Merged release_v1.0.0 into master

Makefile

@@ -55,7 +55,12 @@ GIT_DESC := $(shell git log -1 --pretty=format:%H)
 ifneq ($(words $(GIT_DESC)),1)
     GIT_DESC := "unknown_git_version"
 endif
-export GIT_DESC
+
+GIT_DESC_SHORT := $(shell echo $(GIT_DESC) | cut -c1-16)
+
+$(shell echo "#include <systemlib/git_version.h>" > $(BUILD_DIR)git_version.c)
+$(shell echo "const char* px4_git_version = \"$(GIT_DESC)\";" >> $(BUILD_DIR)git_version.c)
+$(shell echo "const uint64_t px4_git_version_binary = 0x$(GIT_DESC_SHORT);" >> $(BUILD_DIR)git_version.c)
 
 #
 # Canned firmware configurations that we (know how to) build.

src/modules/mavlink/mavlink_main.cpp

@@ -69,6 +69,8 @@
 #include <systemlib/err.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/systemlib.h>
+#include <systemlib/mcu_version.h>
+#include <systemlib/git_version.h>
 #include <geo/geo.h>
 #include <dataman/dataman.h>
 //#include <mathlib/mathlib.h>
@@ -949,6 +951,47 @@ Mavlink::send_statustext(unsigned char severity, const char *string)
 	mavlink_logbuffer_write(&_logbuffer, &logmsg);
 }
 
+void Mavlink::send_autopilot_capabilites() {
+	struct vehicle_status_s status;
+
+	MavlinkOrbSubscription *status_sub = this->add_orb_subscription(ORB_ID(vehicle_status));
+
+	if (status_sub->update(&status)) {
+		mavlink_autopilot_version_t msg = {};
+
+		msg.capabilities = MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_COMMAND_INT;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_FTP;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_FTP;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED;
+		msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET;
+		msg.flight_sw_version = 0;
+		msg.middleware_sw_version = 0;
+		msg.os_sw_version = 0;
+		msg.board_version = 0;
+		memcpy(&msg.flight_custom_version, &px4_git_version_binary, sizeof(msg.flight_custom_version));
+		memcpy(&msg.middleware_custom_version, &px4_git_version_binary, sizeof(msg.middleware_custom_version));
+		memset(&msg.os_custom_version, 0, sizeof(msg.os_custom_version));
+		#ifdef CONFIG_CDCACM_VENDORID
+		msg.vendor_id = CONFIG_CDCACM_VENDORID;
+		#else
+		msg.vendor_id = 0;
+		#endif
+		#ifdef CONFIG_CDCACM_PRODUCTID
+		msg.product_id = CONFIG_CDCACM_PRODUCTID;
+		#else
+		msg.product_id = 0;
+		#endif
+		uint32_t uid[3];
+		mcu_unique_id(uid);
+		msg.uid = (((uint64_t)uid[1]) << 32) | uid[2];
+
+		this->send_message(MAVLINK_MSG_ID_AUTOPILOT_VERSION, &msg);
+	}
+}
+
 MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic, int instance)
 {
 	/* check if already subscribed to this topic */
@@ -1482,6 +1525,8 @@ Mavlink::task_main(int argc, char *argv[])
 	/* now the instance is fully initialized and we can bump the instance count */
 	LL_APPEND(_mavlink_instances, this);
 
+	send_autopilot_capabilites();
+
 	while (!_task_should_exit) {
 		/* main loop */
 		usleep(_main_loop_delay);

src/modules/mavlink/mavlink_main.h

@@ -241,6 +241,7 @@ public:
 	 * @param severity the log level
 	 */
 	void			send_statustext(unsigned char severity, const char *string);
+	void 			send_autopilot_capabilites();
 
 	MavlinkStream *		get_streams() const { return _streams; }
 

src/modules/mavlink/mavlink_receiver.cpp

@@ -280,7 +280,9 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 
 			/* terminate other threads and this thread */
 			_mavlink->_task_should_exit = true;
-
+		} else if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
+			/* send autopilot version message */
+			_mavlink->send_autopilot_capabilites();
 		} else {
 
 			if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {

src/modules/sdlog2/module.mk

@@ -49,5 +49,3 @@ MAXOPTIMIZATION	 = -Os
 ifeq ($(PX4_TARGET_OS),nuttx)
 EXTRACFLAGS = -Wframe-larger-than=1400
 endif
-
-EXTRADEFINES = -DGIT_VERSION='"$(GIT_DESC)"'

src/modules/sdlog2/sdlog2.c

@@ -105,6 +105,7 @@
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
 #include <systemlib/perf_counter.h>
+#include <systemlib/git_version.h>
 #include <version/version.h>
 
 #include <mavlink/mavlink_log.h>
@@ -798,7 +799,7 @@ int write_version(int fd)
 	};
 
 	/* fill version message and write it */
-	strncpy(log_msg_VER.body.fw_git, GIT_VERSION, sizeof(log_msg_VER.body.fw_git));
+	strncpy(log_msg_VER.body.fw_git, px4_git_version, sizeof(log_msg_VER.body.fw_git));
 	strncpy(log_msg_VER.body.arch, HW_ARCH, sizeof(log_msg_VER.body.arch));
 	return write(fd, &log_msg_VER, sizeof(log_msg_VER));
 }

src/modules/systemlib/git_version.h

@@ -0,0 +1,49 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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 git_version.h
+ *
+ * GIT repository version
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+__EXPORT extern const char* px4_git_version;
+__EXPORT extern const uint64_t px4_git_version_binary;
+
+__END_DECLS

src/modules/systemlib/module.mk

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012-2015 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
@@ -52,7 +52,8 @@ SRCS		 = \
 		   mcu_version.c \
 		   bson/tinybson.c \
 		   circuit_breaker.cpp \
-		   circuit_breaker_params.c 
+		   circuit_breaker_params.c \
+		   $(BUILD_DIR)git_version.c
 
 ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS		+= err.c \

src/modules/uavcan/module.mk

@@ -63,7 +63,7 @@ SRCS += $(subst  $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_SRC))
 INCLUDE_DIRS += $(LIBUAVCAN_INC)
 # Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
 # because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
-override EXTRADEFINES := $(EXTRADEFINES) -DGIT_VERSION='"$(GIT_DESC)"' -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS
+override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS
 
 
 #

src/modules/uavcan/uavcan_main.cpp

@@ -42,6 +42,7 @@
 #include <systemlib/mixer/mixer.h>
 #include <systemlib/board_serial.h>
 #include <systemlib/scheduling_priorities.h>
+#include <systemlib/git_version.h>
 #include <version/version.h>
 #include <arch/board/board.h>
 #include <arch/chip/chip.h>
@@ -212,7 +213,7 @@ void UavcanNode::fill_node_info()
 
 	// Extracting the first 8 hex digits of GIT_VERSION and converting them to int
 	char fw_git_short[9] = {};
-	std::memmove(fw_git_short, GIT_VERSION, 8);
+	std::memmove(fw_git_short, px4_git_version, 8);
 	assert(fw_git_short[8] == '\0');
 	char *end = nullptr;
 	swver.vcs_commit = std::strtol(fw_git_short, &end, 16);

src/systemcmds/ver/module.mk

@@ -42,5 +42,3 @@ SRCS		 		= ver.c
 MODULE_STACKSIZE 	= 1024
 
 MAXOPTIMIZATION	 	= -Os
-
-EXTRADEFINES = -DGIT_VERSION='"$(GIT_DESC)"'

src/systemcmds/ver/ver.c

@@ -45,6 +45,7 @@
 #include <version/version.h>
 #include <systemlib/err.h>
 #include <systemlib/mcu_version.h>
+#include <systemlib/git_version.h>
 
 /* string constants for version commands */
 static const char sz_ver_hw_str[] 	= "hw";
@@ -101,7 +102,7 @@ int ver_main(int argc, char *argv[])
 			}
 
 			if (show_all || !strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) {
-				printf("FW git-hash: %s\n", GIT_VERSION);
+				printf("FW git-hash: %s\n", px4_git_version);
 				ret = 0;
 
 			}