Merge branch 'beta' into stable

Also, if the battery is a 3DR Solo battery, it checks for the button
press on the battery which sets the is_powering_off flag.

The check for whether the battery is a 3DR Solo battery is based on
whether the Manufacturer Name, Device Name and Device Chemistry all
match the that of the standard 3DR Solo battery.

.gitignore

@@ -22,6 +22,8 @@ build/*
 build_*/
 core
 cscope.out
+cscope.in.out
+cscope.po.out
 Firmware.sublime-workspace
 user.sublime*
 Images/*.bin

.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

@@ -60,9 +60,8 @@ before_install:
     elif [ "${TRAVIS_OS_NAME}" = "osx" ]; then
          brew tap PX4/homebrew-px4
       && brew update; brew update
-      && brew install cmake ninja astyle gcc-arm-none-eabi
+      && brew install cmake ninja
       && brew install genromfs
-      && brew install kconfig-frontends
       && sudo easy_install pip
       && sudo pip install pyserial empy
       ;
@@ -93,23 +92,22 @@ env:
     - PX4_AWS_BUCKET=px4-travis
 
 script:
-  - make check_format
-  - arm-none-eabi-gcc --version
+  - git submodule update --quiet --init --recursive
   - echo 'Building POSIX Firmware..' && make posix_sitl_default
   - echo 'Running Tests..' && make posix_sitl_default test
   - echo 'Running Unittests..' && cd unittests && ./run_tests.sh
-  - cd ..
-  - echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
-  - echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
-# Only provide UAVCAN firmware binaries for Pixracer and Pixhawk 3
-  - echo 'Building UAVCAN node firmware..' && git clone https://github.com/thiemar/vectorcontrol
-  - cd vectorcontrol
-  - BOARD=s2740vc_1_0 make && BOARD=px4esc_1_6 make
-  - ../Tools/uavcan_copy.sh
-  - cd ..
-  - echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
-  - echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
-  - echo 'Running Tests..' && make px4fmu-v2_default test
+  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
+         cd ${TRAVIS_BUILD_DIR}
+      && make check_format
+      && arm-none-eabi-gcc --version
+      && echo 'Building NuttX px4fmu-v1 Firmware..' && make px4fmu-v1_default
+      && echo 'Building NuttX px4fmu-v2 Firmware..' && make px4fmu-v2_default
+      && echo 'Building UAVCAN node firmware..' && (git clone https://github.com/thiemar/vectorcontrol && cd vectorcontrol && BOARD=s2740vc_1_0 make -s && BOARD=px4esc_1_6 make -s && ../Tools/uavcan_copy.sh)
+      && echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
+      && echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
+      && echo 'Running Tests..' && make px4fmu-v2_default test
+      ;
+    fi
 
 after_success:
   - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then

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 +109,8 @@ 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
++@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule sync && git submodule update --init --recursive && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
++Tools/check_submodules.sh
 +$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
 endef
 
@@ -152,7 +153,7 @@ posix_sitl_ekf2:
 	$(call cmake-build,$@)
 
 ros_sitl_default:
-	$(call cmake-build,$@)
+	@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
 
 qurt_eagle_travis:
 	$(call cmake-build,$@)
@@ -168,6 +169,12 @@ 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 +200,8 @@ 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_iris_opt_flow 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/1000_rc_fw_easystar.hil

@@ -37,9 +37,8 @@ then
 	param set FW_RR_I 0.1
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.3
+	param set RWTO_TKOFF 1
 fi
 
-param set RWTO_TKOFF 1
-
 set HIL yes
 set MIXER AERT

ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik

@@ -0,0 +1,41 @@
+#!nsh
+#
+# @name Steadidrone MAVRIK
+#
+# @type Octo Coax Wide
+#
+# @maintainer Simon Wilks <simon@uaventure.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_PITCH_P 4.0
+	param set MC_PITCHRATE_P 0.24
+	param set MC_PITCHRATE_I 0.09
+	param set MC_PITCHRATE_D 0.013
+	param set MC_PITCHRATE_MAX 180.0
+
+	param set MC_ROLL_P 4.0
+	param set MC_ROLLRATE_P 0.16
+	param set MC_ROLLRATE_I 0.07
+	param set MC_ROLLRATE_D 0.009
+	param set MC_ROLLRATE_MAX 180.0
+
+	param set MC_YAW_P 3.0
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAW_FF 0.5
+
+	param set MPC_HOLD_MAX_XY 0.25
+	param set MPC_THR_MIN 0.15
+	param set MPC_Z_VEL_MAX 2.0
+
+	param set BAT_N_CELLS 4
+fi
+
+set MIXER octo_cox_w
+
+set PWM_OUT 12345678

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -1,14 +1,40 @@
 #!nsh
 #
-# @name Duorotor Tailsitter
+# @name Caipiroshka Duo Tailsitter
 #
-# @type VTOL Tailsitter
+# @type VTOL Duo Tailsitter
+#
+# @output MAIN1 motor left
+# @output MAIN2 motor right
+# @output MAIN5 elevon left
+# @output MAIN6 elevon right
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
 
 sh /etc/init.d/rc.vtol_defaults
 
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.12
+	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 4.5
+	param set MC_PITCHRATE_P 0.3
+	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 3.8
+	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 caipirinha_vtol
 
 set PWM_OUT 12

ROMFS/px4fmu_common/init.d/13002_firefly6

@@ -14,12 +14,12 @@ then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.17
 	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.004
+	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 0.14
 	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_D 0.003
 	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 3.8
 	param set MC_YAW_FF 0.5
@@ -35,13 +35,9 @@ fi
 
 set MIXER firefly6
 set PWM_OUT 12345678
+set PWM_RATE 400
 
 set MIXER_AUX firefly6
-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 21
 

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/13005_vtol_AAERT_quad

@@ -14,16 +14,18 @@ then
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
 	param set VT_TRANS_THR 0.75
+	param set VT_ARSP_TRANS 12
+	param set VT_ARSP_BLEND 6
 
-	param set MC_ROLL_P 7.0
-	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.17
 	param set MC_ROLLRATE_I 0.002
-	param set MC_ROLLRATE_D 0.003
+	param set MC_ROLLRATE_D 0.004
 	param set MC_ROLLRATE_FF 0.0
-	param set MC_PITCH_P 7.0
-	param set MC_PITCHRATE_P 0.12
+	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.19
 	param set MC_PITCHRATE_I 0.002
-	param set MC_PITCHRATE_D 0.003
+	param set MC_PITCHRATE_D 0.004
 	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 2.8
 	param set MC_YAW_FF 0.5
@@ -31,17 +33,25 @@ then
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAWRATE_FF 0.0
+
+	param set FW_PR_FF 0.5
+	param set FW_PR_I 0.02
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.08
+	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.01
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.05
+	param set FW_THR_CRUISE 0.75
 fi
 
 set MIXER vtol_quad_x
-set PWM_OUT 12345678
+set PWM_OUT 1234
+set PWM_RATE 400
 
 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 PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
 
 set MAV_TYPE 22
 

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -34,14 +34,12 @@ then
 fi
 
 set MIXER vtol_quad_x
-set PWM_OUT 12345678
+set PWM_OUT 1234
+set PWM_RATE 400
 
 set MIXER_AUX vtol_delta
-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 PWM_ACHDIS 3
+set PWM_AUX_DISARMED 950
 
 set MAV_TYPE 22
 

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

@@ -31,18 +31,15 @@ then
 	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 PWM_OUT 1234
+set PWM_RATE 400
 
 set MIXER_AUX vtol_AAVVT
-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 PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
 
 set MAV_TYPE 22
 

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -0,0 +1,57 @@
+#!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 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.004
+	param set MC_ROLLRATE_FF 0.0
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.15
+	param set MC_PITCHRATE_I 0.1
+	param set MC_PITCHRATE_D 0.004
+	param set MC_PITCHRATE_FF 0.0
+	param set MC_YAW_P 3.5
+	param set MC_YAW_FF 0.7
+	param set MC_YAWRATE_P 0.6
+	param set MC_YAWRATE_I 0.04
+	param set MC_YAWRATE_D 0.0
+	param set MC_YAWRATE_FF 0.0
+
+	param set MPC_ACC_HOR_MAX 2.0
+
+	param set VT_ARSP_TRANS 15.0
+	param set VT_ARSP_BLEND 10.0
+	param set VT_B_TRANS_DUR 4.0
+fi
+
+set MIXER vtol_quad_x
+set PWM_OUT 1234
+set PWM_RATE 400
+
+set MIXER_AUX vtol_AAERT
+set PWM_ACHDIS 5
+set PWM_AUX_DISARMED 950
+
+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/4010_dji_f330

@@ -30,9 +30,3 @@ then
 	# DJI ESCs do not support calibration and need a higher min
 	param set PWM_MIN 1230
 fi
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1075
-then
-	param set PWM_MIN 1230
-fi

ROMFS/px4fmu_common/init.d/4011_dji_f450

@@ -18,11 +18,11 @@ then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.15
 	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.01
+	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.15
 	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.01
+	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.1
@@ -30,9 +30,3 @@ then
 	# DJI ESCs do not support calibration and need a higher min
 	param set PWM_MIN 1230
 fi
-
-# Transitional support: ensure suitable PWM min/max param values
-if param compare PWM_MIN 1075
-then
-	param set PWM_MIN 1230
-fi

ROMFS/px4fmu_common/init.d/4012_quad_x_can

@@ -14,11 +14,11 @@ then
 	param set MC_ROLL_P 7.0
 	param set MC_ROLLRATE_P 0.16
 	param set MC_ROLLRATE_I 0.05
-	param set MC_ROLLRATE_D 0.01
+	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 7.0
 	param set MC_PITCHRATE_P 0.16
 	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCHRATE_D 0.01
+	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.1

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/4040_reaper

@@ -0,0 +1,42 @@
+#!nsh
+#
+# @name Reaper 500 Quad
+#
+# @type Quadrotor x
+#
+# @maintainer Blankered
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set MC_ROLL_P 6.5
+    param set MC_ROLLRATE_P 0.14
+    param set MC_ROLLRATE_I 0.1
+    param set MC_ROLLRATE_D 0.004
+    param set MC_PITCH_P 6.0
+    param set MC_PITCHRATE_P 0.14
+    param set MC_PITCHRATE_I 0.09
+    param set MC_PITCHRATE_D 0.004
+    param set MC_YAW_P 4
+
+    param set NAV_ACC_RAD 2.0
+    param set RTL_RETURN_ALT 30.0
+    param set RTL_DESCEND_ALT 10.0
+fi
+
+set MIXER quad_h
+
+set PWM_RATE 50
+set PWM_OUT 1234
+set PWM_MIN 1100
+set PWM_MAX 1900
+set PWM_DISARMED 1500
+
+set MIXER_AUX pass
+set PWM_AUX_RATE 50
+set PWM_AUX_OUT 1234
+set PWM_AUX_MIN 1000
+set PWM_AUX_MAX 2000
+set PWM_AUX_DISARMED 950

ROMFS/px4fmu_common/init.d/4050_generic_250

@@ -0,0 +1,37 @@
+#!nsh
+#
+# @name generic_250
+#
+# @type Quadrotor x
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Mark Whitehorn <kd0aij@gmail.com>
+#
+
+sh /etc/init.d/4001_quad_x
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.005
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_D 0.005
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.1
+	param set MC_YAWRATE_D 0.0
+	param set PWM_MIN 980
+	param set MPC_THR_MIN 0.06
+	param set MPC_MANTHR_MIN 0.06
+	param set MC_ROLLRATE_MAX 360.0
+	param set MC_PITCHRATE_MAX 360.0
+	param set MC_YAWRATE_MAX 200.0
+	param set ATT_BIAS_MAX 0.0
+fi

ROMFS/px4fmu_common/init.d/rc.interface

@@ -147,6 +147,7 @@ then
 			set FAILSAFE_AUX none
 		fi
 
+		# Set min / max for aux out and rates
 		if [ $PWM_AUX_OUT != none ]
 		then
 			#
@@ -157,13 +158,6 @@ then
 				pwm rate -c $PWM_AUX_OUT -r $PWM_AUX_RATE -d $OUTPUT_AUX_DEV
 			fi
 
-			#
-			# Set disarmed, min and max PWM_AUX values
-			#
-			if [ $PWM_AUX_DISARMED != none ]
-			then
-				pwm disarmed -c $PWM_AUX_OUT -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV
-			fi
 			if [ $PWM_AUX_MIN != none ]
 			then
 				pwm min -c $PWM_AUX_OUT -p $PWM_AUX_MIN -d $OUTPUT_AUX_DEV
@@ -174,6 +168,23 @@ then
 			fi
 		fi
 
+		# Set disarmed values for aux out
+
+		# Transitional support until all configs
+		# are updated
+		if [ $PWM_ACHDIS == none ]
+		then
+			set PWM_ACHDIS ${PWM_AUX_OUT}
+		fi
+
+		#
+		# Set disarmed, min and max PWM_AUX values
+		#
+		if [ $PWM_AUX_DISARMED != none -a $PWM_ACHDIS != none ]
+		then
+			pwm disarmed -c $PWM_ACHDIS -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV
+		fi
+
 		if [ $FAILSAFE_AUX != none ]
 		then
 			pwm failsafe -d $OUTPUT_AUX_DEV $FAILSAFE

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -145,6 +145,10 @@ else
 	fi
 fi
 
+if sf10a start
+then
+fi
+
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
 if sensors start

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -4,40 +4,25 @@ set VEHICLE_TYPE vtol
 
 if [ $AUTOCNF == yes ]
 then
-	#
-	#Default controller parameters for MC
-	#
 	param set MC_ROLL_P 6.0
-	param set MC_ROLLRATE_P 0.1
-	param set MC_ROLLRATE_I 0.0
-	param set MC_ROLLRATE_D 0.003
 	param set MC_PITCH_P 6.0
-	param set MC_PITCHRATE_P 0.2
-	param set MC_PITCHRATE_I 0.0
-	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 4
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.0
-	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.3
-
-	#
-	# Default parameters for FW
-	#
-	param set FW_PR_FF 0.3
-	param set FW_PR_I 0.000
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.02
-	param set FW_RR_FF 0.3
-	param set FW_RR_I 0.00
-	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.02
 
 	param set PE_VELNE_NOISE 0.5
 	param set PE_VELD_NOISE 0.3
 	param set PE_POSNE_NOISE 0.5
 	param set PE_POSD_NOISE 1.25
 	param set PE_ABIAS_PNOISE 0.0001
+
+	#
+	# Default parameters for mission and position handling
+	#
+	param set NAV_ACC_RAD 3
+	param set MPC_TKO_SPEED 1.0
+	param set MPC_LAND_SPEED 0.7
+	param set MPC_Z_VEL_MAX 1.5
+	param set MPC_XY_VEL_MAX 4.0
+	param set MIS_YAW_TMT 10
 fi
 
 set PWM_DISARMED 900

ROMFS/px4fmu_common/init.d/rcS

@@ -86,70 +86,6 @@ then
 		fi
 	fi
 
-	# Compare existing params and save defaults
-	# this only needs to be in for 1-2 releases
-	if param compare RC_MAP_THROTTLE 0
-	then
-		# So this is a default setup,
-		# now lets find out if channel 3
-		# is calibrated
-		if param compare RC3_MIN 1000
-		then
-			# This is default, do nothing
-		else
-			# Set old default
-			param set RC_MAP_THROTTLE 3
-		fi
-	fi
-
-	# Compare existing params and save defaults
-	# this only needs to be in for 1-2 releases
-	if param compare RC_MAP_ROLL 0
-	then
-		# So this is a default setup,
-		# now lets find out if channel 1
-		# is calibrated
-		if param compare RC1_MIN 1000
-		then
-			# This is default, do nothing
-		else
-			# Set old default
-			param set RC_MAP_ROLL 1
-		fi
-	fi
-
-	# Compare existing params and save defaults
-	# this only needs to be in for 1-2 releases
-	if param compare RC_MAP_PITCH 0
-	then
-		# So this is a default setup,
-		# now lets find out if channel 2
-		# is calibrated
-		if param compare RC2_MIN 1000
-		then
-			# This is default, do nothing
-		else
-			# Set old default
-			param set RC_MAP_PITCH 2
-		fi
-	fi
-
-	# Compare existing params and save defaults
-	# this only needs to be in for 1-2 releases
-	if param compare RC_MAP_YAW 0
-	then
-		# So this is a default setup,
-		# now lets find out if channel 4
-		# is calibrated
-		if param compare RC4_MIN 1000
-		then
-			# This is default, do nothing
-		else
-			# Set old default
-			param set RC_MAP_YAW 4
-		fi
-	fi
-
 	#
 	# Start system state indicator
 	#
@@ -182,6 +118,7 @@ then
 	set PWM_MAX none
 	set PWM_AUX_OUT none
 	set PWM_AUX_RATE none
+	set PWM_ACHDIS none
 	set PWM_AUX_DISARMED none
 	set PWM_AUX_MIN none
 	set PWM_AUX_MAX none
@@ -550,9 +487,9 @@ 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
+				mavlink start -r 20000 -m config -b 921600 -d /dev/ttyS0
 			fi
 		fi
 	fi
@@ -563,8 +500,9 @@ then
 	#
 	# MAVLink onboard / TELEM2
 	#
-	if ver hwcmp PX4FMU_V2
+	if ver hwcmp PX4FMU_V1
 	then
+	else
 		# XXX We need a better way for runtime eval of shell variables,
 		# but this works for now
 		if param compare SYS_COMPANION 921600
@@ -583,6 +521,10 @@ then
 		then
 			mavlink start -d /dev/ttyS2 -b 57600 -m magic -r 5000 -x
 		fi
+		if param compare SYS_COMPANION 357600
+		then
+			mavlink start -d /dev/ttyS2 -b 57600 -r 1000
+		fi
 		# Sensors on the PWM interface bank
 		# clear pins 5 and 6
 		if param compare SENS_EN_LL40LS 1
@@ -670,6 +612,10 @@ then
 			then
 				set MAV_TYPE 2
 			fi
+			if [ $MIXER == quad_h ]
+			then
+				set MAV_TYPE 2
+			fi
 			if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]
 			then
 				set MAV_TYPE 15
@@ -686,7 +632,7 @@ then
 			then
 				set MAV_TYPE 14
 			fi
-			if [ $MIXER == octo_cox ]
+			if [ $MIXER == octo_cox -o $MIXER == octo_cox_w ]
 			then
 				set MAV_TYPE 14
 			fi
@@ -835,6 +781,11 @@ 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/caipirinha_vtol.main.mix

@@ -1,10 +1,27 @@
-#!nsh
-# Caipirinha vtol mixer for PX4FMU
-#
-#===========================
+Caipirinha tailsitter mixer
+============================
+
+This file defines a mixer for the TBS Caipirinha tailsitter edition. This vehicle
+has two motors in total, one attached to each wing. It also has two elevons which
+are located in the slipstream of the propellers.
+
+Motor mixer
+------------
+When standing in front of the vehicle the first motor should be on the left side
+while the second motor should be on the right side.
+
 R: 2- 10000 10000 10000 0
 
-#mixer for the elevons
+Zero mixer (2x)
+---------------
+
+Z:
+
+Z:
+
+Elevons mixer
+--------------
+
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/octo_cox_w.main.mix

@@ -0,0 +1,3 @@
+# Octo coaxial with wide arms
+
+R: 8cw 10000 10000 10000 0

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 "$1")
+	if [ -z "$STATUSRETVAL" ]; then
+		echo "Checked $1 submodule, correct version found"
+	else
+		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
+		echo ""
+		echo -e "Different commits:"
+		echo -e "$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;
+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/cmake_hexagon
+check_git_submodule src/lib/DriverFramework/dspal
+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/jMAVSim

@@ -1 +1 @@
-Subproject commit 0876a46d53954db34775151f73db024bcfc656a0
+Subproject commit 218ffbb8cf584fa2d02dbbc1215ce85bc25a9f57

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 +28,57 @@ 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() == "Octo Coax Wide"):
+                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

@@ -51,6 +51,7 @@ class Parameter(object):
 
     def __init__(self, name, type, default = ""):
         self.fields = {}
+        self.values = {}
         self.name = name
         self.type = type
         self.default = default
@@ -70,6 +71,12 @@ class Parameter(object):
         """
         self.fields[code] = value
 
+    def SetEnumValue(self, code, value):
+        """
+        Set named enum value
+        """
+        self.values[code] = value
+
     def GetFieldCodes(self):
         """
         Return list of existing field codes in convenient order
@@ -87,7 +94,26 @@ class Parameter(object):
         if not fv:
                 # required because python 3 sorted does not accept None
                 return ""
-        return self.fields.get(code)
+        return fv
+
+    def GetEnumCodes(self):
+        """
+        Return list of existing value codes in convenient order
+        """
+        keys = self.values.keys()
+        #keys = sorted(keys)
+        #keys = sorted(keys, key=lambda x: self.priority.get(x, 0), reverse=True)
+        return keys
+
+    def GetEnumValue(self, code):
+        """
+        Return value of the given enum code or None if not found.
+        """
+        fv =  self.values.get(code)
+        if not fv:
+                # required because python 3 sorted does not accept None
+                return ""
+        return fv
 
 class SourceParser(object):
     """
@@ -107,7 +133,7 @@ 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", "value"])
 
     # Order of parameter groups
     priority = {
@@ -137,6 +163,7 @@ class SourceParser(object):
                 short_desc = None
                 long_desc = None
                 tags = {}
+                def_values = {}
             elif state is not None and state != "comment-processed":
                 m = self.re_comment_end.search(line)
                 if m:
@@ -156,7 +183,12 @@ class SourceParser(object):
                         m = self.re_comment_tag.match(comment_content)
                         if m:
                             tag, desc = m.group(1, 2)
-                            tags[tag] = desc
+                            if (tag == "value"):
+                                # Take the meta info string and split the code and description
+                                metainfo = desc.split(" ",  1)
+                                def_values[metainfo[0]] = metainfo[1]
+                            else:
+                                tags[tag] = desc
                             current_tag = tag
                             state = "wait-tag-end"
                         elif state == "wait-short":
@@ -191,6 +223,7 @@ class SourceParser(object):
                 defval = ""
                 # Non-empty line outside the comment
                 m = self.re_px4_param_default_definition.match(line)
+                # Default value handling
                 if m:
                     name_m, defval_m = m.group(1,2)
                     default_var[name_m] = defval_m
@@ -226,6 +259,8 @@ class SourceParser(object):
                                 return False
                             else:
                                 param.SetField(tag, tags[tag])
+                        for def_value in def_values:
+                            param.SetEnumValue(def_value, def_values[def_value])
                     # Store the parameter
                     if group not in self.param_groups:
                         self.param_groups[group] = ParameterGroup(group)
@@ -278,6 +313,13 @@ class SourceParser(object):
                     if default != "" and float(default) > float(max):
                         sys.stderr.write("Default value is larger than max: {0} default:{1} max:{2}\n".format(name, default, max))
                         return False
+                for code in param.GetEnumCodes():
+                        if not self.IsNumber(code):
+                            sys.stderr.write("Min value not number: {0} {1}\n".format(name, code))
+                            return False
+                        if param.GetEnumValue(code) == "":
+                            sys.stderr.write("Description for enum value is empty: {0} {1}\n".format(name, code))
+                            return False
         return True
 
     def GetParamGroups(self):

Tools/px4params/xmlout.py

@@ -52,6 +52,13 @@ class XMLOutput():
                             xml_field.text = value
                 if last_param_name != param.GetName():
                     board_specific_param_set = False
+                
+                if len(param.GetEnumCodes()) > 0:
+                    xml_values = ET.SubElement(xml_param, "values")
+                    for code in param.GetEnumCodes():
+                        xml_value = ET.SubElement(xml_values, "value")
+                        xml_value.attrib["code"] = code;
+                        xml_value.text = param.GetEnumValue(code)
         indent(xml_parameters)
         self.xml_document = ET.ElementTree(xml_parameters)
 

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 b28258f1ac0d66eddb2c8682b8bad3586c6c855e

cmake/cmake_hexagon

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

cmake/common/px4_base.cmake

@@ -138,13 +138,15 @@ function(px4_add_git_submodule)
 	string(REPLACE "/" "_" NAME ${PATH})
 	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
 		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		COMMAND git submodule init ${PATH}
+		COMMAND git submodule update --init --recursive ${PATH}
 		COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
 		DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
 		)
 	add_custom_target(${TARGET}
 		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		COMMAND git submodule update --recursive ${PATH}
+# This is NOT a good approach as it overwrites checked out branches
+# behind the back of a developer
+		#COMMAND git submodule update --recursive ${PATH}
 		DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
 		)
 endfunction()
@@ -266,6 +268,10 @@ 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)
@@ -530,15 +536,28 @@ function(px4_add_common_flags)
 		)
 	endif()
 
-	set(max_optimization -Os)
+	if ($ENV{MEMORY_DEBUG} MATCHES "1")
+		set(max_optimization -O0)
 
-	set(optimization_flags
-		-fno-strict-aliasing
-		-fomit-frame-pointer
-		-funsafe-math-optimizations
-		-ffunction-sections
-		-fdata-sections
-		)
+		set(optimization_flags
+			-fno-strict-aliasing
+			-fno-omit-frame-pointer
+			-funsafe-math-optimizations
+			-ffunction-sections
+			-fdata-sections
+			-g -fsanitize=address
+			)
+	else()
+		set(max_optimization -Os)
+
+		set(optimization_flags
+			-fno-strict-aliasing
+			-fomit-frame-pointer
+			-funsafe-math-optimizations
+			-ffunction-sections
+			-fdata-sections
+			)
+	endif()
 
 	if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
 		list(APPEND optimization_flags

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/airspeed.msg

@@ -3,3 +3,4 @@ float32 indicated_airspeed_m_s		# indicated airspeed in meters per second, -1 if
 float32 true_airspeed_m_s		# true filtered airspeed in meters per second, -1 if unknown
 float32 true_airspeed_unfiltered_m_s	# true airspeed in meters per second, -1 if unknown
 float32 air_temperature_celsius		# air temperature in degrees celsius, -1000 if unknown
+float32 confidence			# confidence value from 0 to 1 for this sensor

msg/battery_status.msg

@@ -3,3 +3,4 @@ float32 voltage_v		# Battery voltage in volts, 0 if unknown
 float32 voltage_filtered_v	# Battery voltage in volts, filtered, 0 if unknown
 float32 current_a		# Battery current in amperes, -1 if unknown
 float32 discharged_mah		# Discharged amount in mAh, -1 if unknown
+bool is_powering_off		# Power off event imminent indication, false if unknown

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/estimator_status.msg

@@ -5,3 +5,14 @@ uint8 nan_flags			# Bitmask to indicate NaN states
 uint8 health_flags		# Bitmask to indicate sensor health states (vel, pos, hgt)
 uint8 timeout_flags		# Bitmask to indicate timeout flags (vel, pos, hgt)
 float32[28] covariances	# Diagonal Elements of Covariance Matrix
+uint16 gps_check_fail_flags     # Bitmask to indicate status of GPS checks - see definition below
+# bits are true when corresponding test has failed
+# 0 : minimum required sat count fail
+# 1 : minimum required GDoP fail
+# 2 : maximum allowed horizontal position error fail
+# 3 : maximum allowed vertical position error fail
+# 4 : maximum allowed speed error fail
+# 5 : maximum allowed horizontal position drift fail
+# 6 : maximum allowed vertical position drift fail
+# 7 : maximum allowed horizontal speed fail
+# 8 : maximum allowed vertical velocity discrepancy fail

msg/fw_virtual_attitude_setpoint.msg

@@ -1,3 +1,12 @@
+###############################################################################################
+# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_attitude_setpoint.msg
+#	mc_virtual_attitude_setpoint.msg
+#	fw_virtual_attitude_setpoint.msg
+#
+###############################################################################################
 
 uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data
 
@@ -21,3 +30,8 @@ float32 thrust					# Thrust in Newton the power system should generate
 bool roll_reset_integral			# Reset roll integral part (navigation logic change)
 bool pitch_reset_integral			# Reset pitch integral part (navigation logic change)
 bool yaw_reset_integral				# Reset yaw integral part (navigation logic change)
+
+bool fw_control_yaw					# control heading with rudder (used for auto takeoff on runway)
+bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
+
+bool apply_flaps

msg/fw_virtual_rates_setpoint.msg

@@ -1,6 +1,16 @@
+###############################################################################################
+# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_rates_setpoint.msg
+#	mc_virtual_rates_setpoint.msg
+#	fw_virtual_rates_setpoint.msg
+#
+###############################################################################################
+
 uint64 timestamp    # in microseconds since system start
 
 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame
-float32 yaw	    # body angular rates in NED frame
+float32 yaw			# body angular rates in NED frame
 float32 thrust	    # thrust normalized to 0..1

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/mc_virtual_attitude_setpoint.msg

@@ -1,3 +1,12 @@
+###############################################################################################
+# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_attitude_setpoint.msg
+#	mc_virtual_attitude_setpoint.msg
+#	fw_virtual_attitude_setpoint.msg
+#
+###############################################################################################
 
 uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data
 
@@ -21,3 +30,8 @@ float32 thrust					# Thrust in Newton the power system should generate
 bool roll_reset_integral			# Reset roll integral part (navigation logic change)
 bool pitch_reset_integral			# Reset pitch integral part (navigation logic change)
 bool yaw_reset_integral				# Reset yaw integral part (navigation logic change)
+
+bool fw_control_yaw					# control heading with rudder (used for auto takeoff on runway)
+bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
+
+bool apply_flaps

msg/mc_virtual_rates_setpoint.msg

@@ -1,6 +1,16 @@
+###############################################################################################
+# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_rates_setpoint.msg
+#	mc_virtual_rates_setpoint.msg
+#	fw_virtual_rates_setpoint.msg
+#
+###############################################################################################
+
 uint64 timestamp    # in microseconds since system start
 
 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame
-float32 yaw	    # body angular rates in NED frame
+float32 yaw			# body angular rates in NED frame
 float32 thrust	    # thrust normalized to 0..1

msg/mission_result.msg

@@ -6,7 +6,8 @@ bool warning			# true if mission is valid, but has potentially problematic items
 bool reached			# true if mission has been reached
 bool finished			# true if mission has been completed
 bool stay_in_failsafe		# true if the commander should not switch out of the failsafe mode
-bool flight_termination	# true if the navigator demands a flight termination from the commander app
+bool flight_termination		# true if the navigator demands a flight termination from the commander app
 bool item_do_jump_changed	# true if the number of do jumps remaining has changed
 uint32 item_changed_index	# indicate which item has changed
 uint32 item_do_jump_remaining	# set to the number of do jumps remaining for that item
+bool mission_failure		# true if the mission cannot continue or be completed for some reason

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/position_setpoint.msg

@@ -23,6 +23,7 @@ float64 lon			# longitude, in deg
 float32 alt			# altitude AMSL, in m
 float32 yaw			# yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
 bool yaw_valid			# true if yaw setpoint valid
+bool disable_mc_yaw_control		# control yaw for mc (used for vtol weather-vane mode)
 float32 yawspeed		# yawspeed (only for multirotors, in rad/s)
 bool yawspeed_valid		# true if yawspeed setpoint valid
 float32 loiter_radius		# loiter radius (only for fixed wing), in m

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_attitude_setpoint.msg

@@ -1,3 +1,12 @@
+###############################################################################################
+# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_attitude_setpoint.msg
+#	mc_virtual_attitude_setpoint.msg
+#	fw_virtual_attitude_setpoint.msg
+#
+###############################################################################################
 
 uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data
 
@@ -23,5 +32,6 @@ bool pitch_reset_integral			# Reset pitch integral part (navigation logic change
 bool yaw_reset_integral				# Reset yaw integral part (navigation logic change)
 
 bool fw_control_yaw					# control heading with rudder (used for auto takeoff on runway)
+bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
 
 bool apply_flaps

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| 

msg/vehicle_rates_setpoint.msg

@@ -1,6 +1,16 @@
+###############################################################################################
+# The vehicle_rates_setpoint.msg needs to be in sync with the virtual setpoint messages
+#
+# Please keep the following messages identical;
+#	vehicle_rates_setpoint.msg
+#	mc_virtual_rates_setpoint.msg
+#	fw_virtual_rates_setpoint.msg
+#
+###############################################################################################
+
 uint64 timestamp    # in microseconds since system start
 
 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame
-float32 yaw	    # body angular rates in NED frame
+float32 yaw			# body angular rates in NED frame
 float32 thrust	    # thrust normalized to 0..1

msg/vehicle_status.msg

@@ -117,10 +117,9 @@ uint32 system_id			# system id, inspired by MAVLink's system ID field
 uint32 component_id			# subsystem / component id, inspired by MAVLink's component ID field
 
 bool is_rotary_wing			# True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
-bool vtol_in_transition		# True if VTOL is doing a transition
 bool is_vtol				# True if the system is VTOL capable
 bool vtol_fw_permanent_stab		# True if vtol should stabilize attitude for fw in manual mode
-bool in_transition_mode
+bool in_transition_mode			# True if VTOL is doing a transition
 
 bool condition_battery_voltage_valid
 bool condition_system_in_air_restore		# true if we can restore in mid air
@@ -151,9 +150,11 @@ bool data_link_lost_cmd				# datalink to GCS lost mode commanded
 uint8 data_link_lost_counter			# counts unique data link lost events
 bool engine_failure				# Set to true if an engine failure is detected
 bool engine_failure_cmd				# Set to true if an engine failure mode is commanded
+bool vtol_transition_failure		# Set to true if vtol transition failed
+bool vtol_transition_failure_cmd	# Set to true if vtol transition failure mode is commanded
 bool gps_failure				# Set to true if a gps failure is detected
 bool gps_failure_cmd				# Set to true if a gps failure mode is commanded
-
+bool mission_failure				# Set to true if mission could not continue/finish
 bool barometer_failure				# Set to true if a barometer failure is detected
 
 bool offboard_control_signal_found_once

msg/vtol_vehicle_status.msg

@@ -1,5 +1,6 @@
-uint64 timestamp		# Microseconds since system boot
-bool vtol_in_rw_mode		# true: vtol vehicle is in rotating wing mode
+uint64 timestamp				# Microseconds since system boot
+bool vtol_in_rw_mode			# true: vtol vehicle is in rotating wing mode
 bool vtol_in_trans_mode
-bool fw_permanent_stab		# In fw mode stabilize attitude even if in manual mode
-float32 airspeed_tot		# Estimated airspeed over control surfaces
+bool vtol_transition_failsafe	# vtol in transition failsafe mode
+bool fw_permanent_stab			# In fw mode stabilize attitude even if in manual mode
+float32 airspeed_tot			# Estimated airspeed over control surfaces

nuttx-configs/px4fmu-v2/nsh/defconfig

@@ -667,7 +667,7 @@ CONFIG_CDCACM_NWRREQS=4
 CONFIG_CDCACM_NRDREQS=4
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=4000
+CONFIG_CDCACM_TXBUFSIZE=8000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_PRODUCTID=0x0011
 CONFIG_CDCACM_VENDORSTR="3D Robotics"

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/px4fmu-v4/nsh/defconfig

@@ -552,7 +552,7 @@ CONFIG_UART7_SERIAL_CONSOLE=y
 # USART1 Configuration
 #
 CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=2000
+CONFIG_USART1_TXBUFSIZE=4000
 CONFIG_USART1_BAUD=115200
 CONFIG_USART1_BITS=8
 CONFIG_USART1_PARITY=0
@@ -667,7 +667,7 @@ CONFIG_CDCACM_NWRREQS=4
 CONFIG_CDCACM_NRDREQS=4
 CONFIG_CDCACM_BULKIN_REQLEN=96
 CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=4000
+CONFIG_CDCACM_TXBUFSIZE=8000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_PRODUCTID=0x0012
 CONFIG_CDCACM_VENDORSTR="3D Robotics"

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_iris

@@ -50,7 +50,7 @@ mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
 mavlink start -u 14556 -r 2000000
-mavlink start -u 14557 -r 2000000 -m onboard
+mavlink start -u 14557 -r 2000000 -m onboard -o 14540
 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

posix-configs/SITL/init/rcS_gazebo_iris_opt_flow

@@ -0,0 +1,63 @@
+uorb start
+simulator start -s
+param load
+param set MAV_TYPE 2
+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 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 SENS_BOARD_ROT 8
+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
+rgbledsim start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim 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
+mc_pos_control start
+mc_att_control start
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard -o 14540
+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 100 -e -t -a

posix-configs/SITL/init/rcS_gazebo_standard_vtol

@@ -0,0 +1,69 @@
+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 1.5
+param set SENS_BOARD_ROT 8
+param set COM_RC_IN_MODE 1
+param set NAV_ACC_RAD 3.0
+param set MPC_TKO_SPEED 1.0
+param set MIS_YAW_TMT 10
+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 -o 14540
+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
@@ -52,7 +53,7 @@ fw_pos_control_l1 start
 fw_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
 mavlink start -u 14556 -r 2000000
-mavlink start -u 14557 -r 2000000 -m onboard
+mavlink start -u 14557 -r 2000000 -m onboard -o 14540
 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

posix-configs/SITL/init/rcS_jmavsim_iris

@@ -51,13 +51,12 @@ 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
 mavlink start -u 14556 -r 2000000
-mavlink start -u 14557 -r 2000000 -m onboard
+mavlink start -u 14557 -r 2000000 -m onboard -o 14540
 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

posix-configs/SITL/init/rcS_lpe_gazebo_iris

@@ -50,6 +50,7 @@ mc_pos_control start
 mc_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
 mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard -o 14540
 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

posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow

@@ -0,0 +1,71 @@
+uorb start
+simulator start -s
+param load
+param set MAV_TYPE 2
+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 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 SENS_BOARD_ROT 8
+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
+
+# changes for LPE
+param set COM_RC_IN_MODE 1
+param set LPE_BETA_MAX 10000
+
+rgbledsim start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+land_detector start multicopter
+navigator start
+attitude_estimator_q start
+mc_pos_control start
+mc_att_control start
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard -o 14540
+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
+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 100 -e -t -a
+
+# start LPE at end, when we know it is ok to init sensors
+sleep 5
+local_position_estimator start

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 -o 14540
 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/batt_smbus/batt_smbus.cpp

@@ -77,30 +77,48 @@
 #include <drivers/drv_batt_smbus.h>
 #include <drivers/device/ringbuffer.h>
 
-#define BATT_SMBUS_ADDR_MIN			0x08	///< lowest possible address
-#define BATT_SMBUS_ADDR_MAX			0x7F	///< highest possible address
+#define BATT_SMBUS_ADDR_MIN             0x08	///< lowest possible address
+#define BATT_SMBUS_ADDR_MAX             0x7F	///< highest possible address
 
-#define BATT_SMBUS_I2C_BUS			PX4_I2C_BUS_EXPANSION
-#define BATT_SMBUS_ADDR				0x0B	///< I2C address
-#define BATT_SMBUS_TEMP				0x08	///< temperature register
-#define BATT_SMBUS_VOLTAGE			0x09	///< voltage register
+#define BATT_SMBUS_I2C_BUS              PX4_I2C_BUS_EXPANSION
+#define BATT_SMBUS_ADDR                 0x0B	///< I2C address
+#define BATT_SMBUS_TEMP                 0x08	///< temperature register
+#define BATT_SMBUS_VOLTAGE              0x09	///< voltage register
 #define BATT_SMBUS_REMAINING_CAPACITY	0x0f	///< predicted remaining battery capacity as a percentage
 #define BATT_SMBUS_FULL_CHARGE_CAPACITY 0x10    ///< capacity when fully charged
-#define BATT_SMBUS_DESIGN_CAPACITY		0x18	///< design capacity register
-#define BATT_SMBUS_DESIGN_VOLTAGE		0x19	///< design voltage register
-#define BATT_SMBUS_SERIALNUM			0x1c	///< serial number register
-#define BATT_SMBUS_MANUFACTURE_NAME		0x20	///< manufacturer name
-#define BATT_SMBUS_MANUFACTURE_INFO		0x25	///< cell voltage register
-#define BATT_SMBUS_CURRENT			0x2a	///< current register
-#define BATT_SMBUS_MEASUREMENT_INTERVAL_MS	(1000000 / 10)	///< time in microseconds, measure at 10hz
-#define BATT_SMBUS_TIMEOUT_MS		10000000	///< timeout looking for battery 10seconds after startup
+#define BATT_SMBUS_DESIGN_CAPACITY	0x18	///< design capacity register
+#define BATT_SMBUS_DESIGN_VOLTAGE	0x19	///< design voltage register
+#define BATT_SMBUS_MANUFACTURE_DATE   0x1B  ///< manufacture date register
+#define BATT_SMBUS_SERIAL_NUMBER      0x1C  ///< serial number register
+#define BATT_SMBUS_MANUFACTURER_NAME	0x20	///< manufacturer name
+#define BATT_SMBUS_DEVICE_NAME        0x21  ///< device name register
+#define BATT_SMBUS_DEVICE_CHEMISTRY   0x22  ///< device chemistry register
+#define BATT_SMBUS_MANUFACTURER_DATA		0x23	///< manufacturer data
+#define BATT_SMBUS_MANUFACTURE_INFO	0x25	///< cell voltage register
+#define BATT_SMBUS_CURRENT              0x2a	///< current register
+#define BATT_SMBUS_MEASUREMENT_INTERVAL_US	(1000000 / 10)	///< time in microseconds, measure at 10Hz
+#define BATT_SMBUS_TIMEOUT_US			10000000	///< timeout looking for battery 10seconds after startup
 
-#define BATT_SMBUS_PEC_POLYNOMIAL		0x07	///< Polynomial for calculating PEC
+#define BATT_SMBUS_BUTTON_DEBOUNCE_MS	300		///< button holds longer than this time will cause a power off event
+
+#define BATT_SMBUS_MANUFACTURER_ACCESS	0x00
+#define BATT_SMBUS_MANUFACTURER_BLOCK_ACCESS    0x44
+
+#define BATT_SMBUS_PEC_POLYNOMIAL	0x07	///< Polynomial for calculating PEC
 
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
 
+struct battery_type {
+	char *ManufacturerName;
+	char *DeviceName;
+	char *DeviceChemistry;
+};
+
+// Declaration of the solo battery data, as determined by reading out the data from multiple 3DR Solo batteries
+const struct battery_type solo_battery = {(char *)"BMTPOW", (char *)"MA03", (char *)"LIon"};
+
 class BATT_SMBUS : public device::I2C
 {
 public:
@@ -133,6 +151,62 @@ public:
 	 */
 	int			search();
 
+	/**
+	 * Get the SBS manufacturer name of the battery device
+	 *
+	 * @param manufacturer_name pointer a buffer into which the manufacturer name is to be written
+	* @param max_length the maximum number of bytes to attempt to read from the manufacturer name register, including the null character that is appended to the end
+	 *
+	 * @return the number of bytes read
+	 */
+	uint8_t     manufacturer_name(uint8_t *man_name, uint8_t max_length);
+
+	/**
+	 * Return the SBS manufacture date of the battery device
+	 *
+	 * @return the date in the following format:
+	*  see Smart Battery Data Specification, Revision  1.1
+	*  http://sbs-forum.org/specs/sbdat110.pdf for more details
+	 *  Date as uint16_t = (year-1980) * 512 + month * 32 + day
+	 *  | Field | Bits | Format             | Allowable Values                           |
+	 *  | ----- | ---- | ------------------ | ------------------------------------------ |
+	 *  | Day     0-4    5-bit binary value   1-31 (corresponds to day)                  |
+	 *  | Month   5-8    4-bit binary value   1-12 (corresponds to month number)         |
+	 *  | Year    9-15   7-bit binary value   0-127 (corresponds to year biased by 1980) |
+	 *  otherwise, return 0 on failure
+	 */
+	uint16_t  manufacture_date();
+
+	/**
+	 * Get the SBS device name of the battery device
+	 *
+	 * @param dev_name pointer a buffer into which the device name is to be written
+	* @param max_length the maximum number of bytes to attempt to read from the device name register, including the null character that is appended to the end
+	 *
+	 * @return the number of bytes read
+	 */
+	uint8_t     device_name(uint8_t *dev_name, uint8_t max_length);
+
+	/**
+	 * Return the SBS serial number of the battery device
+	 */
+	uint16_t     serial_number();
+
+	/**
+	 * Get the SBS device chemistry of the battery device
+	 *
+	 * @param dev_chem pointer a buffer into which the device chemistry is to be written
+	* @param max_length the maximum number of bytes to attempt to read from the device chemistry register, including the null character that is appended to the end
+	 *
+	 * @return the number of bytes read
+	 */
+	uint8_t     device_chemistry(uint8_t *dev_chem, uint8_t max_length);
+
+	/**
+	 * Checks whether the current SBS battery data corresponds to a 3DR Solo battery
+	 */
+	bool is_solo_battery();
+
 protected:
 	/**
 	 * Check if the device can be contacted
@@ -166,18 +240,41 @@ private:
 	 */
 	int			read_reg(uint8_t reg, uint16_t &val);
 
+	/**
+	 * Write a word to specified register
+	 */
+	int			write_reg(uint8_t reg, uint16_t val);
+
 	/**
 	 * Read block from bus
 	 * @return returns number of characters read if successful, zero if unsuccessful
 	 */
 	uint8_t			read_block(uint8_t reg, uint8_t *data, uint8_t max_len, bool append_zero);
 
+	/**
+	 * Write block to the bus
+	 * @return the number of characters sent if successful, zero if unsuccessful
+	 */
+	uint8_t			write_block(uint8_t reg, uint8_t *data, uint8_t len);
+
 	/**
 	 * Calculate PEC for a read or write from the battery
 	 * @param buff is the data that was read or will be written
 	 */
 	uint8_t			get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const;
 
+	/**
+	 * Write a word to Manufacturer Access register (0x00)
+	 * @param cmd the word to be written to Manufacturer Access
+	 */
+	uint8_t			ManufacturerAccess(uint16_t cmd);
+
+	/**
+	 * Checks if the battery that has been detected is a 3DR Solo Battery. If it is, it sets
+	 * the private variable _is_solo_battery to be true
+	 */
+	void        check_if_solo_battery();
+
 	// internal variables
 	bool			_enabled;	///< true if we have successfully connected to battery
 	work_s			_work;		///< work queue for scheduling reads
@@ -187,6 +284,11 @@ private:
 	orb_id_t		_batt_orb_id;	///< uORB battery topic ID
 	uint64_t		_start_time;	///< system time we first attempt to communicate with battery
 	uint16_t		_batt_capacity;	///< battery's design capacity in mAh (0 means unknown)
+	char           *_manufacturer_name;  ///< The name of the battery manufacturer
+	char           *_device_name;  ///< The name of the battery device
+	char           *_device_chemistry;  ///< The battery chemistry
+	bool            _is_solo_battery; ///< Boolean as to whether the battery detected is a 3DR Solo Battery or not
+	uint8_t			_button_press_counts; ///< count of button presses detected on 3DR Solo Battery
 };
 
 namespace
@@ -198,15 +300,27 @@ void batt_smbus_usage();
 
 extern "C" __EXPORT int batt_smbus_main(int argc, char *argv[]);
 
+int manufacturer_name();
+int manufacture_date();
+int device_name();
+int serial_number();
+int device_chemistry();
+int solo_battery_check();
+
 BATT_SMBUS::BATT_SMBUS(int bus, uint16_t batt_smbus_addr) :
-	I2C("batt_smbus", BATT_SMBUS_DEVICE_PATH, bus, batt_smbus_addr, 400000),
+	I2C("batt_smbus", BATT_SMBUS0_DEVICE_PATH, bus, batt_smbus_addr, 100000),
 	_enabled(false),
 	_work{},
 	_reports(nullptr),
-	_batt_topic(nullptr),
+	_batt_topic(-1),
 	_batt_orb_id(nullptr),
 	_start_time(0),
-	_batt_capacity(0)
+	_batt_capacity(0),
+	_manufacturer_name(nullptr),
+	_device_name(nullptr),
+	_device_chemistry(nullptr),
+	_is_solo_battery(false),
+	_button_press_counts(0)
 {
 	// work_cancel in the dtor will explode if we don't do this...
 	memset(&_work, 0, sizeof(_work));
@@ -223,6 +337,18 @@ BATT_SMBUS::~BATT_SMBUS()
 	if (_reports != nullptr) {
 		delete _reports;
 	}
+
+	if (_manufacturer_name != nullptr) {
+		delete _manufacturer_name;
+	}
+
+	if (_device_name != nullptr) {
+		delete _device_name;
+	}
+
+	if (_device_chemistry != nullptr) {
+		delete _device_chemistry;
+	}
 }
 
 int
@@ -297,8 +423,8 @@ BATT_SMBUS::test()
 
 		if (updated) {
 			if (orb_copy(ORB_ID(battery_status), sub, &status) == OK) {
-				warnx("V=%4.2f C=%4.2f DismAh=%4.2f Cap:%d", (float)status.voltage_v, (float)status.current_a,
-				      (float)status.discharged_mah, (int)_batt_capacity);
+				warnx("V=%4.2f C=%4.2f DismAh=%4.2f Cap:%d Shutdown:%d", (double)status.voltage_v, (double)status.current_a,
+				      (double)status.discharged_mah, (int)_batt_capacity, (int)status.is_powering_off);
 			}
 		}
 
@@ -343,6 +469,89 @@ BATT_SMBUS::search()
 	return OK;
 }
 
+uint8_t
+BATT_SMBUS::manufacturer_name(uint8_t *man_name, uint8_t max_length)
+{
+	uint8_t len = read_block(BATT_SMBUS_MANUFACTURER_NAME, man_name, max_length, false);
+
+	if (len > 0) {
+		if (len >= max_length - 1) {
+			man_name[max_length - 1] = 0;
+
+		} else {
+			man_name[len] = 0;
+		}
+	}
+
+	return len;
+}
+
+uint16_t
+BATT_SMBUS::manufacture_date()
+{
+	uint16_t man_date;
+
+	if (read_reg(BATT_SMBUS_MANUFACTURE_DATE, man_date) == OK) {
+		return man_date;
+	}
+
+	// Return 0 if could not read the date correctly
+	return 0;
+}
+
+uint8_t
+BATT_SMBUS::device_name(uint8_t *dev_name, uint8_t max_length)
+{
+	uint8_t len = read_block(BATT_SMBUS_DEVICE_NAME, dev_name, max_length, false);
+
+	if (len > 0) {
+		if (len >= max_length - 1) {
+			dev_name[max_length - 1] = 0;
+
+		} else {
+			dev_name[len] = 0;
+		}
+	}
+
+	return len;
+}
+
+uint16_t
+BATT_SMBUS::serial_number()
+{
+	uint16_t serial_num;
+
+	if (read_reg(BATT_SMBUS_SERIAL_NUMBER, serial_num) == OK) {
+		return serial_num;
+	}
+
+	return -1;
+}
+
+uint8_t
+BATT_SMBUS::device_chemistry(uint8_t *dev_chem, uint8_t max_length)
+{
+	uint8_t len = read_block(BATT_SMBUS_DEVICE_CHEMISTRY, dev_chem, max_length, false);
+
+	if (len > 0) {
+		if (len >= max_length - 1) {
+			dev_chem[max_length - 1] = 0;
+
+		} else {
+			dev_chem[len] = 0;
+		}
+	}
+
+	return len;
+}
+
+bool
+BATT_SMBUS::is_solo_battery()
+{
+	check_if_solo_battery();
+	return _is_solo_battery;
+}
+
 int
 BATT_SMBUS::probe()
 {
@@ -381,11 +590,53 @@ BATT_SMBUS::cycle()
 	uint64_t now = hrt_absolute_time();
 
 	// exit without rescheduling if we have failed to find a battery after 10 seconds
-	if (!_enabled && (now - _start_time > BATT_SMBUS_TIMEOUT_MS)) {
+	if (!_enabled && (now - _start_time > BATT_SMBUS_TIMEOUT_US)) {
 		warnx("did not find smart battery");
 		return;
 	}
 
+	bool perform_solo_battry_check = false; // Only check if it is a solo battery if changes have been made to the SBS data
+
+	// Try and get battery SBS info
+	if (_manufacturer_name == nullptr) {
+		char man_name[21];
+		uint8_t len = manufacturer_name((uint8_t *)man_name, sizeof(man_name));
+
+		if (len > 0) {
+			_manufacturer_name = new char[len];
+			strcpy(_manufacturer_name, man_name);
+			perform_solo_battry_check = true;
+		}
+	}
+
+	if (_device_name == nullptr) {
+		char dev_name[21];
+		uint8_t len = device_name((uint8_t *)dev_name, sizeof(dev_name));
+
+		if (len > 0) {
+			_device_name = new char[len];
+			strcpy(_device_name, dev_name);
+			perform_solo_battry_check = true;
+		}
+	}
+
+	if (_device_chemistry == nullptr) {
+		char dev_chem[21];
+		uint8_t len = device_chemistry((uint8_t *)dev_chem, sizeof(dev_chem));
+
+		if (len > 0) {
+			_device_chemistry = new char[len];
+			strcpy(_device_chemistry, dev_chem);
+			perform_solo_battry_check = true;
+		}
+	}
+
+	// If necessary, check if the battery is a 3DR Solo Battery
+	if (perform_solo_battry_check) {
+		warnx("Checking solo battery");
+		check_if_solo_battery();
+	}
+
 	// read data from sensor
 	struct battery_status_s new_report;
 
@@ -403,7 +654,7 @@ BATT_SMBUS::cycle()
 		new_report.voltage_v = ((float)tmp) / 1000.0f;
 
 		// read current
-		uint8_t buff[4];
+		uint8_t buff[6];
 
 		if (read_block(BATT_SMBUS_CURRENT, buff, 4, false) == 4) {
 			new_report.current_a = -(float)((int32_t)((uint32_t)buff[3] << 24 | (uint32_t)buff[2] << 16 | (uint32_t)buff[1] << 8 |
@@ -426,14 +677,42 @@ BATT_SMBUS::cycle()
 			}
 		}
 
+		// if it is a solo battery, check for shutdown on button press
+		if (_is_solo_battery) {
+			// read the button press indicator
+			if (read_block(BATT_SMBUS_MANUFACTURER_DATA, buff, 6, false) == 6) {
+				bool pressed = (buff[1] >> 3) & 0x01;
+
+				if (_button_press_counts >= ((BATT_SMBUS_BUTTON_DEBOUNCE_MS * 1000) / BATT_SMBUS_MEASUREMENT_INTERVAL_US)) {
+					// battery will power off
+					new_report.is_powering_off = true;
+
+					// warn only once
+					if (_button_press_counts++ == ((BATT_SMBUS_BUTTON_DEBOUNCE_MS * 1000) / BATT_SMBUS_MEASUREMENT_INTERVAL_US)) {
+						warnx("system is shutting down NOW...");
+					}
+
+				} else if (pressed) {
+					// battery will power off if the button is held
+					_button_press_counts++;
+
+				} else {
+					// button released early, reset counters
+					_button_press_counts = 0;
+					new_report.is_powering_off = false;
+				}
+			}
+		}
+
+
 		// publish to orb
-		if (_batt_topic != nullptr) {
+		if (_batt_topic != -1) {
 			orb_publish(_batt_orb_id, _batt_topic, &new_report);
 
 		} else {
 			_batt_topic = orb_advertise(_batt_orb_id, &new_report);
 
-			if (_batt_topic == nullptr) {
+			if (_batt_topic < 0) {
 				errx(1, "ADVERT FAIL");
 			}
 		}
@@ -453,7 +732,7 @@ BATT_SMBUS::cycle()
 
 	// schedule a fresh cycle call when the measurement is done
 	work_queue(HPWORK, &_work, (worker_t)&BATT_SMBUS::cycle_trampoline, this,
-		   USEC2TICK(BATT_SMBUS_MEASUREMENT_INTERVAL_MS));
+		   USEC2TICK(BATT_SMBUS_MEASUREMENT_INTERVAL_US));
 }
 
 int
@@ -480,6 +759,27 @@ BATT_SMBUS::read_reg(uint8_t reg, uint16_t &val)
 	return ret;
 }
 
+int
+BATT_SMBUS::write_reg(uint8_t reg, uint16_t val)
+{
+	uint8_t buff[4];  // reg + 2 bytes of data + PEC
+
+	buff[0] = reg;
+	buff[2] = uint8_t(val << 8) & 0xff;
+	buff[1] = (uint8_t)val;
+	buff[3] = get_PEC(reg, false, &buff[1],  2); // Append PEC
+
+	// write bytes to register
+	int ret = transfer(buff, 3, nullptr, 0);
+
+	if (ret != OK) {
+		debug("Register write error");
+	}
+
+	// return success or failure
+	return ret;
+}
+
 uint8_t
 BATT_SMBUS::read_block(uint8_t reg, uint8_t *data, uint8_t max_len, bool append_zero)
 {
@@ -520,6 +820,31 @@ BATT_SMBUS::read_block(uint8_t reg, uint8_t *data, uint8_t max_len, bool append_
 	return bufflen;
 }
 
+uint8_t
+BATT_SMBUS::write_block(uint8_t reg, uint8_t *data, uint8_t len)
+{
+	uint8_t buff[len + 3];  // buffer to hold results
+
+	usleep(1);
+
+	buff[0] = reg;
+	buff[1] = len;
+	memcpy(&buff[2], data, len);
+	buff[len + 2] = get_PEC(reg, false, &buff[1],  len + 1); // Append PEC
+
+	// send bytes
+	int ret = transfer(buff, len + 3, nullptr, 0);
+
+	// return zero on failure
+	if (ret != OK) {
+		debug("Block write error\n");
+		return 0;
+	}
+
+	// return success
+	return len;
+}
+
 uint8_t
 BATT_SMBUS::get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len) const
 {
@@ -528,12 +853,32 @@ BATT_SMBUS::get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len
 		return 0;
 	}
 
-	// prepare temp buffer for calcing crc
-	uint8_t tmp_buff[len + 3];
+	/**
+	 *  Note: The PEC is calculated on all the message bytes. See http://cache.freescale.com/files/32bit/doc/app_note/AN4471.pdf
+	 *  and http://www.ti.com/lit/an/sloa132/sloa132.pdf for more details
+	 */
+
+	// prepare temp buffer for calculating crc
+	uint8_t tmp_buff_len;
+
+	if (reading) {
+		tmp_buff_len = len + 3;
+
+	} else {
+		tmp_buff_len = len + 2;
+	}
+
+	uint8_t tmp_buff[tmp_buff_len];
 	tmp_buff[0] = (uint8_t)get_address() << 1;
 	tmp_buff[1] = cmd;
-	tmp_buff[2] = tmp_buff[0] | (uint8_t)reading;
-	memcpy(&tmp_buff[3], buff, len);
+
+	if (reading) {
+		tmp_buff[2] = tmp_buff[0] | (uint8_t)reading;
+		memcpy(&tmp_buff[3], buff, len);
+
+	} else {
+		memcpy(&tmp_buff[2], buff, len);
+	}
 
 	// initialise crc to zero
 	uint8_t crc = 0;
@@ -561,17 +906,133 @@ BATT_SMBUS::get_PEC(uint8_t cmd, bool reading, const uint8_t buff[], uint8_t len
 	return crc;
 }
 
+uint8_t
+BATT_SMBUS::ManufacturerAccess(uint16_t cmd)
+{
+	// write bytes to Manufacturer Access
+	int ret = write_reg(BATT_SMBUS_MANUFACTURER_ACCESS, cmd);
+
+	if (ret != OK) {
+		debug("Manufacturer Access error");
+	}
+
+	return ret;
+}
+
+void
+BATT_SMBUS::check_if_solo_battery()
+{
+	// Check if the SBS information corresponds to that of a 3DR Solo Battery. If, yes, set the solo_battery flag to true;
+	if (!strcmp(_manufacturer_name, solo_battery.ManufacturerName) && !strcmp(_device_name, solo_battery.DeviceName)
+	    && !strcmp(_device_chemistry, solo_battery.DeviceChemistry)) {
+		_is_solo_battery = true;
+	}
+}
+
 ///////////////////////// shell functions ///////////////////////
 
 void
 batt_smbus_usage()
 {
-	warnx("missing command: try 'start', 'test', 'stop', 'search'");
+	warnx("missing command: try 'start', 'test', 'stop', 'search', 'man_name', 'man_date', 'dev_name', 'serial_num', 'dev_chem',  'sbs_info'");
 	warnx("options:");
 	warnx("    -b i2cbus (%d)", BATT_SMBUS_I2C_BUS);
 	warnx("    -a addr (0x%x)", BATT_SMBUS_ADDR);
 }
 
+int
+manufacturer_name()
+{
+	uint8_t man_name[21];
+	uint8_t len = g_batt_smbus->manufacturer_name(man_name, sizeof(man_name));
+
+	if (len > 0) {
+		warnx("The manufacturer name: %s", man_name);
+		return OK;
+
+	} else {
+		warnx("Unable to read manufacturer name.");
+	}
+
+	return -1;
+}
+
+int
+manufacture_date()
+{
+	uint16_t man_date = g_batt_smbus->manufacture_date();
+
+	if (man_date > 0) {
+		// Convert the uint16_t into human-readable date format
+		uint16_t year = ((man_date >> 9) & 0xFF) + 1980;
+		uint8_t month = (man_date >> 5) & 0xF;
+		uint8_t day = man_date & 0x1F;
+		warnx("The manufacturer date is: %d which is %4d-%02d-%02d", man_date, year, month, day);
+		return OK;
+
+	} else {
+		warnx("Unable to read the manufacturer date.");
+	}
+
+	return -1;
+}
+
+int
+device_name()
+{
+	uint8_t device_name[21];
+	uint8_t len = g_batt_smbus->device_name(device_name, sizeof(device_name));
+
+	if (len > 0) {
+		warnx("The device name: %s", device_name);
+		return OK;
+
+	} else {
+		warnx("Unable to read device name.");
+	}
+
+	return -1;
+}
+
+int
+serial_number()
+{
+	uint16_t serial_num = g_batt_smbus->serial_number();
+	warnx("The serial number: 0x%04x (%d in decimal)", serial_num, serial_num);
+
+	return OK;
+}
+
+int
+device_chemistry()
+{
+	uint8_t device_chemistry[5];
+	uint8_t len = g_batt_smbus->device_chemistry(device_chemistry, sizeof(device_chemistry));
+
+	if (len > 0) {
+		warnx("The device chemistry: %s", device_chemistry);
+		return OK;
+
+	} else {
+		warnx("Unable to read device chemistry.");
+	}
+
+	return -1;
+}
+
+int
+solo_battery_check()
+{
+	if (g_batt_smbus->is_solo_battery()) {
+		warnx("The battery corresponds to a 3DR Solo Battery");
+
+	} else {
+		warnx("The battery does not correspond to a 3DR Solo Battery");
+	}
+
+	return OK;
+}
+
 int
 batt_smbus_main(int argc, char *argv[])
 {
@@ -649,6 +1110,41 @@ batt_smbus_main(int argc, char *argv[])
 		exit(0);
 	}
 
+	if (!strcmp(verb, "man_name")) {
+		manufacturer_name();
+		exit(0);
+	}
+
+	if (!strcmp(verb, "man_date")) {
+		manufacture_date();
+		exit(0);
+	}
+
+	if (!strcmp(verb, "dev_name")) {
+		device_name();
+		exit(0);
+	}
+
+	if (!strcmp(verb, "serial_num")) {
+		serial_number();
+		exit(0);
+	}
+
+	if (!strcmp(verb, "dev_chem")) {
+		device_chemistry();
+		exit(0);
+	}
+
+	if (!strcmp(verb, "sbs_info")) {
+		manufacturer_name();
+		manufacture_date();
+		device_name();
+		serial_number();
+		device_chemistry();
+		solo_battery_check();
+		exit(0);
+	}
+
 	batt_smbus_usage();
 	exit(0);
 }

src/drivers/boards/aerocore/aerocore_timer_config.c

@@ -32,9 +32,9 @@
  ****************************************************************************/
 
 /*
- * @file aerocore_pwm_servo.c
+ * @file aerocore_timer_config.c
  *
- * Configuration data for the stm32 pwm_servo driver.
+ * Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
  *
  * Note that these arrays must always be fully-sized.
  */
@@ -42,76 +42,100 @@
 #include <stdint.h>
 
 #include <stm32.h>
-#include <stm32_gpio.h>
+#include <stm32_gpio_out.h>
 #include <stm32_tim.h>
 
-#include <drivers/stm32/drv_pwm_servo.h>
+#include <drivers/stm32/drv_io_timer.h>
 #include <drivers/drv_pwm_output.h>
 
 #include "board_config.h"
 
-__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
+__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 	{
 		.base = STM32_TIM1_BASE,
 		.clock_register = STM32_RCC_APB2ENR,
 		.clock_bit = RCC_APB2ENR_TIM1EN,
-		.clock_freq = STM32_APB2_TIM1_CLKIN
+		.clock_freq = STM32_APB2_TIM1_CLKIN,
+		.first_channel_index = 0,
+		.last_channel_index = 3,
+		.handler = io_timer_handler0,
+		.vectorno =  STM32_IRQ_TIM1CC,
 	},
 	{
 		.base = STM32_TIM3_BASE,
 		.clock_register = STM32_RCC_APB1ENR,
 		.clock_bit = RCC_APB1ENR_TIM3EN,
 		.clock_freq = STM32_APB1_TIM3_CLKIN
+		.first_channel_index = 4,
+		.last_channel_index = 7,
+		.handler = io_timer_handler1,
+		.vectorno =  STM32_IRQ_TIM3,
 	}
 };
 
-__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
+__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	{
-		.gpio = GPIO_TIM1_CH1OUT,
+		.gpio_out = GPIO_TIM1_CH1OUT,
+		.gpio_in = GPIO_TIM1_CH1IN,
 		.timer_index = 0,
 		.timer_channel = 1,
-		.default_value = 1500,
+		.ccr_offset = STM32_GTIM_CCR1_OFFSET,
+		.masks  = GTIM_SR_CC1IF | GTIM_SR_CC1OF
 	},
 	{
-		.gpio = GPIO_TIM1_CH2OUT,
+		.gpio_out = GPIO_TIM1_CH2OUT,
+		.gpio_in = GPIO_TIM1_CH2IN,
 		.timer_index = 0,
 		.timer_channel = 2,
-		.default_value = 1500,
+		.ccr_offset = STM32_GTIM_CCR2_OFFSET,
+		.masks  = GTIM_SR_CC2IF | GTIM_SR_CC2OF
 	},
 	{
-		.gpio = GPIO_TIM1_CH3OUT,
+		.gpio_out = GPIO_TIM1_CH3OUT,
+		.gpio_in = GPIO_TIM1_CH3IN,
 		.timer_index = 0,
 		.timer_channel = 3,
-		.default_value = 1500,
+		.ccr_offset = STM32_GTIM_CCR3_OFFSET,
+		.masks  = GTIM_SR_CC3IF | GTIM_SR_CC3OF
 	},
 	{
-		.gpio = GPIO_TIM1_CH4OUT,
+		.gpio_out = GPIO_TIM1_CH4OUT,
+		.gpio_in = GPIO_TIM1_CH4IN,
 		.timer_index = 0,
 		.timer_channel = 4,
-		.default_value = 1500,
+		.ccr_offset = STM32_GTIM_CCR4_OFFSET,
+		.masks  = GTIM_SR_CC4IF | GTIM_SR_CC4OF
 	},
 	{
-		.gpio = GPIO_TIM3_CH1OUT,
+		.gpio_out = GPIO_TIM3_CH1OUT,
+		.gpio_out = GPIO_TIM3_CH1IN,
 		.timer_index = 1,
 		.timer_channel = 1,
-		.default_value = 1500,
+		.ccr_offset = STM32_GTIM_CCR1_OFFSET,
+		.masks  = GTIM_SR_CC1IF | GTIM_SR_CC1OF
 	},
 	{
-		.gpio = GPIO_TIM3_CH2OUT,
+		.gpio_out = GPIO_TIM3_CH2OUT,
+		.gpio_out = GPIO_TIM3_CH2IN,
 		.timer_index = 1,
 		.timer_channel = 2,
-		.default_value = 1500,
+		.ccr_offset = STM32_GTIM_CCR2_OFFSET,
+		.masks  = GTIM_SR_CC2IF | GTIM_SR_CC2OF
 	},
 	{
-		.gpio = GPIO_TIM3_CH3OUT,
+		.gpio_out = GPIO_TIM3_CH3OUT,
+		.gpio_out = GPIO_TIM3_CH3IN,
 		.timer_index = 1,
 		.timer_channel = 3,
-		.default_value = 1500,
+		.ccr_offset = STM32_GTIM_CCR3_OFFSET,
+		.masks  = GTIM_SR_CC3IF | GTIM_SR_CC3OF
 	},
 	{
-		.gpio = GPIO_TIM3_CH4OUT,
+		.gpio_out = GPIO_TIM3_CH4OUT,
+		.gpio_out = GPIO_TIM3_CH4IN,
 		.timer_index = 1,
 		.timer_channel = 4,
-		.default_value = 1500,
+		.ccr_offset = STM32_GTIM_CCR4_OFFSET,
+		.masks  = GTIM_SR_CC4IF | GTIM_SR_CC4OF
 	}
 };

src/drivers/boards/aerocore/board_config.h

@@ -152,6 +152,16 @@ __BEGIN_DECLS
 #define GPIO_TIM3_CH4OUT	GPIO_TIM3_CH4OUT_2
 #define DIRECT_PWM_OUTPUT_CHANNELS	8
 
+#define GPIO_TIM1_CH1IN		GPIO_TIM1_CH1IN_2
+#define GPIO_TIM1_CH2IN		GPIO_TIM1_CH2IN_2
+#define GPIO_TIM1_CH3IN		GPIO_TIM1_CH3IN_2
+#define GPIO_TIM1_CH4IN		GPIO_TIM1_CH4IN_2
+#define GPIO_TIM3_CH1IN		GPIO_TIM3_CH1IN_3
+#define GPIO_TIM3_CH2IN		GPIO_TIM3_CH2IN_3
+#define GPIO_TIM3_CH3IN		GPIO_TIM3_CH3IN_2
+#define GPIO_TIM3_CH4IN		GPIO_TIM3_CH4IN_2
+#define DIRECT_INPUT_TIMER_CHANNELS	8
+
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer 8 for the HRT */
 #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */

src/drivers/boards/px4fmu-v1/CMakeLists.txt

@@ -37,7 +37,7 @@ px4_add_module(
 	SRCS
 		px4fmu_can.c
 		px4fmu_init.c
-		px4fmu_pwm_servo.c
+		px4fmu_timer_config.c
 		px4fmu_spi.c
 		px4fmu_usb.c
 		px4fmu_led.c

src/drivers/boards/px4fmu-v1/board_config.h

@@ -184,6 +184,12 @@ __BEGIN_DECLS
 #define GPIO_TIM2_CH4OUT	GPIO_TIM2_CH4OUT_1
 #define DIRECT_PWM_OUTPUT_CHANNELS	4
 
+#define GPIO_TIM2_CH1IN		GPIO_TIM2_CH1IN_1
+#define GPIO_TIM2_CH2IN		GPIO_TIM2_CH2IN_1
+#define GPIO_TIM2_CH3IN		GPIO_TIM2_CH3IN_1
+#define GPIO_TIM2_CH4IN		GPIO_TIM2_CH4IN_1
+#define DIRECT_INPUT_TIMER_CHANNELS  4
+
 /* USB OTG FS
  *
  * PA9  OTG_FS_VBUS VBUS sensing (also connected to the green LED)

src/drivers/boards/px4fmu-v1/px4fmu_timer_config.c

@@ -32,9 +32,9 @@
  ****************************************************************************/
 
 /*
- * @file px4fmu_pwm_servo.c
+ * @file px4fmu_timer_config.c
  *
- * Configuration data for the stm32 pwm_servo driver.
+ * Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
  *
  * Note that these arrays must always be fully-sized.
  */
@@ -45,43 +45,55 @@
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
-#include <drivers/stm32/drv_pwm_servo.h>
 #include <drivers/drv_pwm_output.h>
+#include <drivers/stm32/drv_io_timer.h>
 
 #include "board_config.h"
 
-__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
+__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 	{
 		.base = STM32_TIM2_BASE,
 		.clock_register = STM32_RCC_APB1ENR,
 		.clock_bit = RCC_APB1ENR_TIM2EN,
-		.clock_freq = STM32_APB1_TIM2_CLKIN
+		.clock_freq = STM32_APB1_TIM2_CLKIN,
+		.first_channel_index = 0,
+		.last_channel_index = 3,
+		.handler = io_timer_handler0,
+		.vectorno =  STM32_IRQ_TIM2,
 	}
 };
 
-__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
+__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	{
-		.gpio = GPIO_TIM2_CH1OUT,
+		.gpio_out = GPIO_TIM2_CH1OUT,
+		.gpio_in = GPIO_TIM2_CH1IN,
 		.timer_index = 0,
 		.timer_channel = 1,
-		.default_value = 1000,
+		.ccr_offset = STM32_GTIM_CCR1_OFFSET,
+		.masks  = GTIM_SR_CC1IF | GTIM_SR_CC1OF
 	},
 	{
-		.gpio = GPIO_TIM2_CH2OUT,
+		.gpio_out = GPIO_TIM2_CH2OUT,
+		.gpio_in = GPIO_TIM2_CH2IN,
 		.timer_index = 0,
 		.timer_channel = 2,
-		.default_value = 1000,
+		.ccr_offset = STM32_GTIM_CCR2_OFFSET,
+		.masks  = GTIM_SR_CC2IF | GTIM_SR_CC2OF
 	},
 	{
-		.gpio = GPIO_TIM2_CH3OUT,
+		.gpio_out = GPIO_TIM2_CH3OUT,
+		.gpio_in = GPIO_TIM2_CH3IN,
 		.timer_index = 0,
 		.timer_channel = 3,
-		.default_value = 1000,
+		.ccr_offset = STM32_GTIM_CCR3_OFFSET,
+		.masks  = GTIM_SR_CC3IF | GTIM_SR_CC3OF
 	},
 	{
-		.gpio = GPIO_TIM2_CH4OUT,
+		.gpio_out = GPIO_TIM2_CH4OUT,
+		.gpio_in = GPIO_TIM2_CH4IN,
 		.timer_index = 0,
 		.timer_channel = 4,
-		.default_value = 1000,
+		.ccr_offset = STM32_GTIM_CCR4_OFFSET,
+		.masks  = GTIM_SR_CC4IF | GTIM_SR_CC4OF
 	}
 };

src/drivers/boards/px4fmu-v2/CMakeLists.txt

@@ -37,7 +37,7 @@ px4_add_module(
 	SRCS
 		px4fmu_can.c
 		px4fmu2_init.c
-		px4fmu_pwm_servo.c
+		px4fmu_timer_config.c
 		px4fmu_spi.c
 		px4fmu_usb.c
 		px4fmu2_led.c

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
@@ -175,7 +176,7 @@ __BEGIN_DECLS
 #define GPIO_GPIO2_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
 #define GPIO_GPIO3_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
 #define GPIO_GPIO4_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_GPIO5_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_GPIO5_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
 
 /* Power supply control and monitoring GPIOs */
 #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
@@ -204,14 +205,22 @@ __BEGIN_DECLS
  * CH5 : PD13 : TIM4_CH2
  * CH6 : PD14 : TIM4_CH3
  */
-#define GPIO_TIM1_CH1OUT	GPIO_TIM1_CH1OUT_2
-#define GPIO_TIM1_CH2OUT	GPIO_TIM1_CH2OUT_2
-#define GPIO_TIM1_CH3OUT	GPIO_TIM1_CH3OUT_2
-#define GPIO_TIM1_CH4OUT	GPIO_TIM1_CH4OUT_2
-#define GPIO_TIM4_CH2OUT	GPIO_TIM4_CH2OUT_2
-#define GPIO_TIM4_CH3OUT	GPIO_TIM4_CH3OUT_2
+#define GPIO_TIM1_CH1OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN9)
+#define GPIO_TIM1_CH2OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN11)
+#define GPIO_TIM1_CH3OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN13)
+#define GPIO_TIM1_CH4OUT	(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN14)
+#define GPIO_TIM4_CH2OUT	(GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_TIM4_CH3OUT	(GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN14)
 #define DIRECT_PWM_OUTPUT_CHANNELS	6
 
+#define GPIO_TIM1_CH1IN		GPIO_TIM1_CH1IN_2
+#define GPIO_TIM1_CH2IN		GPIO_TIM1_CH2IN_2
+#define GPIO_TIM1_CH3IN		GPIO_TIM1_CH3IN_2
+#define GPIO_TIM1_CH4IN		GPIO_TIM1_CH4IN_2
+#define GPIO_TIM4_CH2IN		GPIO_TIM4_CH2IN_2
+#define GPIO_TIM4_CH3IN		GPIO_TIM4_CH3IN_2
+#define DIRECT_INPUT_TIMER_CHANNELS  6
+
 /* USB OTG FS
  *
  * PA9  OTG_FS_VBUS VBUS sensing (also connected to the green LED)