Merge branch 'beta' into stable

ROMFS/px4fmu_common/init.d/rcS

@@ -286,6 +286,7 @@ then
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil
+		set GPS no
 		if ver hwcmp PX4FMU_V1
 		then
 			set FMU_MODE serial
@@ -319,6 +320,7 @@ then
 			gps start
 		fi
 	fi
+	unset GPS
 	unset GPS_FAKE
 
 	# Needs to be this early for in-air-restarts

makefiles/config_px4fmu-v2_default.mk

@@ -140,19 +140,19 @@ MODULES		+= examples/rover_steering_control
 #
 #MODULES		+= examples/math_demo
 # Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/hello_sky
+# https://px4.io/dev/px4_simple_app
 #MODULES		+= examples/px4_simple_app
 
 # Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/daemon
+# https://px4.io/dev/daemon
 #MODULES		+= examples/px4_daemon_app
 
 # Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/debug_values
+# https://px4.io/dev/debug_values
 #MODULES		+= examples/px4_mavlink_debug
 
 # Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
+# https://px4.io/dev/example_fixedwing_control
 #MODULES			+= examples/fixedwing_control
 
 # Hardware test

msg/tecs_status.msg

@@ -23,7 +23,7 @@ float32 energyDistributionError
 float32 totalEnergyRateError
 float32 energyDistributionRateError
 
-float32 throttle_sp
-float32 pitch_sp
+float32 throttle_integ
+float32 pitch_integ
 
 uint8 mode

src/drivers/airspeed/airspeed.cpp

 /****************************************************************************
  *
- *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013-2015 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
@@ -32,8 +32,9 @@
  ****************************************************************************/
 
 /**
- * @file ets_airspeed.cpp
- * @author Simon Wilks
+ * @file airspeed.cpp
+ * @author Simon Wilks <simon@px4.io>
+ * @author Lorenz Meier <lorenz@px4.io>
  *
  * Driver for the Eagle Tree Airspeed V3 connected via I2C.
  */
@@ -76,7 +77,7 @@
 
 #include <drivers/airspeed/airspeed.h>
 
-Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char* path) :
+Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char *path) :
 	I2C("Airspeed", path, bus, address, 100000),
 	_reports(nullptr),
 	_buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows")),
@@ -105,12 +106,14 @@ Airspeed::~Airspeed()
 	/* make sure we are truly inactive */
 	stop();
 
-	if (_class_instance != -1)
+	if (_class_instance != -1) {
 		unregister_class_devname(AIRSPEED_BASE_DEVICE_PATH, _class_instance);
+	}
 
 	/* free any existing reports */
-	if (_reports != nullptr)
+	if (_reports != nullptr) {
 		delete _reports;
+	}
 
 	// free perf counters
 	perf_free(_sample_perf);
@@ -124,13 +127,16 @@ Airspeed::init()
 	int ret = ERROR;
 
 	/* do I2C init (and probe) first */
-	if (I2C::init() != OK)
+	if (I2C::init() != OK) {
 		goto out;
+	}
 
 	/* allocate basic report buffers */
 	_reports = new RingBuffer(2, sizeof(differential_pressure_s));
-	if (_reports == nullptr)
+
+	if (_reports == nullptr) {
 		goto out;
+	}
 
 	/* register alternate interfaces if we have to */
 	_class_instance = register_class_devname(AIRSPEED_BASE_DEVICE_PATH);
@@ -146,8 +152,9 @@ Airspeed::init()
 		/* measurement will have generated a report, publish */
 		_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
 
-		if (_airspeed_pub < 0)
+		if (_airspeed_pub < 0) {
 			warnx("uORB started?");
+		}
 	}
 
 	ret = OK;
@@ -166,7 +173,7 @@ Airspeed::probe()
 	_retries = 4;
 	int ret = measure();
 
-        // drop back to 2 retries once initialised
+	// drop back to 2 retries once initialised
 	_retries = 2;
 	return ret;
 }
@@ -179,20 +186,20 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case SENSORIOCSPOLLRATE: {
 			switch (arg) {
 
-				/* switching to manual polling */
+			/* switching to manual polling */
 			case SENSOR_POLLRATE_MANUAL:
 				stop();
 				_measure_ticks = 0;
 				return OK;
 
-				/* external signalling (DRDY) not supported */
+			/* external signalling (DRDY) not supported */
 			case SENSOR_POLLRATE_EXTERNAL:
 
-				/* zero would be bad */
+			/* zero would be bad */
 			case 0:
 				return -EINVAL;
 
-				/* set default/max polling rate */
+			/* set default/max polling rate */
 			case SENSOR_POLLRATE_MAX:
 			case SENSOR_POLLRATE_DEFAULT: {
 					/* do we need to start internal polling? */
@@ -202,13 +209,14 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 					_measure_ticks = USEC2TICK(_conversion_interval);
 
 					/* if we need to start the poll state machine, do it */
-					if (want_start)
+					if (want_start) {
 						start();
+					}
 
 					return OK;
 				}
 
-				/* adjust to a legal polling interval in Hz */
+			/* adjust to a legal polling interval in Hz */
 			default: {
 					/* do we need to start internal polling? */
 					bool want_start = (_measure_ticks == 0);
@@ -217,15 +225,17 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 					unsigned ticks = USEC2TICK(1000000 / arg);
 
 					/* check against maximum rate */
-					if (ticks < USEC2TICK(_conversion_interval))
+					if (ticks < USEC2TICK(_conversion_interval)) {
 						return -EINVAL;
+					}
 
 					/* update interval for next measurement */
 					_measure_ticks = ticks;
 
 					/* if we need to start the poll state machine, do it */
-					if (want_start)
+					if (want_start) {
 						start();
+					}
 
 					return OK;
 				}
@@ -233,21 +243,25 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 		}
 
 	case SENSORIOCGPOLLRATE:
-		if (_measure_ticks == 0)
+		if (_measure_ticks == 0) {
 			return SENSOR_POLLRATE_MANUAL;
+		}
 
 		return (1000 / _measure_ticks);
 
 	case SENSORIOCSQUEUEDEPTH: {
 			/* lower bound is mandatory, upper bound is a sanity check */
-			if ((arg < 1) || (arg > 100))
+			if ((arg < 1) || (arg > 100)) {
 				return -EINVAL;
+			}
 
 			irqstate_t flags = irqsave();
+
 			if (!_reports->resize(arg)) {
 				irqrestore(flags);
 				return -ENOMEM;
 			}
+
 			irqrestore(flags);
 
 			return OK;
@@ -261,16 +275,16 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return -EINVAL;
 
 	case AIRSPEEDIOCSSCALE: {
-		struct airspeed_scale *s = (struct airspeed_scale*)arg;
-		_diff_pres_offset = s->offset_pa;
-		return OK;
+			struct airspeed_scale *s = (struct airspeed_scale *)arg;
+			_diff_pres_offset = s->offset_pa;
+			return OK;
 		}
 
 	case AIRSPEEDIOCGSCALE: {
-		struct airspeed_scale *s = (struct airspeed_scale*)arg;
-		s->offset_pa = _diff_pres_offset;
-		s->scale = 1.0f;
-		return OK;
+			struct airspeed_scale *s = (struct airspeed_scale *)arg;
+			s->offset_pa = _diff_pres_offset;
+			s->scale = 1.0f;
+			return OK;
 		}
 
 	default:
@@ -287,8 +301,9 @@ Airspeed::read(struct file *filp, char *buffer, size_t buflen)
 	int ret = 0;
 
 	/* buffer must be large enough */
-	if (count < 1)
+	if (count < 1) {
 		return -ENOSPC;
+	}
 
 	/* if automatic measurement is enabled */
 	if (_measure_ticks > 0) {
@@ -369,6 +384,7 @@ Airspeed::update_status()
 
 		if (_subsys_pub > 0) {
 			orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);
+
 		} else {
 			_subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info);
 		}
@@ -402,6 +418,7 @@ Airspeed::print_info()
 void
 Airspeed::new_report(const differential_pressure_s &report)
 {
-	if (!_reports->force(&report))
+	if (!_reports->force(&report)) {
 		perf_count(_buffer_overflows);
+	}
 }

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -94,7 +94,7 @@
 class ETSAirspeed : public Airspeed
 {
 public:
-	ETSAirspeed(int bus, int address = I2C_ADDRESS, const char* path = ETS_PATH);
+	ETSAirspeed(int bus, int address = I2C_ADDRESS, const char *path = ETS_PATH);
 
 protected:
 
@@ -113,8 +113,8 @@ protected:
  */
 extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]);
 
-ETSAirspeed::ETSAirspeed(int bus, int address, const char* path) : Airspeed(bus, address,
-	CONVERSION_INTERVAL, path)
+ETSAirspeed::ETSAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
+			CONVERSION_INTERVAL, path)
 {
 
 }
@@ -155,15 +155,16 @@ ETSAirspeed::collect()
 	}
 
 	uint16_t diff_pres_pa_raw = val[1] << 8 | val[0];
-        if (diff_pres_pa_raw == 0) {
+
+	if (diff_pres_pa_raw == 0) {
 		// a zero value means the pressure sensor cannot give us a
 		// value. We need to return, and not report a value or the
 		// caller could end up using this value as part of an
 		// average
 		perf_count(_comms_errors);
-		log("zero value from sensor"); 
+		log("zero value from sensor");
 		return -1;
-        }
+	}
 
 	// The raw value still should be compensated for the known offset
 	diff_pres_pa_raw -= _diff_pres_offset;
@@ -175,7 +176,7 @@ ETSAirspeed::collect()
 
 	differential_pressure_s report;
 	report.timestamp = hrt_absolute_time();
-        report.error_count = perf_event_count(_comms_errors);
+	report.error_count = perf_event_count(_comms_errors);
 
 	// XXX we may want to smooth out the readings to remove noise.
 	report.differential_pressure_filtered_pa = diff_pres_pa_raw;
@@ -210,6 +211,7 @@ ETSAirspeed::cycle()
 
 		/* perform collection */
 		ret = collect();
+
 		if (OK != ret) {
 			perf_count(_comms_errors);
 			/* restart the measurement state machine */
@@ -239,6 +241,7 @@ ETSAirspeed::cycle()
 
 	/* measurement phase */
 	ret = measure();
+
 	if (OK != ret) {
 		debug("measure error");
 	}
@@ -287,26 +290,31 @@ start(int i2c_bus)
 {
 	int fd;
 
-	if (g_dev != nullptr)
+	if (g_dev != nullptr) {
 		errx(1, "already started");
+	}
 
 	/* create the driver */
 	g_dev = new ETSAirspeed(i2c_bus);
 
-	if (g_dev == nullptr)
+	if (g_dev == nullptr) {
 		goto fail;
+	}
 
-	if (OK != g_dev->Airspeed::init())
+	if (OK != g_dev->Airspeed::init()) {
 		goto fail;
+	}
 
 	/* set the poll rate to default, starts automatic data collection */
 	fd = open(AIRSPEED0_DEVICE_PATH, O_RDONLY);
 
-	if (fd < 0)
+	if (fd < 0) {
 		goto fail;
+	}
 
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		goto fail;
+	}
 
 	exit(0);
 
@@ -351,21 +359,24 @@ test()
 
 	int fd = open(ETS_PATH, O_RDONLY);
 
-	if (fd < 0)
+	if (fd < 0) {
 		err(1, "%s open failed (try 'ets_airspeed start' if the driver is not running", ETS_PATH);
+	}
 
 	/* do a simple demand read */
 	sz = read(fd, &report, sizeof(report));
 
-	if (sz != sizeof(report))
+	if (sz != sizeof(report)) {
 		err(1, "immediate read failed");
+	}
 
 	warnx("single read");
 	warnx("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa);
 
 	/* start the sensor polling at 2Hz */
-	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
 		errx(1, "failed to set 2Hz poll rate");
+	}
 
 	/* read the sensor 5x and report each value */
 	for (unsigned i = 0; i < 5; i++) {
@@ -376,22 +387,25 @@ test()
 		fds.events = POLLIN;
 		ret = poll(&fds, 1, 2000);
 
-		if (ret != 1)
+		if (ret != 1) {
 			errx(1, "timed out waiting for sensor data");
+		}
 
 		/* now go get it */
 		sz = read(fd, &report, sizeof(report));
 
-		if (sz != sizeof(report))
+		if (sz != sizeof(report)) {
 			err(1, "periodic read failed");
+		}
 
 		warnx("periodic read %u", i);
 		warnx("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa);
 	}