Merge branch 'master' into vector_control

10 files changed, 298 insertions, 22 deletions

diff --git a/makefiles/board_px4fmu-v2.mk b/makefiles/board_px4fmu-v2.mk
new file mode 100644
index 000000000..e9a2985b7
--- /dev/null
+++ b/makefiles/board_px4fmu-v2.mk
@@ -0,0 +1,11 @@
+#
+# Board-specific definitions for the PX4FMUv2
+#
+
+#
+# Configure the toolchain
+#
+CONFIG_ARCH			 = CORTEXM4F
+CONFIG_BOARD			 = PX4FMU_V2
+
+include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/board_px4io-v2.mk b/makefiles/board_px4io-v2.mk
new file mode 100644
index 000000000..50a4068fb
--- /dev/null
+++ b/makefiles/board_px4io-v2.mk
@@ -0,0 +1,11 @@
+#
+# Board-specific definitions for the PX4IOv2
+#
+
+#
+# Configure the toolchain
+#
+CONFIG_ARCH			 = CORTEXM3
+CONFIG_BOARD			 = PX4IO_V2
+
+include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 27543e8bb..306827086 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -6,6 +6,7 @@
 # Use the configuration's ROMFS.
 #
 ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
+ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_default.bin
 
 #
 # Board support modules
@@ -17,7 +18,7 @@ MODULES		+= drivers/stm32/tone_alarm
 MODULES		+= drivers/led
 MODULES		+= drivers/px4io
 MODULES		+= drivers/px4fmu
-MODULES		+= drivers/boards/px4fmu
+MODULES		+= drivers/boards/px4fmu-v1
 MODULES		+= drivers/ardrone_interface
 MODULES		+= drivers/l3gd20
 MODULES		+= drivers/bma180
@@ -30,8 +31,9 @@ MODULES		+= drivers/hil
 MODULES		+= drivers/hott/hott_telemetry
 MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
+MODULES		+= drivers/rgbled
 MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/md25
+MODULES		+= drivers/roboclaw
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
@@ -50,15 +52,18 @@ MODULES		+= systemcmds/param
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/preflight_check
 MODULES		+= systemcmds/pwm
+MODULES		+= systemcmds/esc_calib
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/top
 MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
+MODULES		+= systemcmds/nshterm
 
 #
 # General system control
 #
 MODULES		+= modules/commander
+MODULES		+= modules/navigator
 MODULES		+= modules/mavlink
 MODULES		+= modules/mavlink_onboard
 MODULES		+= modules/gpio_led
@@ -67,21 +72,17 @@ MODULES		+= modules/gpio_led
 # Estimation modules (EKF / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/attitude_estimator_so3_comp
-MODULES		+= modules/position_estimator
 MODULES		+= modules/att_pos_estimator_ekf
+MODULES		+= modules/position_estimator_inav
 MODULES		+= examples/flow_position_estimator
 
 #
 # Vehicle Control
 #
-MODULES		+= modules/segway
-MODULES		+= modules/fixedwing_backside
-MODULES		+= modules/fixedwing_att_control
-MODULES		+= modules/fixedwing_pos_control
-MODULES		+= modules/fw_att_control_vector
+#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
+MODULES		+= modules/fw_pos_control_l1
+MODULES		+= modules/fw_att_control
 MODULES		+= modules/multirotor_att_control
-MODULES		+= modules/mc_att_control_vector
 MODULES		+= modules/multirotor_pos_control
 MODULES		+= examples/flow_position_control
 MODULES		+= examples/flow_speed_control
@@ -92,19 +93,29 @@ MODULES		+= examples/flow_speed_control
 MODULES		+= modules/sdlog2
 
 #
+# Unit tests
+#
+#MODULES 	+= modules/unit_test
+#MODULES 	+= modules/commander/commander_tests
+
+#
 # Library modules
 #
 MODULES		+= modules/systemlib
 MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/mathlib
-MODULES		+= modules/mathlib/math/filter
 MODULES		+= modules/controllib
 MODULES		+= modules/uORB
 
 #
 # Libraries
 #
-LIBRARIES	+= modules/mathlib/CMSIS
+LIBRARIES	+= lib/mathlib/CMSIS
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
+MODULES		+= lib/ecl
+MODULES		+= lib/external_lgpl
+MODULES		+= lib/geo
+MODULES		+= lib/conversion
 
 #
 # Demo apps
@@ -124,7 +135,10 @@ LIBRARIES	+= modules/mathlib/CMSIS
 
 # Tutorial code from
 # https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
-MODULES			+= examples/fixedwing_control
+#MODULES			+= examples/fixedwing_control
+
+# Hardware test
+#MODULES			+= examples/hwtest
 
 #
 # Transitional support - add commands from the NuttX export archive.
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
new file mode 100644
index 000000000..761fb8d9d
--- /dev/null
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -0,0 +1,155 @@
+#
+# Makefile for the px4fmu_default configuration
+#
+
+#
+# Use the configuration's ROMFS, copy the px4iov2 firmware into
+# the ROMFS if it's available
+#
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
+ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/stm32/adc
+MODULES		+= drivers/stm32/tone_alarm
+MODULES		+= drivers/led
+MODULES		+= drivers/px4fmu
+MODULES		+= drivers/px4io
+MODULES		+= drivers/boards/px4fmu-v2
+MODULES		+= drivers/rgbled
+MODULES		+= drivers/lsm303d
+MODULES		+= drivers/l3gd20
+MODULES		+= drivers/hmc5883
+MODULES		+= drivers/ms5611
+MODULES		+= drivers/mb12xx
+MODULES		+= drivers/gps
+MODULES		+= drivers/hil
+MODULES		+= drivers/hott/hott_telemetry
+MODULES		+= drivers/hott/hott_sensors
+MODULES		+= drivers/blinkm
+MODULES		+= drivers/roboclaw
+MODULES		+= drivers/airspeed
+MODULES		+= drivers/ets_airspeed
+MODULES		+= drivers/meas_airspeed
+MODULES		+= modules/sensors
+
+# Needs to be burned to the ground and re-written; for now,
+# just don't build it.
+#MODULES		+= drivers/mkblctrl
+
+#
+# System commands
+#
+MODULES		+= systemcmds/ramtron
+MODULES		+= systemcmds/bl_update
+MODULES		+= systemcmds/boardinfo
+MODULES		+= systemcmds/mixer
+MODULES		+= systemcmds/param
+MODULES		+= systemcmds/perf
+MODULES		+= systemcmds/preflight_check
+MODULES		+= systemcmds/pwm
+MODULES		+= systemcmds/esc_calib
+MODULES		+= systemcmds/reboot
+MODULES		+= systemcmds/top
+MODULES		+= systemcmds/tests
+MODULES		+= systemcmds/config
+MODULES		+= systemcmds/nshterm
+
+#
+# General system control
+#
+MODULES		+= modules/commander
+MODULES		+= modules/navigator
+MODULES		+= modules/mavlink
+MODULES		+= modules/mavlink_onboard
+
+#
+# Estimation modules (EKF / other filters)
+#
+MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/att_pos_estimator_ekf
+MODULES		+= modules/position_estimator_inav
+MODULES		+= examples/flow_position_estimator
+
+#
+# Vehicle Control
+#
+#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
+MODULES		+= modules/fw_pos_control_l1
+MODULES		+= modules/fw_att_control
+MODULES		+= modules/multirotor_att_control
+MODULES		+= modules/multirotor_pos_control
+
+#
+# Logging
+#
+MODULES		+= modules/sdlog2
+
+#
+# Unit tests
+#
+#MODULES 	+= modules/unit_test
+#MODULES 	+= modules/commander/commander_tests
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/controllib
+MODULES		+= modules/uORB
+
+#
+# Libraries
+#
+LIBRARIES	+= lib/mathlib/CMSIS
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
+MODULES		+= lib/ecl
+MODULES		+= lib/external_lgpl
+MODULES		+= lib/geo
+MODULES		+= lib/conversion
+
+#
+# Demo apps
+#
+#MODULES		+= examples/math_demo
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/hello_sky
+MODULES		+= examples/px4_simple_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/daemon
+#MODULES		+= examples/px4_daemon_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/debug_values
+#MODULES		+= examples/px4_mavlink_debug
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
+#MODULES			+= examples/fixedwing_control
+
+# Hardware test
+#MODULES			+= examples/hwtest
+
+#
+# Transitional support - add commands from the NuttX export archive.
+#
+# In general, these should move to modules over time.
+#
+# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
+# to make the table a bit more readable.
+#
+define _B
+	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
+endef
+
+#                  command                 priority                   stack  entrypoint
+BUILTIN_COMMANDS := \
+	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
+	$(call _B, serdis,                 ,                          2048,  serdis_main                )
diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk
new file mode 100644
index 000000000..0f60e88b5
--- /dev/null
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -0,0 +1,41 @@
+#
+# Makefile for the px4fmu_default configuration
+#
+
+#
+# Use the configuration's ROMFS.
+#
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_test
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/led
+MODULES		+= drivers/boards/px4fmu-v2
+MODULES		+= systemcmds/perf
+MODULES		+= systemcmds/reboot
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/uORB
+
+#
+# Transitional support - add commands from the NuttX export archive.
+#
+# In general, these should move to modules over time.
+#
+# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
+# to make the table a bit more readable.
+#
+define _B
+	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
+endef
+
+#                  command                 priority                   stack  entrypoint
+BUILTIN_COMMANDS := \
+	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
+	$(call _B, serdis,                 ,                          2048,  serdis_main                )
diff --git a/makefiles/config_px4io-v1_default.mk b/makefiles/config_px4io-v1_default.mk
index cf70391bc..73f8adf20 100644
--- a/makefiles/config_px4io-v1_default.mk
+++ b/makefiles/config_px4io-v1_default.mk
@@ -6,5 +6,5 @@
 # Board support modules
 #
 MODULES		+= drivers/stm32
-MODULES		+= drivers/boards/px4io
+MODULES		+= drivers/boards/px4io-v1
 MODULES		+= modules/px4iofirmware
\ No newline at end of file
diff --git a/makefiles/config_px4io-v2_default.mk b/makefiles/config_px4io-v2_default.mk
new file mode 100644
index 000000000..dbeaba3d3
--- /dev/null
+++ b/makefiles/config_px4io-v2_default.mk
@@ -0,0 +1,10 @@
+#
+# Makefile for the px4iov2_default configuration
+#
+
+#
+# Board support modules
+#
+MODULES		+= drivers/stm32
+MODULES		+= drivers/boards/px4io-v2
+MODULES		+= modules/px4iofirmware
\ No newline at end of file
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index ecff77db9..cb20d9cd1 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -110,6 +110,8 @@ ifneq ($(words $(PX4_BASE)),1)
 $(error Cannot build when the PX4_BASE path contains one or more space characters.)
 endif
 
+$(info %  GIT_DESC            = $(GIT_DESC))
+
 #
 # Set a default target so that included makefiles or errors here don't 
 # cause confusion.
@@ -177,6 +179,17 @@ GLOBAL_DEPS		+= $(MAKEFILE_LIST)
 #
 EXTRA_CLEANS		 = 
 
+
+#
+# Extra defines for compilation
+#
+export EXTRADEFINES := -DGIT_VERSION=$(GIT_DESC)
+
+#
+# Append the per-board driver directory to the header search path.
+#
+INCLUDE_DIRS		+= $(PX4_MODULE_SRC)drivers/boards/$(BOARD)
+
 ################################################################################
 # NuttX libraries and paths
 ################################################################################
@@ -317,7 +330,7 @@ endif
 # a root from several templates. That would be a nice feature.
 #
 
-# Add dependencies on anything in the ROMFS root
+# Add dependencies on anything in the ROMFS root directory
 ROMFS_FILES		+= $(wildcard \
 			     $(ROMFS_ROOT)/* \
 			     $(ROMFS_ROOT)/*/* \
@@ -329,7 +342,14 @@ ifeq ($(ROMFS_FILES),)
 $(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
 endif
 ROMFS_DEPS		+= $(ROMFS_FILES)
+
+# Extra files that may be copied into the ROMFS /extras directory
+# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional
+ROMFS_EXTRA_FILES	+= $(wildcard $(ROMFS_OPTIONAL_FILES))
+ROMFS_DEPS		+= $(ROMFS_EXTRA_FILES)
+
 ROMFS_IMG		 = romfs.img
+ROMFS_SCRATCH		 = romfs_scratch
 ROMFS_CSRC		 = $(ROMFS_IMG:.img=.c)
 ROMFS_OBJ		 = $(ROMFS_CSRC:.c=.o)
 LIBS			+= $(ROMFS_OBJ)
@@ -340,9 +360,18 @@ $(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
 	$(call BIN_TO_OBJ,$<,$@,romfs_img)
 
 # Generate the ROMFS image from the root
-$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS)
+$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
 	@$(ECHO) "ROMFS:   $@"
-	$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
+	$(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol"
+
+# Construct the ROMFS scratch root from the canonical root
+$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
+	$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
+	$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
+ifneq ($(ROMFS_EXTRA_FILES),)
+	$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
+	$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
+endif
 
 EXTRA_CLEANS		+= $(ROMGS_OBJ) $(ROMFS_IMG)
 
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index 168e41a5c..183b143d6 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -43,6 +43,7 @@
 #
 export PX4_INCLUDE_DIR	 = $(abspath $(PX4_BASE)/src/include)/
 export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src)/
+export PX4_LIB_DIR	 = $(abspath $(PX4_BASE)/src/lib)/
 export PX4_MK_DIR	 = $(abspath $(PX4_BASE)/makefiles)/
 export NUTTX_SRC	 = $(abspath $(PX4_BASE)/NuttX/nuttx)/
 export NUTTX_APP_SRC	 = $(abspath $(PX4_BASE)/NuttX/apps)/
@@ -57,7 +58,8 @@ export ARCHIVE_DIR	 = $(abspath $(PX4_BASE)/Archives)/
 #
 export INCLUDE_DIRS	:= $(PX4_MODULE_SRC) \
 			   $(PX4_MODULE_SRC)/modules/ \
-			   $(PX4_INCLUDE_DIR)
+			   $(PX4_INCLUDE_DIR) \
+			   $(PX4_LIB_DIR)
 
 #
 # Tools
@@ -71,6 +73,7 @@ export RMDIR		 = rm -rf
 export GENROMFS		 = genromfs
 export TOUCH		 = touch
 export MKDIR		 = mkdir
+export FIND		 = find
 export ECHO		 = echo
 export UNZIP_CMD	 = unzip
 export PYTHON		 = python
diff --git a/makefiles/upload.mk b/makefiles/upload.mk
index 3aebef863..bc26d743d 100644
--- a/makefiles/upload.mk
+++ b/makefiles/upload.mk
@@ -12,13 +12,13 @@ SYSTYPE			:= $(shell uname -s)
 # XXX The uploader should be smarter than this.
 #
 ifeq ($(SYSTYPE),Darwin)
-SERIAL_PORTS		?= "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4"
+SERIAL_PORTS		?= "/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
 endif
 ifeq ($(SYSTYPE),Linux)
-SERIAL_PORTS		?= "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0"
+SERIAL_PORTS		?= "/dev/serial/by-id/usb-3D_Robotics*"
 endif
 ifeq ($(SERIAL_PORTS),)
-SERIAL_PORTS		 = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
+SERIAL_PORTS		 = "COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
 endif
 
 .PHONY:	all upload-$(METHOD)-$(BOARD)
@@ -27,6 +27,8 @@ all:	upload-$(METHOD)-$(BOARD)
 upload-serial-px4fmu-v1:	$(BUNDLE) $(UPLOADER)
 	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
+upload-serial-px4fmu-v2:	$(BUNDLE) $(UPLOADER)
+	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
 #
 # JTAG firmware uploading with OpenOCD