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

5 files changed, 85 insertions, 46 deletions

diff --git a/apps/drivers/hmc5883/hmc5883.cpp b/apps/drivers/hmc5883/hmc5883.cpp
index 2b4fab151..81bc8954b 100644
--- a/apps/drivers/hmc5883/hmc5883.cpp
+++ b/apps/drivers/hmc5883/hmc5883.cpp
@@ -66,6 +66,9 @@
 #include <drivers/drv_mag.h>
 #include <drivers/drv_hrt.h>
 
+#include <uORB/uORB.h>
+#include <uORB/topics/subsystem_info.h>
+
 #include <float.h>
 
 /*
@@ -631,6 +634,7 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
 	case MAGIOCSSCALE:
 		/* set new scale factors */
 		memcpy(&_scale, (mag_scale *)arg, sizeof(_scale));
+		(void)check_calibration();
 		return 0;
 
 	case MAGIOCGSCALE:
@@ -1039,11 +1043,17 @@ int HMC5883::check_calibration()
 		offset_valid = false;
 	}
 
-	if (_calibrated && !(offset_valid && scale_valid)) {
-		warnx("warning: mag %s%s", (scale_valid) ? "" : "scale invalid. ",
+	if (_calibrated != (offset_valid && scale_valid)) {
+		warnx("warning: mag cal changed: %s%s", (scale_valid) ? "" : "scale invalid. ",
 					  (offset_valid) ? "" : "offset invalid.");
-		_calibrated = false;
-		// XXX Notify system via uORB
+		_calibrated = (offset_valid && scale_valid);
+		/* notify about state change */
+		struct subsystem_info_s info = {
+			true,
+			true,
+			_calibrated,
+			SUBSYSTEM_TYPE_MAG};
+		orb_advert_t pub = orb_advertise(ORB_ID(subsystem_info), &info);
 	}
 	return 0;
 }
diff --git a/apps/systemcmds/param/param.c b/apps/systemcmds/param/param.c
index 9cb280933..53f9c365e 100644
--- a/apps/systemcmds/param/param.c
+++ b/apps/systemcmds/param/param.c
@@ -59,11 +59,9 @@ __EXPORT int param_main(int argc, char *argv[]);
 static void	do_save(const char* param_file_name);
 static void	do_load(const char* param_file_name);
 static void	do_import(const char* param_file_name);
-static void	do_show(void);
+static void	do_show(const char* search_string);
 static void	do_show_print(void *arg, param_t param);
 
-static const char *param_file_name_default = "/eeprom/parameters";
-
 int
 param_main(int argc, char *argv[])
 {
@@ -72,7 +70,7 @@ param_main(int argc, char *argv[])
 			if (argc >= 3) {
 				do_save(argv[2]);
 			} else {
-				do_save(param_file_name_default);
+				do_save(param_get_default_file());
 			}
 		}
 
@@ -80,7 +78,7 @@ param_main(int argc, char *argv[])
 			if (argc >= 3) {
 				do_load(argv[2]);
 			} else {
-				do_load(param_file_name_default);
+				do_load(param_get_default_file());
 			}
 		}
 
@@ -88,17 +86,28 @@ param_main(int argc, char *argv[])
 			if (argc >= 3) {
 				do_import(argv[2]);
 			} else {
-				do_import(param_file_name_default);
+				do_import(param_get_default_file());
 			}
 		}
 
-		if (!strcmp(argv[1], "show")) {
-			do_show();
+		if (!strcmp(argv[1], "select")) {
+			if (argc >= 3) {
+				param_set_default_file(argv[2]);
+			} else {
+				param_set_default_file(NULL);
+			}
+			warnx("selected parameter file %s", param_get_default_file());
 		}
-			
-	}
 
-	errx(1, "expected a command, try 'load', 'import', 'show' or 'save'\n");
+		if (!strcmp(argv[1], "show"))
+			if (argc >= 3) {
+				do_show(argv[2]);
+			} else {
+				do_show(NULL);
+			}
+	}
+	
+	errx(1, "expected a command, try 'load', 'import', 'show', 'select' or 'save'");
 }
 
 static void
@@ -163,10 +172,10 @@ do_import(const char* param_file_name)
 }
 
 static void
-do_show(void)
+do_show(const char* search_string)
 {
 	printf(" + = saved, * = unsaved\n");
-	param_foreach(do_show_print, NULL, false);
+	param_foreach(do_show_print, search_string, false);
 
 	exit(0);
 }
@@ -176,6 +185,11 @@ do_show_print(void *arg, param_t param)
 {
 	int32_t i;
 	float f;
+	const char *search_string = (const char*)arg;
+
+	/* print nothing if search string valid and not matching */
+	if (arg != NULL && (strcmp(search_string, param_name(param) != 0)))
+		return;
 
 	printf("%c %s: ",
 	       param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
diff --git a/apps/systemlib/param/param.c b/apps/systemlib/param/param.c
index c63e7ca8d..9a00c91a5 100644
--- a/apps/systemlib/param/param.c
+++ b/apps/systemlib/param/param.c
@@ -481,38 +481,38 @@ param_reset_all(void)
 	param_notify_changes();
 }
 
-static char param_default_file_name[50] = "/eeprom/parameters";
+static const char *param_default_file = "/eeprom/parameters";
+static char *param_user_file;
 
 int
 param_set_default_file(const char* filename)
 {
-	if (filename) {
-		if (strlen(filename) < sizeof(param_default_file_name))
-		{
-			strcpy(param_default_file_name, filename);
-		} else {
-			warnx("param file name too long");
-			return 1;
-		}
-		return 0;
-	} else {
-		warnx("no valid param file name");
-		return 1;
+	if (param_user_file != NULL) {
+		free(param_user_file);
+		param_user_file = NULL;
 	}
+	if (filename)
+		param_user_file = strdup(filename);
 	return 0;
 }
 
+const char *
+param_get_default_file(void)
+{
+	return (param_user_file != NULL) ? param_user_file : param_default_file;
+}
+
 int
 param_save_default(void)
 {
 	/* delete the file in case it exists */
-	unlink(param_default_file_name);
+	unlink(param_get_default_file());
 
 	/* create the file */
-	int fd = open(param_default_file_name, O_WRONLY | O_CREAT | O_EXCL);
+	int fd = open(param_get_default_file(), O_WRONLY | O_CREAT | O_EXCL);
 
 	if (fd < 0) {
-		warn("opening '%s' for writing failed", param_default_file_name);
+		warn("opening '%s' for writing failed", param_get_default_file());
 		return -1;
 	}
 
@@ -522,8 +522,8 @@ param_save_default(void)
 	close(fd);
 
 	if (result != 0) {
-		unlink(param_default_file_name);
-		warn("error exporting parameters to '%s'", param_default_file_name);
+		unlink(param_get_default_file());
+		warn("error exporting parameters to '%s'", param_get_default_file());
 		return -2;
 	}
 
@@ -536,12 +536,12 @@ param_save_default(void)
 int
 param_load_default(void)
 {
-	int fd = open(param_default_file_name, O_RDONLY);
+	int fd = open(param_get_default_file(), O_RDONLY);
 
 	if (fd < 0) {
 		/* no parameter file is OK, otherwise this is an error */
 		if (errno != ENOENT) {
-			warn("open '%s' for reading failed", param_default_file_name);
+			warn("open '%s' for reading failed", param_get_default_file());
 			return -1;
 		}
 		return 1;
@@ -551,7 +551,7 @@ param_load_default(void)
 	close(fd);
 
 	if (result != 0) {
-		warn("error reading parameters from '%s'", param_default_file_name);
+		warn("error reading parameters from '%s'", param_get_default_file());
 		return -2;
 	}
 
diff --git a/apps/systemlib/param/param.h b/apps/systemlib/param/param.h
index 64bb77834..6fa73b5a4 100644
--- a/apps/systemlib/param/param.h
+++ b/apps/systemlib/param/param.h
@@ -235,24 +235,39 @@ __EXPORT int		param_load(int fd);
 __EXPORT void		param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed);
 
 /**
- * Export parameters to the default file name.
+ * Set the default parameter file name.
  *
+ * @param filename	Path to the default parameter file.  The file is not require to
+ *			exist.
+ * @return		Zero on success.
+ */
+__EXPORT int 		param_set_default_file(const char* filename);
+
+/**
+ * Get the default parameter file name.
  *
- * @param 
+ * @return		The path to the current default parameter file; either as
+ *			a result of a call to param_set_default_file, or the 
+ *			built-in default.
  */
-__EXPORT int 		param_save_default(void);
+__EXPORT const char 	*param_get_default_file(void);
 
 /**
- * Set the default parameter file name.
+ * Save parameters to the default file.
+ *
+ * This function saves all parameters with non-default values.
+ *
+ * @return		Zero on success.
  */
-__EXPORT int 		param_set_default_file(const char* filename);
+__EXPORT int 		param_save_default(void);
 
 /**
- * Import parameters from the default file name.
+ * Load parameters from the default parameter file.
+ *
+ * @return		Zero on success.
  */
 __EXPORT int 		param_load_default(void);
 
-
 /*
  * Macros creating static parameter definitions.
  *
diff --git a/nuttx/drivers/serial/serial.c b/nuttx/drivers/serial/serial.c
index b289bb80b..40011199b 100644
--- a/nuttx/drivers/serial/serial.c
+++ b/nuttx/drivers/serial/serial.c
@@ -328,7 +328,7 @@ static ssize_t uart_write(FAR struct file *filep, FAR const char *buffer, size_t
       /* If the ONLCR flag is set, we should translate \n to \r\n */
 
       ret = OK;
-      if ((ch == '\n') && (dev->termios_s.c_oflag && ONLCR))
+      if ((ch == '\n') && (dev->termios_s.c_oflag & ONLCR))
         {
           ret = uart_putxmitchar(dev, '\r');
         }