Merge remote-tracking branch 'upstream/master' into dev_ros

Conflicts:
	src/lib/mathlib/math/Matrix.hpp
	src/modules/mc_att_control/mc_att_control_main.cpp
	src/modules/uORB/topics/vehicle_status.h
	src/platforms/px4_includes.h

1 files changed, 6 insertions, 7 deletions

diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c
index edeb5c624..ceaea35b6 100644
--- a/src/systemcmds/nshterm/nshterm.c
+++ b/src/systemcmds/nshterm/nshterm.c
@@ -66,20 +66,18 @@ nshterm_main(int argc, char *argv[])
     int fd = -1;
     int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
     struct actuator_armed_s armed;
-    /* we assume the system does not provide arming status feedback */
-    bool armed_updated = false;
 
-    /* try the first 30 seconds or if arming system is ready */
-    while ((retries < 300) || armed_updated) {
+    /* try to bring up the console - stop doing so if the system gets armed */
+    while (true) {
 
         /* abort if an arming topic is published and system is armed */
         bool updated = false;
-        if (orb_check(armed_fd, &updated)) {
+        orb_check(armed_fd, &updated);
+        if (updated) {
             /* the system is now providing arming status feedback.
              * instead of timing out, we resort to abort bringing
              * up the terminal.
              */
-            armed_updated = true;
             orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
 
             if (armed.armed) {
@@ -92,6 +90,7 @@ nshterm_main(int argc, char *argv[])
         /* which may not be ready immediately. */
         fd = open(argv[1], O_RDWR);
         if (fd != -1) {
+            close(armed_fd);
             break;
         }
         usleep(100000);
@@ -116,7 +115,7 @@ nshterm_main(int argc, char *argv[])
     }
 
     /* Set ONLCR flag (which appends a CR for every LF) */
-    uart_config.c_oflag |= (ONLCR | OPOST/* | OCRNL*/);
+    uart_config.c_oflag |= (ONLCR | OPOST);
 
     if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
         warnx("ERR set config %s\n", argv[1]);