Moved BLCTRL driver to new world

2 files changed, 0 insertions, 1486 deletions

diff --git a/apps/drivers/mkblctrl/Makefile b/apps/drivers/mkblctrl/Makefile
deleted file mode 100644
index b3be2c468..000000000
--- a/apps/drivers/mkblctrl/Makefile
+++ /dev/null
@@ -1,44 +0,0 @@
-############################################################################
-#
-#   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 Mikrokopter BLCtrl
-#
-
-APPNAME		 = mkblctrl
-PRIORITY	 = SCHED_PRIORITY_DEFAULT
-STACKSIZE	 = 2048
-
-INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
-
-include $(APPDIR)/mk/app.mk
diff --git a/apps/drivers/mkblctrl/mkblctrl.cpp b/apps/drivers/mkblctrl/mkblctrl.cpp
deleted file mode 100644
index 3a735e26f..000000000
--- a/apps/drivers/mkblctrl/mkblctrl.cpp
+++ /dev/null
@@ -1,1442 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012,2013 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 mkblctrl.cpp
- *
- * Driver/configurator for the Mikrokopter BL-Ctrl.
- * Marco Bauer
- *
- */
-
-#include <nuttx/config.h>
-
-#include <drivers/device/i2c.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 <nuttx/i2c.h>
-
-#include <drivers/device/device.h>
-#include <drivers/drv_pwm_output.h>
-#include <drivers/drv_gpio.h>
-#include <drivers/boards/px4fmu/px4fmu_internal.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_rc_input.h>
-
-#include <systemlib/systemlib.h>
-#include <systemlib/err.h>
-#include <systemlib/mixer/mixer.h>
-#include <drivers/drv_mixer.h>
-
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_controls_effective.h>
-#include <uORB/topics/actuator_outputs.h>
-
-#include <systemlib/err.h>
-#include <systemlib/ppm_decode.h>
-
-#define I2C_BUS_SPEED					400000
-#define UPDATE_RATE						400
-#define MAX_MOTORS 						8
-#define BLCTRL_BASE_ADDR 				0x29
-#define BLCTRL_OLD 						0
-#define BLCTRL_NEW 						1
-#define BLCTRL_MIN_VALUE				-0.920F
-#define MOTOR_STATE_PRESENT_MASK		0x80
-#define MOTOR_STATE_ERROR_MASK		0x7F
-#define MOTOR_SPINUP_COUNTER			2500
-
-
-class MK : public device::I2C
-{
-public:
-	enum Mode {
-		MODE_2PWM,
-		MODE_4PWM,
-		MODE_NONE
-	};
-
-	enum MappingMode {
-		MAPPING_MK = 0,
-		MAPPING_PX4,
-	};
-
-	enum FrameType {
-		FRAME_PLUS = 0,
-		FRAME_X,
-	};
-
-	MK(int bus);
-	~MK();
-
-	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
-	virtual int	init(unsigned motors);
-
-	int		set_mode(Mode mode);
-	int		set_pwm_rate(unsigned rate);
-	int		set_motor_count(unsigned count);
-	int		set_motor_test(bool motortest);
-	int		set_px4mode(int px4mode);
-	int		set_frametype(int frametype);
-	unsigned int		mk_check_for_blctrl(unsigned int count, bool showOutput);
-
-private:
-	static const unsigned _max_actuators = MAX_MOTORS;
-	static const bool	showDebug = false;
-
-	Mode		_mode;
-	int 		_update_rate;
-	int 		_current_update_rate;
-	int		_task;
-	int		_t_actuators;
-	int		_t_armed;
-	unsigned int		_motor;
-	int    _px4mode;
-	int    _frametype;
-	orb_advert_t	_t_outputs;
-	orb_advert_t	_t_actuators_effective;
-	unsigned int	_num_outputs;
-	bool		_primary_pwm_device;
-	bool     _motortest;
-
-	volatile bool	_task_should_exit;
-	bool		_armed;
-
-	unsigned long	debugCounter;
-
-	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);
-	int			mk_servo_arm(bool status);
-
-	int 		mk_servo_set(unsigned int chan, float val);
-	int 		mk_servo_set_test(unsigned int chan, float val);
-	int 		mk_servo_test(unsigned int chan);
-
-
-};
-
-const MK::GPIOConfig MK::_gpio_tab[] = {
-	{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
-	{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
-	{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
-	{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
-	{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
-	{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
-	{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
-	{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
-};
-
-const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]);
-
-const int blctrlAddr_quad_plus[] = { 2, 2, -2, -2, 0, 0, 0, 0 };	// Addresstranslator for Quad + configuration
-const int blctrlAddr_hexa_plus[] = { 0, 2, 2, -2, 1, -3, 0, 0 };	// Addresstranslator for Hexa + configuration
-const int blctrlAddr_octo_plus[] = { 0, 3, -1, 0, 3, 0, 0, -5 };	// Addresstranslator for Octo + configuration
-
-const int blctrlAddr_quad_x[] = { 2, 2, -2, -2, 0, 0, 0, 0 };	// Addresstranslator for Quad X configuration
-const int blctrlAddr_hexa_x[] = { 2, 4, -2, 0, -3, -1, 0, 0 };	// Addresstranslator for Hexa X configuration
-const int blctrlAddr_octo_x[] = { 1, 4, 0, 1, -4, 1, 1, -4 };	// Addresstranslator for Octo X configuration
-
-const int blctrlAddr_px4[]  = { 0, 0, 0, 0, 0, 0, 0, 0};
-
-int addrTranslator[] = {0,0,0,0,0,0,0,0};
-
-struct MotorData_t
-{
-	unsigned int Version;                        // the version of the BL (0 = old)
-  unsigned int SetPoint;                       // written by attitude controller
-  unsigned int SetPointLowerBits;      // for higher Resolution of new BLs
-  unsigned int State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
-  unsigned int ReadMode;                       // select data to read
-  // the following bytes must be exactly in that order!
-  unsigned int Current;                        // in 0.1 A steps, read back from BL
-  unsigned int MaxPWM;                         // read back from BL is less than 255 if BL is in current limit
-  unsigned int Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in
-  unsigned int RoundCount;
-};
-
-MotorData_t Motor[MAX_MOTORS];
-
-
-namespace
-{
-
-MK	*g_mk;
-
-} // namespace
-
-MK::MK(int bus) :
-	I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED),
-	_mode(MODE_NONE),
-	_update_rate(50),
-	_task(-1),
-	_t_actuators(-1),
-	_t_armed(-1),
-	_t_outputs(0),
-	_t_actuators_effective(0),
-	_num_outputs(0),
-	_motortest(false),
-	_motor(-1),
-	_px4mode(MAPPING_MK),
-	_frametype(FRAME_PLUS),
-	_primary_pwm_device(false),
-	_task_should_exit(false),
-	_armed(false),
-	_mixers(nullptr)
-{
-	_debug_enabled = true;
-}
-
-MK::~MK()
-{
-	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_mk = nullptr;
-}
-
-int
-MK::init(unsigned motors)
-{
-	_num_outputs = motors;
-	debugCounter = 0;
-	int ret;
-	ASSERT(_task == -1);
-
-	ret = I2C::init();
-
-	if (ret != OK) {
-		warnx("I2C init failed");
-		return ret;
-	}
-
-	usleep(500000);
-
-	/* 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("mkblctrl",
-			   SCHED_DEFAULT,
-			   SCHED_PRIORITY_MAX -20,
-			   2048,
-			   (main_t)&MK::task_main_trampoline,
-			   nullptr);
-
-
-	if (_task < 0) {
-		debug("task start failed: %d", errno);
-		return -errno;
-	}
-
-	return OK;
-}
-
-void
-MK::task_main_trampoline(int argc, char *argv[])
-{
-	g_mk->task_main();
-}
-
-int
-MK::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:
-		if(_num_outputs == 4) {
-			//debug("MODE_QUAD");
-		} else if(_num_outputs == 6) {
-			//debug("MODE_HEXA");
-		} else if(_num_outputs == 8) {
-			//debug("MODE_OCTO");
-		}
-		//up_pwm_servo_init(0x3);
-		up_pwm_servo_deinit();
-		_update_rate = UPDATE_RATE;	/* default output rate */
-		break;
-
-	case MODE_4PWM:
-		if(_num_outputs == 4) {
-			//debug("MODE_QUADRO");
-		} else if(_num_outputs == 6) {
-			//debug("MODE_HEXA");
-		} else if(_num_outputs == 8) {
-			//debug("MODE_OCTO");
-		}
-		//up_pwm_servo_init(0xf);
-		up_pwm_servo_deinit();
-		_update_rate = UPDATE_RATE;	/* default output rate */
-		break;
-
-	case MODE_NONE:
-		debug("MODE_NONE");
-		/* disable servo outputs and set a very low update rate */
-		up_pwm_servo_deinit();
-		_update_rate = UPDATE_RATE;
-		break;
-
-	default:
-		return -EINVAL;
-	}
-
-	_mode = mode;
-	return OK;
-}
-
-int
-MK::set_pwm_rate(unsigned rate)
-{
-	if ((rate > 500) || (rate < 10))
-		return -EINVAL;
-
-	_update_rate = rate;
-	return OK;
-}
-
-int
-MK::set_px4mode(int px4mode)
-{
-	_px4mode = px4mode;
-}
-
-int
-MK::set_frametype(int frametype)
-{
-	_frametype = frametype;
-}
-
-
-int
-MK::set_motor_count(unsigned count)
-{
-	if(count > 0) {
-
-		_num_outputs = count;
-
-		if(_px4mode == MAPPING_MK) {
-			if(_frametype == FRAME_PLUS) {
-				fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: +\n");
-			} else if(_frametype == FRAME_X) {
-				fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: X\n");
-			}
-			if(_num_outputs == 4) {
-				if(_frametype == FRAME_PLUS) {
-					memcpy(&addrTranslator, &blctrlAddr_quad_plus, sizeof(blctrlAddr_quad_plus));
-				} else if(_frametype == FRAME_X) {
-					memcpy(&addrTranslator, &blctrlAddr_quad_x, sizeof(blctrlAddr_quad_x));
-				}
-			} else if(_num_outputs == 6) {
-				if(_frametype == FRAME_PLUS) {
-					memcpy(&addrTranslator, &blctrlAddr_hexa_plus, sizeof(blctrlAddr_hexa_plus));
-				} else if(_frametype == FRAME_X) {
-					memcpy(&addrTranslator, &blctrlAddr_hexa_x, sizeof(blctrlAddr_hexa_x));
-				}
-			} else if(_num_outputs == 8) {
-				if(_frametype == FRAME_PLUS) {
-					memcpy(&addrTranslator, &blctrlAddr_octo_plus, sizeof(blctrlAddr_octo_plus));
-				} else if(_frametype == FRAME_X) {
-					memcpy(&addrTranslator, &blctrlAddr_octo_x, sizeof(blctrlAddr_octo_x));
-				}
-			}
-		} else {
-			fprintf(stderr, "[mkblctrl] PX4 native addressing used.\n");
-			memcpy(&addrTranslator, &blctrlAddr_px4, sizeof(blctrlAddr_px4));
-		}
-
-		if(_num_outputs == 4) {
-			fprintf(stderr, "[mkblctrl] Quadrocopter Mode (4)\n");
-		} else 	if(_num_outputs == 6) {
-			fprintf(stderr, "[mkblctrl] Hexacopter Mode (6)\n");
-		} else 	if(_num_outputs == 8) {
-			fprintf(stderr, "[mkblctrl] Octocopter Mode (8)\n");
-		}
-
-		return OK;
-
-	} else {
-		return -1;
-	}
-
-}
-
-int
-MK::set_motor_test(bool motortest)
-{
-	_motortest = motortest;
-	return OK;
-}
-
-
-void
-MK::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);
-
-	/* advertise the effective control inputs */
-	actuator_controls_effective_s controls_effective;
-	memset(&controls_effective, 0, sizeof(controls_effective));
-	/* advertise the effective control inputs */
-	_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
-				   &controls_effective);
-
-	pollfd fds[2];
-	fds[0].fd = _t_actuators;
-	fds[0].events = POLLIN;
-	fds[1].fd = _t_armed;
-	fds[1].events = POLLIN;
-
-	// rc input, published to ORB
-	struct rc_input_values rc_in;
-	orb_advert_t to_input_rc = 0;
-
-	memset(&rc_in, 0, sizeof(rc_in));
-	rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
-	
-	log("starting");
-	long update_rate_in_us = 0;
-
-	/* 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);
-			update_rate_in_us = long(1000000 / _update_rate);
-
-			/* reject faster than 500 Hz updates */
-			if (update_rate_in_ms < 2) {
-				update_rate_in_ms = 2;
-				_update_rate = 500;
-			}
-			/* reject slower than 50 Hz updates */
-			if (update_rate_in_ms > 20) {
-				update_rate_in_ms = 20;
-				_update_rate = 50;
-			}
-
-			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(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _t_actuators, &_controls);
-
-			/* can we mix? */
-			if (_mixers != nullptr) {
-
-				/* do mixing */
-				outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs);
-				outputs.timestamp = hrt_absolute_time();
-
-				// XXX output actual limited values
-				memcpy(&controls_effective, &_controls, sizeof(controls_effective));
-
-				orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);
-
-				/* iterate actuators */
-				for (unsigned int i = 0; i < _num_outputs; i++) {
-
-					/* last resort: catch NaN, INF and out-of-band errors */
-					if (i < outputs.noutputs &&
-						isfinite(outputs.output[i]) &&
-						outputs.output[i] >= -1.0f &&
-						outputs.output[i] <= 1.0f) {
-						/* scale for PWM output 900 - 2100us */
-						//outputs.output[i] = 1500 + (600 * outputs.output[i]);
-						//outputs.output[i] = 127 + (127 * outputs.output[i]);
-					} else {
-						/*
-						 * Value is NaN, INF or out of band - set to the minimum value.
-						 * This will be clearly visible on the servo status and will limit the risk of accidentally
-						 * spinning motors. It would be deadly in flight.
-						 */
-						if(outputs.output[i] < -1.0f) {
-							outputs.output[i] = -1.0f;
-						} else if(outputs.output[i] > 1.0f) {
-							outputs.output[i] = 1.0f;
-						} else {
-							outputs.output[i] = -1.0f;
-						}
-					}
-
-					/* don't go under BLCTRL_MIN_VALUE */
-					if(outputs.output[i] < BLCTRL_MIN_VALUE) {
-						outputs.output[i] = BLCTRL_MIN_VALUE;
-					}
-					//_motortest = true;
-					/* output to BLCtrl's */
-					if(_motortest == true) {
-						mk_servo_test(i);
-					} else {
-						//mk_servo_set(i, outputs.output[i]);
-						mk_servo_set_test(i, outputs.output[i]);	// 8Bit
-					}
-
-
-				}
-
-				/* and publish for anyone that cares to see */
-				orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _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 if armed and not locked down */
-			////up_pwm_servo_arm(aa.armed && !aa.lockdown);
-			mk_servo_arm(aa.armed && !aa.lockdown);
-		}
-
-		// see if we have new PPM input data
-		if (ppm_last_valid_decode != rc_in.timestamp) {
-			// we have a new PPM frame. Publish it.
-			rc_in.channel_count = ppm_decoded_channels;
-			if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
-				rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
-			}
-			for (uint8_t i=0; i<rc_in.channel_count; i++) {
-				rc_in.values[i] = ppm_buffer[i];
-			}
-			rc_in.timestamp = ppm_last_valid_decode;
-
-			/* lazily advertise on first publication */
-			if (to_input_rc == 0) {
-				to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in);
-			} else {
-				orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in);
-			}
-		}
-
-	}
-
-	::close(_t_actuators);
-	::close(_t_actuators_effective);
-	::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 
-MK::mk_servo_arm(bool status)
-{
-	_armed = status;
-	return 0;
-}
-
-
-unsigned int
-MK::mk_check_for_blctrl(unsigned int count, bool showOutput)
-{
-	_retries = 50;
-	uint8_t foundMotorCount = 0;
-
-	for(unsigned i=0; i<MAX_MOTORS; i++) {
-		Motor[i].Version = 0;
-		Motor[i].SetPoint = 0;
-		Motor[i].SetPointLowerBits = 0;
-		Motor[i].State = 0;
-		Motor[i].ReadMode = 0;
-		Motor[i].Current = 0;
-		Motor[i].MaxPWM = 0;
-		Motor[i].Temperature = 0;
-		Motor[i].RoundCount = 0;
-	}
-
-	uint8_t msg = 0;
-	uint8_t result[3];
-
-	for(unsigned i=0; i< count; i++) {
-		result[0] = 0;
-		result[1] = 0;
-		result[2] = 0;
-			
-		set_address( BLCTRL_BASE_ADDR + i );
-		
-		if (OK == transfer(&msg, 1, &result[0], 3)) {
-			Motor[i].Current = result[0];
-			Motor[i].MaxPWM = result[1];
-			Motor[i].Temperature = result[2];
-			Motor[i].State |= MOTOR_STATE_PRESENT_MASK; // set present bit;
-			foundMotorCount++;
-			if(Motor[i].MaxPWM == 250) {
-				Motor[i].Version = BLCTRL_NEW;
-			} else {
-				Motor[i].Version = BLCTRL_OLD;
-			}
-		}
-	}
-
-	if(showOutput) {
-		fprintf(stderr, "[mkblctrl] MotorsFound: %i\n",foundMotorCount);
-		for(unsigned i=0; i< foundMotorCount; i++) {
-			fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i,Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature);
-		}
-
-		if(foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) {
-			_task_should_exit = true;
-		}
-	}
-
-	return foundMotorCount;
-}
-
-
-
-
-int
-MK::mk_servo_set(unsigned int chan, float val)
-{
-	float tmpVal = 0;
-	_retries = 0;
-	uint8_t result[3] = { 0,0,0 };
-	uint8_t msg[2] = { 0,0 };
-	uint8_t rod=0;
-	uint8_t bytesToSendBL2 = 2;
-
-
-	tmpVal = (1023 + (1023 * val));
-	if(tmpVal > 2047) {
-		tmpVal = 2047;
-	}
-
-
-	Motor[chan].SetPoint = (uint8_t) tmpVal / 3;	// divide 8
-	Motor[chan].SetPointLowerBits = (uint8_t) tmpVal % 8;	// rest of divide 8
-	//rod = (uint8_t) tmpVal % 8;
-	//Motor[chan].SetPointLowerBits = rod<<1;	// rest of divide 8
-	Motor[chan].SetPointLowerBits = 0;
-
-	if(_armed == false) {
-		Motor[chan].SetPoint = 0;
-		Motor[chan].SetPointLowerBits = 0;
-	}
-
-	//if(Motor[chan].State & MOTOR_STATE_PRESENT_MASK) {
-		set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
-
-		if(Motor[chan].Version == BLCTRL_OLD) {
-			/*
-			*	Old BL-Ctrl 8Bit served. Version < 2.0
-			*/
-			msg[0] = Motor[chan].SetPoint;
-			if(Motor[chan].RoundCount >= 16) {
-				// on each 16th cyle we read out the status messages from the blctrl
-				if (OK == transfer(&msg[0], 1, &result[0], 2)) {
-					Motor[chan].Current = result[0];
-					Motor[chan].MaxPWM = result[1];
-					Motor[chan].Temperature = 255;;
-				} else {
-					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
-				}
-				Motor[chan].RoundCount = 0;
-			} else {
-				if (OK != transfer(&msg[0], 1, nullptr, 0)) {
-					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
-				}
-			}
-
-		} else {
-			/*
-			*	New BL-Ctrl 11Bit served. Version >= 2.0
-			*/
-			msg[0] = Motor[chan].SetPoint;
-			msg[1] = Motor[chan].SetPointLowerBits;
-
-			if(Motor[chan].SetPointLowerBits == 0) {
-				bytesToSendBL2 = 1;	// if setpoint lower bits are zero, we send only the higher bits - this saves time
-			}
-
-			if(Motor[chan].RoundCount >= 16) {
-				// on each 16th cyle we read out the status messages from the blctrl
-				if (OK == transfer(&msg[0], bytesToSendBL2, &result[0], 3)) {
-					Motor[chan].Current = result[0];
-					Motor[chan].MaxPWM = result[1];
-					Motor[chan].Temperature = result[2];
-				} else {
-					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
-				}
-				Motor[chan].RoundCount = 0;
-			} else {
-				if (OK != transfer(&msg[0], bytesToSendBL2, nullptr, 0)) {
-					if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++;	// error
-				}
-			}
-
-		}
-
-		Motor[chan].RoundCount++;
-	//}
-
-	if(showDebug == true) {
-		debugCounter++;
-		if(debugCounter == 2000) {
-			debugCounter = 0;
-			for(int i=0; i<_num_outputs; i++){
-				if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) {
-					fprintf(stderr, "[mkblctrl] #%i:\tVer: %i\tVal: %i\tCurr: %i\tMaxPWM: %i\tTemp: %i\tState: %i\n", i, Motor[i].Version, Motor[i].SetPoint, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature, Motor[i].State);
-				}
-			}
-			fprintf(stderr, "\n");
-		}
-	}
-	return 0;
-}
-
-int
-MK::mk_servo_set_test(unsigned int chan, float val)
-{
-	_retries = 0;
-	int ret;
-
-	float tmpVal = 0;
-
-	uint8_t msg[2] = { 0,0 };
-
-	tmpVal = (1023 + (1023 * val));
-	if(tmpVal > 2048) {
-		tmpVal = 2048;
-	}
-
-	Motor[chan].SetPoint = (uint8_t) (tmpVal / 8);
-
-	if(_armed == false) {
-		Motor[chan].SetPoint = 0;
-		Motor[chan].SetPointLowerBits = 0;
-	}
-
-	msg[0] = Motor[chan].SetPoint;
-
-	set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
-	ret = transfer(&msg[0], 1, nullptr, 0);
-
-	ret = OK;
-
-	return ret;
-}
-
-
-int
-MK::mk_servo_test(unsigned int chan)
-{
-	int ret=0;
-	float tmpVal = 0;
-	float val = -1;
-	_retries = 0;
-	uint8_t msg[2] = { 0,0 };
-
-	if(debugCounter >= MOTOR_SPINUP_COUNTER) {
-		debugCounter = 0;
-		_motor++;
-
-		if(_motor < _num_outputs) {
-			fprintf(stderr, "[mkblctrl] Motortest - #%i:\tspinup\n", _motor);
-		}
-
-		if(_motor >= _num_outputs) {
-			_motor = -1;
-			_motortest = false;
-		}
-
-	}
-	debugCounter++;
-
-	if(_motor == chan) {
-		val = BLCTRL_MIN_VALUE;
-	} else {
-		val = -1;
-	}
-
-	tmpVal = (1023 + (1023 * val));
-	if(tmpVal > 2048) {
-		tmpVal = 2048;
-	}
-
-	//Motor[chan].SetPoint = (uint8_t) (tmpVal / 8);
-	//Motor[chan].SetPointLowerBits = (uint8_t) (tmpVal % 8) & 0x07;
-	Motor[chan].SetPoint = (uint8_t) tmpVal>>3;
-	Motor[chan].SetPointLowerBits = (uint8_t) tmpVal & 0x07;
-
-	if(_motor != chan) {
-		Motor[chan].SetPoint = 0;
-		Motor[chan].SetPointLowerBits = 0;
-	}
-
-	if(Motor[chan].Version == BLCTRL_OLD) {
-		msg[0] = Motor[chan].SetPoint;
-	} else {
-		msg[0] = Motor[chan].SetPoint;
-		msg[1] = Motor[chan].SetPointLowerBits;
-	}
-
-	set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan]));
-	if(Motor[chan].Version == BLCTRL_OLD) {
-		ret = transfer(&msg[0], 1, nullptr, 0);
-	} else {
-		ret = transfer(&msg[0], 2, nullptr, 0);
-	}
-
-	return ret;
-}
-
-
-int
-MK::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
-MK::ioctl(file *filp, int cmd, unsigned long arg)
-{
-	int ret;
-
-	// XXX disabled, confusing users
-	//debug("ioctl 0x%04x 0x%08x", cmd, arg);
-
-	/* try it as a GPIO ioctl first */
-	ret = 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:
-		ret = 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
-MK::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);
-		mk_servo_arm(true);
-		break;
-
-	case PWM_SERVO_DISARM:
-		////up_pwm_servo_arm(false);
-		mk_servo_arm(false);
-		break;
-
-	case PWM_SERVO_SET_UPDATE_RATE:
-		set_pwm_rate(arg);
-		break;
-
-
-	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
-
-		/* fake an update to the selected 'servo' channel */
-		if ((arg >= 0) && (arg <= 255)) {
-			channel = cmd - PWM_SERVO_SET(0);
-			//mk_servo_set(channel, arg);
-		} else {
-			ret = -EINVAL;
-		}
-
-		break;
-
-	case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
-		/* copy the current output value from the channel */
-		*(servo_position_t *)arg = cmd - PWM_SERVO_GET(0);
-		break;
-
-	case MIXERIOCGETOUTPUTCOUNT:
-		/*
-		if (_mode == MODE_4PWM) {
-			*(unsigned *)arg = 4;
-		} else {
-			*(unsigned *)arg = 2;
-		}
-		 */
-
-		*(unsigned *)arg = _num_outputs;
-
-		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 MIXERIOCLOADBUF: {
-			const char *buf = (const char *)arg;
-			unsigned buflen = strnlen(buf, 1024);
-
-			if (_mixers == nullptr)
-				_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
-
-			if (_mixers == nullptr) {
-				ret = -ENOMEM;
-
-			} else {
-
-				ret = _mixers->load_from_buf(buf, buflen);
-
-				if (ret != 0) {
-					debug("mixer load failed with %d", ret);
-					delete _mixers;
-					_mixers = nullptr;
-					ret = -EINVAL;
-				}
-			}
-			break;
-		}
-
-	default:
-		ret = -ENOTTY;
-		break;
-	}
-
-	unlock();
-
-	return ret;
-}
-
-void
-MK::gpio_reset(void)
-{
-	/*
-	 * Setup default GPIO config - all pins as GPIOs, GPIO driver chip
-	 * to input mode.
-	 */
-	for (unsigned i = 0; i < _ngpio; i++)
-		stm32_configgpio(_gpio_tab[i].input);
-
-	stm32_gpiowrite(GPIO_GPIO_DIR, 0);
-	stm32_configgpio(GPIO_GPIO_DIR);
-}
-
-void
-MK::gpio_set_function(uint32_t gpios, int function)
-{
-	/*
-	 * GPIOs 0 and 1 must have the same direction as they are buffered
-	 * by a shared 2-port driver.  Any attempt to set either sets both.
-	 */
-	if (gpios & 3) {
-		gpios |= 3;
-
-		/* flip the buffer to output mode if required */
-		if (GPIO_SET_OUTPUT == function)
-			stm32_gpiowrite(GPIO_GPIO_DIR, 1);
-	}
-
-	/* configure selected GPIOs as required */
-	for (unsigned i = 0; i < _ngpio; i++) {
-		if (gpios & (1 << i)) {
-			switch (function) {
-			case GPIO_SET_INPUT:
-				stm32_configgpio(_gpio_tab[i].input);
-				break;
-
-			case GPIO_SET_OUTPUT:
-				stm32_configgpio(_gpio_tab[i].output);
-				break;
-
-			case GPIO_SET_ALT_1:
-				if (_gpio_tab[i].alt != 0)
-					stm32_configgpio(_gpio_tab[i].alt);
-
-				break;
-			}
-		}
-	}
-
-	/* flip buffer to input mode if required */
-	if ((GPIO_SET_INPUT == function) && (gpios & 3))
-		stm32_gpiowrite(GPIO_GPIO_DIR, 0);
-}
-
-void
-MK::gpio_write(uint32_t gpios, int function)
-{
-	int value = (function == GPIO_SET) ? 1 : 0;
-
-	for (unsigned i = 0; i < _ngpio; i++)
-		if (gpios & (1 << i))
-			stm32_gpiowrite(_gpio_tab[i].output, value);
-}
-
-uint32_t
-MK::gpio_read(void)
-{
-	uint32_t bits = 0;
-
-	for (unsigned i = 0; i < _ngpio; i++)
-		if (stm32_gpioread(_gpio_tab[i].input))
-			bits |= (1 << i);
-
-	return bits;
-}
-
-int
-MK::gpio_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	int	ret = OK;
-
-	lock();
-
-	switch (cmd) {
-
-	case GPIO_RESET:
-		gpio_reset();
-		break;
-
-	case GPIO_SET_OUTPUT:
-	case GPIO_SET_INPUT:
-	case GPIO_SET_ALT_1:
-		gpio_set_function(arg, cmd);
-		break;
-
-	case GPIO_SET_ALT_2:
-	case GPIO_SET_ALT_3:
-	case GPIO_SET_ALT_4:
-		ret = -EINVAL;
-		break;
-
-	case GPIO_SET:
-	case GPIO_CLEAR:
-		gpio_write(arg, cmd);
-		break;
-
-	case GPIO_GET:
-		*(uint32_t *)arg = gpio_read();
-		break;
-
-	default:
-		ret = -ENOTTY;
-	}
-
-	unlock();
-
-	return ret;
-}
-
-namespace
-{
-
-enum PortMode {
-	PORT_MODE_UNSET = 0,
-	PORT_FULL_GPIO,
-	PORT_FULL_SERIAL,
-	PORT_FULL_PWM,
-	PORT_GPIO_AND_SERIAL,
-	PORT_PWM_AND_SERIAL,
-	PORT_PWM_AND_GPIO,
-};
-
-enum MappingMode {
-	MAPPING_MK = 0,
-	MAPPING_PX4,
-};
-
-	enum FrameType {
-		FRAME_PLUS = 0,
-		FRAME_X,
-	};
-
-PortMode g_port_mode;
-
-int
-mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype)
-{
-	uint32_t gpio_bits;
-	int shouldStop = 0;
-	MK::Mode servo_mode;
-
-	/* reset to all-inputs */
-	g_mk->ioctl(0, GPIO_RESET, 0);
-
-	gpio_bits = 0;
-	servo_mode = MK::MODE_NONE;
-
-	switch (new_mode) {
-	case PORT_FULL_GPIO:
-	case PORT_MODE_UNSET:
-		/* nothing more to do here */
-		break;
-
-	case PORT_FULL_SERIAL:
-		/* set all multi-GPIOs to serial mode */
-		gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
-		break;
-
-	case PORT_FULL_PWM:
-		/* select 4-pin PWM mode */
-		servo_mode = MK::MODE_4PWM;
-		break;
-
-	case PORT_GPIO_AND_SERIAL:
-		/* set RX/TX multi-GPIOs to serial mode */
-		gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
-		break;
-
-	case PORT_PWM_AND_SERIAL:
-		/* select 2-pin PWM mode */
-		servo_mode = MK::MODE_2PWM;
-		/* set RX/TX multi-GPIOs to serial mode */
-		gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
-		break;
-
-	case PORT_PWM_AND_GPIO:
-		/* select 2-pin PWM mode */
-		servo_mode = MK::MODE_2PWM;
-		break;
-	}
-
-	/* adjust GPIO config for serial mode(s) */
-	if (gpio_bits != 0)
-		g_mk->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
-
-	/* native PX4 addressing) */
-	g_mk->set_px4mode(px4mode);
-
-	/* set frametype (geometry) */
-	g_mk->set_frametype(frametype);
-
-	/* motortest if enabled */
-	g_mk->set_motor_test(motortest);
-
-
-	/* (re)set count of used motors */
-	////g_mk->set_motor_count(motorcount);
-	/* count used motors */
-
-	do {
-		if(g_mk->mk_check_for_blctrl(8, false) != 0) {
-			shouldStop = 4;
-		} else {
-			shouldStop++;
-		}
-		sleep(1);
-	} while ( shouldStop < 3);
-
-	g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true));
-
-	/* (re)set the PWM output mode */
-	g_mk->set_mode(servo_mode);
-
-
-	if ((servo_mode != MK::MODE_NONE) && (update_rate != 0))
-		g_mk->set_pwm_rate(update_rate);
-
-	return OK;
-}
-
-int
-mk_start(unsigned bus, unsigned motors)
-{
-	int ret = OK;
-
-	if (g_mk == nullptr) {
-
-		g_mk = new MK(bus);
-
-		if (g_mk == nullptr) {
-			ret = -ENOMEM;
-
-		} else {
-			ret = g_mk->init(motors);
-
-			if (ret != OK) {
-				delete g_mk;
-				g_mk = nullptr;
-			}
-		}
-	}
-
-	return ret;
-}
-
-
-} // namespace
-
-extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]);
-
-int
-mkblctrl_main(int argc, char *argv[])
-{
-	PortMode port_mode = PORT_FULL_PWM;
-	int pwm_update_rate_in_hz = UPDATE_RATE;
-	int motorcount = 8;
-	int bus = 1;
-	int px4mode = MAPPING_PX4;
-	int frametype = FRAME_PLUS;	// + plus is default
-	bool motortest = false;
-	bool showHelp = false;
-	bool newMode = false;
-
-	/*
-	 * optional parameters
-	 */
-	for (int i = 1; i < argc; i++) {
-
-		/* look for the optional i2c bus parameter */
-		if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
-			if (argc > i + 1) {
-				bus = atoi(argv[i + 1]);
-				newMode = true;
-				} else {
-				errx(1, "missing argument for i2c bus (-b)");
-				return 1;
-			}
-		}
-
-		/* look for the optional frame parameter */
-		if (strcmp(argv[i], "-mkmode") == 0 || strcmp(argv[i], "--mkmode") == 0) {
-			if (argc > i + 1) {
-				if(strcmp(argv[i + 1], "+") == 0 || strcmp(argv[i + 1], "x") == 0 || strcmp(argv[i + 1], "X") == 0) {
-					px4mode = MAPPING_MK;
-					newMode = true;
-					if(strcmp(argv[i + 1], "+") == 0) {
-						frametype = FRAME_PLUS;
-					} else {
-						frametype = FRAME_X;
-					}
-				} else {
-					errx(1, "only + or x for frametype supported !");
-				}
-			} else {
-				errx(1, "missing argument for mkmode (-mkmode)");
-				return 1;
-			}
-		}
-
-		/* look for the optional test parameter */
-		if (strcmp(argv[i], "-t") == 0) {
-			motortest = true;
-			newMode = true;
-		}
-
-		/* look for the optional -h --help parameter */
-		if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) {
-			showHelp == true;
-		}
-
-	}
-
-	if(showHelp) {
-		fprintf(stderr, "mkblctrl: help:\n");
-		fprintf(stderr, "  [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest] [-h / --help]\n");
-		exit(1);
-	}
-
-
-	if (g_mk == nullptr) {
-		if (mk_start(bus, motorcount) != OK) {
-			errx(1, "failed to start the MK-BLCtrl driver");
-		} else {
-			newMode = true;
-		}
-	}
-
-
-	/* parameter set ? */
-	if (newMode) {
-		/* switch parameter */
-		return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype);
-	}
-
-	/* test, etc. here g*/
-
-	exit(1);
-}