n\n");
 	exit(1);
 }
 
@@ -101,13 +102,14 @@ int fixedwing_backside_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (thread_running) {
-			printf("control_demo already running\n");
+			warnx("already running");
 			/* this is not an error */
 			exit(0);
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("control_demo",
+
+		deamon_task = task_spawn_cmd("fixedwing_backside",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 5120,
@@ -128,10 +130,10 @@ int fixedwing_backside_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			printf("\tcontrol_demo app is running\n");
+			warnx("is running");
 
 		} else {
-			printf("\tcontrol_demo app not started\n");
+			warnx("not started");
 		}
 
 		exit(0);
@@ -144,7 +146,7 @@ int fixedwing_backside_main(int argc, char *argv[])
 int control_demo_thread_main(int argc, char *argv[])
 {
 
-	printf("[control_Demo] starting\n");
+	warnx("starting");
 
 	using namespace control;
 
@@ -156,7 +158,7 @@ int control_demo_thread_main(int argc, char *argv[])
 		autopilot.update();
 	}
 
-	printf("[control_demo] exiting.\n");
+	warnx("exiting.");
 
 	thread_running = false;
 
@@ -165,6 +167,6 @@ int control_demo_thread_main(int argc, char *argv[])
 
 void test()
 {
-	printf("beginning control lib test\n");
+	warnx("beginning control lib test");
 	control::basicBlocksTest();
 }

src/modules/px4iofirmware/mixer.cpp

@@ -294,8 +294,7 @@ mixer_handle_text(const void *buffer, size_t length)
 	case F2I_MIXER_ACTION_APPEND:
 		isr_debug(2, "append %d", length);
 
-		/* check for overflow - this is really fatal */
-		/* XXX could add just what will fit & try to parse, then repeat... */
+		/* check for overflow - this would be really fatal */
 		if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
 			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
 			return;
@@ -314,8 +313,13 @@ mixer_handle_text(const void *buffer, size_t length)
 		/* if anything was parsed */
 		if (resid != mixer_text_length) {
 
-			/* ideally, this should test resid == 0 ? */
-			r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK;
+			/* only set mixer ok if no residual is left over */
+			if (resid == 0) {
+				r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK;
+			} else {
+				/* not yet reached the end of the mixer, set as not ok */
+				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
+			}
 
 			isr_debug(2, "used %u", mixer_text_length - resid);
 
@@ -338,11 +342,13 @@ mixer_set_failsafe()
 {
 	/* 
 	 * Check if a custom failsafe value has been written,
-	 * else use the opportunity to set decent defaults.
+	 * or if the mixer is not ok and bail out.
 	 */
-	if (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)
+	if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ||
+		!(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK))
 		return;
 
+	/* set failsafe defaults to the values for all inputs = 0 */
 	float	outputs[IO_SERVO_COUNT];
 	unsigned mixed;