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

13 files changed, 761 insertions, 63 deletions

diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h
index 6f7166284..02c26b5c0 100644
--- a/src/drivers/boards/px4fmu-v1/board_config.h
+++ b/src/drivers/boards/px4fmu-v1/board_config.h
@@ -60,6 +60,7 @@ __BEGIN_DECLS
 
 /* PX4IO connection configuration */
 #define PX4IO_SERIAL_DEVICE	"/dev/ttyS2"
+#define UDID_START		0x1FFF7A10
 
 //#ifdef CONFIG_STM32_SPI2
 //#  error "SPI2 is not supported on this board"
diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h
index a19ed9d24..4972e6914 100644
--- a/src/drivers/boards/px4fmu-v2/board_config.h
+++ b/src/drivers/boards/px4fmu-v2/board_config.h
@@ -52,6 +52,8 @@ __BEGIN_DECLS
 /* these headers are not C++ safe */
 #include <stm32.h>
 #include <arch/board/board.h>
+
+#define UDID_START		0x1FFF7A10
  
 /****************************************************************************************************
  * Definitions
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
index 269ec238e..71414d62c 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
@@ -282,7 +282,7 @@ __EXPORT int nsh_archinitialize(void)
 	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
 	up_udelay(20);
 
-	message("[boot] Successfully initialized SPI port 1\n");
+	message("[boot] Initialized SPI port 1 (SENSORS)\n");
 
 	/* Get the SPI port for the FRAM */
 
@@ -294,20 +294,23 @@ __EXPORT int nsh_archinitialize(void)
 		return -ENODEV;
 	}
 
-	/* Default SPI2 to 37.5 MHz (F4 max) and de-assert the known chip selects. */
-	SPI_SETFREQUENCY(spi2, 375000000);
+	/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
+	 * and de-assert the known chip selects. */
+
+	// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
+	SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
 	SPI_SETBITS(spi2, 8);
 	SPI_SETMODE(spi2, SPIDEV_MODE3);
 	SPI_SELECT(spi2, SPIDEV_FLASH, false);
 
-	message("[boot] Successfully initialized SPI port 2\n");
+	message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
 
 	#ifdef CONFIG_MMCSD
 	/* First, get an instance of the SDIO interface */
 
 	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
 	if (!sdio) {
-		message("nsh_archinitialize: Failed to initialize SDIO slot %d\n",
+		message("[boot] Failed to initialize SDIO slot %d\n",
 			CONFIG_NSH_MMCSDSLOTNO);
 		return -ENODEV;
 	}
@@ -315,7 +318,7 @@ __EXPORT int nsh_archinitialize(void)
 	/* Now bind the SDIO interface to the MMC/SD driver */
 	int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
 	if (ret != OK) {
-		message("nsh_archinitialize: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
 		return ret;
 	}
 
diff --git a/src/drivers/frsky_telemetry/frsky_data.c b/src/drivers/frsky_telemetry/frsky_data.c
new file mode 100644
index 000000000..63b2d2d29
--- /dev/null
+++ b/src/drivers/frsky_telemetry/frsky_data.c
@@ -0,0 +1,289 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *   Author: Stefan Rado <px4@sradonia.net>
+ *
+ * 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 frsky_data.c
+ * @author Stefan Rado <px4@sradonia.net>
+ *
+ * FrSky telemetry implementation.
+ *
+ */
+
+#include "frsky_data.h"
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <arch/math.h>
+#include <geo/geo.h>
+
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_status.h>
+
+/* FrSky sensor hub data IDs */
+#define FRSKY_ID_GPS_ALT_BP     0x01
+#define FRSKY_ID_TEMP1          0x02
+#define FRSKY_ID_RPM            0x03
+#define FRSKY_ID_FUEL           0x04
+#define FRSKY_ID_TEMP2          0x05
+#define FRSKY_ID_VOLTS          0x06
+#define FRSKY_ID_GPS_ALT_AP     0x09
+#define FRSKY_ID_BARO_ALT_BP    0x10
+#define FRSKY_ID_GPS_SPEED_BP   0x11
+#define FRSKY_ID_GPS_LONG_BP    0x12
+#define FRSKY_ID_GPS_LAT_BP     0x13
+#define FRSKY_ID_GPS_COURS_BP   0x14
+#define FRSKY_ID_GPS_DAY_MONTH  0x15
+#define FRSKY_ID_GPS_YEAR       0x16
+#define FRSKY_ID_GPS_HOUR_MIN   0x17
+#define FRSKY_ID_GPS_SEC        0x18
+#define FRSKY_ID_GPS_SPEED_AP   0x19
+#define FRSKY_ID_GPS_LONG_AP    0x1A
+#define FRSKY_ID_GPS_LAT_AP     0x1B
+#define FRSKY_ID_GPS_COURS_AP   0x1C
+#define FRSKY_ID_BARO_ALT_AP    0x21
+#define FRSKY_ID_GPS_LONG_EW    0x22
+#define FRSKY_ID_GPS_LAT_NS     0x23
+#define FRSKY_ID_ACCEL_X        0x24
+#define FRSKY_ID_ACCEL_Y        0x25
+#define FRSKY_ID_ACCEL_Z        0x26
+#define FRSKY_ID_CURRENT        0x28
+#define FRSKY_ID_VARIO          0x30
+#define FRSKY_ID_VFAS           0x39
+#define FRSKY_ID_VOLTS_BP       0x3A
+#define FRSKY_ID_VOLTS_AP       0x3B
+
+#define frac(f) (f - (int)f)
+
+static int battery_sub = -1;
+static int sensor_sub = -1;
+static int global_position_sub = -1;
+static int vehicle_status_sub = -1;
+
+/**
+ * Initializes the uORB subscriptions.
+ */
+void frsky_init()
+{
+	battery_sub = orb_subscribe(ORB_ID(battery_status));
+	global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+	vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
+}
+
+/**
+ * Sends a 0x5E start/stop byte.
+ */
+static void frsky_send_startstop(int uart)
+{
+	static const uint8_t c = 0x5E;
+	write(uart, &c, sizeof(c));
+}
+
+/**
+ * Sends one byte, performing byte-stuffing if necessary.
+ */
+static void frsky_send_byte(int uart, uint8_t value)
+{
+	const uint8_t x5E[] = { 0x5D, 0x3E };
+	const uint8_t x5D[] = { 0x5D, 0x3D };
+
+	switch (value) {
+	case 0x5E:
+		write(uart, x5E, sizeof(x5E));
+		break;
+
+	case 0x5D:
+		write(uart, x5D, sizeof(x5D));
+		break;
+
+	default:
+		write(uart, &value, sizeof(value));
+		break;
+	}
+}
+
+/**
+ * Sends one data id/value pair.
+ */
+static void frsky_send_data(int uart, uint8_t id, int16_t data)
+{
+	/* Cast data to unsigned, because signed shift might behave incorrectly */
+	uint16_t udata = data;
+
+	frsky_send_startstop(uart);
+
+	frsky_send_byte(uart, id);
+	frsky_send_byte(uart, udata);      /* LSB */
+	frsky_send_byte(uart, udata >> 8); /* MSB */
+}
+
+/**
+ * Sends frame 1 (every 200ms):
+ *   acceleration values, barometer altitude, temperature, battery voltage & current
+ */
+void frsky_send_frame1(int uart)
+{
+	/* get a local copy of the current sensor values */
+	struct sensor_combined_s raw;
+	memset(&raw, 0, sizeof(raw));
+	orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
+
+	/* get a local copy of the battery data */
+	struct battery_status_s battery;
+	memset(&battery, 0, sizeof(battery));
+	orb_copy(ORB_ID(battery_status), battery_sub, &battery);
+
+	/* send formatted frame */
+	frsky_send_data(uart, FRSKY_ID_ACCEL_X,
+			roundf(raw.accelerometer_m_s2[0] * 1000.0f));
+	frsky_send_data(uart, FRSKY_ID_ACCEL_Y,
+			roundf(raw.accelerometer_m_s2[1] * 1000.0f));
+	frsky_send_data(uart, FRSKY_ID_ACCEL_Z,
+			roundf(raw.accelerometer_m_s2[2] * 1000.0f));
+
+	frsky_send_data(uart, FRSKY_ID_BARO_ALT_BP,
+			raw.baro_alt_meter);
+	frsky_send_data(uart, FRSKY_ID_BARO_ALT_AP,
+			roundf(frac(raw.baro_alt_meter) * 100.0f));
+
+	frsky_send_data(uart, FRSKY_ID_TEMP1,
+			roundf(raw.baro_temp_celcius));
+
+	frsky_send_data(uart, FRSKY_ID_VFAS,
+			roundf(battery.voltage_v * 10.0f));
+	frsky_send_data(uart, FRSKY_ID_CURRENT,
+			(battery.current_a < 0) ? 0 : roundf(battery.current_a * 10.0f));
+
+	frsky_send_startstop(uart);
+}
+
+/**
+ * Formats the decimal latitude/longitude to the required degrees/minutes/seconds.
+ */
+static float frsky_format_gps(float dec)
+{
+	float dms_deg = (int) dec;
+	float dec_deg = dec - dms_deg;
+	float dms_min = (int) (dec_deg * 60);
+	float dec_min = (dec_deg * 60) - dms_min;
+	float dms_sec = dec_min * 60;
+
+	return (dms_deg * 100.0f) + dms_min + (dms_sec / 100.0f);
+}
+
+/**
+ * Sends frame 2 (every 1000ms):
+ *   GPS course, latitude, longitude, ground speed, GPS altitude, remaining battery level
+ */
+void frsky_send_frame2(int uart)
+{
+	/* get a local copy of the global position data */
+	struct vehicle_global_position_s global_pos;
+	memset(&global_pos, 0, sizeof(global_pos));
+	orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
+
+	/* get a local copy of the vehicle status data */
+	struct vehicle_status_s vehicle_status;
+	memset(&vehicle_status, 0, sizeof(vehicle_status));
+	orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
+
+	/* send formatted frame */
+	float course = 0, lat = 0, lon = 0, speed = 0, alt = 0;
+	char lat_ns = 0, lon_ew = 0;
+	int sec = 0;
+	if (global_pos.valid) {
+		time_t time_gps = global_pos.time_gps_usec / 1000000;
+		struct tm *tm_gps = gmtime(&time_gps);
+
+		course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f;
+		lat    = frsky_format_gps(abs(global_pos.lat) / 10000000.0f);
+		lat_ns = (global_pos.lat < 0) ? 'S' : 'N';
+		lon    = frsky_format_gps(abs(global_pos.lon) / 10000000.0f);
+		lon_ew = (global_pos.lon < 0) ? 'W' : 'E';
+		speed  = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy)
+				* 25.0f / 46.0f;
+		alt    = global_pos.alt;
+		sec    = tm_gps->tm_sec;
+	}
+
+	frsky_send_data(uart, FRSKY_ID_GPS_COURS_BP, course);
+	frsky_send_data(uart, FRSKY_ID_GPS_COURS_AP, frac(course) * 1000.0f);
+
+	frsky_send_data(uart, FRSKY_ID_GPS_LAT_BP, lat);
+	frsky_send_data(uart, FRSKY_ID_GPS_LAT_AP, frac(lat) * 10000.0f);
+	frsky_send_data(uart, FRSKY_ID_GPS_LAT_NS, lat_ns);
+
+	frsky_send_data(uart, FRSKY_ID_GPS_LONG_BP, lon);
+	frsky_send_data(uart, FRSKY_ID_GPS_LONG_AP, frac(lon) * 10000.0f);
+	frsky_send_data(uart, FRSKY_ID_GPS_LONG_EW, lon_ew);
+
+	frsky_send_data(uart, FRSKY_ID_GPS_SPEED_BP, speed);
+	frsky_send_data(uart, FRSKY_ID_GPS_SPEED_AP, frac(speed) * 100.0f);
+
+	frsky_send_data(uart, FRSKY_ID_GPS_ALT_BP, alt);
+	frsky_send_data(uart, FRSKY_ID_GPS_ALT_AP, frac(alt) * 100.0f);
+
+	frsky_send_data(uart, FRSKY_ID_FUEL,
+			roundf(vehicle_status.battery_remaining * 100.0f));
+
+	frsky_send_data(uart, FRSKY_ID_GPS_SEC, sec);
+
+	frsky_send_startstop(uart);
+}
+
+/**
+ * Sends frame 3 (every 5000ms):
+ *   GPS date & time
+ */
+void frsky_send_frame3(int uart)
+{
+	/* get a local copy of the battery data */
+	struct vehicle_global_position_s global_pos;
+	memset(&global_pos, 0, sizeof(global_pos));
+	orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
+
+	/* send formatted frame */
+	time_t time_gps = global_pos.time_gps_usec / 1000000;
+	struct tm *tm_gps = gmtime(&time_gps);
+	uint16_t hour_min = (tm_gps->tm_min << 8) | (tm_gps->tm_hour & 0xff);
+	frsky_send_data(uart, FRSKY_ID_GPS_DAY_MONTH, tm_gps->tm_mday);
+	frsky_send_data(uart, FRSKY_ID_GPS_YEAR, tm_gps->tm_year);
+	frsky_send_data(uart, FRSKY_ID_GPS_HOUR_MIN, hour_min);
+	frsky_send_data(uart, FRSKY_ID_GPS_SEC, tm_gps->tm_sec);
+
+	frsky_send_startstop(uart);
+}
diff --git a/src/drivers/frsky_telemetry/frsky_data.h b/src/drivers/frsky_telemetry/frsky_data.h
new file mode 100644
index 000000000..a7d9eee53
--- /dev/null
+++ b/src/drivers/frsky_telemetry/frsky_data.h
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *   Author: Stefan Rado <px4@sradonia.net>
+ *
+ * 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 frsky_data.h
+ * @author Stefan Rado <px4@sradonia.net>
+ *
+ * FrSky telemetry implementation.
+ *
+ */
+#ifndef _FRSKY_DATA_H
+#define _FRSKY_DATA_H
+
+// Public functions
+void frsky_init(void);
+void frsky_send_frame1(int uart);
+void frsky_send_frame2(int uart);
+void frsky_send_frame3(int uart);
+
+#endif /* _FRSKY_TELEMETRY_H */
diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c
new file mode 100644
index 000000000..7b08ca69e
--- /dev/null
+++ b/src/drivers/frsky_telemetry/frsky_telemetry.c
@@ -0,0 +1,266 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *   Author: Stefan Rado <px4@sradonia.net>
+ *
+ * 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 frsky_telemetry.c
+ * @author Stefan Rado <px4@sradonia.net>
+ *
+ * FrSky telemetry implementation.
+ *
+ * This daemon emulates an FrSky sensor hub by periodically sending data
+ * packets to an attached FrSky receiver.
+ *
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <string.h>
+#include <sys/types.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+#include <termios.h>
+
+#include "frsky_data.h"
+
+
+/* thread state */
+static volatile bool thread_should_exit = false;
+static volatile bool thread_running = false;
+static int frsky_task;
+
+/* functions */
+static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original);
+static void usage(void);
+static int frsky_telemetry_thread_main(int argc, char *argv[]);
+__EXPORT int frsky_telemetry_main(int argc, char *argv[]);
+
+
+/**
+ * Opens the UART device and sets all required serial parameters.
+ */
+static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original)
+{
+	/* Open UART */
+	const int uart = open(uart_name, O_WRONLY | O_NOCTTY);
+
+	if (uart < 0) {
+		err(1, "Error opening port: %s", uart_name);
+	}
+
+	/* Back up the original UART configuration to restore it after exit */
+	int termios_state;
+	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
+		warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
+		close(uart);
+		return -1;
+	}
+
+	/* Fill the struct for the new configuration */
+	struct termios uart_config;
+	tcgetattr(uart, &uart_config);
+
+	/* Disable output post-processing */
+	uart_config.c_oflag &= ~OPOST;
+
+	/* Set baud rate */
+	static const speed_t speed = B9600;
+
+	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
+		warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+		close(uart);
+		return -1;
+	}
+
+	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
+		warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
+		close(uart);
+		return -1;
+	}
+
+	return uart;
+}
+
+/**
+ * Print command usage information
+ */
+static void usage()
+{
+	fprintf(stderr,
+			"usage: frsky_telemetry start [-d <devicename>]\n"
+			"       frsky_telemetry stop\n"
+			"       frsky_telemetry status\n");
+	exit(1);
+}
+
+/**
+ * The daemon thread.
+ */
+static int frsky_telemetry_thread_main(int argc, char *argv[])
+{
+	/* Default values for arguments */
+	char *device_name = "/dev/ttyS1"; /* USART2 */
+
+	/* Work around some stupidity in task_create's argv handling */
+	argc -= 2;
+	argv += 2;
+
+	int ch;
+	while ((ch = getopt(argc, argv, "d:")) != EOF) {
+		switch (ch) {
+		case 'd':
+			device_name = optarg;
+			break;
+
+		default:
+			usage();
+			break;
+		}
+	}
+
+	/* Print welcome text */
+	warnx("FrSky telemetry interface starting...");
+
+	/* Open UART */
+	struct termios uart_config_original;
+	const int uart = frsky_open_uart(device_name, &uart_config_original);
+
+	if (uart < 0)
+		err(1, "could not open %s", device_name);
+
+	/* Subscribe to topics */
+	frsky_init();
+
+	thread_running = true;
+
+	/* Main thread loop */
+	unsigned int iteration = 0;
+	while (!thread_should_exit) {
+
+		/* Sleep 200 ms */
+		usleep(200000);
+
+		/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
+		frsky_send_frame1(uart);
+
+		/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
+		if (iteration % 5 == 0)
+		{
+			frsky_send_frame2(uart);
+		}
+
+		/* Send frame 3 (every 5000ms): date, time */
+		if (iteration % 25 == 0)
+		{
+			frsky_send_frame3(uart);
+
+			iteration = 0;
+		}
+
+		iteration++;
+	}
+
+	/* Reset the UART flags to original state */
+	tcsetattr(uart, TCSANOW, &uart_config_original);
+	close(uart);
+
+	thread_running = false;
+	return 0;
+}
+
+/**
+ * The main command function.
+ * Processes command line arguments and starts the daemon.
+ */
+int frsky_telemetry_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		warnx("missing command");
+		usage();
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		/* this is not an error */
+		if (thread_running)
+			errx(0, "frsky_telemetry already running");
+
+		thread_should_exit = false;
+		frsky_task = task_spawn_cmd("frsky_telemetry",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_DEFAULT,
+					  2048,
+					  frsky_telemetry_thread_main,
+					  (const char **)argv);
+
+		while (!thread_running) {
+			usleep(200);
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+
+		/* this is not an error */
+		if (!thread_running)
+			errx(0, "frsky_telemetry already stopped");
+
+		thread_should_exit = true;
+
+		while (thread_running) {
+			usleep(200000);
+			warnx(".");
+		}
+
+		warnx("terminated.");
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			errx(0, "running");
+
+		} else {
+			errx(1, "not running");
+		}
+	}
+
+	warnx("unrecognized command");
+	usage();
+	/* not getting here */
+	return 0;
+}
diff --git a/src/drivers/frsky_telemetry/module.mk b/src/drivers/frsky_telemetry/module.mk
new file mode 100644
index 000000000..1632c74f7
--- /dev/null
+++ b/src/drivers/frsky_telemetry/module.mk
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2013-2014 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.
+#
+############################################################################
+
+#
+# FrSky telemetry application.
+#
+
+MODULE_COMMAND	= frsky_telemetry
+
+SRCS		= frsky_data.c \
+              frsky_telemetry.c
diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp
index e322c6349..a3d3a3933 100644
--- a/src/drivers/hott/hott_sensors/hott_sensors.cpp
+++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp
@@ -211,7 +211,7 @@ hott_sensors_main(int argc, char *argv[])
 		thread_should_exit = false;
 		deamon_task = task_spawn_cmd(daemon_name,
 					     SCHED_DEFAULT,
-					     SCHED_PRIORITY_MAX - 40,
+					     SCHED_PRIORITY_DEFAULT,
 					     1024,
 					     hott_sensors_thread_main,
 					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
index 042d9f816..d293f9954 100644
--- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
@@ -237,7 +237,7 @@ hott_telemetry_main(int argc, char *argv[])
 		thread_should_exit = false;
 		deamon_task = task_spawn_cmd(daemon_name,
 					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 40,
+					 SCHED_PRIORITY_DEFAULT,
 					 2048,
 					 hott_telemetry_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index 3cd6d6720..a95c4576b 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -198,7 +198,9 @@ MEASAirspeed::collect()
 //	uint16_t diff_press_pa = abs(dp_raw - (16384 / 2.0f));
 	const float P_min = -1.0f;
 	const float P_max = 1.0f;
-	float diff_press_pa = math::max(0.0f, fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f)   - _diff_pres_offset);
+	float diff_press_pa = fabsf( ( ((float)dp_raw - 0.1f*16383.0f) * (P_max-P_min)/(0.8f*16383.0f) + P_min) * 6894.8f) - _diff_pres_offset;
+        if (diff_press_pa < 0.0f)
+            diff_press_pa = 0.0f;
 
 	struct differential_pressure_s report;
 
diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index 87788824a..6326cf7fc 100644
--- a/src/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
@@ -124,6 +124,8 @@ protected:
 	int32_t			_TEMP;
 	int64_t			_OFF;
 	int64_t			_SENS;
+	float			_P;
+	float			_T;
 
 	/* altitude conversion calibration */
 	unsigned		_msl_pressure;	/* in kPa */
@@ -623,6 +625,8 @@ MS5611::collect()
 
 		/* pressure calculation, result in Pa */
 		int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 15;
+		_P = P * 0.01f;
+		_T = _TEMP * 0.01f;
 
 		/* generate a new report */
 		report.temperature = _TEMP / 100.0f;
@@ -695,6 +699,8 @@ MS5611::print_info()
 	printf("TEMP:           %d\n", _TEMP);
 	printf("SENS:           %lld\n", _SENS);
 	printf("OFF:            %lld\n", _OFF);
+	printf("P:              %.3f\n", _P);
+	printf("T:              %.3f\n", _T);
 	printf("MSL pressure:   %10.4f\n", (double)(_msl_pressure / 100.f));
 
 	printf("factory_setup             %u\n", _prom.factory_setup);
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index b878d29bc..b28d318d7 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -65,6 +65,7 @@
 #include <systemlib/err.h>
 #include <systemlib/mixer/mixer.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
+#include <systemlib/board_serial.h>
 #include <drivers/drv_mixer.h>
 #include <drivers/drv_rc_input.h>
 
@@ -224,10 +225,10 @@ PX4FMU::PX4FMU() :
 	_armed(false),
 	_pwm_on(false),
 	_mixers(nullptr),
-	_failsafe_pwm( {0}),
-	       _disarmed_pwm( {0}),
-	       _num_failsafe_set(0),
-	       _num_disarmed_set(0)
+	_failsafe_pwm({0}),
+	      _disarmed_pwm({0}),
+	      _num_failsafe_set(0),
+	      _num_disarmed_set(0)
 {
 	for (unsigned i = 0; i < _max_actuators; i++) {
 		_min_pwm[i] = PWM_DEFAULT_MIN;
@@ -575,7 +576,7 @@ PX4FMU::task_main()
 						if (i >= outputs.noutputs ||
 						    !isfinite(outputs.output[i]) ||
 						    outputs.output[i] < -1.0f ||
-						outputs.output[i] > 1.0f) {
+						    outputs.output[i] > 1.0f) {
 							/*
 							 * Value is NaN, INF or out of band - set to the minimum value.
 							 * This will be clearly visible on the servo status and will limit the risk of accidentally
@@ -933,7 +934,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-		/* FALLTHROUGH */
+	/* FALLTHROUGH */
 	case PWM_SERVO_SET(3):
 	case PWM_SERVO_SET(2):
 		if (_mode < MODE_4PWM) {
@@ -941,7 +942,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-		/* FALLTHROUGH */
+	/* FALLTHROUGH */
 	case PWM_SERVO_SET(1):
 	case PWM_SERVO_SET(0):
 		if (arg <= 2100) {
@@ -960,7 +961,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-		/* FALLTHROUGH */
+	/* FALLTHROUGH */
 	case PWM_SERVO_GET(3):
 	case PWM_SERVO_GET(2):
 		if (_mode < MODE_4PWM) {
@@ -968,7 +969,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
-		/* FALLTHROUGH */
+	/* FALLTHROUGH */
 	case PWM_SERVO_GET(1):
 	case PWM_SERVO_GET(0):
 		*(servo_position_t *)arg = up_pwm_servo_get(cmd - PWM_SERVO_GET(0));
@@ -1591,6 +1592,15 @@ fmu_main(int argc, char *argv[])
 		errx(0, "FMU driver stopped");
 	}
 
+	if (!strcmp(verb, "id")) {
+		char id[12];
+		(void)get_board_serial(id);
+
+		errx(0, "Board serial:\n %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
+		     (unsigned)id[0], (unsigned)id[1], (unsigned)id[2], (unsigned)id[3], (unsigned)id[4], (unsigned)id[5],
+		     (unsigned)id[6], (unsigned)id[7], (unsigned)id[8], (unsigned)id[9], (unsigned)id[10], (unsigned)id[11]);
+	}
+
 
 	if (fmu_start() != OK)
 		errx(1, "failed to start the FMU driver");
@@ -1647,6 +1657,7 @@ fmu_main(int argc, char *argv[])
 			sensor_reset(0);
 			warnx("resettet default time");
 		}
+
 		exit(0);
 	}
 
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index cbdd5acc4..0ca35d2f2 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 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
@@ -35,7 +35,7 @@
  * @file px4io.cpp
  * Driver for the PX4IO board.
  *
- * PX4IO is connected via I2C.
+ * PX4IO is connected via I2C or DMA enabled high-speed UART.
  */
 
 #include <nuttx/config.h>
@@ -1690,6 +1690,9 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
 
 		int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
 
+		if (ret)
+			return ret;
+
 		retries--;
 
 		log("mixer sent");
@@ -2420,6 +2423,69 @@ detect(int argc, char *argv[])
 }
 
 void
+checkcrc(int argc, char *argv[])
+{
+	bool keep_running = false;
+
+	if (g_dev == nullptr) {
+		/* allocate the interface */
+		device::Device *interface = get_interface();
+
+		/* create the driver - it will set g_dev */
+		(void)new PX4IO(interface);
+
+		if (g_dev == nullptr)
+			errx(1, "driver alloc failed");
+	} else {
+		/* its already running, don't kill the driver */
+		keep_running = true;
+	}
+
+	/*
+	  check IO CRC against CRC of a file
+	 */
+	if (argc < 2) {
+		printf("usage: px4io checkcrc filename\n");
+		exit(1);
+	}
+	int fd = open(argv[1], O_RDONLY);
+	if (fd == -1) {
+		printf("open of %s failed - %d\n", argv[1], errno);
+		exit(1);			
+	}
+	const uint32_t app_size_max = 0xf000;
+	uint32_t fw_crc = 0;
+	uint32_t nbytes = 0;
+	while (true) {
+		uint8_t buf[16];
+		int n = read(fd, buf, sizeof(buf));
+		if (n <= 0) break;
+		fw_crc = crc32part(buf, n, fw_crc);
+		nbytes += n;
+	}
+	close(fd);
+	while (nbytes < app_size_max) {
+		uint8_t b = 0xff;
+		fw_crc = crc32part(&b, 1, fw_crc);			
+		nbytes++;
+	}
+
+	int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
+
+	if (!keep_running) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+
+	if (ret != OK) {
+		printf("check CRC failed - %d\n", ret);
+		exit(1);			
+	}
+	printf("CRCs match\n");
+	exit(0);
+}
+
+void
 bind(int argc, char *argv[])
 {
 	int pulses;
@@ -2613,6 +2679,9 @@ px4io_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "detect"))
 		detect(argc - 1, argv + 1);
 
+	if (!strcmp(argv[1], "checkcrc"))
+		checkcrc(argc - 1, argv + 1);
+
 	if (!strcmp(argv[1], "update")) {
 
 		if (g_dev != nullptr) {
@@ -2798,49 +2867,6 @@ px4io_main(int argc, char *argv[])
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "checkcrc")) {
-		/*
-		  check IO CRC against CRC of a file
-		 */
-		if (argc <= 2) {
-			printf("usage: px4io checkcrc filename\n");
-			exit(1);
-		}
-		if (g_dev == nullptr) {
-			printf("px4io is not started\n");
-			exit(1);
-		}
-		int fd = open(argv[2], O_RDONLY);
-		if (fd == -1) {
-			printf("open of %s failed - %d\n", argv[2], errno);
-			exit(1);			
-		}
-		const uint32_t app_size_max = 0xf000;
-		uint32_t fw_crc = 0;
-		uint32_t nbytes = 0;
-		while (true) {
-			uint8_t buf[16];
-			int n = read(fd, buf, sizeof(buf));
-			if (n <= 0) break;
-			fw_crc = crc32part(buf, n, fw_crc);
-			nbytes += n;
-		}
-		close(fd);
-		while (nbytes < app_size_max) {
-			uint8_t b = 0xff;
-			fw_crc = crc32part(&b, 1, fw_crc);			
-			nbytes++;
-		}
-
-		int ret = g_dev->ioctl(nullptr, PX4IO_CHECK_CRC, fw_crc);
-		if (ret != OK) {
-			printf("check CRC failed - %d\n", ret);
-			exit(1);			
-		}
-		printf("CRCs match\n");
-		exit(0);
-	}
-
 	if (!strcmp(argv[1], "rx_dsm") ||
 	    !strcmp(argv[1], "rx_dsm_10bit") ||
 	    !strcmp(argv[1], "rx_dsm_11bit") ||