Merge remote-tracking branch 'px4/master' into navigator_new

7 files changed, 42 insertions, 28 deletions

diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index 52dac652b..3cfddf28e 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -52,11 +52,13 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
 PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f);
 
 /* gyro measurement noise */
-PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f);
-PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f);
-PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f);
-/* accelerometer measurement noise */
-PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f);
+/* accel measurement noise */
+PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
+/* mag measurement noise */
+PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
+/* offset estimation - UNUSED */
+PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f);
 
 /* offsets in roll, pitch and yaw of sensor plane and body */
 PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
@@ -72,10 +74,10 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
 	h->q3 	=	param_find("EKF_ATT_V3_Q3");
 	h->q4 	=	param_find("EKF_ATT_V3_Q4");
 
-	h->r0 	=	param_find("EKF_ATT_V3_R0");
-	h->r1 	=	param_find("EKF_ATT_V3_R1");
-	h->r2 	=	param_find("EKF_ATT_V3_R2");
-	h->r3 	=	param_find("EKF_ATT_V3_R3");
+	h->r0 	=	param_find("EKF_ATT_V4_R0");
+	h->r1 	=	param_find("EKF_ATT_V4_R1");
+	h->r2 	=	param_find("EKF_ATT_V4_R2");
+	h->r3 	=	param_find("EKF_ATT_V4_R3");
 
 	h->roll_off  =	param_find("ATT_ROLL_OFF3");
 	h->pitch_off =	param_find("ATT_PITCH_OFF3");
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index f630b6f2a..541eed0e1 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -50,7 +50,7 @@
 #define RC_CHANNEL_HIGH_THRESH		5000
 #define RC_CHANNEL_LOW_THRESH		-5000
 
-static bool	ppm_input(uint16_t *values, uint16_t *num_values);
+static bool	ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
 
 static perf_counter_t c_gather_dsm;
 static perf_counter_t c_gather_sbus;
@@ -94,7 +94,7 @@ controls_tick() {
 	 * other.  Don't do that.
 	 */
 
-	/* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */
+	/* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */
 	uint16_t rssi = 0;
 
 	perf_begin(c_gather_dsm);
@@ -108,7 +108,7 @@ controls_tick() {
 		else
 			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
 
-		rssi = 1000;
+		rssi = 255;
 	}
 	perf_end(c_gather_dsm);
 
@@ -125,11 +125,11 @@ controls_tick() {
 	 * disable the PPM decoder completely if we have S.bus signal.
 	 */
 	perf_begin(c_gather_ppm);
-	bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
+	bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_status[PX4IO_P_STATUS_RC_DATA]);
 	if (ppm_updated) {
 
 		/* XXX sample RSSI properly here */
-		rssi = 1000;
+		rssi = 255;
 
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
 	}
@@ -321,7 +321,7 @@ controls_tick() {
 }
 
 static bool
-ppm_input(uint16_t *values, uint16_t *num_values)
+ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
 {
 	bool result = false;
 
@@ -345,6 +345,10 @@ ppm_input(uint16_t *values, uint16_t *num_values)
 		/* clear validity */
 		ppm_last_valid_decode = 0;
 
+		/* store PPM frame length */
+		if (num_values)
+			*frame_len = ppm_frame_length;
+
 		/* good if we got any channels */
 		result = (*num_values > 0);
 	}
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index c10f0167c..e5bef6eb3 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -128,7 +128,8 @@
 #define PX4IO_P_STATUS_VSERVO			6	/* [2] servo rail voltage in mV */
 #define PX4IO_P_STATUS_VRSSI			7	/* [2] RSSI voltage */
 #define PX4IO_P_STATUS_PRSSI			8	/* [2] RSSI PWM value */
-#define PX4IO_P_STATUS_NRSSI			9	/* [2] Normalized RSSI value, 0: no reception, 1000: perfect reception */
+#define PX4IO_P_STATUS_NRSSI			9	/* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
+#define PX4IO_P_STATUS_RC_DATA			10	/* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
 
 /* array of post-mix actuator outputs, -10000..10000 */
 #define PX4IO_PAGE_ACTUATORS		2		/* 0..CONFIG_ACTUATOR_COUNT-1 */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 916b893c4..0358725db 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -89,7 +89,9 @@ uint16_t		r_page_status[] = {
 	[PX4IO_P_STATUS_IBATT]			= 0,
 	[PX4IO_P_STATUS_VSERVO]			= 0,
 	[PX4IO_P_STATUS_VRSSI]			= 0,
-	[PX4IO_P_STATUS_PRSSI]			= 0
+	[PX4IO_P_STATUS_PRSSI]			= 0,
+	[PX4IO_P_STATUS_NRSSI]			= 0,
+	[PX4IO_P_STATUS_RC_DATA]		= 0
 };
 
 /**
@@ -582,6 +584,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			/* this option is normally set last */
 			if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
 				uint8_t count = 0;
+				bool disabled = false;
 
 				/* assert min..center..max ordering */
 				if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) {
@@ -600,7 +603,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 				if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
 					count++;
 				}
-				if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
+
+				if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
+					disabled = true;
+				} else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
 					count++;
 				}
 
@@ -608,7 +614,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 				if (count) {
 					isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1));
 					r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK;
-				} else {
+				} else if (!disabled) {
 					conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
 				}
 			}
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index 6aca2bd11..11ccd7356 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -280,7 +280,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
 		*rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet)
 	}
 
-	*rssi = 1000;
+	*rssi = 255;
 
 	return true;
 }
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index c54128cb5..763723554 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -104,49 +104,49 @@ PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f);
 PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f);
 PARAM_DEFINE_FLOAT(RC1_MAX, 2000.0f);
 PARAM_DEFINE_FLOAT(RC1_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC1_DZ, 0.0f);
+PARAM_DEFINE_FLOAT(RC1_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC2_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC2_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC2_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC2_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC2_DZ, 0.0f);
+PARAM_DEFINE_FLOAT(RC2_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC3_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC3_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC3_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC3_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC3_DZ, 0.0f);
+PARAM_DEFINE_FLOAT(RC3_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC4_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC4_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC4_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC4_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC4_DZ, 30.0f);
+PARAM_DEFINE_FLOAT(RC4_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC5_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC5_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC5_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC5_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC5_DZ,  0.0f);
+PARAM_DEFINE_FLOAT(RC5_DZ,  10.0f);
 
 PARAM_DEFINE_FLOAT(RC6_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC6_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC6_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC6_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC6_DZ, 0.0f);
+PARAM_DEFINE_FLOAT(RC6_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC7_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC7_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC7_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC7_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC7_DZ, 0.0f);
+PARAM_DEFINE_FLOAT(RC7_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC8_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC8_TRIM, 1500);
 PARAM_DEFINE_FLOAT(RC8_MAX, 2000);
 PARAM_DEFINE_FLOAT(RC8_REV, 1.0f);
-PARAM_DEFINE_FLOAT(RC8_DZ, 0.0f);
+PARAM_DEFINE_FLOAT(RC8_DZ, 10.0f);
 
 PARAM_DEFINE_FLOAT(RC9_MIN, 1000);
 PARAM_DEFINE_FLOAT(RC9_TRIM, 1500);
diff --git a/src/modules/systemlib/ppm_decode.h b/src/modules/systemlib/ppm_decode.h
index 6c5e15345..5a1ad84da 100644
--- a/src/modules/systemlib/ppm_decode.h
+++ b/src/modules/systemlib/ppm_decode.h
@@ -57,6 +57,7 @@ __BEGIN_DECLS
  * PPM decoder state
  */
 __EXPORT extern uint16_t	ppm_buffer[PPM_MAX_CHANNELS];	/**< decoded PPM channel values */
+__EXPORT extern uint16_t	ppm_frame_length;				/**< length of the decoded PPM frame (includes gap) */
 __EXPORT extern unsigned	ppm_decoded_channels;	/**< count of decoded channels */
 __EXPORT extern hrt_abstime	ppm_last_valid_decode;	/**< timestamp of the last valid decode */