IO: Remove hint that parameter change requires reboot

The change is effective immediately so no reboot is required. This makes the whole configuration a lot easier.

.github_changelog_generator

@@ -0,0 +1,33 @@
+# How to install:
+#   gem install github_changelog_generator
+# How to run:
+#   github_changelog_generator -u PX4 -p Firmware
+# Description:
+#   The following params are sensible defaults for the PX4 project,
+#   if you want to do a changelog before a release you need to update since-tag and future-releases,
+
+# Params:
+#   github_changelog_generator --help for all options
+
+# max-issues
+#   max threshold for github api queries
+#   make sure you set your CHANGELOG_GITHUB_TOKEN before
+#   running
+max-issues=1500
+
+# exclude-tags-regex
+#   excludes release candidates
+exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
+
+# since-tag
+#   version of last stable release
+#   you need to change this depending on what you need
+#   if you want a changelog between versions this is the lowest version
+since-tag=1.6.5
+
+# future-release
+#   version you are about to release
+#   if you want a changelog between a version and all unreleased changes grouped as a release
+#     eg: v1.6.5 to v1.7.0
+future-release=v1.7.0
+

CMakeLists.txt

@@ -243,11 +243,11 @@ set(BUILD_SHARED_LIBS OFF)
 #=============================================================================
 # ccache
 #
-option(CCACHE "Use ccache if available" OFF)
+option(CCACHE "Use ccache if available" ON)
 find_program(CCACHE_PROGRAM ccache)
-if (CCACHE AND CCACHE_PROGRAM)
-	message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
+if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
 	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
+else()
 endif()
 
 #=============================================================================

Images/aerocore2.prototype

@@ -7,6 +7,7 @@
     "summary": "AEROCORE2",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 1032192,
     "git_identity": "",
     "board_revision": 0
 }

Images/aerofc-v1.prototype

@@ -7,6 +7,7 @@
     "summary": "AEROFCv1",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 999424,
     "git_identity": "",
     "board_revision": 0
 }

Images/auav-x21.prototype

@@ -7,6 +7,7 @@
     "summary": "AUAV X2.1",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 2080768,
     "git_identity": "",
     "board_revision": 0
 }

Images/crazyflie.prototype

@@ -7,6 +7,7 @@
     "summary": "CRAZYFLIE",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 1032192,
     "git_identity": "",
     "board_revision": 0
 }

Images/esc35-v1.prototype

@@ -7,6 +7,7 @@
     "summary": "ESC35v1",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 229376,
     "git_identity": "",
     "board_revision": 0
 }

Images/mindpx-v2.prototype

@@ -7,6 +7,7 @@
     "summary": "MindPXFMUv2",
     "version": "2.1",
     "image_size": 0,
+    "image_maxsize": 2080768,
     "git_identity": "",
     "board_revision": 0
 }

Images/nxphlite-v3.prototype

@@ -7,6 +7,7 @@
     "summary": "NXPHLITEv3",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 2096112,
     "git_identity": "",
     "board_revision": 0
 }

Images/px4-same70xplained-v1.prototype

@@ -7,6 +7,7 @@
     "summary": "PX4/SAME70xplained",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 2097152,
     "git_identity": "",
     "board_revision": 0
 }

Images/px4-stm32f4discovery.prototype

@@ -7,6 +7,7 @@
     "summary": "PX4/STM32F4Discovery",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 1032192,
     "git_identity": "",
     "board_revision": 0
 }

Images/px4cannode-v1.prototype

@@ -7,6 +7,7 @@
     "summary": "PX4CANNODEv1",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 122880,
     "git_identity": "",
     "board_revision": 0
 }

Images/px4esc-v1.prototype

@@ -7,6 +7,7 @@
     "summary": "PX4ESCv1",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 475136,
     "git_identity": "",
     "board_revision": 0
 }

Images/px4flow-v2.prototype

@@ -1,12 +1,13 @@
 {
     "board_id": 24,
     "magic": "FLOWv1",
-    "description": "Firmware for the PX4FLowV1 board",
+    "description": "Firmware for the PX4FlowV2 board",
     "image": "",
     "build_time": 0,
-    "summary": "PX4FLOWv1",
+    "summary": "PX4FLOWv2",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 2080768,
     "git_identity": "",
     "board_revision": 0
 }

Images/px4fmu-v2.prototype

@@ -7,6 +7,7 @@
     "summary": "PX4FMUv2",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 1032192,
     "git_identity": "",
     "board_revision": 0
 }

Images/px4fmu-v3.prototype

@@ -7,6 +7,7 @@
     "summary": "PX4FMUv3",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 2080768,
     "git_identity": "",
     "board_revision": 0
 }

Images/px4fmu-v4.prototype

@@ -7,6 +7,7 @@
     "summary": "PX4FMUv4",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 2080768,
     "git_identity": "",
     "board_revision": 0
 }

Images/px4fmu-v4pro.prototype

@@ -7,6 +7,7 @@
     "summary": "PX4FMUv4PRO",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 2080768,
     "git_identity": "",
     "board_revision": 0
 }

Images/px4fmu-v5.prototype

@@ -7,6 +7,7 @@
     "summary": "PX4FMUv5",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 2064384,
     "git_identity": "",
     "board_revision": 0
 }

Images/px4io-v2.prototype

@@ -7,6 +7,7 @@
     "summary": "PX4IOv2",
     "version": "2.0",
     "image_size": 0,
+    "image_maxsize": 61440,
     "git_identity": "",
     "board_revision": 0
 }

Images/px4nucleoF767ZI-v1.prototype

@@ -7,6 +7,7 @@
     "summary": "PX4NUCLEOF767ZIv1",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 2097152,
     "git_identity": "",
     "board_revision": 0
 }

Images/s2740vc-v1.prototype

@@ -7,6 +7,7 @@
     "summary": "S2740VCv1",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 65536,
     "git_identity": "",
     "board_revision": 0
 }

Images/tap-v1.prototype

@@ -7,6 +7,7 @@
     "summary": "TAPv1",
     "version": "0.1",
     "image_size": 0,
+    "image_maxsize": 999424,
     "git_identity": "",
     "board_revision": 0
 }

Images/zubaxgnss-v1.prototype

@@ -7,6 +7,7 @@
     "summary": "ZUBAXGNSSv1",
     "version": "0.0",
     "image_size": 0,
+    "image_maxsize": 253952,
     "git_identity": "",
     "board_revision": 0
 }

Jenkinsfile

@@ -114,7 +114,7 @@ pipeline {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-base:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-base:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                     stage("${node_name}") {
                       checkout scm
                       sh "make clean"
@@ -136,7 +136,7 @@ pipeline {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-raspi:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-raspi:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                     stage("${node_name}") {
                       checkout scm
                       sh "make clean"
@@ -158,7 +158,7 @@ pipeline {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-armhf:2017-10-23').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-armhf:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                     stage("${node_name}") {
                       checkout scm
                       sh "make clean"
@@ -181,7 +181,7 @@ pipeline {
               node {
                 stage("Build Test ${node_name}") {
                   docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
-                    docker.image("lorenzmeier/px4-dev-snapdragon:2017-10-23").inside {
+                    docker.image("lorenzmeier/px4-dev-snapdragon:2017-12-29").inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                       stage("${node_name}") {
                         checkout scm
                         sh "make clean"
@@ -204,7 +204,7 @@ pipeline {
             builds["${node_name} (GCC7)"] = {
               node {
                 stage("Build Test ${node_name} (GCC7)") {
-                  docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  docker.image('px4io/px4-dev-base-archlinux:2017-12-30').inside('-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                     stage("${node_name}") {
                       checkout scm
                       sh "make clean"
@@ -250,7 +250,7 @@ pipeline {
         stage('check style') {
           agent {
             docker {
-              image 'px4io/px4-dev-base:2017-10-23'
+              image 'px4io/px4-dev-base:2017-12-30'
               args '-e CI=true'
             }
           }
@@ -262,7 +262,7 @@ pipeline {
         stage('clang analyzer') {
           agent {
             docker {
-              image 'px4io/px4-dev-clang:2017-10-23'
+              image 'px4io/px4-dev-clang:2017-12-30'
               args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
             }
           }
@@ -280,12 +280,19 @@ pipeline {
               reportName: 'Clang Static Analyzer'
             ]
           }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'beta'
+              branch 'stable'
+            }
+          }
         }
 
         stage('clang tidy') {
           agent {
             docker {
-              image 'px4io/px4-dev-clang:2017-10-23'
+              image 'px4io/px4-dev-clang:2017-12-30'
               args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
             }
           }
@@ -316,12 +323,19 @@ pipeline {
               reportName: 'Cppcheck'
             ]
           }
+          when {
+            anyOf {
+              branch 'master'
+              branch 'beta'
+              branch 'stable'
+            }
+          }
         }
 
         stage('tests') {
           agent {
             docker {
-              image 'px4io/px4-dev-base:2017-10-23'
+              image 'px4io/px4-dev-base:2017-12-30'
               args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
             }
           }
@@ -332,11 +346,179 @@ pipeline {
           }
         }
 
+        stage('ROS vtol mission new 1') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1.txt vehicle:=vtol_standard'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              sh './Tools/upload_log.py -q --description "${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
+        stage('ROS vtol mission new 2') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2.txt vehicle:=vtol_standard'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              sh './Tools/upload_log.py -q --description "${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
+        stage('ROS vtol mission old 1') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1.txt vehicle:=vtol_standard'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              sh './Tools/upload_log.py -q --description "${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
+        stage('ROS vtol mission old 2') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2.txt vehicle:=vtol_standard'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              sh './Tools/upload_log.py -q --description "${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
+        stage('ROS vtol mission old 3') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_3.txt vehicle:=vtol_standard'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              sh './Tools/upload_log.py -q --description "${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
+        stage('ROS MC mission box') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box.mission vehicle:=iris'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              sh './Tools/upload_log.py -q --description "${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
+        stage('ROS offboard att') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              sh './Tools/upload_log.py -q --description "${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
+        stage('ROS offboard pos') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2017-12-31'
+              args '-e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'make clean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make posix_sitl_default'
+            sh 'make posix_sitl_default sitl_gazebo'
+            sh './test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
+          }
+          post {
+            always {
+              archiveArtifacts '**/*.ulg'
+              sh './Tools/upload_log.py -q --description "${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
+            }
+          }
+        }
+
         // temporarily disabled until stable
         //stage('tests coverage') {
         //  agent {
         //    docker {
-        //      image 'px4io/px4-dev-base:2017-10-23'
+        //      image 'px4io/px4-dev-base:2017-12-30'
         //      args '-e CI=true -e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
         //    }
         //  }
@@ -364,7 +546,7 @@ pipeline {
 
         stage('airframe') {
           agent {
-            docker { image 'px4io/px4-dev-base:2017-10-23' }
+            docker { image 'px4io/px4-dev-base:2017-12-30' }
           }
           steps {
             sh 'make airframe_metadata'
@@ -374,7 +556,7 @@ pipeline {
 
         stage('parameter') {
           agent {
-            docker { image 'px4io/px4-dev-base:2017-10-23' }
+            docker { image 'px4io/px4-dev-base:2017-12-30' }
           }
           steps {
             sh 'make parameters_metadata'
@@ -384,7 +566,7 @@ pipeline {
 
         stage('module') {
           agent {
-            docker { image 'px4io/px4-dev-base:2017-10-23' }
+            docker { image 'px4io/px4-dev-base:2017-12-30' }
           }
           steps {
             sh 'make module_documentation'
@@ -396,7 +578,7 @@ pipeline {
 
     stage('S3 Upload') {
       agent {
-        docker { image 'px4io/px4-dev-base:2017-10-23' }
+        docker { image 'px4io/px4-dev-base:2017-12-30' }
       }
 
       when {

Makefile

@@ -279,7 +279,7 @@ format:
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage
+.PHONY: tests tests_coverage tests_mission tests_offboard rostest
 
 tests:
 	@$(MAKE) --no-print-directory posix_sitl_default test_results \
@@ -287,9 +287,25 @@ tests:
 	UBSAN_OPTIONS="color=always"
 
 tests_coverage:
+	@$(MAKE) clean
+	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
 	@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
 
+rostest: posix_sitl_default
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo
+
+tests_mission: rostest
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
+
+tests_offboard: rostest
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
 .PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack

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

@@ -8,7 +8,6 @@
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
 
-sh /etc/init.d/rc.mc_defaults
+sh /etc/init.d/4001_quad_x
 
-set MIXER quad_x
 param set SYS_HITL 1

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -372,6 +372,12 @@ then
 	teraranger start
 fi
 
+# Benewake TFMini
+if param greater SENS_EN_TFMINI 0
+then
+	tfmini start
+fi
+
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
 sensors start

ROMFS/px4fmu_common/init.d/rcS

@@ -194,7 +194,7 @@ then
 	set MAV_TYPE none
 	set FAILSAFE none
 	set USE_IO no
-	set LOGGER_BUF 16
+	set LOGGER_BUF 14
 
 	if ver hwcmp PX4FMU_V4
 	then

Tools/docker_run.sh

@@ -7,22 +7,22 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 		PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2017-10-23"
 	elif [[ $@ =~ .*rpi.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-raspi:2017-10-23"
+		PX4_DOCKER_REPO="px4io/px4-dev-raspi:2017-12-30"
 	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
 		# eagle, excelsior
-		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2017-10-23"
+		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2017-12-29"
 	elif [[ $@ =~ .*ocpoc.* ]]; then
 		# posix_ocpoc_ubuntu
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2017-10-23"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2017-12-30"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then	
 		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2017-10-23"
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2017-12-30"
 	elif [[ $@ =~ .*cppcheck.* ]]; then
 		# TODO: remove this once px4io/px4-dev-base updates
 		PX4_DOCKER_REPO="px4io/px4-dev-base:ubuntu17.10"
 	elif [[ $@ =~ .*tests* ]]; then
 		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation:2017-10-23"
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation:2017-12-30"
 	fi
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";

Tools/px_uploader.py

@@ -488,9 +488,18 @@ class uploader(object):
                 print("FORCED WRITE, FLASHING ANYWAY!")
             else:
                 raise IOError(msg)
+
+        # Prevent uploads where the image would overflow the flash
         if self.fw_maxsize < fw.property('image_size'):
             raise RuntimeError("Firmware image is too large for this board")
 
+        # Prevent uploads where the maximum image size of the board config is smaller than the flash
+        # of the board. This is a hint the user chose the wrong config and will lack features
+        # for this particular board.
+        if self.fw_maxsize > fw.property('image_maxsize'):
+            raise RuntimeError("Board can accept larger flash images (%u bytes) than board config (%u bytes). Please use the correct board configuration to avoid lacking critical functionality."
+                % (self.fw_maxsize, fw.property('image_maxsize')))
+
         # OTP added in v4:
         if self.bl_rev > 3:
             for byte in range(0, 32*6, 4):

Tools/sitl_gazebo

@@ -1 +1 @@
-Subproject commit b052c97f7c3a2c39ab8ec06ae79c66431f16c659
+Subproject commit 71a44b97ef4888eb2a247fbf67c79c65dd4e2ee0

cmake/configs/nuttx_auav-x21_default.cmake

@@ -49,6 +49,7 @@ set(config_module_list
 	drivers/bst
 	drivers/snapdragon_rc_pwm
 	drivers/lis3mdl
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -52,6 +52,7 @@ set(config_module_list
 	drivers/camera_trigger
 	drivers/bst
 	drivers/snapdragon_rc_pwm
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_nxphlite-v3_default.cmake

@@ -59,6 +59,7 @@ set(config_module_list
 	drivers/teraranger
 	drivers/vmount
 	modules/sensors
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_px4-same70xplained-v1_default.cmake

@@ -48,6 +48,8 @@ set(config_module_list
 	drivers/bst
 	drivers/snapdragon_rc_pwm
 	drivers/lis3mdl
+	drivers/tfmini
+
 
 	#
 	# System commands
@@ -167,4 +169,4 @@ set(config_module_list
 
 	# Hardware test
 	#examples/hwtest
-)
+)

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -59,6 +59,7 @@ set(config_module_list
 	#drivers/ulanding
 	drivers/vmount
 	modules/sensors
+	#drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_px4fmu-v2_test.cmake

@@ -48,6 +48,7 @@ set(config_module_list
 	#drivers/bst
 	#drivers/snapdragon_rc_pwm
 	#drivers/lis3mdl
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_px4fmu-v3_default.cmake

@@ -2,6 +2,7 @@
 # FMUv3 is FMUv2 with access to the full 2MB flash
 set(BOARD px4fmu-v2 CACHE string "" FORCE)
 set(FW_NAME nuttx_px4fmu-v3_default.elf CACHE string "" FORCE)
+set(FW_PROTOTYPE px4fmu-v3 CACHE string "" FORCE)
 set(LD_SCRIPT ld_full.script CACHE string "" FORCE)
 
 include(nuttx/px4_impl_nuttx)
@@ -64,6 +65,7 @@ set(config_module_list
 	drivers/ulanding
 	drivers/vmount
 	modules/sensors
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -56,6 +56,7 @@ set(config_module_list
 	drivers/teraranger
 	drivers/vmount
 	modules/sensors
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_px4fmu-v4pro_default.cmake

@@ -56,6 +56,7 @@ set(config_module_list
 	drivers/teraranger
 	drivers/vmount
 	modules/sensors
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_px4fmu-v5_default.cmake

@@ -56,6 +56,7 @@ set(config_module_list
 	drivers/teraranger
 	drivers/vmount
 	modules/sensors
+	drivers/tfmini
 
 	#
 	# System commands

cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake

@@ -50,6 +50,7 @@ set(config_module_list
 	drivers/tap_esc
 	drivers/teraranger
 	modules/sensors
+	drivers/tfmini
 
 	#
 	# System commands

integrationtests/python_src/px4_it/mavros/mavros_offboard_attctl_test.py

@@ -37,21 +37,19 @@
 #
 # The shebang of this file is currently Python2 because some
 # dependencies such as pymavlink don't play well with Python3 yet.
+from __future__ import division
 
 PKG = 'px4'
 
 import unittest
 import rospy
-import rosbag
-import time
-
-from std_msgs.msg import Header
-from std_msgs.msg import Float64
-from geometry_msgs.msg import PoseStamped, Quaternion
+from threading import Thread
 from tf.transformations import quaternion_from_euler
-from mavros_msgs.srv import CommandLong
-from sensor_msgs.msg import NavSatFix
-#from px4_test_helper import PX4TestHelper
+from geometry_msgs.msg import PoseStamped, Quaternion, Vector3
+from mavros_msgs.msg import AttitudeTarget, HomePosition, State
+from mavros_msgs.srv import CommandBool, SetMode
+from std_msgs.msg import Header
+
 
 class MavrosOffboardAttctlTest(unittest.TestCase):
     """
@@ -62,90 +60,212 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
     """
 
     def setUp(self):
-        rospy.init_node('test_node', anonymous=True)
-        rospy.wait_for_service('mavros/cmd/arming', 30)
-        #self.helper = PX4TestHelper("mavros_offboard_attctl_test")
-        #self.helper.setUp()
-
-        rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
-        rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
-        self.pub_att = rospy.Publisher('mavros/setpoint_attitude/attitude', PoseStamped, queue_size=10)
-        self.pub_thr = rospy.Publisher('mavros/setpoint_attitude/att_throttle', Float64, queue_size=10)
-        rospy.wait_for_service('mavros/cmd/command', 30)
-        self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
-        self.rate = rospy.Rate(10) # 10hz
-        self.has_global_pos = False
         self.local_position = PoseStamped()
+        self.state = State()
+        self.att = AttitudeTarget()
+        self.sub_topics_ready = {
+            key: False
+            for key in ['local_pos', 'home_pos', 'state']
+        }
+
+        # setup ROS topics and services
+        try:
+            rospy.wait_for_service('mavros/cmd/arming', 30)
+            rospy.wait_for_service('mavros/set_mode', 30)
+        except rospy.ROSException:
+            self.fail("failed to connect to mavros services")
+
+        self.set_arming_srv = rospy.ServiceProxy('mavros/cmd/arming',
+                                                 CommandBool)
+        self.set_mode_srv = rospy.ServiceProxy('mavros/set_mode', SetMode)
+        self.local_pos_sub = rospy.Subscriber('mavros/local_position/pose',
+                                              PoseStamped,
+                                              self.local_position_callback)
+        self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
+                                             HomePosition,
+                                             self.home_position_callback)
+        self.state_sub = rospy.Subscriber('mavros/state', State,
+                                          self.state_callback)
+        self.att_setpoint_pub = rospy.Publisher(
+            'mavros/setpoint_raw/attitude', AttitudeTarget, queue_size=10)
+
+        # send setpoints in seperate thread to better prevent failsafe
+        self.att_thread = Thread(target=self.send_att, args=())
+        self.att_thread.daemon = True
+        self.att_thread.start()
 
     def tearDown(self):
-        #self.helper.tearDown()
         pass
 
     #
-    # General callback functions used in tests
+    # Callback functions
     #
-    def position_callback(self, data):
+    def local_position_callback(self, data):
         self.local_position = data
 
-    def global_position_callback(self, data):
-        self.has_global_pos = True
+        if not self.sub_topics_ready['local_pos']:
+            self.sub_topics_ready['local_pos'] = True
 
+    def home_position_callback(self, data):
+        # this topic publishing seems to be a better indicator that the sim
+        # is ready, it's not actually needed
+        self.home_pos_sub.unregister()
+
+        if not self.sub_topics_ready['home_pos']:
+            self.sub_topics_ready['home_pos'] = True
+
+    def state_callback(self, data):
+        self.state = data
+
+        if not self.sub_topics_ready['state']:
+            self.sub_topics_ready['state'] = True
+
+    #
+    # Helper methods
+    #
+    def send_att(self):
+        rate = rospy.Rate(10)  # Hz
+        self.att.body_rate = Vector3()
+        self.att.header = Header()
+        self.att.header.frame_id = "base_footprint"
+        self.att.orientation = Quaternion(*quaternion_from_euler(0.25, 0.25,
+                                                                 0))
+        self.att.thrust = 0.7
+        self.att.type_mask = 7  # ignore body rate
+
+        while not rospy.is_shutdown():
+            self.att.header.stamp = rospy.Time.now()
+            self.att_setpoint_pub.publish(self.att)
+            try:  # prevent garbage in console output when thread is killed
+                rate.sleep()
+            except rospy.ROSInterruptException:
+                pass
+
+    def set_mode(self, mode, timeout):
+        """mode: PX4 mode string, timeout(int): seconds"""
+        old_mode = self.state.mode
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        mode_set = False
+        for i in xrange(timeout * loop_freq):
+            if self.state.mode == mode:
+                mode_set = True
+                rospy.loginfo(
+                    "set mode success | new mode: {0}, old mode: {1} | seconds: {2} of {3}".
+                    format(mode, self.state.mode, i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.set_mode_srv(0, mode)  # 0 is custom mode
+                    if not res.mode_sent:
+                        rospy.logerr("failed to send mode command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            rate.sleep()
+
+        self.assertTrue(mode_set, (
+            "failed to set mode | new mode: {0}, old mode: {1} | timeout(seconds): {2}".
+            format(mode, old_mode, timeout)))
+
+    def set_arm(self, arm, timeout):
+        """arm: True to arm or False to disarm, timeout(int): seconds"""
+        old_arm = self.state.armed
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        arm_set = False
+        for i in xrange(timeout * loop_freq):
+            if self.state.armed == arm:
+                arm_set = True
+                rospy.loginfo(
+                    "set arm success | new arm: {0}, old arm: {1} | seconds: {2} of {3}".
+                    format(arm, old_arm, i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.set_arming_srv(arm)
+                    if not res.success:
+                        rospy.logerr("failed to send arm command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            rate.sleep()
+
+        self.assertTrue(arm_set, (
+            "failed to set arm | new arm: {0}, old arm: {1} | timeout(seconds): {2}".
+            format(arm, self.state.armed, timeout)))
+
+    def wait_for_topics(self, timeout):
+        """wait for simulation to be ready, make sure we're getting topic info
+        from all topics by checking dictionary of flag values set in callbacks,
+        timeout(int): seconds"""
+        rospy.loginfo("waiting for simulation topics to be ready")
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        simulation_ready = False
+        for i in xrange(timeout * loop_freq):
+            if all(value for value in self.sub_topics_ready.values()):
+                simulation_ready = True
+                rospy.loginfo("simulation topics ready | seconds: {0} of {1}".
+                              format(i / loop_freq, timeout))
+                break
+
+            rate.sleep()
+
+        self.assertTrue(simulation_ready, (
+            "failed to hear from all subscribed simulation topics | topic ready flags: {0} | timeout(seconds): {1}".
+            format(self.sub_topics_ready, timeout)))
+
+    #
+    # Test method
+    #
     def test_attctl(self):
         """Test offboard attitude control"""
+        # boundary to cross
+        boundary_x = 5
+        boundary_y = 5
+        boundary_z = -5
 
-        # FIXME: hack to wait for simulation to be ready
-        while not self.has_global_pos:
-            self.rate.sleep()
+        # delay starting the mission
+        self.wait_for_topics(30)
 
-        # set some attitude and thrust
-        att = PoseStamped()
-        att.header = Header()
-        att.header.frame_id = "base_footprint"
-        att.header.stamp = rospy.Time.now()
-        quaternion = quaternion_from_euler(0.25, 0.25, 0)
-        att.pose.orientation = Quaternion(*quaternion)
+        rospy.loginfo("seting mission mode")
+        self.set_mode("OFFBOARD", 5)
+        rospy.loginfo("arming")
+        self.set_arm(True, 5)
 
-        throttle = Float64()
-        throttle.data = 0.7
-        armed = False
-
-        # does it cross expected boundaries in X seconds?
-        count = 0
-        timeout = 120
-        while count < timeout:
-            # update timestamp for each published SP
-            att.header.stamp = rospy.Time.now()
-
-            self.pub_att.publish(att)
-            #self.helper.bag_write('mavros/setpoint_attitude/attitude', att)
-            self.pub_thr.publish(throttle)
-            #self.helper.bag_write('mavros/setpoint_attitude/att_throttle', throttle)
-            self.rate.sleep()
-
-            # FIXME: arm and switch to offboard
-            # (need to wait the first few rounds until PX4 has the offboard stream)
-            if not armed and count > 5:
-                self._srv_cmd_long(False, 176, False,
-                                   1, 6, 0, 0, 0, 0, 0)
-                # make sure the first command doesn't get lost
-                time.sleep(1)
-
-                self._srv_cmd_long(False, 400, False,
-                                   # arm
-                                   1, 0, 0, 0, 0, 0, 0)
-
-                armed = True
-
-            if (self.local_position.pose.position.x > 5
-                    and self.local_position.pose.position.z > 5
-                    and self.local_position.pose.position.y < -5):
+        rospy.loginfo("run mission")
+        rospy.loginfo("attempting to cross boundary | x: {0}, y: {1}, z: {2}".
+                      format(boundary_x, boundary_y, boundary_z))
+        # does it cross expected boundaries in 'timeout' seconds?
+        timeout = 12  # (int) seconds
+        loop_freq = 10  # Hz
+        rate = rospy.Rate(loop_freq)
+        crossed = False
+        for i in xrange(timeout * loop_freq):
+            if (self.local_position.pose.position.x > boundary_x and
+                    self.local_position.pose.position.z > boundary_y and
+                    self.local_position.pose.position.y < boundary_z):
+                rospy.loginfo("boundary crossed | seconds: {0} of {1}".format(
+                    i / loop_freq, timeout))
+                crossed = True
                 break
-            count = count + 1
 
-        self.assertTrue(count < timeout, "took too long to cross boundaries")
+            rate.sleep()
+
+        self.assertTrue(crossed, (
+            "took too long to cross boundaries | current position x: {0}, y: {1}, z: {2} | timeout(seconds): {3}".
+            format(self.local_position.pose.position.x,
+                   self.local_position.pose.position.y,
+                   self.local_position.pose.position.z, timeout)))
+
+        rospy.loginfo("disarming")
+        self.set_arm(False, 5)
 
 
 if __name__ == '__main__':
     import rostest
-    rostest.rosrun(PKG, 'mavros_offboard_attctl_test', MavrosOffboardAttctlTest)
-    #unittest.main()
+    rospy.init_node('test_node', anonymous=True)
+
+    rostest.rosrun(PKG, 'mavros_offboard_attctl_test',
+                   MavrosOffboardAttctlTest)

integrationtests/python_src/px4_it/mavros/mavros_offboard_posctl_test.py

@@ -37,24 +37,21 @@
 #
 # The shebang of this file is currently Python2 because some
 # dependencies such as pymavlink don't play well with Python3 yet.
+from __future__ import division
 
 PKG = 'px4'
 
 import unittest
 import rospy
 import math
-import rosbag
-import time
-
-from numpy import linalg
 import numpy as np
-
-from std_msgs.msg import Header
-from geometry_msgs.msg import PoseStamped, Quaternion
+from threading import Thread
 from tf.transformations import quaternion_from_euler
-from mavros_msgs.srv import CommandLong
-from sensor_msgs.msg import NavSatFix
-#from px4_test_helper import PX4TestHelper
+from geometry_msgs.msg import PoseStamped, Quaternion
+from mavros_msgs.msg import HomePosition, State
+from mavros_msgs.srv import CommandBool, SetMode
+from std_msgs.msg import Header
+
 
 class MavrosOffboardPosctlTest(unittest.TestCase):
     """
@@ -62,115 +59,236 @@ class MavrosOffboardPosctlTest(unittest.TestCase):
     via MAVROS.
 
     For the test to be successful it needs to reach all setpoints in a certain time.
+
     FIXME: add flight path assertion (needs transformation from ROS frame to NED)
     """
 
     def setUp(self):
-        rospy.init_node('test_node', anonymous=True)
-        #self.helper = PX4TestHelper("mavros_offboard_posctl_test")
-        #self.helper.setUp()
-
-        rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
-        rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
-        self.pub_spt = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
-        rospy.wait_for_service('mavros/cmd/command', 30)
-        self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
-        self.rate = rospy.Rate(10) # 10hz
-        self.has_global_pos = False
         self.local_position = PoseStamped()
-        self.armed = False
+        self.state = State()
+        self.pos = PoseStamped()
+        self.sub_topics_ready = {
+            key: False
+            for key in ['local_pos', 'home_pos', 'state']
+        }
+
+        # setup ROS topics and services
+        try:
+            rospy.wait_for_service('mavros/cmd/arming', 30)
+            rospy.wait_for_service('mavros/set_mode', 30)
+        except rospy.ROSException:
+            self.fail("failed to connect to mavros services")
+
+        self.set_arming_srv = rospy.ServiceProxy('/mavros/cmd/arming',
+                                                 CommandBool)
+        self.set_mode_srv = rospy.ServiceProxy('/mavros/set_mode', SetMode)
+        self.local_pos_sub = rospy.Subscriber('mavros/local_position/pose',
+                                              PoseStamped,
+                                              self.local_position_callback)
+        self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
+                                             HomePosition,
+                                             self.home_position_callback)
+        self.state_sub = rospy.Subscriber('mavros/state', State,
+                                          self.state_callback)
+        self.pos_setpoint_pub = rospy.Publisher(
+            'mavros/setpoint_position/local', PoseStamped, queue_size=10)
+
+        # send setpoints in seperate thread to better prevent failsafe
+        self.pos_thread = Thread(target=self.send_pos, args=())
+        self.pos_thread.daemon = True
+        self.pos_thread.start()
 
     def tearDown(self):
-        #self.helper.tearDown()
         pass
 
     #
-    # General callback functions used in tests
+    # Callback functions
     #
-    def position_callback(self, data):
+    def local_position_callback(self, data):
         self.local_position = data
 
-    def global_position_callback(self, data):
-        self.has_global_pos = True
+        if not self.sub_topics_ready['local_pos']:
+            self.sub_topics_ready['local_pos'] = True
+
+    def home_position_callback(self, data):
+        # this topic publishing seems to be a better indicator that the sim
+        # is ready, it's not actually needed
+        self.home_pos_sub.unregister()
+
+        if not self.sub_topics_ready['home_pos']:
+            self.sub_topics_ready['home_pos'] = True
+
+    def state_callback(self, data):
+        self.state = data
+
+        if not self.sub_topics_ready['state']:
+            self.sub_topics_ready['state'] = True
 
     #
     # Helper methods
     #
+    def send_pos(self):
+        rate = rospy.Rate(10)  # Hz
+        self.pos.header = Header()
+        self.pos.header.frame_id = "base_footprint"
+
+        while not rospy.is_shutdown():
+            self.pos.header.stamp = rospy.Time.now()
+            self.pos_setpoint_pub.publish(self.pos)
+            try:  # prevent garbage in console output when thread is killed
+                rate.sleep()
+            except rospy.ROSInterruptException:
+                pass
+
+    def set_mode(self, mode, timeout):
+        """mode: PX4 mode string, timeout(int): seconds"""
+        old_mode = self.state.mode
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        mode_set = False
+        for i in xrange(timeout * loop_freq):
+            if self.state.mode == mode:
+                mode_set = True
+                rospy.loginfo(
+                    "set mode success | new mode: {0}, old mode: {1} | seconds: {2} of {3}".
+                    format(mode, old_mode, i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.set_mode_srv(0, mode)  # 0 is custom mode
+                    if not res.mode_sent:
+                        rospy.logerr("failed to send mode command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            rate.sleep()
+
+        self.assertTrue(mode_set, (
+            "failed to set mode | new mode: {0}, old mode: {1} | timeout(seconds): {2}".
+            format(mode, self.state.mode, timeout)))
+
+    def set_arm(self, arm, timeout):
+        """arm: True to arm or False to disarm, timeout(int): seconds"""
+        old_arm = self.state.armed
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        arm_set = False
+        for i in xrange(timeout * loop_freq):
+            if self.state.armed == arm:
+                arm_set = True
+                rospy.loginfo(
+                    "set arm success | new arm: {0}, old arm: {1} | seconds: {2} of {3}".
+                    format(arm, old_arm, i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.set_arming_srv(arm)
+                    if not res.success:
+                        rospy.logerr("failed to send arm command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            rate.sleep()
+
+        self.assertTrue(arm_set, (
+            "failed to set arm | new arm: {0}, old arm: {1} | timeout(seconds): {2}".
+            format(arm, self.state.armed, timeout)))
+
+    def wait_for_topics(self, timeout):
+        """wait for simulation to be ready, make sure we're getting topic info
+        from all topics by checking dictionary of flag values set in callbacks,
+        timeout(int): seconds"""
+        rospy.loginfo("waiting for simulation topics to be ready")
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        simulation_ready = False
+        for i in xrange(timeout * loop_freq):
+            if all(value for value in self.sub_topics_ready.values()):
+                simulation_ready = True
+                rospy.loginfo("simulation topics ready | seconds: {0} of {1}".
+                              format(i / loop_freq, timeout))
+                break
+
+            rate.sleep()
+
+        self.assertTrue(simulation_ready, (
+            "failed to hear from all subscribed simulation topics | topic ready flags: {0} | timeout(seconds): {1}".
+            format(self.sub_topics_ready, timeout)))
+
     def is_at_position(self, x, y, z, offset):
-        rospy.logdebug("current position %f, %f, %f" %
-                       (self.local_position.pose.position.x,
-                       self.local_position.pose.position.y,
-                       self.local_position.pose.position.z))
+        rospy.logdebug("current position | x:{0}, y:{1}, z:{2}".format(
+            self.local_position.pose.position.x, self.local_position.pose.
+            position.y, self.local_position.pose.position.z))
 
         desired = np.array((x, y, z))
         pos = np.array((self.local_position.pose.position.x,
                         self.local_position.pose.position.y,
                         self.local_position.pose.position.z))
-        return linalg.norm(desired - pos) < offset
+        return np.linalg.norm(desired - pos) < offset
 
     def reach_position(self, x, y, z, timeout):
         # set a position setpoint
-        pos = PoseStamped()
-        pos.header = Header()
-        pos.header.frame_id = "base_footprint"
-        pos.pose.position.x = x
-        pos.pose.position.y = y
-        pos.pose.position.z = z
+        self.pos.pose.position.x = x
+        self.pos.pose.position.y = y
+        self.pos.pose.position.z = z
+        rospy.loginfo("attempting to reach position | x: {0}, y: {1}, z: {2}".
+                      format(x, y, z))
 
         # For demo purposes we will lock yaw/heading to north.
         yaw_degrees = 0  # North
         yaw = math.radians(yaw_degrees)
         quaternion = quaternion_from_euler(0, 0, yaw)
-        pos.pose.orientation = Quaternion(*quaternion)
+        self.pos.pose.orientation = Quaternion(*quaternion)
 
-        # does it reach the position in X seconds?
-        count = 0
-        while count < timeout:
-            # update timestamp for each published SP
-            pos.header.stamp = rospy.Time.now()
-            self.pub_spt.publish(pos)
-            #self.helper.bag_write('mavros/setpoint_position/local', pos)
-
-            # FIXME: arm and switch to offboard
-            # (need to wait the first few rounds until PX4 has the offboard stream)
-            if not self.armed and count > 5:
-                self._srv_cmd_long(False, 176, False,
-                                   1, 6, 0, 0, 0, 0, 0)
-                # make sure the first command doesn't get lost
-                time.sleep(1)
-
-                self._srv_cmd_long(False, 400, False,
-                                   # arm
-                                   1, 0, 0, 0, 0, 0, 0)
-
-                self.armed = True
-
-            if self.is_at_position(pos.pose.position.x, pos.pose.position.y, pos.pose.position.z, 1):
+        # does it reach the position in 'timeout' seconds?
+        loop_freq = 10  # Hz
+        rate = rospy.Rate(loop_freq)
+        reached = False
+        for i in xrange(timeout * loop_freq):
+            if self.is_at_position(self.pos.pose.position.x,
+                                   self.pos.pose.position.y,
+                                   self.pos.pose.position.z, 1):
+                rospy.loginfo("position reached | seconds: {0} of {1}".format(
+                    i / loop_freq, timeout))
+                reached = True
                 break
-            count = count + 1
-            self.rate.sleep()
 
-        self.assertTrue(count < timeout, "took too long to get to position")
+            rate.sleep()
 
+        self.assertTrue(reached, (
+            "took too long to get to position | current position x: {0}, y: {1}, z: {2} | timeout(seconds): {3}".
+            format(self.local_position.pose.position.x,
+                   self.local_position.pose.position.y,
+                   self.local_position.pose.position.z, timeout)))
+
+    #
+    # Test method
+    #
     def test_posctl(self):
         """Test offboard position control"""
 
-        # FIXME: hack to wait for simulation to be ready
-        while not self.has_global_pos:
-            self.rate.sleep()
+        # delay starting the mission
+        self.wait_for_topics(30)
 
-        positions = (
-            (0, 0, 0),
-            (2, 2, 2),
-            (2, -2, 2),
-            (-2, -2, 2),
-            (2, 2, 2))
+        rospy.loginfo("seting mission mode")
+        self.set_mode("OFFBOARD", 5)
+        rospy.loginfo("arming")
+        self.set_arm(True, 5)
 
-        for i in range(0, len(positions)):
-            self.reach_position(positions[i][0], positions[i][1], positions[i][2], 180)
+        rospy.loginfo("run mission")
+        positions = ((0, 0, 0), (2, 2, 2), (2, -2, 2), (-2, -2, 2), (2, 2, 2))
+
+        for i in xrange(len(positions)):
+            self.reach_position(positions[i][0], positions[i][1],
+                                positions[i][2], 18)
+
+        rospy.loginfo("disarming")
+        self.set_arm(False, 5)
 
 
 if __name__ == '__main__':
     import rostest
-    rostest.rosrun(PKG, 'mavros_offboard_posctl_test', MavrosOffboardPosctlTest)
-    #unittest.main()
+    rospy.init_node('test_node', anonymous=True)
+
+    rostest.rosrun(PKG, 'mavros_offboard_posctl_test',
+                   MavrosOffboardPosctlTest)

integrationtests/python_src/px4_it/mavros/mission_test.py

@@ -38,269 +38,399 @@
 
 # The shebang of this file is currently Python2 because some
 # dependencies such as pymavlink don't play well with Python3 yet.
+from __future__ import division
 
 PKG = 'px4'
 
 import unittest
 import rospy
-import math
-import rosbag
-import sys
-import os
-import time
 import glob
 import json
-
-import mavros
-from pymavlink import mavutil
-from mavros import mavlink
-
+import math
+import os
 import px4tools
-
-from geometry_msgs.msg import PoseStamped
-from mavros_msgs.srv import CommandLong, WaypointPush
-from mavros_msgs.msg import Mavlink, Waypoint, ExtendedState
-from sensor_msgs.msg import NavSatFix
+import sys
+from mavros import mavlink
 from mavros.mission import QGroundControlWP
-#from px4_test_helper import PX4TestHelper
+from pymavlink import mavutil
+from threading import Thread
+from mavros_msgs.msg import Altitude, ExtendedState, HomePosition, Mavlink, \
+                            State, Waypoint
+from mavros_msgs.srv import CommandBool, SetMode, WaypointPush
+from sensor_msgs.msg import NavSatFix
+
 
 def get_last_log():
     try:
         log_path = os.environ['PX4_LOG_DIR']
     except KeyError:
-        log_path = os.path.join(os.environ['HOME'], 'ros/rootfs/fs/microsd/log')
-    last_log_dir = sorted(
-        glob.glob(os.path.join(log_path, '*')))[-1]
+        log_path = os.path.join(os.environ['HOME'],
+                                '.ros/rootfs/fs/microsd/log')
+    last_log_dir = sorted(glob.glob(os.path.join(log_path, '*')))[-1]
     last_log = sorted(glob.glob(os.path.join(last_log_dir, '*.ulg')))[-1]
     return last_log
 
+
 def read_new_mission(f):
     d = json.load(f)
     current = True
     for wp in d['items']:
         yield Waypoint(
-                is_current = current,
-                frame = int(wp['frame']),
-                command = int(wp['command']),
-                param1 = float(wp['param1']),
-                param2 = float(wp['param2']),
-                param3 = float(wp['param3']),
-                param4 = float(wp['param4']),
-                x_lat = float(wp['coordinate'][0]),
-                y_long = float(wp['coordinate'][1]),
-                z_alt = float(wp['coordinate'][2]),
-                autocontinue = bool(wp['autoContinue']))
+            is_current=current,
+            frame=int(wp['frame']),
+            command=int(wp['command']),
+            param1=float(wp['param1']),
+            param2=float(wp['param2']),
+            param3=float(wp['param3']),
+            param4=float(wp['param4']),
+            x_lat=float(wp['coordinate'][0]),
+            y_long=float(wp['coordinate'][1]),
+            z_alt=float(wp['coordinate'][2]),
+            autocontinue=bool(wp['autoContinue']))
         if current:
             current = False
 
+
 class MavrosMissionTest(unittest.TestCase):
     """
     Run a mission
     """
+    # dictionaries correspond to mavros ExtendedState msg
+    LAND_STATES = {
+        0: 'UNDEFINED',
+        1: 'ON_GROUND',
+        2: 'IN_AIR',
+        3: 'TAKEOFF',
+        4: 'LANDING'
+    }
+    VTOL_STATES = {
+        0: 'VTOL UNDEFINED',
+        1: 'VTOL MC->FW',
+        2: 'VTOL FW->MC',
+        3: 'VTOL MC',
+        4: 'VTOL FW'
+    }
 
     def setUp(self):
-        rospy.init_node('test_node', anonymous=True)
-
-        self.rate = rospy.Rate(10) # 10hz
+        self.rate = rospy.Rate(10)  # 10hz
         self.has_global_pos = False
-        self.local_position = PoseStamped()
         self.global_position = NavSatFix()
         self.extended_state = ExtendedState()
-        self.home_alt = 0
+        self.altitude = Altitude()
+        self.state = State()
         self.mc_rad = 5
         self.fw_rad = 60
         self.fw_alt_rad = 10
-        self.last_alt_d = 9999
-        self.last_pos_d = 9999
+        self.last_alt_d = None
+        self.last_pos_d = None
         self.mission_name = ""
+        self.sub_topics_ready = {
+            key: False
+            for key in ['global_pos', 'home_pos', 'ext_state', 'alt', 'state']
+        }
 
-        # need to simulate heartbeat for datalink loss detection
-        rospy.Timer(rospy.Duration(0.5), self.send_heartbeat)
+        # setup ROS topics and services
+        try:
+            rospy.wait_for_service('mavros/mission/push', 30)
+            rospy.wait_for_service('mavros/cmd/arming', 30)
+            rospy.wait_for_service('mavros/set_mode', 30)
+        except rospy.ROSException:
+            self.fail("failed to connect to mavros services")
 
-        rospy.wait_for_service('mavros/cmd/command', 30)
-        self.pub_mavlink = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
-        self._srv_cmd_long = rospy.ServiceProxy('mavros/cmd/command', CommandLong, persistent=True)
-        self._srv_wp_push = rospy.ServiceProxy('mavros/mission/push', WaypointPush, persistent=True)
+        self.wp_push_srv = rospy.ServiceProxy('mavros/mission/push',
+                                              WaypointPush)
+        self.set_arming_srv = rospy.ServiceProxy('/mavros/cmd/arming',
+                                                 CommandBool)
+        self.set_mode_srv = rospy.ServiceProxy('/mavros/set_mode', SetMode)
+        self.global_pos_sub = rospy.Subscriber('mavros/global_position/global',
+                                               NavSatFix,
+                                               self.global_position_callback)
+        self.home_pos_sub = rospy.Subscriber('mavros/home_position/home',
+                                             HomePosition,
+                                             self.home_position_callback)
+        self.ext_state_sub = rospy.Subscriber('mavros/extended_state',
+                                              ExtendedState,
+                                              self.extended_state_callback)
+        self.alt_sub = rospy.Subscriber('mavros/altitude', Altitude,
+                                        self.altitude_callback)
+        self.state_sub = rospy.Subscriber('mavros/state', State,
+                                          self.state_callback)
+        self.mavlink_pub = rospy.Publisher('mavlink/to', Mavlink, queue_size=1)
 
-        rospy.Subscriber("mavros/local_position/pose", PoseStamped, self.position_callback)
-        rospy.Subscriber("mavros/global_position/global", NavSatFix, self.global_position_callback)
-        rospy.Subscriber("mavros/extended_state", ExtendedState, self.extended_state_callback)
+        # need to simulate heartbeat to prevent datalink loss detection
+        self.hb_mav_msg = mavutil.mavlink.MAVLink_heartbeat_message(
+            mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
+        self.hb_mav_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
+        self.hb_ros_msg = mavlink.convert_to_rosmsg(self.hb_mav_msg)
+        self.hb_thread = Thread(target=self.send_heartbeat, args=())
+        self.hb_thread.daemon = True
+        self.hb_thread.start()
 
     def tearDown(self):
-        #self.helper.tearDown()
         pass
 
     #
-    # General callback functions used in tests
+    # Callback functions
     #
-    def position_callback(self, data):
-        self.local_position = data
-
     def global_position_callback(self, data):
         self.global_position = data
 
-        if not self.has_global_pos:
-            if data.altitude != 0:
-                self.home_alt = data.altitude
-                self.has_global_pos = True
+        if not self.sub_topics_ready['global_pos']:
+            self.sub_topics_ready['global_pos'] = True
+
+    def home_position_callback(self, data):
+        # this topic publishing seems to be a better indicator that the sim
+        # is ready, it's not actually needed
+        self.home_pos_sub.unregister()
+
+        if not self.sub_topics_ready['home_pos']:
+            self.sub_topics_ready['home_pos'] = True
 
     def extended_state_callback(self, data):
+        if self.extended_state.vtol_state != data.vtol_state:
+            rospy.loginfo("VTOL state changed from {0} to {1}".format(
+                self.VTOL_STATES.get(self.extended_state.vtol_state),
+                self.VTOL_STATES.get(data.vtol_state)))
 
-        prev_state = self.extended_state.vtol_state;
+        if self.extended_state.landed_state != data.landed_state:
+            rospy.loginfo("landed state changed from {0} to {1}".format(
+                self.LAND_STATES.get(self.extended_state.landed_state),
+                self.LAND_STATES.get(data.landed_state)))
 
         self.extended_state = data
-        if (prev_state != self.extended_state.vtol_state):
-            print("VTOL state change: %d" % self.extended_state.vtol_state);
+
+        if not self.sub_topics_ready['ext_state']:
+            self.sub_topics_ready['ext_state'] = True
+
+    def state_callback(self, data):
+        if self.state.armed != data.armed:
+            rospy.loginfo("armed state changed from {0} to {1}".format(
+                self.state.armed, data.armed))
+
+        if self.state.mode != data.mode:
+            rospy.loginfo("mode changed from {0} to {1}".format(
+                self.state.mode, data.mode))
+
+        self.state = data
+
+        # mavros publishes a disconnected state message on init
+        if not self.sub_topics_ready['state'] and data.connected:
+            self.sub_topics_ready['state'] = True
+
+    def altitude_callback(self, data):
+        self.altitude = data
+
+        # amsl has been observed to be nan while other fields are valid
+        if not self.sub_topics_ready['alt'] and not math.isnan(data.amsl):
+            self.sub_topics_ready['alt'] = True
 
     #
     # Helper methods
     #
+    def send_heartbeat(self):
+        rate = rospy.Rate(2)  # Hz
+        while not rospy.is_shutdown():
+            self.mavlink_pub.publish(self.hb_ros_msg)
+            try:  # prevent garbage in console output when thread is killed
+                rate.sleep()
+            except rospy.ROSInterruptException:
+                pass
+
+    def set_mode(self, mode, timeout):
+        """mode: PX4 mode string, timeout(int): seconds"""
+        old_mode = self.state.mode
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        mode_set = False
+        for i in xrange(timeout * loop_freq):
+            if self.state.mode == mode:
+                mode_set = True
+                rospy.loginfo(
+                    "set mode success | new mode: {0}, old mode: {1} | seconds: {2} of {3}".
+                    format(mode, old_mode, i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.set_mode_srv(0, mode)  # 0 is custom mode
+                    if not res.mode_sent:
+                        rospy.logerr("failed to send mode command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            rate.sleep()
+
+        self.assertTrue(mode_set, (
+            "failed to set mode | new mode: {0}, old mode: {1} | timeout(seconds): {2}".
+            format(mode, old_mode, timeout)))
+
+    def set_arm(self, arm, timeout):
+        """arm: True to arm or False to disarm, timeout(int): seconds"""
+        old_arm = self.state.armed
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        arm_set = False
+        for i in xrange(timeout * loop_freq):
+            if self.state.armed == arm:
+                arm_set = True
+                rospy.loginfo(
+                    "set arm success | new arm: {0}, old arm: {1} | seconds: {2} of {3}".
+                    format(arm, old_arm, i / loop_freq, timeout))
+                break
+            else:
+                try:
+                    res = self.set_arming_srv(arm)
+                    if not res.success:
+                        rospy.logerr("failed to send arm command")
+                except rospy.ServiceException as e:
+                    rospy.logerr(e)
+
+            rate.sleep()
+
+        self.assertTrue(arm_set, (
+            "failed to set arm | new arm: {0}, old arm: {1} | timeout(seconds): {2}".
+            format(arm, old_arm, timeout)))
+
     def is_at_position(self, lat, lon, alt, xy_offset, z_offset):
-        R = 6371000 # metres
+        """alt(amsl), xy_offset, z_offset: meters"""
+        R = 6371000  # metres
         rlat1 = math.radians(lat)
         rlat2 = math.radians(self.global_position.latitude)
 
         rlat_d = math.radians(self.global_position.latitude - lat)
         rlon_d = math.radians(self.global_position.longitude - lon)
 
-        a = (math.sin(rlat_d / 2) * math.sin(rlat_d / 2) +
-             math.cos(rlat1) * math.cos(rlat2) *
-             math.sin(rlon_d / 2) * math.sin(rlon_d / 2))
-        c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a))
+        a = (math.sin(rlat_d / 2) * math.sin(rlat_d / 2) + math.cos(rlat1) *
+             math.cos(rlat2) * math.sin(rlon_d / 2) * math.sin(rlon_d / 2))
+        c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
 
         d = R * c
-        alt_d = abs(alt - self.global_position.altitude)
-
-        #rospy.loginfo("d: %f, alt_d: %f", d, alt_d)
+        alt_d = abs(alt - self.altitude.amsl)
 
         # remember best distances
-        if self.last_pos_d > d:
+        if not self.last_pos_d or self.last_pos_d > d:
             self.last_pos_d = d
-        if self.last_alt_d > alt_d:
+        if not self.last_alt_d or self.last_alt_d > alt_d:
             self.last_alt_d = alt_d
 
+        rospy.logdebug("d: {0}, alt_d: {1}".format(d, alt_d))
         return d < xy_offset and alt_d < z_offset
 
     def reach_position(self, lat, lon, alt, timeout, index):
+        """alt(amsl): meters, timeout(int): seconds"""
         # reset best distances
-        self.last_alt_d = 9999
-        self.last_pos_d = 9999
+        self.last_alt_d = None
+        self.last_pos_d = None
 
-        rospy.loginfo("trying to reach waypoint " +
-            "lat: %13.9f, lon: %13.9f, alt: %6.2f, timeout: %d, index: %d" %
-            (lat, lon, alt, timeout, index))
+        rospy.loginfo(
+            "trying to reach waypoint | lat: {0:13.9f}, lon: {1:13.9f}, alt: {2:6.2f}, index: {3}".
+            format(lat, lon, alt, index))
 
-        # does it reach the position in X seconds?
-        count = 0
-        while count < timeout:
+        # does it reach the position in 'timeout' seconds?
+        loop_freq = 10  # Hz
+        rate = rospy.Rate(loop_freq)
+        reached = False
+        for i in xrange(timeout * loop_freq):
             # use MC radius by default
             # FIXME: also check MAV_TYPE from system status, otherwise pure fixed-wing won't work
             xy_radius = self.mc_rad
             z_radius = self.mc_rad
 
             # use FW radius if in FW or in transition
-            if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW or
-                    self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_MC or
-                    self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_FW):
+            if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW
+                    or self.extended_state.vtol_state ==
+                    ExtendedState.VTOL_STATE_TRANSITION_TO_MC or
+                    self.extended_state.vtol_state ==
+                    ExtendedState.VTOL_STATE_TRANSITION_TO_FW):
                 xy_radius = self.fw_rad
                 z_radius = self.fw_alt_rad
 
             if self.is_at_position(lat, lon, alt, xy_radius, z_radius):
-                rospy.loginfo("position reached, index: %d, count: %d, pos_d: %f, alt_d: %f" %
-                    (index, count, self.last_pos_d, self.last_alt_d))
+                reached = True
+                rospy.loginfo(
+                    "position reached | pos_d: {0:.2f}, alt_d: {1:.2f}, index: {2} | seconds: {3} of {4}".
+                    format(self.last_pos_d, self.last_alt_d, index, i /
+                           loop_freq, timeout))
                 break
 
-            count = count + 1
-            self.rate.sleep()
+            rate.sleep()
 
-        vtol_state_string = "VTOL undefined"
+        self.assertTrue(reached, (
+            "({0}) took too long to get to position | lat: {1:13.9f}, lon: {2:13.9f}, alt: {3:6.2f}, xy off: {4}, z off: {5}, pos_d: {6:.2f}, alt_d: {7:.2f}, VTOL state: {8}, index: {9} | timeout(seconds): {10}".
+            format(self.mission_name, lat, lon, alt, xy_radius, z_radius,
+                   self.last_pos_d, self.last_alt_d,
+                   self.VTOL_STATES.get(self.extended_state.vtol_state), index,
+                   timeout)))
 
-        if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_MC):
-            vtol_state_string = "VTOL MC"
-        if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW):
-            vtol_state_string = "VTOL FW"
-        if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_MC):
-            vtol_state_string = "VTOL FW->MC"
-        if (self.extended_state.vtol_state == ExtendedState.VTOL_STATE_TRANSITION_TO_FW):
-            vtol_state_string = "VTOL MC->FW"
-
-        self.assertTrue(count < timeout, (("(%s) took too long to get to position " +
-            "lat: %13.9f, lon: %13.9f, alt: %6.2f, xy off: %f, z off: %f, timeout: %d, index: %d, pos_d: %f, alt_d: %f, VTOL state: %s") %
-            (self.mission_name, lat, lon, alt, xy_radius, z_radius, timeout, index, self.last_pos_d, self.last_alt_d, vtol_state_string)))
-
-    def run_mission(self):
-	# Hack to wait until vehicle is ready
-	# TODO better integration with pre-flight status reporting
-	time.sleep(5)
-	"""switch mode: auto and arm"""
-        self._srv_cmd_long(False, 176, False,
-                           # custom, auto, mission
-                           1, 4, 4, 0, 0, 0, 0)
-        # make sure the first command doesn't get lost
-        time.sleep(1)
-
-        self._srv_cmd_long(False, 400, False,
-                           # arm
-                           1, 0, 0, 0, 0, 0, 0)
-
-    def wait_until_ready(self):
-        """FIXME: hack to wait for simulation to be ready"""
-        while not self.has_global_pos:
-            self.rate.sleep()
-
-    def wait_on_landing(self, timeout, index):
-        """Wait for landed state"""
-
-        rospy.loginfo("waiting for landing " +
-            "timeout: %d, index: %d" %
-            (timeout, index))
-
-        count = 0
-        while count < timeout:
-            if self.extended_state.landed_state == ExtendedState.LANDED_STATE_ON_GROUND:
+    def wait_for_topics(self, timeout):
+        """wait for simulation to be ready, make sure we're getting topic info
+        from all topics by checking dictionary of flag values set in callbacks,
+        timeout(int): seconds"""
+        rospy.loginfo("waiting for simulation topics to be ready")
+        loop_freq = 1  # Hz
+        rate = rospy.Rate(loop_freq)
+        simulation_ready = False
+        for i in xrange(timeout * loop_freq):
+            if all(value for value in self.sub_topics_ready.values()):
+                simulation_ready = True
+                rospy.loginfo("simulation topics ready | seconds: {0} of {1}".
+                              format(i / loop_freq, timeout))
                 break
 
-            count = count + 1
-            self.rate.sleep()
+            rate.sleep()
 
-        self.assertTrue(count < timeout, ("(%s) landing not detected after landing WP " +
-            "timeout: %d, index: %d") %
-            (self.mission_name, timeout, index))
+        self.assertTrue(simulation_ready, (
+            "failed to hear from all subscribed simulation topics | topic ready flags: {0} | timeout(seconds): {1}".
+            format(self.sub_topics_ready, timeout)))
+
+    def wait_on_landed_state(self, desired_landed_state, timeout, index):
+        rospy.loginfo(
+            "waiting for landed state | state: {0}, index: {1}".format(
+                self.LAND_STATES.get(desired_landed_state), index))
+        loop_freq = 10  # Hz
+        rate = rospy.Rate(loop_freq)
+        landed_state_confirmed = False
+        for i in xrange(timeout * loop_freq):
+            if self.extended_state.landed_state == desired_landed_state:
+                landed_state_confirmed = True
+                rospy.loginfo(
+                    "landed state confirmed | state: {0}, index: {1}".format(
+                        self.LAND_STATES.get(desired_landed_state), index))
+                break
+
+            rate.sleep()
+
+        self.assertTrue(landed_state_confirmed, (
+            "({0}) landed state not detected | desired: {1}, current: {2} | index: {3}, timeout(seconds): {4}".
+            format(self.mission_name,
+                   self.LAND_STATES.get(desired_landed_state),
+                   self.LAND_STATES.get(self.extended_state.landed_state),
+                   index, timeout)))
 
     def wait_on_transition(self, transition, timeout, index):
-        """Wait for VTOL transition"""
-
-        rospy.loginfo("waiting for VTOL transition " +
-            "transition: %d, timeout: %d, index: %d" %
-            (transition, timeout, index))
-
-        count = 0
-        while count < timeout:
-            # transition to MC
-            if (transition == ExtendedState.VTOL_STATE_MC and
-                    self.extended_state.vtol_state == ExtendedState.VTOL_STATE_MC):
+        """Wait for VTOL transition, timeout(int): seconds"""
+        rospy.loginfo(
+            "waiting for VTOL transition | transition: {0}, index: {1}".format(
+                self.VTOL_STATES.get(transition), index))
+        loop_freq = 10  # Hz
+        rate = rospy.Rate(loop_freq)
+        transitioned = False
+        for i in xrange(timeout * loop_freq):
+            if transition == self.extended_state.vtol_state:
+                rospy.loginfo(
+                    "transitioned | index: {0} | seconds: {1} of {2}".format(
+                        index, i / loop_freq, timeout))
+                transitioned = True
                 break
 
-            # transition to FW
-            if (transition == ExtendedState.VTOL_STATE_FW and
-                    self.extended_state.vtol_state == ExtendedState.VTOL_STATE_FW):
-                break
+            rate.sleep()
 
-            count = count + 1
-            self.rate.sleep()
-
-        self.assertTrue(count < timeout, ("(%s) transition not detected " +
-            "timeout: %d, index: %d") %
-            (self.mission_name, timeout, index))
-
-    def send_heartbeat(self, event=None):
-        # mav type gcs
-        mavmsg = mavutil.mavlink.MAVLink_heartbeat_message(6, 0, 0, 0, 0, 0)
-        # XXX: hack: using header object to set mav properties
-        mavmsg.pack(mavutil.mavlink.MAVLink_header(0, 0, 0, 2, 1))
-        rosmsg = mavlink.convert_to_rosmsg(mavmsg)
-        self.pub_mavlink.publish(rosmsg)
+        self.assertTrue(transitioned, (
+            "({0}) transition not detected | index: {1} | timeout(seconds): {2}, ".
+            format(self.mission_name, index, timeout)))
 
+    #
+    # Test method
+    #
     def test_mission(self):
         """Test mission"""
 
@@ -309,11 +439,11 @@ class MavrosMissionTest(unittest.TestCase):
             return
 
         self.mission_name = sys.argv[1]
-        mission_file = os.path.dirname(os.path.realpath(__file__)) + "/" + sys.argv[1]
+        mission_file = os.path.dirname(
+            os.path.realpath(__file__)) + "/" + sys.argv[1]
 
-        rospy.loginfo("reading mission %s", mission_file)
+        rospy.loginfo("reading mission {0}".format(mission_file))
         wps = []
-
         with open(mission_file, 'r') as f:
             mission_ext = os.path.splitext(mission_file)[1]
             if mission_ext == '.mission':
@@ -330,62 +460,79 @@ class MavrosMissionTest(unittest.TestCase):
             else:
                 raise IOError('unknown mission file extension', mission_ext)
 
-        rospy.loginfo("wait until ready")
-        self.wait_until_ready()
-
         rospy.loginfo("send mission")
-        res = self._srv_wp_push(wps)
-        rospy.loginfo(res)
-        self.assertTrue(res.success, "(%s) mission could not be transfered" % self.mission_name)
+        result = False
+        try:
+            res = self.wp_push_srv(start_index=0, waypoints=wps)
+            result = res.success
+        except rospy.ServiceException as e:
+            rospy.logerr(e)
+        self.assertTrue(
+            result,
+            "({0}) mission could not be transfered".format(self.mission_name))
+
+        # delay starting the mission
+        self.wait_for_topics(30)
+
+        # make sure the simulation is ready to start the mission
+        self.wait_on_landed_state(ExtendedState.LANDED_STATE_ON_GROUND, 10, -1)
+
+        rospy.loginfo("seting mission mode")
+        self.set_mode("AUTO.MISSION", 5)
+        rospy.loginfo("arming")
+        self.set_arm(True, 5)
 
         rospy.loginfo("run mission")
-        self.run_mission()
-
-        index = 0
-        for waypoint in wps:
+        for index, waypoint in enumerate(wps):
             # only check position for waypoints where this makes sense
             if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT or waypoint.frame == Waypoint.FRAME_GLOBAL:
                 alt = waypoint.z_alt
                 if waypoint.frame == Waypoint.FRAME_GLOBAL_REL_ALT:
-                    alt += self.home_alt
+                    alt += self.altitude.amsl - self.altitude.relative
 
-                self.reach_position(waypoint.x_lat, waypoint.y_long, alt, 600, index)
+                self.reach_position(waypoint.x_lat, waypoint.y_long, alt, 60,
+                                    index)
 
             # check if VTOL transition happens if applicable
             if waypoint.command == 84 or waypoint.command == 85 or waypoint.command == 3000:
                 transition = waypoint.param1
 
-                if waypoint.command == 84: # VTOL takeoff implies transition to FW
+                if waypoint.command == 84:  # VTOL takeoff implies transition to FW
                     transition = ExtendedState.VTOL_STATE_FW
 
-                if waypoint.command == 85: # VTOL takeoff implies transition to MC
+                if waypoint.command == 85:  # VTOL takeoff implies transition to MC
                     transition = ExtendedState.VTOL_STATE_MC
 
-                self.wait_on_transition(transition, 600, index)
+                self.wait_on_transition(transition, 60, index)
 
             # after reaching position, wait for landing detection if applicable
             if waypoint.command == 85 or waypoint.command == 21:
-                self.wait_on_landing(600, index)
+                self.wait_on_landed_state(ExtendedState.LANDED_STATE_ON_GROUND,
+                                          60, index)
 
-            index += 1
+        rospy.loginfo("disarming")
+        self.set_arm(False, 5)
 
         rospy.loginfo("mission done, calculating performance metrics")
         last_log = get_last_log()
-        rospy.loginfo("log file %s", last_log)
-        data = px4tools.ulog.read_ulog(last_log).concat(dt=0.1)
-        data = px4tools.ulog.compute_data(data)
+        rospy.loginfo("log file {0}".format(last_log))
+        data = px4tools.read_ulog(last_log).concat(dt=0.1)
+        data = px4tools.compute_data(data)
         res = px4tools.estimator_analysis(data, False)
 
         # enforce performance
-        self.assertTrue(abs(res['roll_error_mean'])  < 5.0, str(res))
+        self.assertTrue(abs(res['roll_error_mean']) < 5.0, str(res))
         self.assertTrue(abs(res['pitch_error_mean']) < 5.0, str(res))
         self.assertTrue(abs(res['yaw_error_mean']) < 5.0, str(res))
         self.assertTrue(res['roll_error_std'] < 5.0, str(res))
         self.assertTrue(res['pitch_error_std'] < 5.0, str(res))
         self.assertTrue(res['yaw_error_std'] < 5.0, str(res))
 
+
 if __name__ == '__main__':
     import rostest
+    rospy.init_node('test_node', anonymous=True)
+
     name = "mavros_mission_test"
     if len(sys.argv) > 1:
         name += "-%s" % sys.argv[1]

integrationtests/run_container.bash

@@ -1,31 +0,0 @@
-#!/bin/bash
-#
-# Run container and start test execution
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-set -e
-
-if [ -z "$WORKSPACE" ]; then
-    echo "\$WORKSPACE not set"
-    exit 1
-fi
-
-IMAGE=px4io/px4-dev-ros:v1.0
-
-# Pulling latest image
-echo "===> pull latest Docker image"
-docker pull $IMAGE
-
-# removing some images might fail
-set +e
-docker rmi $(docker images --filter "dangling=true" -q --no-trunc)
-set -e
-echo "<==="
-
-#
-# Running SITL testing container
-# Assuming that necessary source projects, including this one, are cloned in the build server workspace of this job.
-#
-echo "===> run container"
-docker run --rm -v "$WORKSPACE:/job:rw" $IMAGE bash "/job/Firmware/integrationtests/run_tests.bash" /job/Firmware
-echo "<==="

integrationtests/run_tests.bash

@@ -1,140 +0,0 @@
-#!/bin/bash
-#
-# Starts tests from within the container
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-set -e
-
-# TODO move to docker image
-pip install --upgrade numpy -q
-pip install px4tools pymavlink toml -q
-
-# A POSIX variable
-OPTIND=1         # Reset in case getopts has been used previously in the shell.
-
-# Initialize our own variables:
-do_clean=true
-gui=false
-
-while getopts "h?og" opt; do
-    case "$opt" in
-    h|\?)
-		echo """
-		$0 [-h] [-o] [-g]
-		-h show help
-		-o don't clean before building (to save time)
-		-g run gazebo gui
-		"""
-        exit 0
-        ;;
-    o)  do_clean=false
-		echo "not cleaning"
-        ;;
-    g)  gui=true
-        ;;
-    esac
-done
-
-
-# determine the directory of the source given the directory of this script
-pushd `dirname $0` > /dev/null
-SCRIPTPATH=`pwd`
-popd > /dev/null
-ORIG_SRC=$(dirname $SCRIPTPATH)
-
-# set paths
-JOB_DIR=$(dirname $ORIG_SRC)
-CATKIN_DIR=$JOB_DIR/catkin
-BUILD_DIR=$CATKIN_DIR/build/px4
-SRC_DIR=${CATKIN_DIR}/src/px4
-
-echo setting up ROS paths
-if [ -f /opt/ros/indigo/setup.bash ]
-then
-	source /opt/ros/indigo/setup.bash
-elif [ -f /opt/ros/kinetic/setup.bash ]
-then
-	source /opt/ros/kinetic/setup.bash
-else
-	echo "could not find /opt/ros/{ros-distro}/setup.bash"
-	exit 1
-fi
-export ROS_HOME=$JOB_DIR/.ros
-export ROS_LOG_DIR=$ROS_HOME/log
-export ROS_TEST_RESULT_DIR=$ROS_HOME/test_results/px4
-export PX4_LOG_DIR=$ROS_HOME/rootfs/fs/microsd/log
-TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
-
-# TODO
-# BAGS=$ROS_HOME
-# CHARTS=$ROS_HOME/charts
-# EXPORT_CHARTS=/sitl/testing/export_charts.py
-
-if $do_clean
-then
-	echo cleaning
-	rm -rf $CATKIN_DIR
-	rm -rf $ROS_HOME
-	rm -rf $TEST_RESULT_TARGET_DIR
-else
-	echo skipping clean step
-fi
-
-echo "=====> compile ($SRC_DIR)"
-mkdir -p $ROS_HOME
-mkdir -p $CATKIN_DIR/src
-mkdir -p $TEST_RESULT_TARGET_DIR
-if ! [ -d $SRC_DIR ]
-then
-	ln -s $ORIG_SRC $SRC_DIR
-	ln -s $ORIG_SRC/Tools/sitl_gazebo ${CATKIN_DIR}/src/mavlink_sitl_gazebo
-fi
-cd $CATKIN_DIR
-catkin_make
-. ./devel/setup.bash
-echo "<====="
-
-# print paths to user
-echo -e "JOB_DIR\t\t: $JOB_DIR"
-echo -e "ROS_HOME\t: $ROS_HOME"
-echo -e "CATKIN_DIR\t: $CATKIN_DIR"
-echo -e "BUILD_DIR\t: $BUILD_DIR"
-echo -e "SRC_DIR\t\t: $SRC_DIR"
-echo -e "ROS_TEST_RESULT_DIR\t: $ROS_TEST_RESULT_DIR"
-echo -e "ROS_LOG_DIR\t\t: $ROS_LOG_DIR"
-echo -e "PX4_LOG_DIR\t\t: $PX4_LOG_DIR"
-echo -e "TEST_RESULT_TARGET_DIR\t: $TEST_RESULT_TARGET_DIR"
-
-# don't exit on error anymore (because single tests or exports might fail)
-# however, stop executing tests after the first failure
-set +e
-echo "=====> run tests"
-test $? -eq 0 && rostest px4 mavros_posix_tests_iris.launch gui:=$gui
-
-# commented out optical flow test for now since ci server has
-# an issue producing the simulated flow camera currently
-#test $? -eq 0 && rostest px4 mavros_posix_tests_iris_opt_flow.launch gui:=$gui
-
-test $? -eq 0 && rostest px4 mavros_posix_tests_standard_vtol.launch gui:=$gui
-TEST_RESULT=$?
-echo "<====="
-
-# TODO
-echo "=====> process test results"
-# cd $BAGS
-# for bag in `ls *.bag`
-# do
-# 	echo "processing bag: $bag"
-# 	python $EXPORT_CHARTS $CHARTS $bag
-# done
-
-echo "copy build test results to job directory"
-cp -r $ROS_TEST_RESULT_DIR/* ${TEST_RESULT_TARGET_DIR}
-cp -r $ROS_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
-cp -r $PX4_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
-# cp $BAGS/*.bag ${TEST_RESULT_TARGET_DIR}/
-# cp -r $CHARTS ${TEST_RESULT_TARGET_DIR}/
-echo "<====="
-
-# need to return error if tests failed, else Jenkins won't notice the failure
-exit $TEST_RESULT

integrationtests/upload_test_logs.bash

@@ -1,19 +0,0 @@
-#!/bin/bash
-#
-# Upload SITL CI logs to Flight Review
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-
-if [ -z "$WORKSPACE" ] || [ -z "${ghprbActualCommitAuthorEmail}" ] || [ -z "${ghprbPullDescription}" ]; then
-    echo "Environment not set. Needs to be called from within Jenkins."
-    exit 1
-fi
-
-echo "Uploading test logs to Flight Review"
-
-CMD="$WORKSPACE/Firmware/Tools/upload_log.py"
-find "$WORKSPACE/test_results" -name \*.ulg -exec "$CMD" -q \
-	--description "${ghprbPullDescription}" --source CI "{}" \;
-
-# XXX: move up if we want email notifications
-#	--email "${ghprbActualCommitAuthorEmail}" \

launch/mavros_posix_sitl.launch

@@ -9,7 +9,7 @@
     <arg name="Y" default="0"/>
 
 
-    <arg name="est" default="lpe"/>
+    <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
     <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>

launch/posix_sitl.launch

@@ -7,7 +7,7 @@
     <arg name="R" default="0"/>
     <arg name="P" default="0"/>
     <arg name="Y" default="0"/>
-    <arg name="est" default="lpe"/>
+    <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
     <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
@@ -40,4 +40,4 @@
 
 </launch>
 
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
+<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->

launch/single_vehcile_spawn.launch

@@ -7,7 +7,7 @@
     <arg name="R" default="0"/>
     <arg name="P" default="0"/>
     <arg name="Y" default="0"/>
-    <arg name="est" default="lpe"/>
+    <arg name="est" default="ekf2"/>
     <arg name="vehicle" default="iris"/>
     <arg name="ID" default="1"/>
     <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>

msg/vehicle_status.msg

@@ -63,7 +63,6 @@ uint8 rc_input_mode				# set to 1 to disable the RC input, 2 to enable manual co
 bool data_link_lost				# datalink to GCS lost
 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 mission_failure				# Set to true if mission could not continue/finish
 
 # see SYS_STATUS mavlink message for the following

msg/vehicle_status_flags.msg

@@ -43,15 +43,9 @@ uint16 OFFBOARD_CONTROL_SIGNAL_WEAK_MASK = 8
 uint16 OFFBOARD_CONTROL_SET_BY_COMMAND_MASK = 16
 uint16 OFFBOARD_CONTROL_LOSS_TIMEOUT_MASK = 32
 uint16 RC_SIGNAL_FOUND_ONCE_MASK = 64
-uint16 RC_SIGNAL_LOST_CMD_MASK = 128
 uint16 RC_INPUT_BLOCKED_MASK = 256
-uint16 DATA_LINK_LOST_CMD_MASK = 512
 uint16 VTOL_TRANSITION_FAILURE_MASK = 1024
-uint16 VTOL_TRANSITION_FAILURE_CMD_MASK = 2048
 uint16 GPS_FAILURE_MASK = 4096
-uint16 GPS_FAILURE_CMD_MASK = 8192
-uint16 BAROMETER_FAILURE_MASK = 16384
-uint16 EVER_HAD_BAROMETER_DATA_MASK = 32768
 
 # 0x0001 usb_connected: status of the USB power supply
 # 0x0002 offboard_control_signal_found_once
@@ -60,14 +54,8 @@ uint16 EVER_HAD_BAROMETER_DATA_MASK = 32768
 # 0x0010 offboard_control_set_by_command: true if the offboard mode was set by a mavlink command and should not be overridden by RC
 # 0x0020 offboard_control_loss_timeout: true if offboard is lost for a certain amount of time
 # 0x0040 rc_signal_found_once
-# 0x0080 rc_signal_lost_cmd: true if RC lost mode is commanded
 # 0x0100 rc_input_blocked: set if RC input should be ignored temporarily
-# 0x0200 data_link_lost_cmd: datalink to GCS lost mode commanded
 # 0x0400 vtol_transition_failure: Set to true if vtol transition failed
-# 0x0800 vtol_transition_failure_cmd: Set to true if vtol transition failure mode is commanded
 # 0x1000 gps_failure: Set to true if a gps failure is detected
-# 0x2000 gps_failure_cmd: Set to true if a gps failure mode is commanded
-# 0x4000 barometer_failure: Set to true if a barometer failure is detected
-# 0x8000 ever_had_barometer_data: Set to true if ever had valid barometer data before
 
 uint16 other_flags

msg/vtol_vehicle_status.msg

@@ -4,11 +4,9 @@ uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1
 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2
 uint8 VEHICLE_VTOL_STATE_MC = 3
 uint8 VEHICLE_VTOL_STATE_FW = 4
-uint8 VEHICLE_VTOL_STATE_EXTERNAL = 5
 
 bool vtol_in_rw_mode			# true: vtol vehicle is in rotating wing mode
 bool vtol_in_trans_mode
 bool in_transition_to_fw		# True if VTOL is doing a transition from MC to FW
 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

src/drivers/adis16448/adis16448.cpp

@@ -176,7 +176,7 @@
 #define FW_FILTER									false
 
 #define SPI_BUS_SPEED								1000000
-#define T_STALL										5
+#define T_STALL										9
 
 #define GYROINITIALSENSITIVITY						250
 #define ACCELINITIALSENSITIVITY						(1.0f / 1200.0f)
@@ -293,6 +293,21 @@ private:
 		uint16_t		mag_z;
 		uint16_t		baro;
 		uint16_t		temp;
+
+		ADISReport():
+			cmd(0),
+			status(0),
+			gyro_x(0),
+			gyro_y(0),
+			gyro_z(0),
+			accel_x(0),
+			accel_y(0),
+			accel_z(0),
+			mag_x(0),
+			mag_y(0),
+			mag_z(0),
+			baro(0),
+			temp(0) {}
 	};
 #pragma pack(pop)
 
@@ -711,21 +726,21 @@ int ADIS16448::reset()
 
 	/* Set gyroscope scale to default value */
 	_set_gyro_dyn_range(GYROINITIALSENSITIVITY);
-	usleep(1000);
 
 	/* Set digital FIR filter tap */
 	_set_dlpf_filter(BITS_FIR_16_TAP_CFG);
-	usleep(1000);
 
 	/* Set IMU sample rate */
 	_set_sample_rate(_sample_rate);
-	usleep(1000);
 
 	_accel_range_scale = ADIS16448_ONE_G * ACCELINITIALSENSITIVITY;
 	_accel_range_m_s2  = ADIS16448_ONE_G * ACCELDYNAMICRANGE;
 	_mag_range_scale   = MAGINITIALSENSITIVITY;
 	_mag_range_mgauss  = MAGDYNAMICRANGE;
 
+	/* settling time */
+	up_udelay(50000);
+
 	return OK;
 
 }
@@ -753,6 +768,7 @@ ADIS16448::probe()
 	case ADIS16448_Product:
 		DEVICE_DEBUG("ADIS16448 is detected ID: 0x%02x, Serial: 0x%02x", _product, serial_number);
 		modify_reg16(ADIS16448_GPIO_CTRL, 0x0200, 0x0002);			/* Turn on ADIS16448 adaptor board led */
+		_set_factory_default();										/* Restore factory calibration 		   */
 		return OK;
 	}
 
@@ -782,9 +798,9 @@ ADIS16448::_set_sample_rate(uint16_t desired_sample_rate_hz)
 		smpl_prd = BITS_SMPL_PRD_NO_TAP_CFG;
 	}
 
-	modify_reg16(ADIS16448_SMPL_PRD, 0x0700, smpl_prd);
+	modify_reg16(ADIS16448_SMPL_PRD, 0x1f00, smpl_prd);
 
-	if ((read_reg16(ADIS16448_SMPL_PRD) & 0x0700) != smpl_prd) {
+	if ((read_reg16(ADIS16448_SMPL_PRD) & 0x1f00) != smpl_prd) {
 		DEVICE_DEBUG("failed to set IMU sample rate");
 	}
 
@@ -809,7 +825,6 @@ void
 ADIS16448::_set_factory_default()
 {
 	write_reg16(ADIS16448_GLOB_CMD, 0x02);
-	warnx("Set IMU to factory default!");
 }
 
 /* set the gyroscope dynamic range */
@@ -1096,9 +1111,6 @@ ADIS16448::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _accel_reports->size();
-
 	case ACCELIOCGSAMPLERATE:
 		return _sample_rate;
 
@@ -1106,15 +1118,6 @@ ADIS16448::ioctl(struct file *filp, int cmd, unsigned long arg)
 		_set_sample_rate(arg);
 		return OK;
 
-	case ACCELIOCGLOWPASS:
-		return _accel_filter_x.get_cutoff_freq();
-
-	case ACCELIOCSLOWPASS:
-		_accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		return OK;
-
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
 			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
@@ -1181,9 +1184,6 @@ ADIS16448::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _gyro_reports->size();
-
 	case GYROIOCGSAMPLERATE:
 		return _sample_rate;
 
@@ -1191,16 +1191,6 @@ ADIS16448::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		_set_sample_rate(arg);
 		return OK;
 
-	case GYROIOCGLOWPASS:
-		return _gyro_filter_x.get_cutoff_freq();
-
-	case GYROIOCSLOWPASS:
-		_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-
-		return OK;
-
 	case GYROIOCSSCALE:
 		/* copy scale in */
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
@@ -1259,9 +1249,6 @@ ADIS16448::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _mag_reports->size();
-
 	case MAGIOCGSAMPLERATE:
 		return _sample_rate;
 
@@ -1269,15 +1256,6 @@ ADIS16448::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
 		_set_sample_rate(arg);
 		return OK;
 
-	case MAGIOCGLOWPASS:
-		return _mag_filter_x.get_cutoff_freq();
-
-	case MAGIOCSLOWPASS:
-		_mag_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_mag_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_mag_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		return OK;
-
 	case MAGIOCSSCALE:
 		/* copy scale in */
 		memcpy(&_mag_scale, (struct mag_calibration_s *) arg, sizeof(_mag_scale));
@@ -1316,6 +1294,7 @@ ADIS16448::read_reg16(unsigned reg)
 	transferhword(cmd, nullptr, 1);
 	up_udelay(T_STALL);
 	transferhword(nullptr, cmd, 1);
+	up_udelay(T_STALL);
 
 	return cmd[0];
 }
@@ -1331,6 +1310,7 @@ ADIS16448::write_reg16(unsigned reg, uint16_t value)
 	transferhword(cmd, nullptr, 1);
 	up_udelay(T_STALL);
 	transferhword(cmd + 1, nullptr, 1);
+	up_udelay(T_STALL);
 }
 
 void

src/drivers/bma180/bma180.cpp

@@ -471,9 +471,6 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		/* XXX implement */
 		return -EINVAL;
@@ -484,12 +481,6 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case ACCELIOCGSAMPLERATE:
 		return 1200;		/* always operating in low-noise mode */
 
-	case ACCELIOCSLOWPASS:
-		return set_lowpass(arg);
-
-	case ACCELIOCGLOWPASS:
-		return _current_lowpass;
-
 	case ACCELIOCSSCALE:
 		/* copy scale in */
 		memcpy(&_accel_scale, (struct accel_calibration_s *) arg, sizeof(_accel_scale));

src/drivers/bmi055/bmi055_accel.cpp

@@ -434,25 +434,12 @@ BMI055_accel::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _accel_reports->size();
-
 	case ACCELIOCGSAMPLERATE:
 		return _accel_sample_rate;
 
 	case ACCELIOCSSAMPLERATE:
 		return accel_set_sample_rate(arg);
 
-	case ACCELIOCGLOWPASS:
-		return _accel_filter_x.get_cutoff_freq();
-
-	case ACCELIOCSLOWPASS:
-		// set software filtering
-		_accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		return OK;
-
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
 			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
@@ -481,19 +468,6 @@ BMI055_accel::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case ACCELIOCSELFTEST:
 		return accel_self_test();
 
-#ifdef ACCELIOCSHWLOWPASS
-
-	case ACCELIOCSHWLOWPASS:
-		return OK;
-#endif
-
-#ifdef ACCELIOCGHWLOWPASS
-
-	case ACCELIOCGHWLOWPASS:
-		return _dlpf_freq;
-#endif
-
-
 	default:
 		/* give it to the superclass */
 		return SPI::ioctl(filp, cmd, arg);

src/drivers/bmi055/bmi055_gyro.cpp

@@ -435,25 +435,12 @@ BMI055_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _gyro_reports->size();
-
 	case GYROIOCGSAMPLERATE:
 		return _gyro_sample_rate;
 
 	case GYROIOCSSAMPLERATE:
 		return gyro_set_sample_rate(arg);
 
-	case GYROIOCGLOWPASS:
-		return _gyro_filter_x.get_cutoff_freq();
-
-	case GYROIOCSLOWPASS:
-		// set software filtering
-		_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		return OK;
-
 	case GYROIOCSSCALE:
 		/* copy scale in */
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
@@ -473,18 +460,6 @@ BMI055_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case GYROIOCSELFTEST:
 		return gyro_self_test();
 
-#ifdef GYROIOCSHWLOWPASS
-
-	case GYROIOCSHWLOWPASS:
-		return OK;
-#endif
-
-#ifdef GYROIOCGHWLOWPASS
-
-	case GYROIOCGHWLOWPASS:
-		return _dlpf_freq;
-#endif
-
 	default:
 		/* give it to the superclass */
 		return SPI::ioctl(filp, cmd, arg);

src/drivers/bmi160/bmi160.cpp

@@ -714,25 +714,12 @@ BMI160::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _accel_reports->size();
-
 	case ACCELIOCGSAMPLERATE:
 		return _accel_sample_rate;
 
 	case ACCELIOCSSAMPLERATE:
 		return accel_set_sample_rate(arg);
 
-	case ACCELIOCGLOWPASS:
-		return _accel_filter_x.get_cutoff_freq();
-
-	case ACCELIOCSLOWPASS:
-		// set software filtering
-		_accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		return OK;
-
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
 			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
@@ -761,20 +748,6 @@ BMI160::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case ACCELIOCSELFTEST:
 		return accel_self_test();
 
-#ifdef ACCELIOCSHWLOWPASS
-
-	case ACCELIOCSHWLOWPASS:
-		_set_dlpf_filter(arg);
-		return OK;
-#endif
-
-#ifdef ACCELIOCGHWLOWPASS
-
-	case ACCELIOCGHWLOWPASS:
-		return _dlpf_freq;
-#endif
-
-
 	default:
 		/* give it to the superclass */
 		return SPI::ioctl(filp, cmd, arg);
@@ -810,25 +783,12 @@ BMI160::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _gyro_reports->size();
-
 	case GYROIOCGSAMPLERATE:
 		return _gyro_sample_rate;
 
 	case GYROIOCSSAMPLERATE:
 		return gyro_set_sample_rate(arg);
 
-	case GYROIOCGLOWPASS:
-		return _gyro_filter_x.get_cutoff_freq();
-
-	case GYROIOCSLOWPASS:
-		// set software filtering
-		_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		return OK;
-
 	case GYROIOCSSCALE:
 		/* copy scale in */
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
@@ -848,19 +808,6 @@ BMI160::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 	case GYROIOCSELFTEST:
 		return gyro_self_test();
 
-#ifdef GYROIOCSHWLOWPASS
-
-	case GYROIOCSHWLOWPASS:
-		_set_dlpf_filter(arg);
-		return OK;
-#endif
-
-#ifdef GYROIOCGHWLOWPASS
-
-	case GYROIOCGHWLOWPASS:
-		return _dlpf_freq;
-#endif
-
 	default:
 		/* give it to the superclass */
 		return SPI::ioctl(filp, cmd, arg);

src/drivers/bmm150/bmm150.cpp

@@ -794,9 +794,6 @@ BMM150::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		return reset();
 
@@ -827,11 +824,6 @@ BMM150::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCGRANGE:
 		return OK;
 
-	case MAGIOCSLOWPASS:
-	case MAGIOCGLOWPASS:
-		/* not supported, no internal filtering */
-		return -EINVAL;
-
 	default:
 		/* give it to the superclass */
 		return I2C::ioctl(filp, cmd, arg);

src/drivers/bmp280/bmp280.cpp

@@ -411,9 +411,6 @@ BMP280::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		/*
 		 * Since we are initialized, we do not need to do anything, since the

src/drivers/drv_accel.h

@@ -82,12 +82,6 @@ struct accel_calibration_s {
 /** return the accel internal sample rate in Hz */
 #define ACCELIOCGSAMPLERATE	_ACCELIOC(1)
 
-/** set the accel internal lowpass filter to no lower than (arg) Hz */
-#define ACCELIOCSLOWPASS	_ACCELIOC(2)
-
-/** return the accel internal lowpass filter in Hz */
-#define ACCELIOCGLOWPASS	_ACCELIOC(3)
-
 /** set the accel scaling constants to the structure pointed to by (arg) */
 #define ACCELIOCSSCALE		_ACCELIOC(5)
 
@@ -103,12 +97,6 @@ struct accel_calibration_s {
 /** get the result of a sensor self-test */
 #define ACCELIOCSELFTEST	_ACCELIOC(9)
 
-/** set the hardware low-pass filter cut-off no lower than (arg) Hz */
-#define ACCELIOCSHWLOWPASS	_ACCELIOC(10)
-
-/** get the hardware low-pass filter cut-off in Hz*/
-#define ACCELIOCGHWLOWPASS	_ACCELIOC(11)
-
 /** determine if hardware is external or onboard */
 #define ACCELIOCGEXTERNAL	_ACCELIOC(12)
 

src/drivers/drv_gpio.h

@@ -68,38 +68,10 @@
 /** configure the board GPIOs in (arg) as outputs */
 #define GPIO_SET_OUTPUT	GPIOC(1)
 
-/** configure the board GPIOs in (arg) as inputs */
-#define GPIO_SET_INPUT	GPIOC(2)
-
-/** configure the board GPIOs in (arg) for the first alternate function (if supported) */
-#define GPIO_SET_ALT_1	GPIOC(3)
-
-/** configure the board GPIO (arg) for the second alternate function (if supported) */
-#define GPIO_SET_ALT_2	GPIOC(4)
-
-/** configure the board GPIO (arg) for the third alternate function (if supported) */
-#define GPIO_SET_ALT_3	GPIOC(5)
-
-/** configure the board GPIO (arg) for the fourth alternate function (if supported) */
-#define GPIO_SET_ALT_4	GPIOC(6)
-
 /** set the GPIOs in (arg) */
 #define GPIO_SET	GPIOC(10)
 
 /** clear the GPIOs in (arg) */
 #define GPIO_CLEAR	GPIOC(11)
 
-/** read all the GPIOs and return their values in *(uint32_t *)arg */
-#define GPIO_GET	GPIOC(12)
-
-#define GPIO_SENSOR_RAIL_RESET	GPIOC(13)
-
-#define GPIO_PERIPHERAL_RAIL_RESET	GPIOC(14)
-
-/** configure the board GPIOs in (arg) as outputs, initially low */
-#define GPIO_SET_OUTPUT_LOW	GPIOC(15)
-
-/** configure the board GPIOs in (arg) as outputs, initially high */
-#define GPIO_SET_OUTPUT_HIGH	GPIOC(16)
-
 #endif /* _DRV_GPIO_H */

src/drivers/drv_gyro.h

@@ -79,12 +79,6 @@ struct gyro_calibration_s {
 /** return the gyro internal sample rate in Hz */
 #define GYROIOCGSAMPLERATE	_GYROIOC(1)
 
-/** set the gyro internal lowpass filter to no lower than (arg) Hz */
-#define GYROIOCSLOWPASS		_GYROIOC(2)
-
-/** set the gyro internal lowpass filter to no lower than (arg) Hz */
-#define GYROIOCGLOWPASS		_GYROIOC(3)
-
 /** set the gyro scaling constants to (arg) */
 #define GYROIOCSSCALE		_GYROIOC(4)
 
@@ -100,15 +94,6 @@ struct gyro_calibration_s {
 /** check the status of the sensor */
 #define GYROIOCSELFTEST		_GYROIOC(8)
 
-/** set the hardware low-pass filter cut-off no lower than (arg) Hz */
-#define GYROIOCSHWLOWPASS	_GYROIOC(9)
-
-/** get the hardware low-pass filter cut-off in Hz*/
-#define GYROIOCGHWLOWPASS	_GYROIOC(10)
-
-/** determine if hardware is external or onboard */
-#define GYROIOCGEXTERNAL	_GYROIOC(12)
-
 /** get the current gyro type */
 #define GYROIOCTYPE			_GYROIOC(13)
 

src/drivers/drv_mag.h

@@ -75,12 +75,6 @@ struct mag_calibration_s {
 /** return the mag internal sample rate in Hz */
 #define MAGIOCGSAMPLERATE	_MAGIOC(1)
 
-/** set the mag internal lowpass filter to no lower than (arg) Hz */
-#define MAGIOCSLOWPASS		_MAGIOC(2)
-
-/** return the mag internal lowpass filter in Hz */
-#define MAGIOCGLOWPASS		_MAGIOC(3)
-
 /** set the mag scaling constants to the structure pointed to by (arg) */
 #define MAGIOCSSCALE		_MAGIOC(4)
 

src/drivers/drv_pwm_output.h

@@ -248,15 +248,6 @@ struct pwm_output_rc_config {
 /** force safety switch on (to enable use of safety switch) */
 #define PWM_SERVO_SET_FORCE_SAFETY_ON		_PX4_IOC(_PWM_SERVO_BASE, 28)
 
-/** set RC config for a channel. This takes a pointer to pwm_output_rc_config */
-#define PWM_SERVO_SET_RC_CONFIG			_PX4_IOC(_PWM_SERVO_BASE, 29)
-
-/** set the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
-#define PWM_SERVO_SET_OVERRIDE_OK		_PX4_IOC(_PWM_SERVO_BASE, 30)
-
-/** clear the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
-#define PWM_SERVO_CLEAR_OVERRIDE_OK		_PX4_IOC(_PWM_SERVO_BASE, 31)
-
 /** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */
 #define PWM_SERVO_SET_OVERRIDE_IMMEDIATE	_PX4_IOC(_PWM_SERVO_BASE, 32)
 

src/drivers/drv_range_finder.h

@@ -48,21 +48,4 @@
 #define RANGE_FINDER0_DEVICE_PATH	"/dev/range_finder0"
 #define MB12XX_MAX_RANGEFINDERS	12	// Maximum number of Maxbotix sensors on bus
 
-/*
- * ioctl() definitions
- *
- * Rangefinder drivers also implement the generic sensor driver
- * interfaces from drv_sensor.h
- */
-
-#define _RANGEFINDERIOCBASE			(0x7900)
-#define __RANGEFINDERIOC(_n)		(_IOC(_RANGEFINDERIOCBASE, _n))
-
-/** set the minimum effective distance of the device */
-#define RANGEFINDERIOCSETMINIUMDISTANCE	__RANGEFINDERIOC(1)
-
-/** set the maximum effective distance of the device */
-#define RANGEFINDERIOCSETMAXIUMDISTANCE	__RANGEFINDERIOC(2)
-
-
 #endif /* _DRV_RANGEFINDER_H */

src/drivers/drv_rc_input.h

@@ -88,9 +88,6 @@ typedef uint16_t		rc_input_t;
 
 #define _RC_INPUT_BASE		0x2b00
 
-/** Fetch R/C input values into (rc_input_values *)arg */
-#define RC_INPUT_GET			_IOC(_RC_INPUT_BASE, 0)
-
 /** Enable RSSI input via ADC */
 #define RC_INPUT_ENABLE_RSSI_ANALOG	_IOC(_RC_INPUT_BASE, 1)
 

src/drivers/drv_sensor.h

@@ -139,27 +139,9 @@
  */
 #define SENSORIOCSQUEUEDEPTH	_SENSORIOC(2)
 
-/** return the internal queue depth */
-#define SENSORIOCGQUEUEDEPTH	_SENSORIOC(3)
-
 /**
  * Reset the sensor to its default configuration
  */
 #define SENSORIOCRESET		_SENSORIOC(4)
 
-/**
- * Set the sensor orientation
- */
-#define SENSORIOCSROTATION	_SENSORIOC(5)
-
-/**
- * Get the sensor orientation
- */
-#define SENSORIOCGROTATION	_SENSORIOC(6)
-
-/**
- * Test the sensor calibration
- */
-#define SENSORIOCCALTEST	_SENSORIOC(7)
-
 #endif /* _DRV_SENSOR_H */

src/drivers/fxas21002c/fxas21002c.cpp

@@ -710,9 +710,6 @@ FXAS21002C::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		reset();
 		return OK;
@@ -723,17 +720,6 @@ FXAS21002C::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case GYROIOCGSAMPLERATE:
 		return _current_rate;
 
-	case GYROIOCSLOWPASS: {
-			float cutoff_freq_hz = arg;
-			float sample_rate = 1.0e6f / _call_interval;
-			set_driver_lowpass_filter(sample_rate, cutoff_freq_hz);
-
-			return OK;
-		}
-
-	case GYROIOCGLOWPASS:
-		return static_cast<int>(_gyro_filter_x.get_cutoff_freq());
-
 	case GYROIOCSSCALE:
 		/* copy scale in */
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));

src/drivers/fxos8701cq/fxos8701cq.cpp

@@ -847,9 +847,6 @@ FXOS8701CQ::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _accel_reports->size();
-
 	case SENSORIOCRESET:
 		reset();
 		return OK;
@@ -860,13 +857,6 @@ FXOS8701CQ::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case ACCELIOCGSAMPLERATE:
 		return _accel_samplerate;
 
-	case ACCELIOCSLOWPASS: {
-			return accel_set_driver_lowpass_filter((float)_accel_samplerate, (float)arg);
-		}
-
-	case ACCELIOCGLOWPASS:
-		return static_cast<int>(_accel_filter_x.get_cutoff_freq());
-
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
 			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
@@ -982,9 +972,6 @@ FXOS8701CQ::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _mag_reports->size();
-
 	case SENSORIOCRESET:
 		reset();
 		return OK;
@@ -995,11 +982,6 @@ FXOS8701CQ::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCGSAMPLERATE:
 		return _mag_samplerate;
 
-	case MAGIOCSLOWPASS:
-	case MAGIOCGLOWPASS:
-		/* not supported, no internal filtering */
-		return -EINVAL;
-
 	case MAGIOCSSCALE:
 		/* copy scale in */
 		memcpy(&_mag_scale, (struct mag_calibration_s *) arg, sizeof(_mag_scale));
@@ -1839,13 +1821,6 @@ test()
 
 	PX4_INFO("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2);
 
-	if (PX4_ERROR == (ret = ioctl(fd_accel, ACCELIOCGLOWPASS, 0))) {
-		PX4_ERR("accel antialias filter bandwidth: fail");
-
-	} else {
-		PX4_INFO("accel antialias filter bandwidth: %d Hz", ret);
-	}
-
 	/* get the driver */
 	fd_mag = open(FXOS8701C_DEVICE_PATH_MAG, O_RDONLY);
 

src/drivers/hc_sr04/hc_sr04.cpp

@@ -445,25 +445,10 @@ HC_SR04::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		/* XXX implement this */
 		return -EINVAL;
 
-	case RANGEFINDERIOCSETMINIUMDISTANCE: {
-			set_minimum_distance(*(float *)arg);
-			return 0;
-		}
-		break;
-
-	case RANGEFINDERIOCSETMAXIUMDISTANCE: {
-			set_maximum_distance(*(float *)arg);
-			return 0;
-		}
-		break;
-
 	default:
 		/* give it to the superclass */
 		return CDev::ioctl(filp, cmd, arg);

src/drivers/hmc5883/hmc5883.cpp

@@ -704,9 +704,6 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		return reset();
 
@@ -724,11 +721,6 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCGRANGE:
 		return _range_ga;
 
-	case MAGIOCSLOWPASS:
-	case MAGIOCGLOWPASS:
-		/* not supported, no internal filtering */
-		return -EINVAL;
-
 	case MAGIOCSSCALE:
 		/* set new scale factors */
 		memcpy(&_scale, (struct mag_calibration_s *)arg, sizeof(_scale));

src/drivers/ist8310/ist8310.cpp

@@ -703,9 +703,6 @@ IST8310::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		return reset();
 
@@ -726,12 +723,6 @@ IST8310::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCEXSTRAP:
 		return set_selftest(arg);
 
-
-	case MAGIOCSLOWPASS:
-	case MAGIOCGLOWPASS:
-		/* not supported, no internal filtering */
-		return -EINVAL;
-
 	case MAGIOCSSCALE:
 		/* set new scale factors */
 		memcpy(&_scale, (struct mag_calibration_s *)arg, sizeof(_scale));

src/drivers/l3gd20/l3gd20.cpp

@@ -657,9 +657,6 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		reset();
 		return OK;
@@ -670,17 +667,6 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case GYROIOCGSAMPLERATE:
 		return _current_rate;
 
-	case GYROIOCSLOWPASS: {
-			float cutoff_freq_hz = arg;
-			float sample_rate = 1.0e6f / _call_interval;
-			set_driver_lowpass_filter(sample_rate, cutoff_freq_hz);
-
-			return OK;
-		}
-
-	case GYROIOCGLOWPASS:
-		return static_cast<int>(_gyro_filter_x.get_cutoff_freq());
-
 	case GYROIOCSSCALE:
 		/* copy scale in */
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));

src/drivers/lis3mdl/lis3mdl.cpp

@@ -710,9 +710,6 @@ LIS3MDL::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		return reset();
 
@@ -730,11 +727,6 @@ LIS3MDL::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCGRANGE:
 		return _range_ga;
 
-	case MAGIOCSLOWPASS:
-	case MAGIOCGLOWPASS:
-		/* not supported, no internal filtering */
-		return -EINVAL;
-
 	case MAGIOCSSCALE:
 		/* set new scale factors */
 		memcpy(&_scale, (struct mag_calibration_s *)arg, sizeof(_scale));

src/drivers/ll40ls/LidarLite.cpp

@@ -152,18 +152,6 @@ int LidarLite::ioctl(struct file *filp, int cmd, unsigned long arg)
 		reset_sensor();
 		return OK;
 
-	case RANGEFINDERIOCSETMINIUMDISTANCE: {
-			set_minimum_distance(*(float *)arg);
-			return OK;
-		}
-		break;
-
-	case RANGEFINDERIOCSETMAXIUMDISTANCE: {
-			set_maximum_distance(*(float *)arg);
-			return OK;
-		}
-		break;
-
 	default:
 		return -EINVAL;
 	}

src/drivers/ll40ls/LidarLiteI2C.cpp

@@ -221,9 +221,6 @@ int LidarLiteI2C::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	default: {
 			int result = LidarLite::ioctl(filp, cmd, arg);
 

src/drivers/lps25h/lps25h.cpp

@@ -552,9 +552,6 @@ LPS25H::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		return reset();
 

src/drivers/lsm303d/lsm303d.cpp

@@ -916,9 +916,6 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _accel_reports->size();
-
 	case SENSORIOCRESET:
 		reset();
 		return OK;
@@ -929,13 +926,6 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case ACCELIOCGSAMPLERATE:
 		return _accel_samplerate;
 
-	case ACCELIOCSLOWPASS: {
-			return accel_set_driver_lowpass_filter((float)_accel_samplerate, (float)arg);
-		}
-
-	case ACCELIOCGLOWPASS:
-		return static_cast<int>(_accel_filter_x.get_cutoff_freq());
-
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
 			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
@@ -1051,9 +1041,6 @@ LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _mag_reports->size();
-
 	case SENSORIOCRESET:
 		reset();
 		return OK;
@@ -1064,11 +1051,6 @@ LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCGSAMPLERATE:
 		return _mag_samplerate;
 
-	case MAGIOCSLOWPASS:
-	case MAGIOCGLOWPASS:
-		/* not supported, no internal filtering */
-		return -EINVAL;
-
 	case MAGIOCSSCALE:
 		/* copy scale in */
 		memcpy(&_mag_scale, (struct mag_calibration_s *) arg, sizeof(_mag_scale));
@@ -1993,13 +1975,6 @@ test()
 
 	warnx("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2);
 
-	if (PX4_ERROR == (ret = ioctl(fd_accel, ACCELIOCGLOWPASS, 0))) {
-		warnx("accel antialias filter bandwidth: fail");
-
-	} else {
-		warnx("accel antialias filter bandwidth: %d Hz", ret);
-	}
-
 	int fd_mag = -1;
 	struct mag_report m_report;
 

src/drivers/mb12xx/mb12xx.cpp

@@ -437,25 +437,10 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		/* XXX implement this */
 		return -EINVAL;
 
-	case RANGEFINDERIOCSETMINIUMDISTANCE: {
-			set_minimum_distance(*(float *)arg);
-			return 0;
-		}
-		break;
-
-	case RANGEFINDERIOCSETMAXIUMDISTANCE: {
-			set_maximum_distance(*(float *)arg);
-			return 0;
-		}
-		break;
-
 	default:
 		/* give it to the superclass */
 		return I2C::ioctl(filp, cmd, arg);

src/drivers/mpl3115a2/mpl3115a2.cpp

@@ -482,9 +482,6 @@ MPL3115A2::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET: {
 			/*
 			 * Since we are initialized, we do not need to do anything, since the

src/drivers/mpu6000/mpu6000.cpp

@@ -1472,9 +1472,6 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _accel_reports->size();
-
 	case ACCELIOCGSAMPLERATE:
 		return _sample_rate;
 
@@ -1482,23 +1479,6 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 		_set_sample_rate(arg);
 		return OK;
 
-	case ACCELIOCGLOWPASS:
-		return _accel_filter_x.get_cutoff_freq();
-
-	case ACCELIOCSLOWPASS:
-		// set hardware filtering
-		_set_dlpf_filter(arg);
-
-		if (is_icm_device()) {
-			_set_icm_acc_dlpf_filter(arg);
-		}
-
-		// set software filtering
-		_accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		return OK;
-
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
 			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
@@ -1539,8 +1519,6 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 int
 MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 {
-	unsigned dummy = arg;
-
 	switch (cmd) {
 
 	/* these are shared with the accel side */
@@ -1567,9 +1545,6 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _gyro_reports->size();
-
 	case GYROIOCGSAMPLERATE:
 		return _sample_rate;
 
@@ -1577,17 +1552,6 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		_set_sample_rate(arg);
 		return OK;
 
-	case GYROIOCGLOWPASS:
-		return _gyro_filter_x.get_cutoff_freq();
-
-	case GYROIOCSLOWPASS:
-		// set hardware filtering
-		_set_dlpf_filter(arg);
-		_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		return OK;
-
 	case GYROIOCSSCALE:
 		/* copy scale in */
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
@@ -1611,9 +1575,6 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 	case GYROIOCSELFTEST:
 		return gyro_self_test();
 
-	case GYROIOCGEXTERNAL:
-		return _interface->ioctl(cmd, dummy);
-
 	default:
 		/* give it to the superclass */
 		return CDev::ioctl(filp, cmd, arg);

src/drivers/mpu9250/mag.cpp

@@ -354,9 +354,6 @@ MPU9250_mag::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _mag_reports->size();
-
 	case MAGIOCGSAMPLERATE:
 		return MPU9250_AK8963_SAMPLE_RATE;
 

src/drivers/mpu9250/mpu9250.cpp

@@ -888,9 +888,6 @@ MPU9250::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _accel_reports->size();
-
 	case ACCELIOCGSAMPLERATE:
 		return _sample_rate;
 
@@ -898,16 +895,6 @@ MPU9250::ioctl(struct file *filp, int cmd, unsigned long arg)
 		_set_sample_rate(arg);
 		return OK;
 
-	case ACCELIOCGLOWPASS:
-		return _accel_filter_x.get_cutoff_freq();
-
-	case ACCELIOCSLOWPASS:
-		// set software filtering
-		_accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		return OK;
-
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
 			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
@@ -936,19 +923,6 @@ MPU9250::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case ACCELIOCSELFTEST:
 		return accel_self_test();
 
-#ifdef ACCELIOCSHWLOWPASS
-
-	case ACCELIOCSHWLOWPASS:
-		_set_dlpf_filter(arg);
-		return OK;
-#endif
-
-#ifdef ACCELIOCGHWLOWPASS
-
-	case ACCELIOCGHWLOWPASS:
-		return _dlpf_freq;
-#endif
-
 	default:
 		/* give it to the superclass */
 		return CDev::ioctl(filp, cmd, arg);
@@ -984,9 +958,6 @@ MPU9250::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _gyro_reports->size();
-
 	case GYROIOCGSAMPLERATE:
 		return _sample_rate;
 
@@ -994,16 +965,6 @@ MPU9250::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		_set_sample_rate(arg);
 		return OK;
 
-	case GYROIOCGLOWPASS:
-		return _gyro_filter_x.get_cutoff_freq();
-
-	case GYROIOCSLOWPASS:
-		// set software filtering
-		_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		return OK;
-
 	case GYROIOCSSCALE:
 		/* copy scale in */
 		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
@@ -1027,19 +988,6 @@ MPU9250::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 	case GYROIOCSELFTEST:
 		return gyro_self_test();
 
-#ifdef GYROIOCSHWLOWPASS
-
-	case GYROIOCSHWLOWPASS:
-		_set_dlpf_filter(arg);
-		return OK;
-#endif
-
-#ifdef GYROIOCGHWLOWPASS
-
-	case GYROIOCGHWLOWPASS:
-		return _dlpf_freq;
-#endif
-
 	default:
 		/* give it to the superclass */
 		return CDev::ioctl(filp, cmd, arg);

src/drivers/ms5611/ms5611.cpp

@@ -564,9 +564,6 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		/*
 		 * Since we are initialized, we do not need to do anything, since the

src/drivers/pwm_input/pwm_input.cpp

@@ -455,9 +455,6 @@ PWMIN::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		/* user has asked for the timer to be reset. This may
 		 * be needed if the pin was used for a different

src/drivers/pwm_out_sim/pwm_out_sim.cpp

@@ -247,7 +247,7 @@ PWMSim::init()
 	_task = px4_task_spawn_cmd("pwm_out_sim",
 				   SCHED_DEFAULT,
 				   SCHED_PRIORITY_DEFAULT,
-				   1200,
+				   1300,
 				   (px4_main_t)&PWMSim::task_main_trampoline,
 				   nullptr);
 
@@ -900,10 +900,6 @@ hil_new_mode(PortMode new_mode)
 		break;
 	}
 
-//	/* adjust GPIO config for serial mode(s) */
-//	if (gpio_bits != 0)
-//		g_pwm_sim->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
-
 	/* (re)set the PWM output mode */
 	g_pwm_sim->set_mode(servo_mode);
 

src/drivers/px4flow/px4flow.cpp

@@ -385,16 +385,6 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
-	case SENSORIOCSROTATION:
-		_sensor_rotation = (enum Rotation)arg;
-		return OK;
-
-	case SENSORIOCGROTATION:
-		return _sensor_rotation;
-
 	case SENSORIOCRESET:
 		/* XXX implement this */
 		return -EINVAL;

src/drivers/px4fmu/fmu.cpp

@@ -2671,39 +2671,11 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
 	for (unsigned i = 0; i < _ngpio; i++) {
 		if (gpios & (1 << i)) {
 			switch (function) {
-			case GPIO_SET_INPUT:
-				if (_gpio_tab[i].input) {
-					px4_arch_configgpio(_gpio_tab[i].input);
-				}
-
-				break;
-
 			case GPIO_SET_OUTPUT:
 				if (_gpio_tab[i].output) {
 					px4_arch_configgpio(_gpio_tab[i].output);
 				}
 
-				break;
-
-			case GPIO_SET_OUTPUT_LOW:
-				if (_gpio_tab[i].output) {
-					px4_arch_configgpio((_gpio_tab[i].output & ~(GPIO_OUTPUT_SET)) | GPIO_OUTPUT_CLEAR);
-				}
-
-				break;
-
-			case GPIO_SET_OUTPUT_HIGH:
-				if (_gpio_tab[i].output) {
-					px4_arch_configgpio((_gpio_tab[i].output & ~(GPIO_OUTPUT_CLEAR)) | GPIO_OUTPUT_SET);
-				}
-
-				break;
-
-			case GPIO_SET_ALT_1:
-				if (_gpio_tab[i].alt != 0) {
-					px4_arch_configgpio(_gpio_tab[i].alt);
-				}
-
 				break;
 			}
 		}
@@ -2901,37 +2873,15 @@ PX4FMU::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
 		ret = gpio_reset();
 		break;
 
-	case GPIO_SENSOR_RAIL_RESET:
-		sensor_reset(arg);
-		break;
-
-	case GPIO_PERIPHERAL_RAIL_RESET:
-		peripheral_reset(arg);
-		break;
-
 	case GPIO_SET_OUTPUT:
-	case GPIO_SET_OUTPUT_LOW:
-	case GPIO_SET_OUTPUT_HIGH:
-	case GPIO_SET_INPUT:
-	case GPIO_SET_ALT_1:
 		ret = gpio_set_function(arg, cmd);
 		break;
 
-	case GPIO_SET_ALT_2:
-	case GPIO_SET_ALT_3:
-	case GPIO_SET_ALT_4:
-		ret = -EINVAL;
-		break;
-
 	case GPIO_SET:
 	case GPIO_CLEAR:
 		ret = gpio_write(arg, cmd);
 		break;
 
-	case GPIO_GET:
-		ret = gpio_read((uint32_t *)arg);
-		break;
-
 	default:
 		ret = -ENOTTY;
 	}

src/drivers/px4fmu/px4fmu_params.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2015-2018 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
@@ -34,9 +34,8 @@
 /**
  * Invert direction of aux output channel 1
  *
- * Set to 1 to invert the channel, 0 for default direction.
+ * Enable to invert the channel.
  *
- * @reboot_required true
  * @boolean
  * @group PWM Outputs
  */
@@ -45,9 +44,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);
 /**
  * Invert direction of aux output channel 2
  *
- * Set to 1 to invert the channel, 0 for default direction.
+ * Enable to invert the channel.
  *
- * @reboot_required true
  * @boolean
  * @group PWM Outputs
  */
@@ -56,9 +54,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);
 /**
  * Invert direction of aux output channel 3
  *
- * Set to 1 to invert the channel, 0 for default direction.
+ * Enable to invert the channel.
  *
- * @reboot_required true
  * @boolean
  * @group PWM Outputs
  */
@@ -67,9 +64,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);
 /**
  * Invert direction of aux output channel 4
  *
- * Set to 1 to invert the channel, 0 for default direction.
+ * Enable to invert the channel.
  *
- * @reboot_required true
  * @boolean
  * @group PWM Outputs
  */
@@ -78,9 +74,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);
 /**
  * Invert direction of aux output channel 5
  *
- * Set to 1 to invert the channel, 0 for default direction.
+ * Enable to invert the channel.
  *
- * @reboot_required true
  * @boolean
  * @group PWM Outputs
  */
@@ -89,9 +84,8 @@ PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);
 /**
  * Invert direction of aux output channel 6
  *
- * Set to 1 to invert the channel, 0 for default direction.
+ * Enable to invert the channel.
  *
- * @reboot_required true
  * @boolean
  * @group PWM Outputs
  */

src/drivers/px4io/px4io.cpp

@@ -2746,10 +2746,6 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		ret = -EINVAL;
 		break;
 
-	case GPIO_GET:
-		ret = -EINVAL;
-		break;
-
 	case MIXERIOCGETOUTPUTCOUNT:
 		*(unsigned *)arg = _max_actuators;
 		break;
@@ -2764,44 +2760,6 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 			break;
 		}
 
-	case RC_INPUT_GET: {
-			uint16_t status;
-			rc_input_values *rc_val = (rc_input_values *)arg;
-
-			ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &status, 1);
-
-			if (ret != OK) {
-				break;
-			}
-
-			/* if no R/C input, don't try to fetch anything */
-			if (!(status & PX4IO_P_STATUS_FLAGS_RC_OK)) {
-				ret = -ENOTCONN;
-				break;
-			}
-
-			/* sort out the source of the values */
-			if (status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
-				rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
-
-			} else if (status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
-				rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
-
-			} else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
-				rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS;
-
-			} else if (status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
-				rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_ST24;
-
-			} else {
-				rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
-			}
-
-			/* read raw R/C input values */
-			ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, &(rc_val->values[0]), _max_rc_input);
-			break;
-		}
-
 	case PX4IO_SET_DEBUG:
 		/* set the debug level */
 		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg);
@@ -2884,47 +2842,6 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 
 		break;
 
-	case PWM_SERVO_SET_RC_CONFIG: {
-			/* enable setting of RC configuration without relying
-			   on param_get()
-			*/
-			struct pwm_output_rc_config *config = (struct pwm_output_rc_config *)arg;
-
-			if (config->channel >= input_rc_s::RC_INPUT_MAX_CHANNELS) {
-				/* fail with error */
-				return -E2BIG;
-			}
-
-			/* copy values to registers in IO */
-			uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE];
-			uint16_t offset = config->channel * PX4IO_P_RC_CONFIG_STRIDE;
-			regs[PX4IO_P_RC_CONFIG_MIN]        = config->rc_min;
-			regs[PX4IO_P_RC_CONFIG_CENTER]     = config->rc_trim;
-			regs[PX4IO_P_RC_CONFIG_MAX]        = config->rc_max;
-			regs[PX4IO_P_RC_CONFIG_DEADZONE]   = config->rc_dz;
-			regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = config->rc_assignment;
-			regs[PX4IO_P_RC_CONFIG_OPTIONS]    = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
-
-			if (config->rc_reverse) {
-				regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE;
-			}
-
-			ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
-			break;
-		}
-
-	case PWM_SERVO_SET_OVERRIDE_OK:
-		/* set the 'OVERRIDE OK' bit */
-		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK);
-		_override_available = true;
-		break;
-
-	case PWM_SERVO_CLEAR_OVERRIDE_OK:
-		/* clear the 'OVERRIDE OK' bit */
-		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0);
-		_override_available = false;
-		break;
-
 	default:
 		/* see if the parent class can make any use of it */
 		ret = CDev::ioctl(filep, cmd, arg);

src/drivers/px4io/px4io_params.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2015-2018 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
@@ -58,9 +58,8 @@ PARAM_DEFINE_INT32(SYS_USE_IO, 1);
 /**
  * Invert direction of main output channel 1
  *
- * Set to 1 to invert the channel, 0 for default direction.
+ * Enable to invert the channel.
  *
- * @reboot_required true
  * @boolean
  * @group PWM Outputs
  */
@@ -69,9 +68,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV1, 0);
 /**
  * Invert direction of main output channel 2
  *
- * Set to 1 to invert the channel, 0 for default direction.
+ * Enable to invert the channel.
  *
- * @reboot_required true
  * @boolean
  * @group PWM Outputs
  */
@@ -80,9 +78,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV2, 0);
 /**
  * Invert direction of main output channel 3
  *
- * Set to 1 to invert the channel, 0 for default direction.
+ * Enable to invert the channel.
  *
- * @reboot_required true
  * @boolean
  * @group PWM Outputs
  */
@@ -91,9 +88,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV3, 0);
 /**
  * Invert direction of main output channel 4
  *
- * Set to 1 to invert the channel, 0 for default direction.
+ * Enable to invert the channel.
  *
- * @reboot_required true
  * @boolean
  * @group PWM Outputs
  */
@@ -102,9 +98,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV4, 0);
 /**
  * Invert direction of main output channel 5
  *
- * Set to 1 to invert the channel, 0 for default direction.
+ * Enable to invert the channel.
  *
- * @reboot_required true
  * @boolean
  * @group PWM Outputs
  */
@@ -113,9 +108,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV5, 0);
 /**
  * Invert direction of main output channel 6
  *
- * Set to 1 to invert the channel, 0 for default direction.
+ * Enable to invert the channel.
  *
- * @reboot_required true
  * @boolean
  * @group PWM Outputs
  */
@@ -124,9 +118,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV6, 0);
 /**
  * Invert direction of main output channel 7
  *
- * Set to 1 to invert the channel, 0 for default direction.
+ * Enable to invert the channel.
  *
- * @reboot_required true
  * @boolean
  * @group PWM Outputs
  */
@@ -135,9 +128,8 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
 /**
  * Invert direction of main output channel 8
  *
- * Set to 1 to invert the channel, 0 for default direction.
+ * Enable to invert the channel.
  *
- * @reboot_required true
  * @boolean
  * @group PWM Outputs
  */

src/drivers/sf0x/sf0x.cpp

@@ -472,25 +472,10 @@ SF0X::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		/* XXX implement this */
 		return -EINVAL;
 
-	case RANGEFINDERIOCSETMINIUMDISTANCE: {
-			set_minimum_distance(*(float *)arg);
-			return 0;
-		}
-		break;
-
-	case RANGEFINDERIOCSETMAXIUMDISTANCE: {
-			set_maximum_distance(*(float *)arg);
-			return 0;
-		}
-		break;
-
 	default:
 		/* give it to the superclass */
 		return CDev::ioctl(filp, cmd, arg);

src/drivers/sf1xx/sf1xx.cpp

@@ -435,25 +435,10 @@ SF1XX::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		/* XXX implement this */
 		return -EINVAL;
 
-	case RANGEFINDERIOCSETMINIUMDISTANCE: {
-			set_minimum_distance(*(float *)arg);
-			return 0;
-		}
-		break;
-
-	case RANGEFINDERIOCSETMAXIUMDISTANCE: {
-			set_maximum_distance(*(float *)arg);
-			return 0;
-		}
-		break;
-
 	default:
 		/* give it to the superclass */
 		return I2C::ioctl(filp, cmd, arg);

src/drivers/srf02/srf02.cpp

@@ -438,25 +438,10 @@ SRF02::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		/* XXX implement this */
 		return -EINVAL;
 
-	case RANGEFINDERIOCSETMINIUMDISTANCE: {
-			set_minimum_distance(*(float *)arg);
-			return 0;
-		}
-		break;
-
-	case RANGEFINDERIOCSETMAXIUMDISTANCE: {
-			set_maximum_distance(*(float *)arg);
-			return 0;
-		}
-		break;
-
 	default:
 		/* give it to the superclass */
 		return I2C::ioctl(filp, cmd, arg);

src/drivers/srf02_i2c/srf02_i2c.cpp

@@ -439,25 +439,10 @@ SRF02_I2C::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		/* XXX implement this */
 		return -EINVAL;
 
-	case RANGEFINDERIOCSETMINIUMDISTANCE: {
-			set_minimum_distance(*(float *)arg);
-			return 0;
-		}
-		break;
-
-	case RANGEFINDERIOCSETMAXIUMDISTANCE: {
-			set_maximum_distance(*(float *)arg);
-			return 0;
-		}
-		break;
-
 	default:
 		/* give it to the superclass */
 		return I2C::ioctl(filp, cmd, arg);

src/drivers/teraranger/teraranger.cpp

@@ -502,25 +502,10 @@ TERARANGER::ioctl(struct file *filp, int cmd, unsigned long arg)
 			return OK;
 		}
 
-	case SENSORIOCGQUEUEDEPTH:
-		return _reports->size();
-
 	case SENSORIOCRESET:
 		/* XXX implement this */
 		return -EINVAL;
 
-	case RANGEFINDERIOCSETMINIUMDISTANCE: {
-			set_minimum_distance(*(float *)arg);
-			return 0;
-		}
-		break;
-
-	case RANGEFINDERIOCSETMAXIUMDISTANCE: {
-			set_maximum_distance(*(float *)arg);
-			return 0;
-		}
-		break;
-
 	default:
 		/* give it to the superclass */
 		return I2C::ioctl(filp, cmd, arg);

src/drivers/tfmini/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__tfmini
+	MAIN tfmini
+	COMPILE_FLAGS
+		-Wno-sign-compare
+	SRCS
+		tfmini.cpp
+		tfmini_parser.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :