Merge commit 'dc5bcdda761e5f8f4f7f26a600f02df007ab1df6' into seatbelt_multirotor

ROMFS/px4fmu_common/init.d/01_fmu_quad_x

@@ -0,0 +1,107 @@
+#!nsh
+#
+# Flight startup script for PX4FMU with PWM outputs.
+#
+ 
+# disable USB and autostart
+set USB no
+set MODE custom
+ 
+echo "[init] doing PX4FMU Quad startup..."
+ 
+#
+# Start the ORB
+#
+uorb start
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/params
+if [ -f /fs/microsd/params ]
+then
+	param load /fs/microsd/params
+fi
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set MC_ATTRATE_P                0.14
+	param set MC_ATTRATE_I                0
+	param set MC_ATTRATE_D                0.006
+	param set MC_ATT_P                    5.5
+	param set MC_ATT_I                    0
+	param set MC_ATT_D                    0
+	param set MC_YAWPOS_D                 0
+	param set MC_YAWPOS_I                 0
+	param set MC_YAWPOS_P                 0.6
+	param set MC_YAWRATE_D                0
+	param set MC_YAWRATE_I                0
+	param set MC_YAWRATE_P                0.08
+	param set RC_SCALE_PITCH              1
+	param set RC_SCALE_ROLL               1
+	param set RC_SCALE_YAW                3
+
+	param set SYS_AUTOCONFIG 0
+	param save /fs/microsd/params
+fi
+
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+ 
+#
+# Start MAVLink
+#
+mavlink start -d /dev/ttyS0 -b 57600
+usleep 5000
+ 
+#
+# Start the sensors and test them.
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start the commander.
+#
+commander start
+
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+ 
+#
+# Start the attitude estimator
+#
+attitude_estimator_ekf start
+ 
+echo "[init] starting PWM output"
+fmu mode_pwm
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+pwm -u 400 -m 0xff
+ 
+#
+# Start attitude control
+#
+multirotor_att_control start
+
+#
+# Start logging
+#
+sdlog2 start -r 50 -a -b 14
+ 
+#
+# Start system state
+#
+if blinkm start
+then
+	blinkm systemstate
+fi

ROMFS/px4fmu_common/init.d/02_io_quad_x

@@ -1,8 +1,11 @@
 #!nsh
+#
+# Flight startup script for PX4FMU+PX4IO
+#
  
-# Disable USB and autostart
+# disable USB and autostart
 set USB no
-set MODE quad
+set MODE custom
  
 #
 # Start the ORB (first app to start)
@@ -18,6 +21,16 @@ if [ -f /fs/microsd/params ]
 then
 	param load /fs/microsd/params
 fi
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+	param save /fs/microsd/params
+fi
  
 #
 # Force some key parameters to sane values
@@ -68,6 +81,11 @@ px4io start
 # Allow PX4IO to recover from midair restarts.
 # this is very unlikely, but quite safe and robust.
 px4io recovery
+
+#
+# Disable px4io topic limiting
+#
+px4io limit 200
  
 #
 # Start the sensors (depends on orb, px4io)
@@ -87,21 +105,19 @@ attitude_estimator_ekf start
 #
 # Load mixer and start controllers (depends on px4io)
 #
-mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+pwm -u 400 -m 0xff
 multirotor_att_control start
  
 #
 # Start logging
 #
-#sdlog start -s 4
+sdlog2 start -r 50 -a -b 14
  
 #
 # Start system state
 #
 if blinkm start
 then
-	echo "using BlinkM for state indication"
 	blinkm systemstate
-else
+fi
-	echo "no BlinkM found, OK."
-fi

ROMFS/px4fmu_common/init.d/10_io_f330

@@ -0,0 +1,139 @@
+#!nsh
+#
+# Flight startup script for PX4FMU+PX4IO
+#
+ 
+# disable USB and autostart
+set USB no
+set MODE custom
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+
+	param set MC_ATTRATE_D	         0.007
+	param set MC_ATTRATE_I	         0.0
+	param set MC_ATTRATE_P	         0.13
+	param set MC_ATT_D	         0.0
+	param set MC_ATT_I	         0.0
+	param set MC_ATT_P	         7.0
+	param set MC_POS_P	         0.1
+	param set MC_RCLOSS_THR	         0.0
+	param set MC_YAWPOS_D	         0.0
+	param set MC_YAWPOS_I	         0.5
+	param set MC_YAWPOS_P	         1.0
+	param set MC_YAWRATE_D	         0.0
+	param set MC_YAWRATE_I	         0.0
+	param set MC_YAWRATE_P	         0.2
+
+	param save /fs/microsd/params
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 2
+ 
+#
+# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
+#
+if [ -f /fs/microsd/px4io2.bin ]
+then
+	echo "PX4IO Firmware found. Checking Upgrade.."
+	if cmp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
+	then
+		echo "No newer version, skipping upgrade."
+	else
+		echo "Loading /fs/microsd/px4io2.bin"
+		if px4io update /fs/microsd/px4io2.bin > /fs/microsd/px4io2.log
+		then
+			cp /fs/microsd/px4io2.bin /fs/microsd/px4io2.cur
+			echo "Flashed /fs/microsd/px4io2.bin OK" >> /fs/microsd/px4io2.log
+		else
+			echo "Failed flashing /fs/microsd/px4io2.bin" >> /fs/microsd/px4io2.log
+			echo "Failed to upgrade PX4IO2 firmware - check if PX4IO2 is in bootloader mode"
+		fi
+	fi
+fi
+ 
+#
+# Start MAVLink (depends on orb)
+#
+mavlink start
+usleep 5000
+ 
+#
+# Start PX4IO interface (depends on orb, commander)
+#
+px4io start
+pwm -u 400 -m 0xff
+ 
+#
+# Allow PX4IO to recover from midair restarts.
+# this is very unlikely, but quite safe and robust.
+px4io recovery
+
+#
+# Disable px4io topic limiting
+#
+px4io limit 200
+
+#
+# This sets a PWM right after startup (regardless of safety button)
+#
+px4io idle 900 900 900 900
+
+#
+# The values are for spinning motors when armed using DJI ESCs
+#
+px4io min 1200 1200 1200 1200
+
+#
+# Upper limits could be higher, this is on the safe side
+#
+px4io max 1800 1800 1800 1800
+ 
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+ 
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+ 
+#
+# Start the attitude estimator (depends on orb)
+#
+attitude_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+multirotor_att_control start
+ 
+#
+# Start logging
+#
+sdlog2 start -r 20 -a -b 14
+ 
+#
+# Start system state
+#
+if blinkm start
+then
+	blinkm systemstate
+fi

ROMFS/px4fmu_common/init.d/30_io_camflyer

@@ -1,8 +1,11 @@
 #!nsh
+#
+# Flight startup script for PX4FMU+PX4IO
+#
  
-# Disable USB and autostart
+# disable USB and autostart
 set USB no
-set MODE camflyer
+set MODE custom
  
 #
 # Start the ORB (first app to start)
@@ -18,6 +21,16 @@ if [ -f /fs/microsd/params ]
 then
 	param load /fs/microsd/params
 fi
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+	param save /fs/microsd/params
+fi
  
 #
 # Force some key parameters to sane values
@@ -68,6 +81,10 @@ px4io start
 # Allow PX4IO to recover from midair restarts.
 # this is very unlikely, but quite safe and robust.
 px4io recovery
+
+#
+# Set actuator limit to 100 Hz update (50 Hz PWM)
+px4io limit 100
  
 #
 # Start the sensors (depends on orb, px4io)
@@ -93,15 +110,12 @@ control_demo start
 #
 # Start logging
 #
-#sdlog start -s 4
+sdlog2 start -r 50 -a -b 14
  
 #
 # Start system state
 #
 if blinkm start
 then
-	echo "using BlinkM for state indication"
 	blinkm systemstate
-else
-	echo "no BlinkM found, OK."
 fi

ROMFS/px4fmu_common/init.d/31_io_phantom

@@ -0,0 +1,121 @@
+#!nsh
+#
+# Flight startup script for PX4FMU+PX4IO
+#
+ 
+# disable USB and autostart
+set USB no
+set MODE custom
+ 
+#
+# Start the ORB (first app to start)
+#
+uorb start
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/params
+if [ -f /fs/microsd/params ]
+then
+	param load /fs/microsd/params
+fi
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set SYS_AUTOCONFIG 0
+	param save /fs/microsd/params
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
+#              see https://pixhawk.ethz.ch/mavlink/
+#
+param set MAV_TYPE 1
+ 
+#
+# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
+#
+if [ -f /fs/microsd/px4io.bin ]
+then
+	echo "PX4IO Firmware found. Checking Upgrade.."
+	if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
+	then
+		echo "No newer version, skipping upgrade."
+	else
+		echo "Loading /fs/microsd/px4io.bin"
+		if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
+		then
+			cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
+			echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
+		else
+			echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
+			echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
+		fi
+	fi
+fi
+ 
+#
+# Start MAVLink (depends on orb)
+#
+mavlink start -d /dev/ttyS1 -b 57600
+usleep 5000
+ 
+#
+# Start the commander (depends on orb, mavlink)
+#
+commander start
+ 
+#
+# Start PX4IO interface (depends on orb, commander)
+#
+px4io start
+ 
+#
+# Allow PX4IO to recover from midair restarts.
+# this is very unlikely, but quite safe and robust.
+px4io recovery
+
+#
+# Set actuator limit to 100 Hz update (50 Hz PWM)
+px4io limit 100
+ 
+#
+# Start the sensors (depends on orb, px4io)
+#
+sh /etc/init.d/rc.sensors
+ 
+#
+# Start GPS interface (depends on orb)
+#
+gps start
+ 
+#
+# Start the attitude estimator (depends on orb)
+#
+kalman_demo start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
+control_demo start
+ 
+#
+# Start logging
+#
+sdlog2 start -r 50 -a -b 14
+ 
+#
+# Start system state
+#
+if blinkm start
+then
+	blinkm systemstate
+fi

ROMFS/px4fmu_common/init.d/rc.FMU_quad_x

@@ -1,67 +0,0 @@
-#!nsh
-#
-# Flight startup script for PX4FMU with PWM outputs.
-#
- 
-# Disable the USB interface
-set USB no
- 
-# Disable autostarting other apps
-set MODE custom
- 
-echo "[init] doing PX4FMU Quad startup..."
- 
-#
-# Start the ORB
-#
-uorb start
- 
-#
-# Load microSD params
-#
-echo "[init] loading microSD params"
-param select /fs/microsd/params
-if [ -f /fs/microsd/params ]
-then
-	param load /fs/microsd/params
-fi
- 
-#
-# Force some key parameters to sane values
-# MAV_TYPE     1 = fixed wing, 2 = quadrotor, 13 = hexarotor
-#              see https://pixhawk.ethz.ch/mavlink/
-#
-param set MAV_TYPE 2
- 
-#
-# Start MAVLink
-#
-mavlink start -d /dev/ttyS0 -b 57600
-usleep 5000
- 
-#
-# Start the sensors and test them.
-#
-sh /etc/init.d/rc.sensors
- 
-#
-# Start the commander.
-#
-commander start
- 
-#
-# Start the attitude estimator
-#
-attitude_estimator_ekf start
- 
-echo "[init] starting PWM output"
-fmu mode_pwm
-mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
- 
-#
-# Start attitude control
-#
-multirotor_att_control start
- 
-echo "[init] startup done, exiting"
-exit

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -34,9 +34,10 @@ fi
 # ALWAYS start this task before the
 # preflight_check.
 #
-sensors start
+if sensors start
-
+then
-#
+	#
-# Check sensors - run AFTER 'sensors start'
+	# Check sensors - run AFTER 'sensors start'
-#
+	#
-preflight_check
+	preflight_check &
+fi

ROMFS/px4fmu_common/init.d/rc.usb

@@ -5,8 +5,44 @@
 
 echo "Starting MAVLink on this USB console"
 
+# Stop tone alarm
+tone_alarm stop
+
 # Tell MAVLink that this link is "fast"
-mavlink start -b 230400 -d /dev/console
+if mavlink stop
+then
+	echo "stopped other MAVLink instance"
+fi
+mavlink start -b 230400 -d /dev/ttyACM0
+
+if [ $MODE == autostart ]
+then
+
+	# Start the commander
+	commander start
+
+	# Start sensors
+	sh /etc/init.d/rc.sensors
+
+	# Start one of the estimators
+	if attitude_estimator_ekf status
+	then
+		echo "multicopter att filter running"
+	else
+		if att_pos_estimator_ekf status
+		then
+			echo "fixedwing att filter running"
+		else
+			attitude_estimator_ekf start
+		fi
+	fi
+
+	# Start GPS
+	if gps start
+	then
+		echo "GPS started"
+	fi
+fi
 
 echo "MAVLink started, exiting shell.."
 

ROMFS/px4fmu_common/init.d/rcS

@@ -7,7 +7,6 @@
 # can change this to prevent automatic startup of the flight script.
 #
 set MODE autostart
-set USB autoconnect
 
 #
 # Try to mount the microSD card.
@@ -42,31 +41,83 @@ then
 	sh /fs/microsd/etc/rc.txt
 fi
 
-#
-# Check for USB host
-#
-if [ $USB != autoconnect ]
-then
-	echo "[init] not connecting USB"
-else
-	if sercon
-	then
-		echo "[init] USB interface connected"
-	else
-		if [ -f /dev/ttyACM0 ]
-			echo "[init] NSH via USB"
-		then
-		else
-			echo "[init] No USB connected"
-		fi
-	fi
-fi
-
 # if this is an APM build then there will be a rc.APM script
 # from an EXTERNAL_SCRIPTS build option
 if [ -f /etc/init.d/rc.APM ]
 then
-	echo Running rc.APM
+	if sercon
+	then
+		echo "[init] USB interface connected"
+	fi
+
+	echo "Running rc.APM"
 	# if APM startup is successful then nsh will exit
 	sh /etc/init.d/rc.APM
 fi
+
+if [ $MODE == autostart ]
+then
+
+#
+# Start the ORB (first app to start)
+#
+uorb start
+
+#
+# Load microSD params
+#
+if ramtron start
+then
+	param select /ramtron/params
+	if [ -f /ramtron/params ]
+	then
+		param load /ramtron/params
+	fi
+else
+	param select /fs/microsd/params
+	if [ -f /fs/microsd/params ]
+	then
+		param load /fs/microsd/params
+	fi
+fi
+
+fi
+
+#
+# Check if auto-setup from one of the standard scripts is wanted
+# SYS_AUTOSTART = 0 means no autostart (default)
+#
+if param compare SYS_AUTOSTART 1
+then
+	sh /etc/init.d/01_fmu_quad_x
+fi
+
+if param compare SYS_AUTOSTART 2
+then
+	sh /etc/init.d/02_io_quad_x
+fi
+
+if param compare SYS_AUTOSTART 8
+then
+	sh /etc/init.d/08_ardrone
+fi
+
+if param compare SYS_AUTOSTART 9
+then
+	sh /etc/init.d/09_ardrone_flow
+fi
+
+if param compare SYS_AUTOSTART 10
+then
+	sh /etc/init.d/10_io_f330
+fi
+
+if param compare SYS_AUTOSTART 30
+then
+	sh /etc/init.d/30_io_camflyer
+fi
+
+if param compare SYS_AUTOSTART 31
+then
+	sh /etc/init.d/31_io_phantom
+fi

src/drivers/boards/px4fmu/px4fmu_init.c

@@ -194,7 +194,7 @@ __EXPORT int nsh_archinitialize(void)
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_AMBER);
-	led_on(LED_BLUE);
+	led_off(LED_BLUE);
 
 
 	/* Configure SPI-based devices */

src/drivers/hmc5883/hmc5883.cpp

@@ -1221,7 +1221,8 @@ start()
 	int fd;
 
 	if (g_dev != nullptr)
-		errx(1, "already started");
+		/* if already started, the still command succeeded */
+		errx(0, "already started");
 
 	/* create the driver, attempt expansion bus first */
 	g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION);

src/drivers/mpu6000/mpu6000.cpp

@@ -1063,7 +1063,8 @@ start()
 	int fd;
 
 	if (g_dev != nullptr)
-		errx(1, "already started");
+		/* if already started, the still command succeeded */
+		errx(0, "already started");
 
 	/* create the driver */
 	g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU);

src/drivers/ms5611/ms5611.cpp

@@ -969,7 +969,8 @@ start()
 	int fd;
 
 	if (g_dev != nullptr)
-		errx(1, "already started");
+		/* if already started, the still command succeeded */
+		errx(0, "already started");
 
 	/* create the driver */
 	g_dev = new MS5611(MS5611_BUS);

src/modules/att_pos_estimator_ekf/kalman_main.cpp

@@ -121,12 +121,13 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			warnx("is running\n");
+			exit(0);
 
 		} else {
 			warnx("not started\n");
+			exit(1);
 		}
 
-		exit(0);
 	}
 
 	usage("unrecognized command");

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -139,10 +139,12 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			printf("\tattitude_estimator_ekf app is running\n");
+			warnx("running");
+			exit(0);
 
 		} else {
-			printf("\tattitude_estimator_ekf app not started\n");
+			warnx("not started");
+			exit(1);
 		}
 
 		exit(0);

src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp

@@ -139,10 +139,12 @@ int attitude_estimator_so3_comp_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			printf("\tattitude_estimator_so3_comp app is running\n");
+			warnx("running");
+			exit(0);
 
 		} else {
-			printf("\tattitude_estimator_so3_comp app not started\n");
+			warnx("not started");
+			exit(1);
 		}
 
 		exit(0);

src/modules/commander/accelerometer_calibration.c

@@ -268,8 +268,8 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
 	float accel_disp[3] = { 0.0f, 0.0f, 0.0f };
 	/* EMA time constant in seconds*/
 	float ema_len = 0.2f;
-	/* set "still" threshold to 0.1 m/s^2 */
+	/* set "still" threshold to 0.25 m/s^2 */
-	float still_thr2 = pow(0.1f, 2);
+	float still_thr2 = pow(0.25f, 2);
 	/* set accel error threshold to 5m/s^2 */
 	float accel_err_thr = 5.0f;
 	/* still time required in us */
@@ -283,6 +283,9 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
 	hrt_abstime t = t_start;
 	hrt_abstime t_prev = t_start;
 	hrt_abstime t_still = 0;
+
+	unsigned poll_errcount = 0;
+
 	while (true) {
 		/* wait blocking for new data */
 		int poll_ret = poll(fds, 1, 1000);
@@ -327,12 +330,14 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
 				}
 			}
 		} else if (poll_ret == 0) {
-			/* any poll failure for 1s is a reason to abort */
+			poll_errcount++;
-			mavlink_log_info(mavlink_fd, "ERROR: poll failure");
-			return -3;
 		}
 		if (t > t_timeout) {
-			mavlink_log_info(mavlink_fd, "ERROR: timeout");
+			poll_errcount++;
+		}
+
+		if (poll_errcount > 1000) {
+			mavlink_log_info(mavlink_fd, "ERROR: failed reading accel");
 			return -1;
 		}
 	}

src/modules/mavlink/mavlink.c

@@ -420,12 +420,12 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	case 921600: speed = B921600; break;
 
 	default:
-		fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
+		warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
 		return -EINVAL;
 	}
 
 	/* open uart */
-	printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
+	warnx("UART is %s, baudrate is %d\n", uart_name, baud);
 	uart = open(uart_name, O_RDWR | O_NOCTTY);
 
 	/* Try to set baud rate */
@@ -433,37 +433,35 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	int termios_state;
 	*is_usb = false;
 
-	/* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */
+	/* Back up the original uart configuration to restore it after exit */
-	if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) {
+	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
-		/* Back up the original uart configuration to restore it after exit */
+		warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
-		if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
+		close(uart);
-			fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
+		return -1;
-			close(uart);
+	}
-			return -1;
-		}
 
-		/* Fill the struct for the new configuration */
+	/* Fill the struct for the new configuration */
-		tcgetattr(uart, &uart_config);
+	tcgetattr(uart, &uart_config);
 
-		/* Clear ONLCR flag (which appends a CR for every LF) */
+	/* Clear ONLCR flag (which appends a CR for every LF) */
-		uart_config.c_oflag &= ~ONLCR;
+	uart_config.c_oflag &= ~ONLCR;
+
+	/* USB serial is indicated by /dev/ttyACM0*/
+	if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
 
 		/* Set baud rate */
 		if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-			fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+			warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
 			close(uart);
 			return -1;
 		}
 
+	}
 
-		if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
+	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
-			fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
+		warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
-			close(uart);
+		close(uart);
-			return -1;
+		return -1;
-		}
-
-	} else {
-		*is_usb = true;
 	}
 
 	return uart;
@@ -751,8 +749,7 @@ int mavlink_thread_main(int argc, char *argv[])
 	pthread_join(uorb_receive_thread, NULL);
 
 	/* Reset the UART flags to original state */
-	if (!usb_uart)
+	tcsetattr(uart, TCSANOW, &uart_config_original);
-		tcsetattr(uart, TCSANOW, &uart_config_original);
 
 	thread_running = false;
 

src/modules/mavlink/mavlink_log.c

@@ -41,16 +41,20 @@
 
 #include <string.h>
 #include <stdlib.h>
+#include <stdio.h>
 #include <stdarg.h>
 
 #include <mavlink/mavlink_log.h>
 
+static FILE* text_recorder_fd = NULL;
+
 void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
 {
 	lb->size  = size;
 	lb->start = 0;
 	lb->count = 0;
 	lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
+	text_recorder_fd = fopen("/fs/microsd/text_recorder.txt", "w");
 }
 
 int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
@@ -82,6 +86,13 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa
 		memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
 		lb->start = (lb->start + 1) % lb->size;
 		--lb->count;
+
+		if (text_recorder_fd) {
+			fwrite(elem->text, 1, strnlen(elem->text, 50), text_recorder_fd);
+			fputc("\n", text_recorder_fd);
+			fsync(text_recorder_fd);
+		}
+
 		return 0;
 
 	} else {

src/modules/sensors/sensors.cpp

@@ -139,14 +139,12 @@ public:
 private:
 	static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX;	/**< maximum number of r/c channels we handle */
 
-#if CONFIG_HRT_PPM
 	hrt_abstime	_ppm_last_valid;		/**< last time we got a valid ppm signal */
 
 	/**
 	 * Gather and publish PPM input data.
 	 */
 	void		ppm_poll();
-#endif
 
 	/* XXX should not be here - should be own driver */
 	int 		_fd_adc;			/**< ADC driver handle */
@@ -393,13 +391,11 @@ namespace sensors
 #endif
 static const int ERROR = -1;
 
-Sensors	*g_sensors;
+Sensors	*g_sensors = nullptr;
 }
 
 Sensors::Sensors() :
-#ifdef CONFIG_HRT_PPM
 	_ppm_last_valid(0),
-#endif
 
 	_fd_adc(-1),
 	_last_adc(0),
@@ -1135,16 +1131,18 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 	}
 }
 
-#if CONFIG_HRT_PPM
 void
 Sensors::ppm_poll()
 {
 
 	/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
-	bool rc_updated;
+	struct pollfd fds[1];
-	orb_check(_rc_sub, &rc_updated);
+	fds[0].fd = _rc_sub;
+	fds[0].events = POLLIN;
+	/* check non-blocking for new data */
+	int poll_ret = poll(fds, 1, 0);
 
-	if (rc_updated) {
+	if (poll_ret > 0) {
 		struct rc_input_values	rc_input;
 
 		orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
@@ -1332,7 +1330,6 @@ Sensors::ppm_poll()
 	}
 
 }
-#endif
 
 void
 Sensors::task_main_trampoline(int argc, char *argv[])
@@ -1445,10 +1442,8 @@ Sensors::task_main()
 		if (_publishing)
 			orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
 
-#ifdef CONFIG_HRT_PPM
 		/* Look for new r/c input data */
 		ppm_poll();
-#endif
 
 		perf_end(_loop_perf);
 	}
@@ -1488,7 +1483,7 @@ int sensors_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (sensors::g_sensors != nullptr)
-			errx(1, "sensors task already running");
+			errx(0, "sensors task already running");
 
 		sensors::g_sensors = new Sensors;
 

src/modules/systemlib/module.mk

@@ -47,4 +47,5 @@ SRCS		 = err.c \
 		   pid/pid.c \
 		   geo/geo.c \
 		   systemlib.c \
-		   airspeed.c
+		   airspeed.c \
+		   system_params.c

src/modules/systemlib/system_params.c

@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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
+ * 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 system_params.c
+ *
+ * System wide parameters
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
+
+// Auto-start script with index #n
+PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
+
+// Automatically configure default values
+PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);

src/systemcmds/param/param.c

@@ -63,6 +63,7 @@ static void	do_import(const char* param_file_name);
 static void	do_show(const char* search_string);
 static void	do_show_print(void *arg, param_t param);
 static void	do_set(const char* name, const char* val);
+static void	do_compare(const char* name, const char* val);
 
 int
 param_main(int argc, char *argv[])
@@ -117,9 +118,17 @@ param_main(int argc, char *argv[])
 				errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
 			}
 		}
+
+		if (!strcmp(argv[1], "compare")) {
+			if (argc >= 4) {
+				do_compare(argv[2], argv[3]);
+			} else {
+				errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'");
+			}
+		}
 	}
 	
-	errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'select' or 'save'");
+	errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
 }
 
 static void
@@ -295,3 +304,65 @@ do_set(const char* name, const char* val)
 
 	exit(0);
 }
+
+static void
+do_compare(const char* name, const char* val)
+{
+	int32_t i;
+	float f;
+	param_t param = param_find(name);
+
+	/* set nothing if parameter cannot be found */
+	if (param == PARAM_INVALID) {
+		/* param not found */
+		errx(1, "Error: Parameter %s not found.", name);
+	}
+
+	/*
+	 * Set parameter if type is known and conversion from string to value turns out fine
+	 */
+
+	int ret = 1;
+
+	switch (param_type(param)) {
+	case PARAM_TYPE_INT32:
+		if (!param_get(param, &i)) {
+
+			/* convert string */
+			char* end;
+			int j = strtol(val,&end,10);
+			if (i == j) {
+				printf(" %d: ", i);
+				ret = 0;
+			}
+
+		}
+
+		break;
+
+	case PARAM_TYPE_FLOAT:
+		if (!param_get(param, &f)) {
+
+			/* convert string */
+			char* end;
+			float g = strtod(val, &end);
+			if (fabsf(f - g) < 1e-7f) {
+				printf(" %4.4f: ", (double)f);
+				ret = 0;	
+			}
+		}
+
+		break;
+
+	default:
+		errx(1, "<unknown / unsupported type %d>\n", 0 + param_type(param));
+	}
+
+	if (ret == 0) {
+		printf("%c %s: equal\n",
+		param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
+		param_name(param));
+	}
+
+	exit(ret);
+}

src/systemcmds/preflight_check/preflight_check.c

@@ -135,6 +135,7 @@ int preflight_check_main(int argc, char *argv[])
 
 	close(fd);
 	fd = open(BARO_DEVICE_PATH, 0);
+	close(fd);
 
 	/* ---- RC CALIBRATION ---- */
 
@@ -251,6 +252,11 @@ system_eval:
 		int buzzer = open("/dev/tone_alarm", O_WRONLY);
 		int leds = open(LED_DEVICE_PATH, 0);
 
+		if (leds < 0) {
+			close(buzzer);
+			errx(1, "failed to open leds, aborting");
+		}
+
 		/* flip blue led into alternating amber */
 		led_off(leds, LED_BLUE);
 		led_off(leds, LED_AMBER);