- only use takeoff strategy when in auto mode

- after jumped takeoff set previous vel setpoint such
that thrust setpoint is continuous

.gitmodules

@@ -34,3 +34,6 @@
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
 	url = https://github.com/PX4/ecl.git
+[submodule "cmake/cmake_hexagon"]
+	path = cmake/cmake_hexagon
+	url = https://github.com/ATLFlight/cmake_hexagon

.travis.yml

@@ -93,6 +93,7 @@ env:
     - PX4_AWS_BUCKET=px4-travis
 
 script:
+  - git submodule update --init --recursive
   - make check_format
   - arm-none-eabi-gcc --version
   - echo 'Building POSIX Firmware..' && make posix_sitl_default

CONTRIBUTING.md

@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname
 
 ### Edit and build the code
 
-The [developer guide](http://px4.io/dev/start) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://px4.io/dev/code_style) when editing files.
+The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://px4.io/dev/code_style) when editing files.
 
 ### Commit your changes
 

Documentation/Doxyfile

@@ -281,7 +281,7 @@ TYPEDEF_HIDES_STRUCT   = NO
 # causing a significant performance penality.
 # If the system has enough physical memory increasing the cache will improve the
 # performance by keeping more symbols in memory. Note that the value works on
-# a logarithmic scale so increasing the size by one will rougly double the
+# a logarithmic scale so increasing the size by one will roughly double the
 # memory usage. The cache size is given by this formula:
 # 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
 # corresponding to a cache size of 2^16 = 65536 symbols

Documentation/px4_hil/UserGuide.md

@@ -48,7 +48,7 @@ Download QGC from http://qgroundcontrol.org/downloads and install using the wind
 
 ## PX4
 
-### Platfrom Requirements
+### Platform Requirements
 Linux or Eagle with a working IP interface (?? does this need further instructions?)
 
 ### Build Host Requirements

Makefile

@@ -109,7 +109,9 @@ endif
 # describe how to build a cmake config
 define cmake-build
 +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
-+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule update --init --recursive --force && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
++git submodule init
++Tools/check_submodules.sh 
++@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule sync && git submodule init && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
 +$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
 endef
 
@@ -152,7 +154,8 @@ posix_sitl_ekf2:
 	$(call cmake-build,$@)
 
 ros_sitl_default:
-	$(call cmake-build,$@)
+	@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
+#	$(call cmake-build,$@)
 
 qurt_eagle_travis:
 	$(call cmake-build,$@)
@@ -168,6 +171,12 @@ qurt_eagle_default:
 
 posix_eagle_default:
 	$(call cmake-build,$@)
+	
+posix_rpi2_default:
+	$(call cmake-build,$@)
+
+posix_rpi2_release:
+	$(call cmake-build,$@)
 
 posix: posix_sitl_default
 
@@ -193,7 +202,8 @@ clean:
 # targets handled by cmake
 cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
 	run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
-	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_tailsitter
+	jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_tailsitter \
+	gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
 
 .PHONY: clean

README.md

@@ -9,33 +9,22 @@ This repository contains the [PX4 Flight Core](http://px4.io), with the main app
 *   Official Website: http://px4.io
 *   License: BSD 3-clause (see [LICENSE.md](https://github.com/PX4/Firmware/blob/master/LICENSE.md))
 *   Supported airframes (more experimental are supported):
-  * [Multicopters](http://px4.io/platforms/multicopters/start)
-  * [Fixed wing](http://px4.io/platforms/planes/start)
-  * [VTOL](http://px4.io/platforms/vtol/start)
-*   Binaries (always up-to-date from master):
-  * [Downloads](http://px4.io/firmware/downloads)
+  * [Multicopters](http://px4.io/portfolio_category/multicopter/)
+  * [Fixed wing](http://px4.io/portfolio_category/vtol/)
+  * [VTOL](http://px4.io/portfolio_category/plane/)
 *   Releases
   * [Downloads](https://github.com/PX4/Firmware/releases)
-*   Forum / Mailing list: [Google Groups](http://groups.google.com/group/px4users)
 
 ### Users ###
 
-Please refer to the [user documentation](https://pixhawk.org/users/start) for flying drones with the PX4 flight stack.
+Please refer to the [user documentation](http://px4.io) and [user forum](http://discuss.px4.io) for flying drones with the PX4 flight stack.
 
 ### Developers ###
 
-Contributing guide:
-  * [CONTRIBUTING.md](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
-  * [PX4 Contribution Guide](http://px4.io/dev/contributing)
+  * [Developer Forum / Mailing list](http://groups.google.com/group/px4users)
+  * [Guide for Contributions](https://github.com/PX4/Firmware/blob/master/CONTRIBUTING.md)
+  * [Developer guide](http://dev.px4.io)
 
-Software in the Loop guide:
-Use software in the loop [to get started with the codebase](https://pixhawk.org/dev/simulation/native_sitl).
-
-Developer guide:
-http://dev.px4.io
-
-Testing guide:
-http://px4.io/dev/unit_tests
 
 This repository contains code supporting these boards:
   * [Snapdragon Flight](http://dev.px4.io/hardware-snapdragon.html)
@@ -44,8 +33,3 @@ This repository contains code supporting these boards:
   * FMUv4.x (Pixhawk X and [Pixracer](http://dev.px4.io/hardware-pixracer.html))
   * AeroCore (v1 and v2)
   * STM32F4Discovery (basic support) [Tutorial](https://pixhawk.org/modules/stm32f4discovery)
-
-## NuttShell (NSH) ##
-
-NSH usage documentation:
-http://px4.io/users/serial_connection

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -2,7 +2,7 @@
 #
 # @name Duorotor Tailsitter
 #
-# @type VTOL Tailsitter
+# @type VTOL Duo Tailsitter
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #

ROMFS/px4fmu_common/init.d/13003_quad_tailsitter

@@ -2,7 +2,7 @@
 #
 # @name Quadrotor X Tailsitter
 #
-# @type VTOL Tailsitter
+# @type VTOL Quad Tailsitter
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #

ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter

@@ -2,7 +2,7 @@
 #
 # @name Quadrotor + Tailsitter
 #
-# @type VTOL Tailsitter
+# @type VTOL Quad Tailsitter
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -0,0 +1,53 @@
+#!nsh
+#
+# @name QuadRanger
+#
+# @type Standard VTOL
+#
+# @maintainer Sander Smeets <sander@droneslab.com>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set VT_TYPE 2
+	param set VT_MOT_COUNT 4
+	param set VT_TRANS_THR 0.75
+
+	param set PWM_AUX_REV1 1
+	param set PWM_AUX_REV2 1
+
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.25
+	param set MC_ROLLRATE_I 0.002
+	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.23
+	param set MC_PITCHRATE_I 0.002
+	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_YAW_P 2.8
+	param set MC_YAW_FF 0.5
+	param set MC_YAWRATE_P 0.22
+	param set MC_YAWRATE_I 0.02
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+fi
+
+set MIXER vtol_quad_x
+set PWM_OUT 12345678
+
+set MIXER_AUX vtol_AAERT
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_DISARMED 1000
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+
+set MAV_TYPE 22
+
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 2

ROMFS/px4fmu_common/init.d/2106_albatross

@@ -2,7 +2,7 @@
 #
 # @name Applied Aeronautics Albatross
 #
-# @type Standard Plane
+# @type Plane A-Tail
 #
 # @output MAIN1 aileron right
 # @output MAIN2 aileron left

ROMFS/px4fmu_common/init.d/4030_solo

@@ -1,6 +1,6 @@
 #!nsh
 #
-# @name Generic Quadrotor X config
+# @name 3DR Solo
 #
 # @type Quadrotor x
 #

ROMFS/px4fmu_common/init.d/rcS

@@ -550,7 +550,7 @@ then
 			# Avoid using ttyS1 for MAVLink on FMUv4
 			if ver hwcmp PX4FMU_V4
 			then
-				set MAVLINK_F "-r 1200 -d /dev/ttyS2"
+				set MAVLINK_F "-r 1200 -d /dev/ttyS1"
 				# Start MAVLink on Wifi (ESP8266 port)
 				mavlink start -r 800000 -b 921600 -d /dev/ttyS0
 			fi
@@ -560,6 +560,12 @@ then
 	mavlink start $MAVLINK_F
 	unset MAVLINK_F
 
+	if ver hwcmp PX4FMU_V4
+	then
+		# Start MAVLink on OSD (TELEM2 port)
+		mavlink start -r 1200 -d /dev/ttyS2 -b 57600 -m osd
+	fi
+
 	#
 	# MAVLink onboard / TELEM2
 	#
@@ -835,6 +841,11 @@ then
 	fi
 fi
 
+if ver hwcmp PX4FMU_V4
+then
+	frsky_telemetry start -d /dev/ttyS6
+fi
+
 if ver hwcmp PX4FMU_V2
 then
 	# Check for flow sensor - as it is a background task, launch it last

ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix

@@ -0,0 +1,24 @@
+Mixer for standard vtol plane (SITL) with motor x configuration
+=========================================================
+
+This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration.
+The plane has two ailerons and one elevator. The ailerons and elevator are treated as elevons
+in order to make the standard vtol simulation compatible with the tailsitter simulation.
+
+R: 4x 10000 10000 10000 0
+
+# mixer for the elevons
+M: 2
+O:      10000  10000   0 -10000  10000
+S: 1 0  5000   5000    0 -10000  10000
+S: 1 1 -5000 -5000     0 -10000  10000
+
+M: 2
+O:       10000   10000   0 -10000  10000
+S: 1 0   5000    5000    0 -10000  10000
+S: 1 1   5000    5000    0 -10000  10000
+
+# mixer for the pusher/puller throttle
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 3      0  20000 -10000 -10000  10000

Tools/check_cmake.sh

@@ -6,7 +6,7 @@ then
   exit 1;
 fi
 
-if [[ $cmake_ver == *"2.8"* ]] || [[ $cmake_ver == *"2.9"* ]] || [[ $cmake_ver == *"3.0"* ]] || [[ $cmake_ver == *"3.1"* ]]
+if [[ $cmake_ver == *" 2.8"* ]] || [[ $cmake_ver == *" 2.9"* ]] || [[ $cmake_ver == *" 3.0"* ]] || [[ $cmake_ver == *" 3.1"* ]]
 then
   exit 1;
 fi

Tools/check_code_style.sh

@@ -25,7 +25,6 @@ for fn in $(find src/examples \
                  src/modules/uORB \
                  src/modules/bottle_drop \
                  src/modules/dataman \
-                 src/modules/fixedwing_backside \
                  src/modules/segway \
                  src/modules/local_position_estimator \
                  src/modules/unit_test \

Tools/check_submodules.sh

@@ -0,0 +1,81 @@
+#!/usr/bin/env bash
+
+[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
+    # GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules
+    echo "Skipping submodules. NUTTX_SRC is set to $NUTTX_SRC"
+    exit 0
+}
+
+if [ -f src/modules/uavcan/libuavcan/CMakeLists.txt ]
+then
+	echo "Git submodule config valid."
+else
+	git submodule update --init --recursive
+fi
+
+GITSTATUS=$(git status)
+
+function check_git_submodule {
+
+if [ -d $1 ];
+	then
+	SUBMODULE_STATUS=$(git submodule summary "$1")
+	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1" | grep "<")
+	if [ -z "$STATUSRETVAL" ]; then
+		echo "Checked $1 submodule, correct version found"
+	else
+		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
+		echo ""
+		echo -e "New commits required:"
+		echo -e "$SUBMODULE_STATUS"
+		echo ""
+		echo ""
+		echo -e " *******************************************************************************"
+		echo -e " *   \033[31mIF YOU DID NOT CHANGE THIS FILE (OR YOU DON'T KNOW WHAT A SUBMODULE IS):\033[0m  *"
+		echo -e " *   \033[31mHit 'u' and <ENTER> to update ALL submodules and resolve this.\033[0m            *"
+		echo -e " *   (performs \033[94mgit submodule update --init --recursive\033[0m)                        *"
+		echo -e " *******************************************************************************"
+		echo ""
+		echo ""
+		echo -e "   Only for EXPERTS:"
+		echo -e "   $1 submodule is not in the recommended version."
+		echo -e "   Hit 'y' and <ENTER> to continue the build with this version. Hit <ENTER> to resolve manually."
+		echo -e "   Use \033[94mgit add $1 && git commit -m 'Updated $1'\033[0m to choose this version (careful!)"
+		echo ""
+		read user_cmd
+		if [ "$user_cmd" == "y" ]
+		then
+			echo "Continuing build with manually overridden submodule.."
+		else
+			if [ "$user_cmd" == "u" ]
+			then
+				git submodule update --init --recursive
+				echo "Submodule fixed, continuing build.."
+			else
+				echo "Build aborted."
+				exit 1
+			fi
+		fi
+	fi
+else
+	git submodule update --init --recursive;
+	git submodule update;
+fi
+
+}
+
+check_git_submodule NuttX
+check_git_submodule Tools/gencpp
+check_git_submodule Tools/genmsg
+check_git_submodule Tools/jMAVSim
+check_git_submodule Tools/sitl_gazebo
+check_git_submodule cmake/cmake_hexagon
+check_git_submodule mavlink/include/mavlink/v1.0
+check_git_submodule src/lib/DriverFramework
+check_git_submodule src/lib/dspal
+check_git_submodule src/lib/ecl
+check_git_submodule src/lib/matrix
+check_git_submodule src/modules/uavcan/libuavcan
+check_git_submodule unittests/googletest
+
+exit 0

Tools/generate_listener.py

@@ -136,12 +136,12 @@ extern "C" __EXPORT int listener_main(int argc, char *argv[]);
 int listener_main(int argc, char *argv[]) {
 	int sub = -1;
 	orb_id_t ID;
-	if(argc < 3) {
-		printf("need at least two arguments: topic name, number of messages to print\\n");
+	if(argc < 2) {
+		printf("need at least two arguments: topic name. [optional number of messages to print]\\n");
 		return 1;
 	}
 """)
-print("\tunsigned num_msgs = atoi(argv[2]);")
+print("\tunsigned num_msgs = (argc > 2) ? atoi(argv[2]) : 1;")
 print("\tif (strncmp(argv[1],\"%s\",50) == 0) {" % messages[0])
 print("\t\tsub = orb_subscribe(ORB_ID(%s));" % messages[0])
 print("\t\tID = ORB_ID(%s);" % messages[0])
@@ -154,9 +154,11 @@ for index,m in enumerate(messages[1:]):
 	print("\t\tstruct %s_s container;" % m)
 	print("\t\tmemset(&container, 0, sizeof(container));")
 	print("\t\tbool updated;")
-	print("\t\tfor (unsigned i = 0; i < num_msgs; i++) {")
+	print("\t\tunsigned i = 0;")
+	print("\t\twhile(i < num_msgs) {")
 	print("\t\t\torb_check(sub,&updated);")
-	print("\t\t\tupdated = true;")
+	print("\t\t\tif (i == 0) { updated = true; } else { usleep(500); }")
+	print("\t\t\ti++;")
 	print("\t\t\tif (updated) {")
 	print("\t\tprintf(\"\\nTOPIC: %s #%%d\\n\", i);" % m)
 	print("\t\t\torb_copy(ID,sub,&container);")
@@ -190,9 +192,15 @@ for index,m in enumerate(messages[1:]):
 		elif item[0] == "int32":
 			print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
 		elif item[0] == "uint32":
-			print("\t\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
-		elif item[0] == "uint8":
 			print("\t\t\tprintf(\"%s: %%u\\n\",container.%s);" % (item[1], item[1]))
+		elif item[0] == "int16":
+			print("\t\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
+		elif item[0] == "uint16":
+			print("\t\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
+		elif item[0] == "int8":
+			print("\t\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
+		elif item[0] == "uint8":
+			print("\t\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
 		elif item[0] == "bool":
 			print("\t\t\tprintf(\"%s: %%s\\n\",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
 	print("\t\t\t}")

Tools/mavlink_px4.py

@@ -752,7 +752,7 @@ class MAVLink_gps_raw_int_message(MAVLink_message):
         '''
         The global position, as returned by the Global Positioning
         System (GPS). This is                 NOT the global position
-        estimate of the sytem, but rather a RAW sensor value. See
+        estimate of the system, but rather a RAW sensor value. See
         message GLOBAL_POSITION for the global position estimate.
         Coordinate frame is right-handed, Z-axis up (GPS frame).
         '''
@@ -2812,7 +2812,7 @@ class MAVLink(object):
                 '''
                 The global position, as returned by the Global Positioning System
                 (GPS). This is                 NOT the global position
-                estimate of the sytem, but rather a RAW sensor value.
+                estimate of the system, but rather a RAW sensor value.
                 See message GLOBAL_POSITION for the global position
                 estimate. Coordinate frame is right-handed, Z-axis up
                 (GPS frame).
@@ -2837,7 +2837,7 @@ class MAVLink(object):
                 '''
                 The global position, as returned by the Global Positioning System
                 (GPS). This is                 NOT the global position
-                estimate of the sytem, but rather a RAW sensor value.
+                estimate of the system, but rather a RAW sensor value.
                 See message GLOBAL_POSITION for the global position
                 estimate. Coordinate frame is right-handed, Z-axis up
                 (GPS frame).

Tools/px4airframes/xmlout.py

@@ -28,29 +28,55 @@ class XMLOutput():
             xml_group = ET.SubElement(xml_parameters, "airframe_group")
             xml_group.attrib["name"] = group.GetName()
             if (group.GetName() == "Standard Plane"):
-                xml_group.attrib["image"] = "AirframeStandardPlane.png"
+                xml_group.attrib["image"] = "Plane"
             elif (group.GetName() == "Flying Wing"):
-                xml_group.attrib["image"] = "AirframeFlyingWing.png"
+                xml_group.attrib["image"] = "FlyingWing"
             elif (group.GetName() == "Quadrotor x"):
-                xml_group.attrib["image"] = "AirframeQuadRotorX.png"
+                xml_group.attrib["image"] = "QuadRotorX"
             elif (group.GetName() == "Quadrotor +"):
-                xml_group.attrib["image"] = "AirframeQuadRotorPlus.png"
+                xml_group.attrib["image"] = "QuadRotorPlus"
             elif (group.GetName() == "Hexarotor x"):
-                xml_group.attrib["image"] = "AirframeHexaRotorX.png"
+                xml_group.attrib["image"] = "HexaRotorX"
             elif (group.GetName() == "Hexarotor +"):
-                xml_group.attrib["image"] = "AirframeHexaRotorPlus.png"
+                xml_group.attrib["image"] = "HexaRotorPlus"
             elif (group.GetName() == "Octorotor +"):
-                xml_group.attrib["image"] = "AirframeOctoRotorPlus.png"
+                xml_group.attrib["image"] = "OctoRotorPlus"
             elif (group.GetName() == "Octorotor x"):
-                xml_group.attrib["image"] = "AirframeOctoRotorX.png"
+                xml_group.attrib["image"] = "OctoRotorX"
+            elif (group.GetName() == "Octorotor Coaxial"):
+                xml_group.attrib["image"] = "OctoRotorXCoaxial"
             elif (group.GetName() == "Quadrotor Wide"):
-                xml_group.attrib["image"] = "AirframeQuadRotorH.png"
+                xml_group.attrib["image"] = "QuadRotorWide"
             elif (group.GetName() == "Quadrotor H"):
-                xml_group.attrib["image"] = "AirframeQuadRotorH.png"
+                xml_group.attrib["image"] = "QuadRotorH"
             elif (group.GetName() == "Simulation"):
-                xml_group.attrib["image"] = "AirframeSimulation.png"
+                xml_group.attrib["image"] = "AirframeSimulation"
+            elif (group.GetName() == "Plane A-Tail"):
+                xml_group.attrib["image"] = "PlaneATail"
+            elif (group.GetName() == "VTOL Duo Tailsitter"):
+                xml_group.attrib["image"] = "VTOLDuoRotorTailSitter"
+            elif (group.GetName() == "Standard VTOL"):
+                xml_group.attrib["image"] = "VTOLPlane"
+            elif (group.GetName() == "VTOL Quad Tailsitter"):
+                xml_group.attrib["image"] = "VTOLQuadRotorTailSitter"
+            elif (group.GetName() == "VTOL Tiltrotor"):
+                xml_group.attrib["image"] = "VTOLTiltRotor"
+            elif (group.GetName() == "Coaxial Helicopter"):
+                xml_group.attrib["image"] = "HelicopterCoaxial"
+            elif (group.GetName() == "Hexarotor Coaxial"):
+                xml_group.attrib["image"] = "Y6A"
+            elif (group.GetName() == "Y6B"):
+                xml_group.attrib["image"] = "Y6B"
+            elif (group.GetName() == "Tricopter Y-"):
+                xml_group.attrib["image"] = "YMinus"
+            elif (group.GetName() == "Tricopter Y+"):
+                xml_group.attrib["image"] = "YPlus"
+            elif (group.GetName() == "Rover"):
+                xml_group.attrib["image"] = "Rover"
+            elif (group.GetName() == "Boat"):
+                xml_group.attrib["image"] = "Boat"
             else:
-                xml_group.attrib["image"] = ""
+                xml_group.attrib["image"] = "AirframeUnknown"
             for param in group.GetParams():
                 if (last_param_name == param.GetName() and not board_specific_param_set) or last_param_name != param.GetName():
                     xml_param = ET.SubElement(xml_group, "airframe")

Tools/px4params/srcparser.py

@@ -107,7 +107,7 @@ class SourceParser(object):
     re_remove_dots = re.compile(r'\.+$')
     re_remove_carriage_return = re.compile('\n+')
 
-    valid_tags = set(["group", "board", "min", "max", "unit", "decimal"])
+    valid_tags = set(["group", "board", "min", "max", "unit", "decimal", "reboot_required"])
 
     # Order of parameter groups
     priority = {

Tools/px_romfs_pruner.py

@@ -1,8 +1,7 @@
 #!/usr/bin/env python
 ############################################################################
 #
-#   Copyright (C) 2014 PX4 Development Team. All rights reserved.
-#   Author: Julian Oes <joes@student.ethz.ch>
+#   Copyright (C) 2014-2015 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
@@ -37,48 +36,53 @@
 """
 px_romfs_pruner.py:
 Delete all comments and newlines before ROMFS is converted to an image
+
+@author: Julian Oes <julian@oes.ch>
 """
 
 from __future__ import print_function
-import argparse, re
+import argparse
+import re
 import os
 
 
 def main():
+    # Parse commandline arguments
+    parser = argparse.ArgumentParser(description="ROMFS pruner.")
+    parser.add_argument('--folder', action="store",
+                        help="ROMFS scratch folder.")
+    args = parser.parse_args()
 
-        # Parse commandline arguments
-        parser = argparse.ArgumentParser(description="ROMFS pruner.")
-        parser.add_argument('--folder', action="store", help="ROMFS scratch folder.")
-        args = parser.parse_args()
+    print("Pruning ROMFS files.")
 
-        print("Pruning ROMFS files.")
+    # go through
+    for (root, dirs, files) in os.walk(args.folder):
+        for file in files:
+            # only prune text files
+            if ".zip" in file or ".bin" in file or ".swp" in file \
+                    or ".data" in file or ".DS_Store" in file \
+                    or file.startswith("."):
+                continue
 
-        # go through
-        for (root, dirs, files) in os.walk(args.folder):
-                for file in files:
-                        # only prune text files
-                        if ".zip" in file or ".bin" in file or ".swp" in file or ".data" in file or ".DS_Store" in file:
-                                continue
+            file_path = os.path.join(root, file)
 
-                        file_path = os.path.join(root, file)
-
-                        # read file line by line
-                        pruned_content = ""
-                        with open(file_path, "rU") as f:
-                                for line in f:
-
-                                        # handle mixer files differently than startup files
-                                        if file_path.endswith(".mix"):
-                                                if line.startswith(("Z:", "M:", "R: ", "O:", "S:")):
-                                                        pruned_content += line
-                                        else:
-                                                if not line.isspace() and not line.strip().startswith("#"):
-                                                        pruned_content += line
-                       # overwrite old scratch file
-                        with open(file_path, "wb") as f:
-                                pruned_content = re.sub("\r\n", "\n", pruned_content)
-                                f.write(pruned_content.encode("ascii", errors='strict'))
+            # read file line by line
+            pruned_content = ""
+            with open(file_path, "rU") as f:
+                for line in f:
+                    # handle mixer files differently than startup files
+                    if file_path.endswith(".mix"):
+                        if line.startswith(("Z:", "M:", "R: ", "O:", "S:")):
+                                            pruned_content += line
+                    else:
+                        if not line.isspace() \
+                                and not line.strip().startswith("#"):
+                            pruned_content += line
+            # overwrite old scratch file
+            with open(file_path, "wb") as f:
+                pruned_content = re.sub("\r\n", "\n", pruned_content)
+                f.write(pruned_content.encode("ascii", errors='strict'))
 
 
 if __name__ == '__main__':
-        main()
+    main()

Tools/px_uploader.py

@@ -449,8 +449,9 @@ class uploader(object):
                 if self.board_type != fw.property('board_id'):
                         msg = "Firmware not suitable for this board (board_type=%u board_id=%u)" % (
                                 self.board_type, fw.property('board_id'))
+                        print("WARNING: %s" % msg)
                         if args.force:
-                                print("WARNING: %s" % msg)
+                                print("FORCED WRITE, FLASHING ANYWAY!")
                         else:
                                 raise IOError(msg)
                 if self.fw_maxsize < fw.property('image_size'):

Tools/sitl_gazebo

@@ -1 +1 @@
-Subproject commit 6af47249caefa3ddb6de2c31ae061aff1858fd0e
+Subproject commit 16f7fb37619e4af772a543f7bac62bef5126347b

cmake/cmake_hexagon

@@ -0,0 +1 @@
+Subproject commit 829f22eff345c934ca8939b2385768ca5e33794c

cmake/common/px4_base.cmake

@@ -266,6 +266,10 @@ function(px4_add_module)
 
 	add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
 
+	if(${OS} STREQUAL "qurt" )
+		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
+	endif()
+
 	if(MAIN)
 		set_target_properties(${MODULE} PROPERTIES
 			COMPILE_DEFINITIONS PX4_MAIN=${MAIN}_app_main)

cmake/configs/posix_rpi2_default.cmake

@@ -0,0 +1,47 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+
+set(config_module_list
+	drivers/device
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/perf
+	modules/uORB
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/sensors
+	modules/mavlink
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/navigator
+	modules/vtol_att_control
+	modules/mc_pos_control
+	modules/mc_att_control
+	modules/land_detector
+	modules/fw_att_control
+	modules/fw_pos_control_l1
+	modules/dataman
+	modules/sdlog2
+	modules/commander
+	modules/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/conversion
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+)

cmake/configs/posix_rpi2_release.cmake

@@ -0,0 +1,56 @@
+include(posix/px4_impl_posix)
+
+if ("${RPI_TOOLCHAIN_DIR}" STREQUAL "")
+	set(RPI_TOOLCHAIN_DIR /opt/rpi_toolchain)
+endif()
+
+set(CMAKE_PROGRAM_PATH 
+	"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
+	${CMAKE_PROGRAM_PATH}
+	)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(config_module_list
+	drivers/device
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/perf
+	modules/uORB
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/sensors
+	modules/mavlink
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/navigator
+	modules/vtol_att_control
+	modules/mc_pos_control
+	modules/mc_att_control
+	modules/land_detector
+	modules/fw_att_control
+	modules/fw_pos_control_l1
+	modules/dataman
+	modules/sdlog2
+	modules/commander
+	modules/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/conversion
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+)

cmake/configs/posix_sitl_default.cmake

@@ -34,6 +34,7 @@ set(config_module_list
 	modules/mavlink
 	modules/attitude_estimator_ekf
 	modules/attitude_estimator_q
+	modules/ekf2
 	modules/ekf_att_pos_estimator
 	modules/position_estimator_inav
 	modules/navigator

cmake/configs/qurt_eagle_default.cmake

@@ -11,17 +11,18 @@ include(qurt/px4_impl_qurt)
 #include_directories(${HEXAGON_DRIVERS_ROOT}/inc)
 
 # For Actual flight we need to link against the driver dynamic libraries
-set(target_libraries
-	-L${HEXAGON_DRIVERS_ROOT}/libs
+#set(target_libraries
+#	-L${HEXAGON_DRIVERS_ROOT}/libs
 # The plan is to replace these with our drivers
 #	mpu9x50
 #	uart_esc
 #	csr_gps
 #	rc_receiver
-	)
+#	)
 
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
 
 set(config_module_list
 	#

cmake/configs/qurt_eagle_hello.cmake

@@ -1,6 +1,8 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+
 
 set(config_module_list
 	drivers/device

cmake/configs/qurt_eagle_hil.cmake

@@ -1,6 +1,7 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
 
 set(config_module_list
 	drivers/device

cmake/configs/qurt_eagle_muorb.cmake

@@ -1,6 +1,8 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+
 
 set(config_module_list
 	drivers/device

cmake/configs/qurt_eagle_release.cmake

@@ -20,7 +20,8 @@ set(target_libraries
 	)
 
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
 
 set(config_module_list
 	#

cmake/configs/qurt_eagle_test.cmake

@@ -1,6 +1,7 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
 
 set(config_module_list
 	drivers/device

cmake/configs/qurt_eagle_travis.cmake

@@ -3,7 +3,8 @@ include(qurt/px4_impl_qurt)
 # Run a full link with build stubs to make sure qurt target isn't broken
 set(QURT_ENABLE_STUBS "1")
 
-set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.2.10.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
 
 set(config_module_list
 	drivers/device

cmake/qurt/px4_impl_qurt.cmake

@@ -172,16 +172,13 @@ function(px4_os_add_flags)
         set(added_definitions
                 -D__PX4_QURT 
 		-D__PX4_POSIX
-		-D__DF_QURT
 		-include ${PX4_INCLUDE_DIR}visibility.h
                 )
 
 	# Add the toolchain specific flags
-        set(added_cflags ${QURT_CMAKE_C_FLAGS})
-        set(added_cxx_flags ${QURT_CMAKE_CXX_FLAGS})
+        set(added_cflags -O0)
+        set(added_cxx_flags -O0)
 
-	# FIXME @jgoppert - how to work around issues like this?
-	# Without changing global variables?
 	# Clear -rdynamic flag which fails for hexagon
 	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
 	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")

cmake/toolchains/Toolchain-hexagon-7.2.10.cmake

@@ -1,254 +0,0 @@
-#
-# Copyright (C) 2015 Mark Charlebois. 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.
-#
-
-include(CMakeForceCompiler)
-
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
-include(common/px4_base)
-
-if ("$ENV{HEXAGON_TOOLS_ROOT}" STREQUAL "")
-	message(FATAL_ERROR
-		"The HexagonTools version 7.2.10 must be installed and the environment variable HEXAGON_TOOLS_ROOT must be set"
-		"(e.g. export HEXAGON_TOOLS_ROOT=/opt/HEXAGON_Tools/7.2.10/Tools)")
-else()
-	set(HEXAGON_TOOLS_ROOT $ENV{HEXAGON_TOOLS_ROOT})
-endif()
-
-macro (list2string out in)
-	set(list ${ARGV})
-	list(REMOVE_ITEM list ${out})
-	foreach(item ${list})
-		set(${out} "${${out}} ${item}")
-	endforeach()
-endmacro(list2string)
-
-set(V_ARCH "v5")
-set(CROSSDEV "hexagon-")
-set(HEXAGON_BIN	${HEXAGON_TOOLS_ROOT}/bin)
-set(HEXAGON_LIB_DIR ${HEXAGON_TOOLS_ROOT}/gnu/hexagon/lib)
-set(HEXAGON_ISS_DIR ${HEXAGON_TOOLS_ROOT}/lib/iss)
-set(TOOLSLIB ${HEXAGON_TOOLS_ROOT}/target/hexagon/lib/${V_ARCH}/G0)
-
-# Use the HexagonTools compiler (7.2.10)
-set(CMAKE_C_COMPILER	${HEXAGON_BIN}/${CROSSDEV}clang)
-set(CMAKE_CXX_COMPILER  ${HEXAGON_BIN}/${CROSSDEV}clang++)
-
-set(CMAKE_AR	  ${HEXAGON_BIN}/${CROSSDEV}ar CACHE FILEPATH "Archiver")
-set(CMAKE_RANLIB  ${HEXAGON_BIN}/${CROSSDEV}ranlib)
-set(CMAKE_LINKER  ${HEXAGON_BIN}/${CROSSDEV}ld.qcld)
-set(CMAKE_NM	  ${HEXAGON_BIN}/${CROSSDEV}nm)
-set(CMAKE_OBJDUMP ${HEXAGON_BIN}/${CROSSDEV}objdump)
-set(CMAKE_OBJCOPY ${HEXAGON_BIN}/${CROSSDEV}objcopy)
-
-list2string(HEXAGON_INCLUDE_DIRS 
-	-I${HEXAGON_TOOLS_ROOT}/target/hexagon/include
-	)
-
-#set(DYNAMIC_LIBS  -Wl,${TOOLSLIB}/pic/libstdc++.a)
-
-#set(MAXOPTIMIZATION -O0)
-
-# Base CPU flags for each of the supported architectures.
-#
-set(ARCHCPUFLAGS
-	-m${V_ARCH}
-	-G0
-	)
-
-add_definitions(
-	-D_PID_T -D_UID_T -D_TIMER_T
-	-Dnoreturn_function= 
-	-D_HAS_C9X
-	-D__EXPORT= 
-	-Drestrict=
-	-D_DEBUG
-	-Wno-error=shadow
-	)
-
-# optimisation flags
-#
-set(ARCHOPTIMIZATION
-	-O0
-	-g
-	-fno-strict-aliasing
-	-fdata-sections
-	-fno-zero-initialized-in-bss
-	)
-
-# Language-specific flags
-#
-set(ARCHCFLAGS
-	-std=gnu99
-	-D__CUSTOM_FILE_IO__
-	)
-set(ARCHCXXFLAGS
-	-fno-exceptions
-	-fno-rtti
-	-std=c++11
-	-fno-threadsafe-statics
-	-DCONFIG_WCHAR_BUILTIN
-	-D__CUSTOM_FILE_IO__
-	)
-
-set(ARCHWARNINGS
-	-Wall
-	-Wextra
-	-Werror
-	-Wno-unused-parameter
-	-Wno-unused-function
-	-Wno-unused-variable
-	-Wno-gnu-array-member-paren-init
-	-Wno-cast-align
-	-Wno-missing-braces
-	-Wno-strict-aliasing
-#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-	)
-
-# C-specific warnings
-#
-set(ARCHCWARNINGS
-	${ARCHWARNINGS}
-	-Wstrict-prototypes
-	-Wnested-externs
-	)
-
-# C++-specific warnings
-#
-set(ARCHWARNINGSXX
-	${ARCHWARNINGS}
-	-Wno-missing-field-initializers
-	)
-exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-libgcc-file-name OUTPUT_VARIABLE LIBGCC)
-exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-file-name=libm.a OUTPUT_VARIABLE LIBM)
-set(EXTRA_LIBS ${EXTRA_LIBS} ${LIBM})
-
-# Flags we pass to the C compiler
-#
-list2string(CFLAGS 
-	${ARCHCFLAGS}
-	${ARCHCWARNINGS}
-	${ARCHOPTIMIZATION}
-	${ARCHCPUFLAGS}
-	${ARCHINCLUDES}
-	${INSTRUMENTATIONDEFINES}
-	${ARCHDEFINES}
-	${EXTRADEFINES}
-	${EXTRACFLAGS}
-	${HEXAGON_INCLUDE_DIRS}
-	)
-
-# Flags we pass to the C++ compiler
-#
-list2string(CXXFLAGS
-	${ARCHCXXFLAGS}
-	${ARCHWARNINGSXX}
-	${ARCHOPTIMIZATION}
-	${ARCHCPUFLAGS}
-	${ARCHXXINCLUDES}
-	${INSTRUMENTATIONDEFINES}
-	${ARCHDEFINES}
-	${EXTRADEFINES}
-	${EXTRACXXFLAGS}
-	${HEXAGON_INCLUDE_DIRS}
-	)
-
-# Flags we pass to the assembler
-#
-list2string(AFLAGS
-	${CFLAGS} 
-	-D__ASSEMBLY__
-	${EXTRADEFINES}
-	${EXTRAAFLAGS}
-	)
-
-# Set cmake flags
-#
-list2string(CMAKE_C_FLAGS
-	${CMAKE_C_FLAGS}
-	${CFLAGS}
-	)
-
-set(QURT_CMAKE_C_FLAGS ${CMAKE_C_FLAGS} CACHE STRING "cflags")
-
-message(STATUS "CMAKE_C_FLAGS: -${CMAKE_C_FLAGS}-")
-
-list2string(CMAKE_CXX_FLAGS
-	${CMAKE_CXX_FLAGS}
-	${CXXFLAGS}
-	)
-
-set(QURT_CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} CACHE STRING "cxxflags")
-
-message(STATUS "CMAKE_CXX_FLAGS: -${CMAKE_CXX_FLAGS}-")
-
-# Flags we pass to the linker
-#
-list2string(CMAKE_EXE_LINKER_FLAGS
-	-g 
-	-mv5 
-	-mG0lib 
-	-G0 
-	-fpic 
-	-shared
-	-Wl,-Bsymbolic
-	-Wl,--wrap=malloc
-	-Wl,--wrap=calloc
-	-Wl,--wrap=free
-	-Wl,--wrap=realloc
-	-Wl,--wrap=memalign
-	-Wl,--wrap=__stack_chk_fail
-	-lc
-	${EXTRALDFLAGS}
-	)
-
-# where is the target environment 
-set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
-
-set(CMAKE_C_COMPILER_ID, "Clang")
-set(CMAKE_CXX_COMPILER_ID, "Clang")
-
-# search for programs in the build host directories
-set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-# for libraries and headers in the target directories
-set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
-
-# The Hexagon compiler doesn't support the -rdynamic flag and this is set
-# in the base cmake scripts. We have to redefine the __linux_compiler_gnu
-# macro for cmake 2.8 to work
-set(__LINUX_COMPILER_GNU 1)
-macro(__linux_compiler_gnu lang)
-  set(CMAKE_SHARED_LIBRARY_LINK_${lang}_FLAGS "")
-endmacro()
-

cmake/toolchains/Toolchain-hexagon.cmake

@@ -1,249 +0,0 @@
-#
-# Copyright (C) 2015 Mark Charlebois. 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.
-#
-
-include(CMakeForceCompiler)
-
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
-include(common/px4_base)
-
-if(NOT HEXAGON_TOOLS_ROOT)
-	set(HEXAGON_TOOLS_ROOT /opt/6.4.05)
-endif()
-
-if(NOT HEXAGON_SDK_ROOT)
-	set(HEXAGON_SDK_ROOT /opt/Hexagon_SDK)
-endif()
-
-macro (list2string out in)
-	set(list ${ARGV})
-	list(REMOVE_ITEM list ${out})
-	foreach(item ${list})
-		set(${out} "${${out}} ${item}")
-	endforeach()
-endmacro(list2string)
-
-set(V_ARCH "v5")
-set(CROSSDEV "hexagon-")
-set(HEXAGON_BIN	${HEXAGON_TOOLS_ROOT}/gnu/bin)
-set(HEXAGON_CLANG_BIN ${HEXAGON_TOOLS_ROOT}/qc/bin)
-set(HEXAGON_LIB_DIR ${HEXAGON_TOOLS_ROOT}/gnu/hexagon/lib)
-set(HEXAGON_ISS_DIR ${HEXAGON_TOOLS_ROOT}/qc/lib/iss)
-set(TOOLSLIB ${HEXAGON_TOOLS_ROOT}/dinkumware/lib/$(V_ARCH)/G0)
-set(QCTOOLSLIB ${HEXAGON_TOOLS_ROOT}/qc/lib/$(V_ARCH)/G0)
-
-# Use the HexagonTools compiler (6.4.05)
-set(CMAKE_C_COMPILER	${HEXAGON_CLANG_BIN}/${CROSSDEV}clang)
-set(CMAKE_CXX_COMPILER  ${HEXAGON_CLANG_BIN}/${CROSSDEV}clang++)
-
-set(CMAKE_AR	  ${HEXAGON_BIN}/${CROSSDEV}ar CACHE FILEPATH "Archiver")
-set(CMAKE_RANLIB  ${HEXAGON_BIN}/${CROSSDEV}ranlib)
-set(CMAKE_LINKER  ${HEXAGON_BIN}/${CROSSDEV}ld)
-set(CMAKE_NM	  ${HEXAGON_BIN}/${CROSSDEV}nm)
-set(CMAKE_OBJDUMP ${HEXAGON_BIN}/${CROSSDEV}objdump)
-set(CMAKE_OBJCOPY ${HEXAGON_BIN}/${CROSSDEV}objcopy)
-
-list2string(HEXAGON_INCLUDE_DIRS 
-	-I${HEXAGON_TOOLS_ROOT}/gnu/hexagon/include
-	-I${HEXAGON_SDK_ROOT}/inc
-	-I${HEXAGON_SDK_ROOT}/inc/stddef
-	)
-
-#set(DYNAMIC_LIBS  -Wl,${TOOLSLIB}/pic/libstdc++.a)
-
-#set(MAXOPTIMIZATION -O0)
-
-# Base CPU flags for each of the supported architectures.
-#
-set(ARCHCPUFLAGS
-	-m${V_ARCH}
-	-G0
-	)
-
-add_definitions(
-	-D_PID_T -D_UID_T -D_TIMER_T
-	-Dnoreturn_function= 
-	-D__EXPORT= 
-	-Drestrict=
-	-D_DEBUG
-	-Wno-error=shadow
-	)
-
-# optimisation flags
-#
-set(ARCHOPTIMIZATION
-	-O0
-	-g
-	-fno-strict-aliasing
-	-fdata-sections
-	-fpic
-	-fno-zero-initialized-in-bss
-	)
-
-# Language-specific flags
-#
-set(ARCHCFLAGS
-	-std=gnu99
-	-D__CUSTOM_FILE_IO__
-	)
-set(ARCHCXXFLAGS
-	-fno-exceptions
-	-fno-rtti
-	-std=c++11
-	-fno-threadsafe-statics
-	-DCONFIG_WCHAR_BUILTIN
-	-D__CUSTOM_FILE_IO__
-	)
-
-set(ARCHWARNINGS
-	-Wall
-	-Wextra
-	-Werror
-	-Wno-unused-parameter
-	-Wno-unused-function
-	-Wno-unused-variable
-	-Wno-gnu-array-member-paren-init
-	-Wno-cast-align
-	-Wno-missing-braces
-	-Wno-strict-aliasing
-#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-	)
-
-# C-specific warnings
-#
-set(ARCHCWARNINGS
-	${ARCHWARNINGS}
-	-Wstrict-prototypes
-	-Wnested-externs
-	)
-
-# C++-specific warnings
-#
-set(ARCHWARNINGSXX
-	${ARCHWARNINGS}
-	-Wno-missing-field-initializers
-	)
-exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-libgcc-file-name OUTPUT_VARIABLE LIBGCC)
-exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-file-name=libm.a OUTPUT_VARIABLE LIBM)
-set(EXTRA_LIBS ${EXTRA_LIBS} ${LIBM})
-
-# Flags we pass to the C compiler
-#
-list2string(CFLAGS 
-	${ARCHCFLAGS}
-	${ARCHCWARNINGS}
-	${ARCHOPTIMIZATION}
-	${ARCHCPUFLAGS}
-	${ARCHINCLUDES}
-	${INSTRUMENTATIONDEFINES}
-	${ARCHDEFINES}
-	${EXTRADEFINES}
-	${EXTRACFLAGS}
-	${HEXAGON_INCLUDE_DIRS}
-	)
-
-# Flags we pass to the C++ compiler
-#
-list2string(CXXFLAGS
-	${ARCHCXXFLAGS}
-	${ARCHWARNINGSXX}
-	${ARCHOPTIMIZATION}
-	${ARCHCPUFLAGS}
-	${ARCHXXINCLUDES}
-	${INSTRUMENTATIONDEFINES}
-	${ARCHDEFINES}
-	${EXTRADEFINES}
-	${EXTRACXXFLAGS}
-	${HEXAGON_INCLUDE_DIRS}
-	)
-
-# Flags we pass to the assembler
-#
-list2string(AFLAGS
-	${CFLAGS} 
-	-D__ASSEMBLY__
-	${EXTRADEFINES}
-	${EXTRAAFLAGS}
-	)
-
-# Set cmake flags
-#
-list2string(CMAKE_C_FLAGS
-	${CMAKE_C_FLAGS}
-	${CFLAGS}
-	)
-
-set(QURT_CMAKE_C_FLAGS ${CMAKE_C_FLAGS} CACHE STRING "cflags")
-
-message(STATUS "CMAKE_C_FLAGS: -${CMAKE_C_FLAGS}-")
-
-list2string(CMAKE_CXX_FLAGS
-	${CMAKE_CXX_FLAGS}
-	${CXXFLAGS}
-	)
-
-set(QURT_CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} CACHE STRING "cxxflags")
-
-message(STATUS "CMAKE_CXX_FLAGS: -${CMAKE_CXX_FLAGS}-")
-
-# Flags we pass to the linker
-#
-list2string(CMAKE_EXE_LINKER_FLAGS
-	-g 
-	-mv5 
-	-mG0lib 
-	-G0 
-	-fpic 
-	-shared
-	-Wl,-Bsymbolic
-	-Wl,--wrap=malloc
-	-Wl,--wrap=calloc
-	-Wl,--wrap=free
-	-Wl,--wrap=realloc
-	-Wl,--wrap=memalign
-	-Wl,--wrap=__stack_chk_fail
-	-lc
-	${EXTRALDFLAGS}
-	)
-
-# where is the target environment 
-set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
-
-set(CMAKE_C_COMPILER_ID, "Clang")
-set(CMAKE_CXX_COMPILER_ID, "Clang")
-
-# search for programs in the build host directories
-set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-# for libraries and headers in the target directories
-set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

msg/ekf2_innovations.msg

@@ -0,0 +1,7 @@
+uint64 timestamp		# Timestamp in microseconds since boot
+float32[6] vel_pos_innov  # velocity and position innovations
+float32[3] mag_innov 	# earth magnetic field innovations
+float32 heading_innov 	# heading innovation
+float32[6] vel_pos_innov_var 	# velocity and position innovation variances
+float32[3] mag_innov_var	# earth magnetic field innovation variance
+float32 heading_innov_var 	# heading innovation variance

msg/input_rc.msg

@@ -6,6 +6,12 @@ uint8 RC_INPUT_SOURCE_PX4IO_SBUS = 4
 uint8 RC_INPUT_SOURCE_PX4IO_ST24 = 5
 uint8 RC_INPUT_SOURCE_MAVLINK = 6
 uint8 RC_INPUT_SOURCE_QURT = 7
+uint8 RC_INPUT_SOURCE_PX4FMU_SPEKTRUM = 8
+uint8 RC_INPUT_SOURCE_PX4FMU_SBUS = 9
+uint8 RC_INPUT_SOURCE_PX4FMU_ST24 = 10
+uint8 RC_INPUT_SOURCE_PX4FMU_SUMD = 11
+uint8 RC_INPUT_SOURCE_PX4FMU_DSM = 12
+uint8 RC_INPUT_SOURCE_PX4IO_SUMD = 13
 
 uint8 RC_INPUT_MAX_CHANNELS = 18 	# Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
 
@@ -14,7 +20,7 @@ uint64 timestamp_last_signal		# last valid reception time
 uint32 channel_count			# number of channels actually being seen
 int32 rssi				# receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception
 bool rc_failsafe			# explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly.
-bool rc_lost				# RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usally means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
+bool rc_lost				# RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usUally means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
 uint16 rc_lost_frame_count		# Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
 uint16 rc_total_frame_count		# Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
 uint16 rc_ppm_frame_length		# Length of a single PPM frame. Zero for non-PPM systems

msg/manual_control_setpoint.msg

@@ -26,7 +26,7 @@ float32 z			 # throttle stick position 0..1
 				 # in general the value corresponds to the demanded throttle by the user,
 				 # if the input is used for setting the setpoint of a vertical position
 				 # controller any value > 0.5 means up and any value < 0.5 means down
-float32 r			 # yaw stick/twist positon, -1..1
+float32 r			 # yaw stick/twist position, -1..1
 				 # in general corresponds to the righthand rotation around the vertical
 				 # (downwards) axis of the vehicle
 float32 flaps			 # flap position
@@ -38,8 +38,9 @@ float32 aux5			 # default function: payload drop
 
 uint8 mode_switch		 # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
 uint8 return_switch		 # return to launch 2 position switch (mandatory): _NORMAL_, RTL
-uint8 rattitude_switch		 # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
+uint8 rattitude_switch	 # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
 uint8 posctl_switch		 # position control 2 position switch (optional): _ALTCTL_, POSCTL
 uint8 loiter_switch		 # loiter 2 position switch (optional): _MISSION_, LOITER
 uint8 acro_switch		 # acro 2 position switch (optional): _MANUAL_, ACRO
-uint8 offboard_switch		 # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
+uint8 offboard_switch	 # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
+uint8 kill_switch		 # throttle kill: _NORMAL_, KILL

msg/parameter_update.msg

@@ -1 +1,2 @@
 uint64 timestamp	# time at which the latest parameter was updated
+bool saved		# wether the change has already been saved to disk

msg/rc_channels.msg

@@ -1,4 +1,4 @@
-int32 RC_CHANNELS_FUNCTION_MAX=20
+int32 RC_CHANNELS_FUNCTION_MAX=21
 uint8 RC_CHANNELS_FUNCTION_THROTTLE=0
 uint8 RC_CHANNELS_FUNCTION_ROLL=1
 uint8 RC_CHANNELS_FUNCTION_PITCH=2
@@ -19,11 +19,12 @@ uint8 RC_CHANNELS_FUNCTION_PARAM_1=16
 uint8 RC_CHANNELS_FUNCTION_PARAM_2=17
 uint8 RC_CHANNELS_FUNCTION_PARAM_3_5=18
 uint8 RC_CHANNELS_FUNCTION_RATTITUDE=19
+uint8 RC_CHANNELS_FUNCTION_KILLSWITCH=20
 uint64 timestamp						# Timestamp in microseconds since boot time
 uint64 timestamp_last_valid					# Timestamp of last valid RC signal
-float32[20] channels						# Scaled to -1..1 (throttle: 0..1)
+float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
 uint8 channel_count						# Number of valid channels
-int8[20] function						# Functions mapping
+int8[21] function						# Functions mapping
 uint8 rssi							# Receive signal strength index
 bool signal_lost						# Control signal lost, should be checked together with topic timeout
 uint32 frame_drop_count						# Number of dropped frames

msg/rc_parameter_map.msg

@@ -6,6 +6,6 @@ bool[3] valid		#true for RC-Param channels which are mapped to a param
 int32[3] param_index	# corresponding param index, this field is ignored if set to -1, in this case param_id will be used
 char[51] param_id	# MAP_NCHAN * (ID_LEN + 1) chars, corresponding param id, null terminated
 float32[3] scale		# scale to map the RC input [-1, 1] to a parameter value
-float32[3] value0		# inital value around which the parameter value is changed
+float32[3] value0		# initial value around which the parameter value is changed
 float32[3] value_min	# minimal parameter value
 float32[3] value_max	# minimal parameter value

msg/vehicle_command.msg

@@ -31,6 +31,7 @@ uint32 VEHICLE_CMD_DO_SET_SERVO = 183			# Set a servo to a desired PWM value. |S
 uint32 VEHICLE_CMD_DO_REPEAT_SERVO = 184		# Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_FLIGHTTERMINATION=185		# Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_CONTROL_VIDEO = 200		# Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| 
+uint32 VEHICLE_CMD_DO_DIGICAM_CONTROL=203
 uint32 VEHICLE_CMD_DO_MOUNT_CONFIGURE=204		# Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| 
 uint32 VEHICLE_CMD_DO_MOUNT_CONTROL=205			# Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| 
 uint32 VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206		# Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| 

nuttx-configs/px4fmu-v4/include/board.h

@@ -215,7 +215,7 @@
 #define GPIO_UART4_RX	GPIO_UART4_RX_1
 #define GPIO_UART4_TX	GPIO_UART4_TX_1
 
-#define GPIO_USART6_RX	GPIO_USART6_RX_1
+#define GPIO_USART6_RX	GPIO_USART6_RX_1	/* RC_INPUT */
 #define GPIO_USART6_TX	GPIO_USART6_TX_1
 
 #define GPIO_UART7_RX	GPIO_UART7_RX_1
@@ -257,9 +257,10 @@
 #define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
 
+
 #define GPIO_SPI2_MISO	(GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
-#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_1|GPIO_SPEED_50MHz)
 
 /************************************************************************************
  * Public Data

nuttx-configs/px4io-v2/nsh/defconfig

@@ -164,8 +164,8 @@ CONFIG_USART1_SERIAL_CONSOLE=y
 CONFIG_USART2_SERIAL_CONSOLE=n
 CONFIG_USART3_SERIAL_CONSOLE=n
 
-CONFIG_USART1_TXBUFSIZE=64
-CONFIG_USART2_TXBUFSIZE=64
+CONFIG_USART1_TXBUFSIZE=32
+CONFIG_USART2_TXBUFSIZE=32
 CONFIG_USART3_TXBUFSIZE=64
 
 CONFIG_USART1_RXBUFSIZE=64

posix-configs/SITL/init/rcS_gazebo_standard_vtol

@@ -0,0 +1,66 @@
+uorb start
+simulator start -s
+param load
+param set MAV_TYPE 20
+param set MC_PITCHRATE_P 0.3
+param set MC_ROLLRATE_P 0.3
+param set MC_YAW_P 2.0
+param set MC_YAWRATE_P 0.35
+param set VT_TYPE 2
+param set SYS_AUTOSTART 4010
+param set SYS_RESTART_TYPE 2
+dataman start
+param set CAL_GYRO0_ID 2293768
+param set CAL_ACC0_ID 1376264
+param set CAL_ACC1_ID 1310728
+param set CAL_MAG0_ID 196616
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_XOFF 0.01
+param set CAL_MAG0_XOFF 0.01
+param set MPC_XY_P 0.15
+param set MPC_XY_VEL_P 0.05
+param set MPC_XY_VEL_D 0.005
+param set MPC_XY_FF 0.1
+param set MPC_Z_VEL_MAX 1.0
+param set SENS_BOARD_ROT 8
+param set COM_RC_IN_MODE 1
+rgbledsim start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+measairspeedsim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+land_detector start multicopter
+navigator start
+attitude_estimator_q start
+position_estimator_inav start
+vtol_att_control start
+mc_pos_control start
+mc_att_control start
+fw_pos_control_l1 start
+fw_att_control start
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/standard_vtol_sitl.main.mix
+mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard
+mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 80 -s ATTITUDE -u 14556
+mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 20 -s RC_CHANNELS -u 14556
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+mavlink boot_complete
+sdlog2 start -r 200 -e -t -a

posix-configs/SITL/init/rcS_gazebo_tailsitter

@@ -27,6 +27,7 @@ param set MPC_XY_P 0.15
 param set MPC_XY_VEL_P 0.05
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_FF 0.1
+param set MPC_Z_VEL_MAX 1.0
 param set SENS_BOARD_ROT 8
 param set COM_RC_IN_MODE 1
 rgbledsim start

posix-configs/SITL/init/rcS_jmavsim_iris

@@ -51,8 +51,7 @@ sensors start
 commander start
 land_detector start multicopter
 navigator start
-attitude_estimator_q start
-position_estimator_inav start
+ekf2 start
 mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix

posix-configs/SITL/init/rcS_lpe_jmavsim_iris

@@ -3,8 +3,10 @@ simulator start -s
 param load
 param set MAV_TYPE 2
 param set MC_PITCHRATE_P 0.15
+param set MC_PITCH_P 7
+param set MC_ROLL_P 7
 param set MC_ROLLRATE_P 0.15
-param set MC_YAW_P 2.0
+param set MC_YAW_P 2.8
 param set MC_YAWRATE_P 0.35
 param set SYS_AUTOSTART 4010
 param set SYS_RESTART_TYPE 2
@@ -26,12 +28,22 @@ param set MPC_XY_P 0.4
 param set MPC_XY_VEL_P 0.2
 param set MPC_XY_VEL_D 0.005
 param set SENS_BOARD_ROT 0
+param set COM_RC_IN_MODE 1
+param set NAV_ACC_RAD 2.0
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+param set MIS_TAKEOFF_ALT 5.0
+param set MPC_HOLD_MAX_Z 2.0
+param set MPC_HOLD_XY_DZ 0.1
+param set MPC_HOLD_Z_DZ 0.1
+param set MPC_Z_VEL_MAX 2.0
+param set MPC_Z_VEL_P 0.4
 
 # changes for LPE
 param set COM_RC_IN_MODE 1
 param set LPE_BETA_MAX 10000
 
-rgbled start
+rgbledsim start
 tone_alarm start
 gyrosim start
 accelsim start
@@ -49,6 +61,7 @@ mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
 mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
 mavlink stream -r 80 -s LOCAL_POSITION_NED_COV -u 14556
 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
@@ -57,6 +70,7 @@ mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
 mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+mavlink stream -r 20 -s MANUAL_CONTROL -u 14556
 mavlink boot_complete
 sdlog2 start -r 100 -e -t -a
 

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

@@ -115,6 +115,7 @@ __BEGIN_DECLS
 #define PX4_SPI_BUS_SENSORS	1
 #define PX4_SPI_BUS_RAMTRON	2
 #define PX4_SPI_BUS_EXT		4
+#define PX4_SPI_BUS_BARO	PX4_SPI_BUS_SENSORS
 
 /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
 #define PX4_SPIDEV_GYRO		1

src/drivers/boards/px4fmu-v4/board_config.h

@@ -73,7 +73,7 @@ __BEGIN_DECLS
 /* LEDs */
 
 #define GPIO_LED1		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
-#define GPIO_LED2		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_LED2		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
 #define GPIO_LED3		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
 
 #define GPIO_LED_RED 	GPIO_LED1
@@ -120,15 +120,24 @@ __BEGIN_DECLS
 
 #define PX4_SPI_BUS_SENSORS	1
 #define PX4_SPI_BUS_RAMTRON	2
+#define PX4_SPI_BUS_BARO	PX4_SPI_BUS_RAMTRON
 
 /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
 #define PX4_SPIDEV_GYRO			1
 #define PX4_SPIDEV_ACCEL_MAG	2
-#define PX4_SPIDEV_BARO			3
 #define PX4_SPIDEV_MPU			4
 #define PX4_SPIDEV_HMC			5
 #define PX4_SPIDEV_ICM			6
 
+/* onboard MS5611 and FRAM are both on bus SPI2
+ * spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver
+ * use 3 for the barometer to differentiate
+ */
+#define PX4_SPIDEV_BARO			3
+#if (PX4_SPIDEV_BARO == SPIDEV_FLASH)
+#error PX4_SPIDEV_BARO must not be equal to SPIDEV_FLASH as they share the same bus
+#endif
+
 /* I2C busses */
 #define PX4_I2C_BUS_EXPANSION	1
 #define PX4_I2C_BUS_LED			PX4_I2C_BUS_EXPANSION
@@ -145,13 +154,12 @@ __BEGIN_DECLS
  *
  * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
  */
-#define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)
+#define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14)
 
 // ADC defines to be used in sensors.cpp to read from a particular channel
 #define ADC_BATTERY_VOLTAGE_CHANNEL		2
 #define ADC_BATTERY_CURRENT_CHANNEL		3
 #define ADC_5V_RAIL_SENSE				4
-#define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
 
 /* User GPIOs
  *
@@ -215,7 +223,7 @@ __BEGIN_DECLS
 #define HRT_PPM_CHANNEL		3	/* use capture/compare channel 2 */
 #define GPIO_PPM_IN			(GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
 
-#define SBUS_SERIAL_PORT	"/dev/ttyS4"
+#define RC_SERIAL_PORT		"/dev/ttyS4"
 
 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
 #define PWMIN_TIMER			4
@@ -226,7 +234,12 @@ __BEGIN_DECLS
 #define GPIO_LED_SAFETY			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
 #define GPIO_BTN_SAFETY			(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
 #define GPIO_PERIPH_3V3_EN		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
-#define GPIO_SBUS_INV			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+/* for R07, this signal is active low */
+//#define GPIO_SBUS_INV			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+//#define INVERT_RC_INPUT(_s)		stm32_gpiowrite(GPIO_SBUS_INV, 1-_s);
+/* for R12, this signal is active high */
+#define GPIO_SBUS_INV			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+#define INVERT_RC_INPUT(_s)		stm32_gpiowrite(GPIO_SBUS_INV, _s);
 
 #define GPIO_8266_GPIO0			(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
 #define GPIO_SPEKTRUM_PWR_EN		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
@@ -235,11 +248,14 @@ __BEGIN_DECLS
 
 /* Power switch controls ******************************************************/
 
-#define POWER_SPEKTRUM(_s)		stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
-#define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
-#define SPEKTRUM_RX_HIGH(_s)	stm32_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_s))
+#define POWER_SPEKTRUM(_s)			stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (1-_s))
+//#define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
 #define SPEKTRUM_RX_AS_UART()		stm32_configgpio(GPIO_USART1_RX)
-#define SPEKTRUM_RX_AS_GPIO()		stm32_configgpio(GPIO_USART1_RX_SPEKTRUM)
+
+// FMUv4 has a separate GPIO for serial RC output
+#define GPIO_RC_OUT			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
+#define SPEKTRUM_RX_AS_GPIO()		stm32_configgpio(GPIO_RC_OUT)
+#define SPEKTRUM_RX_HIGH(_s)		stm32_gpiowrite(GPIO_RC_OUT, (_s))
 
 /****************************************************************************************************
  * Public Types

src/drivers/boards/px4fmu-v4/px4fmu_init.c

@@ -219,10 +219,6 @@ __EXPORT int nsh_archinitialize(void)
 	stm32_configgpio(GPIO_ADC1_IN3);	/* BATT_CURRENT_SENS */
 	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
 
-	stm32_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
-	stm32_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
-	stm32_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
-
 	/* configure power supply control/sense pins */
 	stm32_configgpio(GPIO_PERIPH_3V3_EN);
 	stm32_configgpio(GPIO_VDD_BRICK_VALID);
@@ -233,6 +229,10 @@ __EXPORT int nsh_archinitialize(void)
 	stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
 	stm32_configgpio(GPIO_8266_PD);
 	stm32_configgpio(GPIO_8266_RST);
+#ifdef GPIO_RC_OUT
+	stm32_configgpio(GPIO_RC_OUT);      /* Serial RC output pin */
+	stm32_gpiowrite(GPIO_RC_OUT, 1);    /* set it high to pull RC input up */
+#endif
 
 	/* configure the high-resolution time/callout interface */
 	hrt_init();
@@ -284,7 +284,6 @@ __EXPORT int nsh_archinitialize(void)
 	SPI_SETMODE(spi1, SPIDEV_MODE3);
 	SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_HMC, false);
-	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
 	up_udelay(20);
 
@@ -298,14 +297,16 @@ __EXPORT int nsh_archinitialize(void)
 		return -ENODEV;
 	}
 
-	/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
-	 * and de-assert the known chip selects. */
+	/* Default SPI2 to 12MHz and de-assert the known chip selects.
+	 * MS5611 has max SPI clock speed of 20MHz
+	 */
 
-	// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
-	SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
+	// XXX start with 10.4 MHz and go up to 20 once validated
+	SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000);
 	SPI_SETBITS(spi2, 8);
 	SPI_SETMODE(spi2, SPIDEV_MODE3);
 	SPI_SELECT(spi2, SPIDEV_FLASH, false);
+	SPI_SELECT(spi2, PX4_SPIDEV_BARO, false);
 
 #ifdef CONFIG_MMCSD
 	/* First, get an instance of the SDIO interface */

src/drivers/boards/px4fmu-v4/px4fmu_pwm_servo.c

@@ -70,36 +70,36 @@ __EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
 		.gpio = GPIO_TIM1_CH4OUT,
 		.timer_index = 0,
 		.timer_channel = 4,
-		.default_value = 1000,
+		.default_value = 900,
 	},
 	{
 		.gpio = GPIO_TIM1_CH3OUT,
 		.timer_index = 0,
 		.timer_channel = 3,
-		.default_value = 1000,
+		.default_value = 900,
 	},
 	{
 		.gpio = GPIO_TIM1_CH2OUT,
 		.timer_index = 0,
 		.timer_channel = 2,
-		.default_value = 1000,
+		.default_value = 900,
 	},
 	{
 		.gpio = GPIO_TIM1_CH1OUT,
 		.timer_index = 0,
 		.timer_channel = 1,
-		.default_value = 1000,
+		.default_value = 900,
 	},
 	{
 		.gpio = GPIO_TIM4_CH2OUT,
 		.timer_index = 1,
 		.timer_channel = 2,
-		.default_value = 1000,
+		.default_value = 900,
 	},
 	{
 		.gpio = GPIO_TIM4_CH3OUT,
 		.timer_index = 1,
 		.timer_channel = 3,
-		.default_value = 1000,
+		.default_value = 900,
 	}
 };

src/drivers/boards/px4fmu-v4/px4fmu_spi.c

@@ -151,8 +151,24 @@ __EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 #ifdef CONFIG_STM32_SPI2
 __EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
 {
-	/* there can only be one device on this bus, so always select it */
-	stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
+	/* SPI select is active low, so write !selected to select the device */
+
+	switch (devid) {
+	case SPIDEV_FLASH:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
+		break;
+
+	case PX4_SPIDEV_BARO:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
+		break;
+
+	default:
+		break;
+	}
 }
 
 __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)

src/drivers/camera_trigger/camera_trigger.cpp

@@ -34,7 +34,7 @@
 /**
  * @file camera_trigger.cpp
  *
- * External camera-IMU synchronisation and triggering via FMU auxillary pins.
+ * External camera-IMU synchronisation and triggering via FMU auxiliary pins.
  *
  * @author Mohammed Kabir <mhkabir98@gmail.com>
  */

src/drivers/camera_trigger/camera_trigger_params.c

@@ -79,6 +79,8 @@ PARAM_DEFINE_FLOAT(TRIG_ACT_TIME, 0.5f);
  *
  * 0 disables the trigger, 1 sets it to enabled on command, 2 always on
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 2
  * @group Camera trigger

src/drivers/device/spi.h

@@ -77,6 +77,15 @@ protected:
 	    int irq = 0);
 	virtual ~SPI();
 
+	/**
+	 * Locking modes supported by the driver.
+	 */
+	enum LockMode {
+		LOCK_PREEMPTION,	/**< the default; lock against all forms of preemption. */
+		LOCK_THREADS,		/**< lock only against other threads, using SPI_LOCK */
+		LOCK_NONE		/**< perform no locking, only safe if the bus is entirely private */
+	};
+
 	virtual int	init();
 
 	/**
@@ -117,13 +126,14 @@ protected:
 	void		set_frequency(uint32_t frequency);
 
 	/**
-	 * Locking modes supported by the driver.
+	 * Set the SPI bus locking mode
+	 *
+	 * This set the SPI locking mode. For devices competing with NuttX SPI
+	 * drivers on a bus the right lock mode is LOCK_THREADS.
+	 *
+	 * @param mode	Locking mode
 	 */
-	enum LockMode {
-		LOCK_PREEMPTION,	/**< the default; lock against all forms of preemption. */
-		LOCK_THREADS,		/**< lock only against other threads, using SPI_LOCK */
-		LOCK_NONE		/**< perform no locking, only safe if the bus is entirely private */
-	};
+	void		set_lockmode(enum LockMode mode) { locking_mode = mode; }
 
 	LockMode	locking_mode;	/**< selected locking mode */
 

src/drivers/frsky_telemetry/CMakeLists.txt

@@ -38,6 +38,7 @@ px4_add_module(
 		-Os
 	SRCS
 		frsky_data.c
+		sPort_data.c
 		frsky_telemetry.c
 	DEPENDS
 		platforms__common

src/drivers/frsky_telemetry/frsky_telemetry.c

@@ -35,11 +35,13 @@
 /**
  * @file frsky_telemetry.c
  * @author Stefan Rado <px4@sradonia.net>
+ * @author Mark Whitehorn <kd0aij@github.com>
  *
- * FrSky telemetry implementation.
+ * FrSky D8 mode and SmartPort (D16 mode) telemetry implementation.
  *
- * This daemon emulates an FrSky sensor hub by periodically sending data
- * packets to an attached FrSky receiver.
+ * This daemon emulates the FrSky Sensor Hub for D8 mode.
+ * For X series receivers (D16 mode) it emulates SmartPort sensors by responding to polling
+ * packets received from an attached FrSky X series receiver.
  *
  */
 
@@ -48,12 +50,15 @@
 #include <stdbool.h>
 #include <string.h>
 #include <sys/types.h>
+#include <poll.h>
 #include <fcntl.h>
 #include <unistd.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
 #include <termios.h>
+#include <drivers/drv_hrt.h>
 
+#include "sPort_data.h"
 #include "frsky_data.h"
 
 
@@ -63,7 +68,8 @@ static volatile bool thread_running = false;
 static int frsky_task;
 
 /* functions */
-static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original);
+static int sPort_open_uart(const char *uart_name, struct termios *uart_config, struct termios *uart_config_original);
+static int set_uart_speed(int uart, struct termios *uart_config, speed_t speed);
 static void usage(void);
 static int frsky_telemetry_thread_main(int argc, char *argv[]);
 __EXPORT int frsky_telemetry_main(int argc, char *argv[]);
@@ -72,10 +78,10 @@ __EXPORT int frsky_telemetry_main(int argc, char *argv[]);
 /**
  * Opens the UART device and sets all required serial parameters.
  */
-static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original)
+static int sPort_open_uart(const char *uart_name, struct termios *uart_config, struct termios *uart_config_original)
 {
 	/* Open UART */
-	const int uart = open(uart_name, O_WRONLY | O_NOCTTY);
+	const int uart = open(uart_name, O_RDWR | O_NOCTTY | O_NONBLOCK);
 
 	if (uart < 0) {
 		err(1, "Error opening port: %s", uart_name);
@@ -91,22 +97,21 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or
 	}
 
 	/* Fill the struct for the new configuration */
-	struct termios uart_config;
-	tcgetattr(uart, &uart_config);
+	tcgetattr(uart, uart_config);
 
 	/* Disable output post-processing */
-	uart_config.c_oflag &= ~OPOST;
+	uart_config->c_oflag &= ~OPOST;
 
 	/* Set baud rate */
-	static const speed_t speed = B9600;
+	static const speed_t speed = B57600;
 
-	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
+	if (cfsetispeed(uart_config, speed) < 0 || cfsetospeed(uart_config, speed) < 0) {
 		warnx("ERR: %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
 		close(uart);
 		return -1;
 	}
 
-	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
+	if ((termios_state = tcsetattr(uart, TCSANOW, uart_config)) < 0) {
 		warnx("ERR: %s (tcsetattr)\n", uart_name);
 		close(uart);
 		return -1;
@@ -115,6 +120,20 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or
 	return uart;
 }
 
+static int set_uart_speed(int uart, struct termios *uart_config, speed_t speed)
+{
+
+	if (cfsetispeed(uart_config, speed) < 0) {
+		return -1;
+	}
+
+	if (tcsetattr(uart, TCSANOW, uart_config) < 0) {
+		return -1;
+	}
+
+	return uart;
+}
+
 /**
  * Print command usage information
  */
@@ -133,7 +152,7 @@ static void usage()
 static int frsky_telemetry_thread_main(int argc, char *argv[])
 {
 	/* Default values for arguments */
-	char *device_name = "/dev/ttyS1"; /* USART2 */
+	char *device_name = "/dev/ttyS6"; /* USART8 */
 
 	/* Work around some stupidity in task_create's argv handling */
 	argc -= 2;
@@ -154,42 +173,181 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
 	}
 
 	/* Open UART */
+	warnx("opening uart");
 	struct termios uart_config_original;
-	const int uart = frsky_open_uart(device_name, &uart_config_original);
+	struct termios uart_config;
+	const int uart = sPort_open_uart(device_name, &uart_config, &uart_config_original);
 
 	if (uart < 0) {
+		warnx("could not open %s", device_name);
 		err(1, "could not open %s", device_name);
 	}
 
-	/* Subscribe to topics */
-	frsky_init();
+	/* poll descriptor */
+	struct pollfd fds[1];
+	fds[0].fd = uart;
+	fds[0].events = POLLIN;
 
 	thread_running = true;
 
 	/* Main thread loop */
-	unsigned int iteration = 0;
+	char sbuf[20];
 
-	while (!thread_should_exit) {
+	/* look for polling bytes indicating SmartPort telemetry
+	 * if not found, send D type telemetry frames instead
+	 */
+	int status = poll(fds, sizeof(fds) / sizeof(fds[0]), 3000);
 
-		/* Sleep 200 ms */
-		usleep(200000);
+	if (status > 0) {
+		/* traffic on the port, assume it's a SmartPort master */
+		/* Subscribe to topics */
+		sPort_init();
 
-		/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
-		frsky_send_frame1(uart);
+		/* send S.port telemetry */
+		while (!thread_should_exit) {
 
-		/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
-		if (iteration % 5 == 0) {
-			frsky_send_frame2(uart);
+			/* wait for poll frame starting with value 0x7E
+			* note that only the bus master is supposed to put a 0x7E on the bus.
+			* slaves use byte stuffing to send 0x7E and 0x7D.
+			* we expect a poll frame every 12msec
+			*/
+			int status = poll(fds, sizeof(fds) / sizeof(fds[0]), 50);
+
+			if (status < 1) { continue; }
+
+			// read 1 byte
+			int newBytes = read(uart, &sbuf[0], 1);
+
+			if (newBytes < 1 || sbuf[0] != 0x7E) { continue; }
+
+			/* wait for ID byte */
+			status = poll(fds, sizeof(fds) / sizeof(fds[0]), 50);
+
+			if (status < 1) { continue; }
+
+			hrt_abstime now = hrt_absolute_time();
+
+			newBytes = read(uart, &sbuf[1], 1);
+
+			// allow a minimum of 500usec before reply
+			usleep(500);
+
+			static hrt_abstime lastBATV = 0;
+			static hrt_abstime lastCUR = 0;
+			static hrt_abstime lastALT = 0;
+			static hrt_abstime lastSPD = 0;
+			static hrt_abstime lastFUEL = 0;
+
+			switch (sbuf[1]) {
+
+			case SMARTPORT_POLL_1:
+
+				/* report BATV at 1Hz */
+				if (now - lastBATV > 1000 * 1000) {
+					lastBATV = now;
+					/* send battery voltage */
+					sPort_send_BATV(uart);
+				}
+
+				break;
+
+
+			case SMARTPORT_POLL_2:
+
+				/* report battery current at 5Hz */
+				if (now - lastCUR > 200 * 1000) {
+					lastCUR = now;
+					/* send battery current */
+					sPort_send_CUR(uart);
+				}
+
+				break;
+
+
+			case SMARTPORT_POLL_3:
+
+				/* report altitude at 5Hz */
+				if (now - lastALT > 200 * 1000) {
+					lastALT = now;
+					/* send altitude */
+					sPort_send_ALT(uart);
+				}
+
+				break;
+
+
+			case SMARTPORT_POLL_4:
+
+				/* report speed at 5Hz */
+				if (now - lastSPD > 200 * 1000) {
+					lastSPD = now;
+					/* send speed */
+					sPort_send_SPD(uart);
+				}
+
+				break;
+
+			case SMARTPORT_POLL_5:
+
+				/* report fuel at 1Hz */
+				if (now - lastFUEL > 1000 * 1000) {
+					lastFUEL = now;
+					/* send fuel */
+					sPort_send_FUEL(uart);
+				}
+
+				break;
+			}
 		}
 
-		/* Send frame 3 (every 5000ms): date, time */
-		if (iteration % 25 == 0) {
-			frsky_send_frame3(uart);
+	} else {
 
-			iteration = 0;
+		/* timed out: reconfigure UART and send D type telemetry */
+		warnx("SmartPort receiver not detected, sending FrSky D type telemetry");
+
+		status = set_uart_speed(uart, &uart_config, B9600);
+
+		if (status < 0) {
+			warnx("error setting speed for %s, quitting", device_name);
+			/* Reset the UART flags to original state */
+			tcsetattr(uart, TCSANOW, &uart_config_original);
+			close(uart);
+
+			thread_running = false;
+			return 0;
 		}
 
-		iteration++;
+		int iteration = 0;
+
+		/* Subscribe to topics */
+		frsky_init();
+
+		/* send D8 mode telemetry */
+		while (!thread_should_exit) {
+
+			/* Sleep 200 ms */
+			usleep(200000);
+
+			/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
+			frsky_send_frame1(uart);
+
+			/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
+			if (iteration % 5 == 0) {
+				frsky_send_frame2(uart);
+			}
+
+			/* Send frame 3 (every 5000ms): date, time */
+			if (iteration % 25 == 0) {
+				frsky_send_frame3(uart);
+
+				iteration = 0;
+			}
+
+			iteration++;
+		}
+
+		/* TODO: flush the input buffer if in full duplex mode */
+		read(uart, &sbuf[0], sizeof(sbuf));
 	}
 
 	/* Reset the UART flags to original state */
@@ -221,7 +379,7 @@ int frsky_telemetry_main(int argc, char *argv[])
 		thread_should_exit = false;
 		frsky_task = px4_task_spawn_cmd("frsky_telemetry",
 						SCHED_DEFAULT,
-						SCHED_PRIORITY_DEFAULT,
+						200,
 						2000,
 						frsky_telemetry_thread_main,
 						(char *const *)argv);

src/drivers/frsky_telemetry/sPort_data.c

@@ -0,0 +1,217 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *   Author: Stefan Rado <px4@sradonia.net>
+ *
+ * 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 sPort_data.c
+ * @author Stefan Rado <px4@sradonia.net>
+ * @author Mark Whitehorn <kd0aij@github.com>
+ *
+ * FrSky SmartPort telemetry implementation.
+ *
+ */
+
+#include "sPort_data.h"
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <arch/math.h>
+#include <geo/geo.h>
+
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_status.h>
+
+#include <drivers/drv_hrt.h>
+
+#define frac(f) (f - (int)f)
+
+static int battery_sub = -1;
+static int sensor_sub = -1;
+static int global_position_sub = -1;
+static int vehicle_status_sub = -1;
+
+/**
+ * Initializes the uORB subscriptions.
+ */
+void sPort_init()
+{
+	battery_sub = orb_subscribe(ORB_ID(battery_status));
+	global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+	vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
+}
+
+/**
+ * Sends a 0x10 start byte.
+ */
+//static void sPort_send_start(int uart)
+//{
+//	static const uint8_t c = 0x10;
+//	write(uart, &c, 1);
+//}
+
+static void update_crc(uint16_t *crc, unsigned char b)
+{
+	*crc += b;
+	*crc += *crc >> 8;
+	*crc &= 0xFF;
+}
+
+/**
+ * Sends one byte, performing byte-stuffing if necessary.
+ */
+static void sPort_send_byte(int uart, uint8_t value)
+{
+	const uint8_t x7E[] = { 0x7D, 0x5E };
+	const uint8_t x7D[] = { 0x7D, 0x5D };
+
+	switch (value) {
+	case 0x7E:
+		write(uart, x7E, sizeof(x7E));
+		break;
+
+	case 0x7D:
+		write(uart, x7D, sizeof(x7D));
+		break;
+
+	default:
+		write(uart, &value, sizeof(value));
+		break;
+	}
+}
+
+/**
+ * Sends one data id/value pair.
+ */
+void sPort_send_data(int uart, uint16_t id, uint32_t data)
+{
+	union {
+		uint32_t word;
+		uint8_t byte[4];
+	} buf;
+
+	/* send start byte */
+	static const uint8_t c = 0x10;
+	write(uart, &c, 1);
+
+	/* init crc */
+	uint16_t crc = c;
+
+	buf.word = id;
+
+	for (int i = 0; i < 2; i++) {
+		update_crc(&crc, buf.byte[i]);
+		sPort_send_byte(uart, buf.byte[i]);      /* LSB first */
+	}
+
+	buf.word = data;
+
+	for (int i = 0; i < 4; i++) {
+		update_crc(&crc, buf.byte[i]);
+		sPort_send_byte(uart, buf.byte[i]);      /* LSB first */
+	}
+
+	sPort_send_byte(uart, 0xFF - crc);
+}
+
+
+// scaling correct with OpenTX 2.1.7
+void sPort_send_BATV(int uart)
+{
+	/* get a local copy of the vehicle status data */
+	struct vehicle_status_s vehicle_status;
+	memset(&vehicle_status, 0, sizeof(vehicle_status));
+	orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
+
+	/* send battery voltage as VFAS */
+	uint32_t voltage = (int)(100 * vehicle_status.battery_voltage);
+	sPort_send_data(uart, SMARTPORT_ID_VFAS, voltage);
+}
+
+// verified scaling
+void sPort_send_CUR(int uart)
+{
+	/* get a local copy of the vehicle status data */
+	struct vehicle_status_s vehicle_status;
+	memset(&vehicle_status, 0, sizeof(vehicle_status));
+	orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
+
+	/* send data */
+	uint32_t current = (int)(10 * vehicle_status.battery_current);
+	sPort_send_data(uart, SMARTPORT_ID_CURR, current);
+}
+
+// verified scaling for "custom" altitude option
+// OpenTX uses the initial reading as field elevation and displays
+// the difference (altitude - field)
+void sPort_send_ALT(int uart)
+{
+	/* get a local copy of the current sensor values */
+	struct sensor_combined_s raw;
+	memset(&raw, 0, sizeof(raw));
+	orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
+
+	/* send data */
+	uint32_t alt = (int)(100 * raw.baro_alt_meter[0]);
+	sPort_send_data(uart, SMARTPORT_ID_ALT, alt);
+}
+
+// verified scaling for "calculated" option
+void sPort_send_SPD(int uart)
+{
+	/* get a local copy of the global position data */
+	struct vehicle_global_position_s global_pos;
+	memset(&global_pos, 0, sizeof(global_pos));
+	orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
+
+	/* send data for A2 */
+	float speed  = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e);
+	uint32_t ispeed = (int)(10 * speed);
+	sPort_send_data(uart, SMARTPORT_ID_GPS_SPD, ispeed);
+}
+
+// verified scaling
+void sPort_send_FUEL(int uart)
+{
+	/* get a local copy of the vehicle status data */
+	struct vehicle_status_s vehicle_status;
+	memset(&vehicle_status, 0, sizeof(vehicle_status));
+	orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
+
+	/* send data */
+	uint32_t fuel = (int)(100 * vehicle_status.battery_remaining);
+	sPort_send_data(uart, SMARTPORT_ID_FUEL, fuel);
+}

src/drivers/frsky_telemetry/sPort_data.h

@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *   Author: Stefan Rado <px4@sradonia.net>
+ *
+ * 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 sPort_data.h
+ * @author Mark Whitehorn <kd0aij@github.com>
+ *
+ * FrSky SmartPort telemetry implementation.
+ *
+ */
+#ifndef _SPORT_DATA_H
+#define _SPORT_DATA_H
+
+#include <sys/types.h>
+
+/* FrSky SmartPort polling IDs captured from X4R */
+#define SMARTPORT_POLL_1    0x1B
+#define SMARTPORT_POLL_2    0x34
+#define SMARTPORT_POLL_3    0x95
+#define SMARTPORT_POLL_4    0x16
+#define SMARTPORT_POLL_5    0xB7
+
+/* FrSky SmartPort sensor IDs */
+#define SMARTPORT_ID_RSSI          0xf101
+#define SMARTPORT_ID_RXA1          0xf102	// supplied by RX
+#define SMARTPORT_ID_RXA2          0xf103	// supplied by RX
+#define SMARTPORT_ID_BATV          0xf104
+#define SMARTPORT_ID_SWR           0xf105
+#define SMARTPORT_ID_T1            0x0400
+#define SMARTPORT_ID_T2            0x0410
+#define SMARTPORT_ID_RPM           0x0500
+#define SMARTPORT_ID_FUEL          0x0600
+#define SMARTPORT_ID_ALT           0x0100
+#define SMARTPORT_ID_VARIO         0x0110
+#define SMARTPORT_ID_ACCX          0x0700
+#define SMARTPORT_ID_ACCY          0x0710
+#define SMARTPORT_ID_ACCZ          0x0720
+#define SMARTPORT_ID_CURR          0x0200
+#define SMARTPORT_ID_VFAS          0x0210
+#define SMARTPORT_ID_CELLS         0x0300
+#define SMARTPORT_ID_GPS_LON_LAT   0x0800
+#define SMARTPORT_ID_GPS_ALT       0x0820
+#define SMARTPORT_ID_GPS_SPD       0x0830
+#define SMARTPORT_ID_GPS_CRS       0x0840
+#define SMARTPORT_ID_GPS_TIME      0x0850
+
+// Public functions
+void sPort_init(void);
+void sPort_send_data(int uart, uint16_t id, uint32_t data);
+void sPort_send_BATV(int uart);
+void sPort_send_CUR(int uart);
+void sPort_send_ALT(int uart);
+void sPort_send_SPD(int uart);
+void sPort_send_FUEL(int uart);
+
+#endif /* _SPORT_TELEMETRY_H */

src/drivers/gimbal/gimbal_params.c

@@ -55,11 +55,11 @@
 PARAM_DEFINE_INT32(GMB_USE_MNT, 0);
 
 /**
- * Auxilary switch to set mount operation mode.
+ * Auxiliary switch to set mount operation mode.
  *
  * Set to 0 to disable manual mode control.
  *
- * If set to an auxilary switch:
+ * If set to an auxiliary switch:
  * Switch off means the gimbal is put into safe/locked position.
  * Switch on means the gimbal can move freely, and landing gear
  * will be retracted if applicable.

src/drivers/gps/gps.cpp

@@ -402,7 +402,12 @@ GPS::task_main()
 
 					if (!(_pub_blocked)) {
 						if (helper_ret & 1) {
-							orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
+							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 && (helper_ret & 2)) {

src/drivers/gps/mtk.h

@@ -72,7 +72,7 @@ typedef struct {
 	uint32_t msl_altitude;  ///< MSL altitude in meters * 10^2
 	uint32_t ground_speed; ///< velocity in m/s
 	int32_t heading; ///< heading in degrees * 10^2
-	uint8_t satellites; ///< number of sattelites used
+	uint8_t satellites; ///< number of satellites used
 	uint8_t fix_type;  ///< fix type: XXX correct for that
 	uint32_t date;
 	uint32_t utc_time;

src/drivers/gps/ubx.cpp

@@ -44,8 +44,8 @@
  * @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
+ * @see https://www2.u-blox.com/images/downloads/Product_Docs/u-blox6-GPS-GLONASS-QZSS-V14_ReceiverDescriptionProtocolSpec_Public_(GPS.G6-SW-12013).pdf
+ * @see https://www.u-blox.com/sites/default/files/products/documents/u-bloxM8_ReceiverDescrProtSpec_%28UBX-13003221%29_Public.pdf
  */
 
 #include <assert.h>

src/drivers/hott/hott_sensors/hott_sensors.cpp

@@ -182,7 +182,7 @@ hott_sensors_thread_main(int argc, char *argv[])
 
 		recv_data(uart, &buffer[0], &size, &id);
 
-		// Determine which moduel sent it and process accordingly.
+		// Determine which module sent it and process accordingly.
 		if (id == GAM_SENSOR_ID) {
 			publish_gam_message(buffer);
 

src/drivers/hott/messages.cpp

@@ -291,7 +291,7 @@ build_gps_response(uint8_t *buffer, size_t *size)
 		msg.altitude_L = (uint8_t)alt & 0xff;
 		msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;
 
-		/* Get any (and probably only ever one) _home_sub postion report */
+		/* Get any (and probably only ever one) _home_sub position report */
 		bool updated;
 		orb_check(_home_sub, &updated);
 

src/drivers/hott/messages.h

@@ -211,7 +211,7 @@ struct gps_module_msg {
 	uint8_t resolution_L;		/**< 48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s) */
 	uint8_t resolution_H;		/**< 117 = High Byte m/s resolution 0.01m */
 	uint8_t unknown1;		/**< 120 = 0m/3s */
-	uint8_t gps_num_sat;		/**< GPS.Satellites (number of satelites) (1 byte) */
+	uint8_t gps_num_sat;		/**< GPS.Satellites (number of satellites) (1 byte) */
 	uint8_t gps_fix_char;		/**< GPS.FixChar. (GPS fix character. display, if DGPS, 2D oder 3D) (1 byte) */
 	uint8_t home_direction;		/**< HomeDirection (direction from starting point to Model position) (1 byte) */
 	uint8_t angle_x_direction;	/**< angle x-direction (1 byte) */

src/drivers/ms5611/ms5611_i2c.cpp

@@ -265,7 +265,7 @@ MS5611_I2C::_read_prom()
 
 		/* check if all bytes are zero */
 		if (i == 0) {
-			/* initalize to first byte read */
+			/* initialize to first byte read */
 			last_val = prom_buf[0];
 		}
 

src/drivers/ms5611/ms5611_nuttx.cpp

@@ -829,7 +829,7 @@ struct ms5611_bus_option {
 	{ MS5611_BUS_SPI_EXTERNAL, "/dev/ms5611_spi_ext", &MS5611_spi_interface, PX4_SPI_BUS_EXT, NULL },
 #endif
 #ifdef PX4_SPIDEV_BARO
-	{ MS5611_BUS_SPI_INTERNAL, "/dev/ms5611_spi_int", &MS5611_spi_interface, PX4_SPI_BUS_SENSORS, NULL },
+	{ MS5611_BUS_SPI_INTERNAL, "/dev/ms5611_spi_int", &MS5611_spi_interface, PX4_SPI_BUS_BARO, NULL },
 #endif
 #ifdef PX4_I2C_BUS_ONBOARD
 	{ MS5611_BUS_I2C_INTERNAL, "/dev/ms5611_int", &MS5611_i2c_interface, PX4_I2C_BUS_ONBOARD, NULL },

src/drivers/ms5611/ms5611_spi.cpp

@@ -131,7 +131,7 @@ MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
 }
 
 MS5611_SPI::MS5611_SPI(uint8_t bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
-	SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000 /* will be rounded to 10.4 MHz */),
+	SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 20 * 1000 * 1000 /* will be rounded to 10.4 MHz */),
 	_prom(prom_buf)
 {
 }
@@ -152,6 +152,11 @@ MS5611_SPI::init()
 		goto out;
 	}
 
+	/* sharing a bus with NuttX drivers */
+#if defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
+	//set_lockmode(SPI::LOCK_THREADS);
+#endif
+
 	/* send reset command */
 	ret = _reset();
 

src/drivers/pwm_input/pwm_input.cpp

@@ -536,7 +536,7 @@ void PWMIN::print_info(void)
 
 
 /*
- * Handle the interupt, gathering pulse data
+ * Handle the interrupt, gathering pulse data
  */
 static int pwmin_tim_isr(int irq, void *context)
 {

src/drivers/pwm_out_sim/pwm_out_sim.cpp

@@ -502,8 +502,8 @@ PWMSim::task_main()
 				    PX4_ISFINITE(outputs.output[i]) &&
 				    outputs.output[i] >= -1.0f &&
 				    outputs.output[i] <= 1.0f) {
-					/* scale for PWM output 900 - 2100us */
-					outputs.output[i] = 1500 + (600 * outputs.output[i]);
+					/* scale for PWM output 1000 - 2000us */
+					outputs.output[i] = 1500 + (500 * outputs.output[i]);
 
 				} else {
 					/*

src/drivers/px4fmu/fmu.cpp

@@ -119,6 +119,27 @@ public:
 	int		set_i2c_bus_clock(unsigned bus, unsigned clock_hz);
 
 private:
+	enum RC_SCAN {
+		RC_SCAN_PPM = 0,
+		RC_SCAN_SBUS,
+		RC_SCAN_DSM,
+		RC_SCAN_SUMD,
+		RC_SCAN_ST24
+	};
+	enum RC_SCAN _rc_scan_state = RC_SCAN_SBUS;
+
+	char const *RC_SCAN_STRING[5] = {
+		"PPM",
+		"SBUS",
+		"DSM",
+		"SUMD",
+		"ST24"
+	};
+
+	hrt_abstime _rc_scan_begin = 0;
+	bool _rc_scan_locked = false;
+	bool _report_lock = true;
+
 	static const unsigned _max_actuators = DIRECT_PWM_OUTPUT_CHANNELS;
 
 	Mode		_mode;
@@ -134,12 +155,14 @@ private:
 	orb_advert_t	_outputs_pub;
 	unsigned	_num_outputs;
 	int		_class_instance;
-	int		_sbus_fd;
-	int		_dsm_fd;
+	int		_rcs_fd;
+	uint8_t _rcs_buf[SBUS_FRAME_SIZE];
 
 	volatile bool	_initialized;
 	bool		_throttle_armed;
 	bool		_pwm_on;
+	bool		_pwm_init;
+	uint8_t		_pwm_channel_mask;
 
 	MixerGroup	*_mixers;
 
@@ -199,6 +222,14 @@ private:
 	/* do not allow to copy due to ptr data members */
 	PX4FMU(const PX4FMU &);
 	PX4FMU operator=(const PX4FMU &);
+	void fill_rc_in(uint16_t raw_rc_count,
+			uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
+			hrt_abstime now, bool frame_drop, bool failsafe,
+			unsigned frame_drops, int rssi);
+	void dsm_bind_ioctl(int dsmMode);
+	void set_rc_scan_state(RC_SCAN _rc_scan_state);
+	void rc_io_invert();
+	void rc_io_invert(bool invert);
 };
 
 const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
@@ -280,11 +311,12 @@ PX4FMU::PX4FMU() :
 	_outputs_pub(nullptr),
 	_num_outputs(0),
 	_class_instance(0),
-	_sbus_fd(-1),
-	_dsm_fd(-1),
+	_rcs_fd(-1),
 	_initialized(false),
 	_throttle_armed(false),
 	_pwm_on(false),
+	_pwm_init(false),
+	_pwm_channel_mask(0),
 	_mixers(nullptr),
 	_groups_required(0),
 	_groups_subscribed(0),
@@ -390,10 +422,7 @@ PX4FMU::set_mode(Mode mode)
 		_pwm_default_rate = 50;
 		_pwm_alt_rate = 50;
 		_pwm_alt_rate_channels = 0;
-
-		/* XXX magic numbers */
-		up_pwm_servo_init(0x3);
-		set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
+		_pwm_channel_mask = 0x3;
 
 		break;
 
@@ -404,10 +433,7 @@ PX4FMU::set_mode(Mode mode)
 		_pwm_default_rate = 50;
 		_pwm_alt_rate = 50;
 		_pwm_alt_rate_channels = 0;
-
-		/* XXX magic numbers */
-		up_pwm_servo_init(0xf);
-		set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
+		_pwm_channel_mask = 0xf;
 
 		break;
 
@@ -418,10 +444,7 @@ PX4FMU::set_mode(Mode mode)
 		_pwm_default_rate = 50;
 		_pwm_alt_rate = 50;
 		_pwm_alt_rate_channels = 0;
-
-		/* XXX magic numbers */
-		up_pwm_servo_init(0x3f);
-		set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
+		_pwm_channel_mask = 0x3f;
 
 		break;
 
@@ -433,10 +456,7 @@ PX4FMU::set_mode(Mode mode)
 		_pwm_default_rate = 50;
 		_pwm_alt_rate = 50;
 		_pwm_alt_rate_channels = 0;
-
-		/* XXX magic numbers */
-		up_pwm_servo_init(0xff);
-		set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
+		_pwm_channel_mask = 0xff;
 		break;
 #endif
 
@@ -449,6 +469,7 @@ PX4FMU::set_mode(Mode mode)
 
 		/* disable servo outputs - no need to set rates */
 		up_pwm_servo_deinit();
+		_pwm_init = false;
 
 		break;
 
@@ -613,6 +634,56 @@ PX4FMU::cycle_trampoline(void *arg)
 	dev->cycle();
 }
 
+void PX4FMU::fill_rc_in(uint16_t raw_rc_count,
+			uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
+			hrt_abstime now, bool frame_drop, bool failsafe,
+			unsigned frame_drops, int rssi = -1)
+{
+	// fill rc_in struct for publishing
+	_rc_in.channel_count = raw_rc_count;
+
+	if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
+		_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
+	}
+
+	for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
+		_rc_in.values[i] = raw_rc_values[i];
+	}
+
+	_rc_in.timestamp_publication = now;
+	_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
+	_rc_in.rc_ppm_frame_length = 0;
+
+	if (rssi == -1) {
+		_rc_in.rssi =
+			(!frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
+	}
+
+	_rc_in.rc_failsafe = failsafe;
+	_rc_in.rc_lost = false;
+	_rc_in.rc_lost_frame_count = frame_drops;
+	_rc_in.rc_total_frame_count = 0;
+}
+
+#ifdef RC_SERIAL_PORT
+void PX4FMU::set_rc_scan_state(RC_SCAN newState)
+{
+//    warnx("RCscan: %s failed, trying %s", PX4FMU::RC_SCAN_STRING[_rc_scan_state], PX4FMU::RC_SCAN_STRING[newState]);
+	_rc_scan_begin = 0;
+	_rc_scan_state = newState;
+}
+
+void PX4FMU::rc_io_invert(bool invert)
+{
+	INVERT_RC_INPUT(invert);
+
+	if (!invert) {
+		// set FMU_RC_OUTPUT high to pull RC_INPUT up
+		stm32_gpiowrite(GPIO_RC_OUT, 1);
+	}
+}
+#endif
+
 void
 PX4FMU::cycle()
 {
@@ -631,19 +702,18 @@ PX4FMU::cycle()
 
 		update_pwm_rev_mask();
 
-#ifdef SBUS_SERIAL_PORT
-		_sbus_fd = sbus_init(SBUS_SERIAL_PORT, false);
-#endif
-
-#ifdef DSM_SERIAL_PORT
-		// XXX rather than opening it we need to cycle between protocols until one is locked in
-		//_dsm_fd = dsm_init(DSM_SERIAL_PORT);
+#ifdef RC_SERIAL_PORT
+		// dsm_init sets some file static variables and returns a file descriptor
+		_rcs_fd = dsm_init(RC_SERIAL_PORT);
+		// assume SBUS input
+		sbus_config(_rcs_fd, false);
+		// disable CPPM input by mapping it away from the timer capture input
+		stm32_configgpio(GPIO_PPM_IN & ~(GPIO_AF_MASK | GPIO_PUPD_MASK));
 #endif
 
 		_initialized = true;
 	}
 
-
 	if (_groups_subscribed != _groups_required) {
 		subscribe();
 		_groups_subscribed = _groups_required;
@@ -796,6 +866,13 @@ PX4FMU::cycle()
 
 		if (_pwm_on != pwm_on) {
 			_pwm_on = pwm_on;
+
+			if (!_pwm_init && _pwm_on) {
+				up_pwm_servo_init(_pwm_channel_mask);
+				set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
+				_pwm_init = true;
+			}
+
 			up_pwm_servo_arm(pwm_on);
 		}
 	}
@@ -807,74 +884,237 @@ PX4FMU::cycle()
 		orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
 
 		update_pwm_rev_mask();
+
+		int32_t dsm_bind_val;
+		param_t dsm_bind_param;
+
+		/* see if bind parameter has been set, and reset it to -1 */
+		param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
+
+		if (dsm_bind_val > -1) {
+			dsm_bind_ioctl(dsm_bind_val);
+			dsm_bind_val = -1;
+			param_set(dsm_bind_param, &dsm_bind_val);
+		}
 	}
 
 	bool rc_updated = false;
 
-#ifdef SBUS_SERIAL_PORT
+#ifdef RC_SERIAL_PORT
+	// This block scans for a supported serial RC input and locks onto the first one found
+	// Scan for 100 msec, then switch protocol
+	constexpr hrt_abstime rc_scan_max = 100 * 1000;
+
 	bool sbus_failsafe, sbus_frame_drop;
 	uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
 	uint16_t raw_rc_count;
-	bool sbus_updated = sbus_input(_sbus_fd, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe, &sbus_frame_drop,
-				       input_rc_s::RC_INPUT_MAX_CHANNELS);
+	unsigned frame_drops;
+	bool dsm_11_bit;
 
-	if (sbus_updated) {
-		// we have a new PPM frame. Publish it.
-		_rc_in.channel_count = raw_rc_count;
 
-		if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
-			_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
-		}
-
-		for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
-			_rc_in.values[i] = raw_rc_values[i];
-		}
-
-		_rc_in.timestamp_publication = hrt_absolute_time();
-		_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
-
-		_rc_in.rc_ppm_frame_length = 0;
-		_rc_in.rssi = (!sbus_frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
-		_rc_in.rc_failsafe = sbus_failsafe;
-		_rc_in.rc_lost = false;
-		_rc_in.rc_lost_frame_count = sbus_dropped_frames();
-		_rc_in.rc_total_frame_count = 0;
-
-		rc_updated = true;
+	if (_report_lock && _rc_scan_locked) {
+		_report_lock = false;
+		warnx("RCscan: %s RC input locked", RC_SCAN_STRING[_rc_scan_state]);
 	}
 
-#endif
+	// read all available data from the serial RC input UART
+	hrt_abstime now = hrt_absolute_time();
+	int newBytes = ::read(_rcs_fd, &_rcs_buf[0], SBUS_FRAME_SIZE);
 
+	switch (_rc_scan_state) {
+	case RC_SCAN_SBUS:
+		if (_rc_scan_begin == 0) {
+			_rc_scan_begin = now;
+			// Configure serial port for SBUS
+			sbus_config(_rcs_fd, false);
+			rc_io_invert(true);
+
+		} else if (_rc_scan_locked
+			   || now - _rc_scan_begin < rc_scan_max) {
+
+			// parse new data
+			if (newBytes > 0) {
+				rc_updated = sbus_parse(now, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe,
+							&sbus_frame_drop, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
+
+				if (rc_updated) {
+					// we have a new SBUS frame. Publish it.
+					_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS;
+					fill_rc_in(raw_rc_count, raw_rc_values, now,
+						   sbus_frame_drop, sbus_failsafe, frame_drops);
+					_rc_scan_locked = true;
+				}
+			}
+
+		} else {
+			// Scan the next protocol
+			set_rc_scan_state(RC_SCAN_DSM);
+		}
+
+		break;
+
+	case RC_SCAN_DSM:
+		if (_rc_scan_begin == 0) {
+			_rc_scan_begin = now;
+//			// Configure serial port for DSM
+			dsm_config(_rcs_fd);
+			rc_io_invert(false);
+
+		} else if (_rc_scan_locked
+			   || now - _rc_scan_begin < rc_scan_max) {
+
+			if (newBytes > 0) {
+				// parse new data
+				rc_updated = dsm_parse(now, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count,
+						       &dsm_11_bit, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
+
+				if (rc_updated) {
+					// we have a new DSM frame. Publish it.
+					_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM;
+					fill_rc_in(raw_rc_count, raw_rc_values, now,
+						   false, false, frame_drops);
+					_rc_scan_locked = true;
+				}
+			}
+
+		} else {
+			// Scan the next protocol
+			set_rc_scan_state(RC_SCAN_ST24);
+		}
+
+		break;
+
+	case RC_SCAN_ST24:
+		if (_rc_scan_begin == 0) {
+			_rc_scan_begin = now;
+//			// Configure serial port for DSM
+			dsm_config(_rcs_fd);
+			rc_io_invert(false);
+
+		} else if (_rc_scan_locked
+			   || now - _rc_scan_begin < rc_scan_max) {
+
+			if (newBytes > 0) {
+				// parse new data
+				uint8_t st24_rssi, rx_count;
+
+				rc_updated = false;
+
+				for (unsigned i = 0; i < newBytes; i++) {
+					/* set updated flag if one complete packet was parsed */
+					st24_rssi = RC_INPUT_RSSI_MAX;
+					rc_updated = (OK == st24_decode(_rcs_buf[i], &st24_rssi, &rx_count,
+									&raw_rc_count, raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS));
+				}
+
+				if (rc_updated) {
+					// we have a new ST24 frame. Publish it.
+					_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_ST24;
+					fill_rc_in(raw_rc_count, raw_rc_values, now,
+						   false, false, frame_drops, st24_rssi);
+					_rc_scan_locked = true;
+				}
+			}
+
+		} else {
+			// Scan the next protocol
+			set_rc_scan_state(RC_SCAN_SUMD);
+		}
+
+		break;
+
+	case RC_SCAN_SUMD:
+		if (_rc_scan_begin == 0) {
+			_rc_scan_begin = now;
+//			// Configure serial port for DSM
+			dsm_config(_rcs_fd);
+			rc_io_invert(false);
+
+		} else if (_rc_scan_locked
+			   || now - _rc_scan_begin < rc_scan_max) {
+
+			if (newBytes > 0) {
+				// parse new data
+				uint8_t sumd_rssi, rx_count;
+
+				rc_updated = false;
+
+				for (unsigned i = 0; i < newBytes; i++) {
+					/* set updated flag if one complete packet was parsed */
+					sumd_rssi = RC_INPUT_RSSI_MAX;
+					rc_updated = (OK == sumd_decode(_rcs_buf[i], &sumd_rssi, &rx_count,
+									&raw_rc_count, raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS));
+				}
+
+				if (rc_updated) {
+					// we have a new SUMD frame. Publish it.
+					_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SUMD;
+					fill_rc_in(raw_rc_count, raw_rc_values, now,
+						   false, false, frame_drops, sumd_rssi);
+					_rc_scan_locked = true;
+				}
+			}
+
+		} else {
+			// Scan the next protocol
+			set_rc_scan_state(RC_SCAN_SUMD);
+		}
+
+		set_rc_scan_state(RC_SCAN_PPM);
+		break;
+
+	case RC_SCAN_PPM:
+		// skip PPM if it's not supported
+#ifdef HRT_PPM_CHANNEL
+		if (_rc_scan_begin == 0) {
+			_rc_scan_begin = now;
+			// Configure timer input pin for CPPM
+			stm32_configgpio(GPIO_PPM_IN);
+			rc_io_invert(false);
+
+		} else if (_rc_scan_locked
+			   || now - _rc_scan_begin < rc_scan_max) {
+
+			// see if we have new PPM input data
+			if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal)
+			    && ppm_decoded_channels > 3) {
+				// we have a new PPM frame. Publish it.
+				rc_updated = true;
+				_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
+				fill_rc_in(ppm_decoded_channels, ppm_buffer, now,
+					   false, false, 0);
+				_rc_scan_locked = true;
+			}
+
+		} else {
+			// disable CPPM input by mapping it away from the timer capture input
+			stm32_configgpio(GPIO_PPM_IN & ~(GPIO_AF_MASK | GPIO_PUPD_MASK));
+			// Scan the next protocol
+			set_rc_scan_state(RC_SCAN_SBUS);
+		}
+
+#else   // skip PPM if it's not supported
+		set_rc_scan_state(RC_SCAN_SBUS);
+
+#endif  // HRT_PPM_CHANNEL
+
+		break;
+	}
+
+#else  // RC_SERIAL_PORT not defined
 #ifdef HRT_PPM_CHANNEL
 
 	// see if we have new PPM input data
-	if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal) &&
-	    ppm_decoded_channels > 3) {
+	if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal)
+	    && ppm_decoded_channels > 3) {
 		// we have a new PPM frame. Publish it.
-		_rc_in.channel_count = ppm_decoded_channels;
-
-		if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
-			_rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
-		}
-
-		for (uint8_t i = 0; i < _rc_in.channel_count; i++) {
-			_rc_in.values[i] = ppm_buffer[i];
-		}
-
-		_rc_in.timestamp_publication = ppm_last_valid_decode;
-		_rc_in.timestamp_last_signal = ppm_last_valid_decode;
-
-		_rc_in.rc_ppm_frame_length = ppm_frame_length;
-		_rc_in.rssi = RC_INPUT_RSSI_MAX;
-		_rc_in.rc_failsafe = false;
-		_rc_in.rc_lost = false;
-		_rc_in.rc_lost_frame_count = 0;
-		_rc_in.rc_total_frame_count = 0;
-
 		rc_updated = true;
+		fill_rc_in(ppm_decoded_channels, ppm_buffer, hrt_absolute_time(),
+			   false, false, 0);
 	}
 
-#endif
+#endif  // HRT_PPM_CHANNEL
+#endif  // RC_SERIAL_PORT
 
 	if (rc_updated) {
 		/* lazily advertise on first publication */
@@ -1363,6 +1603,38 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
+#ifdef RC_SERIAL_PORT
+
+	case DSM_BIND_START:
+		/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */
+		warnx("fmu pwm_ioctl: DSM_BIND_START, arg: %lu", arg);
+
+		if (arg == DSM2_BIND_PULSES ||
+		    arg == DSMX_BIND_PULSES ||
+		    arg == DSMX8_BIND_PULSES) {
+
+			dsm_bind(DSM_CMD_BIND_POWER_DOWN, 0);
+			usleep(500000);
+
+			dsm_bind(DSM_CMD_BIND_SET_RX_OUT, 0);
+
+			dsm_bind(DSM_CMD_BIND_POWER_UP, 0);
+			usleep(72000);
+
+			dsm_bind(DSM_CMD_BIND_SEND_PULSES, arg);
+			usleep(50000);
+
+			dsm_bind(DSM_CMD_BIND_REINIT_UART, 0);
+
+			ret = OK;
+
+		} else {
+			ret = -EINVAL;
+		}
+
+		break;
+#endif
+
 	case MIXERIOCRESET:
 		if (_mixers != nullptr) {
 			delete _mixers;
@@ -1445,7 +1717,7 @@ ssize_t
 PX4FMU::write(file *filp, const char *buffer, size_t len)
 {
 	unsigned count = len / 2;
-	uint16_t values[6];
+	uint16_t values[8];
 
 #ifdef CONFIG_ARCH_BOARD_AEROCORE
 
@@ -1831,6 +2103,26 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
 	return ret;
 }
 
+void
+PX4FMU::dsm_bind_ioctl(int dsmMode)
+{
+	if (!_armed.armed) {
+//      mavlink_log_info(_mavlink_fd, "[FMU] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
+		warnx("[FMU] binding DSM%s RX", (dsmMode == 0) ? "2" : ((dsmMode == 1) ? "-X" : "-X8"));
+		int ret = ioctl(nullptr, DSM_BIND_START,
+				(dsmMode == 0) ? DSM2_BIND_PULSES : ((dsmMode == 1) ? DSMX_BIND_PULSES : DSMX8_BIND_PULSES));
+
+		if (ret) {
+//            mavlink_log_critical(_mavlink_fd, "binding failed.");
+			warnx("binding failed.");
+		}
+
+	} else {
+//        mavlink_log_info(_mavlink_fd, "[FMU] system armed, bind request rejected");
+		warnx("[FMU] system armed, bind request rejected");
+	}
+}
+
 namespace
 {
 
@@ -2224,7 +2516,7 @@ fmu_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(verb, "info")) {
-#ifdef SBUS_SERIAL_PORT
+#ifdef RC_SERIAL_PORT
 		warnx("frame drops: %u", sbus_dropped_frames());
 #endif
 		return 0;

src/drivers/px4fmu/px4fmu_params.c

@@ -47,6 +47,8 @@
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -58,6 +60,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -69,6 +73,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -80,6 +86,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -91,6 +99,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -102,6 +112,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 1
  * @group PWM Outputs

src/drivers/px4io/px4io.cpp

@@ -273,6 +273,7 @@ private:
 	/* cached IO state */
 	uint16_t		_status;		///< Various IO status flags
 	uint16_t		_alarms;		///< Various IO alarms
+	uint16_t		_last_written_arming;	///< the last written arming state reg
 
 	/* subscribed topics */
 	int			_t_actuator_controls_0;	///< actuator controls group 0 topic
@@ -509,6 +510,7 @@ PX4IO::PX4IO(device::Device *interface) :
 	_perf_sample_latency(perf_alloc(PC_ELAPSED, "io latency")),
 	_status(0),
 	_alarms(0),
+	_last_written_arming(0),
 	_t_actuator_controls_0(-1),
 	_t_actuator_controls_1(-1),
 	_t_actuator_controls_2(-1),
@@ -977,7 +979,7 @@ PX4IO::task_main()
 		}
 
 		if (now >= poll_last + IO_POLL_INTERVAL) {
-			/* run at 50Hz */
+			/* run at 50-250Hz */
 			poll_last = now;
 
 			/* pull status and alarms from IO */
@@ -988,16 +990,6 @@ PX4IO::task_main()
 
 			/* fetch PWM outputs from IO */
 			io_publish_pwm_outputs();
-		}
-
-		if (now >= orb_check_last + ORB_CHECK_INTERVAL) {
-			/* run at 5Hz */
-			orb_check_last = now;
-
-			/* try to claim the MAVLink log FD */
-			if (_mavlink_fd < 0) {
-				_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
-			}
 
 			/* check updates on uORB topics and handle it */
 			bool updated = false;
@@ -1012,6 +1004,19 @@ PX4IO::task_main()
 			if (updated) {
 				io_set_arming_state();
 			}
+		}
+
+		if (now >= orb_check_last + ORB_CHECK_INTERVAL) {
+			/* run at 5Hz */
+			orb_check_last = now;
+
+			/* try to claim the MAVLink log FD */
+			if (_mavlink_fd < 0) {
+				_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
+			}
+
+			/* check updates on uORB topics and handle it */
+			bool updated = false;
 
 			/* vehicle command */
 			orb_check(_t_vehicle_command, &updated);
@@ -1350,7 +1355,15 @@ PX4IO::io_set_arming_state()
 		}
 	}
 
-	return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
+	uint16_t new_arming_state = set;
+	new_arming_state &= ~(clear);
+
+	if (_last_written_arming != new_arming_state) {
+		_last_written_arming = new_arming_state;
+		return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
+	}
+
+	return 0;
 }
 
 int

src/drivers/px4io/px4io_params.c

@@ -47,6 +47,8 @@
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -58,6 +60,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV1, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -69,6 +73,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV2, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -80,6 +86,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV3, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -91,6 +99,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV4, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -102,6 +112,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV5, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -113,6 +125,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV6, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 1
  * @group PWM Outputs
@@ -124,6 +138,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
  *
  * Set to 1 to invert the channel, 0 for default direction.
  *
+ * @reboot_required true
+ *
  * @min 0
  * @max 1
  * @group PWM Outputs

src/drivers/stm32/adc/adc.cpp

@@ -315,13 +315,13 @@ void
 ADC::update_system_power(void)
 {
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
-	system_power_s system_power;
+	system_power_s system_power = {};
 	system_power.timestamp = hrt_absolute_time();
 
 	system_power.voltage5V_v = 0;
 
 	for (unsigned i = 0; i < _channel_count; i++) {
-		if (_samples[i].am_channel == 4) {
+		if (_samples[i].am_channel == ADC_5V_RAIL_SENSE) {
 			// it is 2:1 scaled
 			system_power.voltage5V_v = _samples[i].am_data * (6.6f / 4096);
 		}
@@ -349,13 +349,13 @@ ADC::update_system_power(void)
 
 #endif // CONFIG_ARCH_BOARD_PX4FMU_V2
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V4
-	system_power_s system_power;
+	system_power_s system_power = {};
 	system_power.timestamp = hrt_absolute_time();
 
 	system_power.voltage5V_v = 0;
 
 	for (unsigned i = 0; i < _channel_count; i++) {
-		if (_samples[i].am_channel == 4) {
+		if (_samples[i].am_channel == ADC_5V_RAIL_SENSE) {
 			// it is 2:1 scaled
 			system_power.voltage5V_v = _samples[i].am_data * (6.6f / 4096);
 		}

src/drivers/stm32/drv_hrt.c

@@ -599,7 +599,7 @@ error:
 #endif /* HRT_PPM_CHANNEL */
 
 /**
- * Handle the compare interupt by calling the callout dispatcher
+ * Handle the compare interrupt by calling the callout dispatcher
  * and then re-scheduling the next deadline.
  */
 static int
@@ -750,7 +750,7 @@ hrt_store_absolute_time(volatile hrt_abstime *now)
 }
 
 /**
- * Initalise the high-resolution timing module.
+ * Initialise the high-resolution timing module.
  */
 void
 hrt_init(void)

src/firmware/posix/CMakeLists.txt

@@ -36,7 +36,7 @@ add_dependencies(run_config mainapp)
 
 foreach(viewer none jmavsim gazebo)
 	foreach(debugger none gdb lldb ddd valgrind)
-		foreach(model none iris tailsitter)
+		foreach(model none iris tailsitter standard_vtol)
 			if (debugger STREQUAL "none")
 				if (model STREQUAL "none")
 					set(_targ_name "${viewer}")

src/firmware/qurt/CMakeLists.txt

@@ -1,32 +1,30 @@
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes")
+
 px4_qurt_generate_builtin_commands(
 	OUT ${CMAKE_BINARY_DIR}/apps.h
 	MODULE_LIST ${module_libraries})
 
-# Clear -rdynamic flag which fails for hexagon
-# this change is scoped in this directory and below
-set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
-set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
-
 # Enable build without HexagonSDK to check link dependencies
 if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
+	add_definitions(-DQURT_EXE_BUILD)
 	add_executable(mainapp 
 		${CMAKE_SOURCE_DIR}/src/platforms/qurt/dspal/dspal_stub.c
 		${CMAKE_BINARY_DIR}/apps.h)
 else()
-	add_library(mainapp 
+	QURT_BUNDLE(APP_NAME
+		mainapp
+		DSP_SOURCES
 		${CMAKE_SOURCE_DIR}/src/platforms/qurt/dspal/dspal_stub.c
-		${CMAKE_BINARY_DIR}/apps.h)
+		${CMAKE_BINARY_DIR}/apps.h
+		DSP_LINK_LIBS
+		${module_libraries}
+		${target_libraries}
+		df_driver_framework
+		m
+		)
+		
 endif()
 
-target_link_libraries(mainapp
-	-Wl,--whole-archive
-	${module_libraries}
-	${target_libraries}
-	df_driver_framework
-	m
-	-Wl,--no-whole-archive
-	-Wl,${TOOLSLIB}/pic/libstdc++.a)
-
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/firmware/qurt/mainapp.idl

@@ -0,0 +1,41 @@
+/****************************************************************************
+ *   Copyright (c) 2015 Mark Charlebois. 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 ATLFlight 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.
+ *
+ ****************************************************************************/
+#ifndef MAINAPP_IDL
+#define MAINAPP_IDL
+
+#include "AEEStdDef.idl"
+
+interface mainapp{
+    uint32 test();
+};
+
+#endif /*MAINAPP_IDL*/

src/lib/DriverFramework

@@ -1 +1 @@
-Subproject commit 2ae8d8118db0e95867cd1946d5b8b85d7e4ef9d3
+Subproject commit 98c4dd676f8ac8c44a377f95864cb29a992a549e

src/lib/ecl

@@ -1 +1 @@
-Subproject commit 2af5856361adf7ede444cc7f3fd6cf725dfa0213
+Subproject commit 8d0022ab1e65543124efd2f55b4e72b9e672cd61

src/lib/launchdetection/LaunchMethod.h

@@ -51,7 +51,7 @@ enum LaunchDetectionResult {
 							  up and still be set to 'throttlePreTakeoff'.
 							  For instance this is used to have a delay for the motor
 							  when launching a fixed wing aircraft from a bungee */
-	LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS = 2 /**< Launch has been detected, teh controller should control
+	LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS = 2 /**< Launch has been detected, the controller should control
 							attitude and also throttle up the motors. */
 };
 

src/lib/launchdetection/launchdetection_params.c

@@ -54,7 +54,7 @@
 PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);
 
 /**
- * Catapult accelerometer theshold.
+ * Catapult accelerometer threshold.
  *
  * LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.
  *
@@ -64,7 +64,7 @@ PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);
 PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f);
 
 /**
- * Catapult time theshold.
+ * Catapult time threshold.
  *
  * LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection.
  *

src/lib/matrix

@@ -1 +1 @@
-Subproject commit b9d6cac199bd4476c6268f7eba76c01bf29f0295
+Subproject commit ce30542dbaa3e6f5e68b742a34cda993a351e15d

src/lib/rc/sbus.c

@@ -615,7 +615,7 @@ sbus_decode(uint64_t frame_time, uint8_t *frame, uint16_t *values, uint16_t *num
 		 *
 		 * Attention! This flag indicates a skipped frame only, not a total link loss! Handling this
 		 * condition as fail-safe greatly reduces the reliability and range of the radio link,
-		 * e.g. by prematurely issueing return-to-launch!!! */
+		 * e.g. by prematurely issuing return-to-launch!!! */
 
 		*sbus_failsafe = false;
 		*sbus_frame_drop = true;

src/lib/version/version.h

@@ -66,7 +66,12 @@
 #ifdef CONFIG_ARCH_BOARD_SITL
 #define	HW_ARCH "LINUXTEST"
 #endif
+
 #ifdef CONFIG_ARCH_BOARD_EAGLE
 #define	HW_ARCH "LINUXTEST"
 #endif
+
+#ifdef CONFIG_ARCH_BOARD_RPI2
+#define	HW_ARCH "LINUXTEST"
+#endif
 #endif /* VERSION_H_ */

src/modules/attitude_estimator_ekf/AttitudeEKF.m

@@ -2,7 +2,7 @@ function [xa_apo,Pa_apo,Rot_matrix,eulerAngles,debugOutput]...
     = AttitudeEKF(approx_prediction,use_inertia_matrix,zFlag,dt,z,q_rotSpeed,q_rotAcc,q_acc,q_mag,r_gyro,r_accel,r_mag,J)
 
 
-%LQG Postion Estimator and Controller
+%LQG Position Estimator and Controller
 % Observer:
 %        x[n|n]   = x[n|n-1] + M(y[n] - Cx[n|n-1] - Du[n])
 %        x[n+1|n] = Ax[n|n] + Bu[n]

src/modules/attitude_estimator_ekf/codegen/AttitudeEKF.c

@@ -499,7 +499,7 @@ void AttitudeEKF(unsigned char approx_prediction, unsigned char
 
   float b_z[6];
 
-  /* LQG Postion Estimator and Controller */
+  /* LQG Position Estimator and Controller */
   /*  Observer: */
   /*         x[n|n]   = x[n|n-1] + M(y[n] - Cx[n|n-1] - Du[n]) */
   /*         x[n+1|n] = Ax[n|n] + Bu[n] */

src/modules/commander/accelerometer_calibration.cpp

@@ -595,7 +595,8 @@ int do_level_calibration(int mavlink_fd) {
 	param_get(pitch_offset_handle, &pitch_offset_current);
 	param_get(board_rot_handle, &board_rot_current);
 
-	if (board_rot_current == 0) {
+	// give attitude some time to settle if there have been changes to the board rotation parameters
+	if (board_rot_current == 0 && fabsf(roll_offset_current) < FLT_EPSILON && fabsf(pitch_offset_current) < FLT_EPSILON ) {
 		settle_time = 0;
 	}
 

src/modules/commander/commander.cpp

@@ -417,7 +417,7 @@ int commander_main(int argc, char *argv[])
 		/* see if we got a home position */
 		if (status.condition_home_position_valid) {
 
-			if (TRANSITION_CHANGED == arm_disarm(true, mavlink_fd_local, "command line")) {
+			if (TRANSITION_DENIED != arm_disarm(true, mavlink_fd_local, "command line")) {
 
 				vehicle_command_s cmd = {};
 				cmd.target_system = status.system_id;
@@ -1509,12 +1509,12 @@ int commander_thread_main(int argc, char *argv[])
 			/* EPH / EPV */
 			param_get(_param_eph, &eph_threshold);
 			param_get(_param_epv, &epv_threshold);
-		}
 
-		/* Set flag to autosave parameters if necessary */
-		if (updated && autosave_params != 0) {
-			/* trigger an autosave */
-			need_param_autosave = true;
+			/* Set flag to autosave parameters if necessary */
+			if (updated && autosave_params != 0 && param_changed.saved == false) {
+				/* trigger an autosave */
+				need_param_autosave = true;
+			}
 		}
 
 		orb_check(sp_man_sub, &updated);
@@ -1570,11 +1570,12 @@ int commander_thread_main(int argc, char *argv[])
 				    /* and the system is not already armed (and potentially flying) */
 				    !armed.armed) {
 
-				    	bool chAirspeed = false;
-				    	bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
-				    	
+					bool chAirspeed = false;
+					bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
+
 					/* Perform airspeed check only if circuit breaker is not
-					 * engaged and it's not a rotary wing */
+					 * engaged and it's not a rotary wing
+					 */
 					if (!status.circuit_breaker_engaged_airspd_check && !status.is_rotary_wing) {
 						chAirspeed = true;
 					}
@@ -2284,6 +2285,15 @@ int commander_thread_main(int argc, char *argv[])
 				mavlink_log_critical(mavlink_fd, "main state transition denied");
 			}
 
+			/* check throttle kill switch */
+			if (sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
+				/* set lockdown flag */
+				armed.lockdown = true;
+			} else if (sp_man.kill_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
+				armed.lockdown = false;
+			}
+			/* no else case: do not change lockdown flag in unconfigured case */
+
 		} else {
 			if (!status.rc_input_blocked && !status.rc_signal_lost) {
 				mavlink_log_critical(mavlink_fd, "MANUAL CONTROL LOST (at t=%llums)", hrt_absolute_time() / 1000);
@@ -2714,7 +2724,7 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
 		}
 	}
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+#if defined (CONFIG_ARCH_BOARD_PX4FMU_V1) || defined (CONFIG_ARCH_BOARD_PX4FMU_V4)
 
 	/* this runs at around 20Hz, full cycle is 16 ticks = 10/16Hz */
 	if (actuator_armed->armed) {
@@ -3018,8 +3028,8 @@ set_control_mode()
 		control_mode.flag_control_attitude_enabled = true;
 		control_mode.flag_control_altitude_enabled = true;
 		control_mode.flag_control_climb_rate_enabled = true;
-		control_mode.flag_control_position_enabled = true;
-		control_mode.flag_control_velocity_enabled = true;
+		control_mode.flag_control_position_enabled = !status.in_transition_mode;
+		control_mode.flag_control_velocity_enabled = !status.in_transition_mode;
 		control_mode.flag_control_termination_enabled = false;
 		break;
 

src/modules/commander/commander_tests/state_machine_helper_test.cpp

@@ -75,11 +75,11 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
     } ArmingTransitionVolatileState_t;
 
     // This structure represents a test case for arming_state_transition. It contains the machine
-    // state prior to transtion, the requested state to transition to and finally the expected
+    // state prior to transition, the requested state to transition to and finally the expected
     // machine state after transition.
     typedef struct {
         const char*                     assertMsg;                              // Text to show when test case fails
-        ArmingTransitionVolatileState_t current_state;                          // Machine state prior to transtion
+        ArmingTransitionVolatileState_t current_state;                          // Machine state prior to transition
         hil_state_t                     hil_state;                              // Current vehicle_status_s.hil_state
         bool                            condition_system_sensors_initialized;   // Current vehicle_status_s.condition_system_sensors_initialized
         bool                            safety_switch_available;                // Current safety_s.safety_switch_available

src/modules/commander/state_machine_helper.cpp

@@ -97,6 +97,9 @@ static const char * const state_names[vehicle_status_s::ARMING_STATE_MAX] = {
 	"ARMING_STATE_IN_AIR_RESTORE",
 };
 
+static hrt_abstime last_preflight_check = 0;	///< initialize so it gets checked immediately
+static int last_prearm_ret = 1;			///< initialize to fail
+
 transition_result_t
 arming_state_transition(struct vehicle_status_s *status,		///< current vehicle status
 			const struct safety_s   *safety,		///< current safety settings
@@ -132,12 +135,18 @@ arming_state_transition(struct vehicle_status_s *status,		///< current vehicle s
 		}
 		/* re-run the pre-flight check as long as sensors are failing */
 		if (!status->condition_system_sensors_initialized 
-				&& (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED ||
-				    new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY)
-             			&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
+				&& (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
+				|| new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY)
+				&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
 
-            		prearm_ret = preflight_check(status, mavlink_fd, false /* pre-flight */);
-			status->condition_system_sensors_initialized = !prearm_ret;
+			if (last_preflight_check == 0 || hrt_absolute_time() - last_preflight_check > 1000 * 1000) {
+				prearm_ret = preflight_check(status, mavlink_fd, false /* pre-flight */);
+				status->condition_system_sensors_initialized = !prearm_ret;
+				last_preflight_check = hrt_absolute_time();
+				last_prearm_ret = prearm_ret;
+			} else {
+				prearm_ret = last_prearm_ret;
+			}
 		}
 
 		/*