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

Debug/NuttX

@@ -174,11 +174,15 @@ end
 define showtaskstack
 	set $task = (struct _TCB *)$arg0
 
-	set $stack_free = 0
+	if $task == &g_idletcb
-	while ($stack_free < $task->adj_stack_size) && *(uint8_t *)($task->stack_alloc_ptr + $stack_free)
+		printf "can't measure idle stack\n"
-		set $stack_free = $stack_free + 1
+	else
+		set $stack_free = 0
+		while ($stack_free < $task->adj_stack_size) && *(uint8_t *)($task->stack_alloc_ptr + $stack_free)
+			set $stack_free = $stack_free + 1
+		end
+		printf"    stack 0x%08x-0x%08x (%d) %d free\n", $task->stack_alloc_ptr, $task->adj_stack_ptr, $task->adj_stack_size, $stack_free
 	end
-	printf"    stack 0x%08x-0x%08x (%d) %d free\n", $task->stack_alloc_ptr, $task->adj_stack_ptr, $task->adj_stack_size, $stack_free
 end
 
 #

Debug/PX4

@@ -22,7 +22,7 @@ end
 
 define _perf_print
 	set $hdr = (struct perf_ctr_header *)$arg0
-	printf "%p\n", $hdr
+	#printf "%p\n", $hdr
 	printf "%s: ", $hdr->name
 	# PC_COUNT
 	if $hdr->type == 0

apps/examples/px4_mavlink_debug/Makefile

@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012 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.
+#
+############################################################################
+
+#
+# Basic example application
+#
+
+APPNAME		 = px4_mavlink_debug
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+include $(APPDIR)/mk/app.mk

apps/examples/px4_mavlink_debug/px4_mavlink_debug.c

@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Example User <mail@example.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_mavlink_debug.c
+ * Debug application example for PX4 autopilot
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <poll.h>
+
+#include <systemlib/err.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/debug_key_value.h>
+
+__EXPORT int px4_mavlink_debug_main(int argc, char *argv[]);
+
+int px4_mavlink_debug_main(int argc, char *argv[])
+{
+	printf("Hello Debug!\n");
+
+	/* advertise debug value */
+	struct debug_key_value_s dbg = { .key = "velx", .value = 0.0f };
+	orb_advert_t pub_dbg = orb_advertise(ORB_ID(debug_key_value), &dbg);
+
+	int value_counter = 0;
+
+	while (value_counter < 100) {
+		/* send one value */
+		dbg.value = value_counter;
+		orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
+
+		warnx("sent one more value..");
+
+		value_counter++;
+		usleep(500000);
+	}
+
+	return 0;
+}

apps/namedapp/namedapp_list.h

@@ -1,42 +0,0 @@
-/* List of application requirements, generated during make context. */
-{ "math_demo", SCHED_PRIORITY_DEFAULT, 8192, math_demo_main },
-{ "control_demo", SCHED_PRIORITY_DEFAULT, 2048, control_demo_main },
-{ "kalman_demo", SCHED_PRIORITY_MAX - 30, 2048, kalman_demo_main },
-{ "reboot", SCHED_PRIORITY_DEFAULT, 2048, reboot_main },
-{ "perf", SCHED_PRIORITY_DEFAULT, 2048, perf_main },
-{ "top", SCHED_PRIORITY_DEFAULT - 10, 3000, top_main },
-{ "boardinfo", SCHED_PRIORITY_DEFAULT, 2048, boardinfo_main },
-{ "mixer", SCHED_PRIORITY_DEFAULT, 4096, mixer_main },
-{ "eeprom", SCHED_PRIORITY_DEFAULT, 4096, eeprom_main },
-{ "param", SCHED_PRIORITY_DEFAULT, 4096, param_main },
-{ "bl_update", SCHED_PRIORITY_DEFAULT, 4096, bl_update_main },
-{ "preflight_check", SCHED_PRIORITY_DEFAULT, 2048, preflight_check_main },
-{ "delay_test", SCHED_PRIORITY_DEFAULT, 2048, delay_test_main },
-{ "uorb", SCHED_PRIORITY_DEFAULT, 4096, uorb_main },
-{ "mavlink", SCHED_PRIORITY_DEFAULT, 2048, mavlink_main },
-{ "mavlink_onboard", SCHED_PRIORITY_DEFAULT, 2048, mavlink_onboard_main },
-{ "gps", SCHED_PRIORITY_DEFAULT, 2048, gps_main },
-{ "commander", SCHED_PRIORITY_MAX - 30, 2048, commander_main },
-{ "sdlog", SCHED_PRIORITY_MAX - 30, 2048, sdlog_main },
-{ "sensors", SCHED_PRIORITY_MAX-5, 4096, sensors_main },
-{ "ardrone_interface", SCHED_PRIORITY_MAX - 15, 2048, ardrone_interface_main },
-{ "multirotor_att_control", SCHED_PRIORITY_MAX - 15, 2048, multirotor_att_control_main },
-{ "multirotor_pos_control", SCHED_PRIORITY_MAX - 25, 2048, multirotor_pos_control_main },
-{ "fixedwing_att_control", SCHED_PRIORITY_MAX - 30, 2048, fixedwing_att_control_main },
-{ "fixedwing_pos_control", SCHED_PRIORITY_MAX - 30, 2048, fixedwing_pos_control_main },
-{ "position_estimator", SCHED_PRIORITY_DEFAULT, 4096, position_estimator_main },
-{ "attitude_estimator_ekf", SCHED_PRIORITY_DEFAULT, 2048, attitude_estimator_ekf_main },
-{ "ms5611", SCHED_PRIORITY_DEFAULT, 2048, ms5611_main },
-{ "hmc5883", SCHED_PRIORITY_DEFAULT, 4096, hmc5883_main },
-{ "mpu6000", SCHED_PRIORITY_DEFAULT, 4096, mpu6000_main },
-{ "bma180", SCHED_PRIORITY_DEFAULT, 2048, bma180_main },
-{ "l3gd20", SCHED_PRIORITY_DEFAULT, 2048, l3gd20_main },
-{ "px4io", SCHED_PRIORITY_DEFAULT, 2048, px4io_main },
-{ "blinkm", SCHED_PRIORITY_DEFAULT, 2048, blinkm_main },
-{ "tone_alarm", SCHED_PRIORITY_DEFAULT, 2048, tone_alarm_main },
-{ "adc", SCHED_PRIORITY_DEFAULT, 2048, adc_main },
-{ "fmu", SCHED_PRIORITY_DEFAULT, 2048, fmu_main },
-{ "hil", SCHED_PRIORITY_DEFAULT, 2048, hil_main },
-{ "tests", SCHED_PRIORITY_DEFAULT, 12000, tests_main },
-{ "sercon", SCHED_PRIORITY_DEFAULT, 2048, sercon_main },
-{ "serdis", SCHED_PRIORITY_DEFAULT, 2048, serdis_main },

apps/namedapp/namedapp_proto.h

@@ -1,42 +0,0 @@
-/* List of application entry points, generated during make context. */
-EXTERN int math_demo_main(int argc, char *argv[]);
-EXTERN int control_demo_main(int argc, char *argv[]);
-EXTERN int kalman_demo_main(int argc, char *argv[]);
-EXTERN int reboot_main(int argc, char *argv[]);
-EXTERN int perf_main(int argc, char *argv[]);
-EXTERN int top_main(int argc, char *argv[]);
-EXTERN int boardinfo_main(int argc, char *argv[]);
-EXTERN int mixer_main(int argc, char *argv[]);
-EXTERN int eeprom_main(int argc, char *argv[]);
-EXTERN int param_main(int argc, char *argv[]);
-EXTERN int bl_update_main(int argc, char *argv[]);
-EXTERN int preflight_check_main(int argc, char *argv[]);
-EXTERN int delay_test_main(int argc, char *argv[]);
-EXTERN int uorb_main(int argc, char *argv[]);
-EXTERN int mavlink_main(int argc, char *argv[]);
-EXTERN int mavlink_onboard_main(int argc, char *argv[]);
-EXTERN int gps_main(int argc, char *argv[]);
-EXTERN int commander_main(int argc, char *argv[]);
-EXTERN int sdlog_main(int argc, char *argv[]);
-EXTERN int sensors_main(int argc, char *argv[]);
-EXTERN int ardrone_interface_main(int argc, char *argv[]);
-EXTERN int multirotor_att_control_main(int argc, char *argv[]);
-EXTERN int multirotor_pos_control_main(int argc, char *argv[]);
-EXTERN int fixedwing_att_control_main(int argc, char *argv[]);
-EXTERN int fixedwing_pos_control_main(int argc, char *argv[]);
-EXTERN int position_estimator_main(int argc, char *argv[]);
-EXTERN int attitude_estimator_ekf_main(int argc, char *argv[]);
-EXTERN int ms5611_main(int argc, char *argv[]);
-EXTERN int hmc5883_main(int argc, char *argv[]);
-EXTERN int mpu6000_main(int argc, char *argv[]);
-EXTERN int bma180_main(int argc, char *argv[]);
-EXTERN int l3gd20_main(int argc, char *argv[]);
-EXTERN int px4io_main(int argc, char *argv[]);
-EXTERN int blinkm_main(int argc, char *argv[]);
-EXTERN int tone_alarm_main(int argc, char *argv[]);
-EXTERN int adc_main(int argc, char *argv[]);
-EXTERN int fmu_main(int argc, char *argv[]);
-EXTERN int hil_main(int argc, char *argv[]);
-EXTERN int tests_main(int argc, char *argv[]);
-EXTERN int sercon_main(int argc, char *argv[]);
-EXTERN int serdis_main(int argc, char *argv[]);

apps/px4io/dsm.c

@@ -231,6 +231,7 @@ dsm_guess_format(bool reset)
 		0x3f,	/* 6 channels (DX6) */
 		0x7f,	/* 7 channels (DX7) */
 		0xff,	/* 8 channels (DX8) */
+		0x1ff,	/* 9 channels (DX9, etc.) */
 		0x3ff,	/* 10 channels (DX10) */
 		0x3fff	/* 18 channels (DX10) */
 	};

apps/sensors/sensors.cpp

@@ -1049,7 +1049,6 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 				}
 
 				_last_adc = hrt_absolute_time();
-				break;
 			}
 		}
 	}

apps/system/readline/readline.c

@@ -126,7 +126,7 @@ static inline int readline_rawgetc(int infd)
    * error occurs).
    */
 
-  do
+  for (;;)
     {
       /* Read one character from the incoming stream */
 
@@ -154,13 +154,21 @@ static inline int readline_rawgetc(int infd)
             {
               return -errcode;
             }
+
+          continue;
         }
+
+      else if (buffer == '\0')
+        { 
+          /* Ignore NUL characters, since they look like EOF to our caller */
+
+          continue;
+        }
+
+      /* Success, return the character that was read */
+
+      return (int)buffer;
     }
-  while (nread < 1);
-
-  /* On success, return the character that was read */
-
-  return (int)buffer;
 }
 
 /****************************************************************************

nuttx/configs/px4fmu/nsh/appconfig

@@ -79,6 +79,10 @@ CONFIGURED_APPS += systemcmds/delay_test
 # https://pixhawk.ethz.ch/px4/dev/deamon
 # CONFIGURED_APPS += examples/px4_deamon_app
 
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/debug_values
+CONFIGURED_APPS += examples/px4_mavlink_debug
+
 # Shared object broker; required by many parts of the system.
 CONFIGURED_APPS += uORB