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

9 files changed, 55 insertions, 39 deletions

diff --git a/ROMFS/px4fmu_common/init.d/3035_viper b/ROMFS/px4fmu_common/init.d/3035_viper
index a4c1e832d..3714b612f 100644
--- a/ROMFS/px4fmu_common/init.d/3035_viper
+++ b/ROMFS/px4fmu_common/init.d/3035_viper
@@ -8,3 +8,5 @@
 sh /etc/init.d/rc.fw_defaults
 
 set MIXER Viper
+
+set FAILSAFE "-c567 -p 1000"
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 1de0abb58..e44cd0953 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -77,4 +77,9 @@ then
 			pwm max -c $PWM_OUTPUTS -p $PWM_MAX
 		fi
 	fi
+
+	if [ $FAILSAFE != none ]
+	then
+		pwm failsafe -d $OUTPUT_DEV $FAILSAFE
+	fi
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 349b82f40..6aa542a29 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -66,6 +66,9 @@ then
 	#
 	sercon
 
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+
 	#
 	# Start the ORB (first app to start)
 	#
@@ -96,11 +99,9 @@ then
 	#
 	if rgbled start
 	then
-		echo "[init] RGB Led"
 	else
 		if blinkm start
 		then
-			echo "[init] BlinkM"
 			blinkm systemstate
 		fi
 	fi
@@ -129,6 +130,7 @@ then
 	set LOAD_DEFAULT_APPS yes
 	set GPS yes
 	set GPS_FAKE no
+	set FAILSAFE none
 
 	#
 	# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@@ -279,9 +281,6 @@ then
 		fi
 	fi
 
-	# Try to get an USB console
-	nshterm /dev/ttyACM0 &
-
 	#
 	# Start the datamanager (and do not abort boot if it fails)
 	#
diff --git a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
index 0ec663e35..7fed488af 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
@@ -64,21 +64,22 @@ O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
 
-Gimbal / flaps / payload mixer for last four channels
+Gimbal / flaps / payload mixer for last four channels,
+using the payload control group
 -----------------------------------------------------
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 2 2  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
+S: 2 3  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/Viper.mix b/ROMFS/px4fmu_common/mixers/Viper.mix
index 79c4447be..5a0381bd8 100755
--- a/ROMFS/px4fmu_common/mixers/Viper.mix
+++ b/ROMFS/px4fmu_common/mixers/Viper.mix
@@ -52,21 +52,20 @@ M: 1
 O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000
 
-Gimbal / flaps / payload mixer for last four channels
+Inputs to the mixer come from channel group 2 (payload), channels 0
+(bay servo 1), 1 (bay servo 2) and 3 (drop release).
 -----------------------------------------------------
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0 -10000  10000
+S: 2 0  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 5  10000  10000      0 -10000  10000
+S: 2 1  10000  10000      0 -10000  10000
 
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 2 2 -10000 -10000      0 -10000  10000
+
 
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 7  10000  10000      0 -10000  10000
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp
index c555a0a69..9d479832f 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.cpp
+++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp
@@ -66,10 +66,10 @@ void CatapultLaunchMethod::update(float accel_x)
 	last_timestamp = hrt_absolute_time();
 
 	if (accel_x > threshold_accel.get()) {
-		integrator += accel_x * dt;
+		integrator += dt;
 //		warnx("*** integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
 //				(double)integrator, (double)threshold_accel.get(),  (double)threshold_time.get(), (double)accel_x, (double)dt);
-		if (integrator > threshold_accel.get() * threshold_time.get()) {
+		if (integrator > threshold_time.get()) {
 			launchDetected = true;
 		}
 
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 74deda8cc..a5a772825 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -615,6 +615,11 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 	case VEHICLE_CMD_PREFLIGHT_CALIBRATION:
 	case VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
 	case VEHICLE_CMD_PREFLIGHT_STORAGE:
+	case VEHICLE_CMD_CUSTOM_0:
+	case VEHICLE_CMD_CUSTOM_1:
+	case VEHICLE_CMD_CUSTOM_2:
+	case VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY:
+	case VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY:
 		/* ignore commands that handled in low prio loop */
 		break;
 
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 5a92004a6..a2f3828ff 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -886,8 +886,8 @@ protected:
 			msg.eph = cm_uint16_from_m_float(gps.eph);
 			msg.epv = cm_uint16_from_m_float(gps.epv);
 			msg.vel = cm_uint16_from_m_float(gps.vel_m_s),
-		    msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
-		    msg.satellites_visible = gps.satellites_used;
+			msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
+			msg.satellites_visible = gps.satellites_used;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_GPS_RAW_INT, &msg);
 		}
@@ -957,11 +957,11 @@ protected:
 			msg.lat = pos.lat * 1e7;
 			msg.lon = pos.lon * 1e7;
 			msg.alt = pos.alt * 1000.0f;
-		    msg.relative_alt = (pos.alt - home.alt) * 1000.0f;
-		    msg.vx = pos.vel_n * 100.0f;
-		    msg.vy = pos.vel_e * 100.0f;
-		    msg.vz = pos.vel_d * 100.0f;
-		    msg.hdg = _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f;
+			msg.relative_alt = (pos.alt - home.alt) * 1000.0f;
+			msg.vx = pos.vel_n * 100.0f;
+			msg.vy = pos.vel_e * 100.0f;
+			msg.vz = pos.vel_d * 100.0f;
+			msg.hdg = _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_GLOBAL_POSITION_INT, &msg);
 		}
@@ -1022,9 +1022,9 @@ protected:
 			msg.x = pos.x;
 			msg.y = pos.y;
 			msg.z = pos.z;
-		    msg.vx = pos.vx;
-		    msg.vy = pos.vy;
-		    msg.vz = pos.vz;
+			msg.vx = pos.vx;
+			msg.vy = pos.vy;
+			msg.vz = pos.vz;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_LOCAL_POSITION_NED, &msg);
 		}
@@ -1085,9 +1085,9 @@ protected:
 			msg.x = pos.x;
 			msg.y = pos.y;
 			msg.z = pos.z;
-		    msg.roll = pos.roll;
-		    msg.pitch = pos.pitch;
-		    msg.yaw = pos.yaw;
+			msg.roll = pos.roll;
+			msg.pitch = pos.pitch;
+			msg.yaw = pos.yaw;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, &msg);
 		}
diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h
index 7db33d98b..44aa50572 100644
--- a/src/modules/uORB/topics/vehicle_command.h
+++ b/src/modules/uORB/topics/vehicle_command.h
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *   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
@@ -37,6 +34,10 @@
 /**
  * @file vehicle_command.h
  * Definition of the vehicle command uORB topic.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #ifndef TOPIC_VEHICLE_COMMAND_H_
@@ -52,6 +53,9 @@
  * but can contain additional ones.
  */
 enum VEHICLE_CMD {
+	VEHICLE_CMD_CUSTOM_0 = 0, /* test command */
+	VEHICLE_CMD_CUSTOM_1 = 1, /* test command */
+	VEHICLE_CMD_CUSTOM_2 = 2, /* test command */
 	VEHICLE_CMD_NAV_WAYPOINT = 16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
 	VEHICLE_CMD_NAV_LOITER_UNLIM = 17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
 	VEHICLE_CMD_NAV_LOITER_TURNS = 18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
@@ -87,7 +91,8 @@ enum VEHICLE_CMD {
 	VEHICLE_CMD_MISSION_START = 300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
 	VEHICLE_CMD_COMPONENT_ARM_DISARM = 400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
 	VEHICLE_CMD_START_RX_PAIR = 500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
-	VEHICLE_CMD_ENUM_END = 501, /*  | */
+	VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001, /**< Prepare a payload deployment in the flight plan */
+	VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 /**< Control a pre-programmed payload deployment */
 };
 
 /**
@@ -115,8 +120,8 @@ struct vehicle_command_s {
 	float param2;			/**< Parameter 2, as defined by MAVLink VEHICLE_CMD enum.   */
 	float param3;			/**< Parameter 3, as defined by MAVLink VEHICLE_CMD enum.   */
 	float param4;			/**< Parameter 4, as defined by MAVLink VEHICLE_CMD enum.   */
-	float param5;			/**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum.   */
-	float param6;			/**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum.   */
+	double param5;			/**< Parameter 5, as defined by MAVLink VEHICLE_CMD enum.   */
+	double param6;			/**< Parameter 6, as defined by MAVLink VEHICLE_CMD enum.   */
 	float param7;			/**< Parameter 7, as defined by MAVLink VEHICLE_CMD enum.   */
 	enum VEHICLE_CMD command;		/**< Command ID, as defined MAVLink by VEHICLE_CMD enum.   */
 	uint8_t target_system;		/**< System which should execute the command  */