Merge branch 'master' of https://github.com/PX4/Firmware into fmuv2_bringup

Fix px4iov2 build issue by selecting the correct NuttX config.

2 files changed, 27 insertions, 12 deletions

diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 56f5317e3..60e61d07b 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *   Author: Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -34,6 +34,7 @@
 
 /**
  * @file param.c
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  *
  * Parameter tool.
  */
@@ -262,7 +263,7 @@ do_set(const char* name, const char* val)
 	switch (param_type(param)) {
 	case PARAM_TYPE_INT32:
 		if (!param_get(param, &i)) {
-			printf("old: %d", i);
+			printf("curr: %d", i);
 
 			/* convert string */
 			char* end;
@@ -276,14 +277,13 @@ do_set(const char* name, const char* val)
 
 	case PARAM_TYPE_FLOAT:
 		if (!param_get(param, &f)) {
-			printf("float values are not yet supported.");
-			// printf("old: %4.4f", (double)f);
-
-			// /* convert string */
-			// char* end;
-			// f = strtof(val,&end);
-			// param_set(param, &f);
-			// printf(" -> new: %4.4f\n", f);
+			printf("curr: %4.4f", (double)f);
+
+			/* convert string */
+			char* end;
+			f = strtod(val,&end);
+			param_set(param, &f);
+			printf(" -> new: %f\n", f);
 
 		}
 
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index de7a53199..ff733df52 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -71,13 +71,14 @@ usage(const char *reason)
 		warnx("%s", reason);
 	errx(1, 
 		"usage:\n"
-		"pwm [-v] [-d <device>] [-u <alt_rate>] [-c <channel group>] [arm|disarm] [<channel_value> ...]\n"
+		"pwm [-v] [-d <device>] [-u <alt_rate>] [-c <channel group>] [-m chanmask ] [arm|disarm] [<channel_value> ...]\n"
 		"  -v                 Print information about the PWM device\n"
 		"  <device>           PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
 		"  <alt_rate>         PWM update rate for channels in <alt_channel_mask>\n"
 		"  <channel_group>    Channel group that should update at the alternate rate (may be specified more than once)\n"
 		"  arm | disarm       Arm or disarm the ouptut\n"
 		"  <channel_value>... PWM output values in microseconds to assign to the PWM outputs\n"
+		"  <chanmask>         Directly supply alt rate channel mask (debug use only)\n"
 		"\n"
 		"When -c is specified, any channel groups not listed with -c will update at the default rate.\n"
 		);
@@ -96,11 +97,12 @@ pwm_main(int argc, char *argv[])
 	int ret;
 	char *ep;
 	unsigned group;
+	int32_t set_mask = -1;
 
 	if (argc < 2)
 		usage(NULL);
 
-	while ((ch = getopt(argc, argv, "c:d:u:v")) != EOF) {
+	while ((ch = getopt(argc, argv, "c:d:u:vm:")) != EOF) {
 		switch (ch) {
 		case 'c':
 			group = strtoul(optarg, &ep, 0);
@@ -120,6 +122,12 @@ pwm_main(int argc, char *argv[])
 				usage("bad alt_rate value");
 			break;
 
+		case 'm':
+			set_mask = strtol(optarg, &ep, 0);
+			if (*ep != '\0')
+				usage("bad set_mask value");
+			break;
+
 		case 'v':
 			print_info = true;
 			break;
@@ -143,6 +151,13 @@ pwm_main(int argc, char *argv[])
 			err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
 	}
 
+	/* directly supplied channel mask */
+	if (set_mask != -1) {
+		ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, set_mask);
+		if (ret != OK)
+			err(1, "PWM_SERVO_SELECT_UPDATE_RATE");
+	}
+
 	/* assign alternate rate to channel groups */
 	if (alt_channels_set) {
 		uint32_t mask = 0;