Merged master

9 files changed, 108 insertions, 47 deletions

diff --git a/src/modules/att_pos_estimator_ekf/kalman_main.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
index 4befdc879..372b2d162 100644
--- a/src/modules/att_pos_estimator_ekf/kalman_main.cpp
+++ b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
@@ -121,12 +121,13 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
 			warnx("is running\n");
+			exit(0);
 
 		} else {
 			warnx("not started\n");
+			exit(1);
 		}
 
-		exit(0);
 	}
 
 	usage("unrecognized command");
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index d8b40ac3b..1eff60e88 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -139,10 +139,12 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			printf("\tattitude_estimator_ekf app is running\n");
+			warnx("running");
+			exit(0);
 
 		} else {
-			printf("\tattitude_estimator_ekf app not started\n");
+			warnx("not started");
+			exit(1);
 		}
 
 		exit(0);
diff --git a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
index 3ca50fb39..107c2dfb1 100755
--- a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
+++ b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
@@ -139,10 +139,12 @@ int attitude_estimator_so3_comp_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			printf("\tattitude_estimator_so3_comp app is running\n");
+			warnx("running");
+			exit(0);
 
 		} else {
-			printf("\tattitude_estimator_so3_comp app not started\n");
+			warnx("not started");
+			exit(1);
 		}
 
 		exit(0);
diff --git a/src/modules/commander/accelerometer_calibration.c b/src/modules/commander/accelerometer_calibration.c
index 48a36ac26..dc653a079 100644
--- a/src/modules/commander/accelerometer_calibration.c
+++ b/src/modules/commander/accelerometer_calibration.c
@@ -283,6 +283,9 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
 	hrt_abstime t = t_start;
 	hrt_abstime t_prev = t_start;
 	hrt_abstime t_still = 0;
+
+	unsigned poll_errcount = 0;
+
 	while (true) {
 		/* wait blocking for new data */
 		int poll_ret = poll(fds, 1, 1000);
@@ -327,12 +330,14 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
 				}
 			}
 		} else if (poll_ret == 0) {
-			/* any poll failure for 1s is a reason to abort */
-			mavlink_log_info(mavlink_fd, "ERROR: poll failure");
-			return -3;
+			poll_errcount++;
 		}
 		if (t > t_timeout) {
-			mavlink_log_info(mavlink_fd, "ERROR: timeout");
+			poll_errcount++;
+		}
+
+		if (poll_errcount > 1000) {
+			mavlink_log_info(mavlink_fd, "ERROR: failed reading accel");
 			return -1;
 		}
 	}
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index 7c1c4b175..919d01561 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -420,12 +420,12 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	case 921600: speed = B921600; break;
 
 	default:
-		fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
+		warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
 		return -EINVAL;
 	}
 
 	/* open uart */
-	printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
+	warnx("UART is %s, baudrate is %d\n", uart_name, baud);
 	uart = open(uart_name, O_RDWR | O_NOCTTY);
 
 	/* Try to set baud rate */
@@ -433,37 +433,35 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	int termios_state;
 	*is_usb = false;
 
-	/* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */
-	if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) {
-		/* Back up the original uart configuration to restore it after exit */
-		if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
-			fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
-			close(uart);
-			return -1;
-		}
+	/* Back up the original uart configuration to restore it after exit */
+	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 */
+	tcgetattr(uart, &uart_config);
 
-		/* Fill the struct for the new configuration */
-		tcgetattr(uart, &uart_config);
+	/* Clear ONLCR flag (which appends a CR for every LF) */
+	uart_config.c_oflag &= ~ONLCR;
 
-		/* Clear ONLCR flag (which appends a CR for every LF) */
-		uart_config.c_oflag &= ~ONLCR;
+	/* USB serial is indicated by /dev/ttyACM0*/
+	if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
 
 		/* Set baud rate */
 		if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-			fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
+			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) {
-			fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
-			close(uart);
-			return -1;
-		}
-
-	} else {
-		*is_usb = true;
+	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;
@@ -751,8 +749,7 @@ int mavlink_thread_main(int argc, char *argv[])
 	pthread_join(uorb_receive_thread, NULL);
 
 	/* Reset the UART flags to original state */
-	if (!usb_uart)
-		tcsetattr(uart, TCSANOW, &uart_config_original);
+	tcsetattr(uart, TCSANOW, &uart_config_original);
 
 	thread_running = false;
 
diff --git a/src/modules/mavlink/mavlink_log.c b/src/modules/mavlink/mavlink_log.c
index d9416a08b..192195856 100644
--- a/src/modules/mavlink/mavlink_log.c
+++ b/src/modules/mavlink/mavlink_log.c
@@ -41,16 +41,20 @@
 
 #include <string.h>
 #include <stdlib.h>
+#include <stdio.h>
 #include <stdarg.h>
 
 #include <mavlink/mavlink_log.h>
 
+static FILE* text_recorder_fd = NULL;
+
 void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size)
 {
 	lb->size  = size;
 	lb->start = 0;
 	lb->count = 0;
 	lb->elems = (struct mavlink_logmessage *)calloc(lb->size, sizeof(struct mavlink_logmessage));
+	text_recorder_fd = fopen("/fs/microsd/text_recorder.txt", "w");
 }
 
 int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb)
@@ -82,6 +86,13 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa
 		memcpy(elem, &(lb->elems[lb->start]), sizeof(struct mavlink_logmessage));
 		lb->start = (lb->start + 1) % lb->size;
 		--lb->count;
+
+		if (text_recorder_fd) {
+			fwrite(elem->text, 1, strnlen(elem->text, 50), text_recorder_fd);
+			fputc("\n", text_recorder_fd);
+			fsync(text_recorder_fd);
+		}
+
 		return 0;
 
 	} else {
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index ae5a55109..b2a6c6a79 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -139,14 +139,12 @@ public:
 private:
 	static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX;	/**< maximum number of r/c channels we handle */
 
-#if CONFIG_HRT_PPM
 	hrt_abstime	_ppm_last_valid;		/**< last time we got a valid ppm signal */
 
 	/**
 	 * Gather and publish PPM input data.
 	 */
 	void		ppm_poll();
-#endif
 
 	/* XXX should not be here - should be own driver */
 	int 		_fd_adc;			/**< ADC driver handle */
@@ -397,9 +395,7 @@ Sensors	*g_sensors;
 }
 
 Sensors::Sensors() :
-#ifdef CONFIG_HRT_PPM
 	_ppm_last_valid(0),
-#endif
 
 	_fd_adc(-1),
 	_last_adc(0),
@@ -1135,16 +1131,18 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 	}
 }
 
-#if CONFIG_HRT_PPM
 void
 Sensors::ppm_poll()
 {
 
 	/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
-	bool rc_updated;
-	orb_check(_rc_sub, &rc_updated);
+	struct pollfd fds[1];
+	fds[0].fd = _rc_sub;
+	fds[0].events = POLLIN;
+	/* check non-blocking for new data */
+	int poll_ret = poll(fds, 1, 0);
 
-	if (rc_updated) {
+	if (poll_ret > 0) {
 		struct rc_input_values	rc_input;
 
 		orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
@@ -1332,7 +1330,6 @@ Sensors::ppm_poll()
 	}
 
 }
-#endif
 
 void
 Sensors::task_main_trampoline(int argc, char *argv[])
@@ -1445,10 +1442,8 @@ Sensors::task_main()
 		if (_publishing)
 			orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
 
-#ifdef CONFIG_HRT_PPM
 		/* Look for new r/c input data */
 		ppm_poll();
-#endif
 
 		perf_end(_loop_perf);
 	}
@@ -1488,7 +1483,7 @@ int sensors_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (sensors::g_sensors != nullptr)
-			errx(1, "sensors task already running");
+			errx(0, "sensors task already running");
 
 		sensors::g_sensors = new Sensors;
 
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index fd0289c9a..b470c1227 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -47,4 +47,5 @@ SRCS		 = err.c \
 		   pid/pid.c \
 		   geo/geo.c \
 		   systemlib.c \
-		   airspeed.c
+		   airspeed.c \
+		   system_params.c
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
new file mode 100644
index 000000000..75be090f8
--- /dev/null
+++ b/src/modules/systemlib/system_params.c
@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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
+ * 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 system_params.c
+ *
+ * System wide parameters
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
+
+// Auto-start script with index #n
+PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
+
+// Automatically configure default values
+PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);