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

3 files changed, 57 insertions, 9 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]);
diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk
index 6eed3922c..0dc333f0a 100644
--- a/src/systemcmds/tests/module.mk
+++ b/src/systemcmds/tests/module.mk
@@ -35,5 +35,5 @@ SRCS			 = test_adc.c \
 			   test_mount.c \
 			   test_mtd.c
 
-EXTRACXXFLAGS = -Wframe-larger-than=2500
+EXTRACXXFLAGS = -Wframe-larger-than=2500 -Wno-float-equal -Wno-double-promotion
 
diff --git a/src/systemcmds/tests/test_mathlib.cpp b/src/systemcmds/tests/test_mathlib.cpp
index 70d173fc9..9fa52aaaa 100644
--- a/src/systemcmds/tests/test_mathlib.cpp
+++ b/src/systemcmds/tests/test_mathlib.cpp
@@ -54,6 +54,7 @@ using namespace math;
 
 int test_mathlib(int argc, char *argv[])
 {
+	int rc = 0;
 	warnx("testing mathlib");
 
 	{
@@ -156,5 +157,53 @@ int test_mathlib(int argc, char *argv[])
 		TEST_OP("Matrix<10, 10> * Matrix<10, 10>", m1 * m2);
 	}
 
-	return 0;
+	{
+		// test nonsymmetric +, -, +=, -=
+
+		float data1[2][3] = {{1,2,3},{4,5,6}};
+		float data2[2][3] = {{2,4,6},{8,10,12}};
+		float data3[2][3] = {{3,6,9},{12,15,18}};
+		
+		Matrix<2, 3> m1(data1);
+		Matrix<2, 3> m2(data2);
+		Matrix<2, 3> m3(data3);
+
+		if (m1 + m2 != m3) {
+			warnx("Matrix<2, 3> + Matrix<2, 3> failed!");
+			(m1 + m2).print();
+			printf("!=\n");
+			m3.print();
+			rc = 1;
+		}
+
+		if (m3 - m2 != m1) {
+			warnx("Matrix<2, 3> - Matrix<2, 3> failed!");
+			(m3 - m2).print();
+			printf("!=\n");
+			m1.print();
+			rc = 1;
+		}
+
+		m1 += m2;
+		if (m1 != m3) {
+			warnx("Matrix<2, 3> += Matrix<2, 3> failed!");
+			m1.print();
+			printf("!=\n");
+			m3.print();
+			rc = 1;
+		}
+
+		m1 -= m2;
+		Matrix<2, 3> m1_orig(data1);
+		if (m1 != m1_orig) {
+			warnx("Matrix<2, 3> -= Matrix<2, 3> failed!");
+			m1.print();
+			printf("!=\n");
+			m1_orig.print();
+			rc = 1;
+		}
+	
+	}
+
+	return rc;
 }