Moved position_estimator_mc, px4io driver and sdlog app to new style build

1 files changed, 1793 insertions, 0 deletions

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
new file mode 100644
index 000000000..b21f83e44
--- /dev/null
+++ b/src/drivers/px4io/px4io.cpp
@@ -0,0 +1,1793 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 2013 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4io.cpp
+ * Driver for the PX4IO board.
+ *
+ * PX4IO is connected via I2C.
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <assert.h>
+#include <debug.h>
+#include <time.h>
+#include <queue.h>
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <math.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/device/device.h>
+#include <drivers/device/i2c.h>
+#include <drivers/drv_rc_input.h>
+#include <drivers/drv_pwm_output.h>
+#include <drivers/drv_gpio.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_mixer.h>
+
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/scheduling_priorities.h>
+#include <systemlib/param/param.h>
+
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_effective.h>
+#include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/rc_channels.h>
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/parameter_update.h>
+
+#include <px4io/protocol.h>
+#include <mavlink/mavlink_log.h>
+#include "uploader.h"
+#include <debug.h>
+
+#define PX4IO_SET_DEBUG			_IOC(0xff00, 0)
+#define PX4IO_INAIR_RESTART_ENABLE	_IOC(0xff00, 1)
+
+class PX4IO : public device::I2C
+{
+public:
+	PX4IO();
+	virtual ~PX4IO();
+
+	virtual int		init();
+
+	virtual int		ioctl(file *filp, int cmd, unsigned long arg);
+	virtual ssize_t		write(file *filp, const char *buffer, size_t len);
+
+	/**
+	* Set the update rate for actuator outputs from FMU to IO.
+	*
+	* @param rate    The rate in Hz actuator outpus are sent to IO.
+	*      Min 10 Hz, max 400 Hz
+	*/
+	int      set_update_rate(int rate);
+
+	/**
+	* Print the current status of IO
+	*/
+	void			print_status();
+
+private:
+	// XXX
+	unsigned		_max_actuators;
+	unsigned		_max_controls;
+	unsigned		_max_rc_input;
+	unsigned		_max_relays;
+	unsigned		_max_transfer;
+
+	unsigned 		_update_interval; ///< subscription interval limiting send rate
+
+	volatile int		_task;		///< worker task
+	volatile bool		_task_should_exit;
+
+	int			_mavlink_fd;
+
+	perf_counter_t		_perf_update;
+
+	/* cached IO state */
+	uint16_t		_status;
+	uint16_t		_alarms;
+
+	/* subscribed topics */
+	int			_t_actuators;	///< actuator controls topic
+	int			_t_armed;	///< system armed control topic
+	int 			_t_vstatus;	///< system / vehicle status
+	int			_t_param;	///< parameter update topic
+
+	/* advertised topics */
+	orb_advert_t 		_to_input_rc;	///< rc inputs from io
+	orb_advert_t 		_to_actuators_effective; ///< effective actuator controls topic
+	orb_advert_t		_to_outputs;	///< mixed servo outputs topic
+	orb_advert_t		_to_battery;	///< battery status / voltage
+
+	actuator_outputs_s	_outputs;	///< mixed outputs
+	actuator_controls_effective_s _controls_effective; ///< effective controls
+
+	bool			_primary_pwm_device;	///< true if we are the default PWM output
+
+
+	/**
+	 * Trampoline to the worker task
+	 */
+	static void		task_main_trampoline(int argc, char *argv[]);
+
+	/**
+	 * worker task
+	 */
+	void			task_main();
+
+	/**
+	 * Send controls to IO
+	 */
+	int			io_set_control_state();
+
+	/**
+	 * Update IO's arming-related state
+	 */
+	int			io_set_arming_state();
+
+	/**
+	 * Push RC channel configuration to IO.
+	 */
+	int			io_set_rc_config();
+
+	/**
+	 * Fetch status and alarms from IO
+	 *
+	 * Also publishes battery voltage/current.
+	 */
+	int			io_get_status();
+
+	/**
+	 * Fetch RC inputs from IO.
+	 *
+	 * @param input_rc	Input structure to populate.
+	 * @return		OK if data was returned.
+	 */
+	int			io_get_raw_rc_input(rc_input_values &input_rc);
+
+	/**
+	 * Fetch and publish raw RC input data.
+	 */
+	int			io_publish_raw_rc();
+
+	/**
+	 * Fetch and publish the mixed control values.
+	 */
+	int			io_publish_mixed_controls();
+
+	/**
+	 * Fetch and publish the PWM servo outputs.
+	 */
+	int			io_publish_pwm_outputs();
+
+	/**
+	 * write register(s)
+	 *
+	 * @param page		Register page to write to.
+	 * @param offset	Register offset to start writing at.
+	 * @param values	Pointer to array of values to write.
+	 * @param num_values	The number of values to write.
+	 * @return		Zero if all values were successfully written.
+	 */
+	int			io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
+
+	/**
+	 * write a register
+	 *
+	 * @param page		Register page to write to.
+	 * @param offset	Register offset to write to.
+	 * @param value		Value to write.
+	 * @return		Zero if the value was written successfully.
+	 */
+	int			io_reg_set(uint8_t page, uint8_t offset, const uint16_t value);
+
+	/**
+	 * read register(s)
+	 *
+	 * @param page		Register page to read from.
+	 * @param offset	Register offset to start reading from.
+	 * @param values	Pointer to array where values should be stored.
+	 * @param num_values	The number of values to read.
+	 * @return		Zero if all values were successfully read.
+	 */
+	int			io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values);
+
+	/**
+	 * read a register
+	 *
+	 * @param page		Register page to read from.
+	 * @param offset	Register offset to start reading from.
+	 * @return		Register value that was read, or _io_reg_get_error on error.
+	 */
+	uint32_t		io_reg_get(uint8_t page, uint8_t offset);
+	static const uint32_t	_io_reg_get_error = 0x80000000;
+
+	/**
+	 * modify a register
+	 *
+	 * @param page		Register page to modify.
+	 * @param offset	Register offset to modify.
+	 * @param clearbits	Bits to clear in the register.
+	 * @param setbits	Bits to set in the register.
+	 */
+	int			io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits);
+
+	/**
+	 * Send mixer definition text to IO
+	 */
+	int			mixer_send(const char *buf, unsigned buflen);
+
+	/**
+	 * Handle a status update from IO.
+	 *
+	 * Publish IO status information if necessary.
+	 *
+	 * @param status	The status register
+	 */
+	int			io_handle_status(uint16_t status);
+
+	/**
+	 * Handle an alarm update from IO.
+	 *
+	 * Publish IO alarm information if necessary.
+	 *
+	 * @param alarm		The status register
+	 */
+	int			io_handle_alarms(uint16_t alarms);
+
+};
+
+
+namespace
+{
+
+PX4IO	*g_dev;
+
+}
+
+PX4IO::PX4IO() :
+	I2C("px4io", "/dev/px4io", PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000),
+	_max_actuators(0),
+	_max_controls(0),
+	_max_rc_input(0),
+	_max_relays(0),
+	_max_transfer(16),	/* sensible default */
+	_update_interval(0),
+	_task(-1),
+	_task_should_exit(false),
+	_mavlink_fd(-1),
+	_perf_update(perf_alloc(PC_ELAPSED, "px4io update")),
+	_status(0),
+	_alarms(0),
+	_t_actuators(-1),
+	_t_armed(-1),
+	_t_vstatus(-1),
+	_t_param(-1),
+	_to_input_rc(0),
+	_to_actuators_effective(0),
+	_to_outputs(0),
+	_to_battery(0),
+	_primary_pwm_device(false)
+{
+	/* we need this potentially before it could be set in task_main */
+	g_dev = this;
+
+	/* open MAVLink text channel */
+	_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
+
+	_debug_enabled = true;
+}
+
+PX4IO::~PX4IO()
+{
+	/* tell the task we want it to go away */
+	_task_should_exit = true;
+
+	/* spin waiting for the task to stop */
+	for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
+		/* give it another 100ms */
+		usleep(100000);
+	}
+
+	/* well, kill it anyway, though this will probably crash */
+	if (_task != -1)
+		task_delete(_task);
+
+	g_dev = nullptr;
+}
+
+int
+PX4IO::init()
+{
+	int ret;
+
+	ASSERT(_task == -1);
+
+	/* do regular cdev init */
+	ret = I2C::init();
+	if (ret != OK)
+		return ret;
+
+	/*
+	 * Enable a couple of retries for operations to IO.
+	 *
+	 * Register read/write operations are intentionally idempotent
+	 * so this is safe as designed.
+	 */
+	_retries = 2;
+
+	/* get some parameters */
+	_max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT);
+	_max_controls = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT);
+	_max_relays    = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT);
+	_max_transfer  = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER) - 2;
+	_max_rc_input  = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT);
+	if ((_max_actuators < 1) || (_max_actuators > 255) ||
+	    (_max_relays < 1)    || (_max_relays > 255)    ||
+	    (_max_transfer < 16)   || (_max_transfer > 255)    ||
+	    (_max_rc_input < 1)  || (_max_rc_input > 255)) {
+
+		log("failed getting parameters from PX4IO");
+		mavlink_log_emergency(_mavlink_fd, "[IO] param read fail, abort.");
+		return -1;
+	}
+	if (_max_rc_input > RC_INPUT_MAX_CHANNELS)
+		_max_rc_input = RC_INPUT_MAX_CHANNELS;
+
+	/*
+	 * Check for IO flight state - if FMU was flagged to be in
+	 * armed state, FMU is recovering from an in-air reset.
+	 * Read back status and request the commander to arm
+	 * in this case.
+	 */
+
+	uint16_t reg;
+
+	/* get IO's last seen FMU state */
+	ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, &reg, sizeof(reg));
+	if (ret != OK)
+		return ret;
+
+	/*
+	 * in-air restart is only tried if the IO board reports it is
+	 * already armed, and has been configured for in-air restart
+	 */
+	if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) &&
+	    (reg & PX4IO_P_SETUP_ARMING_ARM_OK)) {
+
+	    	mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART");
+
+		/* WARNING: COMMANDER app/vehicle status must be initialized.
+		 * If this fails (or the app is not started), worst-case IO
+		 * remains untouched (so manual override is still available).
+		 */
+
+		int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+		/* fill with initial values, clear updated flag */
+		vehicle_status_s status;
+		uint64_t try_start_time = hrt_absolute_time();
+		bool updated = false;
+		
+		/* keep checking for an update, ensure we got a recent state,
+		   not something that was published a long time ago. */
+		do {
+			orb_check(vstatus_sub, &updated);
+
+			if (updated) {
+				/* got data, copy and exit loop */
+				orb_copy(ORB_ID(vehicle_status), vstatus_sub, &status);
+				break;
+			}
+
+			/* wait 10 ms */
+			usleep(10000);
+
+			/* abort after 5s */
+			if ((hrt_absolute_time() - try_start_time)/1000 > 50000) {
+				log("failed to recover from in-air restart (1), aborting IO driver init.");
+				return 1;
+			}
+
+		} while (true);
+
+		/* send command to arm system via command API */
+		vehicle_command_s cmd;
+		/* request arming */
+		cmd.param1 = 1.0f;
+		cmd.param2 = 0;
+		cmd.param3 = 0;
+		cmd.param4 = 0;
+		cmd.param5 = 0;
+		cmd.param6 = 0;
+		cmd.param7 = 0;
+		cmd.command = VEHICLE_CMD_COMPONENT_ARM_DISARM;
+		cmd.target_system = status.system_id;
+		cmd.target_component = status.component_id;
+		cmd.source_system = status.system_id;
+		cmd.source_component = status.component_id;
+		/* ask to confirm command */
+		cmd.confirmation =  1;
+
+		/* send command once */
+		(void)orb_advertise(ORB_ID(vehicle_command), &cmd);
+
+		/* spin here until IO's state has propagated into the system */
+		do {
+			orb_check(vstatus_sub, &updated);
+
+			if (updated) {
+				orb_copy(ORB_ID(vehicle_status), vstatus_sub, &status);
+			}
+
+			/* wait 10 ms */
+			usleep(10000);
+
+			/* abort after 5s */
+			if ((hrt_absolute_time() - try_start_time)/1000 > 50000) {
+				log("failed to recover from in-air restart (2), aborting IO driver init.");
+				return 1;
+			}
+
+		/* keep waiting for state change for 10 s */
+		} while (!status.flag_system_armed);
+
+	/* regular boot, no in-air restart, init IO */
+	} else {
+
+
+		/* dis-arm IO before touching anything */
+		io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 
+			PX4IO_P_SETUP_ARMING_ARM_OK |
+			PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
+			PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
+			PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0);
+
+		/* publish RC config to IO */
+		ret = io_set_rc_config();
+		if (ret != OK) {
+			log("failed to update RC input config");
+			mavlink_log_info(_mavlink_fd, "[IO] RC config upload fail");
+			return ret;
+		}
+
+	}
+
+	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
+	ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
+
+	if (ret == OK) {
+		log("default PWM output device");
+		_primary_pwm_device = true;
+	}
+
+	/* start the IO interface task */
+	_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr);
+
+	if (_task < 0) {
+		debug("task start failed: %d", errno);
+		return -errno;
+	}
+
+	mavlink_log_info(_mavlink_fd, "[IO] init ok");
+
+	return OK;
+}
+
+void
+PX4IO::task_main_trampoline(int argc, char *argv[])
+{
+	g_dev->task_main();
+}
+
+void
+PX4IO::task_main()
+{
+	hrt_abstime last_poll_time = 0;
+
+	log("starting");
+
+	/*
+	 * Subscribe to the appropriate PWM output topic based on whether we are the
+	 * primary PWM output or not.
+	 */
+	_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
+				     ORB_ID(actuator_controls_1));
+	orb_set_interval(_t_actuators, 20);		/* default to 50Hz */
+
+	_t_armed = orb_subscribe(ORB_ID(actuator_armed));
+	orb_set_interval(_t_armed, 200);		/* 5Hz update rate */
+
+	_t_vstatus = orb_subscribe(ORB_ID(vehicle_status));
+	orb_set_interval(_t_vstatus, 200);		/* 5Hz update rate max. */
+
+	_t_param = orb_subscribe(ORB_ID(parameter_update));
+	orb_set_interval(_t_param, 500);		/* 2Hz update rate max. */
+
+	/* poll descriptor */
+	pollfd fds[4];
+	fds[0].fd = _t_actuators;
+	fds[0].events = POLLIN;
+	fds[1].fd = _t_armed;
+	fds[1].events = POLLIN;
+	fds[2].fd = _t_vstatus;
+	fds[2].events = POLLIN;
+	fds[3].fd = _t_param;
+	fds[3].events = POLLIN;
+
+	debug("ready");
+
+	/* lock against the ioctl handler */
+	lock();
+
+	/* loop talking to IO */
+	while (!_task_should_exit) {
+
+		/* adjust update interval */
+		if (_update_interval != 0) {
+			if (_update_interval < 5)
+				_update_interval = 5;
+			if (_update_interval > 100)
+				_update_interval = 100;
+			orb_set_interval(_t_actuators, _update_interval);
+			_update_interval = 0;
+		}
+
+		/* sleep waiting for topic updates, but no more than 20ms */
+		unlock();
+		int ret = ::poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 20);
+		lock();
+
+		/* this would be bad... */
+		if (ret < 0) {
+			log("poll error %d", errno);
+			continue;
+		}
+
+		perf_begin(_perf_update);
+		hrt_abstime now = hrt_absolute_time();
+
+		/* if we have new control data from the ORB, handle it */
+		if (fds[0].revents & POLLIN)
+			io_set_control_state();
+
+		/* if we have an arming state update, handle it */
+		if ((fds[1].revents & POLLIN) || (fds[2].revents & POLLIN))
+			io_set_arming_state();
+
+		/*
+		 * If it's time for another tick of the polling status machine,
+		 * try it now.
+		 */
+		if ((now - last_poll_time) >= 20000) {
+
+			/*
+			 * Pull status and alarms from IO.
+			 */
+			io_get_status();
+
+			/*
+			 * Get raw R/C input from IO.
+			 */
+			io_publish_raw_rc();
+
+			/*
+			 * Fetch mixed servo controls and PWM outputs from IO.
+			 *
+			 * XXX We could do this at a reduced rate in many/most cases.
+			 */
+			io_publish_mixed_controls();
+			io_publish_pwm_outputs();
+
+			/*
+			 * If parameters have changed, re-send RC mappings to IO
+			 *
+			 * XXX this may be a bit spammy
+			 */
+			if (fds[3].revents & POLLIN) {
+				parameter_update_s pupdate;
+
+				/* copy to reset the notification */
+				orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
+
+				/* re-upload RC input config as it may have changed */
+				io_set_rc_config();
+			}
+		}
+
+		perf_end(_perf_update);
+	}
+
+	unlock();
+
+	debug("exiting");
+
+	/* clean up the alternate device node */
+	if (_primary_pwm_device)
+		unregister_driver(PWM_OUTPUT_DEVICE_PATH);
+
+	/* tell the dtor that we are exiting */
+	_task = -1;
+	_exit(0);
+}
+
+int
+PX4IO::io_set_control_state()
+{
+	actuator_controls_s	controls;	///< actuator outputs
+	uint16_t 		regs[_max_actuators];
+
+	/* get controls */
+	orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
+	     ORB_ID(actuator_controls_1), _t_actuators, &controls);
+
+	for (unsigned i = 0; i < _max_controls; i++)
+		regs[i] = FLOAT_TO_REG(controls.control[i]);
+
+	/* copy values to registers in IO */
+	return io_reg_set(PX4IO_PAGE_CONTROLS, 0, regs, _max_controls);
+}
+
+int
+PX4IO::io_set_arming_state()
+{
+	actuator_armed_s	armed;		///< system armed state
+	vehicle_status_s	vstatus;	///< overall system state
+
+	orb_copy(ORB_ID(actuator_armed), _t_armed, &armed);
+	orb_copy(ORB_ID(vehicle_status), _t_vstatus, &vstatus);
+
+	uint16_t set = 0;
+	uint16_t clear = 0;
+
+	if (armed.armed) {
+		set |= PX4IO_P_SETUP_ARMING_ARM_OK;
+	} else {
+		clear |= PX4IO_P_SETUP_ARMING_ARM_OK;
+	}
+	if (vstatus.flag_vector_flight_mode_ok) {
+		set |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;
+	} else {
+		clear |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;					
+	}
+	if (vstatus.flag_external_manual_override_ok) {
+		set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
+	} else {
+		clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
+	}
+
+	return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
+}
+
+int
+PX4IO::io_set_rc_config()
+{
+	unsigned offset = 0;
+	int input_map[_max_rc_input];
+	int32_t ichan;
+	int ret = OK;
+
+	/*
+	 * Generate the input channel -> control channel mapping table;
+	 * assign RC_MAP_ROLL/PITCH/YAW/THROTTLE to the canonical
+	 * controls.
+	 */
+	for (unsigned i = 0; i < _max_rc_input; i++)
+		input_map[i] = -1;
+
+	/*
+	 * NOTE: The indices for mapped channels are 1-based
+	 *       for compatibility reasons with existing
+	 *       autopilots / GCS'.
+	 */
+	param_get(param_find("RC_MAP_ROLL"), &ichan);
+	if ((ichan >= 0) && (ichan < (int)_max_rc_input))
+		input_map[ichan - 1] = 0;
+
+	param_get(param_find("RC_MAP_PITCH"), &ichan);
+	if ((ichan >= 0) && (ichan < (int)_max_rc_input))
+		input_map[ichan - 1] = 1;
+
+	param_get(param_find("RC_MAP_YAW"), &ichan);
+	if ((ichan >= 0) && (ichan < (int)_max_rc_input))
+		input_map[ichan - 1] = 2;
+
+	param_get(param_find("RC_MAP_THROTTLE"), &ichan);
+	if ((ichan >= 0) && (ichan < (int)_max_rc_input))
+		input_map[ichan - 1] = 3;
+
+	ichan = 4;
+	for (unsigned i = 0; i < _max_rc_input; i++)
+		if (input_map[i] == -1)
+			input_map[i] = ichan++;
+
+	/*
+	 * Iterate all possible RC inputs.
+	 */
+	for (unsigned i = 0; i < _max_rc_input; i++) {
+		uint16_t regs[PX4IO_P_RC_CONFIG_STRIDE];
+		char pname[16];
+		float fval;
+
+		/*
+		 * RC params are floats, but do only
+		 * contain integer values. Do not scale
+		 * or cast them, let the auto-typeconversion
+		 * do its job here.
+		 * Channels: 500 - 2500
+		 * Inverted flag: -1 (inverted) or 1 (normal)
+		 */
+
+		sprintf(pname, "RC%d_MIN", i + 1);
+		param_get(param_find(pname), &fval);
+		regs[PX4IO_P_RC_CONFIG_MIN] = fval;
+
+		sprintf(pname, "RC%d_TRIM", i + 1);
+		param_get(param_find(pname), &fval);
+		regs[PX4IO_P_RC_CONFIG_CENTER] = fval;
+
+		sprintf(pname, "RC%d_MAX", i + 1);
+		param_get(param_find(pname), &fval);
+		regs[PX4IO_P_RC_CONFIG_MAX] = fval;
+
+		sprintf(pname, "RC%d_DZ", i + 1);
+		param_get(param_find(pname), &fval);
+		regs[PX4IO_P_RC_CONFIG_DEADZONE] = fval;
+
+		regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = input_map[i];
+
+		regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
+		sprintf(pname, "RC%d_REV", i + 1);
+		param_get(param_find(pname), &fval);
+
+		/*
+		 * This has been taken for the sake of compatibility
+		 * with APM's setup / mission planner: normal: 1,
+		 * inverted: -1
+		 */
+		if (fval < 0) {
+			regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE;
+		}
+
+		/* send channel config to IO */
+		ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
+		if (ret != OK) {
+			log("rc config upload failed");
+			break;
+		}
+
+		/* check the IO initialisation flag */
+		if (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_INIT_OK)) {
+			log("config for RC%d rejected by IO", i + 1);
+			break;
+		}
+
+		offset += PX4IO_P_RC_CONFIG_STRIDE;
+	}
+
+	return ret;
+}
+
+int
+PX4IO::io_handle_status(uint16_t status)
+{
+	int ret = 1;
+	/**
+	 * WARNING: This section handles in-air resets.
+	 */
+
+	/* check for IO reset - force it back to armed if necessary */
+	if (_status & PX4IO_P_STATUS_FLAGS_ARMED && !(status & PX4IO_P_STATUS_FLAGS_ARMED)
+		&& !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
+		/* set the arming flag */
+		ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARMED | PX4IO_P_STATUS_FLAGS_ARM_SYNC);
+
+		/* set new status */
+		_status = status;
+		_status &= PX4IO_P_STATUS_FLAGS_ARMED;
+	} else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
+
+		/* set the sync flag */
+		ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARM_SYNC);
+		/* set new status */
+		_status = status;
+
+	} else {
+		ret = 0;
+
+		/* set new status */
+		_status = status;
+	}
+
+	return ret;
+}
+
+int
+PX4IO::io_handle_alarms(uint16_t alarms)
+{
+
+	/* XXX handle alarms */
+
+
+	/* set new alarms state */
+	_alarms = alarms;
+
+	return 0;
+}
+
+int
+PX4IO::io_get_status()
+{
+	uint16_t	regs[4];
+	int		ret;
+
+	/* get STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT in that order */
+	ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &regs[0], sizeof(regs) / sizeof(regs[0]));
+	if (ret != OK)
+		return ret;
+
+	io_handle_status(regs[0]);
+	io_handle_alarms(regs[1]);
+
+	/* only publish if battery has a valid minimum voltage */
+	if (regs[2] > 3300) {
+		battery_status_s	battery_status;
+
+		battery_status.timestamp = hrt_absolute_time();
+
+		/* voltage is scaled to mV */
+		battery_status.voltage_v = regs[2] / 1000.0f;
+
+		/* current scaling should be to cA in order to avoid limiting at 65A */
+		battery_status.current_a = regs[3] / 100.f;
+
+		/* this requires integration over time - not currently implemented */
+		battery_status.discharged_mah = -1.0f;
+
+		/* lazily publish the battery voltage */
+		if (_to_battery > 0) {
+			orb_publish(ORB_ID(battery_status), _to_battery, &battery_status);
+		} else {
+			_to_battery = orb_advertise(ORB_ID(battery_status), &battery_status);
+		}
+	}
+	return ret;
+}
+
+int
+PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
+{
+	uint32_t channel_count;
+	int	ret = OK;
+
+	/* we don't have the status bits, so input_source has to be set elsewhere */
+	input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN;
+	
+	/*
+	 * XXX Because the channel count and channel data are fetched
+	 *     separately, there is a risk of a race between the two
+	 *     that could leave us with channel data and a count that 
+	 *     are out of sync.
+	 *     Fixing this would require a guarantee of atomicity from
+	 *     IO, and a single fetch for both count and channels.
+	 *
+	 * XXX Since IO has the input calibration info, we ought to be
+	 *     able to get the pre-fixed-up controls directly.
+	 *
+	 * XXX can we do this more cheaply? If we knew we had DMA, it would
+	 *     almost certainly be better to just get all the inputs...
+	 */
+	channel_count =  io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
+	if (channel_count == _io_reg_get_error)
+		return -EIO;
+	if (channel_count > RC_INPUT_MAX_CHANNELS)
+		channel_count = RC_INPUT_MAX_CHANNELS;
+	input_rc.channel_count = channel_count;
+
+	if (channel_count > 0) {
+		ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, input_rc.values, channel_count);
+		if (ret == OK)
+			input_rc.timestamp = hrt_absolute_time();
+	}
+
+	return ret;
+}
+
+int
+PX4IO::io_publish_raw_rc()
+{
+	/* if no raw RC, just don't publish */
+	if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK))
+		return OK;
+
+	/* fetch values from IO */
+	rc_input_values	rc_val;
+	rc_val.timestamp = hrt_absolute_time();
+
+	int ret = io_get_raw_rc_input(rc_val);
+	if (ret != OK)
+		return ret;
+
+	/* sort out the source of the values */
+	if (_status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
+		rc_val.input_source = RC_INPUT_SOURCE_PX4IO_PPM;
+	} else if (_status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
+		rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
+	} else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
+		rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
+	} else {
+		rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN;
+	}
+
+	/* lazily advertise on first publication */
+	if (_to_input_rc == 0) {
+		_to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_val);
+	} else { 
+		orb_publish(ORB_ID(input_rc), _to_input_rc, &rc_val);
+	}
+
+	return OK;
+}
+
+int
+PX4IO::io_publish_mixed_controls()
+{
+	/* if no FMU comms(!) just don't publish */
+	if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK))
+		return OK;
+
+	/* if not taking raw PPM from us, must be mixing */
+	if (_status & PX4IO_P_STATUS_FLAGS_RAW_PWM)
+		return OK;
+
+	/* data we are going to fetch */
+	actuator_controls_effective_s controls_effective;
+	controls_effective.timestamp = hrt_absolute_time();
+
+	/* get actuator controls from IO */
+	uint16_t act[_max_actuators];
+	int ret = io_reg_get(PX4IO_PAGE_ACTUATORS, 0, act, _max_actuators);
+	if (ret != OK)
+		return ret;
+
+	/* convert from register format to float */
+	for (unsigned i = 0; i < _max_actuators; i++)
+		controls_effective.control_effective[i] = REG_TO_FLOAT(act[i]);
+
+	/* laxily advertise on first publication */
+	if (_to_actuators_effective == 0) {
+		_to_actuators_effective = 
+			orb_advertise((_primary_pwm_device ? 
+				ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : 
+				ORB_ID(actuator_controls_effective_1)),
+					   &controls_effective);
+	} else {
+		orb_publish((_primary_pwm_device ? 
+			ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : 
+			ORB_ID(actuator_controls_effective_1)),
+			_to_actuators_effective, &controls_effective);
+	}
+
+	return OK;
+}
+
+int
+PX4IO::io_publish_pwm_outputs()
+{
+	/* if no FMU comms(!) just don't publish */
+	if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK))
+		return OK;
+
+	/* data we are going to fetch */
+	actuator_outputs_s outputs;
+	outputs.timestamp = hrt_absolute_time();
+
+	/* get servo values from IO */
+	uint16_t ctl[_max_actuators];
+	int ret = io_reg_get(PX4IO_PAGE_SERVOS, 0, ctl, _max_actuators);
+	if (ret != OK)
+		return ret;
+
+	/* convert from register format to float */
+	for (unsigned i = 0; i < _max_actuators; i++)
+		outputs.output[i] = ctl[i];
+	outputs.noutputs = _max_actuators;
+
+	/* lazily advertise on first publication */
+	if (_to_outputs == 0) {
+		_to_outputs = orb_advertise((_primary_pwm_device ?
+			ORB_ID_VEHICLE_CONTROLS :
+			ORB_ID(actuator_outputs_1)),
+			&outputs);
+	} else {
+		orb_publish((_primary_pwm_device ?
+			ORB_ID_VEHICLE_CONTROLS :
+			ORB_ID(actuator_outputs_1)),
+			_to_outputs,
+			&outputs);
+	}
+
+	return OK;
+}
+
+int
+PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
+{
+	/* range check the transfer */
+	if (num_values > ((_max_transfer) / sizeof(*values))) {
+		debug("io_reg_set: too many registers (%u, max %u)", num_values, _max_transfer / 2);
+		return -EINVAL;
+	}
+
+	/* set up the transfer */
+	uint8_t 	addr[2] = {
+		page,
+		offset
+	};
+	i2c_msg_s	msgv[2];
+
+	msgv[0].flags = 0;
+	msgv[0].buffer = addr;
+	msgv[0].length = 2;
+	msgv[1].flags = I2C_M_NORESTART;
+	msgv[1].buffer = (uint8_t *)values;
+	msgv[1].length = num_values * sizeof(*values);
+
+	/* perform the transfer */
+	int ret = transfer(msgv, 2);
+	if (ret != OK)
+		debug("io_reg_set: error %d", ret);
+	return ret;
+}
+
+int
+PX4IO::io_reg_set(uint8_t page, uint8_t offset, uint16_t value)
+{
+	return io_reg_set(page, offset, &value, 1);
+}
+
+int
+PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values)
+{
+	/* set up the transfer */
+	uint8_t		addr[2] = {
+		page,
+		offset
+	};
+	i2c_msg_s	msgv[2];
+
+	msgv[0].flags = 0;
+	msgv[0].buffer = addr;
+	msgv[0].length = 2;
+	msgv[1].flags = I2C_M_READ;
+	msgv[1].buffer = (uint8_t *)values;
+	msgv[1].length = num_values * sizeof(*values);
+
+	/* perform the transfer */
+	int ret = transfer(msgv, 2);
+	if (ret != OK)
+		debug("io_reg_get: data error %d", ret);
+	return ret;
+}
+
+uint32_t
+PX4IO::io_reg_get(uint8_t page, uint8_t offset)
+{
+	uint16_t value;
+
+	if (io_reg_get(page, offset, &value, 1))
+		return _io_reg_get_error;
+
+	return value;
+}
+
+int
+PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t setbits)
+{
+	int ret;
+	uint16_t value;
+
+	ret = io_reg_get(page, offset, &value, 1);
+	if (ret)
+		return ret;
+	value &= ~clearbits;
+	value |= setbits;
+
+	return io_reg_set(page, offset, value);
+}
+
+int
+PX4IO::mixer_send(const char *buf, unsigned buflen)
+{
+	uint8_t	frame[_max_transfer];
+	px4io_mixdata *msg = (px4io_mixdata *)&frame[0];
+	unsigned max_len = _max_transfer - sizeof(px4io_mixdata);
+
+	msg->f2i_mixer_magic = F2I_MIXER_MAGIC;
+	msg->action = F2I_MIXER_ACTION_RESET;
+
+	do {
+		unsigned count = buflen;
+
+		if (count > max_len)
+			count = max_len;
+
+		if (count > 0) {
+			memcpy(&msg->text[0], buf, count);
+			buf += count;
+			buflen -= count;
+		}
+
+		/*
+		 * We have to send an even number of bytes.  This
+		 * will only happen on the very last transfer of a
+		 * mixer, and we are guaranteed that there will be
+		 * space left to round up as _max_transfer will be
+		 * even.
+		 */
+		unsigned total_len = sizeof(px4io_mixdata) + count;
+		if (total_len % 1) {
+			msg->text[count] = '\0';
+			total_len++;
+		}
+
+		int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2);
+
+		if (ret) {
+			log("mixer send error %d", ret);
+			return ret;
+		}
+
+		msg->action = F2I_MIXER_ACTION_APPEND;
+
+	} while (buflen > 0);
+
+	/* check for the mixer-OK flag */
+	if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK) {
+		debug("mixer upload OK");
+		mavlink_log_info(_mavlink_fd, "[IO] mixer upload ok");
+		return 0;
+	} else {
+		debug("mixer rejected by IO");
+		mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail");
+	}
+
+	/* load must have failed for some reason */
+	return -EINVAL;
+}
+
+void
+PX4IO::print_status()
+{
+	/* basic configuration */
+	printf("protocol %u software %u bootloader %u buffer %uB\n",
+		io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION),
+		io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_SOFTWARE_VERSION),
+		io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION),
+		io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER));
+	printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n",
+		io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT),
+		io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT),
+		io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT),
+		io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT),
+		io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT));
+
+	/* status */
+	printf("%u bytes free\n",
+		io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM));
+	uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
+	printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s\n",
+		flags,
+		((flags & PX4IO_P_STATUS_FLAGS_ARMED)    ? " ARMED" : ""),
+		((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
+		((flags & PX4IO_P_STATUS_FLAGS_RC_OK)    ? " RC_OK" : " RC_FAIL"),
+		((flags & PX4IO_P_STATUS_FLAGS_RC_PPM)   ? " PPM" : ""),
+		((flags & PX4IO_P_STATUS_FLAGS_RC_DSM)   ? " DSM" : ""),
+		((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS)  ? " SBUS" : ""),
+		((flags & PX4IO_P_STATUS_FLAGS_FMU_OK)   ? " FMU_OK" : " FMU_FAIL"),
+		((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)  ? " RAW_PPM" : ""),
+		((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"),
+		((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"),
+		((flags & PX4IO_P_STATUS_FLAGS_INIT_OK)  ? " INIT_OK" : " INIT_FAIL"));
+	uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
+	printf("alarms 0x%04x%s%s%s%s%s%s%s\n",
+		alarms,
+		((alarms & PX4IO_P_STATUS_ALARMS_VBATT_LOW)     ? " VBATT_LOW" : ""),
+		((alarms & PX4IO_P_STATUS_ALARMS_TEMPERATURE)   ? " TEMPERATURE" : ""),
+		((alarms & PX4IO_P_STATUS_ALARMS_SERVO_CURRENT) ? " SERVO_CURRENT" : ""),
+		((alarms & PX4IO_P_STATUS_ALARMS_ACC_CURRENT)   ? " ACC_CURRENT" : ""),
+		((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST)      ? " FMU_LOST" : ""),
+		((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST)       ? " RC_LOST" : ""),
+		((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR)     ? " PWM_ERROR" : ""));
+	printf("vbatt %u ibatt %u\n",
+		io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT),
+		io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT));
+	printf("actuators");
+	for (unsigned i = 0; i < _max_actuators; i++)
+		printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i));
+	printf("\n");
+	printf("servos");
+	for (unsigned i = 0; i < _max_actuators; i++)
+		printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i));
+	printf("\n");
+	uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
+	printf("%d raw R/C inputs", raw_inputs);
+	for (unsigned i = 0; i < raw_inputs; i++)
+		printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i));
+	printf("\n");
+	uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID);
+	printf("mapped R/C inputs 0x%04x", mapped_inputs);
+	for (unsigned i = 0; i < _max_rc_input; i++) {
+		if (mapped_inputs & (1 << i))
+			printf(" %u:%d", i, REG_TO_SIGNED(io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_BASE + i)));
+	}
+	printf("\n");
+	uint16_t adc_inputs = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ADC_INPUT_COUNT);
+	printf("ADC inputs");
+	for (unsigned i = 0; i < adc_inputs; i++)
+		printf(" %u", io_reg_get(PX4IO_PAGE_RAW_ADC_INPUT, i));
+	printf("\n");
+
+	/* setup and state */
+	printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES));
+	uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
+	printf("arming 0x%04x%s%s%s%s\n",
+		arming,
+		((arming & PX4IO_P_SETUP_ARMING_ARM_OK)             ? " ARM_OK" : ""),
+		((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
+		((arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK)   ? " VECTOR_FLIGHT_OK" : ""),
+		((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK)   ? " INAIR_RESTART_OK" : ""));
+	printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
+		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
+		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE),
+		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE),
+		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS));
+	printf("vbatt scale %u ibatt scale %u ibatt bias %u\n",
+		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE),
+		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_SCALE),
+		io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_BIAS));
+	printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
+	printf("controls");
+	for (unsigned i = 0; i < _max_controls; i++)
+		printf(" %u", io_reg_get(PX4IO_PAGE_CONTROLS, i));
+	printf("\n");
+	for (unsigned i = 0; i < _max_rc_input; i++) {
+		unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
+		uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
+		printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n",
+			i,
+			io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
+			io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
+			io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
+			io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
+			io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
+			options,
+			((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
+			((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
+	}
+	printf("failsafe");
+	for (unsigned i = 0; i < _max_actuators; i++)
+		printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));
+	printf("\n");
+}
+
+int
+PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
+{
+	int ret = OK;
+
+	/* regular ioctl? */
+	switch (cmd) {
+	case PWM_SERVO_ARM:
+		/* set the 'armed' bit */
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_ARM_OK);
+		break;
+
+	case PWM_SERVO_DISARM:
+		/* clear the 'armed' bit */
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_ARM_OK, 0);
+		break;
+
+	case PWM_SERVO_SET_UPDATE_RATE:
+		/* set the requested alternate rate */
+		if ((arg >= 50) && (arg <= 400)) {	/* TODO: we could go higher for e.g. TurboPWM */
+			ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg);
+		} else {
+			ret = -EINVAL;
+		}
+		break;
+
+	case PWM_SERVO_SELECT_UPDATE_RATE: {
+
+		/* blindly clear the PWM update alarm - might be set for some other reason */
+		io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
+
+		/* attempt to set the rate map */
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES, arg);
+
+		/* check that the changes took */
+		uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS);
+		if (alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) {
+			ret = -EINVAL;
+			io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, PX4IO_P_STATUS_ALARMS_PWM_ERROR);
+		}
+		break;
+	}
+
+	case PWM_SERVO_GET_COUNT:
+		*(unsigned *)arg = _max_actuators;
+		break;
+
+	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS - 1): {
+
+		/* TODO: we could go lower for e.g. TurboPWM */
+		unsigned channel = cmd - PWM_SERVO_SET(0);
+		if ((channel >= _max_actuators) || (arg < 900) || (arg > 2100)) {
+			ret = -EINVAL;
+		} else {
+			/* send a direct PWM value */
+			ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, channel, arg);
+		}
+
+		break;
+	}
+
+	case PWM_SERVO_GET(0) ... PWM_SERVO_GET(PWM_OUTPUT_MAX_CHANNELS - 1): {
+
+		unsigned channel = cmd - PWM_SERVO_GET(0);
+
+		if (channel >= _max_actuators) {
+			ret = -EINVAL;
+		} else {
+			/* fetch a current PWM value */
+			uint32_t value = io_reg_get(PX4IO_PAGE_SERVOS, channel);
+			if (value == _io_reg_get_error) {
+				ret = -EIO;
+			} else {
+				*(servo_position_t *)arg = value;
+			}
+		}
+		break;
+	}
+
+	case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
+
+		unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
+
+		uint32_t value = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel);
+
+		*(uint32_t *)arg = value;
+		break;
+	}
+
+	case GPIO_RESET:
+		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0);
+		break;
+
+	case GPIO_SET:
+		arg &= ((1 << _max_relays) - 1);
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, 0, arg);
+		break;
+
+	case GPIO_CLEAR:
+		arg &= ((1 << _max_relays) - 1);
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS, arg, 0);
+		break;
+
+	case GPIO_GET:
+		*(uint32_t *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS);
+		if (*(uint32_t *)arg == _io_reg_get_error)
+			ret = -EIO;
+		break;
+
+	case MIXERIOCGETOUTPUTCOUNT:
+		*(unsigned *)arg = _max_actuators;
+		break;
+
+	case MIXERIOCRESET:
+		ret = 0;	/* load always resets */
+		break;
+
+	case MIXERIOCLOADBUF: {
+		const char *buf = (const char *)arg;
+		ret = mixer_send(buf, strnlen(buf, 1024));
+		break;
+	}
+
+	case RC_INPUT_GET: {
+		uint16_t status;
+		rc_input_values *rc_val = (rc_input_values *)arg;
+
+		ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &status, 1);
+		if (ret != OK)
+			break;
+
+		/* if no R/C input, don't try to fetch anything */
+		if (!(status & PX4IO_P_STATUS_FLAGS_RC_OK)) {
+			ret = -ENOTCONN;
+			break;
+		}
+
+		/* sort out the source of the values */
+		if (status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
+			rc_val->input_source = RC_INPUT_SOURCE_PX4IO_PPM;
+		} else if (status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
+			rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
+		} else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
+			rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
+		} else {
+			rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN;
+		}
+
+		/* read raw R/C input values */
+		ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, &(rc_val->values[0]), _max_rc_input);
+		break;
+	}
+
+	case PX4IO_SET_DEBUG:
+		/* set the debug level */
+		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG, arg);
+		break;
+
+	case PX4IO_INAIR_RESTART_ENABLE:
+		/* set/clear the 'in-air restart' bit */
+		if (arg) {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK);
+		} else {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0);
+		}
+		break;
+
+	default:
+		/* not a recognized value */
+		ret = -ENOTTY;
+	}
+
+	return ret;
+}
+
+ssize_t
+PX4IO::write(file *filp, const char *buffer, size_t len)
+{
+	unsigned count = len / 2;
+
+	if (count > _max_actuators)
+		count = _max_actuators;
+	if (count > 0) {
+		int ret = io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, (uint16_t *)buffer, count);
+		if (ret != OK)
+			return ret;
+	}
+	return count * 2;
+}
+
+int
+PX4IO::set_update_rate(int rate)
+{
+	int interval_ms = 1000 / rate;
+	if (interval_ms < 5) {
+		interval_ms = 5;
+		warnx("update rate too high, limiting interval to %d ms (%d Hz).", interval_ms, 1000 / interval_ms);
+	}
+
+	if (interval_ms > 100) {
+		interval_ms = 100;
+		warnx("update rate too low, limiting to %d ms (%d Hz).", interval_ms, 1000 / interval_ms);
+	}
+
+	_update_interval = interval_ms;
+	return 0;
+}
+
+
+extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
+
+namespace
+{
+
+void
+start(int argc, char *argv[])
+{
+	if (g_dev != nullptr)
+		errx(1, "already loaded");
+
+	/* create the driver - it will set g_dev */
+	(void)new PX4IO();
+
+	if (g_dev == nullptr)
+		errx(1, "driver alloc failed");
+
+	if (OK != g_dev->init()) {
+		delete g_dev;
+		errx(1, "driver init failed");
+	}
+
+	exit(0);
+}
+
+void
+test(void)
+{
+	int		fd;
+	unsigned	servo_count = 0;
+	unsigned	pwm_value = 1000;
+	int		direction = 1;
+	int		ret;
+
+	fd = open("/dev/px4io", O_WRONLY);
+
+	if (fd < 0)
+		err(1, "failed to open device");
+
+	if (ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count))
+		err(1, "failed to get servo count");
+
+	if (ioctl(fd, PWM_SERVO_ARM, 0))
+		err(1, "failed to arm servos");
+
+	for (;;) {
+
+		/* sweep all servos between 1000..2000 */
+		servo_position_t servos[servo_count];
+		for (unsigned i = 0; i < servo_count; i++)
+			servos[i] = pwm_value;
+
+		ret = write(fd, servos, sizeof(servos));
+		if (ret != (int)sizeof(servos))
+			err(1, "error writing PWM servo data, wrote %u got %d", sizeof(servos), ret);
+
+		if (direction > 0) {
+			if (pwm_value < 2000) {
+				pwm_value++;
+			} else {
+				direction = -1;
+			}
+		} else {
+			if (pwm_value > 1000) {
+				pwm_value--;
+			} else {
+				direction = 1;
+			}
+		}
+
+		/* readback servo values */
+		for (unsigned i = 0; i < servo_count; i++) {
+			servo_position_t value;
+
+			if (ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&value))
+				err(1, "error reading PWM servo %d", i);
+			if (value != servos[i])
+				errx(1, "servo %d readback error, got %u expected %u", i, value, servos[i]);
+		}
+	}
+}
+
+void
+monitor(void)
+{
+	unsigned cancels = 3;
+	printf("Hit <enter> three times to exit monitor mode\n");
+
+	for (;;) {
+		pollfd fds[1];
+
+		fds[0].fd = 0;
+		fds[0].events = POLLIN;
+		poll(fds, 1, 500);
+
+		if (fds[0].revents == POLLIN) {
+			int c;
+			read(0, &c, 1);
+
+			if (cancels-- == 0)
+				exit(0);
+		}
+
+#warning implement this
+
+//		if (g_dev != nullptr)
+//			g_dev->dump_one = true;
+	}
+}
+
+}
+
+int
+px4io_main(int argc, char *argv[])
+{
+	/* check for sufficient number of arguments */
+	if (argc < 2)
+		goto out;
+
+	if (!strcmp(argv[1], "start"))
+		start(argc - 1, argv + 1);
+
+	if (!strcmp(argv[1], "limit")) {
+
+		if (g_dev != nullptr) {
+
+			if ((argc > 2)) {
+				g_dev->set_update_rate(atoi(argv[2]));
+			} else {
+				errx(1, "missing argument (50 - 200 Hz)");
+				return 1;
+			}
+		}
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "recovery")) {
+
+		if (g_dev != nullptr) {
+			/*
+			 * Enable in-air restart support.
+			 * We can cheat and call the driver directly, as it
+		 	 * doesn't reference filp in ioctl()
+			 */
+			g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1);
+		} else {
+			errx(1, "not loaded");
+		}
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+
+		if (g_dev != nullptr) {
+			/* stop the driver */
+			delete g_dev;
+		} else {
+			errx(1, "not loaded");
+		}
+		exit(0);
+	}
+
+
+	if (!strcmp(argv[1], "status")) {
+
+		if (g_dev != nullptr) {
+			printf("[px4io] loaded\n");
+			g_dev->print_status();
+		} else {
+			printf("[px4io] not loaded\n");
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "debug")) {
+		if (argc <= 2) {
+			printf("usage: px4io debug LEVEL\n");
+			exit(1);
+		}
+		if (g_dev == nullptr) {
+			printf("px4io is not started\n");
+			exit(1);
+		}
+		uint8_t level = atoi(argv[2]);
+		/* we can cheat and call the driver directly, as it
+		 * doesn't reference filp in ioctl()
+		 */
+		int ret = g_dev->ioctl(NULL, PX4IO_SET_DEBUG, level);
+		if (ret != 0) {
+			printf("SET_DEBUG failed - %d\n", ret);
+			exit(1);
+		}
+		printf("SET_DEBUG %u OK\n", (unsigned)level);
+		exit(0);
+	}
+
+	/* note, stop not currently implemented */
+
+	if (!strcmp(argv[1], "update")) {
+
+		if (g_dev != nullptr) {
+			printf("[px4io] loaded, detaching first\n");
+			/* stop the driver */
+			delete g_dev;
+		}
+
+		PX4IO_Uploader *up;
+		const char *fn[3];
+
+		/* work out what we're uploading... */
+		if (argc > 2) {
+			fn[0] = argv[2];
+			fn[1] = nullptr;
+
+		} else {
+			fn[0] = "/fs/microsd/px4io.bin";
+			fn[1] =	"/etc/px4io.bin";
+			fn[2] =	nullptr;
+		}
+
+		up = new PX4IO_Uploader;
+		int ret = up->upload(&fn[0]);
+		delete up;
+
+		switch (ret) {
+		case OK:
+			break;
+
+		case -ENOENT:
+			errx(1, "PX4IO firmware file not found");
+
+		case -EEXIST:
+		case -EIO:
+			errx(1, "error updating PX4IO - check that bootloader mode is enabled");
+
+		case -EINVAL:
+			errx(1, "verify failed - retry the update");
+
+		case -ETIMEDOUT:
+			errx(1, "timed out waiting for bootloader - power-cycle and try again");
+
+		default:
+			errx(1, "unexpected error %d", ret);
+		}
+
+		return ret;
+	}
+
+	if (!strcmp(argv[1], "rx_dsm") ||
+	    !strcmp(argv[1], "rx_dsm_10bit") ||
+	    !strcmp(argv[1], "rx_dsm_11bit") ||
+	    !strcmp(argv[1], "rx_sbus") ||
+	    !strcmp(argv[1], "rx_ppm"))
+		errx(0, "receiver type is automatically detected, option '%s' is deprecated", argv[1]);
+
+	if (!strcmp(argv[1], "test"))
+		test();
+
+	if (!strcmp(argv[1], "monitor"))
+		monitor();
+
+	out:
+	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit' or 'update'");
+}