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

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

@@ -7,4 +7,4 @@
 sh /etc/init.d/rc.fw_defaults
 
 set HIL yes
-set MIXER FMU_AERT
+set MIXER AERT

ROMFS/px4fmu_common/init.d/10015_tbs_discovery

@@ -24,7 +24,7 @@ then
 	param set MC_YAWRATE_D 0.0
 fi
 
-set MIXER FMU_quad_w
+set MIXER quad_w
 
 set PWM_OUT 1234
 set PWM_MIN 1200

ROMFS/px4fmu_common/init.d/10016_3dr_iris

@@ -27,7 +27,7 @@ then
 	param set BAT_C_SCALING 0.0124
 fi
 
-set MIXER FMU_quad_w
+set MIXER quad_w
 
 set PWM_OUT 1234
 

ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d

@@ -26,7 +26,7 @@ then
 	param set BAT_N_CELLS 4
 fi
 
-set MIXER FMU_quad_w
+set MIXER quad_w
 
 set PWM_MIN 1210
 set PWM_MAX 2100

ROMFS/px4fmu_common/init.d/10018_tbs_endurance

@@ -25,7 +25,7 @@ then
 	param set MC_YAWRATE_D 0.0
 fi
 
-set MIXER FMU_quad_w
+set MIXER quad_w
 
 set PWM_OUTPUTS 1234
 set PWM_MIN 1200

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

@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_quad_x
+set MIXER quad_x
 
 set HIL yes

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

@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_quad_+
+set MIXER quad_+
 
-set HIL yes
+set HIL yes

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

@@ -9,4 +9,4 @@ sh /etc/init.d/rc.fw_defaults
 
 set HIL yes
 
-set MIXER FMU_AERT
+set MIXER AERT

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

@@ -35,4 +35,4 @@ fi
 set HIL yes
 
 # Set the AERT mixer for HIL (even if the malolo is a flying wing)
-set MIXER FMU_AERT
+set MIXER AERT

ROMFS/px4fmu_common/init.d/11001_hexa_cox

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_hexa_cox
+set MIXER hexa_cox
 
 # Need to set all 8 channels
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/12001_octo_cox

@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_octo_cox
+set MIXER octo_cox
 
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.vtol_defaults
 
-set MIXER FMU_caipirinha_vtol
+set MIXER caipirinha_vtol
 
 set PWM_OUT 12
 set PWM_MAX 2000

ROMFS/px4fmu_common/init.d/13002_firefly6

@@ -0,0 +1,14 @@
+#!nsh
+#
+# Generic configuration file for BirdsEyeView Aerobotics FireFly6
+#
+# Roman Bapst <romanbapst@yahoo.de>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+set MIXER firefly6
+
+set PWM_OUT 12345678
+param set VT_MOT_COUNT 6
+param set VT_IDLE_PWM_MC 1080

ROMFS/px4fmu_common/init.d/2101_hk_bixler

@@ -2,4 +2,4 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_AERT
+set MIXER AERT

ROMFS/px4fmu_common/init.d/2103_skyhunter_1800

@@ -2,4 +2,4 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_AET
+set MIXER AET

ROMFS/px4fmu_common/init.d/3030_io_camflyer

@@ -2,7 +2,7 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_Q
+set MIXER Q
 # Provide ESC a constant 1000 us pulse while disarmed
 set PWM_OUT 4
 set PWM_DISARMED 1000

ROMFS/px4fmu_common/init.d/3032_skywalker_x5

@@ -28,4 +28,4 @@ then
 	param set FW_R_RMAX 0
 fi
 
-set MIXER FMU_X5
+set MIXER X5

ROMFS/px4fmu_common/init.d/3034_fx79

@@ -7,4 +7,4 @@
 
 sh /etc/init.d/rc.fw_defaults
 
-set MIXER FMU_FX79
+set MIXER FX79

ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha

@@ -31,4 +31,4 @@ then
 	param set FW_R_RMAX 0
 fi
 
-set MIXER FMU_Q
+set MIXER Q

ROMFS/px4fmu_common/init.d/4001_quad_x

@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_quad_x
+set MIXER quad_x
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/5001_quad_+

@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_quad_+
+set MIXER quad_+
 
 set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/6001_hexa_x

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_hexa_x
+set MIXER hexa_x
 
 # Need to set all 8 channels
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/7001_hexa_+

@@ -7,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_hexa_+
+set MIXER hexa_+
 
 # Need to set all 8 channels
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/8001_octo_x

@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_octo_x
+set MIXER octo_x
 
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/9001_octo_+

@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER FMU_octo_+
+set MIXER octo_+
 
 set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/rc.fw_apps

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

ROMFS/px4fmu_common/init.d/rc.interface

@@ -3,20 +3,34 @@
 # Script to configure control interface
 #
 
+set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
+
 if [ $MIXER != none -a $MIXER != skip ]
 then
 	#
-	# Load mixer
+	# Load main mixer
 	#
-	
+
-	#Use the mixer file from the SD-card if it exists
+	if [ $MIXER_AUX == none ]
-	if [ -f /fs/microsd/etc/mixers/$MIXER.mix ]
 	then
-		set MIXER_FILE /fs/microsd/etc/mixers/$MIXER.mix
+		set MIXER_AUX $MIXER.aux
-	else
-		set MIXER_FILE /etc/mixers/$MIXER.mix
 	fi
-	
+
+	# Use the mixer file from the SD-card if it exists
+	if [ -f $SDCARD_MIXERS_PATH/$MIXER.main.mix ]
+	then
+		set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.main.mix
+	# Try out the old convention, for backward compatibility
+	else
+
+		if [ -f $SDCARD_MIXERS_PATH/$MIXER.mix ]
+		then
+			set MIXER_FILE $SDCARD_MIXERS_PATH/$MIXER.mix
+		else
+			set MIXER_FILE /etc/mixers/$MIXER.main.mix
+		fi
+	fi
+
 	if [ $OUTPUT_MODE == mkblctrl ]
 	then
 		set OUTPUT_DEV /dev/mkblctrl
@@ -28,7 +42,7 @@ then
 	then
 		set OUTPUT_DEV /dev/uavcan/esc
 	fi
-	
+
 	if mixer load $OUTPUT_DEV $MIXER_FILE
 	then
 		echo "[i] Mixer: $MIXER_FILE"
@@ -57,7 +71,7 @@ then
 		then
 			pwm rate -c $PWM_OUT -r $PWM_RATE
 		fi
-		
+
 		#
 		# Set disarmed, min and max PWM values
 		#
@@ -80,3 +94,34 @@ then
 		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
 	fi
 fi
+
+# check if should load secondary mixer
+if [ $MIXER_AUX != none ]
+then
+	#
+	# Load aux mixer
+	#
+
+	set MIXER_AUX_FILE none
+
+	if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.mix ]
+	then
+		set MIXER_AUX_FILE $SDCARD_MIXERS_PATH/$MIXER_AUX.mix
+	else
+
+		if [ -f /etc/mixers/$MIXER_AUX.mix ]
+		then
+			set MIXER_AUX_FILE /etc/mixers/$MIXER_AUX.mix
+		fi
+	fi
+
+	if [ $MIXER_AUX_FILE != none -a $FMU_MODE == pwm ]
+	then
+		if fmu mode_pwm
+		then
+			mixer load /dev/pwm_output1 $MIXER_AUX_FILE
+		else
+			tone_alarm $TUNE_ERR
+		fi
+	fi
+fi

ROMFS/px4fmu_common/init.d/rcS

@@ -116,6 +116,7 @@ then
 	set HIL no
 	set VEHICLE_TYPE none
 	set MIXER none
+	set MIXER_AUX none
 	set OUTPUT_MODE none
 	set PWM_OUT none
 	set PWM_RATE none
@@ -481,7 +482,7 @@ then
 		if [ $MIXER == none ]
 		then
 			# Set default mixer for fixed wing if not defined
-			set MIXER FMU_AERT
+			set MIXER AERT
 		fi
 
 		if [ $MAV_TYPE == none ]
@@ -517,27 +518,27 @@ then
 		if [ $MAV_TYPE == none ]
 		then
 			# Use mixer to detect vehicle type
-			if [ $MIXER == FMU_quad_x -o $MIXER == FMU_quad_+ ]
+			if [ $MIXER == quad_x -o $MIXER == quad_+ ]
 			then
 				set MAV_TYPE 2
 			fi
-			if [ $MIXER == FMU_quad_w ]
+			if [ $MIXER == quad_w ]
 			then
 				set MAV_TYPE 2
 			fi
-			if [ $MIXER == FMU_hexa_x -o $MIXER == FMU_hexa_+ ]
+			if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]
 			then
 				set MAV_TYPE 13
 			fi
-			if [ $MIXER == FMU_hexa_cox ]
+			if [ $MIXER == hexa_cox ]
 			then
 				set MAV_TYPE 13
 			fi
-			if [ $MIXER == FMU_octo_x -o $MIXER == FMU_octo_+ ]
+			if [ $MIXER == octo_x -o $MIXER == octo_+ ]
 			then
 				set MAV_TYPE 14
 			fi
-			if [ $MIXER == FMU_octo_cox ]
+			if [ $MIXER == octo_cox ]
 			then
 				set MAV_TYPE 14
 			fi
@@ -576,10 +577,14 @@ then
 		if [ $MAV_TYPE == none ]
 		then
 			# Use mixer to detect vehicle type
-			if [ $MIXER == FMU_caipirinha_vtol ]
+			if [ $MIXER == caipirinha_vtol ]
 			then
 				set MAV_TYPE 19
 			fi
+			if [ $MIXER == firefly6_rotors ]
+			then
+				set MAV_TYPE 21
+			fi
 		fi
 
 		# Still no MAV_TYPE found

ROMFS/px4fmu_common/mixers/firefly6.aux.mix

@@ -0,0 +1,10 @@
+# mixer for the FireFly6 elevons
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0   7500   7500      0 -10000  10000
+S: 1 1   8000   8000      0 -10000  10000
+
+M: 2
+O:       10000   10000    0 -10000  10000
+S: 1 0    7500    7500    0 -10000  10000
+S: 1 1   -8000   -8000    0 -10000  10000

ROMFS/px4fmu_common/mixers/firefly6.main.mix

@@ -0,0 +1,4 @@
+# FireFly6 mixer for PX4FMU
+#
+#===========================
+R: 6c 10000 10000 10000 0

src/drivers/px4fmu/fmu.cpp

@@ -128,7 +128,7 @@ private:
 	orb_advert_t	_outputs_pub;
 	actuator_armed_s	_armed;
 	unsigned	_num_outputs;
-	bool		_primary_pwm_device;
+	int		_class_instance;
 
 	volatile bool	_task_should_exit;
 	bool		_servo_armed;
@@ -141,6 +141,7 @@ private:
 	int		_control_subs[NUM_ACTUATOR_CONTROL_GROUPS];
 	actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS];
 	orb_id_t	_control_topics[NUM_ACTUATOR_CONTROL_GROUPS];
+	orb_id_t	_actuator_output_topic;
 	pollfd	_poll_fds[NUM_ACTUATOR_CONTROL_GROUPS];
 	unsigned	_poll_fds_num;
 
@@ -247,7 +248,7 @@ PX4FMU::PX4FMU() :
 	_outputs_pub(-1),
 	_armed{},
 	_num_outputs(0),
-	_primary_pwm_device(false),
+	_class_instance(0),
 	_task_should_exit(false),
 	_servo_armed(false),
 	_pwm_on(false),
@@ -255,6 +256,7 @@ PX4FMU::PX4FMU() :
 	_groups_required(0),
 	_groups_subscribed(0),
 	_control_subs{-1},
+	_actuator_output_topic(nullptr),
 	_poll_fds_num(0),
 	_pwm_limit{},
 	_failsafe_pwm{0},
@@ -300,8 +302,7 @@ PX4FMU::~PX4FMU()
 	}
 
 	/* clean up the alternate device node */
-	if (_primary_pwm_device)
+	unregister_class_devname(PWM_OUTPUT_DEVICE_PATH, _class_instance);
-		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
 
 	g_fmu = nullptr;
 }
@@ -320,13 +321,14 @@ PX4FMU::init()
 		return ret;
 
 	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
-	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
+	_class_instance = register_class_devname(PWM_OUTPUT_DEVICE_PATH);
 
-	if (ret == OK) {
+	if (_class_instance == CLASS_DEVICE_PRIMARY) {
 		log("default PWM output device");
-		_primary_pwm_device = true;
 	}
 
+	_actuator_output_topic = ORB_ID_DOUBLE(actuator_outputs_, _class_instance);
+
 	/* reset GPIOs */
 	gpio_reset();
 
@@ -677,10 +679,10 @@ PX4FMU::task_main()
 
 				/* publish mixed control outputs */
 				if (_outputs_pub < 0) {
-					_outputs_pub = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), &outputs);
+					_outputs_pub = orb_advertise(_actuator_output_topic, &outputs);
 				} else {
 
-					orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _outputs_pub, &outputs);
+					orb_publish(_actuator_output_topic, _outputs_pub, &outputs);
 				}
 			}
 		}

src/systemcmds/tests/test_mixer.cpp

@@ -343,7 +343,7 @@ int test_mixer(int argc, char *argv[])
 	if (argc > 2)
 		filename = argv[2];
 	else
-		filename = "/etc/mixers/FMU_quad_w.mix";
+		filename = "/etc/mixers/quad_w.main.mix";
 
 	load_mixer_file(filename, &buf[0], sizeof(buf));
 	loaded = strlen(buf);

unittests/CMakeLists.txt

@@ -64,16 +64,13 @@ add_executable(conversion_test conversion_test.cpp ${PX_SRC}/systemcmds/tests/te
 add_gtest(conversion_test)
 
 # sbus2_test
-# TODO: move to gtest
 add_executable(sbus2_test sbus2_test.cpp hrt.cpp)
 add_gtest(sbus2_test)
 
 # st24_test
-# TODO: move to gtest
 add_executable(st24_test st24_test.cpp hrt.cpp ${PX_SRC}/lib/rc/st24.c)
 add_gtest(st24_test)
 
 # sf0x_test
-# TODO: move to gtest
 add_executable(sf0x_test sf0x_test.cpp ${PX_SRC}/drivers/sf0x/sf0x_parser.cpp)
 add_gtest(sf0x_test)

unittests/conversion_test.cpp

@@ -4,6 +4,6 @@
 
 #include "gtest/gtest.h"
 
-TEST(ConversionTest, FMU_quad_w) {
+TEST(ConversionTest, quad_w_main) {
         ASSERT_EQ(test_conv(0, NULL), 0) << "Conversion test failed";
 }

unittests/mixer_test.cpp

@@ -6,6 +6,6 @@
 
 
 TEST(MixerTest, Mixer) {
-	char* args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/FMU_quad_w.mix"};
+	char* args[] = {"empty", "../ROMFS/px4fmu_common/mixers/IO_pass.mix", "../ROMFS/px4fmu_common/mixers/quad_w.main.mix"};
 	ASSERT_EQ(test_mixer(3, args), 0) << "IO_pass.mix failed";
 }

unittests/sf0x_test.cpp

@@ -1,19 +1,15 @@
-
-#include <unistd.h>
-#include <string.h>
-#include <stdlib.h>
 #include <stdio.h>
-#include <systemlib/err.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
 #include <drivers/drv_hrt.h>
-
 #include <drivers/sf0x/sf0x_parser.h>
+#include <systemlib/err.h>
 
-int main(int argc, char *argv[])
+#include "gtest/gtest.h"
-{
-	warnx("SF0X test started");
-
-	int ret = 0;
 
+TEST(SF0XTest, SF0X) {
 	const char LINE_MAX = 20;
 	char _linebuf[LINE_MAX];
 	_linebuf[0] = '\0';
@@ -60,6 +56,4 @@ int main(int argc, char *argv[])
 	}
 
 	warnx("test finished");
-
-	return ret;
 }

unittests/st24_test.cpp

@@ -1,4 +1,3 @@
-
 #include <stdio.h>
 #include <unistd.h>
 #include <string.h>
@@ -7,30 +6,17 @@
 #include <rc/st24.h>
 #include "../../src/systemcmds/tests/tests.h"
 
-int main(int argc, char *argv[])
+#include "gtest/gtest.h"
-{
-	warnx("ST24 test started");
 
-	char* defaultfile = "testdata/st24_data.txt";
+TEST(ST24Test, ST24) {
-
+	const char* filepath = "testdata/st24_data.txt";
-	char* filepath = 0;
-
-	if (argc < 2) {
-		warnx("Too few arguments. Using default file: %s", defaultfile);
-		filepath = defaultfile;
-	} else {
-		filepath = argv[1];
-	}
 
 	warnx("loading data from: %s", filepath);
 
 	FILE *fp;
 
 	fp = fopen(filepath, "rt");
-
+	//ASSERT_TRUE(fp);
-	if (!fp) {
-		errx(1, "failed opening file");
-	}
 
 	float f;
 	unsigned x;
@@ -73,12 +59,5 @@ int main(int argc, char *argv[])
 		}
 	}
 
-	if (ret == EOF) {
+	ASSERT_EQ(EOF, ret);
-		warnx("Test finished, reached end of file");
-		ret = 0;
-	} else {
-		warnx("Test aborted, errno: %d", ret);
-	}
-
-	return ret;
 }