Merge branch 'master' into new_state_machine

compiling again
Conflicts:
	src/modules/fixedwing_att_control/fixedwing_att_control_att.c
	src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
	src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
	src/modules/mavlink/orb_listener.c
	src/modules/multirotor_att_control/multirotor_attitude_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.c
	src/modules/systemlib/pid/pid.c
	src/modules/systemlib/pid/pid.h
	src/modules/uORB/objects_common.cpp

23 files changed, 37 insertions, 27 deletions

diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
index 4a6f30a4f..187820372 100644
--- a/src/drivers/ardrone_interface/ardrone_interface.c
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
@@ -115,7 +115,7 @@ int ardrone_interface_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		ardrone_interface_task = task_spawn("ardrone_interface",
+		ardrone_interface_task = task_spawn_cmd("ardrone_interface",
 						    SCHED_DEFAULT,
 						    SCHED_PRIORITY_MAX - 15,
 						    2048,
diff --git a/src/drivers/boards/px4fmu/px4fmu_init.c b/src/drivers/boards/px4fmu/px4fmu_init.c
index 69edc23ab..212a92cfa 100644
--- a/src/drivers/boards/px4fmu/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu/px4fmu_init.c
@@ -58,7 +58,7 @@
 #include <nuttx/mmcsd.h>
 #include <nuttx/analog/adc.h>
 
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4fmu_internal.h"
 #include "stm32_uart.h"
 
diff --git a/src/drivers/boards/px4fmu/px4fmu_internal.h b/src/drivers/boards/px4fmu/px4fmu_internal.h
index 671a58f8f..383a046ff 100644
--- a/src/drivers/boards/px4fmu/px4fmu_internal.h
+++ b/src/drivers/boards/px4fmu/px4fmu_internal.h
@@ -50,7 +50,7 @@
 __BEGIN_DECLS
 
 /* these headers are not C++ safe */
-#include <stm32_internal.h>
+#include <stm32.h>
 
  
 /****************************************************************************************************
diff --git a/src/drivers/boards/px4fmu/px4fmu_led.c b/src/drivers/boards/px4fmu/px4fmu_led.c
index 34fd194c3..31b25984e 100644
--- a/src/drivers/boards/px4fmu/px4fmu_led.c
+++ b/src/drivers/boards/px4fmu/px4fmu_led.c
@@ -41,7 +41,7 @@
 
 #include <stdbool.h>
 
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4fmu_internal.h"
 
 #include <arch/board/board.h>
diff --git a/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
index cb8918306..d85131dd8 100644
--- a/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
+++ b/src/drivers/boards/px4fmu/px4fmu_pwm_servo.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
diff --git a/src/drivers/boards/px4fmu/px4fmu_spi.c b/src/drivers/boards/px4fmu/px4fmu_spi.c
index b5d00eac0..e05ddecf3 100644
--- a/src/drivers/boards/px4fmu/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu/px4fmu_spi.c
@@ -52,7 +52,7 @@
 
 #include "up_arch.h"
 #include "chip.h"
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4fmu_internal.h"
 
 /************************************************************************************
diff --git a/src/drivers/boards/px4fmu/px4fmu_usb.c b/src/drivers/boards/px4fmu/px4fmu_usb.c
index b0b669fbe..0be981c1e 100644
--- a/src/drivers/boards/px4fmu/px4fmu_usb.c
+++ b/src/drivers/boards/px4fmu/px4fmu_usb.c
@@ -52,7 +52,7 @@
 #include <nuttx/usb/usbdev_trace.h>
 
 #include "up_arch.h"
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4fmu_internal.h"
 
 /************************************************************************************
diff --git a/src/drivers/boards/px4io/px4io_init.c b/src/drivers/boards/px4io/px4io_init.c
index d36353c6f..15c59e423 100644
--- a/src/drivers/boards/px4io/px4io_init.c
+++ b/src/drivers/boards/px4io/px4io_init.c
@@ -54,7 +54,7 @@
 
 #include <nuttx/arch.h>
 
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "px4io_internal.h"
 #include "stm32_uart.h"
 
diff --git a/src/drivers/boards/px4io/px4io_internal.h b/src/drivers/boards/px4io/px4io_internal.h
index eb2820bb7..6638e715e 100644
--- a/src/drivers/boards/px4io/px4io_internal.h
+++ b/src/drivers/boards/px4io/px4io_internal.h
@@ -47,7 +47,7 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 
 /************************************************************************************
  * Definitions
diff --git a/src/drivers/boards/px4io/px4io_pwm_servo.c b/src/drivers/boards/px4io/px4io_pwm_servo.c
index a2f73c429..6df470da6 100644
--- a/src/drivers/boards/px4io/px4io_pwm_servo.c
+++ b/src/drivers/boards/px4io/px4io_pwm_servo.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
index 92d184326..7e3998fca 100644
--- a/src/drivers/drv_gpio.h
+++ b/src/drivers/drv_gpio.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   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
@@ -42,7 +42,7 @@
 
 #include <sys/ioctl.h>
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMU
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 /*
  * PX4FMU GPIO numbers.
  *
@@ -67,7 +67,7 @@
 
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_PX4IO
+#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 /*
  * PX4IO GPIO numbers.
  *
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index c39da98d7..b34d3fa5d 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -84,8 +84,9 @@
 
 /**
  * The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h.
+ * You can set this value to 12 if you want a zero reading below 15km/h.
  */
-#define MIN_ACCURATE_DIFF_PRES_PA 12
+#define MIN_ACCURATE_DIFF_PRES_PA 0
 
 /* Measurement rate is 100Hz */
 #define CONVERSION_INTERVAL	(1000000 / 100)	/* microseconds */
@@ -463,8 +464,8 @@ ETSAirspeed::collect()
 
 	uint16_t diff_pres_pa = val[1] << 8 | val[0];
 
+	// XXX move the parameter read out of the driver.
 	param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset);
-
 	if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
 		diff_pres_pa = 0;
 
diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp
index e851d8a52..15fbf8c88 100644
--- a/src/drivers/hil/hil.cpp
+++ b/src/drivers/hil/hil.cpp
@@ -225,7 +225,7 @@ HIL::init()
 	// gpio_reset();
 
 	/* start the HIL interface task */
-	_task = task_spawn("fmuhil",
+	_task = task_spawn_cmd("fmuhil",
 			   SCHED_DEFAULT,
 			   SCHED_PRIORITY_DEFAULT,
 			   2048,
diff --git a/src/drivers/hott_telemetry/hott_telemetry_main.c b/src/drivers/hott_telemetry/hott_telemetry_main.c
index 1d2bdd92e..4699ce5bf 100644
--- a/src/drivers/hott_telemetry/hott_telemetry_main.c
+++ b/src/drivers/hott_telemetry/hott_telemetry_main.c
@@ -271,7 +271,7 @@ hott_telemetry_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn(daemon_name,
+		deamon_task = task_spawn_cmd(daemon_name,
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 40,
 					 2048,
diff --git a/src/drivers/hott_telemetry/messages.c b/src/drivers/hott_telemetry/messages.c
index d2634ef41..0ce56acef 100644
--- a/src/drivers/hott_telemetry/messages.c
+++ b/src/drivers/hott_telemetry/messages.c
@@ -108,7 +108,7 @@ build_eam_response(uint8_t *buffer, size_t *size)
 	memset(&airspeed, 0, sizeof(airspeed));
 	orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed);
 
-	uint16_t speed = (uint16_t)(airspeed.indicated_airspeed_m_s);
+	uint16_t speed = (uint16_t)(airspeed.indicated_airspeed_m_s * 3.6f);
 	msg.speed_L = (uint8_t)speed & 0xff;
 	msg.speed_H = (uint8_t)(speed >> 8) & 0xff;
     
diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp
index 80850e708..e62c46b0d 100644
--- a/src/drivers/md25/md25_main.cpp
+++ b/src/drivers/md25/md25_main.cpp
@@ -109,7 +109,7 @@ int md25_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn("md25",
+		deamon_task = task_spawn_cmd("md25",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 2048,
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index 093b53d42..f187f22a6 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -314,7 +314,7 @@ MK::init(unsigned motors)
 	gpio_reset();
 
 	/* start the IO interface task */
-	_task = task_spawn("mkblctrl",
+	_task = task_spawn_cmd("mkblctrl",
 			   SCHED_DEFAULT,
 			   SCHED_PRIORITY_MAX - 20,
 			   2048,
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index db4c87ddc..05951f74c 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -240,7 +240,7 @@ PX4FMU::init()
 	gpio_reset();
 
 	/* start the IO interface task */
-	_task = task_spawn("fmuservo",
+	_task = task_spawn_cmd("fmuservo",
 			   SCHED_DEFAULT,
 			   SCHED_PRIORITY_DEFAULT,
 			   2048,
diff --git a/src/drivers/px4io/uploader.cpp b/src/drivers/px4io/uploader.cpp
index 15524c3ae..9e3f041e3 100644
--- a/src/drivers/px4io/uploader.cpp
+++ b/src/drivers/px4io/uploader.cpp
@@ -49,6 +49,7 @@
 #include <unistd.h>
 #include <fcntl.h>
 #include <poll.h>
+#include <termios.h>
 #include <sys/stat.h>
 
 #include "uploader.h"
@@ -121,6 +122,12 @@ PX4IO_Uploader::upload(const char *filenames[])
 		return -errno;
 	}
 
+	/* adjust line speed to match bootloader */
+	struct termios t;
+	tcgetattr(_io_fd, &t);
+	cfsetspeed(&t, 115200);
+	tcsetattr(_io_fd, TCSANOW, &t);
+
 	/* look for the bootloader */
 	ret = sync();
 
@@ -251,7 +258,7 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
 	int ret = ::poll(&fds[0], 1, timeout);
 
 	if (ret < 1) {
-		log("poll timeout %d", ret);
+		//log("poll timeout %d", ret);
 		return -ETIMEDOUT;
 	}
 
diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp
index 911def943..1020eb946 100644
--- a/src/drivers/stm32/adc/adc.cpp
+++ b/src/drivers/stm32/adc/adc.cpp
@@ -58,7 +58,7 @@
 #include <drivers/drv_adc.h>
 
 #include <arch/stm32/chip.h>
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 
 #include <systemlib/err.h>
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index fd63681e3..7ef3db970 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -66,7 +66,7 @@
 #include "up_internal.h"
 #include "up_arch.h"
 
-#include "stm32_internal.h"
+#include "stm32.h"
 #include "stm32_gpio.h"
 #include "stm32_tim.h"
 
@@ -278,8 +278,10 @@ static void		hrt_call_invoke(void);
 #ifdef CONFIG_HRT_PPM
 /* 
  * If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
+ *
+ * Note that we assume that M3 means STM32F1 (since we don't really care about the F2).
  */
-# ifndef GTIM_CCER_CC1NP
+# ifdef CONFIG_ARCH_CORTEXM3
 #  define GTIM_CCER_CC1NP 0
 #  define GTIM_CCER_CC2NP 0
 #  define GTIM_CCER_CC3NP 0
diff --git a/src/drivers/stm32/drv_pwm_servo.c b/src/drivers/stm32/drv_pwm_servo.c
index c1efb8515..7b060412c 100644
--- a/src/drivers/stm32/drv_pwm_servo.c
+++ b/src/drivers/stm32/drv_pwm_servo.c
@@ -64,7 +64,7 @@
 #include <up_internal.h>
 #include <up_arch.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>
 
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index e8c6fd542..e1409a815 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -111,7 +111,7 @@
 #include <up_internal.h>
 #include <up_arch.h>
 
-#include <stm32_internal.h>
+#include <stm32.h>
 #include <stm32_gpio.h>
 #include <stm32_tim.h>