merge origin/master

7 files changed, 909 insertions, 68 deletions

diff --git a/apps/drivers/hil/Makefile b/apps/drivers/hil/Makefile
new file mode 100644
index 000000000..1fb6e37bc
--- /dev/null
+++ b/apps/drivers/hil/Makefile
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   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 PX4FMU board
+#
+
+APPNAME		 = hil
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 2048
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/hil/hil.cpp b/apps/drivers/hil/hil.cpp
new file mode 100644
index 000000000..dd5463d4e
--- /dev/null
+++ b/apps/drivers/hil/hil.cpp
@@ -0,0 +1,852 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hil.cpp
+ *
+ * Driver/configurator for the virtual HIL port.
+ *
+ * This virtual driver emulates PWM / servo outputs for setups where
+ * the connected hardware does not provide enough or no PWM outputs.
+ *
+ * Its only function is to take actuator_control uORB messages,
+ * mix them with any loaded mixer and output the result to the
+ * actuator_output uORB topic. HIL can also be performed with normal
+ * PWM outputs, a special flag prevents the outputs to be operated
+ * during HIL mode. If HIL is not performed with a standalone FMU,
+ * but in a real system, it is NOT recommended to use this virtual
+ * driver. Use instead the normal FMU or IO driver.
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+
+#include <nuttx/arch.h>
+
+#include <drivers/device/device.h>
+#include <drivers/drv_pwm_output.h>
+#include <drivers/drv_gpio.h>
+// #include <drivers/boards/HIL/HIL_internal.h>
+
+#include <systemlib/systemlib.h>
+#include <systemlib/mixer/mixer.h>
+#include <drivers/drv_mixer.h>
+
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_outputs.h>
+
+#include <systemlib/err.h>
+
+class HIL : public device::CDev
+{
+public:
+	enum Mode {
+		MODE_2PWM,
+		MODE_4PWM,
+        MODE_8PWM,
+        MODE_12PWM,
+        MODE_16PWM,
+		MODE_NONE
+	};
+	HIL();
+	~HIL();
+
+	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
+
+	virtual int	init();
+
+	int		set_mode(Mode mode);
+	int		set_pwm_rate(unsigned rate);
+
+private:
+	static const unsigned _max_actuators = 4;
+
+	Mode		_mode;
+	int 		_update_rate;
+	int 		_current_update_rate;
+	int		_task;
+	int		_t_actuators;
+	int		_t_armed;
+	orb_advert_t	_t_outputs;
+	unsigned	_num_outputs;
+	bool		_primary_pwm_device;
+
+	volatile bool	_task_should_exit;
+	bool		_armed;
+
+	MixerGroup	*_mixers;
+
+	actuator_controls_s _controls;
+
+	static void	task_main_trampoline(int argc, char *argv[]);
+	void		task_main() __attribute__((noreturn));
+
+	static int	control_callback(uintptr_t handle,
+			uint8_t control_group,
+			uint8_t control_index,
+			float &input);
+
+	int		pwm_ioctl(file *filp, int cmd, unsigned long arg);
+
+	struct GPIOConfig {
+		uint32_t	input;
+		uint32_t	output;
+		uint32_t	alt;
+	};
+
+	static const GPIOConfig	_gpio_tab[];
+	static const unsigned	_ngpio;
+
+	void		gpio_reset(void);
+	void		gpio_set_function(uint32_t gpios, int function);
+	void		gpio_write(uint32_t gpios, int function);
+	uint32_t	gpio_read(void);
+	int		gpio_ioctl(file *filp, int cmd, unsigned long arg);
+
+};
+
+namespace
+{
+
+HIL	*g_hil;
+
+} // namespace
+
+HIL::HIL() :
+	CDev("hilservo", PWM_OUTPUT_DEVICE_PATH/*"/dev/hil" XXXL*/),
+	_mode(MODE_NONE),
+	_update_rate(50),
+	_task(-1),
+	_t_actuators(-1),
+	_t_armed(-1),
+	_t_outputs(0),
+	_num_outputs(0),
+	_primary_pwm_device(false),
+	_task_should_exit(false),
+	_armed(false),
+	_mixers(nullptr)
+{
+	_debug_enabled = true;
+}
+
+HIL::~HIL()
+{
+	if (_task != -1) {
+		/* tell the task we want it to go away */
+		_task_should_exit = true;
+
+		unsigned i = 10;
+		do {
+			/* wait 50ms - it should wake every 100ms or so worst-case */
+			usleep(50000);
+
+			/* if we have given up, kill it */
+			if (--i == 0) {
+				task_delete(_task);
+				break;
+			}
+
+		} while (_task != -1);
+	}
+
+	/* clean up the alternate device node */
+	if (_primary_pwm_device)
+		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
+
+	g_hil = nullptr;
+}
+
+int
+HIL::init()
+{
+	int ret;
+
+	ASSERT(_task == -1);
+
+	/* do regular cdev init */
+	ret = CDev::init();
+
+	if (ret != OK)
+		return ret;
+
+	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
+	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
+	if (ret == OK) {
+		log("default PWM output device");
+		_primary_pwm_device = true;
+	}
+
+	/* reset GPIOs */
+	// gpio_reset();
+
+	/* start the IO interface task */
+	_task = task_spawn("fmuservo",
+			   SCHED_DEFAULT,
+			   SCHED_PRIORITY_DEFAULT,
+			   1024,
+			   (main_t)&HIL::task_main_trampoline,
+			   nullptr);
+
+	if (_task < 0) {
+		debug("task start failed: %d", errno);
+		return -errno;
+	}
+
+	return OK;
+}
+
+void
+HIL::task_main_trampoline(int argc, char *argv[])
+{
+	g_hil->task_main();
+}
+
+int
+HIL::set_mode(Mode mode)
+{
+	/* 
+	 * Configure for PWM output.
+	 *
+	 * Note that regardless of the configured mode, the task is always
+	 * listening and mixing; the mode just selects which of the channels
+	 * are presented on the output pins.
+	 */
+	switch (mode) {
+	case MODE_2PWM:
+		debug("MODE_2PWM");
+		/* multi-port with flow control lines as PWM */
+		_update_rate = 50;	/* default output rate */
+		break;
+
+	case MODE_4PWM:
+		debug("MODE_4PWM");
+		/* multi-port as 4 PWM outs */
+		_update_rate = 50;	/* default output rate */
+		break;
+            
+    	case MODE_8PWM:
+            debug("MODE_8PWM");
+            /* multi-port as 8 PWM outs */
+            _update_rate = 50;	/* default output rate */
+            break;
+            
+        case MODE_12PWM:
+            debug("MODE_12PWM");
+            /* multi-port as 12 PWM outs */
+            _update_rate = 50;	/* default output rate */
+            break;
+            
+        case MODE_16PWM:
+            debug("MODE_16PWM");
+            /* multi-port as 16 PWM outs */
+            _update_rate = 50;	/* default output rate */
+            break;
+
+	case MODE_NONE:
+		debug("MODE_NONE");
+		/* disable servo outputs and set a very low update rate */
+		_update_rate = 10;
+		break;
+
+	default:
+		return -EINVAL;
+	}
+	_mode = mode;
+	return OK;
+}
+
+int
+HIL::set_pwm_rate(unsigned rate)
+{
+	if ((rate > 500) || (rate < 10))
+		return -EINVAL;
+
+	_update_rate = rate;
+	return OK;
+}
+
+void
+HIL::task_main()
+{
+	/*
+	 * Subscribe to the appropriate PWM output topic based on whether we are the
+	 * primary PWM output or not.
+	 */
+	_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
+				     ORB_ID(actuator_controls_1));
+	/* force a reset of the update rate */
+	_current_update_rate = 0;
+
+	_t_armed = orb_subscribe(ORB_ID(actuator_armed));
+	orb_set_interval(_t_armed, 200);		/* 5Hz update rate */
+
+	/* advertise the mixed control outputs */
+	actuator_outputs_s outputs;
+	memset(&outputs, 0, sizeof(outputs));
+	/* advertise the mixed control outputs */
+	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
+				   &outputs);
+
+	pollfd fds[2];
+	fds[0].fd = _t_actuators;
+	fds[0].events = POLLIN;
+	fds[1].fd = _t_armed;
+	fds[1].events = POLLIN;
+
+	unsigned num_outputs;
+
+	/* select the number of virtual outputs */
+	switch (_mode) {
+	case MODE_2PWM:
+		num_outputs = 2;
+		break;
+
+	case MODE_4PWM:
+		num_outputs = 4;
+		break;
+
+	case MODE_8PWM:
+	case MODE_12PWM:
+	case MODE_16PWM:
+		// XXX only support the lower 8 - trivial to extend
+		num_outputs = 8;
+		break;
+
+	case MODE_NONE:
+	default:
+		num_outputs = 0;
+		break;
+	}
+
+	log("starting");
+
+	/* loop until killed */
+	while (!_task_should_exit) {
+
+		/* handle update rate changes */
+		if (_current_update_rate != _update_rate) {
+			int update_rate_in_ms = int(1000 / _update_rate);
+			if (update_rate_in_ms < 2)
+				update_rate_in_ms = 2;
+			orb_set_interval(_t_actuators, update_rate_in_ms);
+			// up_pwm_servo_set_rate(_update_rate);
+			_current_update_rate = _update_rate;
+		}
+
+		/* sleep waiting for data, but no more than a second */
+		int ret = ::poll(&fds[0], 2, 1000);
+
+		/* this would be bad... */
+		if (ret < 0) {
+			log("poll error %d", errno);
+			usleep(1000000);
+			continue;
+		}
+
+		/* do we have a control update? */
+		if (fds[0].revents & POLLIN) {
+
+			/* get controls - must always do this to avoid spinning */
+			orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
+
+			/* can we mix? */
+			if (_mixers != nullptr) {
+
+				/* do mixing */
+				_mixers->mix(&outputs.output[0], num_outputs);
+
+				/* iterate actuators */
+				for (unsigned i = 0; i < num_outputs; i++) {
+
+					/* scale for PWM output 900 - 2100us */
+					outputs.output[i] = 1500 + (600 * outputs.output[i]);
+
+					/* output to the servo */
+					// up_pwm_servo_set(i, outputs.output[i]);
+				}
+
+				/* and publish for anyone that cares to see */
+				orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &outputs);
+			}
+		}
+
+		/* how about an arming update? */
+		if (fds[1].revents & POLLIN) {
+			actuator_armed_s aa;
+
+			/* get new value */
+			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
+
+			/* update PWM servo armed status */
+			// up_pwm_servo_arm(aa.armed);
+		}
+	}
+
+	::close(_t_actuators);
+	::close(_t_armed);
+
+	/* make sure servos are off */
+	// up_pwm_servo_deinit();
+
+	log("stopping");
+
+	/* note - someone else is responsible for restoring the GPIO config */
+
+	/* tell the dtor that we are exiting */
+	_task = -1;
+	_exit(0);
+}
+
+int
+HIL::control_callback(uintptr_t handle,
+				      uint8_t control_group,
+				      uint8_t control_index,
+				      float &input)
+{
+	const actuator_controls_s *controls = (actuator_controls_s *)handle;
+
+	input = controls->control[control_index];
+	return 0;
+}
+
+int
+HIL::ioctl(file *filp, int cmd, unsigned long arg)
+{
+	int ret;
+
+	debug("ioctl 0x%04x 0x%08x", cmd, arg);
+
+	// /* try it as a GPIO ioctl first */
+	// ret = HIL::gpio_ioctl(filp, cmd, arg);
+	// if (ret != -ENOTTY)
+	// 	return ret;
+
+	/* if we are in valid PWM mode, try it as a PWM ioctl as well */
+	switch(_mode) {
+	case MODE_2PWM:
+	case MODE_4PWM:
+        case MODE_8PWM:
+        case MODE_12PWM:
+        case MODE_16PWM:
+		ret = HIL::pwm_ioctl(filp, cmd, arg);
+		break;
+	default:
+		debug("not in a PWM mode");
+		break;
+	}
+
+	/* if nobody wants it, let CDev have it */
+	if (ret == -ENOTTY)
+		ret = CDev::ioctl(filp, cmd, arg);
+
+	return ret;
+}
+
+int
+HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
+{
+	int ret = OK;
+	int channel;
+
+	lock();
+
+	switch (cmd) {
+	case PWM_SERVO_ARM:
+		// up_pwm_servo_arm(true);
+		break;
+
+	case PWM_SERVO_DISARM:
+		// up_pwm_servo_arm(false);
+		break;
+
+	case PWM_SERVO_SET(2):
+	case PWM_SERVO_SET(3):
+		if (_mode != MODE_4PWM) {
+			ret = -EINVAL;
+			break;
+		}
+
+		/* FALLTHROUGH */
+	case PWM_SERVO_SET(0):
+	case PWM_SERVO_SET(1):
+		if (arg < 2100) {
+			// channel = cmd - PWM_SERVO_SET(0);
+//			up_pwm_servo_set(channel, arg); XXX
+
+		} else {
+			ret = -EINVAL;
+		}
+
+		break;
+
+	case PWM_SERVO_GET(2):
+	case PWM_SERVO_GET(3):
+		if (_mode != MODE_4PWM) {
+			ret = -EINVAL;
+			break;
+		}
+
+		/* FALLTHROUGH */
+	case PWM_SERVO_GET(0):
+	case PWM_SERVO_GET(1): {
+			// channel = cmd - PWM_SERVO_SET(0);
+			// *(servo_position_t *)arg = up_pwm_servo_get(channel);
+			break;
+		}
+
+	case MIXERIOCGETOUTPUTCOUNT:
+		if (_mode == MODE_4PWM) {
+			*(unsigned *)arg = 4;
+
+		} else {
+			*(unsigned *)arg = 2;
+		}
+
+		break;
+
+	case MIXERIOCRESET:
+		if (_mixers != nullptr) {
+			delete _mixers;
+			_mixers = nullptr;
+		}
+
+		break;
+
+	case MIXERIOCADDSIMPLE: {
+			mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
+
+			SimpleMixer *mixer = new SimpleMixer(control_callback,
+							     (uintptr_t)&_controls, mixinfo);
+
+			if (mixer->check()) {
+				delete mixer;
+				ret = -EINVAL;
+
+			} else {
+				if (_mixers == nullptr)
+					_mixers = new MixerGroup(control_callback,
+								 (uintptr_t)&_controls);
+
+				_mixers->add_mixer(mixer);
+			}
+
+			break;
+		}
+
+	case MIXERIOCADDMULTIROTOR:
+		/* XXX not yet supported */
+		ret = -ENOTTY;
+		break;
+
+	case MIXERIOCLOADFILE: {
+			const char *path = (const char *)arg;
+
+			if (_mixers != nullptr) {
+				delete _mixers;
+				_mixers = nullptr;
+			}
+
+			_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
+			if (_mixers == nullptr) {
+				ret = -ENOMEM;
+			} else {
+
+				debug("loading mixers from %s", path);
+				ret = _mixers->load_from_file(path);
+
+				if (ret != 0) {
+					debug("mixer load failed with %d", ret);
+					delete _mixers;
+					_mixers = nullptr;
+					ret = -EINVAL;
+				}
+			}
+
+			break;
+		}
+
+	default:
+		ret = -ENOTTY;
+		break;
+	}
+
+	unlock();
+
+	return ret;
+}
+
+namespace
+{
+
+enum PortMode {
+	PORT_MODE_UNDEFINED = 0,
+	PORT1_MODE_UNSET,
+	PORT1_FULL_PWM,
+	PORT1_PWM_AND_SERIAL,
+	PORT1_PWM_AND_GPIO,
+	PORT2_MODE_UNSET,
+	PORT2_8PWM,
+	PORT2_12PWM,
+	PORT2_16PWM,
+};
+
+PortMode g_port_mode;
+
+int
+hil_new_mode(PortMode new_mode, int update_rate)
+{
+	// uint32_t gpio_bits;
+	
+
+//	/* reset to all-inputs */
+//	g_hil->ioctl(0, GPIO_RESET, 0);
+
+	// gpio_bits = 0;
+
+	HIL::Mode servo_mode = HIL::MODE_NONE;
+
+	switch (new_mode) {
+	case PORT_MODE_UNDEFINED:
+	case PORT1_MODE_UNSET:
+    	case PORT2_MODE_UNSET:
+            /* nothing more to do here */
+            break;
+
+	case PORT1_FULL_PWM:
+		/* select 4-pin PWM mode */
+		servo_mode = HIL::MODE_4PWM;
+		break;
+
+	case PORT1_PWM_AND_SERIAL:
+		/* select 2-pin PWM mode */
+		servo_mode = HIL::MODE_2PWM;
+//		/* set RX/TX multi-GPIOs to serial mode */
+//		gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
+		break;
+
+	case PORT1_PWM_AND_GPIO:
+		/* select 2-pin PWM mode */
+		servo_mode = HIL::MODE_2PWM;
+		break;
+            
+        case PORT2_8PWM:
+            /* select 8-pin PWM mode */
+            servo_mode = HIL::MODE_8PWM;
+            break;
+            
+        case PORT2_12PWM:
+            /* select 12-pin PWM mode */
+            servo_mode = HIL::MODE_12PWM;
+            break;
+            
+        case PORT2_16PWM:
+            /* select 16-pin PWM mode */
+            servo_mode = HIL::MODE_16PWM;
+            break;
+	}
+
+//	/* adjust GPIO config for serial mode(s) */
+//	if (gpio_bits != 0)
+//		g_hil->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
+
+	/* (re)set the PWM output mode */
+	g_hil->set_mode(servo_mode);
+	if ((servo_mode != HIL::MODE_NONE) && (update_rate != 0))
+		g_hil->set_pwm_rate(update_rate);
+
+	return OK;
+}
+
+int
+hil_start(void)
+{
+	int ret = OK;
+
+	if (g_hil == nullptr) {
+
+		g_hil = new HIL;
+
+		if (g_hil == nullptr) {
+			ret = -ENOMEM;
+
+		} else {
+			ret = g_hil->init();
+
+			if (ret != OK) {
+				delete g_hil;
+				g_hil = nullptr;
+			}
+		}
+	}
+
+	return ret;
+}
+
+void
+test(void)
+{
+	int	fd;
+
+	fd = open(PWM_OUTPUT_DEVICE_PATH, 0);
+
+	if (fd < 0) {
+		puts("open fail");
+		exit(1);
+	}
+
+	ioctl(fd, PWM_SERVO_ARM, 0);
+	ioctl(fd, PWM_SERVO_SET(0), 1000);
+
+	close(fd);
+
+	exit(0);
+}
+
+void
+fake(int argc, char *argv[])
+{
+	if (argc < 5) {
+		puts("hil fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
+		exit(1);
+	}
+
+	actuator_controls_s ac;
+
+	ac.control[0] = strtol(argv[1], 0, 0) / 100.0f;
+
+	ac.control[1] = strtol(argv[2], 0, 0) / 100.0f;
+
+	ac.control[2] = strtol(argv[3], 0, 0) / 100.0f;
+
+	ac.control[3] = strtol(argv[4], 0, 0) / 100.0f;
+
+	orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
+
+	if (handle < 0) {
+		puts("advertise failed");
+		exit(1);
+	}
+
+	exit(0);
+}
+
+} // namespace
+
+extern "C" __EXPORT int hil_main(int argc, char *argv[]);
+
+int
+hil_main(int argc, char *argv[])
+{
+	PortMode new_mode = PORT_MODE_UNDEFINED;
+	int pwm_update_rate_in_hz = 0;
+
+	if (!strcmp(argv[1], "test"))
+		test();
+
+	if (!strcmp(argv[1], "fake"))
+		fake(argc - 1, argv + 1);
+
+	if (hil_start() != OK)
+		errx(1, "failed to start the FMU driver");
+
+	/*
+	 * Mode switches.
+	 *
+	 * XXX use getopt?
+	 */
+	for (int i = 1; i < argc; i++) {   /* argv[0] is "fmu" */
+
+		if (!strcmp(argv[i], "mode_pwm")) {
+			new_mode = PORT1_FULL_PWM;
+
+		} else if (!strcmp(argv[i], "mode_pwm_serial")) {
+			new_mode = PORT1_PWM_AND_SERIAL;
+
+		} else if (!strcmp(argv[i], "mode_pwm_gpio")) {
+			new_mode = PORT1_PWM_AND_GPIO;
+    
+		} else if (!strcmp(argv[i], "mode_port2_pwm8")) {
+			new_mode = PORT2_8PWM;
+
+		} else if (!strcmp(argv[i], "mode_port2_pwm12")) {
+			new_mode = PORT2_8PWM;
+
+		} else if (!strcmp(argv[i], "mode_port2_pwm16")) {
+			new_mode = PORT2_8PWM;
+		}
+
+		/* look for the optional pwm update rate for the supported modes */
+		if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) {
+			// if (new_mode == PORT1_FULL_PWM || new_mode == PORT1_PWM_AND_GPIO) {
+			// XXX all modes have PWM settings
+				if (argc > i + 1) {
+					pwm_update_rate_in_hz = atoi(argv[i + 1]);
+				} else {
+					fprintf(stderr, "missing argument for pwm update rate (-u)\n");
+					return 1;
+				}
+			// } else {
+			// 	fprintf(stderr, "pwm update rate currently only supported for mode_pwm, mode_pwm_gpio\n");
+			// }
+		}
+        }
+
+	/* was a new mode set? */
+	if (new_mode != PORT_MODE_UNDEFINED) {
+
+		/* yes but it's the same mode */
+		if (new_mode == g_port_mode)
+			return OK;
+
+		/* switch modes */
+		return hil_new_mode(new_mode, pwm_update_rate_in_hz);
+	}
+
+	/* test, etc. here */
+
+	fprintf(stderr, "HIL: unrecognized command, try:\n");
+	fprintf(stderr, "  mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n");
+	return -EINVAL;
+}
diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp
index dc9e431e4..ae888323d 100644
--- a/apps/drivers/px4fmu/fmu.cpp
+++ b/apps/drivers/px4fmu/fmu.cpp
@@ -74,7 +74,6 @@ public:
 	enum Mode {
 		MODE_2PWM,
 		MODE_4PWM,
-		MODE_HIL_8PWM,
 		MODE_NONE
 	};
 	PX4FMU();
@@ -270,12 +269,6 @@ PX4FMU::set_mode(Mode mode)
 		_update_rate = 50;	/* default output rate */
 		break;
 
-	case MODE_HIL_8PWM:
-		debug("MODE_HIL_8PWM");
-		/* do not actually start a pwm device */
-		_update_rate = 50;	/* default output rate */
-		break;
-
 	case MODE_NONE:
 		debug("MODE_NONE");
 		/* disable servo outputs and set a very low update rate */
@@ -328,26 +321,7 @@ PX4FMU::task_main()
 	fds[1].fd = _t_armed;
 	fds[1].events = POLLIN;
 
-	unsigned num_outputs;
-
-	/* select the number of (real or virtual) outputs */
-	switch (_mode) {
-	case MODE_2PWM:
-		num_outputs = 2;
-		break;
-
-	case MODE_4PWM:
-		num_outputs = 4;
-		break;
-
-	case MODE_HIL_8PWM:
-		num_outputs = 8;
-		break;
-
-	case MODE_NONE:
-		num_outputs = 0;
-		break;
-	}
+	unsigned num_outputs = (_mode == MODE_2PWM) ? 2 : 4;
 
 	log("starting");
 
@@ -360,11 +334,7 @@ PX4FMU::task_main()
 			if (update_rate_in_ms < 2)
 				update_rate_in_ms = 2;
 			orb_set_interval(_t_actuators, update_rate_in_ms);
-
-			if (_mode != MODE_HIL_8PWM) {
-				/* do not attempt to set servos in HIL mode */
-				up_pwm_servo_set_rate(_update_rate);
-			}
+			up_pwm_servo_set_rate(_update_rate);
 			_current_update_rate = _update_rate;
 		}
 
@@ -397,11 +367,7 @@ PX4FMU::task_main()
 					outputs.output[i] = 1500 + (600 * outputs.output[i]);
 
 					/* output to the servo */
-					if (_mode != MODE_HIL_8PWM) {
-						/* do not attempt to set servos in HIL mode */
-						up_pwm_servo_set(i, outputs.output[i]);
-					}
-					
+					up_pwm_servo_set(i, outputs.output[i]);
 				}
 
 				/* and publish for anyone that cares to see */
@@ -417,14 +383,7 @@ PX4FMU::task_main()
 			orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
 
 			/* update PWM servo armed status */
-
-			/*
-			 * armed  = system wants to fly
-			 * locked = there is a low-level safety lock
-			 *          in place, such as in hardware-in-the-loop
-			 *          simulation setups.
-			 */
-			up_pwm_servo_arm(aa.armed && !aa.lockdown);
+			up_pwm_servo_arm(aa.armed);
 		}
 	}
 
@@ -460,7 +419,7 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
 {
 	int ret;
 
-	// XXX disable debug output, users got confused
+	// XXX disabled, confusing users
 	//debug("ioctl 0x%04x 0x%08x", cmd, arg);
 
 	/* try it as a GPIO ioctl first */
@@ -474,11 +433,6 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
 	case MODE_4PWM:
 		ret = pwm_ioctl(filp, cmd, arg);
 		break;
-	case MODE_HIL_8PWM:
-		/* do nothing */
-		debug("loading mixer for virtual HIL device");
-		ret = 0;
-		break;
 	default:
 		debug("not in a PWM mode");
 		break;
@@ -752,7 +706,6 @@ enum PortMode {
 	PORT_GPIO_AND_SERIAL,
 	PORT_PWM_AND_SERIAL,
 	PORT_PWM_AND_GPIO,
-	PORT_HIL_PWM
 };
 
 PortMode g_port_mode;
@@ -801,11 +754,6 @@ fmu_new_mode(PortMode new_mode, int update_rate)
 		/* select 2-pin PWM mode */
 		servo_mode = PX4FMU::MODE_2PWM;
 		break;
-
-	case PORT_HIL_PWM:
-		/* virtual PWM mode */
-		servo_mode = PX4FMU::MODE_HIL_8PWM;
-		break;
 	}
 
 	/* adjust GPIO config for serial mode(s) */
@@ -935,14 +883,11 @@ fmu_main(int argc, char *argv[])
 
 		} else if (!strcmp(argv[i], "mode_pwm_gpio")) {
 			new_mode = PORT_PWM_AND_GPIO;
-
-		} else if (!strcmp(argv[i], "mode_hil_pwm")) {
-			new_mode = PORT_HIL_PWM;
 		}
 
 		/* look for the optional pwm update rate for the supported modes */
 		if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) {
-			if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO || PORT_HIL_PWM) {
+			if (new_mode == PORT_FULL_PWM || new_mode == PORT_PWM_AND_GPIO) {
 				if (argc > i + 1) {
 					pwm_update_rate_in_hz = atoi(argv[i + 1]);
 				} else {
@@ -968,7 +913,7 @@ fmu_main(int argc, char *argv[])
 
 	/* test, etc. here */
 
-	fprintf(stderr, "FMU: unrecognized command, try:\n");
-	fprintf(stderr, "  mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial,\n  mode_pwm_serial, mode_pwm_gpio, mode_hil_pwm\n");
+	fprintf(stderr, "FMU: unrecognised command, try:\n");
+	fprintf(stderr, "  mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n");
 	return -EINVAL;
 }
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c
index 928de5a38..8c38692b7 100644
--- a/apps/mavlink/orb_listener.c
+++ b/apps/mavlink/orb_listener.c
@@ -436,7 +436,7 @@ l_actuator_outputs(struct listener *l)
 		/* only send in HIL mode */
 		if (mavlink_hil_enabled) {
 
-			/* translate the current system state to mavlink state and mode */
+			/* translate the current syste state to mavlink state and mode */
 			uint8_t mavlink_state = 0;
 			uint8_t mavlink_mode = 0;
 			get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
diff --git a/apps/px4/tests/test_sensors.c b/apps/px4/tests/test_sensors.c
index ad7c74064..dc1f39046 100644
--- a/apps/px4/tests/test_sensors.c
+++ b/apps/px4/tests/test_sensors.c
@@ -130,7 +130,7 @@ accel(int argc, char *argv[])
 		return ERROR;
 
 	} else {
-		printf("\tACCEL values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
+		printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
 	// /* wait at least 10ms, sensor should have data after no more than 2ms */
@@ -182,7 +182,7 @@ gyro(int argc, char *argv[])
 		return ERROR;
 
 	} else {
-		printf("\tGYRO values: rates: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
+		printf("\tGYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
 	/* Let user know everything is ok */
@@ -219,7 +219,7 @@ mag(int argc, char *argv[])
 		return ERROR;
 
 	} else {
-		printf("\tMAG values: mag. field: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
+		printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
 	/* Let user know everything is ok */
@@ -256,7 +256,7 @@ baro(int argc, char *argv[])
 		return ERROR;
 
 	} else {
-		printf("\tBARO values: pressure: %8.4f mbar\taltitude: %8.4f m\ttemperature: %8.4f deg Celsius\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
+		printf("\tBARO pressure: %8.4f mbar\talt: %8.4f m\ttemp: %8.4f deg C\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
 	}
 
 	/* Let user know everything is ok */
diff --git a/apps/systemlib/mixer/mixer_group.cpp b/apps/systemlib/mixer/mixer_group.cpp
index 004151235..19ce25553 100644
--- a/apps/systemlib/mixer/mixer_group.cpp
+++ b/apps/systemlib/mixer/mixer_group.cpp
@@ -168,6 +168,7 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd
 
 	/* let's assume we're going to read a simple mixer */
 	mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs));
+	mixinfo->control_count = inputs;
 
 	/* first, get the output scaler */
 	ret = mixer_getline(fd, buf, sizeof(buf));
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index c696407ea..798f57e93 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -98,6 +98,7 @@ CONFIGURED_APPS += drivers/stm32
 CONFIGURED_APPS += drivers/led
 CONFIGURED_APPS += drivers/stm32/tone_alarm
 CONFIGURED_APPS += drivers/px4fmu
+CONFIGURED_APPS += drivers/hil
 
 # Testing stuff
 CONFIGURED_APPS += px4/sensors_bringup