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

8 files changed, 27 insertions, 45 deletions

diff --git a/makefiles/config_px4fmu-v1_backside.mk b/makefiles/config_px4fmu-v1_backside.mk
index 1d32ee7fb..6d2a9f7bd 100644
--- a/makefiles/config_px4fmu-v1_backside.mk
+++ b/makefiles/config_px4fmu-v1_backside.mk
@@ -25,14 +25,10 @@ MODULES		+= drivers/bma180
 MODULES		+= drivers/mpu6000
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
-MODULES		+= drivers/mb12xx
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
-MODULES		+= drivers/hott/hott_telemetry
-MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
 MODULES		+= drivers/rgbled
-MODULES		+= drivers/mkblctrl
 MODULES		+= drivers/roboclaw
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
@@ -71,22 +67,11 @@ MODULES		+= modules/gpio_led
 #
 # Estimation modules (EKF/ SO3 / other filters)
 #
-#MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/att_pos_estimator_ekf
-#MODULES		+= modules/position_estimator_inav
-MODULES		+= examples/flow_position_estimator
-MODULES		+= modules/attitude_estimator_so3
 
 #
 # Vehicle Control
 #
-#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
-#MODULES		+= modules/fw_pos_control_l1
-#MODULES		+= modules/fw_att_control
-#MODULES		+= modules/multirotor_att_control
-#MODULES		+= modules/multirotor_pos_control
-#MODULES		+= examples/flow_position_control
-#MODULES		+= examples/flow_speed_control
 MODULES 		+= modules/fixedwing_backside
 
 #
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 2f76d81a4..fba50aaf8 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -21,7 +21,7 @@ MODULES		+= drivers/px4fmu
 MODULES		+= drivers/boards/px4fmu-v1
 MODULES		+= drivers/ardrone_interface
 MODULES		+= drivers/l3gd20
-MODULES		+= drivers/bma180
+#MODULES		+= drivers/bma180
 MODULES		+= drivers/mpu6000
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
@@ -33,7 +33,6 @@ MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
 MODULES		+= drivers/rgbled
 MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/roboclaw
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
@@ -75,18 +74,17 @@ MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/attitude_estimator_so3
 MODULES		+= modules/att_pos_estimator_ekf
 MODULES		+= modules/position_estimator_inav
-MODULES		+= examples/flow_position_estimator
+#MODULES		+= examples/flow_position_estimator
 
 #
 # Vehicle Control
 #
-#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
 MODULES		+= modules/fw_pos_control_l1
 MODULES		+= modules/fw_att_control
 MODULES		+= modules/multirotor_att_control
 MODULES		+= modules/multirotor_pos_control
-MODULES		+= examples/flow_position_control
-MODULES		+= examples/flow_speed_control
+#MODULES		+= examples/flow_position_control
+#MODULES		+= examples/flow_speed_control
 
 #
 # Logging
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 9fd2dd516..bb729e103 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -138,8 +138,7 @@ ARCHCWARNINGS		 = $(ARCHWARNINGS) \
 			   -Wold-style-declaration \
 			   -Wmissing-parameter-type \
 			   -Wmissing-prototypes \
-			   -Wnested-externs \
-			   -Wunsuffixed-float-constants
+			   -Wnested-externs
 
 # C++-specific warnings
 #
diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h
index 27621211a..6f7166284 100644
--- a/src/drivers/boards/px4fmu-v1/board_config.h
+++ b/src/drivers/boards/px4fmu-v1/board_config.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 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
@@ -34,7 +34,7 @@
 /**
  * @file board_config.h
  *
- * PX4FMU internal definitions
+ * PX4FMUv1 internal definitions
  */
 
 #pragma once
@@ -180,7 +180,7 @@ __BEGIN_DECLS
 #define HRT_TIMER		1	/* use timer1 for the HRT */
 #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
 #define HRT_PPM_CHANNEL		3	/* use capture/compare channel 3 */
-#define GPIO_PPM_IN		(GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
+#define GPIO_PPM_IN		(GPIO_ALT|GPIO_AF1|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
 
 /****************************************************************************************************
  * Public Types
diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h
index 7ab63953f..a19ed9d24 100644
--- a/src/drivers/boards/px4fmu-v2/board_config.h
+++ b/src/drivers/boards/px4fmu-v2/board_config.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 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
@@ -34,7 +34,7 @@
 /**
  * @file board_config.h
  *
- * PX4FMU internal definitions
+ * PX4FMUv2 internal definitions
  */
 
 #pragma once
@@ -82,21 +82,21 @@ __BEGIN_DECLS
 #define GPIO_EXTI_MPU_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
 
 /* Data ready pins off */
-#define GPIO_GYRO_DRDY_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_MAG_DRDY_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_ACCEL_DRDY_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_GYRO_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_MAG_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_ACCEL_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
 #define GPIO_EXTI_MPU_DRDY	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
 
 /* SPI1 off */
-#define GPIO_SPI1_SCK_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
-#define GPIO_SPI1_MISO_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
-#define GPIO_SPI1_MOSI_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
+#define GPIO_SPI1_SCK_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
+#define GPIO_SPI1_MISO_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_SPI1_MOSI_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
 
 /* SPI1 chip selects off */
-#define GPIO_SPI_CS_GYRO_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
-#define GPIO_SPI_CS_ACCEL_MAG_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_SPI_CS_BARO_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
-#define GPIO_SPI_CS_MPU		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_SPI_CS_GYRO_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_SPI_CS_ACCEL_MAG_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_SPI_CS_BARO_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
+#define GPIO_SPI_CS_MPU			(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
 
 /* SPI chip selects */
 #define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
@@ -177,7 +177,7 @@ __BEGIN_DECLS
  *
  * PA9  OTG_FS_VBUS VBUS sensing (also connected to the green LED)
  */
-#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
 
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */
diff --git a/src/drivers/boards/px4io-v1/board_config.h b/src/drivers/boards/px4io-v1/board_config.h
index 48aadbd76..c3f39addf 100644
--- a/src/drivers/boards/px4io-v1/board_config.h
+++ b/src/drivers/boards/px4io-v1/board_config.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 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
@@ -92,4 +92,4 @@
 #define HRT_TIMER		1	/* use timer1 for the HRT */
 #define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
 #define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 */
-#define GPIO_PPM_IN		GPIO_TIM1_CH1IN
+#define GPIO_PPM_IN		(GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9)
diff --git a/src/drivers/boards/px4io-v2/board_config.h b/src/drivers/boards/px4io-v2/board_config.h
index 4d41d0d07..8da555211 100644
--- a/src/drivers/boards/px4io-v2/board_config.h
+++ b/src/drivers/boards/px4io-v2/board_config.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 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
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4iov2_internal.h
+ * @file board_config.h
  *
  * PX4IOV2 internal definitions
  */
@@ -122,7 +122,7 @@
 #define HRT_TIMER		1	/* use timer1 for the HRT */
 #define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
 #define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 */
-#define GPIO_PPM_IN		GPIO_TIM1_CH1IN
+#define GPIO_PPM_IN		(GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9)
 
 /* LED definitions ******************************************************************/
 /* PX4 has two LEDs that we will encode as: */
diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index 03f1dfbe5..6b87141e9 100644
--- a/src/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
@@ -60,7 +60,7 @@
 /**
  * Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
  */
-#define RC_INPUT_MAX_CHANNELS	20
+#define RC_INPUT_MAX_CHANNELS	18
 
 /**
  * Input signal type, value is a control position from zero to 100