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

6 files changed, 31 insertions, 35 deletions

diff --git a/apps/px4/attitude_estimator_bm/attitude_bm.c b/apps/px4/attitude_estimator_bm/attitude_bm.c
index 8face5aea..6921db375 100644
--- a/apps/px4/attitude_estimator_bm/attitude_bm.c
+++ b/apps/px4/attitude_estimator_bm/attitude_bm.c
@@ -150,15 +150,15 @@ void attitude_blackmagic_init(void)
 		0.0007f , 0    ,   0    ,   0    ,   0    ,   0    ,   0   ,    0    ,   0,
 		0   ,    0.0007f , 0   ,    0   ,    0   ,    0   ,    0   ,    0   ,    0,
 		0   ,    0    ,   0.0007f , 0   ,    0   ,    0   ,    0   ,    0   ,    0,
-		0   ,    0    ,   0   ,    0.01f, 	0   ,    0   ,    0   ,    0   ,    0,
-		0   ,    0   ,    0   ,    0    ,   0.01f, 	 0   ,    0   ,    0   ,    0,
-		0   ,    0    ,   0   ,    0    ,   0   ,    0.01f, 	  0   ,    0   ,    0,
+		0   ,    0    ,   0   ,    0.015f, 	0   ,    0   ,    0   ,    0   ,    0,
+		0   ,    0   ,    0   ,    0    ,   0.015f, 	 0   ,    0   ,    0   ,    0,
+		0   ,    0    ,   0   ,    0    ,   0   ,    0.015f, 	  0   ,    0   ,    0,
 		0.0000f , +0.00002f, 0   ,    0 , 		0, 		 0,  	  0,  	   0    ,   0,
 		-0.00002f, 0    ,   0   ,    0 , 		0, 		 0,  	  0,  	   0, 	    0,
 		0,    	 0 ,	  0   ,    0,  	    0,		 0,  	  0,  	   0, 	    0,
-		0  ,     0    ,   0   ,    0   ,    0    ,   0   ,    0.4f ,   0   ,    0,
-		0   ,    0   ,    0   ,    0   ,    0    ,   0   ,    0    ,   0.4f ,   0,
-		0   ,    0   ,    0   ,    0   ,    0   ,    0   ,    0    ,   0    ,   0.4f
+		0  ,     0    ,   0   ,    0   ,    0    ,   0   ,    0.7f ,   0   ,    0,
+		0   ,    0   ,    0   ,    0   ,    0    ,   0   ,    0    ,   0.7f ,   0,
+		0   ,    0   ,    0   ,    0   ,    0   ,    0   ,    0    ,   0    ,   0.7f
 	};
 	//offset update only correct if not upside down.
 
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index 963c54b8e..d388a6d5a 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -533,12 +533,10 @@ Sensors::accel_init()
 		warnx("using BMA180");
 	} else {
 		/* set the accel internal sampling rate up to at leat 500Hz */
-		if (OK != ioctl(fd, ACCELIOCSSAMPLERATE, 500))
-			warn("WARNING: failed to set minimum 500Hz sample rate for accel");
+		ioctl(fd, ACCELIOCSSAMPLERATE, 500);
 
 		/* set the driver to poll at 500Hz */
-		if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 500))
-			warn("WARNING: failed to set 500Hz poll rate for accel");
+		ioctl(fd, SENSORIOCSPOLLRATE, 500);
 
 		warnx("using system accel");
 		close(fd);
@@ -568,12 +566,10 @@ Sensors::gyro_init()
 		warn("using L3GD20");
 	} else {
 		/* set the gyro internal sampling rate up to at leat 500Hz */
-		if (OK != ioctl(fd, GYROIOCSSAMPLERATE, 500))
-			warn("WARNING: failed to set minimum 500Hz sample rate for gyro");
+		ioctl(fd, GYROIOCSSAMPLERATE, 500);
 
 		/* set the driver to poll at 500Hz */
-		if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 500))
-			warn("WARNING: failed to set 500Hz poll rate for gyro");
+		ioctl(fd, SENSORIOCSPOLLRATE, 500);
 
 		warnx("using system gyro");
 		close(fd);
@@ -592,12 +588,10 @@ Sensors::mag_init()
 	}
 
 	/* set the mag internal poll rate to at least 150Hz */
-	if (OK != ioctl(fd, MAGIOCSSAMPLERATE, 150))
-		warn("WARNING: failed to set minimum 150Hz sample rate for mag");
+	ioctl(fd, MAGIOCSSAMPLERATE, 150);
 
 	/* set the driver to poll at 150Hz */
-	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 150))
-		warn("WARNING: failed to set 150Hz poll rate for mag");
+	ioctl(fd, SENSORIOCSPOLLRATE, 150);
 
 	close(fd);
 }
@@ -614,8 +608,7 @@ Sensors::baro_init()
 	}
 
 	/* set the driver to poll at 150Hz */
-	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 150))
-		warn("WARNING: failed to set 150Hz poll rate for baro");
+	ioctl(fd, SENSORIOCSPOLLRATE, 150);
 
 	close(fd);
 }
diff --git a/apps/systemcmds/boardinfo/boardinfo.c b/apps/systemcmds/boardinfo/boardinfo.c
index 0ae0ee8d2..bce8c27e7 100644
--- a/apps/systemcmds/boardinfo/boardinfo.c
+++ b/apps/systemcmds/boardinfo/boardinfo.c
@@ -247,7 +247,7 @@ int boardinfo_main(int argc, char *argv[])
 		int ret = carrier_get_board_info(&info);
 
 		if (ret != sizeof(info)) {
-			fprintf(stderr, "[boardinfo] ERROR loading board info from EEPROM (errno #%d), aborting\n", -ret);
+			fprintf(stderr, "[boardinfo] no EEPROM for board %d\n", test_boardid);
 			exit(1);
 		}
 
diff --git a/apps/systemlib/getopt_long.c b/apps/systemlib/getopt_long.c
index 662d73ff1..27c38635f 100644
--- a/apps/systemlib/getopt_long.c
+++ b/apps/systemlib/getopt_long.c
@@ -87,9 +87,7 @@ gpietsch@comcast.net
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#ifndef GETOPT_H
 #include "getopt_long.h"
-#endif
 
 /* macros */
 
@@ -143,8 +141,8 @@ is_option (char *argv_element, int only)
 
 /* getopt_internal:  the function that does all the dirty work */
 static int
-getopt_internal (int argc, char **argv, char *shortopts,
-                 GETOPT_LONG_OPTION_T * longopts, int *longind, int only)
+getopt_internal (int argc, char **argv, const char *shortopts,
+                 const GETOPT_LONG_OPTION_T * longopts, int *longind, int only)
 {
   GETOPT_ORDERING_T ordering = PERMUTE;
   static size_t optwhere = 0;
@@ -178,7 +176,7 @@ getopt_internal (int argc, char **argv, char *shortopts,
       shortopts++;
     }
   else
-    ordering = (getenv ("POSIXLY_CORRECT") != NULL) ? REQUIRE_ORDER : PERMUTE;
+    ordering = /*(getenv ("POSIXLY_CORRECT") != NULL) ? REQUIRE_ORDER :*/ PERMUTE;
 
   /*
    * based on ordering, find our next option, if we're at the beginning of
@@ -381,22 +379,24 @@ getopt_internal (int argc, char **argv, char *shortopts,
     return optopt;
 }
 
+#if 0
 int
 getopt (int argc, char **argv, char *optstring)
 {
   return getopt_internal (argc, argv, optstring, NULL, NULL, 0);
 }
+#endif
 
 int
-getopt_long (int argc, char **argv, char *shortopts,
-             GETOPT_LONG_OPTION_T * longopts, int *longind)
+getopt_long (int argc, char **argv, const char *shortopts,
+             const GETOPT_LONG_OPTION_T * longopts, int *longind)
 {
   return getopt_internal (argc, argv, shortopts, longopts, longind, 0);
 }
 
 int
-getopt_long_only (int argc, char **argv, char *shortopts,
-                  GETOPT_LONG_OPTION_T * longopts, int *longind)
+getopt_long_only (int argc, char **argv, const char *shortopts,
+                  const GETOPT_LONG_OPTION_T * longopts, int *longind)
 {
   return getopt_internal (argc, argv, shortopts, longopts, longind, 1);
 }
diff --git a/apps/systemlib/getopt_long.h b/apps/systemlib/getopt_long.h
index f372fedaa..3e51550a6 100644
--- a/apps/systemlib/getopt_long.h
+++ b/apps/systemlib/getopt_long.h
@@ -121,11 +121,13 @@ extern "C"
   extern int optopt;
 
   /* function prototypes */
+#if 0
   int getopt (int argc, char **argv, char *optstring);
-  int getopt_long (int argc, char **argv, char *shortopts,
-                   GETOPT_LONG_OPTION_T * longopts, int *longind);
-  int getopt_long_only (int argc, char **argv, char *shortopts,
-                        GETOPT_LONG_OPTION_T * longopts, int *longind);
+#endif
+  int getopt_long (int argc, char **argv, const char *shortopts,
+                   const GETOPT_LONG_OPTION_T * longopts, int *longind);
+  int getopt_long_only (int argc, char **argv, const char *shortopts,
+                        const GETOPT_LONG_OPTION_T * longopts, int *longind);
 
 #ifdef __cplusplus
 };
diff --git a/apps/systemlib/systemlib.c b/apps/systemlib/systemlib.c
index bed5b1a10..4c7aae83e 100644
--- a/apps/systemlib/systemlib.c
+++ b/apps/systemlib/systemlib.c
@@ -176,7 +176,8 @@ int carrier_get_board_info(struct carrier_board_info_s *info)
 	int ret;
 	int fd = open("/dev/eeprom", O_RDONLY | O_NONBLOCK);
 
-	if (fd < 0) fprintf(stderr, "[boardinfo carrier] ERROR opening carrier eeprom\n");
+	if (fd < 0)
+		return -1;	/* no board */
 
 	ret = read(fd, info, sizeof(struct carrier_board_info_s));