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

4 files changed, 26 insertions, 17 deletions

diff --git a/ROMFS/px4fmu_common/init.d/100_mpx_easystar b/ROMFS/px4fmu_common/init.d/100_mpx_easystar
index 828540ad9..1aa1ef494 100644
--- a/ROMFS/px4fmu_common/init.d/100_mpx_easystar
+++ b/ROMFS/px4fmu_common/init.d/100_mpx_easystar
@@ -98,8 +98,7 @@ else
 	mixer load /dev/pwm_output /etc/mixers/FMU_RET.mix
 fi
 fw_att_control start
-# Not ready yet for prime-time
-#fw_pos_control_l1 start
+fw_pos_control_l1 start
 
 if [ $EXIT_ON_END == yes ]
 then
diff --git a/ROMFS/px4fmu_common/init.d/101_hk_bixler b/ROMFS/px4fmu_common/init.d/101_hk_bixler
index 5a9cb2171..4d8a24c4a 100644
--- a/ROMFS/px4fmu_common/init.d/101_hk_bixler
+++ b/ROMFS/px4fmu_common/init.d/101_hk_bixler
@@ -91,8 +91,7 @@ att_pos_estimator_ekf start
 #
 mixer load /dev/pwm_output /etc/mixers/FMU_AERT.mix
 fw_att_control start
-# Not ready yet for prime-time
-#fw_pos_control_l1 start
+fw_pos_control_l1 start
 
 if [ $EXIT_ON_END == yes ]
 then
diff --git a/src/drivers/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp
index fedff769b..ea87b37d9 100644
--- a/src/drivers/rgbled/rgbled.cpp
+++ b/src/drivers/rgbled/rgbled.cpp
@@ -103,6 +103,7 @@ private:
 
 	bool			_running;
 	int			_led_interval;
+	bool			_should_run;
 	int			_counter;
 
 	void 			set_color(rgbled_color_t ledcolor);
@@ -136,6 +137,7 @@ RGBLED::RGBLED(int bus, int rgbled) :
 	_brightness(1.0f),
 	_running(false),
 	_led_interval(0),
+	_should_run(false),
 	_counter(0)
 {
 	memset(&_work, 0, sizeof(_work));
@@ -248,6 +250,11 @@ RGBLED::led_trampoline(void *arg)
 void
 RGBLED::led()
 {
+	if (!_should_run) {
+		_running = false;
+		return;
+	}
+
 	switch (_mode) {
 	case RGBLED_MODE_BLINK_SLOW:
 	case RGBLED_MODE_BLINK_NORMAL:
@@ -409,10 +416,10 @@ RGBLED::set_mode(rgbled_mode_t mode)
 {
 	if (mode != _mode) {
 		_mode = mode;
-		bool should_run = false;
 
 		switch (mode) {
 		case RGBLED_MODE_OFF:
+			_should_run = false;
 			send_led_enable(false);
 			break;
 
@@ -423,7 +430,7 @@ RGBLED::set_mode(rgbled_mode_t mode)
 			break;
 
 		case RGBLED_MODE_BLINK_SLOW:
-			should_run = true;
+			_should_run = true;
 			_counter = 0;
 			_led_interval = 2000;
 			_brightness = 1.0f;
@@ -431,7 +438,7 @@ RGBLED::set_mode(rgbled_mode_t mode)
 			break;
 
 		case RGBLED_MODE_BLINK_NORMAL:
-			should_run = true;
+			_should_run = true;
 			_counter = 0;
 			_led_interval = 500;
 			_brightness = 1.0f;
@@ -439,7 +446,7 @@ RGBLED::set_mode(rgbled_mode_t mode)
 			break;
 
 		case RGBLED_MODE_BLINK_FAST:
-			should_run = true;
+			_should_run = true;
 			_counter = 0;
 			_led_interval = 100;
 			_brightness = 1.0f;
@@ -447,14 +454,14 @@ RGBLED::set_mode(rgbled_mode_t mode)
 			break;
 
 		case RGBLED_MODE_BREATHE:
-			should_run = true;
+			_should_run = true;
 			_counter = 0;
 			_led_interval = 25;
 			send_led_enable(true);
 			break;
 
 		case RGBLED_MODE_PATTERN:
-			should_run = true;
+			_should_run = true;
 			_counter = 0;
 			_brightness = 1.0f;
 			send_led_enable(true);
@@ -466,16 +473,11 @@ RGBLED::set_mode(rgbled_mode_t mode)
 		}
 
 		/* if it should run now, start the workq */
-		if (should_run && !_running) {
+		if (_should_run && !_running) {
 			_running = true;
 			work_queue(LPWORK, &_work, (worker_t)&RGBLED::led_trampoline, this, 1);
 		}
 
-		/* if it should stop, then cancel the workq */
-		if (!should_run && _running) {
-			_running = false;
-			work_cancel(LPWORK, &_work);
-		}
 	}
 }
 
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index ec8033202..080aa550c 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -583,6 +583,15 @@ int sdlog2_thread_main(int argc, char *argv[])
 		errx(1, "unable to create logging folder, exiting.");
 	}
 
+	const char *converter_in = "/etc/logging/conv.zip";
+	char* converter_out = malloc(120);
+	sprintf(converter_out, "%s/conv.zip", folder_path);
+
+	if (file_copy(converter_in, converter_out)) {
+		errx(1, "unable to copy conversion scripts, exiting.");
+	}
+	free(converter_out);
+
 	/* only print logging path, important to find log file later */
 	warnx("logging to directory: %s", folder_path);
 
@@ -1251,7 +1260,7 @@ int file_copy(const char *file_old, const char *file_new)
 	fclose(source);
 	fclose(target);
 
-	return ret;
+	return OK;
 }
 
 void handle_command(struct vehicle_command_s *cmd)