Merge branch 'master' into vector_control2

9 files changed, 317 insertions, 121 deletions

diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk
index 6729ce4ae..5d5fe50d3 100644
--- a/src/systemcmds/tests/module.mk
+++ b/src/systemcmds/tests/module.mk
@@ -24,6 +24,7 @@ SRCS			 = test_adc.c \
 			   test_uart_loopback.c \
 			   test_uart_send.c \
 			   test_mixer.cpp \
-			   tests_file.c \
+			   test_file.c \
 			   tests_main.c \
-			   tests_param.c
+			   test_param.c \
+			   test_ppm_loopback.c
diff --git a/src/systemcmds/tests/tests_file.c b/src/systemcmds/tests/test_file.c
index 7f3a654bf..798724cf1 100644
--- a/src/systemcmds/tests/tests_file.c
+++ b/src/systemcmds/tests/test_file.c
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file tests_file.c
+ * @file test_file.c
  *
  * File write test.
  */
diff --git a/src/systemcmds/tests/tests_param.c b/src/systemcmds/tests/test_param.c
index 13f17bc43..318d2505b 100644
--- a/src/systemcmds/tests/tests_param.c
+++ b/src/systemcmds/tests/test_param.c
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file tests_param.c
+ * @file test_param.c
  *
  * Tests related to the parameter system.
  */
diff --git a/src/systemcmds/tests/test_ppm_loopback.c b/src/systemcmds/tests/test_ppm_loopback.c
new file mode 100644
index 000000000..b9041b013
--- /dev/null
+++ b/src/systemcmds/tests/test_ppm_loopback.c
@@ -0,0 +1,178 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 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 test_ppm_loopback.c
+ * Tests the PWM outputs and PPM input
+ *
+ */
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <arch/board/board.h>
+#include <drivers/drv_pwm_output.h>
+#include <drivers/drv_rc_input.h>
+#include <uORB/topics/rc_channels.h>
+#include <systemlib/err.h>
+
+#include "tests.h"
+
+#include <math.h>
+#include <float.h>
+
+int test_ppm_loopback(int argc, char *argv[])
+{
+
+	int _rc_sub = orb_subscribe(ORB_ID(input_rc));
+
+	int servo_fd, result;
+	servo_position_t data[PWM_OUTPUT_MAX_CHANNELS];
+	servo_position_t pos;
+
+	servo_fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR);
+
+	if (servo_fd < 0) {
+		printf("failed opening /dev/pwm_servo\n");
+	}
+
+	printf("Servo readback, pairs of values should match defaults\n");
+
+	unsigned servo_count;
+	result = ioctl(servo_fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
+	if (result != OK) {
+		warnx("PWM_SERVO_GET_COUNT");
+		return ERROR;
+	}
+
+	for (unsigned i = 0; i < servo_count; i++) {
+		result = ioctl(servo_fd, PWM_SERVO_GET(i), (unsigned long)&pos);
+
+		if (result < 0) {
+			printf("failed reading channel %u\n", i);
+		}
+
+		//printf("%u: %u %u\n", i, pos, data[i]);
+
+	}
+
+	// /* tell safety that its ok to disable it with the switch */
+	// result = ioctl(servo_fd, PWM_SERVO_SET_ARM_OK, 0);
+	// if (result != OK)
+	// 	warnx("FAIL: PWM_SERVO_SET_ARM_OK");
+	//  tell output device that the system is armed (it will output values if safety is off) 
+	// result = ioctl(servo_fd, PWM_SERVO_ARM, 0);
+	// if (result != OK)
+	// 	warnx("FAIL: PWM_SERVO_ARM");
+
+	int pwm_values[] = {1200, 1300, 1900, 1700, 1500, 1250, 1800, 1400};
+
+
+	// for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) {
+	// 	result = ioctl(servo_fd, PWM_SERVO_SET(i), pwm_values[i]);
+
+	// 	if (result) {
+	// 		(void)close(servo_fd);
+	// 		return ERROR;
+	// 	} else {
+	// 		warnx("channel %d set to %d", i, pwm_values[i]);
+	// 	}
+	// }
+
+	warnx("servo count: %d", servo_count);
+
+	struct pwm_output_values pwm_out = {.values = {0}, .channel_count = 0};
+
+	for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) {
+		pwm_out.values[i] = pwm_values[i];
+		//warnx("channel %d: disarmed PWM: %d", i+1, pwm_values[i]);
+		pwm_out.channel_count++;
+	}
+
+	result = ioctl(servo_fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_out);
+
+	/* give driver 10 ms to propagate */
+
+	/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
+	struct rc_input_values	rc_input;
+	orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
+	usleep(100000);
+
+	/* open PPM input and expect values close to the output values */
+
+	bool rc_updated;
+	orb_check(_rc_sub, &rc_updated);
+
+	if (rc_updated) {
+
+		orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
+
+		// int ppm_fd = open(RC_INPUT_DEVICE_PATH, O_RDONLY);
+
+
+
+		// struct rc_input_values rc;
+		// result = read(ppm_fd, &rc, sizeof(rc));
+
+		// if (result != sizeof(rc)) {
+		// 	warnx("Error reading RC output");
+		// 	(void)close(servo_fd);
+		// 	(void)close(ppm_fd);
+		// 	return ERROR;
+		// }
+
+		/* go and check values */
+		for (unsigned i = 0; (i < servo_count) && (i < sizeof(pwm_values) / sizeof(pwm_values[0])); i++) {
+			if (fabsf(rc_input.values[i] - pwm_values[i]) > 10) {
+				warnx("comparison fail: RC: %d, expected: %d", rc_input.values[i], pwm_values[i]);
+				(void)close(servo_fd);
+				return ERROR;
+			}
+		}
+	} else {
+		warnx("failed reading RC input data");
+		return ERROR;
+	}
+
+	warnx("PPM LOOPBACK TEST PASSED SUCCESSFULLY!");
+
+	return 0;
+}
diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c
index 14503276c..f6415b72f 100644
--- a/src/systemcmds/tests/test_sensors.c
+++ b/src/systemcmds/tests/test_sensors.c
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012, 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
@@ -49,6 +48,8 @@
 #include <fcntl.h>
 #include <errno.h>
 #include <debug.h>
+#include <math.h>
+#include <systemlib/err.h>
 
 #include <arch/board/board.h>
 
@@ -77,6 +78,7 @@ static int accel(int argc, char *argv[]);
 static int gyro(int argc, char *argv[]);
 static int mag(int argc, char *argv[]);
 static int baro(int argc, char *argv[]);
+static int mpu6k(int argc, char *argv[]);
 
 /****************************************************************************
  * Private Data
@@ -91,6 +93,7 @@ struct {
 	{"gyro",	"/dev/gyro",	gyro},
 	{"mag",		"/dev/mag",	mag},
 	{"baro",	"/dev/baro",	baro},
+	{"mpu6k",	"/dev/mpu6k",	mpu6k},
 	{NULL, NULL, NULL}
 };
 
@@ -133,23 +136,83 @@ accel(int argc, char *argv[])
 		printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
-	// /* wait at least 10ms, sensor should have data after no more than 2ms */
-	// usleep(100000);
+	if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
+		warnx("MPU6K acceleration values out of range!");
+		return ERROR;
+	}
+
+	/* Let user know everything is ok */
+	printf("\tOK: ACCEL passed all tests successfully\n");
+	close(fd);
+
+	return OK;
+}
+
+static int
+mpu6k(int argc, char *argv[])
+{
+	printf("\tMPU6K: test start\n");
+	fflush(stdout);
+
+	int		fd;
+	struct accel_report buf;
+	struct gyro_report gyro_buf;
+	int		ret;
+
+	fd = open("/dev/accel_mpu6k", O_RDONLY);
+
+	if (fd < 0) {
+		printf("\tMPU6K: open fail, run <mpu6000 start> first.\n");
+		return ERROR;
+	}
+
+	/* wait at least 100ms, sensor should have data after no more than 20ms */
+	usleep(100000);
+
+	/* read data - expect samples */
+	ret = read(fd, &buf, sizeof(buf));
 
-	// ret = read(fd, buf, sizeof(buf));
+	if (ret != sizeof(buf)) {
+		printf("\tMPU6K: read1 fail (%d)\n", ret);
+		return ERROR;
 
-	// if (ret != sizeof(buf)) {
-	// 	printf("\tMPU-6000: read2 fail (%d)\n", ret);
-	// 	return ERROR;
+	} else {
+		printf("\tMPU6K accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
+	}
 
-	// } else {
-	// 	printf("\tMPU-6000 values: acc: x:%d\ty:%d\tz:%d\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
-	// }
+	if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
+		warnx("MPU6K acceleration values out of range!");
+		return ERROR;
+	}
+
+	/* Let user know everything is ok */
+	printf("\tOK: MPU6K ACCEL passed all tests successfully\n");
 
-	/* XXX more tests here */
+	close(fd);
+	fd = open("/dev/gyro_mpu6k", O_RDONLY);
+
+	if (fd < 0) {
+		printf("\tMPU6K GYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
+		return ERROR;
+	}
+
+	/* wait at least 5 ms, sensor should have data after that */
+	usleep(5000);
+
+	/* read data - expect samples */
+	ret = read(fd, &gyro_buf, sizeof(gyro_buf));
+
+	if (ret != sizeof(gyro_buf)) {
+		printf("\tMPU6K GYRO: read fail (%d)\n", ret);
+		return ERROR;
+
+	} else {
+		printf("\tMPU6K GYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)gyro_buf.x, (double)gyro_buf.y, (double)gyro_buf.z);
+	}
 
 	/* Let user know everything is ok */
-	printf("\tOK: ACCEL passed all tests successfully\n");
+	printf("\tOK: MPU6K GYRO passed all tests successfully\n");
+	close(fd);
 
 	return OK;
 }
@@ -187,6 +250,7 @@ gyro(int argc, char *argv[])
 
 	/* Let user know everything is ok */
 	printf("\tOK: GYRO passed all tests successfully\n");
+	close(fd);
 
 	return OK;
 }
@@ -224,6 +288,7 @@ mag(int argc, char *argv[])
 
 	/* Let user know everything is ok */
 	printf("\tOK: MAG passed all tests successfully\n");
+	close(fd);
 
 	return OK;
 }
@@ -261,6 +326,7 @@ baro(int argc, char *argv[])
 
 	/* Let user know everything is ok */
 	printf("\tOK: BARO passed all tests successfully\n");
+	close(fd);
 
 	return OK;
 }
diff --git a/src/systemcmds/tests/test_servo.c b/src/systemcmds/tests/test_servo.c
index f95760ca8..ef8512bf5 100644
--- a/src/systemcmds/tests/test_servo.c
+++ b/src/systemcmds/tests/test_servo.c
@@ -1,7 +1,6 @@
 /****************************************************************************
- * px4/sensors/test_hrt.c
  *
- *  Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 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
@@ -13,7 +12,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
+ * 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.
  *
@@ -32,9 +31,11 @@
  *
  ****************************************************************************/
 
-/****************************************************************************
- * Included Files
- ****************************************************************************/
+/**
+ * @file test_servo.c
+ * Tests the servo outputs
+ *
+ */
 
 #include <nuttx/config.h>
 
@@ -55,39 +56,6 @@
 
 #include "tests.h"
 
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_servo
- ****************************************************************************/
-
 int test_servo(int argc, char *argv[])
 {
 	int fd, result;
@@ -110,7 +78,14 @@ int test_servo(int argc, char *argv[])
 
 	printf("Servo readback, pairs of values should match defaults\n");
 
-	for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) {
+	unsigned servo_count;
+	result = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
+	if (result != OK) {
+		warnx("PWM_SERVO_GET_COUNT");
+		return ERROR;
+	}
+
+	for (unsigned i = 0; i < servo_count; i++) {
 		result = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&pos);
 
 		if (result < 0) {
@@ -122,11 +97,20 @@ int test_servo(int argc, char *argv[])
 
 	}
 
-	printf("Servos arming at default values\n");
+	/* tell safety that its ok to disable it with the switch */
+	result = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
+	if (result != OK)
+		warnx("FAIL: PWM_SERVO_SET_ARM_OK");
+	/* tell output device that the system is armed (it will output values if safety is off) */
 	result = ioctl(fd, PWM_SERVO_ARM, 0);
+	if (result != OK)
+		warnx("FAIL: PWM_SERVO_ARM");
+
 	usleep(5000000);
 	printf("Advancing channel 0 to 1500\n");
 	result = ioctl(fd, PWM_SERVO_SET(0), 1500);
+	printf("Advancing channel 1 to 1800\n");
+	result = ioctl(fd, PWM_SERVO_SET(1), 1800);
 out:
 	return 0;
 }
diff --git a/src/systemcmds/tests/test_uart_loopback.c b/src/systemcmds/tests/test_uart_loopback.c
index 3be152004..f1d41739b 100644
--- a/src/systemcmds/tests/test_uart_loopback.c
+++ b/src/systemcmds/tests/test_uart_loopback.c
@@ -1,8 +1,6 @@
 /****************************************************************************
- * px4/sensors/test_gpio.c
  *
- *  Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *            Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012, 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
@@ -14,7 +12,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
+ * 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.
  *
@@ -33,9 +31,11 @@
  *
  ****************************************************************************/
 
-/****************************************************************************
- * Included Files
- ****************************************************************************/
+/**
+ * @file test_uart_loopback.c
+ * Tests the uart outputs
+ *
+ */
 
 #include <nuttx/config.h>
 
@@ -55,40 +55,6 @@
 #include <math.h>
 #include <float.h>
 
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: test_led
- ****************************************************************************/
-
 int test_uart_loopback(int argc, char *argv[])
 {
 
@@ -97,11 +63,11 @@ int test_uart_loopback(int argc, char *argv[])
 	int uart5_nwrite = 0;
 	int uart2_nwrite = 0;
 
-	int uart1 = open("/dev/ttyS0", O_RDWR | O_NOCTTY); //
+	/* opening stdout */
+	int stdout_fd = 1;
 
-	/* assuming NuttShell is on UART1 (/dev/ttyS0) */
-	int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY); //
-	int uart5 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY); //
+	int uart2 = open("/dev/ttyS1", O_RDWR | O_NONBLOCK | O_NOCTTY);
+	int uart5 = open("/dev/ttyS2", O_RDWR | O_NONBLOCK | O_NOCTTY);
 
 	if (uart2 < 0) {
 		printf("ERROR opening UART2, aborting..\n");
@@ -113,7 +79,7 @@ int test_uart_loopback(int argc, char *argv[])
 		exit(uart5);
 	}
 
-	uint8_t sample_uart1[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', '\n'};
+	uint8_t sample_stdout_fd[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', '\n'};
 	uint8_t sample_uart2[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0};
 	uint8_t sample_uart5[] = {'C', 'O', 'U', 'N', 'T', ' ', '#', 0};
 
@@ -121,7 +87,7 @@ int test_uart_loopback(int argc, char *argv[])
 
 	for (i = 0; i < 1000; i++) {
 //		printf("TEST #%d\n",i);
-		write(uart1, sample_uart1, sizeof(sample_uart1));
+		write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd));
 
 		/* uart2 -> uart5 */
 		r = write(uart2, sample_uart2, sizeof(sample_uart2));
@@ -130,7 +96,7 @@ int test_uart_loopback(int argc, char *argv[])
 			uart2_nwrite += r;
 
 //		printf("TEST #%d\n",i);
-		write(uart1, sample_uart1, sizeof(sample_uart1));
+		write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd));
 
 		/* uart2 -> uart5 */
 		r = write(uart5, sample_uart5, sizeof(sample_uart5));
@@ -139,7 +105,7 @@ int test_uart_loopback(int argc, char *argv[])
 			uart5_nwrite += r;
 
 //		printf("TEST #%d\n",i);
-		write(uart1, sample_uart1, sizeof(sample_uart1));
+		write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd));
 
 		/* try to read back values */
 		do {
@@ -150,7 +116,7 @@ int test_uart_loopback(int argc, char *argv[])
 		} while (r > 0);
 
 //		printf("TEST #%d\n",i);
-		write(uart1, sample_uart1, sizeof(sample_uart1));
+		write(stdout_fd, sample_stdout_fd, sizeof(sample_stdout_fd));
 
 		do {
 			r = read(uart2, sample_uart5, sizeof(sample_uart5));
@@ -160,7 +126,7 @@ int test_uart_loopback(int argc, char *argv[])
 		} while (r > 0);
 
 //		printf("TEST #%d\n",i);
-//		write(uart1, sample_uart1, sizeof(sample_uart5));
+//		write(stdout_fd, sample_stdout_fd, sizeof(sample_uart5));
 	}
 
 	for (i = 0; i < 200000; i++) {
@@ -181,7 +147,7 @@ int test_uart_loopback(int argc, char *argv[])
 	}
 
 
-	close(uart1);
+	close(stdout_fd);
 	close(uart2);
 	close(uart5);
 
diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h
index c483108cf..5cbc5ad88 100644
--- a/src/systemcmds/tests/tests.h
+++ b/src/systemcmds/tests/tests.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 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
@@ -34,6 +34,12 @@
 #ifndef __APPS_PX4_TESTS_H
 #define __APPS_PX4_TESTS_H
 
+/**
+ * @file tests.h
+ * Tests declaration file.
+ *
+ */
+
 /****************************************************************************
  * Included Files
  ****************************************************************************/
@@ -88,6 +94,7 @@ extern int	test_int(int argc, char *argv[]);
 extern int	test_float(int argc, char *argv[]);
 extern int	test_ppm(int argc, char *argv[]);
 extern int	test_servo(int argc, char *argv[]);
+extern int	test_ppm_loopback(int argc, char *argv[]);
 extern int	test_uart_loopback(int argc, char *argv[]);
 extern int	test_uart_baudchange(int argc, char *argv[]);
 extern int	test_cpuload(int argc, char *argv[]);
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index 9eb9c632e..cd998dd18 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012, 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
@@ -35,6 +34,8 @@
 /**
  * @file tests_main.c
  * Tests main file, loads individual tests.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include <nuttx/config.h>
@@ -58,14 +59,6 @@
 #include "tests.h"
 
 /****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
  * Private Function Prototypes
  ****************************************************************************/
 
@@ -94,6 +87,7 @@ const struct {
 	{"hrt",			test_hrt,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"ppm",			test_ppm,	OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"servo",		test_servo,	OPT_NOJIGTEST | OPT_NOALLTEST},
+	{"ppm_loopback",	test_ppm_loopback,	OPT_NOALLTEST},
 	{"adc",			test_adc,	OPT_NOJIGTEST},
 	{"jig_voltages",	test_jig_voltages,	OPT_NOALLTEST},
 	{"uart_loopback",	test_uart_loopback,	OPT_NOJIGTEST | OPT_NOALLTEST},