Merge remote-tracking branch 'upstream/master' into hott-esc

23 files changed, 132 insertions, 57 deletions

diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
index aeaf830de..735bdb41a 100644
--- a/src/drivers/ardrone_interface/ardrone_interface.c
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
@@ -114,7 +114,7 @@ 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 d9aa772d4..bd027ce0b 100644
--- a/src/drivers/hil/hil.cpp
+++ b/src/drivers/hil/hil.cpp
@@ -224,7 +224,7 @@ 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/hott_telemetry/hott_telemetry.c b/src/drivers/hott/hott_telemetry/hott_telemetry.c
index c87810b42..a88f357f6 100644
--- a/src/drivers/hott/hott_telemetry/hott_telemetry.c
+++ b/src/drivers/hott/hott_telemetry/hott_telemetry.c
@@ -255,7 +255,7 @@ 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/messages.c b/src/drivers/hott/messages.c
index ba2f6212d..36d5fe942 100644
--- a/src/drivers/hott/messages.c
+++ b/src/drivers/hott/messages.c
@@ -159,7 +159,7 @@ 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 c67276f8a..e78d96569 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -74,6 +74,7 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_controls_effective.h>
 #include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/esc_status.h>
 
 #include <systemlib/err.h>
 
@@ -87,7 +88,7 @@
 #define MOTOR_STATE_PRESENT_MASK		0x80
 #define MOTOR_STATE_ERROR_MASK		0x7F
 #define MOTOR_SPINUP_COUNTER			2500
-
+#define ESC_UORB_PUBLISH_DELAY			200
 
 class MK : public device::I2C
 {
@@ -119,6 +120,7 @@ public:
 	int		set_pwm_rate(unsigned rate);
 	int		set_motor_count(unsigned count);
 	int		set_motor_test(bool motortest);
+	int		set_overrideSecurityChecks(bool overrideSecurityChecks);
 	int		set_px4mode(int px4mode);
 	int		set_frametype(int frametype);
 	unsigned int		mk_check_for_blctrl(unsigned int count, bool showOutput);
@@ -136,11 +138,15 @@ private:
 	unsigned int		_motor;
 	int    _px4mode;
 	int    _frametype;
+
 	orb_advert_t	_t_outputs;
 	orb_advert_t	_t_actuators_effective;
+	orb_advert_t	_t_esc_status;
+
 	unsigned int	_num_outputs;
 	bool		_primary_pwm_device;
 	bool     _motortest;
+	bool 		_overrideSecurityChecks;
 
 	volatile bool	_task_should_exit;
 	bool		_armed;
@@ -214,6 +220,7 @@ struct MotorData_t {
 	unsigned int Version;                        // the version of the BL (0 = old)
 	unsigned int SetPoint;                       // written by attitude controller
 	unsigned int SetPointLowerBits;      // for higher Resolution of new BLs
+	float SetPoint_PX4; 			     // Values from PX4
 	unsigned int State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
 	unsigned int ReadMode;                       // select data to read
 	unsigned short RawPwmValue;							// length of PWM pulse
@@ -243,8 +250,10 @@ MK::MK(int bus) :
 	_t_armed(-1),
 	_t_outputs(0),
 	_t_actuators_effective(0),
+	_t_esc_status(0),
 	_num_outputs(0),
 	_motortest(false),
+	_overrideSecurityChecks(false),
 	_motor(-1),
 	_px4mode(MAPPING_MK),
 	_frametype(FRAME_PLUS),
@@ -313,7 +322,7 @@ 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,
@@ -464,6 +473,13 @@ MK::set_motor_test(bool motortest)
 	return OK;
 }
 
+int
+MK::set_overrideSecurityChecks(bool overrideSecurityChecks)
+{
+	_overrideSecurityChecks = overrideSecurityChecks;
+	return OK;
+}
+
 short
 MK::scaling(float val, float inMin, float inMax, float outMin, float outMax)
 {
@@ -506,8 +522,6 @@ MK::task_main()
 	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
 				   &outputs);
 
-
-
 	/* advertise the effective control inputs */
 	actuator_controls_effective_s controls_effective;
 	memset(&controls_effective, 0, sizeof(controls_effective));
@@ -515,6 +529,12 @@ MK::task_main()
 	_t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1),
 				   &controls_effective);
 
+	/* advertise the blctrl status */
+	esc_status_s esc;
+	memset(&esc, 0, sizeof(esc));
+	_t_esc_status = orb_advertise(ORB_ID(esc_status), &esc);
+
+
 
 	pollfd fds[2];
 	fds[0].fd = _t_actuators;
@@ -602,9 +622,11 @@ MK::task_main()
 						}
 					}
 
-					/* don't go under BLCTRL_MIN_VALUE */
-					if (outputs.output[i] < BLCTRL_MIN_VALUE) {
-						outputs.output[i] = BLCTRL_MIN_VALUE;
+					if(!_overrideSecurityChecks) {
+						/* don't go under BLCTRL_MIN_VALUE */
+						if (outputs.output[i] < BLCTRL_MIN_VALUE) {
+							outputs.output[i] = BLCTRL_MIN_VALUE;
+						}
 					}
 
 					/* output to BLCtrl's */
@@ -612,7 +634,10 @@ MK::task_main()
 						mk_servo_test(i);
 
 					} else {
-						mk_servo_set_value(i, scaling(outputs.output[i], -1.0f, 1.0f, 0, 1024));	// scale the output to 0 - 1024 and sent to output routine
+						//mk_servo_set_value(i, scaling(outputs.output[i], -1.0f, 1.0f, 0, 1024));	// scale the output to 0 - 1024 and sent to output routine
+						// 11 Bit
+						Motor[i].SetPoint_PX4 = outputs.output[i];
+						mk_servo_set(i, scaling(outputs.output[i], -1.0f, 1.0f, 0, 2047));	// scale the output to 0 - 2047 and sent to output routine
 					}
 
 				}
@@ -635,8 +660,43 @@ MK::task_main()
 		}
 
 
+
+		/*
+		 * Only update esc topic every half second.
+		 */
+
+		if (hrt_absolute_time() - esc.timestamp > 500000) {
+			esc.counter++;
+			esc.timestamp = hrt_absolute_time();
+			esc.esc_count = (uint8_t) _num_outputs;
+			esc.esc_connectiontype = ESC_CONNECTION_TYPE_I2C;
+
+			for (unsigned int i = 0; i < _num_outputs; i++) {
+				esc.esc[i].esc_address = (uint8_t) BLCTRL_BASE_ADDR + i;
+				esc.esc[i].esc_vendor = ESC_VENDOR_MIKROKOPTER;
+				esc.esc[i].esc_version = (uint16_t) Motor[i].Version;
+				esc.esc[i].esc_voltage = (uint16_t) 0;
+				esc.esc[i].esc_current = (uint16_t) Motor[i].Current;
+				esc.esc[i].esc_rpm = (uint16_t) 0;
+				esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4;
+				if (Motor[i].Version == 1) {
+					// BLCtrl 2.0 (11Bit)
+					esc.esc[i].esc_setpoint_raw = (uint16_t) (Motor[i].SetPoint<<3) | Motor[i].SetPointLowerBits;
+				} else {
+					// BLCtrl < 2.0 (8Bit)
+					esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint;
+				}
+				esc.esc[i].esc_temperature = (uint16_t) Motor[i].Temperature;
+				esc.esc[i].esc_state = (uint16_t) Motor[i].State;
+				esc.esc[i].esc_errorcount = (uint16_t) 0;
+			}
+
+			orb_publish(ORB_ID(esc_status), _t_esc_status, &esc);
+		}
+
 	}
 
+	//::close(_t_esc_status);
 	::close(_t_actuators);
 	::close(_t_actuators_effective);
 	::close(_t_armed);
@@ -715,17 +775,17 @@ MK::mk_check_for_blctrl(unsigned int count, bool showOutput)
 			fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i, Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature);
 		}
 
-		if (foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) {
-			_task_should_exit = true;
+		
+		if(!_overrideSecurityChecks) {
+			if (foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) {
+				_task_should_exit = true;
+			}
 		}
 	}
 
 	return foundMotorCount;
 }
 
-
-
-
 int
 MK::mk_servo_set(unsigned int chan, short val)
 {
@@ -738,17 +798,15 @@ MK::mk_servo_set(unsigned int chan, short val)
 
 	tmpVal = val;
 
-	if (tmpVal > 1024) {
-		tmpVal = 1024;
+	if (tmpVal > 2047) {
+		tmpVal = 2047;
 
 	} else if (tmpVal < 0) {
 		tmpVal = 0;
 	}
 
-	Motor[chan].SetPoint = (uint8_t)(tmpVal / 4);
-	//Motor[chan].SetPointLowerBits = (uint8_t) tmpVal % 4;
-
-	Motor[chan].SetPointLowerBits = 0;
+	Motor[chan].SetPoint = (uint8_t)(tmpVal>>3)&0xff;
+	Motor[chan].SetPointLowerBits = ((uint8_t)tmpVal%8)&0x07;
 
 	if (_armed == false) {
 		Motor[chan].SetPoint = 0;
@@ -1014,8 +1072,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 	case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
 		if (arg < 2150) {
 			Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue = (unsigned short)arg;
-			mk_servo_set_value(cmd - PWM_SERVO_SET(0), scaling(arg, 1010, 2100, 0, 1024));
-
+			mk_servo_set(cmd - PWM_SERVO_SET(0), scaling(arg, 1010, 2100, 0, 2047));
 		} else {
 			ret = -EINVAL;
 		}
@@ -1112,25 +1169,19 @@ ssize_t
 MK::write(file *filp, const char *buffer, size_t len)
 {
 	unsigned count = len / 2;
-	// loeschen uint16_t values[4];
 	uint16_t values[8];
 
-	// loeschen if (count > 4) {
-	// loeschen 	// we only have 4 PWM outputs on the FMU
-	// loeschen	count = 4;
-	// loeschen }
 	if (count > _num_outputs) {
 		// we only have 8 I2C outputs in the driver
 		count = _num_outputs;
 	}
 
-
 	// allow for misaligned values
 	memcpy(values, buffer, count * 2);
 
 	for (uint8_t i = 0; i < count; i++) {
 		Motor[i].RawPwmValue = (unsigned short)values[i];
-		mk_servo_set_value(i, scaling(values[i], 1010, 2100, 0, 1024));
+		mk_servo_set(i, scaling(values[i], 1010, 2100, 0, 2047));
 	}
 
 	return count * 2;
@@ -1282,7 +1333,7 @@ enum FrameType {
 PortMode g_port_mode;
 
 int
-mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype)
+mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype, bool overrideSecurityChecks)
 {
 	uint32_t gpio_bits;
 	int shouldStop = 0;
@@ -1341,6 +1392,9 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest,
 	/* motortest if enabled */
 	g_mk->set_motor_test(motortest);
 
+	/* ovveride security checks if enabled */
+	g_mk->set_overrideSecurityChecks(overrideSecurityChecks);
+
 
 	/* count used motors */
 	do {
@@ -1406,6 +1460,7 @@ mkblctrl_main(int argc, char *argv[])
 	int px4mode = MAPPING_PX4;
 	int frametype = FRAME_PLUS;	// + plus is default
 	bool motortest = false;
+	bool overrideSecurityChecks = false;
 	bool showHelp = false;
 	bool newMode = false;
 
@@ -1461,11 +1516,21 @@ mkblctrl_main(int argc, char *argv[])
 			showHelp = true;
 		}
 
+		/* look for the optional --override-security-checks  parameter */
+		if (strcmp(argv[i], "--override-security-checks") == 0) {
+			overrideSecurityChecks = true;
+			newMode = true;
+		}
+
 	}
 
 	if (showHelp) {
 		fprintf(stderr, "mkblctrl: help:\n");
-		fprintf(stderr, "  [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest] [-h / --help]\n");
+		fprintf(stderr, "  [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest] [--override-security-checks] [-h / --help]\n\n");
+		fprintf(stderr, "\t -mkmode frame {+/x} \t\t Type of frame, if Mikrokopter motor order is used.\n");
+		fprintf(stderr, "\t -b i2c_bus_number \t\t Set the i2c bus where the ESCs are connected to (default 1).\n");
+		fprintf(stderr, "\t -t motortest \t\t\t Spin up once every motor in order of motoraddress. (DANGER !!!)\n");
+		fprintf(stderr, "\t --override-security-checks \t\t Disable all security checks (arming and number of ESCs). Used to test single Motors etc. (DANGER !!!)\n");
 		exit(1);
 	}
 
@@ -1483,7 +1548,7 @@ mkblctrl_main(int argc, char *argv[])
 	/* parameter set ? */
 	if (newMode) {
 		/* switch parameter */
-		return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype);
+		return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype, overrideSecurityChecks);
 	}
 
 	/* test, etc. here g*/
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index bf72892eb..5147ac500 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -239,7 +239,7 @@ 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 ac5511e60..167ef30a8 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>