Merged master

8 files changed, 85 insertions, 41 deletions

diff --git a/src/drivers/device/spi.cpp b/src/drivers/device/spi.cpp
index 0b232e158..1ab1dc699 100644
--- a/src/drivers/device/spi.cpp
+++ b/src/drivers/device/spi.cpp
@@ -133,26 +133,44 @@ SPI::probe()
 int
 SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 {
-	irqstate_t	state;
+	int result;
 
 	if ((send == nullptr) && (recv == nullptr))
 		return -EINVAL;
 
+	LockMode mode = up_interrupt_context() ? LOCK_NONE : locking_mode;
+
 	/* lock the bus as required */
-	if (!up_interrupt_context()) {
-		switch (locking_mode) {
-		default:
-		case LOCK_PREEMPTION:
-			state = irqsave();
-			break;
-		case LOCK_THREADS:
-			SPI_LOCK(_dev, true);
-			break;
-		case LOCK_NONE:
-			break;
+	switch (mode) {
+	default:
+	case LOCK_PREEMPTION:
+		{
+			irqstate_t state = irqsave();
+			result = _transfer(send, recv, len);
+			irqrestore(state);
 		}
+		break;
+	case LOCK_THREADS:
+		SPI_LOCK(_dev, true);
+		result = _transfer(send, recv, len);
+		SPI_LOCK(_dev, false);
+		break;
+	case LOCK_NONE:
+		result = _transfer(send, recv, len);
+		break;
 	}
+	return result;
+}
 
+void 
+SPI::set_frequency(uint32_t frequency)
+{
+	_frequency = frequency;
+}
+
+int
+SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
+{
 	SPI_SETFREQUENCY(_dev, _frequency);
 	SPI_SETMODE(_dev, _mode);
 	SPI_SETBITS(_dev, 8);
@@ -164,27 +182,7 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	/* and clean up */
 	SPI_SELECT(_dev, _device, false);
 
-	if (!up_interrupt_context()) {
-		switch (locking_mode) {
-		default:
-		case LOCK_PREEMPTION:
-			irqrestore(state);
-			break;
-		case LOCK_THREADS:
-			SPI_LOCK(_dev, false);
-			break;
-		case LOCK_NONE:
-			break;
-		}
-	}
-
 	return OK;
 }
 
-void 
-SPI::set_frequency(uint32_t frequency)
-{
-	_frequency = frequency;
-}
-
 } // namespace device
diff --git a/src/drivers/device/spi.h b/src/drivers/device/spi.h
index 03986da1e..54849c8c3 100644
--- a/src/drivers/device/spi.h
+++ b/src/drivers/device/spi.h
@@ -131,6 +131,8 @@ private:
 
 protected:
 	int			_bus;
+
+	int	_transfer(uint8_t *send, uint8_t *recv, unsigned len);
 };
 
 } // namespace device
diff --git a/src/drivers/drv_px4flow.h b/src/drivers/drv_px4flow.h
index bef02d54e..76ec55c3e 100644
--- a/src/drivers/drv_px4flow.h
+++ b/src/drivers/drv_px4flow.h
@@ -47,9 +47,17 @@
 #define PX4FLOW_DEVICE_PATH	"/dev/px4flow"
 
 /**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
  * Optical flow in NED body frame in SI units.
  *
  * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ *
+ * @warning If possible the usage of the raw flow and performing rotation-compensation
+ *		using the autopilot angular rate estimate is recommended.
  */
 struct px4flow_report {
 
@@ -57,14 +65,18 @@ struct px4flow_report {
 
 	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
 	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
-	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
-	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
+	float flow_comp_x_m;		/**< speed over ground in meters per second, rotation-compensated */
+	float flow_comp_y_m;		/**< speed over ground in meters per second, rotation-compensated */
 	float ground_distance_m;	/**< Altitude / distance to ground in meters */
 	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
 	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
 
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for px4flow data.
  */
diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h
index e45939b37..0f8362f58 100644
--- a/src/drivers/drv_range_finder.h
+++ b/src/drivers/drv_range_finder.h
@@ -51,6 +51,11 @@ enum RANGE_FINDER_TYPE {
 };
 
 /**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
  * range finder report structure.  Reads from the device must be in multiples of this
  * structure.
  */
@@ -64,6 +69,10 @@ struct range_finder_report {
 	uint8_t valid;				/**< 1 == within sensor range, 0 = outside sensor range */
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for raw range finder data.
  */
diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index 20763e265..47fa8fa59 100644
--- a/src/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
@@ -68,6 +68,11 @@
 #define RC_INPUT_RSSI_MAX	255
 
 /**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
  * Input signal type, value is a control position from zero to 100
  * percent.
  */
@@ -141,6 +146,10 @@ struct rc_input_values {
 	rc_input_t		values[RC_INPUT_MAX_CHANNELS];
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for R/C inputs.
  */
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 401b65dd4..34dd63086 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -127,7 +127,7 @@ private:
 	/**
 	 * Try to configure the GPS, handle outgoing communication to the GPS
 	 */
-	void				config();
+	void			 	config();
 
 	/**
 	 * Trampoline to the worker task
@@ -486,6 +486,8 @@ GPS::print_info()
 		warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
 				_report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp_position) / 1000.0);
 		warnx("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt);
+		warnx("vel: %.2fm/s, %.2fm/s, %.2fm/s", (double)_report_gps_pos.vel_n_m_s,
+			(double)_report_gps_pos.vel_e_m_s, (double)_report_gps_pos.vel_d_m_s);
 		warnx("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv);
 		warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
 		warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 39cc32967..8cc1141aa 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -329,7 +329,7 @@ PX4FMU::init()
 	_task = task_spawn_cmd("fmuservo",
 			       SCHED_DEFAULT,
 			       SCHED_PRIORITY_DEFAULT,
-			       2048,
+			       1600,
 			       (main_t)&PX4FMU::task_main_trampoline,
 			       nullptr);
 
diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp
index 7b6361a7c..d134c0246 100644
--- a/src/drivers/px4io/px4io_uploader.cpp
+++ b/src/drivers/px4io/px4io_uploader.cpp
@@ -39,6 +39,7 @@
 #include <nuttx/config.h>
 
 #include <sys/types.h>
+#include <stdlib.h>
 #include <stdint.h>
 #include <stdbool.h>
 #include <assert.h>
@@ -413,11 +414,17 @@ static int read_with_retry(int fd, void *buf, size_t n)
 int
 PX4IO_Uploader::program(size_t fw_size)
 {
-	uint8_t	file_buf[PROG_MULTI_MAX];
+	uint8_t	*file_buf;
 	ssize_t count;
 	int ret;
 	size_t sent = 0;
 
+	file_buf = (uint8_t *)malloc(PROG_MULTI_MAX);
+	if (!file_buf) {
+		log("Can't allocate program buffer");
+		return -ENOMEM;
+	}
+
 	log("programming %u bytes...", (unsigned)fw_size);
 
 	ret = lseek(_fw_fd, 0, SEEK_SET);
@@ -425,8 +432,8 @@ PX4IO_Uploader::program(size_t fw_size)
 	while (sent < fw_size) {
 		/* get more bytes to program */
 		size_t n = fw_size - sent;
-		if (n > sizeof(file_buf)) {
-			n = sizeof(file_buf);
+		if (n > PROG_MULTI_MAX) {
+			n = PROG_MULTI_MAX;
 		}
 		count = read_with_retry(_fw_fd, file_buf, n);
 
@@ -438,8 +445,10 @@ PX4IO_Uploader::program(size_t fw_size)
 			    (int)errno);
 		}
 
-		if (count == 0)
+		if (count == 0) {
+			free(file_buf);
 			return OK;
+		}
 
 		sent += count;
 
@@ -455,9 +464,12 @@ PX4IO_Uploader::program(size_t fw_size)
 
 		ret = get_sync(1000);
 
-		if (ret != OK)
+		if (ret != OK) {
+			free(file_buf);
 			return ret;
+		}
 	}
+	free(file_buf);
 	return OK;
 }