Merged master

7 files changed, 140 insertions, 35 deletions

diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
index 4ef150da1..c3836bdfa 100644
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
@@ -683,7 +683,8 @@ int KalmanNav::correctPos()
 	// fault detetcion
 	float beta = y.dot(S.inverse() * y);
 
-	if (beta > _faultPos.get()) {
+	static int counter = 0;
+	if (beta > _faultPos.get() && (counter % 10 == 0)) {
 		printf("fault in gps: beta = %8.4f\n", (double)beta);
 		printf("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
 		       double(y(0) / sqrtf(RPos(0, 0))),
@@ -693,6 +694,7 @@ int KalmanNav::correctPos()
 		       double(y(4) / sqrtf(RPos(4, 4))),
 		       double(y(5) / sqrtf(RPos(5, 5))));
 	}
+	counter++;
 
 	return ret_ok;
 }
diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c
index a80bf9cb8..43cbe74c7 100644
--- a/src/modules/gpio_led/gpio_led.c
+++ b/src/modules/gpio_led/gpio_led.c
@@ -48,6 +48,7 @@
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
 #include <systemlib/systemlib.h>
+#include <systemlib/err.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
 #include <poll.h>
@@ -64,6 +65,7 @@ struct gpio_led_s {
 };
 
 static struct gpio_led_s gpio_led_data;
+static bool gpio_led_started = false;
 
 __EXPORT int gpio_led_main(int argc, char *argv[]);
 
@@ -75,31 +77,54 @@ int gpio_led_main(int argc, char *argv[])
 {
 	int pin = GPIO_EXT_1;
 
-	if (argc > 1) {
-		if (!strcmp(argv[1], "-p")) {
-			if (!strcmp(argv[2], "1")) {
-				pin = GPIO_EXT_1;
+	if (argc < 2) {
+		errx(1, "no argument provided. Try 'start' or 'stop' [-p 1/2]");
 
-			} else if (!strcmp(argv[2], "2")) {
-				pin = GPIO_EXT_2;
+	} else {
 
-			} else {
-				printf("[gpio_led] Unsupported pin: %s\n", argv[2]);
+		/* START COMMAND HANDLING */
+		if (!strcmp(argv[1], "start")) {
+
+			if (argc > 2) {
+				if (!strcmp(argv[1], "-p")) {
+					if (!strcmp(argv[2], "1")) {
+						pin = GPIO_EXT_1;
+
+					} else if (!strcmp(argv[2], "2")) {
+						pin = GPIO_EXT_2;
+
+					} else {
+						warnx("[gpio_led] Unsupported pin: %s\n", argv[2]);
+						exit(1);
+					}
+				}
+			}
+
+			memset(&gpio_led_data, 0, sizeof(gpio_led_data));
+			gpio_led_data.pin = pin;
+			int ret = work_queue(LPWORK, &gpio_led_data.work, gpio_led_start, &gpio_led_data, 0);
+
+			if (ret != 0) {
+				warnx("[gpio_led] Failed to queue work: %d\n", ret);
 				exit(1);
+
+			} else {
+				gpio_led_started = true;
 			}
-		}
-	}
 
-	memset(&gpio_led_data, 0, sizeof(gpio_led_data));
-	gpio_led_data.pin = pin;
-	int ret = work_queue(LPWORK, &gpio_led_data.work, gpio_led_start, &gpio_led_data, 0);
+			exit(0);
 
-	if (ret != 0) {
-		printf("[gpio_led] Failed to queue work: %d\n", ret);
-		exit(1);
-	}
+			/* STOP COMMAND HANDLING */
+
+		} else if (!strcmp(argv[1], "stop")) {
+			gpio_led_started = false;
 
-	exit(0);
+			/* INVALID COMMAND */
+
+		} else {
+			errx(1, "unrecognized command '%s', only supporting 'start' or 'stop'", argv[1]);
+		}
+	}
 }
 
 void gpio_led_start(FAR void *arg)
@@ -110,7 +135,7 @@ void gpio_led_start(FAR void *arg)
 	priv->gpio_fd = open(GPIO_DEVICE_PATH, 0);
 
 	if (priv->gpio_fd < 0) {
-		printf("[gpio_led] GPIO: open fail\n");
+		warnx("[gpio_led] GPIO: open fail\n");
 		return;
 	}
 
@@ -125,11 +150,11 @@ void gpio_led_start(FAR void *arg)
 	int ret = work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, 0);
 
 	if (ret != 0) {
-		printf("[gpio_led] Failed to queue work: %d\n", ret);
+		warnx("[gpio_led] Failed to queue work: %d\n", ret);
 		return;
 	}
 
-	printf("[gpio_led] Started, using pin GPIO_EXT%i\n", priv->pin);
+	warnx("[gpio_led] Started, using pin GPIO_EXT%i\n", priv->pin);
 }
 
 void gpio_led_cycle(FAR void *arg)
@@ -187,5 +212,6 @@ void gpio_led_cycle(FAR void *arg)
 		priv->counter = 0;
 
 	/* repeat cycle at 5 Hz*/
-	work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, USEC2TICK(200000));
+	if (gpio_led_started)
+		work_queue(LPWORK, &priv->work, gpio_led_cycle, priv, USEC2TICK(200000));
 }
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 1234e2eea..0b8ed6dc5 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -85,6 +85,9 @@ static int	mixer_callback(uintptr_t handle,
 
 static MixerGroup mixer_group(mixer_callback, 0);
 
+/* Set the failsafe values of all mixed channels (based on zero throttle, controls centered) */
+static void mixer_set_failsafe();
+
 void
 mixer_tick(void)
 {
@@ -102,13 +105,16 @@ mixer_tick(void)
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
 	}
 
+	/* default to failsafe mixing */
 	source = MIX_FAILSAFE;
 
 	/*
 	 * Decide which set of controls we're using.
 	 */
-	if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ||
-		!(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
+
+	/* do not mix if mixer is invalid or if RAW_PWM mode is on and FMU is good */
+	if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) &&
+	        !(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
 
 		/* don't actually mix anything - we already have raw PWM values or
 		 not a valid mixer. */
@@ -117,6 +123,7 @@ mixer_tick(void)
 	} else {
 
 		if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
+		     (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
 		     (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
 
 			/* mix from FMU controls */
@@ -133,14 +140,28 @@ mixer_tick(void)
 	}
 
 	/*
+	 * Set failsafe status flag depending on mixing source
+	 */
+	if (source == MIX_FAILSAFE) {
+		r_status_flags |= PX4IO_P_STATUS_FLAGS_FAILSAFE;
+	} else {
+		r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FAILSAFE);
+	}
+
+	/*
 	 * Run the mixers.
 	 */
 	if (source == MIX_FAILSAFE) {
 
 		/* copy failsafe values to the servo outputs */
-		for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
+		for (unsigned i = 0; i < IO_SERVO_COUNT; i++) {
 			r_page_servos[i] = r_page_servo_failsafe[i];
 
+			/* safe actuators for FMU feedback */
+			r_page_actuators[i] = (r_page_servos[i] - 1500) / 600.0f;
+		}
+
+
 	} else if (source != MIX_NONE) {
 
 		float	outputs[IO_SERVO_COUNT];
@@ -156,7 +177,7 @@ mixer_tick(void)
 			r_page_actuators[i] = FLOAT_TO_REG(outputs[i]);
 
 			/* scale to servo output */
-			r_page_servos[i] = (outputs[i] * 500.0f) + 1500;
+			r_page_servos[i] = (outputs[i] * 600.0f) + 1500;
 
 		}
 		for (unsigned i = mixed; i < IO_SERVO_COUNT; i++)
@@ -175,7 +196,7 @@ mixer_tick(void)
 	bool should_arm = (
 	    /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
 	 	/* IO is armed */  (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
-		/* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) &&
+		/* there is valid input via direct PWM or mixer */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) &&
 		/* IO initialised without error */  (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) &&
 		/* FMU is available or FMU is not available but override is an option */
 		((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ))
@@ -225,7 +246,7 @@ mixer_callback(uintptr_t handle,
 
 	case MIX_FAILSAFE:
 	case MIX_NONE:
-		/* XXX we could allow for configuration of per-output failsafe values */
+		control = 0.0f;
 		return -1;
 	}
 
@@ -303,8 +324,41 @@ mixer_handle_text(const void *buffer, size_t length)
 				memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid);
 
 			mixer_text_length = resid;
+
+			/* update failsafe values */
+			mixer_set_failsafe();
 		}
 
 		break;
 	}
 }
+
+static void
+mixer_set_failsafe()
+{
+	/* 
+	 * Check if a custom failsafe value has been written,
+	 * else use the opportunity to set decent defaults.
+	 */
+	if (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)
+		return;
+
+	float	outputs[IO_SERVO_COUNT];
+	unsigned mixed;
+
+	/* mix */
+	mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT);
+
+	/* scale to PWM and update the servo outputs as required */
+	for (unsigned i = 0; i < mixed; i++) {
+
+		/* scale to servo output */
+		r_page_servo_failsafe[i] = (outputs[i] * 600.0f) + 1500;
+
+	}
+
+	/* disable the rest of the outputs */
+	for (unsigned i = mixed; i < IO_SERVO_COUNT; i++)
+		r_page_servo_failsafe[i] = 0;
+
+}
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index e575bd841..674f9dddd 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -85,7 +85,7 @@
 #define PX4IO_P_CONFIG_ACTUATOR_COUNT		5	/* hardcoded max actuator output count */
 #define PX4IO_P_CONFIG_RC_INPUT_COUNT		6	/* hardcoded max R/C input count supported */
 #define PX4IO_P_CONFIG_ADC_INPUT_COUNT		7	/* hardcoded max ADC inputs */
-#define PX4IO_P_CONFIG_RELAY_COUNT		8	/* harcoded # of relay outputs */
+#define PX4IO_P_CONFIG_RELAY_COUNT		8	/* hardcoded # of relay outputs */
 
 /* dynamic status page */
 #define PX4IO_PAGE_STATUS		1
@@ -104,6 +104,7 @@
 #define PX4IO_P_STATUS_FLAGS_MIXER_OK		(1 << 8) /* mixer is OK */
 #define PX4IO_P_STATUS_FLAGS_ARM_SYNC		(1 << 9) /* the arming state between IO and FMU is in sync */
 #define PX4IO_P_STATUS_FLAGS_INIT_OK		(1 << 10) /* initialisation of the IO completed without error */
+#define PX4IO_P_STATUS_FLAGS_FAILSAFE		(1 << 11) /* failsafe is active */
 
 #define PX4IO_P_STATUS_ALARMS			3	 /* alarm flags - alarms latch, write 1 to a bit to clear it */
 #define PX4IO_P_STATUS_ALARMS_VBATT_LOW		(1 << 0) /* VBatt is very close to regulator dropout */
@@ -148,6 +149,7 @@
 #define PX4IO_P_SETUP_ARMING_IO_ARM_OK		(1 << 0) /* OK to arm the IO side */
 #define PX4IO_P_SETUP_ARMING_FMU_ARMED		(1 << 1) /* FMU is already armed */
 #define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK	(1 << 2) /* OK to switch to manual override via override RC channel */
+#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM	(1 << 3) /* use custom failsafe values, not 0 values of mixer */
 #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK	(1 << 4) /* OK to try in-air restart */
 
 #define PX4IO_P_SETUP_PWM_RATES			2	/* bitmask, 0 = low rate, 1 = high rate */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 9698a0f2f..df7d6dcd3 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -41,6 +41,7 @@
 
 #include <stdbool.h>
 #include <stdlib.h>
+#include <string.h>
 
 #include <drivers/drv_hrt.h>
 
@@ -178,8 +179,10 @@ uint16_t		r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE
  * PAGE 105
  *
  * Failsafe servo PWM values
+ * 
+ * Disable pulses as default.
  */
-uint16_t		r_page_servo_failsafe[IO_SERVO_COUNT];
+uint16_t		r_page_servo_failsafe[IO_SERVO_COUNT] = { 0 };
 
 void
 registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
@@ -230,11 +233,14 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 	case PX4IO_PAGE_FAILSAFE_PWM:
 
 		/* copy channel data */
-		while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
+		while ((offset < IO_SERVO_COUNT) && (num_values > 0)) {
 
 			/* XXX range-check value? */
 			r_page_servo_failsafe[offset] = *values;
 
+			/* flag the failsafe values as custom */
+			r_setup_arming |= PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM;
+
 			offset++;
 			num_values--;
 			values++;
diff --git a/src/modules/systemlib/geo/geo.c b/src/modules/systemlib/geo/geo.c
index 6746e8ff3..6463e6489 100644
--- a/src/modules/systemlib/geo/geo.c
+++ b/src/modules/systemlib/geo/geo.c
@@ -185,12 +185,11 @@ __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, dou
 	double d_lat = lat_next_rad - lat_now_rad;
 	double d_lon = lon_next_rad - lon_now_rad;
 
-	double a = sin(d_lat / 2.0d) * sin(d_lat / 2.0) + sin(d_lon / 2.0d) * sin(d_lon / 2.0d) * cos(lat_now_rad) * cos(lat_next_rad);
+	double a = sin(d_lat / 2.0d) * sin(d_lat / 2.0d) + sin(d_lon / 2.0d) * sin(d_lon / 2.0d) * cos(lat_now_rad) * cos(lat_next_rad);
 	double c = 2.0d * atan2(sqrt(a), sqrt(1.0d - a));
 
 	const double radius_earth = 6371000.0d;
-
-	return radius_earth * c;
+	return radius_earth * c; 
 }
 
 __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
diff --git a/src/modules/systemlib/geo/geo.h b/src/modules/systemlib/geo/geo.h
index 0c0b5c533..84097b49f 100644
--- a/src/modules/systemlib/geo/geo.h
+++ b/src/modules/systemlib/geo/geo.h
@@ -82,8 +82,24 @@ __EXPORT void map_projection_project(double lat, double lon, float *x, float *y)
  */
 __EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon);
 
+/**
+ * Returns the distance to the next waypoint in meters.
+ *
+ * @param lat_now current position in degrees (47.1234567°, not 471234567°)
+ * @param lon_now current position in degrees (8.1234567°, not 81234567°)
+ * @param lat_next next waypoint position in degrees (47.1234567°, not 471234567°)
+ * @param lon_next next waypoint position in degrees (8.1234567°, not 81234567°)
+ */
 __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
 
+/**
+ * Returns the bearing to the next waypoint in radians.
+ *
+ * @param lat_now current position in degrees (47.1234567°, not 471234567°)
+ * @param lon_now current position in degrees (8.1234567°, not 81234567°)
+ * @param lat_next next waypoint position in degrees (47.1234567°, not 471234567°)
+ * @param lon_next next waypoint position in degrees (8.1234567°, not 81234567°)
+ */
 __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
 
 __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);