Merge branch 'master' into yaw_pid_fix

6 files changed, 68 insertions, 59 deletions

diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
index 33879892e..18fb6dcbc 100644
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
@@ -34,7 +34,7 @@
 /**
  * @file KalmanNav.cpp
  *
- * kalman filter navigation code
+ * Kalman filter navigation code
  */
 
 #include <poll.h>
@@ -228,10 +228,7 @@ void KalmanNav::update()
 	updateSubscriptions();
 
 	// initialize attitude when sensors online
-	if (!_attitudeInitialized && sensorsUpdate &&
-	    _sensors.accelerometer_counter > 10 &&
-	    _sensors.gyro_counter > 10 &&
-	    _sensors.magnetometer_counter > 10) {
+	if (!_attitudeInitialized && sensorsUpdate) {
 		if (correctAtt() == ret_ok) _attitudeInitCounter++;
 
 		if (_attitudeInitCounter > 100) {
@@ -643,7 +640,7 @@ int KalmanNav::correctAtt()
 
 	if (beta > _faultAtt.get()) {
 		warnx("fault in attitude: beta = %8.4f", (double)beta);
-		warnx("y:\n"); y.print();
+		warnx("y:"); y.print();
 	}
 
 	// update quaternions from euler
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index ed090271c..ace13bb78 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -116,6 +116,8 @@ extern struct system_load_s system_load;
 #define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
 #define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
 
+#define MAVLINK_OPEN_INTERVAL 50000
+
 #define STICK_ON_OFF_LIMIT 0.75f
 #define STICK_THRUST_RANGE 1.0f
 #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
@@ -582,16 +584,6 @@ int commander_thread_main(int argc, char *argv[])
 
 	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 
-	if (mavlink_fd < 0) {
-		/* try again later */
-		usleep(20000);
-		mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
-		if (mavlink_fd < 0) {
-			warnx("ERROR: Failed to open MAVLink log stream again, start mavlink app first.");
-		}
-	}
-
 	/* Main state machine */
 	/* make sure we are in preflight state */
 	memset(&status, 0, sizeof(status));
@@ -770,6 +762,11 @@ int commander_thread_main(int argc, char *argv[])
 
 	while (!thread_should_exit) {
 
+		if (mavlink_fd < 0 && counter % (1000000 / MAVLINK_OPEN_INTERVAL) == 0) {
+			/* try to open the mavlink log device every once in a while */
+			mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+		}
+
 		/* update parameters */
 		orb_check(param_changed_sub, &updated);
 
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index 09f4104f8..4ebf266f4 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -73,7 +73,7 @@ int do_mag_calibration(int mavlink_fd)
 
 	/* maximum 500 values */
 	const unsigned int calibration_maxcount = 500;
-	unsigned int calibration_counter = 0;
+	unsigned int calibration_counter;
 
 	struct mag_scale mscale_null = {
 		0.0f,
@@ -99,28 +99,34 @@ int do_mag_calibration(int mavlink_fd)
 		res = ioctl(fd, MAGIOCCALIBRATE, fd);
 
 		if (res != OK) {
-			mavlink_log_critical(mavlink_fd, "ERROR: failed to calibrate scale");
+			mavlink_log_critical(mavlink_fd, "Skipped scale calibration");
+			/* this is non-fatal - mark it accordingly */
+			res = OK;
 		}
 	}
 
 	close(fd);
 
-	float *x;
-	float *y;
-	float *z;
+	float *x = NULL;
+	float *y = NULL;
+	float *z = NULL;
 
 	if (res == OK) {
 		/* allocate memory */
 		mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20);
 
-		x = (float *)malloc(sizeof(float) * calibration_maxcount);
-		y = (float *)malloc(sizeof(float) * calibration_maxcount);
-		z = (float *)malloc(sizeof(float) * calibration_maxcount);
+		x = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
+		y = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
+		z = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_maxcount));
 
 		if (x == NULL || y == NULL || z == NULL) {
 			mavlink_log_critical(mavlink_fd, "ERROR: out of memory");
 			res = ERROR;
+			return res;
 		}
+	} else {
+		/* exit */
+		return ERROR;
 	}
 
 	if (res == OK) {
@@ -136,6 +142,8 @@ int do_mag_calibration(int mavlink_fd)
 
 		mavlink_log_info(mavlink_fd, "rotate in a figure 8 around all axis");
 
+		calibration_counter = 0;
+
 		while (hrt_absolute_time() < calibration_deadline &&
 		       calibration_counter < calibration_maxcount) {
 
@@ -178,6 +186,7 @@ int do_mag_calibration(int mavlink_fd)
 	float sphere_radius;
 
 	if (res == OK) {
+
 		/* sphere fit */
 		mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 70);
 		sphere_fit_least_squares(x, y, z, calibration_counter, 100, 0.0f, &sphere_x, &sphere_y, &sphere_z, &sphere_radius);
@@ -270,7 +279,7 @@ int do_mag_calibration(int mavlink_fd)
 		} else {
 			mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
 		}
-
-		return res;
 	}
+
+	return res;
 }
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index eb67874db..00a0dcd61 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -279,20 +279,20 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_parameter_handles.p_i = param_find("FW_P_I");
 	_parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS");
 	_parameter_handles.p_rmax_neg = param_find("FW_P_RMAX_NEG");
-	_parameter_handles.p_integrator_max = param_find("FW_P_integrator_max");
+	_parameter_handles.p_integrator_max = param_find("FW_P_IMAX");
 	_parameter_handles.p_roll_feedforward = param_find("FW_P_ROLLFF");
 
 	_parameter_handles.r_p = param_find("FW_R_P");
 	_parameter_handles.r_d = param_find("FW_R_D");
 	_parameter_handles.r_i = param_find("FW_R_I");
-	_parameter_handles.r_integrator_max = param_find("FW_R_integrator_max");
+	_parameter_handles.r_integrator_max = param_find("FW_R_IMAX");
 	_parameter_handles.r_rmax = param_find("FW_R_RMAX");
 
 	_parameter_handles.y_p = param_find("FW_Y_P");
 	_parameter_handles.y_i = param_find("FW_Y_I");
 	_parameter_handles.y_d = param_find("FW_Y_D");
 	_parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF");
-	_parameter_handles.y_integrator_max = param_find("FW_Y_integrator_max");
+	_parameter_handles.y_integrator_max = param_find("FW_Y_IMAX");
 
 	_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
 	_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
@@ -635,43 +635,46 @@ FixedwingAttitudeControl::task_main()
 					}
 				}
 
-				float roll_rad = _roll_ctrl.control(roll_sp, _att.roll, _att.rollspeed,
-								    airspeed_scaling, lock_integrator, _parameters.airspeed_min, _parameters.airspeed_max, airspeed);
-				_actuators.control[0] = (isfinite(roll_rad)) ? roll_rad * actuator_scaling : 0.0f;
+				if (isfinite(roll_sp) && isfinite(pitch_sp)) {
 
-				float pitch_rad = _pitch_ctrl.control(pitch_sp, _att.pitch, _att.pitchspeed, _att.roll, airspeed_scaling,
-								      lock_integrator, _parameters.airspeed_min, _parameters.airspeed_max, airspeed);
-				_actuators.control[1] = (isfinite(pitch_rad)) ? pitch_rad * actuator_scaling : 0.0f;
+					float roll_rad = _roll_ctrl.control(roll_sp, _att.roll, _att.rollspeed,
+									    airspeed_scaling, lock_integrator, _parameters.airspeed_min, _parameters.airspeed_max, airspeed);
+					_actuators.control[0] = (isfinite(roll_rad)) ? roll_rad * actuator_scaling : 0.0f;
 
-				float yaw_rad = _yaw_ctrl.control(_att.roll, _att.yawspeed, _accel.y, airspeed_scaling, lock_integrator,
-								  _parameters.airspeed_min, _parameters.airspeed_max, airspeed);
-				_actuators.control[2] = (isfinite(yaw_rad)) ? yaw_rad * actuator_scaling : 0.0f;
+					float pitch_rad = _pitch_ctrl.control(pitch_sp, _att.pitch, _att.pitchspeed, _att.roll, airspeed_scaling,
+									      lock_integrator, _parameters.airspeed_min, _parameters.airspeed_max, airspeed);
+					_actuators.control[1] = (isfinite(pitch_rad)) ? pitch_rad * actuator_scaling : 0.0f;
 
-				/* throttle passed through */
-				_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
+					float yaw_rad = _yaw_ctrl.control(_att.roll, _att.yawspeed, _accel.y, airspeed_scaling, lock_integrator,
+									  _parameters.airspeed_min, _parameters.airspeed_max, airspeed);
+					_actuators.control[2] = (isfinite(yaw_rad)) ? yaw_rad * actuator_scaling : 0.0f;
 
-				// warnx("aspd: %s: %6.2f, aspd scaling: %6.2f, controls: %5.2f %5.2f %5.2f %5.2f", (_airspeed_valid) ? "valid" : "unknown",
-				// 			airspeed, airspeed_scaling, _actuators.control[0], _actuators.control[1],
-				// 			_actuators.control[2], _actuators.control[3]);
+					/* throttle passed through */
+					_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
 
-				/*
-				 * Lazily publish the rate setpoint (for analysis, the actuators are published below)
-				 * only once available
-				 */
-				vehicle_rates_setpoint_s rates_sp;
-				rates_sp.roll = _roll_ctrl.get_desired_rate();
-				rates_sp.pitch = _pitch_ctrl.get_desired_rate();
-				rates_sp.yaw = 0.0f; // XXX not yet implemented
+					// warnx("aspd: %s: %6.2f, aspd scaling: %6.2f, controls: %5.2f %5.2f %5.2f %5.2f", (_airspeed_valid) ? "valid" : "unknown",
+					// 			airspeed, airspeed_scaling, _actuators.control[0], _actuators.control[1],
+					// 			_actuators.control[2], _actuators.control[3]);
 
-				rates_sp.timestamp = hrt_absolute_time();
+					/*
+					 * Lazily publish the rate setpoint (for analysis, the actuators are published below)
+					 * only once available
+					 */
+					vehicle_rates_setpoint_s rates_sp;
+					rates_sp.roll = _roll_ctrl.get_desired_rate();
+					rates_sp.pitch = _pitch_ctrl.get_desired_rate();
+					rates_sp.yaw = 0.0f; // XXX not yet implemented
 
-				if (_rate_sp_pub > 0) {
-					/* publish the attitude setpoint */
-					orb_publish(ORB_ID(vehicle_rates_setpoint), _rate_sp_pub, &rates_sp);
+					rates_sp.timestamp = hrt_absolute_time();
 
-				} else {
-					/* advertise and publish */
-					_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
+					if (_rate_sp_pub > 0) {
+						/* publish the attitude setpoint */
+						orb_publish(ORB_ID(vehicle_rates_setpoint), _rate_sp_pub, &rates_sp);
+
+					} else {
+						/* advertise and publish */
+						_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
+					}
 				}
 
 			} else {
diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c
index d37b18a19..fa23f996f 100644
--- a/src/modules/mavlink/missionlib.c
+++ b/src/modules/mavlink/missionlib.c
@@ -64,6 +64,7 @@
 #include <systemlib/systemlib.h>
 #include <mavlink/mavlink_log.h>
 
+#include "geo/geo.h"
 #include "waypoints.h"
 #include "orb_topics.h"
 #include "missionlib.h"
diff --git a/src/modules/uORB/uORB.cpp b/src/modules/uORB/uORB.cpp
index 7abbf42ae..149b8f6d2 100644
--- a/src/modules/uORB/uORB.cpp
+++ b/src/modules/uORB/uORB.cpp
@@ -249,8 +249,10 @@ ORBDevNode::close(struct file *filp)
 	} else {
 		SubscriberData *sd = filp_to_sd(filp);
 
-		if (sd != nullptr)
+		if (sd != nullptr) {
+			hrt_cancel(&sd->update_call);
 			delete sd;
+		}
 	}
 
 	return CDev::close(filp);