Merge branch 'multirotor'

11 files changed, 36 insertions, 12 deletions

diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig
index a6f914a64..68ab4da32 100644
--- a/nuttx-configs/px4fmu-v1/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v1/nsh/defconfig
@@ -538,9 +538,10 @@ CONFIG_USBDEV=y
 #
 # CONFIG_USBDEV_ISOCHRONOUS is not set
 # CONFIG_USBDEV_DUALSPEED is not set
-CONFIG_USBDEV_SELFPOWERED=y
-# CONFIG_USBDEV_BUSPOWERED is not set
+# CONFIG_USBDEV_SELFPOWERED is not set
+CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
+# CONFIG_USBDEV_REMOTEWAKEUP is not set
 # CONFIG_USBDEV_DMA is not set
 # CONFIG_USBDEV_TRACE is not set
 
diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp
index 277d8249a..1ec61eb60 100644
--- a/src/drivers/airspeed/airspeed.cpp
+++ b/src/drivers/airspeed/airspeed.cpp
@@ -106,6 +106,11 @@ Airspeed::~Airspeed()
 	/* free any existing reports */
 	if (_reports != nullptr)
 		delete[] _reports;
+
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_buffer_overflows);
 }
 
 int
@@ -152,7 +157,7 @@ Airspeed::probe()
 	*/
 	_retries = 4;
 	int ret = measure();
-	_retries = 0;
+	_retries = 2;
 	return ret;
 }
 
diff --git a/src/drivers/airspeed/airspeed.h b/src/drivers/airspeed/airspeed.h
index 89dfb22d7..b87494b40 100644
--- a/src/drivers/airspeed/airspeed.h
+++ b/src/drivers/airspeed/airspeed.h
@@ -165,5 +165,5 @@ protected:
 };
 
 /* helper macro for handling report buffer indices */
-#define INCREMENT(_x, _lim)	do { _x++; if (_x >= _lim) _x = 0; } while(0)
+#define INCREMENT(_x, _lim)	do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
 
diff --git a/src/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp
index cfb625670..079b5d21c 100644
--- a/src/drivers/bma180/bma180.cpp
+++ b/src/drivers/bma180/bma180.cpp
@@ -234,7 +234,7 @@ private:
 };
 
 /* helper macro for handling report buffer indices */
-#define INCREMENT(_x, _lim)	do { _x++; if (_x >= _lim) _x = 0; } while(0)
+#define INCREMENT(_x, _lim)	do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
 
 
 BMA180::BMA180(int bus, spi_dev_e device) :
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index d77f03bb7..a5229b237 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -311,7 +311,7 @@ private:
 };
 
 /* helper macro for handling report buffer indices */
-#define INCREMENT(_x, _lim)	do { _x++; if (_x >= _lim) _x = 0; } while(0)
+#define INCREMENT(_x, _lim)	do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
 
 /*
  * Driver 'main' command.
@@ -359,6 +359,11 @@ HMC5883::~HMC5883()
 	/* free any existing reports */
 	if (_reports != nullptr)
 		delete[] _reports;
+
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_buffer_overflows);
 }
 
 int
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp
index 5e0a2119a..e6d765e13 100644
--- a/src/drivers/l3gd20/l3gd20.cpp
+++ b/src/drivers/l3gd20/l3gd20.cpp
@@ -300,7 +300,7 @@ private:
 };
 
 /* helper macro for handling report buffer indices */
-#define INCREMENT(_x, _lim)	do { _x++; if (_x >= _lim) _x = 0; } while(0)
+#define INCREMENT(_x, _lim)	do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
 
 
 L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp
index cf5f8d94c..05d6f1881 100644
--- a/src/drivers/lsm303d/lsm303d.cpp
+++ b/src/drivers/lsm303d/lsm303d.cpp
@@ -421,7 +421,7 @@ private:
 
 
 /* helper macro for handling report buffer indices */
-#define INCREMENT(_x, _lim)	do { _x++; if (_x >= _lim) _x = 0; } while(0)
+#define INCREMENT(_x, _lim)	do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
 
 
 LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp
index c5f49fb36..f83416993 100644
--- a/src/drivers/mb12xx/mb12xx.cpp
+++ b/src/drivers/mb12xx/mb12xx.cpp
@@ -184,7 +184,7 @@ private:
 };
 
 /* helper macro for handling report buffer indices */
-#define INCREMENT(_x, _lim)	do { _x++; if (_x >= _lim) _x = 0; } while(0)
+#define INCREMENT(_x, _lim)	do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
 
 /*
  * Driver 'main' command.
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index 666bd30e6..b1cb2b3d8 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -162,6 +162,8 @@ MEASAirspeed::collect()
 
 	if (ret < 0) {
 		log("error reading from sensor: %d", ret);
+                perf_count(_comms_errors);
+                perf_end(_sample_perf);
 		return ret;
 	}
 
@@ -169,9 +171,14 @@ MEASAirspeed::collect()
 
 	if (status == 2) {
 		log("err: stale data");
-
+                perf_count(_comms_errors);
+                perf_end(_sample_perf);
+		return ret;
 	} else if (status == 3) {
 		log("err: fault");
+                perf_count(_comms_errors);
+                perf_end(_sample_perf);
+		return ret;                
 	}
 
 	//uint16_t diff_pres_pa = (val[1]) | ((val[0] & ~(0xC0)) << 8);
diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index d9268c0b3..4e43f19c5 100644
--- a/src/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
@@ -77,7 +77,7 @@ static const int ERROR = -1;
 #endif
 
 /* helper macro for handling report buffer indices */
-#define INCREMENT(_x, _lim)	do { _x++; if (_x >= _lim) _x = 0; } while(0)
+#define INCREMENT(_x, _lim)	do { __typeof__(_x) _tmp = _x+1; if (_tmp >= _lim) _tmp = 0; _x = _tmp; } while(0)
 
 /* helper macro for arithmetic - returns the square of the argument */
 #define POW2(_x)		((_x) * (_x))
@@ -225,6 +225,12 @@ MS5611::~MS5611()
 	if (_reports != nullptr)
 		delete[] _reports;
 
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_measure_perf);
+	perf_free(_comms_errors);
+	perf_free(_buffer_overflows);
+
 	delete _interface;
 }
 
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index e857b1c2f..a9c49c441 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -673,7 +673,7 @@ Sensors::parameters_update()
 		if (!isfinite(_parameters.scaling_factor[i]) ||
 		    _parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f ||
 		    _parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) {
-
+			warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, _parameters.scaling_factor[i], (int)(_parameters.rev[i]));
 			/* scaling factors do not make sense, lock them down */
 			_parameters.scaling_factor[i] = 0;
 			rc_valid = false;