Merge branch 'master' of github.com:PX4/Firmware into sensor_drivers

mavlink/include/mavlink/v1.0

@@ -1 +1 @@
-Subproject commit 45a71d6564bc5c47ed97d620089e17ca48bab73f
+Subproject commit 3711190d23d9928ea0687e00621c8d9ecf145f50

src/modules/mavlink/mavlink_ftp.cpp

@@ -117,10 +117,10 @@ MavlinkFTP::_worker(Request *req)
 	if (crc32(req->rawData(), req->dataSize()) != messageCRC) {
 		errorCode = kErrNoRequest;
 		goto out;
-		printf("ftp: bad crc\n");
+		warnx("ftp: bad crc");
 	}
 
-	printf("ftp: channel %u opc %u size %u offset %u\n", req->channel(), hdr->opcode, hdr->size, hdr->offset);
+	//printf("ftp: channel %u opc %u size %u offset %u\n", req->channel(), hdr->opcode, hdr->size, hdr->offset);
 
 	switch (hdr->opcode) {
 	case kCmdNone:
@@ -167,9 +167,9 @@ out:
 	// handle success vs. error
 	if (errorCode == kErrNone) {
 		hdr->opcode = kRspAck;
-		printf("FTP: ack\n");
+		//warnx("FTP: ack\n");
 	} else {
-		printf("FTP: nak %u\n", errorCode);
+		warnx("FTP: nak %u", errorCode);
 		hdr->opcode = kRspNak;
 		hdr->size = 1;
 		hdr->data[0] = errorCode;
@@ -206,11 +206,11 @@ MavlinkFTP::_workList(Request *req)
 	DIR *dp = opendir(dirPath);
 
 	if (dp == nullptr) {
-		printf("FTP: can't open path '%s'\n", dirPath);
+		warnx("FTP: can't open path '%s'", dirPath);
 		return kErrNotDir;
 	}
     
-	printf("FTP: list %s offset %d\n", dirPath, hdr->offset);
+	//warnx("FTP: list %s offset %d", dirPath, hdr->offset);
 
 	ErrorCode errorCode = kErrNone;
 	struct dirent entry, *result = nullptr;
@@ -222,7 +222,7 @@ MavlinkFTP::_workList(Request *req)
 	for (;;) {
 		// read the directory entry
 		if (readdir_r(dp, &entry, &result)) {
-			printf("FTP: list %s readdir_r failure\n", dirPath);
+			warnx("FTP: list %s readdir_r failure\n", dirPath);
 			errorCode = kErrIO;
 			break;
 		}
@@ -304,19 +304,20 @@ MavlinkFTP::_workRead(Request *req)
 	}
 
 	// Seek to the specified position
-	printf("Seek %d\n", hdr->offset);
+	//warnx("seek %d", hdr->offset);
 	if (lseek(_session_fds[session_index], hdr->offset, SEEK_SET) < 0) {
 		// Unable to see to the specified location
+		warnx("seek fail");
 		return kErrEOF;
 	}
 
 	int bytes_read = ::read(_session_fds[session_index], &hdr->data[0], kMaxDataLength);
 	if (bytes_read < 0) {
 		// Negative return indicates error other than eof
+		warnx("read fail %d", bytes_read);
 		return kErrIO;
 	}
 
-	printf("Read success %d\n", bytes_read);
 	hdr->size = bytes_read;
 
 	return kErrNone;

src/modules/mavlink/mavlink_ftp.h

@@ -147,20 +147,21 @@ private:
 			unsigned len = mavlink_msg_encapsulated_data_pack_chan(_mavlink->get_system_id(), _mavlink->get_component_id(),
 				_mavlink->get_channel(), &msg, sequence(), rawData());
 
-            _mavlink->lockMessageBufferMutex();
-            bool fError = _mavlink->message_buffer_write(&msg, len);
-            _mavlink->unlockMessageBufferMutex();
-            
-            if (!fError) {
+			_mavlink->lockMessageBufferMutex();
+			bool success = _mavlink->message_buffer_write(&msg, len);
+			_mavlink->unlockMessageBufferMutex();
+
+			if (!success) {
 				warnx("FTP TX ERR");
-			} else {
-				warnx("wrote: sys: %d, comp: %d, chan: %d, len: %d, checksum: %d",
-					_mavlink->get_system_id(),
-					_mavlink->get_component_id(),
-					_mavlink->get_channel(),
-					len,
-					msg.checksum);
-			}
+			} 
+			// else {
+				// warnx("wrote: sys: %d, comp: %d, chan: %d, len: %d, checksum: %d",
+				// 	_mavlink->get_system_id(),
+				// 	_mavlink->get_component_id(),
+				// 	_mavlink->get_channel(),
+				// 	len,
+				// 	msg.checksum);
+			// }
 		}
 
 		uint8_t		*rawData() { return &_message.data[0]; }

src/modules/mavlink/mavlink_receiver.cpp

@@ -442,7 +442,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 	manual.r = man.r / 1000.0f;
 	manual.z = man.z / 1000.0f;
 
-	warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", manual.x, manual.y, manual.r, manual.z);
+	warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z);
 
 	if (_manual_pub < 0) {
 		_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);

src/modules/uORB/objects_common.cpp

@@ -206,6 +206,9 @@ ORB_DEFINE(encoders, struct encoders_s);
 #include "topics/estimator_status.h"
 ORB_DEFINE(estimator_status, struct estimator_status_report);
 
+#include "topics/vehicle_force_setpoint.h"
+ORB_DEFINE(vehicle_force_setpoint, struct vehicle_force_setpoint_s);
+
 #include "topics/tecs_status.h"
 ORB_DEFINE(tecs_status, struct tecs_status_s);
 

src/modules/uORB/topics/vehicle_force_setpoint.h

@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_force_setpoint.h
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * Definition of force (NED) setpoint uORB topic. Typically this can be used
+ * by a position control app together with an attitude control app.
+ */
+
+#ifndef TOPIC_VEHICLE_FORCE_SETPOINT_H_
+#define TOPIC_VEHICLE_FORCE_SETPOINT_H_
+
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct vehicle_force_setpoint_s {
+	float x;		/**< in N NED			  		*/
+	float y;		/**< in N NED			  		*/
+	float z;		/**< in N NED			  		*/
+	float yaw;		/**< right-hand rotation around downward axis (rad, equivalent to Tait-Bryan yaw) */
+}; /**< Desired force in NED frame */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_force_setpoint);
+
+#endif