Merge remote-tracking branch 'px4/master' into bottle_drop

Conflicts:
	ROMFS/px4fmu_common/init.d/rcS

6 files changed, 41 insertions, 338 deletions

diff --git a/makefiles/config_px4fmu-v1_backside.mk b/makefiles/config_px4fmu-v1_backside.mk
deleted file mode 100644
index 6da78b287..000000000
--- a/makefiles/config_px4fmu-v1_backside.mk
+++ /dev/null
@@ -1,162 +0,0 @@
-#
-# Makefile for the px4fmu_default configuration
-#
-
-#
-# 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
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/stm32
-MODULES		+= drivers/stm32/adc
-MODULES		+= drivers/stm32/tone_alarm
-MODULES		+= drivers/led
-MODULES		+= drivers/px4io
-MODULES		+= drivers/px4fmu
-MODULES		+= drivers/boards/px4fmu-v1
-MODULES		+= drivers/ardrone_interface
-MODULES		+= drivers/l3gd20
-MODULES		+= drivers/bma180
-MODULES		+= drivers/mpu6000
-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/rgbled
-MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/roboclaw
-MODULES		+= drivers/airspeed
-MODULES		+= drivers/ets_airspeed
-MODULES		+= drivers/meas_airspeed
-MODULES		+= modules/sensors
-
-#
-# System commands
-#
-MODULES		+= systemcmds/eeprom
-MODULES		+= systemcmds/ramtron
-MODULES		+= systemcmds/bl_update
-MODULES		+= systemcmds/boardinfo
-MODULES		+= systemcmds/i2c
-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
-MODULES		+= modules/gpio_led
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-#MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/att_pos_estimator_ekf
-#MODULES		+= modules/position_estimator_inav
-MODULES		+= examples/flow_position_estimator
-MODULES		+= modules/attitude_estimator_so3
-
-#
-# 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
-#MODULES		+= examples/flow_position_control
-#MODULES		+= examples/flow_speed_control
-MODULES 		+= modules/fixedwing_backside
-
-#
-# 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
-MODULES		+= modules/dataman
-
-#
-# 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                ) \
-	$(call _B, sysinfo,                ,                          2048,  sysinfo_main               )
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index f724962b2..aff614cbb 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -21,7 +21,6 @@ MODULES		+= drivers/px4fmu
 MODULES		+= drivers/boards/px4fmu-v1
 MODULES		+= drivers/ardrone_interface
 MODULES		+= drivers/l3gd20
-MODULES		+= drivers/bma180
 MODULES		+= drivers/mpu6000
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
@@ -33,19 +32,17 @@ MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
 MODULES		+= drivers/rgbled
 MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/roboclaw
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
+MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
 
 #
 # System commands
 #
-MODULES		+= systemcmds/eeprom
-MODULES		+= systemcmds/ramtron
+MODULES		+= systemcmds/mtd
 MODULES		+= systemcmds/bl_update
-MODULES		+= systemcmds/boardinfo
 MODULES		+= systemcmds/i2c
 MODULES		+= systemcmds/mixer
 MODULES		+= systemcmds/param
@@ -58,6 +55,7 @@ MODULES		+= systemcmds/top
 MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
+MODULES		+= systemcmds/hw_ver
 
 #
 # General system control
@@ -65,28 +63,25 @@ MODULES		+= systemcmds/nshterm
 MODULES		+= modules/commander
 MODULES		+= modules/navigator
 MODULES		+= modules/mavlink
-MODULES		+= modules/mavlink_onboard
 MODULES		+= modules/gpio_led
 
 #
 # Estimation modules (EKF/ SO3 / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/attitude_estimator_so3
 MODULES		+= modules/att_pos_estimator_ekf
 MODULES		+= modules/position_estimator_inav
-MODULES		+= examples/flow_position_estimator
+#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
-MODULES		+= examples/flow_position_control
-MODULES		+= examples/flow_speed_control
+MODULES		+= modules/mc_att_control
+MODULES		+= modules/mc_pos_control
+#MODULES		+= examples/flow_position_control
+#MODULES		+= examples/flow_speed_control
 
 #
 # Logging
@@ -118,6 +113,7 @@ MODULES		+= lib/ecl
 MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
 MODULES		+= lib/conversion
+MODULES		+= lib/launchdetection
 
 #
 # Demo apps
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index 7516103e7..df34d2dce 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -36,7 +36,10 @@ MODULES		+= drivers/roboclaw
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
+MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
+MODULES		+= drivers/mkblctrl
+
 
 # Needs to be burned to the ground and re-written; for now,
 # just don't build it.
@@ -45,7 +48,6 @@ MODULES		+= modules/sensors
 #
 # System commands
 #
-MODULES		+= systemcmds/ramtron
 MODULES		+= systemcmds/bl_update
 MODULES		+= systemcmds/boardinfo
 MODULES		+= systemcmds/mixer
@@ -59,6 +61,8 @@ MODULES		+= systemcmds/top
 MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
+MODULES		+= systemcmds/mtd
+MODULES		+= systemcmds/hw_ver
 
 #
 # General system control
@@ -83,8 +87,8 @@ MODULES		+= examples/flow_position_estimator
 #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
+MODULES		+= modules/mc_att_control
+MODULES		+= modules/mc_pos_control
 
 #
 # Logging
@@ -116,6 +120,7 @@ MODULES		+= lib/ecl
 MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
 MODULES		+= lib/conversion
+MODULES		+= lib/launchdetection
 
 #
 # OBC challenge
diff --git a/makefiles/config_px4fmu-v2_logging.mk b/makefiles/config_px4fmu-v2_logging.mk
deleted file mode 100644
index 4e3cae5ee..000000000
--- a/makefiles/config_px4fmu-v2_logging.mk
+++ /dev/null
@@ -1,158 +0,0 @@
-#
-# 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_logging
-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/mpu6000
-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/ SO3 / other filters)
-#
-MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/attitude_estimator_so3
-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
-MODULES		+= modules/dataman
-
-#
-# 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
index 0f60e88b5..79922374d 100644
--- a/makefiles/config_px4fmu-v2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -6,22 +6,45 @@
 # Use the configuration's ROMFS.
 #
 ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_test
+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/boards/px4fmu-v2
+MODULES		+= drivers/px4io
+MODULES		+= drivers/rgbled
+MODULES		+= drivers/mpu6000
+MODULES		+= drivers/lsm303d
+MODULES		+= drivers/l3gd20
+MODULES		+= drivers/hmc5883
+MODULES		+= drivers/ms5611
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/reboot
+MODULES		+= systemcmds/tests
+MODULES		+= systemcmds/nshterm
+MODULES		+= systemcmds/mtd
+MODULES		+= systemcmds/hw_ver
 
 #
 # Library modules
 #
 MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/uORB
+LIBRARIES	+= lib/mathlib/CMSIS
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
+
+#
+# Libraries
+#
+LIBRARIES	+= lib/mathlib/CMSIS
 
 #
 # Transitional support - add commands from the NuttX export archive.
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 9fd2dd516..bb729e103 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -138,8 +138,7 @@ ARCHCWARNINGS		 = $(ARCHWARNINGS) \
 			   -Wold-style-declaration \
 			   -Wmissing-parameter-type \
 			   -Wmissing-prototypes \
-			   -Wnested-externs \
-			   -Wunsuffixed-float-constants
+			   -Wnested-externs
 
 # C++-specific warnings
 #