Merge branch 'master' of https://github.com/PX4/Firmware into px4flow_integral_i2c

4 files changed, 20 insertions, 0 deletions

diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index f66ec7c95..6873f24b6 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -213,6 +213,9 @@ ORB_DECLARE(output_pwm);
 /** make failsafe non-recoverable (termination) if it occurs */
 #define PWM_SERVO_SET_TERMINATION_FAILSAFE	_IOC(_PWM_SERVO_BASE, 25)
 
+/** force safety switch on (to enable use of safety switch) */
+#define PWM_SERVO_SET_FORCE_SAFETY_ON  _IOC(_PWM_SERVO_BASE, 26)
+
 /*
  *
  *
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index b22bb2e07..a95e041a1 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -229,6 +229,7 @@ private:
 	perf_counter_t		_gyro_reads;
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_bad_transfers;
+	perf_counter_t		_good_transfers;
 
 	math::LowPassFilter2p	_accel_filter_x;
 	math::LowPassFilter2p	_accel_filter_y;
@@ -404,6 +405,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
 	_gyro_reads(perf_alloc(PC_COUNT, "mpu6000_gyro_read")),
 	_sample_perf(perf_alloc(PC_ELAPSED, "mpu6000_read")),
 	_bad_transfers(perf_alloc(PC_COUNT, "mpu6000_bad_transfers")),
+	_good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")),
 	_accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
 	_accel_filter_y(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
 	_accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
@@ -456,6 +458,7 @@ MPU6000::~MPU6000()
 	perf_free(_accel_reads);
 	perf_free(_gyro_reads);
 	perf_free(_bad_transfers);
+	perf_free(_good_transfers);
 }
 
 int
@@ -1279,8 +1282,14 @@ MPU6000::measure()
 		// all zero data - probably a SPI bus error
 		perf_count(_bad_transfers);
 		perf_end(_sample_perf);
+                // note that we don't call reset() here as a reset()
+                // costs 20ms with interrupts disabled. That means if
+                // the mpu6k does go bad it would cause a FMU failure,
+                // regardless of whether another sensor is available,
 		return;
 	}
+
+	perf_count(_good_transfers);
 	    
 
 	/*
@@ -1399,6 +1408,8 @@ MPU6000::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_accel_reads);
 	perf_print_counter(_gyro_reads);
+	perf_print_counter(_bad_transfers);
+	perf_print_counter(_good_transfers);
 	_accel_reports->print_info("accel queue");
 	_gyro_reports->print_info("gyro queue");
 }
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 122a3cd17..3d3e1b0eb 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -829,6 +829,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
 	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
+	case PWM_SERVO_SET_FORCE_SAFETY_ON:
 		// these are no-ops, as no safety switch
 		break;
 
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 3871b4a2c..fd9eb4170 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -2278,6 +2278,11 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
 		break;
 
+	case PWM_SERVO_SET_FORCE_SAFETY_ON:
+		/* force safety switch on */
+		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
+		break;
+
 	case PWM_SERVO_SET_FORCE_FAILSAFE:
 		/* force failsafe mode instantly */
 		if (arg == 0) {