Merge remote-tracking branch 'upstream/master' into ros

11 files changed, 149 insertions, 32 deletions

diff --git a/NuttX b/NuttX
-Subproject 255dc96065ce1fdd7f0f56ca5afb6b6112abfc7
+Subproject dbcccb2455d759b789d549d25e1fbf489b2d3c8
diff --git a/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
new file mode 100644
index 000000000..e68f57f25
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/10019_sk450_deadcat
@@ -0,0 +1,31 @@
+#!nsh
+#
+# HobbyKing SK450 DeadCat modification
+#
+# Anton Matosov <anton.matosov@gmail.com>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $AUTOCNF == yes ]
+then
+	param set MC_ROLL_P 6.0
+	param set MC_ROLLRATE_P 0.04
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLLRATE_D 0.0015
+	
+	param set MC_PITCH_P 6.0
+	param set MC_PITCHRATE_P 0.08
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_D 0.0015
+	
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.1
+	param set MC_YAWRATE_I 0.07
+	param set MC_YAWRATE_D 0.0
+fi
+
+set MIXER sk450_deadcat
+
+set PWM_OUT 1234
+set PWM_MIN 1050
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 20f2be0d9..b83687fbd 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -226,6 +226,11 @@ then
 	sh /etc/init.d/10018_tbs_endurance
 fi
 
+if param compare SYS_AUTOSTART 10019
+then
+	sh /etc/init.d/10019_sk450_deadcat
+fi
+
 #
 # Hexa Coaxial
 #
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 84c7e096d..36a512441 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -164,6 +164,7 @@ then
 	else
 		sh /etc/init.d/rc.autostart
 	fi
+	unset MODE
 
 	#
 	# Override parameters from user configuration file
@@ -185,6 +186,7 @@ then
 		param set SYS_AUTOCONFIG 0
 		param save
 	fi
+	unset AUTOCNF
 
 	set IO_PRESENT no
 
@@ -524,7 +526,7 @@ then
 			then
 				set MAV_TYPE 2
 			fi
-			if [ $MIXER == quad_w ]
+			if [ $MIXER == quad_w -o $MIXER == sk450_deadcat ]
 			then
 				set MAV_TYPE 2
 			fi
diff --git a/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix b/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix
new file mode 100644
index 000000000..a8c5b716d
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/sk450_deadcat.main.mix
@@ -0,0 +1,25 @@
+Multirotor mixer for PX4FMU
+===========================
+
+This file defines a single mixer for a quadrotor in SK450 DeadCat configuration.  All controls are mixed 100%.
+
+R: 4dc 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py
index 3a4540ac0..272080619 100755
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 ############################################################################
 #
-#   Copyright (C) 2012, 2013 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
@@ -227,16 +227,21 @@ class uploader(object):
                             + uploader.EOC)
                 self.__getSync()
 
-#       def __trySync(self):
-#               c = self.__recv()
-#               if (c != self.INSYNC):
-#                       #print("unexpected 0x%x instead of INSYNC" % ord(c))
-#                       return False;
-#               c = self.__recv()
-#               if (c != self.OK):
-#                       #print("unexpected 0x%x instead of OK" % ord(c))
-#                       return False
-#               return True
+        def __trySync(self):
+                try:
+                    self.port.flush()
+                    if (self.__recv() != self.INSYNC):
+                            #print("unexpected 0x%x instead of INSYNC" % ord(c))
+                            return False;
+
+                    if (self.__recv() != self.OK):
+                            #print("unexpected 0x%x instead of OK" % ord(c))
+                            return False
+                    return True
+
+                except RuntimeError:
+                    #timeout, no response yet
+                    return False
 
         # send the GET_DEVICE command and wait for an info parameter
         def __getInfo(self, param):
@@ -261,19 +266,37 @@ class uploader(object):
                 self.__getSync()
                 return value
 
+        def __drawProgressBar(self, progress, maxVal):
+                if maxVal < progress:
+                    progress = maxVal
+
+                percent = (float(progress) / float(maxVal)) * 100.0
+
+                sys.stdout.write("\rprogress:[%-20s] %.2f%%" % ('='*int(percent/5.0), percent))
+                sys.stdout.flush()
+
+
         # send the CHIP_ERASE command and wait for the bootloader to become ready
         def __erase(self):
                 self.__send(uploader.CHIP_ERASE
                             + uploader.EOC)
+
                 # erase is very slow, give it 20s
-                deadline = time.time() + 20
+                deadline = time.time() + 20.0
                 while time.time() < deadline:
-                        try:
-                                self.__getSync()
-                                return
-                        except RuntimeError:
-                                # we timed out, that's OK
-                                continue
+
+                        #Draw progress bar (erase usually takes about 9 seconds to complete)
+                        estimatedTimeRemaining = deadline-time.time()
+                        if estimatedTimeRemaining > 0:
+                            self.__drawProgressBar(20.0-estimatedTimeRemaining, 9.0)
+                        else:
+                            self.__drawProgressBar(10.0, 10.0)
+                            sys.stdout.write(" (timeout: %d seconds) " % int(time.time()-deadline) )
+
+                        if self.__trySync():
+                            self.__drawProgressBar(10.0, 10.0)
+                            sys.stdout.write("\nerase complete!\n")
+                            return;
 
                 raise RuntimeError("timed out waiting for erase")
 
@@ -329,9 +352,18 @@ class uploader(object):
         def __program(self, fw):
                 code = fw.image
                 groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
+
+                uploadProgress = 0
                 for bytes in groups:
                         self.__program_multi(bytes)
 
+                        #Print upload progress (throttled, so it does not delay upload progress)
+                        uploadProgress += 1
+                        if uploadProgress % 256 == 0:
+                            self.__drawProgressBar(uploadProgress, len(groups))
+                self.__drawProgressBar(100, 100)
+                print("\nprogram complete!")
+
         # verify code
         def __verify_v2(self, fw):
                 self.__send(uploader.CHIP_VERIFY
@@ -434,8 +466,7 @@ class uploader(object):
                     self.__send(uploader.MAVLINK_REBOOT_ID0)
                 except:
                     return
-                
-                
+
 
 # Detect python version
 if sys.version_info[0] < 3:
@@ -511,8 +542,10 @@ while True:
                         print("attempting reboot on %s..." % port)
                         print("if the board does not respond, unplug and re-plug the USB connector.")
                         up.send_reboot()
+
                         # wait for the reboot, without we might run into Serial I/O Error 5 
                         time.sleep(0.5)
+
                         # always close the port
                         up.close()
                         continue
@@ -524,7 +557,7 @@ while True:
                 except RuntimeError as ex:
 
                         # print the error
-                        print("ERROR: %s" % ex.args)
+                        print("\nERROR: %s" % ex.args)
 
                 finally:
                         # always close the port
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index 09106c090..a5f996bb3 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -32,9 +32,9 @@ MODULES		+= drivers/ll40ls
 # MODULES		+= drivers/trone
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
-MODULES		+= drivers/hott
-MODULES		+= drivers/hott/hott_telemetry
-MODULES		+= drivers/hott/hott_sensors
+# MODULES		+= drivers/hott
+# MODULES		+= drivers/hott/hott_telemetry
+# MODULES		+= drivers/hott/hott_sensors
 # MODULES		+= drivers/blinkm
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig
index f9ab949e1..ac3dbe5da 100644
--- a/nuttx-configs/px4fmu-v2/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v2/nsh/defconfig
@@ -389,7 +389,7 @@ CONFIG_ARCH_BOARD=""
 #
 CONFIG_NSH_MMCSDMINOR=0
 CONFIG_NSH_MMCSDSLOTNO=0
-
+CONFIG_MMCSD_HAVE_SDIOWAIT_WRCOMPLETE=y
 #
 # Board-Specific Options
 #
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h
index 864ce21a5..67ef521b4 100644
--- a/src/modules/systemlib/mixer/mixer.h
+++ b/src/modules/systemlib/mixer/mixer.h
@@ -441,7 +441,6 @@ private:
 	SimpleMixer operator=(const SimpleMixer&);
 };
 
-
 /**
  * Supported multirotor geometries.
  *
@@ -460,12 +459,14 @@ class __EXPORT MultirotorMixer : public Mixer
 {
 public:
 	/**
+
 	 * Precalculated rotor mix.
 	 */
 	struct Rotor {
 		float	roll_scale;	/**< scales roll for this rotor */
 		float	pitch_scale;	/**< scales pitch for this rotor */
 		float	yaw_scale;	/**< scales yaw for this rotor */
+		float	out_scale;	/**< scales total out for this rotor */
 	};
 
 	/**
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index 5cfbe47f0..2ab5b5e8e 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -75,7 +75,8 @@ float constrain(float val, float min, float max)
 {
 	return (val < min) ? min : ((val > max) ? max : val);
 }
-}
+
+} // anonymous namespace
 
 MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
 				 uintptr_t cb_handle,
@@ -89,6 +90,7 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
 	_pitch_scale(pitch_scale),
 	_yaw_scale(yaw_scale),
 	_idle_speed(-1.0f + idle_speed * 2.0f),	/* shift to output range here to avoid runtime calculation */
+	_limits_pub(),
 	_rotor_count(_config_rotor_count[(MultirotorGeometryUnderlyingType)geometry]),
 	_rotors(_config_index[(MultirotorGeometryUnderlyingType)geometry])
 {
@@ -152,6 +154,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	} else if (!strcmp(geomname, "4w")) {
 		geometry = MultirotorGeometry::QUAD_WIDE;
 
+	} else if (!strcmp(geomname, "4dc")) {
+		geometry = MultirotorGeometry::QUAD_DEADCAT;
+
 	} else if (!strcmp(geomname, "6+")) {
 		geometry = MultirotorGeometry::HEX_PLUS;
 
@@ -212,6 +217,8 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 			    pitch * _rotors[i].pitch_scale +
 			    thrust;
 
+		out *= _rotors[i].out_scale;
+
 		/* limit yaw if it causes outputs clipping */
 		if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) {
 			yaw = -out / _rotors[i].yaw_scale;
diff --git a/src/modules/systemlib/mixer/multi_tables.py b/src/modules/systemlib/mixer/multi_tables.py
index 21c0affd9..ba59e0536 100755
--- a/src/modules/systemlib/mixer/multi_tables.py
+++ b/src/modules/systemlib/mixer/multi_tables.py
@@ -69,6 +69,13 @@ quad_plus = [
     [ 180, CW],
 ]
 
+quad_deadcat = [
+    [  63, CCW, 1.0],
+    [-135, CCW, 0.964],
+    [ -63, CW, 1.0],
+    [ 135, CW, 0.964],
+]
+
 quad_v = [
     [  18.8, 0.4242],
     [ -18.8, 1.0],
@@ -148,13 +155,18 @@ twin_engine = [
     [-90, 0.0],
 ]
 
+
+tables = [quad_x, quad_plus, quad_v, quad_wide, quad_deadcat, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine]
+
 def variableName(variable):
     for variableName, value in list(globals().items()):
         if value is variable:
             return variableName
 
-tables = [quad_x, quad_plus, quad_v, quad_wide, hex_x, hex_plus, hex_cox, octa_x, octa_plus, octa_cox, twin_engine]
-
+def unpackScales(scalesList):
+    if len(scalesList) == 2:
+        scalesList += [1.0] #Add thrust scale
+    return scalesList
 
 def printEnum():
     print("enum class MultirotorGeometry : MultirotorGeometryUnderlyingType {")
@@ -167,10 +179,11 @@ def printEnum():
 def printScaleTables():
     for table in tables:
         print("const MultirotorMixer::Rotor _config_{}[] = {{".format(variableName(table)))
-        for (angle, yawScale) in table:
+        for row in table:
+            angle, yawScale, thrustScale = unpackScales(row)
             rollScale = rcos(angle + 90)
             pitchScale = rcos(angle)
-            print("\t{{ {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale))
+            print("\t{{ {:9f}, {:9f}, {:9f}, {:9f} }},".format(rollScale, pitchScale, yawScale, thrustScale))
         print("};\n")
 
 def printScaleTablesIndex():