Merge branch 'master' of github.com:PX4/Firmware into fixedwing_l1

5 files changed, 42 insertions, 4 deletions

diff --git a/Makefile b/Makefile
index 83a6f3ce9..0a8562251 100644
--- a/Makefile
+++ b/Makefile
@@ -40,6 +40,17 @@ export PX4_BASE		 := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
 include $(PX4_BASE)makefiles/setup.mk
 
 #
+# Get a version string provided by git
+# This assumes that git command is available and that
+# the directory holding this file also contains .git directory
+#
+GIT_DESC := $(shell git log -1 --pretty=format:%H)
+ifneq ($(words $(GIT_DESC)),1)
+    GIT_DESC := "unknown_git_version"
+endif
+export GIT_DESC
+
+#
 # Canned firmware configurations that we (know how to) build.
 #
 KNOWN_CONFIGS		:= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
diff --git a/ROMFS/px4fmu_common/init.d/10_dji_f330 b/ROMFS/px4fmu_common/init.d/10_dji_f330
index b8fe5fc31..d21759507 100644
--- a/ROMFS/px4fmu_common/init.d/10_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/10_dji_f330
@@ -10,12 +10,12 @@ then
 	# Set all params here, then disable autoconfig
 	param set SYS_AUTOCONFIG 0
 
-	param set MC_ATTRATE_D 0.004
+	param set MC_ATTRATE_D 0.002
 	param set MC_ATTRATE_I 0.0
-	param set MC_ATTRATE_P 0.12
+	param set MC_ATTRATE_P 0.09
 	param set MC_ATT_D 0.0
 	param set MC_ATT_I 0.0
-	param set MC_ATT_P 7.0
+	param set MC_ATT_P 6.8
 	param set MC_YAWPOS_D 0.0
 	param set MC_YAWPOS_I 0.0
 	param set MC_YAWPOS_P 2.0
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index b3e50501c..cb20d9cd1 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -110,6 +110,8 @@ ifneq ($(words $(PX4_BASE)),1)
 $(error Cannot build when the PX4_BASE path contains one or more space characters.)
 endif
 
+$(info %  GIT_DESC            = $(GIT_DESC))
+
 #
 # Set a default target so that included makefiles or errors here don't 
 # cause confusion.
@@ -177,6 +179,12 @@ GLOBAL_DEPS		+= $(MAKEFILE_LIST)
 #
 EXTRA_CLEANS		 = 
 
+
+#
+# Extra defines for compilation
+#
+export EXTRADEFINES := -DGIT_VERSION=$(GIT_DESC)
+
 #
 # Append the per-board driver directory to the header search path.
 #
diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig
index 5be528f8c..a1e128a40 100644
--- a/nuttx-configs/px4fmu-v1/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v1/nsh/defconfig
@@ -712,7 +712,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=2048
 #
 # Basic CXX Support
 #
-# CONFIG_C99_BOOL8 is not set
+CONFIG_C99_BOOL8=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 # CONFIG_CXX_NEWLONG is not set
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 4eeb65a87..1343bb3d0 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -250,8 +250,26 @@ struct log_GVSP_s {
 	float vz;
 };
 
+/* --- FWRV - FIRMWARE REVISION --- */
+#define LOG_FWRV_MSG 20
+struct log_FWRV_s {
+	char    fw_revision[64];
+};
+
 #pragma pack(pop)
 
+
+/*
+ GIT_VERSION is defined at build time via a Makefile call to the
+ git command line. We create a fake log message format for 
+ the firmware revision "FWRV" that is written to every log
+ header. This makes it easier to determine which version
+ of the firmware was running when a log was created.
+ */
+#define FREEZE_STR(s) #s
+#define STRINGIFY(s) FREEZE_STR(s)
+#define FW_VERSION_STR  STRINGIFY(GIT_VERSION)
+
 /* construct list of all message formats */
 
 static const struct log_format_s log_formats[] = {
@@ -274,6 +292,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"),
 	LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
 	LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
+	LOG_FORMAT(FWRV,"Z",FW_VERSION_STR),
 };
 
 static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);