update according to pull request review comments

platforms/posix/cmake/px4_impl_os.cmake

@@ -289,14 +289,19 @@ function(px4_os_add_flags)
 		list(APPEND added_c_flags   ${BBBLUE_COMPILE_FLAGS})
 		list(APPEND added_cxx_flags ${BBBLUE_COMPILE_FLAGS})
 
+		set(LIBROBOTCONTROL_INSTALL_DIR $ENV{LIBROBOTCONTROL_INSTALL_DIR})
+
 		# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
+		#
 		# On cross compile host system and native build system:
-		#   a) install robotcontrol.h and rc/* into /usr/local/include
-		#   b) install pre-built native (ARM) version of librobotcontrol.* into /usr/local/lib
-		list(APPEND added_cxx_flags -I/usr/local/include -Wno-missing-field-initializers)
-		list(APPEND added_c_flags   -I/usr/local/include)
+		#   a) select and define LIBROBOTCONTROL_INSTALL_DIR environment variable so that 
+		#      other unwanted headers will not be included
+		#   b) install robotcontrol.h and rc/* into $LIBROBOTCONTROL_INSTALL_DIR/include
+		#   c) install pre-built native (ARM) version of librobotcontrol.* into $LIBROBOTCONTROL_INSTALL_DIR/lib
+		list(APPEND added_cxx_flags -I${LIBROBOTCONTROL_INSTALL_DIR}/include -Wno-missing-field-initializers)
+		list(APPEND added_c_flags   -I${LIBROBOTCONTROL_INSTALL_DIR}/include)
 		
-		list(APPEND added_exe_linker_flags -L/usr/local/lib)
+		list(APPEND added_exe_linker_flags -L${LIBROBOTCONTROL_INSTALL_DIR}/lib)
 	endif()
 
 	# output

posix-configs/bbblue/px4.config

@@ -71,9 +71,9 @@ mc_att_control start
 #fw_att_control start
 #fw_pos_control_l1 start
 
-mavlink start -x -u 14556 -r 1000000 
+mavlink start -n SoftAp -x -u 14556 -r 1000000 
 # -n name of wifi interface: SoftAp, wlan or your custom interface, 
-# e.g., -n wlan . The default on BBBlue is SoftAp
+# e.g., -n SoftAp . The default is wlan
 
 sleep 1
 

src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp

@@ -30,7 +30,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
-#ifdef __DF_BBBLUE
+#ifdef __PX4_POSIX_BBBLUE
 
 #include <fcntl.h>
 #include <errno.h>
@@ -79,4 +79,4 @@ int BBBlueRcPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs)
 	return ret;
 }
 
-#endif  // __DF_BBBLUE
+#endif  // __PX4_POSIX_BBBLUE

src/drivers/linux_sbus/linux_sbus.cpp

@@ -42,8 +42,7 @@ int RcInput::init()
 	/**
 	 * initialize the data of each channel
 	 */
-	for (i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS && i < 16; ++i) {
-		//_data.values defined as int[16] and RC_INPUT_MAX_CHANNELS (=18) > 16
+	for (i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; ++i) {
 		_data.values[i] = UINT16_MAX;
 	}
 

src/modules/mavlink/mavlink_main.cpp

@@ -1150,12 +1150,8 @@ Mavlink::find_broadcast_address()
 			const struct in_addr netmask_addr = query_netmask_addr(_socket_fd, *cur_ifreq);
 			const struct in_addr broadcast_addr = compute_broadcast_addr(sin_addr, netmask_addr);
 
-#ifdef __PX4_POSIX_BBBLUE
-
 			if (strstr(cur_ifreq->ifr_name, _mavlink_wifi_name) == NULL) { continue; }
 
-#endif
-
 			PX4_INFO("using network interface %s, IP: %s", cur_ifreq->ifr_name, inet_ntoa(sin_addr));
 			PX4_INFO("with netmask: %s", inet_ntoa(netmask_addr));
 			PX4_INFO("and broadcast IP: %s", inet_ntoa(broadcast_addr));
@@ -1951,9 +1947,7 @@ Mavlink::task_main(int argc, char *argv[])
 	_mode = MAVLINK_MODE_NORMAL;
 	bool _force_flow_control = false;
 
-#ifdef __PX4_POSIX_BBBLUE
-	_mavlink_wifi_name = __PX4_BBBLUE_DEFAULT_MAVLINK_WIFI;
-#endif
+	_mavlink_wifi_name = __DEFAULT_MAVLINK_WIFI;
 
 #ifdef __PX4_NUTTX
 	/* the NuttX optarg handler does not
@@ -2004,9 +1998,7 @@ Mavlink::task_main(int argc, char *argv[])
 			break;
 
 		case 'n':
-#ifdef __PX4_POSIX_BBBLUE
 			_mavlink_wifi_name = myoptarg;
-#endif
 			break;
 
 #ifdef __PX4_POSIX

src/modules/mavlink/mavlink_main.h

@@ -63,10 +63,8 @@
 #include <net/if.h>
 #endif
 
-#ifdef __PX4_POSIX_BBBLUE
-#ifndef __PX4_BBBLUE_DEFAULT_MAVLINK_WIFI
-#define __PX4_BBBLUE_DEFAULT_MAVLINK_WIFI "SoftAp"
-#endif
+#ifndef __DEFAULT_MAVLINK_WIFI
+#define __DEFAULT_MAVLINK_WIFI "wlan"
 #endif
 
 #include <uORB/uORB.h>
@@ -608,9 +606,7 @@ private:
 	unsigned _network_buf_len;
 #endif
 
-#ifdef __PX4_POSIX_BBBLUE
 	const char *_mavlink_wifi_name;
-#endif
 
 	int _socket_fd;
 	Protocol	_protocol;

src/modules/sensors/sensor_params_battery.c

@@ -98,7 +98,7 @@ PARAM_DEFINE_FLOAT(BAT_A_PER_V, -1.0);
  * means that measurements are expected to come from a power module. If the value is set to
  * 'External' then the system expects to receive mavlink battery status messages.
  *
- * @min -1
+ * @min 0
  * @max 1
  * @value 0 Power Module
  * @value 1 External

src/modules/sensors/voted_sensors_update.cpp

@@ -626,7 +626,6 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
 
 	// write the best sensor data to the output variables
 	if (best_index >= 0) {
-		raw.timestamp = _last_sensor_data[best_index].timestamp;
 		raw.accelerometer_integral_dt = _last_sensor_data[best_index].accelerometer_integral_dt;
 		memcpy(&raw.accelerometer_m_s2, &_last_sensor_data[best_index].accelerometer_m_s2, sizeof(raw.accelerometer_m_s2));