Merge branch 'master' into 6point_accel_calibration

ROMFS/Makefile

@@ -32,6 +32,7 @@ ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
 		   $(SRCROOT)/mixers/FMU_RET.mix~mixers/FMU_ERT.mix \
 		   $(SRCROOT)/mixers/FMU_quad_x.mix~mixers/FMU_quad_x.mix \
 		   $(SRCROOT)/mixers/FMU_quad_+.mix~mixers/FMU_quad_+.mix \
+                   $(SRCROOT)/mixers/FMU_quad_v.mix~mixers/FMU_quad_v.mix \
 		   $(SRCROOT)/mixers/FMU_hex_x.mix~mixers/FMU_hex_x.mix \
 		   $(SRCROOT)/mixers/FMU_hex_+.mix~mixers/FMU_hex_+.mix \
 		   $(SRCROOT)/mixers/FMU_octo_x.mix~mixers/FMU_octo_x.mix \

ROMFS/mixers/FMU_quad_v.mix

@@ -0,0 +1,7 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in the V configuration.  All controls
+are mixed 100%.
+
+R: 4v 10000 10000 10000 0

apps/attitude_estimator_ekf/Makefile

@@ -35,8 +35,9 @@ APPNAME		 = attitude_estimator_ekf
 PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 2048
 
-CSRCS		 = attitude_estimator_ekf_main.c \
+CXXSRCS		 = attitude_estimator_ekf_main.cpp
-		   attitude_estimator_ekf_params.c \
+
+CSRCS		 = attitude_estimator_ekf_params.c \
 		   codegen/eye.c \
 		   codegen/attitudeKalmanfilter.c \
 		   codegen/mrdivide.c \

apps/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -66,11 +66,17 @@
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
 #include "codegen/attitudeKalmanfilter_initialize.h"
 #include "codegen/attitudeKalmanfilter.h"
 #include "attitude_estimator_ekf_params.h"
+#ifdef __cplusplus
+}
+#endif
 
-__EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
+extern "C" __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
 
 static bool thread_should_exit = false;		/**< Deamon exit flag */
 static bool thread_running = false;		/**< Deamon status flag */
@@ -265,10 +271,11 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	/* Main loop*/
 	while (!thread_should_exit) {
 
-		struct pollfd fds[2] = {
+		struct pollfd fds[2];
-			{ .fd = sub_raw,   .events = POLLIN },
+		fds[0].fd = sub_raw;
-			{ .fd = sub_params, .events = POLLIN }
+		fds[0].events = POLLIN;
-		};
+		fds[1].fd = sub_params;
+		fds[1].events = POLLIN;
 		int ret = poll(fds, 2, 1000);
 
 		if (ret < 0) {

apps/drivers/blinkm/blinkm.cpp

@@ -92,6 +92,7 @@
 
 #include <nuttx/config.h>
 
+#include <arch/board/board.h>
 #include <drivers/device/i2c.h>
 
 #include <sys/types.h>
@@ -841,7 +842,7 @@ int
 blinkm_main(int argc, char *argv[])
 {
 
-	int i2cdevice = 3;
+	int i2cdevice = PX4_I2C_BUS_EXPANSION;
 	int blinkmadr = 9;
 
 	int x;

apps/drivers/stm32/drv_hrt.c

@@ -125,7 +125,7 @@
 # define HRT_TIMER_VECTOR	STM32_IRQ_TIM8CC
 # define HRT_TIMER_CLOCK	STM32_APB2_TIM8_CLKIN
 # if CONFIG_STM32_TIM8
-#  error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=6
+#  error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=8
 # endif
 #elif HRT_TIMER == 9
 # define HRT_TIMER_BASE		STM32_TIM9_BASE

apps/drivers/stm32/tone_alarm/tone_alarm.cpp

@@ -494,7 +494,7 @@ ToneAlarm::init()
 		return ret;
 
 	/* configure the GPIO to the idle state */
-	stm32_configgpio(GPIO_TONE_ALARM);
+	stm32_configgpio(GPIO_TONE_ALARM_IDLE);
 
 	/* clock/power on our timer */
 	modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE);
@@ -606,6 +606,8 @@ ToneAlarm::start_note(unsigned note)
 	rEGR = GTIM_EGR_UG;	// force a reload of the period
 	rCCER |= TONE_CCER;	// enable the output
 
+	// configure the GPIO to enable timer output
+	stm32_configgpio(GPIO_TONE_ALARM);
 }
 
 void
@@ -616,10 +618,8 @@ ToneAlarm::stop_note()
 
 	/*
 	 * Make sure the GPIO is not driving the speaker.
-	 *
-	 * XXX this presumes PX4FMU and the onboard speaker driver FET.
 	 */
-	stm32_gpiowrite(GPIO_TONE_ALARM, 0);
+	stm32_configgpio(GPIO_TONE_ALARM_IDLE);
 }
 
 void

apps/examples/kalman_demo/Makefile

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012, 2013 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
@@ -32,7 +32,7 @@
 ############################################################################
 
 #
-# Basic example application
+# Full attitude / position Extended Kalman Filter
 #
 
 APPNAME		 = kalman_demo

apps/examples/nsh/Makefile

@@ -64,6 +64,8 @@ ROOTDEPPATH	= --dep-path .
 
 VPATH		= 
 
+MAXOPTIMIZATION = -Os
+
 all: .built
 .PHONY: clean depend distclean
 

apps/mavlink/orb_listener.c

@@ -229,6 +229,13 @@ l_vehicle_gps_position(const struct listener *l)
 	/* copy gps data into local buffer */
 	orb_copy(ORB_ID(vehicle_gps_position), mavlink_subs.gps_sub, &gps);
 
+	/* GPS COG is 0..2PI in degrees * 1e2 */
+	float cog_deg = gps.cog_rad;
+	if (cog_deg > M_PI_F)
+		cog_deg -= 2.0f * M_PI_F;
+	cog_deg *= M_RAD_TO_DEG_F;
+
+
 	/* GPS position */
 	mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0,
 				     gps.timestamp_position,
@@ -236,13 +243,14 @@ l_vehicle_gps_position(const struct listener *l)
 				     gps.lat,
 				     gps.lon,
 				     gps.alt,
-				     (uint16_t)(gps.eph_m * 1e2f), // from m to cm
+				     gps.eph_m * 1e2f, // from m to cm
-				     (uint16_t)(gps.epv_m * 1e2f), // from m to cm
+				     gps.epv_m * 1e2f, // from m to cm
-				     (uint16_t)(gps.vel_m_s * 1e2f), // from m/s to cm/s
+				     gps.vel_m_s * 1e2f, // from m/s to cm/s
-				     (uint16_t)(gps.cog_rad * M_RAD_TO_DEG_F * 1e2f), // from rad to deg * 100
+				     cog_deg * 1e2f, // from rad to deg * 100
 				     gps.satellites_visible);
 
-	if (gps.satellite_info_available && (gps_counter % 4 == 0)) {
+	/* update SAT info every 10 seconds */
+	if (gps.satellite_info_available && (gps_counter % 50 == 0)) {
 		mavlink_msg_gps_status_send(MAVLINK_COMM_0,
 					    gps.satellites_visible,
 					    gps.satellite_prn,

apps/nshlib/Makefile

@@ -107,6 +107,8 @@ endif
 ROOTDEPPATH = --dep-path .
 VPATH = 
 
+MAXOPTIMIZATION = -Os
+
 # Build targets
 
 all: .built

apps/px4/tests/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 12000
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/system/i2c/Makefile

@@ -64,6 +64,7 @@ VPATH		=
 APPNAME		= i2c
 PRIORITY	= SCHED_PRIORITY_DEFAULT
 STACKSIZE	= 2048
+MAXOPTIMIZATION = -Os
 
 # Build targets
 

apps/systemcmds/bl_update/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 4096
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/boardinfo/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 2048
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/calibration/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_MAX - 1
 STACKSIZE	 = 4096
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/delay_test/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 2048
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/eeprom/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 4096
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/mixer/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 4096
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/param/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 4096
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/perf/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 2048
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/preflight_check/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 2048
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/reboot/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 2048
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemcmds/top/Makefile

@@ -40,3 +40,5 @@ PRIORITY	 = SCHED_PRIORITY_DEFAULT - 10
 STACKSIZE	 = 3000
 
 include $(APPDIR)/mk/app.mk
+
+MAXOPTIMIZATION	 = -Os

apps/systemlib/mixer/mixer.h

@@ -418,6 +418,7 @@ public:
 	enum Geometry {
 		QUAD_X = 0,	/**< quad in X configuration */
 		QUAD_PLUS,	/**< quad in + configuration */
+		QUAD_V,		/**< quad in V configuration */
 		HEX_X,		/**< hex in X configuration */
 		HEX_PLUS,	/**< hex in + configuration */
 		OCTA_X,

apps/systemlib/mixer/mixer_multirotor.cpp

@@ -82,6 +82,12 @@ const MultirotorMixer::Rotor _config_quad_plus[] = {
 	{  0.000000,  1.000000, -1.00 },
 	{ -0.000000, -1.000000, -1.00 },
 };
+const MultirotorMixer::Rotor _config_quad_v[] = {
+	{ -0.927184,  0.374607,  1.00 },
+	{  0.694658, -0.719340,  1.00 },
+	{  0.927184,  0.374607, -1.00 },
+	{ -0.694658, -0.719340, -1.00 },
+};
 const MultirotorMixer::Rotor _config_hex_x[] = {
 	{ -1.000000,  0.000000, -1.00 },
 	{  1.000000,  0.000000,  1.00 },
@@ -121,6 +127,7 @@ const MultirotorMixer::Rotor _config_octa_plus[] = {
 const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
 	&_config_quad_x[0],
 	&_config_quad_plus[0],
+	&_config_quad_v[0],
 	&_config_hex_x[0],
 	&_config_hex_plus[0],
 	&_config_octa_x[0],
@@ -129,6 +136,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME
 const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
 	4, /* quad_x */
 	4, /* quad_plus */
+	4, /* quad_v */
 	6, /* hex_x */
 	6, /* hex_plus */
 	8, /* octa_x */
@@ -184,6 +192,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	} else if (!strcmp(geomname, "4x")) {
 		geometry = MultirotorMixer::QUAD_X;
 
+	} else if (!strcmp(geomname, "4v")) {
+		geometry = MultirotorMixer::QUAD_V;
+
 	} else if (!strcmp(geomname, "6+")) {
 		geometry = MultirotorMixer::HEX_PLUS;
 

apps/systemlib/mixer/multi_tables

@@ -20,6 +20,13 @@ set quad_plus {
 	 180 CW
 }
 
+set quad_v {
+	  68 CCW
+	-136 CCW
+	 -68 CW
+	 136 CW
+}
+
 set hex_x {
 	  90 CW
 	 -90 CCW
@@ -60,7 +67,7 @@ set octa_plus {
 	  90 CW
 }
 
-set tables {quad_x quad_plus hex_x hex_plus octa_x octa_plus}
+set tables {quad_x quad_plus quad_v hex_x hex_plus octa_x octa_plus}
 
 proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
 

nuttx/configs/px4fmu/include/board.h

@@ -326,6 +326,7 @@
  */
 #define TONE_ALARM_TIMER	3	/* timer 3 */
 #define TONE_ALARM_CHANNEL	3	/* channel 3 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
 #define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
 
 /************************************************************************************

nuttx/configs/px4io/common/Make.defs

@@ -112,7 +112,6 @@ ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
 
 ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
 ARCHOPTIMIZATION	+= -g
-ARCHSCRIPT		+= -g
 endif
 
 ARCHCFLAGS		 = -std=gnu99
@@ -145,7 +144,7 @@ ARCHDEFINES		 =
 ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
 
 # this seems to be the only way to add linker flags
-ARCHSCRIPT		+= --warn-common \
+EXTRA_LIBS		+= --warn-common \
 			   --gc-sections
 
 CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common