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

ROMFS/Makefile

@@ -24,6 +24,7 @@ ROMFS_FSSPEC	:= $(SRCROOT)/scripts/rcS~init.d/rcS \
 		   $(SRCROOT)/scripts/rc.FMU_quad_x~init.d/rc.FMU_quad_x \
 		   $(SRCROOT)/scripts/rc.usb~init.d/rc.usb \
 		   $(SRCROOT)/scripts/rc.hil~init.d/rc.hil \
+		   $(SRCROOT)/scripts/rc.IO_QUAD~scripts/rc.IO_QUAD \
 		   $(SRCROOT)/mixers/FMU_pass.mix~mixers/FMU_pass.mix \
 		   $(SRCROOT)/mixers/FMU_Q.mix~mixers/FMU_Q.mix \
 		   $(SRCROOT)/mixers/FMU_X5.mix~mixers/FMU_X5.mix \

ROMFS/scripts/rc.IO_QUAD

@@ -0,0 +1,107 @@
+#!nsh
+ 
+# Disable USB and autostart
+set USB no
+set MODE quad
+ 
+#
+# Start the ORB (first app to start)
+#
+uorb start
+ 
+#
+# Load microSD params
+#
+echo "[init] loading microSD params"
+param select /fs/microsd/parameters
+if [ -f /fs/microsd/parameters ]
+then
+	param load /fs/microsd/parameters
+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/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
+ 
+#
+# 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)
+#
+attitude_estimator_ekf start
+ 
+#
+# Load mixer and start controllers (depends on px4io)
+#
+mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+multirotor_att_control start
+ 
+#
+# Start logging
+#
+#sdlog start -s 4
+ 
+#
+# Start system state
+#
+if blinkm start
+then
+	echo "using BlinkM for state indication"
+	blinkm systemstate
+else
+	echo "no BlinkM found, OK."
+fi

apps/drivers/mkblctrl/Makefile

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (C) 2012 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.
+#
+############################################################################
+
+#
+# Interface driver for the Mikrokopter BLCtrl
+#
+
+APPNAME		 = mkblctrl
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+
+include $(APPDIR)/mk/app.mk

nuttx/configs/px4fmu/nsh/appconfig

@@ -124,6 +124,7 @@ CONFIGURED_APPS += drivers/blinkm
 CONFIGURED_APPS += drivers/stm32/tone_alarm
 CONFIGURED_APPS += drivers/stm32/adc
 CONFIGURED_APPS += drivers/px4fmu
+CONFIGURED_APPS += drivers/mkblctrl
 CONFIGURED_APPS += drivers/hil
 CONFIGURED_APPS += drivers/gps
 CONFIGURED_APPS += drivers/mb12xx