Merge branch 'master' of github.com:PX4/Firmware into px4io-i2c

4 files changed, 16 insertions, 5 deletions

diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c
index 4fd5fea1b..df8745d9f 100644
--- a/apps/sdlog/sdlog.c
+++ b/apps/sdlog/sdlog.c
@@ -683,7 +683,7 @@ int sdlog_thread_main(int argc, char *argv[])
 					.vbat = buf.batt.voltage_v,
 					.bat_current = buf.batt.current_a,
 					.bat_discharged = buf.batt.discharged_mah,
-					.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]},
+					.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]},
 					.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
 					.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
 					.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
diff --git a/apps/sdlog/sdlog_ringbuffer.h b/apps/sdlog/sdlog_ringbuffer.h
index f7fc0d450..b65916459 100644
--- a/apps/sdlog/sdlog_ringbuffer.h
+++ b/apps/sdlog/sdlog_ringbuffer.h
@@ -56,7 +56,7 @@ struct sdlog_sysvector {
 	float vbat;			/**< battery voltage in [volt] */
 	float bat_current;		/**< battery discharge current */
 	float bat_discharged;		/**< discharged energy in mAh */
-	float adc[3];			/**< remaining auxiliary ADC ports [volt] */
+	float adc[4];			/**< ADC ports [volt] */
 	float local_position[3];	/**< tangent plane mapping into x,y,z [m] */
 	int32_t gps_raw_position[3];	/**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */
 	float attitude[3];		/**< roll, pitch, yaw [rad] */
@@ -88,4 +88,4 @@ void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvec
 
 int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem);
 
-#endif
\ No newline at end of file
+#endif
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index 9b95c0939..89fd71dc6 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -998,12 +998,16 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 		/* read all channels available */
 		int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc));
 
-		/* look for battery channel */
-
 		for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
 			
 			if (ret >= (int)sizeof(buf_adc[0])) {
 
+				/* Save raw voltage values */
+				if (i < (sizeof(raw.adc_voltage_v)) / sizeof(raw.adc_voltage_v[0])) {
+					 raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f);
+				}
+
+				/* look for specific channels and process the raw voltage to measurement data */
 				if (ADC_BATTERY_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
 					/* Voltage in volts */
 					float voltage = (buf_adc[i].am_data * _parameters.battery_voltage_scaling);
diff --git a/apps/uORB/uORB.cpp b/apps/uORB/uORB.cpp
index 532e54b8e..7abbf42ae 100644
--- a/apps/uORB/uORB.cpp
+++ b/apps/uORB/uORB.cpp
@@ -429,6 +429,12 @@ ORBDevNode::appears_updated(SubscriberData *sd)
 	/* avoid racing between interrupt and non-interrupt context calls */
 	irqstate_t state = irqsave();
 
+	/* check if this topic has been published yet, if not bail out */
+	if (_data == nullptr) {
+		ret = false;
+		goto out;
+	}
+
 	/*
 	 * If the subscriber's generation count matches the update generation
 	 * count, there has been no update from their perspective; if they
@@ -485,6 +491,7 @@ ORBDevNode::appears_updated(SubscriberData *sd)
 		break;
 	}
 
+out:
 	irqrestore(state);
 
 	/* consider it updated */