Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge

Conflicts:
	src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
	src/modules/uORB/topics/vehicle_attitude.h

1 files changed, 29 insertions, 16 deletions

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 96ebedd83..1c9a5adc9 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2015 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
@@ -834,7 +834,7 @@ PX4IO::init()
 	_task = task_spawn_cmd("px4io",
 					SCHED_DEFAULT,
 					SCHED_PRIORITY_ACTUATOR_OUTPUTS,
-					2000,
+					1800,
 					(main_t)&PX4IO::task_main_trampoline,
 					nullptr);
 
@@ -1102,7 +1102,7 @@ PX4IO::io_set_control_state(unsigned group)
 	uint16_t 		regs[_max_actuators];
 
 	/* get controls */
-	bool changed;
+	bool changed = false;
 
 	switch (group) {
 		case 0:
@@ -1144,11 +1144,13 @@ PX4IO::io_set_control_state(unsigned group)
 		break;
 	}
 
-	if (!changed)
+	if (!changed) {
 		return -1;
+	}
 
-	for (unsigned i = 0; i < _max_controls; i++)
+	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, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT, regs, _max_controls);
@@ -1773,12 +1775,12 @@ PX4IO::print_debug()
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
 	int io_fd = -1;
 
-	if (io_fd < 0) {
+	if (io_fd <= 0) {
 		io_fd = ::open("/dev/ttyS0", O_RDONLY | O_NONBLOCK | O_NOCTTY);
 	}
 
 	/* read IO's output */
-	if (io_fd > 0) {
+	if (io_fd >= 0) {
 		pollfd fds[1];
 		fds[0].fd = io_fd;
 		fds[0].events = POLLIN;
@@ -2278,6 +2280,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 
 	case PWM_SERVO_GET_DISABLE_LOCKDOWN:
 		*(unsigned *)arg = _lockdown_override;
+		break;
 
 	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
 		/* force safety swith off */
@@ -3003,11 +3006,14 @@ monitor(void)
 
 		fds[0].fd = 0;
 		fds[0].events = POLLIN;
-		poll(fds, 1, 2000);
+		if (poll(fds, 1, 2000) < 0) {
+			errx(1, "poll fail");
+		}
 
 		if (fds[0].revents == POLLIN) {
-			int c;
-			read(0, &c, 1);
+			/* control logic is to cancel with any key */
+			char c;
+			(void)read(0, &c, 1);
 
 			if (cancels-- == 0) {
 				printf("\033[2J\033[H"); /* move cursor home and clear screen */
@@ -3069,12 +3075,13 @@ lockdown(int argc, char *argv[])
 
 					if (ret > 0) {
 
-						read(0, &c, 1);
+						if (read(0, &c, 1) > 0) {
 
-						if (c != 'y') {
-							exit(0);
-						} else if (c == 'y') {
-							break;
+							if (c != 'y') {
+								exit(0);
+							} else if (c == 'y') {
+								break;
+							}
 						}
 					}
 
@@ -3237,7 +3244,13 @@ px4io_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "limit")) {
 
 		if ((argc > 2)) {
-			g_dev->set_update_rate(atoi(argv[2]));
+			int limitrate = atoi(argv[2]);
+
+			if (limitrate > 0) {
+				g_dev->set_update_rate(limitrate);
+			} else {
+				errx(1, "invalid rate: %d", limitrate);
+			}
 
 		} else {
 			errx(1, "missing argument (50 - 500 Hz)");