Fresh import of the PX4 firmware sources.

6 files changed, 933 insertions, 0 deletions

diff --git a/apps/systemcmds/calibration/Makefile b/apps/systemcmds/calibration/Makefile
new file mode 100644
index 000000000..aa1aa7761
--- /dev/null
+++ b/apps/systemcmds/calibration/Makefile
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# Makefile to build the calibration tool
+#
+
+APPNAME		 = calibration
+PRIORITY	 = SCHED_PRIORITY_MAX - 1
+STACKSIZE	 = 4096
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/calibration/calibration.c b/apps/systemcmds/calibration/calibration.c
new file mode 100755
index 000000000..7f8b9240f
--- /dev/null
+++ b/apps/systemcmds/calibration/calibration.c
@@ -0,0 +1,147 @@
+/****************************************************************************
+ * calibration.c
+ *
+ *   Copyright (C) 2012 Ivan Ovinnikov. All rights reserved.
+ *   Authors: Nils Wenzler <wenzlern@ethz.ch>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "calibration.h"
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int calibrate_help(int argc, char *argv[]);
+static int calibrate_all(int argc, char *argv[]);
+
+__EXPORT int calibration_main(int argc, char *argv[]);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+struct {
+	const char 	*name;
+	int	(* fn)(int argc, char *argv[]);
+	unsigned	options;
+#define OPT_NOHELP	(1<<0)
+#define OPT_NOALLTEST	(1<<1)
+} calibrates[] = {
+	{"range",	          range_cal,	0},
+	{"servo",	          servo_cal,	0},
+	{"all",	          calibrate_all,	OPT_NOALLTEST},
+	{"help",          calibrate_help,	OPT_NOALLTEST | OPT_NOHELP},
+	{NULL,		NULL}
+};
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static int
+calibrate_help(int argc, char *argv[])
+{
+	unsigned	i;
+
+	printf("Available calibration routines:\n");
+
+	for (i = 0; calibrates[i].name; i++)
+		printf("  %s\n", calibrates[i].name);
+
+	return 0;
+}
+
+static int
+calibrate_all(int argc, char *argv[])
+{
+	unsigned	i;
+	char		*args[2] = {"all", NULL};
+
+	printf("Running all calibration routines...\n\n");
+
+	for (i = 0; calibrates[i].name; i++) {
+		printf("  %s:\n", calibrates[i].name);
+
+		if (calibrates[i].fn(1, args)) {
+			printf("  FAIL\n");
+
+		} else {
+			printf("  DONE\n");
+		}
+	}
+
+	return 0;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+void press_enter(void)
+{
+	int c;
+	printf("Press CTRL+ENTER to continue... \n");
+	fflush(stdout);
+
+	do c = getchar(); while ((c != '\n') && (c != EOF));
+}
+
+/****************************************************************************
+ * Name: calibrate_main
+ ****************************************************************************/
+
+int calibration_main(int argc, char *argv[])
+{
+	unsigned	i;
+
+	if (argc < 2) {
+		printf("calibration: missing name - 'calibration help' for a list of routines\n");
+		return 1;
+	}
+
+	for (i = 0; calibrates[i].name; i++) {
+		if (!strcmp(calibrates[i].name, argv[1]))
+			return calibrates[i].fn(argc - 1, argv + 1);
+	}
+
+	printf("calibrate: no routines called '%s' - 'calibration help' for a list of routines\n", argv[1]);
+	return 1;
+}
diff --git a/apps/systemcmds/calibration/calibration.h b/apps/systemcmds/calibration/calibration.h
new file mode 100644
index 000000000..028853ec8
--- /dev/null
+++ b/apps/systemcmds/calibration/calibration.h
@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#ifndef _CALIBRATION_H
+#define _CALIBRATION_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Variables
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+extern int range_cal(int argc, char *argv[]);
+extern int servo_cal(int argc, char *argv[]);
+
+#endif
diff --git a/apps/systemcmds/calibration/channels_cal.c b/apps/systemcmds/calibration/channels_cal.c
new file mode 100755
index 000000000..575138b12
--- /dev/null
+++ b/apps/systemcmds/calibration/channels_cal.c
@@ -0,0 +1,196 @@
+/****************************************************************************
+ * channels_cal.c
+ *
+ *   Copyright (C) 2012 Nils Wenzler. All rights reserved.
+ *   Authors: Nils Wenzler <wenzlern@ethz.ch>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include "calibration.h"
+
+/****************************************************************************
+ * Defines
+ ****************************************************************************/
+#define ABS(a)    (((a) < 0) ? -(a) : (a))
+#define MIN(a,b)  (((a)<(b))?(a):(b))
+#define MAX(a,b) (((a)>(b))?(a):(b))
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+//Store the values here before writing them to global_data_rc_channels
+uint16_t old_values[NR_CHANNELS];
+uint16_t cur_values[NR_CHANNELS];
+uint8_t  function_map[NR_CHANNELS];
+char names[12][9];
+
+
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+void press_enter_2(void)
+{
+	int c;
+	printf("Press CTRL+ENTER to continue... \n");
+	fflush(stdout);
+
+	do c = getchar(); while ((c != '\n') && (c != EOF));
+}
+
+/**This gets all current values and writes them to min or max
+ */
+uint8_t get_val(uint16_t *buffer)
+{
+	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
+		uint8_t i;
+
+		for (i = 0; i < NR_CHANNELS; i++) {
+			printf("Channel: %i\t RAW Value: %i: \n", i, global_data_rc_channels->chan[i].raw);
+			buffer[i] = global_data_rc_channels->chan[i].raw;
+		}
+
+		global_data_unlock(&global_data_rc_channels->access_conf);
+		return 0;
+
+	} else
+		return -1;
+}
+
+void set_channel(void)
+{
+	static uint8_t j = 0;
+	uint8_t i;
+
+	for (i = 0; i < NR_CHANNELS; i++) {
+		if (ABS(old_values - cur_values) > 50) {
+			function_map[j] = i;
+			strcpy(names[i], global_data_rc_channels->function_names[j]);
+			j++;
+		}
+	}
+}
+
+void write_dat(void)
+{
+	global_data_lock(&global_data_rc_channels->access_conf);
+	uint8_t i;
+
+	for (i = 0; i < NR_CHANNELS; i++) {
+		global_data_rc_channels->function[i] = function_map[i];
+		strcpy(global_data_rc_channels->chan[i].name, names[i]);
+
+		printf("Channel %i\t Function %s\n", i,
+		       global_data_rc_channels->chan[i].name);
+	}
+
+	global_data_unlock(&global_data_rc_channels->access_conf);
+}
+
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+int channels_cal(int argc, char *argv[])
+{
+
+	printf("This routine maps the input functions on the remote control\n");
+	printf("to the corresponding function (Throttle, Roll,..)\n");
+	printf("Always move the stick all the way\n");
+	press_enter_2();
+
+	printf("Pull the THROTTLE stick down\n");
+	press_enter_2();
+
+	while (get_val(old_values));
+
+	printf("Move the THROTTLE stick up\n ");
+	press_enter_2();
+
+	while (get_val(cur_values));
+
+	set_channel();
+
+	printf("Pull the PITCH stick down\n");
+	press_enter_2();
+
+	while (get_val(old_values));
+
+	printf("Move the PITCH stick up\n ");
+	press_enter_2();
+
+	while (get_val(cur_values));
+
+	set_channel();
+
+	printf("Put the ROLL stick to the left\n");
+	press_enter_2();
+
+	while (get_val(old_values));
+
+	printf("Put the ROLL stick to the right\n ");
+	press_enter_2();
+
+	while (get_val(cur_values));
+
+	set_channel();
+
+	printf("Put the YAW stick to the left\n");
+	press_enter_2();
+
+	while (get_val(old_values));
+
+	printf("Put the YAW stick to the right\n ");
+	press_enter_2();
+
+	while (get_val(cur_values));
+
+	set_channel();
+
+	uint8_t k;
+
+	for (k = 5; k < NR_CHANNELS; k++) {
+		function_map[k] = k;
+		strcpy(names[k], global_data_rc_channels->function_names[k]);
+	}
+
+//write the values to global_data_rc_channels
+	write_dat();
+
+	return 0;
+
+}
+
diff --git a/apps/systemcmds/calibration/range_cal.c b/apps/systemcmds/calibration/range_cal.c
new file mode 100755
index 000000000..159a0d06b
--- /dev/null
+++ b/apps/systemcmds/calibration/range_cal.c
@@ -0,0 +1,224 @@
+/****************************************************************************
+ * range_cal.c
+ *
+ *   Copyright (C) 2012 Nils Wenzler. All rights reserved.
+ *   Authors: Nils Wenzler <wenzlern@ethz.ch>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+#include <stdio.h>
+#include <stdlib.h>
+#include "calibration.h"
+
+/****************************************************************************
+ * Defines
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+//Store the values here before writing them to global_data_rc_channels
+uint16_t max_values[NR_CHANNELS];
+uint16_t min_values[NR_CHANNELS];
+uint16_t mid_values[NR_CHANNELS];
+
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/**This sets the middle values
+ */
+uint8_t set_mid(void)
+{
+	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
+		uint8_t i;
+
+		for (i = 0; i < NR_CHANNELS; i++) {
+			if (i == global_data_rc_channels->function[ROLL] ||
+			    i == global_data_rc_channels->function[YAW] ||
+			    i == global_data_rc_channels->function[PITCH]) {
+
+				mid_values[i] = global_data_rc_channels->chan[i].raw;
+
+			} else {
+				mid_values[i] = (max_values[i] + min_values[i]) / 2;
+			}
+
+		}
+
+		global_data_unlock(&global_data_rc_channels->access_conf);
+		return 0;
+
+	} else
+		return -1;
+}
+
+/**This gets all current values and writes them to min or max
+ */
+uint8_t get_value(void)
+{
+	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
+		uint8_t i;
+
+		for (i = 0; i < NR_CHANNELS; i++) {
+			//see if the value is bigger or smaller than 1500 (roughly neutral)
+			//and write to the appropriate array
+			if (global_data_rc_channels->chan[i].raw != 0 &&
+			    global_data_rc_channels->chan[i].raw < 1500) {
+				min_values[i] = global_data_rc_channels->chan[i].raw;
+
+			} else if (global_data_rc_channels->chan[i].raw != 0 &&
+				   global_data_rc_channels->chan[i].raw > 1500) {
+				max_values[i] = global_data_rc_channels->chan[i].raw;
+
+			} else {
+				max_values[i] = 0;
+				min_values[i] = 0;
+			}
+		}
+
+		global_data_unlock(&global_data_rc_channels->access_conf);
+		return 0;
+
+	} else
+		return -1;
+}
+
+
+void write_data(void)
+{
+	//  global_data_lock(&global_data_rc_channels->access_conf);
+	//  uint8_t i;
+	//  for(i=0; i < NR_CHANNELS; i++){
+	//    //Write the data to global_data_rc_channels (if not 0)
+	//    if(mid_values[i]!=0 && min_values[i]!=0 && max_values[i]!=0){
+	//      global_data_rc_channels->chan[i].scaling_factor =
+	//        10000/((max_values[i] - min_values[i])/2);
+	//
+	//      global_data_rc_channels->chan[i].mid = mid_values[i];
+	//    }
+	//
+	//    printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
+	//        i,
+	//        global_data_rc_channels->function_name[global_data_rc_channels->function[i]],
+	//        min_values[i], max_values[i],
+	//        global_data_rc_channels->chan[i].scaling_factor,
+	//        global_data_rc_channels->chan[i].mid);
+	//  }
+	//  global_data_unlock(&global_data_rc_channels->access_conf);
+
+	//Write to the Parameter storage
+
+	global_data_parameter_storage->pm.param_values[PARAM_RC1_MIN] = min_values[0];
+	global_data_parameter_storage->pm.param_values[PARAM_RC2_MIN] = min_values[1];
+	global_data_parameter_storage->pm.param_values[PARAM_RC3_MIN] = min_values[2];
+	global_data_parameter_storage->pm.param_values[PARAM_RC4_MIN] = min_values[3];
+	global_data_parameter_storage->pm.param_values[PARAM_RC5_MIN] = min_values[4];
+	global_data_parameter_storage->pm.param_values[PARAM_RC6_MIN] = min_values[5];
+	global_data_parameter_storage->pm.param_values[PARAM_RC7_MIN] = min_values[6];
+	global_data_parameter_storage->pm.param_values[PARAM_RC8_MIN] = min_values[7];
+
+
+	global_data_parameter_storage->pm.param_values[PARAM_RC1_MAX] = max_values[0];
+	global_data_parameter_storage->pm.param_values[PARAM_RC2_MAX] = max_values[1];
+	global_data_parameter_storage->pm.param_values[PARAM_RC3_MAX] = max_values[2];
+	global_data_parameter_storage->pm.param_values[PARAM_RC4_MAX] = max_values[3];
+	global_data_parameter_storage->pm.param_values[PARAM_RC5_MAX] = max_values[4];
+	global_data_parameter_storage->pm.param_values[PARAM_RC6_MAX] = max_values[5];
+	global_data_parameter_storage->pm.param_values[PARAM_RC7_MAX] = max_values[6];
+	global_data_parameter_storage->pm.param_values[PARAM_RC8_MAX] = max_values[7];
+
+
+	global_data_parameter_storage->pm.param_values[PARAM_RC1_TRIM] = mid_values[0];
+	global_data_parameter_storage->pm.param_values[PARAM_RC2_TRIM] = mid_values[1];
+	global_data_parameter_storage->pm.param_values[PARAM_RC3_TRIM] = mid_values[2];
+	global_data_parameter_storage->pm.param_values[PARAM_RC4_TRIM] = mid_values[3];
+	global_data_parameter_storage->pm.param_values[PARAM_RC5_TRIM] = mid_values[4];
+	global_data_parameter_storage->pm.param_values[PARAM_RC6_TRIM] = mid_values[5];
+	global_data_parameter_storage->pm.param_values[PARAM_RC7_TRIM] = mid_values[6];
+	global_data_parameter_storage->pm.param_values[PARAM_RC8_TRIM] = mid_values[7];
+
+	usleep(3e6);
+	uint8_t i;
+
+	for (i = 0; i < NR_CHANNELS; i++) {
+		printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
+		       i,
+		       min_values[i], max_values[i],
+		       global_data_rc_channels->chan[i].scaling_factor,
+		       global_data_rc_channels->chan[i].mid);
+	}
+
+
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+int range_cal(int argc, char *argv[])
+{
+
+	printf("The range calibration routine assumes you already did the channel\n");
+	printf("assignment\n");
+	printf("This routine chooses the minimum, maximum and middle\n");
+	printf("value for each channel separatly. The ROLL, PITCH and YAW function\n");
+	printf("get their middle value from the RC direct, for the rest it is\n");
+	printf("calculated out of the min and max values.\n");
+	press_enter();
+
+	printf("Hold both sticks in lower left corner and continue\n ");
+	press_enter();
+	usleep(500000);
+
+	while (get_value());
+
+	printf("Hold both sticks in upper right corner and continue\n");
+	press_enter();
+	usleep(500000);
+
+	while (get_value());
+
+	printf("Set the trim to 0 and leave the sticks in the neutral position\n");
+	press_enter();
+
+	//Loop until successfull
+	while (set_mid());
+
+	//write the values to global_data_rc_channels
+	write_data();
+
+	return 0;
+
+}
+
diff --git a/apps/systemcmds/calibration/servo_cal.c b/apps/systemcmds/calibration/servo_cal.c
new file mode 100644
index 000000000..96b3045a9
--- /dev/null
+++ b/apps/systemcmds/calibration/servo_cal.c
@@ -0,0 +1,264 @@
+/****************************************************************************
+ * servo_cal.c
+ *
+ *   Copyright (C) 2012 Nils Wenzler. All rights reserved.
+ *   Authors: Nils Wenzler <wenzlern@ethz.ch>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+#include <stdio.h>
+#include <stdlib.h>
+#include <arch/board/drv_pwm_servo.h>
+#include <fcntl.h>
+#include "calibration.h"
+
+/****************************************************************************
+ * Defines
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+//Store the values here before writing them to global_data_rc_channels
+uint16_t max_values_servo[PWM_SERVO_MAX_CHANNELS];
+uint16_t min_values_servo[PWM_SERVO_MAX_CHANNELS];
+uint16_t mid_values_servo[PWM_SERVO_MAX_CHANNELS];
+
+// Servo loop thread
+
+pthread_t servo_calib_thread;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/**This sets the middle values
+ */
+uint8_t set_mid_s(void)
+{
+	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
+		uint8_t i;
+
+		for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
+			if (i == global_data_rc_channels->function[ROLL] ||
+			    i == global_data_rc_channels->function[YAW] ||
+			    i == global_data_rc_channels->function[PITCH]) {
+
+				mid_values_servo[i] = global_data_rc_channels->chan[i].raw;
+
+			} else {
+				mid_values_servo[i] = (max_values_servo[i] + min_values_servo[i]) / 2;
+			}
+
+		}
+
+		global_data_unlock(&global_data_rc_channels->access_conf);
+		return 0;
+
+	} else
+		return -1;
+}
+
+/**This gets all current values and writes them to min or max
+ */
+uint8_t get_value_s(void)
+{
+	if (0 == global_data_trylock(&global_data_rc_channels->access_conf)) {
+		uint8_t i;
+
+		for (i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
+			//see if the value is bigger or smaller than 1500 (roughly neutral)
+			//and write to the appropriate array
+			if (global_data_rc_channels->chan[i].raw != 0 &&
+			    global_data_rc_channels->chan[i].raw < 1500) {
+				min_values_servo[i] = global_data_rc_channels->chan[i].raw;
+
+			} else if (global_data_rc_channels->chan[i].raw != 0 &&
+				   global_data_rc_channels->chan[i].raw > 1500) {
+				max_values_servo[i] = global_data_rc_channels->chan[i].raw;
+
+			} else {
+				max_values_servo[i] = 0;
+				min_values_servo[i] = 0;
+			}
+		}
+
+		global_data_unlock(&global_data_rc_channels->access_conf);
+		return 0;
+
+	} else
+		return -1;
+}
+
+
+void write_data_s(void)
+{
+	//  global_data_lock(&global_data_rc_channels->access_conf);
+	//  uint8_t i;
+	//  for(i=0; i < NR_CHANNELS; i++){
+	//    //Write the data to global_data_rc_channels (if not 0)
+	//    if(mid_values_servo[i]!=0 && min_values_servo[i]!=0 && max_values_servo[i]!=0){
+	//      global_data_rc_channels->chan[i].scaling_factor =
+	//        10000/((max_values_servo[i] - min_values_servo[i])/2);
+	//
+	//      global_data_rc_channels->chan[i].mid = mid_values_servo[i];
+	//    }
+	//
+	//    printf("Channel %i\t Function %s \t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
+	//        i,
+	//        global_data_rc_channels->function_name[global_data_rc_channels->function[i]],
+	//        min_values_servo[i], max_values_servo[i],
+	//        global_data_rc_channels->chan[i].scaling_factor,
+	//        global_data_rc_channels->chan[i].mid);
+	//  }
+	//  global_data_unlock(&global_data_rc_channels->access_conf);
+
+	//Write to the Parameter storage
+
+
+
+	global_data_lock(&global_data_parameter_storage->access_conf);
+
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MIN] = min_values_servo[0];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MIN] = min_values_servo[1];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MIN] = min_values_servo[2];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MIN] = min_values_servo[3];
+
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO1_MAX] = max_values_servo[0];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO2_MAX] = max_values_servo[1];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO3_MAX] = max_values_servo[2];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO4_MAX] = max_values_servo[3];
+
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO1_TRIM] = mid_values_servo[0];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO2_TRIM] = mid_values_servo[1];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO3_TRIM] = mid_values_servo[2];
+	global_data_parameter_storage->pm.param_values[PARAM_SERVO4_TRIM] = mid_values_servo[3];
+
+	global_data_unlock(&global_data_parameter_storage->access_conf);
+
+	usleep(3e6);
+	uint8_t i;
+
+	for (i = 0; i < NR_CHANNELS; i++) {
+		printf("Channel %i:\t\t Min %i\t\t Max %i\t\t Scaling Factor: %i\t Middle Value %i\n",
+		       i,
+		       min_values_servo[i], max_values_servo[i],
+		       global_data_rc_channels->chan[i].scaling_factor,
+		       global_data_rc_channels->chan[i].mid);
+	}
+
+}
+
+static void *servo_loop(void *arg)
+{
+
+	// Set thread name
+	prctl(1, "calibration servo", getpid());
+
+	// initialize servos
+	int fd;
+	servo_position_t data[PWM_SERVO_MAX_CHANNELS];
+
+	fd = open("/dev/pwm_servo", O_RDWR);
+
+	if (fd < 0) {
+		printf("failed opening /dev/pwm_servo\n");
+	}
+
+	ioctl(fd, PWM_SERVO_ARM, 0);
+
+	while (1) {
+		int i;
+
+		for (i = 0; i < 4; i++) {
+			data[i] = global_data_rc_channels->chan[global_data_rc_channels->function[THROTTLE]].raw;
+		}
+
+		int result = write(fd, &data, sizeof(data));
+
+		if (result != sizeof(data)) {
+			printf("failed bulk-reading channel values\n");
+		}
+
+		// 5Hz loop
+		usleep(200000);
+	}
+
+	return NULL;
+}
+
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+int servo_cal(int argc, char *argv[])
+{
+	//	pthread_attr_t servo_loop_attr;
+	//	pthread_attr_init(&servo_loop_attr);
+	//	pthread_attr_setstacksize(&servo_loop_attr, 1024);
+	pthread_create(&servo_calib_thread, NULL, servo_loop, NULL);
+	pthread_join(servo_calib_thread, NULL);
+
+	printf("The servo calibration routine assumes you already did the channel\n");
+	printf("assignment with 'calibration channels'\n");
+	printf("This routine chooses the minimum, maximum and middle\n");
+	printf("value for each channel separately. The ROLL, PITCH and YAW function\n");
+	printf("get their middle value from the RC direct, for the rest it is\n");
+	printf("calculated out of the min and max values.\n");
+	press_enter();
+
+	printf("Hold both sticks in lower left corner and continue\n ");
+	press_enter();
+	usleep(500000);
+
+	while (get_value_s());
+
+	printf("Hold both sticks in upper right corner and continue\n");
+	press_enter();
+	usleep(500000);
+
+	while (get_value_s());
+
+	printf("Set the trim to 0 and leave the sticks in the neutral position\n");
+	press_enter();
+
+	//Loop until successfull
+	while (set_mid_s());
+
+	//write the values to global_data_rc_channels
+	write_data_s();
+
+	return 0;
+
+}
+